GB2610546A

GB2610546A - Multifunctional auxiliary nursing robot

Info

Publication number: GB2610546A
Application number: GB2219849.3A
Authority: GB
Inventors: Wang Chengjun; Shen Yuzhe; Li Dequan; Lu Shaotian; Wu Renyuan
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-06-30
Filing date: 2022-05-07
Publication date: 2023-03-08
Anticipated expiration: 2042-05-07
Also published as: CN113386153A; GB202219849D0; WO2023273603A1; GB2610546B; CN113386153B

Abstract

A multifunctional auxiliary nursing robot, comprising a moving platform (1), a rotating device (2), an ascend and descend device (3), a supporting beam assembly (4), parallel working arms (5), a transverse moving driving device (6), a posture adjustment driving device (7), and a measurement and control system (8). By means of a matching operation of a series adjustment mechanism and the parallel working arms (5), a mechanical body can achieve rotation, ascending and descending, and horizontal transverse movement around a vertical axis, and achieve five degrees of movement freedom of rotation around two horizontal axes, such that auxiliary nursing functions of getting up, transferring, defecating, cleaning, posture adjusting, and assisting exercise rehabilitation can be achieved. The human body posture can be comfortably adjusted by configuring a hanging belt or a hanging net. The operation space can be enlarged by means of the moving platform (1), such that flexibility is improved, and movement with six degrees of freedom including three translation degrees and three rotation degrees can be achieved at most. The working intensity of nursing personnel can be reduced, and the activity range of the user can be expanded, such that living quality can be improved; and the system has the advantages of compact structure, multiple degrees of movement freedom, small occupied space, simple operation and maintenance, low cost, etc.

Description

MULTIFUNCTIONAL AUXILIARY NURSING ROBOT

TECHNICAL FIELD

mon The present invention belongs to the technical field of medical apparatuses and instruments, and, in particular, relates to a multifunctional assistive nursing robot based on a hybrid mechanism.

BACKGROUND

[0002] In the field of nursing robot technology, a long-term or short-term disabled group has been produced due to the loss or lack of autonomous mobility ofpatients or old people with postoperative disability, paralysis, shock, anesthesia, coma, amyotrophic lateral sclerosis and other disabilities as a result of impairment and degradation of physical functions. In the arrival of an aging society and the improvement of people's living standard, the demand for nursing robots by the disabled group is constantly increasing. Because they lack the ability of movement, it is difficult to, for example, move them from the bed into the wheelchair or vise versa, requiring nursing workers to carry them manually. There is a rigid demand for the nursing work for this group. The nursing work is highly difficult, the requirements for the physical strength and skill of nursing workers are high, and the labor intensity is great. Moreover, the nursing cost is high, and nursed people do not feel so comfortable. Manually transferring or using simple equipment to help transfer the elderly is not only a burden for nursing workers, but also may cause unnecessary injuries to the body of nursing workers.

[0003] The nursing work for the disabled group mainly includes feeding, toileting, cleaning, transferring, personal hygiene, etc. At present, because nursing is still mainly carried out manually, the labor intensity is great, nursing is difficult, and self-help is impossible. At present, although transfer robots in the market can safely pick up a nursed person from the bed and move him to a wheelchair or other places, the existing robots have the following technical defects: (1) because the robot's operating aims are rigid mechanical arms, the nursed person feels uncomfortable when held and moved by one or both of the operating arms, and sometimes the body can be easily injured; (2) the nursed person can easily slip off when held and moved, so the safety is low; (3) the adaptability to people with different body shapes and statures is poor; (4) because the process of holding requires the assistance of a nursing worker, the labor intensity is great, the requirement for skill is high, and the level of automation is low; (5) because there is only one function, the actual demand for assistive nursing cannot be met.

[0004] Aiming at the problems of nursing robot designs, the existing patent literatures have put fonvard some solutions. For example, Chinese Patent No. 201810901199.3 discloses an activity-assisting nursing robot, which is an activity-assisting nursing robot that can reduce the labor intensity of nursing workers, conveniently assist a nursed person to act and support the nursed person safely and reliably. The activity-assisting nursing robot focuses on the activity-assisting function, but its disadvantage is that it still depends on the personal physical function of the nursed person, requiring the nursed person to grasp supporting handrails to carry out key actions, and the space of operation is limited. Chinese Patent No. 202010929938.7 discloses a transfer-assisting robot for patients having difficulty in moving, which belongs to a bed-type moving device, and is mainly intended to solve the problem that it is difficult to change a bed for a nursed person. Chinese Patent No. 202010479835.5 discloses a multi-arm cooperative transfer and nursing robot, which includes a frame, a base mechanism, a holding mechanism, a lifting mechanism, and a linked transfer mechanism. When a nursed person needs to be transferred, the nursed person lying on cloth is lifted by the linked transfer mechanism. The multi-arm cooperative transfer and nursing robot is a transfer device with a serial structure, which is poor in stability and comfort and has only one function. Chinese Patent No. 201811644911.2 discloses a medical assisting robot for three-dimensional positioning in a puncture surgery, which includes a fixed connection unit, a position adjustment unit, a control unit, and a guide unit. This design scheme focuses on the accurate determination and adjustment of a patient's posture rather than assistive n ursin g and rehabilitation training.

[0005] Although transfer robots have appeared at home and abroad, most of the existing transfer robots require the disabled to change his sitting position or body posture first before the disabled is transferred onto the robot, which has high requirements for the disabled or the assistance of a nursing worker, so the adaptability is poor. In addition, foreign advanced nursing robots are expensive and difficult to operate, so they are not suitable for popularization.

100061 Therefore, at present, it is urgent to develop a practical, safe and reliable multifunctional assistive nursing robot, which can carry out the functions of rising, transferring, toileting, cleaning, posture adjustment, assistance in exercise rehabilitation, etc. for the disabled, greatly improving the quality of life of the nursed person while reducing the labor intensity of nursing workers.

SUMMARY

[0007] Aiming at the defects of the prior art, the objective of the present invention is to provide a multifunctional assistive nursing robot based on a hybrid mechanism. The end of its body has five degrees of freedom of movement, comprising two degrees of freedom of horizontal movement and three degrees of freedom of rotation in space. Under self-help or a nursing worker's assistance, the multifunctional assistive nursing robot can carry out the functions of rising, transferring, toileting, cleaning, posture adjustment, assistance in exercise rehabilitation, etc. for the disabled, reducing the labor intensity of nursing workers and the nursing cost and overcoming the defects of the prior art [0008] The technical problem to be solved by the present invention is achieved by adopting the following technical solution.

[0009] The present invention discloses a multifunctional assistive nursing robot, which comprises a movable platform, a rotary unit, a lifting unit, a supporting beam assembly, a parallel operating arm, horizontal movement driving units, a posture adjustment driving unit, and a measurement and control system. The movable platform comprises a chassis, a housing, a driving wheel system, driven wheels, a driving wheel driver, and a power supply, and is configured to carry the rotary unit, the lifting unit, the supporting beam assembly and the parallel operating arm and drive the assistive nursing robot to move. The driving wheel system and the driven wheels are arranged at the rear end and front end of the bottom of the chassis respectively, and the driving wheel driver is arranged at a position on the bottom of the chassis close to the driving wheel system for driving the driving wheel system to rotate; the housing is fixedly mounted on the chassis through screws to play a role of safety protection and decoration; a rotary unit mounting frame is arranged on the top of the rear end of the chassis for fixing and mounting the rotary unit; a bottom supporting frame is arranged on the bottom of the rear end of the chassis, a T-shaped supporting frame and a power supply supporting frame are arranged on the bottom supporting frame, the power supply supporting frame is positioned at the front end of the T-shaped supporting frame, the T-shaped supporting frame and the bottom supporting frame are fixedly connected by welding, and the power supply supporting frame and the bottom supporting frame are fixedly connected through screws; the power supply is mounted on the power supply supporting frame for supplying power to the driving wheel driver, the rotary unit, the lifting unit, the horizontal movement driving units, the posture adjustment driving unit and the measurement and control system: the driving wheel system comprises two driving wheels and a driving axle, the driving axle is connected to the chassis through the driving wheel driver, and the two driving wheels are symmetrically mounted at the two ends of the driving axle and connected to the driving axle through bearings. The lower end of the rotary unit is fixedly mounted on the rotary unit mounting frame of the chassis through screws for driving the lifting unit, the supporting beam assembly and the parallel operating arm to perform rotary movement around a vertical axis. The lower end of the lifting unit is fixedly mounted on the top of the rotary unit through screws for driving the supporting beam assembly and the parallel operating arm to perform lifting movement. The rear end of the supporting beam assembly is mounted on the lifting unit for hanging, supporting and mounting the parallel operating arm, and the supporting beam assembly is also configured as a supporting unit for the rehabilitation training of a user, such as assisted standing and assisted walking. The parallel operating arm is mainly configured to lift the user or adjust the posture of the user, and the upper ends of the parallel operating arm are mounted on the supporting beam assembly and connected to the supporting beam assembly through the horizontal movement driving units. There are two horizontal movement driving units, which are symmetrically fixedly mounted on the bottom of the supporting beam assembly for driving the parallel operating arm to move forward and backward on the supporting beam assembly. The posture adjustment driving unit is fixedly mounted on the bottom of the right side of the supporting beam assembly for providing power for posture adjustment by the parallel operating ann.

[0010] The driving wheel driver comprises a travel motor, a driving gear, a driven gear, and a combining support. The combining support comprises a main mounting plate, an axle support, and a motor mounting plate, and is configured to fixedly mount the driving axle and the travel motor; the main mounting plate is fixedly mounted on the bottom of the rear end of the bottom supporting frame of the chassis through screws, and the travel motor is fixedly mounted on the motor mounting plate through screws for providing power for the traveling of the movable platform; the driving gear is fixedly mounted on the output shaft of the travel motor, the driven gear is splinelessly mounted on the driving axle, and is fixedly connected to the driving gear through screws, and the driving gear and the driven gear are kept meshed externally; the axle support, the motor mounting plate and the main mounting plate are fixedly connected by welding, or are made into an integral casting structure by a casting method; and a servo gear motor or a servo hydraulic motor is adopted as the travel motor.

100111 The rotary unit comprises a rotary top cover, a rotary base, a rotary motor, a rotary gear, and an annular gear. The rotary base is fixedly mounted on the rotary unit mounting frame of the chassis through screws for supporting the rotary top cover and mounting the rotary motor and the annular gear; the rotary top cover is configured to support and fixedly mount the lifting unit, and the rotary top cover is mounted in the rotary base and connected to the rotary base through two deep groove ball type transverse bearings and a cylindrical roller thrust bearing; the rotary motor is fixedly mounted on the rotary base for providing power for the rotation of the rotary gear, and the rotary gear is fixedly mounted on the output shaft of the rotary motor; the annular gear is fixedly mounted in the rotary top cover through screws, and is kept meshed with the rotary gear internally; an angle sensor is also arranged in the rotary base for acquiring the rotation angle parameter of the rotary top cover relative to the rotary base; and a servo gear motor or a servo hydraulic motor is adopted as the rotary motor.

100121 The lifting unit comprises a bottom connecting plate, guide pillars, a connecting beam, a driving cylinder, a lifting seat, guide modules, and a top connecting plate. The bottom connecting plate is fixedly mounted on the rotary top cover of the rotary unit through screws; there are two guide pillars, which are symmetrically mounted between the bottom connecting plate and the top connecting plate, and are fixedly connected to the bottom connecting plate and the top connecting plate through screws or welding; there are two guide modules, which are symmetrically fixedly mounted on the lifting seat, and the guide modules are embedded in the guideways of the adjacent guide pillars to play a role of guiding and reducing frictional resistance; the connecting beam is configured to fix and mount the driving cylinder, and is positioned over the bottom connecting plate, with both ends being fixedly connected to the adjacent guide pillars through screws or welding respectively; the driving cylinder can provide power for the upward and downward sliding of the lifting seat along the guide pillars, the lower end of the driving cylinder is fixedly mounted on the connecting beam, and the upper end of the driving cylinder is connected to the lifting seat through a hinge; the upper and lower ends of the lifting seat are provided with anti-slide teeth for preventing the supporting beam assembly from sliding on the lifting seat; and an electric push rod, an air cylinder or a hydraulic cylinder is adopted as the driving cylinder.

[0013] The guide module comprises a guide frame, an upper guide wheel, an upper adjusting screw, a lower guide wheel, and a lower adjusting screw The upper and lower ends of the guide frame are provided with an upper wheel hole and a lower wheel hole for mounting the upper guide wheel and the lower guide wheel respectively, and both the upper wheel hole and the lower wheel hole are slotted through holes; the upper guide wheel and the lower guide wheel are mounted in the upper wheel hole and the lower wheel hole respectively, and the upper adjusting screw and the lower adjusting screw are positioned on the upper outer side and lower inner side of the guide frame respectively, and are connected to the guide frame through threads; the upper guide wheel is positioned in the guideway of the guide pillar and kept in contact with the front guide surface of the guideway, and the lower guide wheel is positioned in the guideway of the guide pillar and kept in contact with the rear guide surface of the guideway; the upper adjusting screw is perpendicularly intersected with the axis of the upper guide wheel, the lower adjusting screw is perpendicularly intersected with the axis of the lower guide wheel, and the axes of the upper adjusting screw and the lower adjusting screw are kept parallel, ensuring that the guide module can be conveniently mounted on or dismounted from the guide pillar and adjusted. The upper guide wheel comprises a wheel body, a mounting portion, and a locking portion. The mounting portion is positioned between the wheel body and the locking portion, the wheel body is connected to the mounting portion through a bearing, and the outer side of the mounting portion is provided with two positioning planes which are symmetrically arranged and matched with the upper wheel hole; and the outer cylindrical surface of the locking portion is provided with an external thread. The lower guide wheel and the upper guide wheel have the same structure.

100141 The supporting beam assembly comprises a left cantilever beam and a right cantilever beam, which have the same structure and are symmetrically arranged on the lifting scat of the lifting unit. The left cantilever beam comprises a left L-shaped beam body, a left embedded cover, and a left guide rail. The rear end of the left L-shaped beam body is mounted on the lifting seat, and the left embedded cover is embedded in the left L-shaped beam body in a fastening manner; and the left guide rail is positioned under the left L-shaped beam body and connected to the left L-shaped beam body through lugs. The right cantilever beam comprises a right L-shaped beam body, a right embedded cover, and a right guide rail. The rear end of the right L-shaped beam body is mounted on the lifting seat, and the right embedded cover is embedded in the right I.-shaped beam body in a fastening manner, and the right guide rail is positioned under the right L-shaped beam body and connected to the right L-shaped beam body through lugs. The rear ends of the left L-shaped beam body and the right L-shaped beam body are both provided with anti-slide teeth, and the rear ends of the left L-shaped beam body and the right L-shaped beam body are kept in contact with the lifting seat through the meshing of -the anti-slide teeth; and the bottoms of the front ends of the left L-shaped beam body and the right L-shaped beam body are both provided with T-shaped slide ways for mounting adjustable fixed pulleys of the horizontal movement driving units. Both the left embedded cover and the right embedded cover can play a role of improving the comfort of supporting, increasing friction and decorating.

100151 The parallel operating arm is a three-degrees-of-freedom parallel mechanism with a 4UPR structure. The parallel operating arm comprises a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a left arc-shaped plate, a right arc-shaped plate, a chest-and-abdomen sling, and thigh slings. The first branch chain and the third branch chain are symmetrically arranged on the left and right sides of the bottom of the middle rear portion of the supporting beam assembly, and the second branch chain and the fourth branch chain are symmetrically arranged on the left and right sides of the bottom of the front end of the supporting beam assembly; the upper ends of the first branch chain and the second branch chain are mounted on the left guide rail of the left cantilever beam, and can slide along the left guide rail under the drive of the horizontal movement driving unit; the lower ends of the first branch chain and the second branch chain are fixedly connected to the two ends of the left arc-shaped plate respectively; the upper ends of the third branch chain and the fourth branch chain are mounted on the right guide rail of the right cantilever beam, and can slide along the right guide rail under the drive of the horizontal movement driving unit, and the lower ends of the third branch chain and the fourth branch chain are fixedly connected to the two ends of the right arc-shaped plate respectively; the front and rear ends of the left are-shaped plate are provided with thigh sling positioning holes, the middle of the left arc-shaped plate is also provided with two thigh sling riveting holes, and both ends of the right arc-shaped plate arc provided with chest-and-abdomen sling positioning holes; the thigh slings are con figured to fix the thighs of the user, and there are two thigh slings, which arc symmetrically fixed on the left arc-shaped plate; the chest-and-abdomen sling is configured to fix the chest and abdomen of the user, and the two ends of the chest-and-abdomen sling are connected to the two ends of the right arc-shaped plate respectively. The structure of the first branch chain is exactly the same as those of the second branch chain, the third branch chain and the fourth branch chain, and their topological structures arc all UPR structures.

100161 The first branch chain comprises a first universal joint, a first outer sleeve, a first inner rod, and a first hinge, the upper end of the first universal joint is mounted on the left guide rail and connected to the left guide rail through a linear bearing, the lower end of the first universal joint is fixedly connected to the upper end of the first outer sleeve, the first outer sleeve is provided with a plurality of adjusting pin holes, the upper end of the first inner rod is inserted in the first outer sleeve and fixed with the first outer sleeve through a pin, the lower end of the first inner rod is fixedly connected to the upper end of the first hinge, and the lower end of the first hinge is fixedly connected to the rear end of the left arc-shaped plate; the second branch chain comprises a second universal joint, a second outer sleeve, a second inner rod, and a second hinge, the upper end of the second universal joint is mounted on the left guide rail and connected to the left guide rail through a linear bearing, the lower end of the second universal joint is fixedly connected to the upper end of the second outer sleeve, the second outer sleeve is provided with a plurality of adjusting pin holes, the upper end of the second inner rod is inserted in the second outer sleeve and fixed with the second outer sleeve through a pin, the lower end of the second inner rod is fixedly connected to the upper end of the second hinge, and the lower end of the second hinge is fixedly connected to the front end of the left arc-shaped plate; the third branch chain comprises a third universal joint, a third outer sleeve, a third inner rod, and a third hinge, the upper end of the third universal joint is mounted on the right guide rail and connected to the right guide rail through a linear hearing, the lower end of the third universal joint is fixedly connected to the upper end of the third outer sleeve, the upper end of the third inner rod is inserted in the third outer sleeve, the lower end of the third inner rod is fixedly connected to the upper end of the third hinge, and the lower end of the third hinge is fixedly connected to the rear end of the right arc-shaped plate; the fourth branch chain comprises a fourth universal joint, a fourth outer sleeve, a fourth inner rod, and a fourth hinge, the upper end of the fourth universal joint is mounted on the right guide rail and connected to the right guide rail through a linear bearing, the lower end of the fourth universal joint is fixedly connected to the upper end of the fourth outer sleeve, the upper end ofthe fourth inner rod is inserted in the fourth outer sleeve, the lower end ofthe fourth inner rod is fixedly connected to the upper end of the fourth hinge, and the lower end of the fourth hinge is fixedly connected to the front end of the right arc-shaped plate; the axes of the first hinge and the second hinge are parallel to each other, the axes of the third hinge and the fourth hinge are parallel to each other, and the axes of the first hinge and the third hinge are perpendicular to each other; in an initial state, the two axes of the cross trunnion of the first universal joint are kept parallel to those of the cross trunnion of the second universal joint respectively, the two axes of the cross trunnion of the third universal joint are kept parallel to those of the cross trunnion of the fourth universal joint respectively, the axis of the first hinge is kept parallel to one axis of the cross trunnion of the first universal joint, and the axis of the third hinge is kept parallel to one axis of the cross trunnion of the third universal joint. Thus, it is ensured that the parallel mechanism composed of the parallel operating arm has three degrees of freedom of movement, comprising one degree of freedom of horizontal movement and two degrees of freedom of rotation, in a certain space.

[0017] The horizontal movement driving unit comprises a horizontal movement motor, a horizontal movement reel, an adjustable fixed pulley, a tensioner, a horizontal movement wire rope, and a horizontal movement motor support. The horizontal movement motor support is fixedly mounted on the left L-shaped beam body or the right L-shaped beam body through screws; the horizontal movement motor is fixedly mounted on the horizontal movement motor support through screws for providing power for the rotation of the horizontal movement reel and the horizontal movement of the parallel operating arm; the horizontal movement reel is fixedly mounted on the output shaft of the horizontal movement motor; the adjustable fixed pulley is fixedly mounted at the front end of the left L-shaped beam body or the right L-shaped beam body; the tensioner is configured to tension the horizontal movement wire rope, and the tensioner is positioned at the rear end of the adjustable fixed pulley and close to the adjustable fixed pulley, and is fixedly mounted on the bottom of the front end of the left L-shaped beam body or the right L-shaped beam body through screws; the front and rear ends of the horizontal movement wire rope are wound on the adjustable fixed pulley and the horizontal movement reel respectively, and the horizontal movement wire rope positioned under the middle position is fixedly connected to the first universal joint and the second universal joint or the third universal joint and the fourth universal joint.

[0018] The adjustable fixed pulley comprises a pulley base, a pulley shaft, and a pulley.

The top of the pulley base is provided with a T-shaped slider, and the T-shaped slider of the pulley base is arranged in the T-shaped slide way of the left L-shaped beam body or the right L-shaped beam body; and the pulley is fixedly mounted on the pulley base through the pulley shaft and connected to the pulley shaft through a bearing.

[0019] The tensioner comprises a tensioning support and a tensioning screw. The tensioning support is fixedly mounted on the bottom of the front end of the left L-shaped beam body or the right L-shaped beam body through screws, the tensioning screw is connected to the tensioning support through threads, and the front end of the tensioning screw is kept in contact with the pulley base.

[0020] The posture adjustment driving unit comprises a posture adjustment motor, a posture adjustment reel, and posture adjustment wire ropes. The posture adjustment motor is fixedly mounted at the rear end of the right L-shaped beam body through screws and positioned under the right guide rail to provide power for the right arc-shaped plate in the parallel operating arm and the posture adjustment of the user fixed on the left arc-shaped plate and the right arc-shaped plate; the posture adjustment reel is fixedly mounted on the output shaft of the posture adjustment motor for storing and winding the posture adjustment wire ropes; there are two posture adjustment wire ropes, the rear ends of which are fixed and both wound on the posture adjustment reel, the front end of one of the two posture adjustment wire ropes is fixedly connected to the third inner rod after passing through the third universal joint and the third outer sleeve, and the front end of the other of the two posture adjustment wire ropes is fixedly connected to the fourth inner rod after passing through the fourth universal joint and the fourth outer sleeve.

[0021] Small servo gear motors are adopted as the horizontal movement motor and the posture adjustment motor.

[0022] The measurement and control system comprises a binocular vision camera, a laser radar, ranging sensors, and a controller, the binocular vision camera is fixedly mounted on the top connecting plate of the lifting unit through screws, the laser radar is fixedly mounted on the bottom connecting plate of the lifting unit through screws, the ranging sensors are arranged on the front side, back side, left side and right side of the housing of the movable platform respectively, and are fixedly mounted on the housing through screws or glue, and laser ranging sensors or ultrasonic ranging sensors are adopted as the ranging sensors; the controller is fixedly mounted on the T-shaped supporting frame of the chassis through screws, and a data acquisition card is also arranged in the controller for acquiring sensed information of thc laser radar, the ranging sensors, angle scnsors and displacement sensors and graphic information from the binocular vision camera; the binocular vision camera is connected to the power source in the chassis and the data acquisition card in the controller through a power line and a data line respectively, the ranging sensors and the laser radar are connected to the data acquisition card through data lines, and the binocular vision camera is provided with an I,ED light source. The controller is configured to control the movable platform, the rotary unit, the lifting unit, the parallel operating arm, the horizontal movement driving units and the posture adjustment driving unit to execute corresponding actions or task instructions.

100231 More further, angle sensors are arranged at both ends of the driving axle, the displacement sensors are arranged in the guide module and the left cantilever beam, and the angle sensor in the rotary base, the angle sensors at both ends of the axle and the displacement sensors are all connected to the data acquisition card through data lines.

[0024] From the perspective of mechanics, the parallel operating arm is a parallel mechanism with three degrees of freedom of movement in space, comprising one degree of freedom of horizontal movement and two degrees of freedom of rotation. The parallel operating arm, the supporting beam assembly, the lifting unit and the rotary unit together form a hybrid mechanism with five degrees of freedom in space, comprising two degrees of freedom ofhorizontal movement and three degrees of freedom ofrotation among which the vertical movement is a redundant degree of freedom. Coupled with the movement of the movable platform on the ground, the present invention has at most six degrees of freedom of movement, comprising three degrees of freedom of horizontal movement and three degrees of freedom of rotation.

[0025] During use, if the present invention executes a task such as helping the user in rising, transferring, toilcting, cleaning, posture adjustment, or etc., firstly, the travel motor in the driving wheel driver is controlled to make the movable platform and the supporting beam assembly of the present invention approach the user, and then the horizontal movement motors in the horizontal movement driving units are driven to move the left arc-shaped plate and the right arc-shaped plate in the parallel operating arm to approach the thighs, chest and abdomen of the user respectively, and the thighs, chest and abdomen of the user arc fixed on the parallel operating arm by the thigh slings and the chest-andabdomen sling respectively. Then, according to needs, it can be chosen to perform lifting by means of the lifting unit and angle adjustment by means of the rotary unit or control the posture adjustment motor in the posture adjustment driving unit to drive the third branch chain and the fourth branch chain to lengthen or shorten, so as to adjust the posture of the user. When the present invention executes a task such as assisting exercise rehabilitation, it is necessary to appropriately lower the supporting beam assembly and adjust the distance between the left cantilever beam and the right cantilever beam fixed on the lifting seat according to the width of the user's body, so that the user can be supported on the left embedded cover and the right embedded cover by both arms, and the waist or thighs of the user can be fixed on the left arc-shaped plate and the right arc-shaped plate by flexible straps according to a use requirement, so as to improve safety in use. The lengths of the first branch chain and the second branch chain in the parallel operating arm can be manually adjusted according to the actual requirement of the user. Functions, such as autonomous navigation, collision prevention and image recognition, in the working environment are mainly implemented by the laser radar, the ranging sensors, the binocular vision camera, the data acquisition card and the controller in the measurement and control system.

[0026] Compared with the prior art, the multifunctional assistive nursing robot according to the present invention has the following beneficial effects: the multifunctional assistive nursing robot can implement the functions of rising, transferring, toileting, cleaning, posture adjustment, assistance in exercise rehabilitation, etc., and the end of its mechanical body has five degrees of freedom of movement, comprising two degrees of freedom of horizontal movement and three degrees of freedom of rotation, and the multifunctional assistive nursing robot operates through the cooperation between the serial adjustment mechanism and the parallel operating aim, the posture of the human body can be comfortably adjusted by arranging the slings or hanging nets, and the space of operation can be expanded by movable platform, increasing flexibility; and up to six degrees of freedom of movement, comprising three degrees of freedom of horizontal movement and three degrees of freedom of rotation, can be achieved. The present invention also has the advantages of compact structure, more degrees of freedom of movement, small space occupied by equipment, simplicity and convenience in operation and maintenance, etc., and can overcome the defects of the prior art. The mechanical body of the present invention can also achieve self-help control through remote operation, so that the user or the nursing worker can carry out a series of operations, such as lifting, moving, posture adjustment, joint flexion and extension, assistance in self-standing and walking, assistance in walking exercise, balance exercise, assistance in rehabilitation training, etc. through control buttons, meeting the requirements of assistive nursing work, reducing the working intensity of the nursing working, expand the activity range of the user and improving the quality of life. Moreover, the cost is low, satisfying the demand of ordinary wage earners and facilitating popularization.

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. I is a schematic diagram of the overall structure of the present invention; [0028] FIG. 2 is a schematic diagram of the internal structure of a movable platform of the present invention; 100291 FIG. 3 is a schematic diagram of the arrangement of a power supply and a controller on a chassis; [0030] FIG. 4 is a view of FIG. 3 in the direction A; [0031] FIG. 5 is a schematic structural diagram of a combining support in a driving wheel driver; 100321 FIG. 6 is a schematic structural diagram of a rotary unit of the present invention; [0033] FIG. 7 is a schematic structural diagram of a lifting unit of the present invention; [0034] FIG. 8 is a schematic structural diagram of a guide module in the lifting unit of the present invention; [0035] FIG. 9 is a schematic diagram of the positional relationship between a parallel operating arm and a supporting beam assembly of the present invention; [0036] FIG. 10 is a schematic diagram of the positional relationship between horizontal movement driving units and a posture adjustment driving unit of the present invention on a right cantilever beam; 100371 FIG. 11 is a schematic structural diagram of a tcnsioncr in the horizontal movement driving unit of the present invention; and [0038] FIG. 12 is a schematic structural diagram of an upper guide wheel of the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further set forth below with reference to specific embodiments and accompanying drawings.

100401 As shown in FIGS. I 2, 3,4 and 7, a multifunctional assistive nursing robot includes a movable platform 1, a rotary unit 2, a lifting unit 3, a supporting beam assembly 4, a parallel operating arm 5, horizontal movement driving units 6, a posture adjustment driving unit 7, and a measurement and control system S. The movable platform I includes a chassis 11, a housing 12, a driving wheel system 13, driven wheels 14, a driving wheel driver 15, and a power supply 16, and is configured to carry the rotary unit 2, the lifting unit 3, the supporting beam assembly 4 and the parallel operating arm 5 and drive the assistive nursing robot to move. The driving wheel system 13 and the driven wheels 14 are arranged at the rear end and front end of the bottom of the chassis 11 respectively, and the driving wheel driver 15 is arranged at a position on the bottom of the chassis 11 close to the driving wheel system 13 for driving the driving wheel system 13 to rotate; the housing 12 is fixedly mounted on the chassis 11 through screws to play a role of safety protection and decoration; a rotary unit mounting frame 111 is arranged on the top of the rear end of the chassis 11 for fixing and mounting the rotary unit 2; a bottom supporting frame 112 is arranged on the bottom of the rear end of the chassis II, a T-shaped supporting frame 113 and a power supply supporting frame 114 are arranged on the bottom supporting frame 112, the power supply supporting frame 114 is positioned at the front end of the T-shaped supporting frame 113, the T-shaped supporting frame 113 and the bottom supporting frame 112 are fixedly connected by welding, and the power supply supporting frame 114 and the bottom supporting frame 112 are fixedly connected through screws; the power supply 16 is mounted on the power supply supporting frame 114 for supplying power to the driving wheel driver 15, the rotary unit 2, the lifting unit 3, the horizontal movement driving units 6, the posture adjustment driving unit 7 and the measurement and control system 8; the driving wheel system 13 comprises two driving wheels 131 and a driving axle 132, the driving axle 132 is connected to the chassis 11 through the driving wheel driver 15, and the two driving wheels 131 are symmetrically mounted at the two ends of the driving axle 132 and connected to the driving axle 132 through bearings. The lower end of the rotary unit 2 is fixedly mounted on the rotary unit mounting frame 111 of the chassis 11 through screws tbr driving the lifting unit 3, the supporting beam assembly 4 and the parallel operating arm 5 to perform rotary movement around a vertical axis. The lower end of the lifting unit 3 is fixedly mounted on the top of the rotary unit 2 through screws for driving the supporting beam assembly 4 and the parallel operating arm 5 to perform lifting movement. The rear end of the supporting beam assembly 4 is mounted on the lifting unit 3 for hanging, supporting and mounting the parallel operating arm 5, and the supporting beam assembly is also configured as a supporting unit for the rehabilitation training of a user, such as assisted standing and assisted walking. The parallel operating arm 5 is mainly configured to lift the user or adjust the posture of the user, and the upper ends of the parallel operating arm 5 are mounted on the supporting beam assembly 4 and connected to the supporting beam assembly 4 through the horizontal movement driving units 6. There arc two horizontal movement driving units 6, which are symmetrically fixedly mounted on the bottom of the supporting beam assembly 4 for driving the parallel operating arm 5 to move forward and backward on the supporting beam assembly 4. The posture adjustment driving unit? is fixedly mounted on the bottom of the right side of the supporting beam assembly 4 for providing power for posture adjustment by the parallel operating arm 5.

[0041] As shown in FIGS. 1, 2, 3, 4 and 5, the driving wheel driver 15 includes a travel motor 151, a driving gear 152, a driven gear 153, and a combining support 154. The combining support 154 includes a main mounting plate 1541, an axle support 1542, and a motor mounting plate 1543, and is configured to fixedly mount the driving axle 132 and the travel motor 151; the main mounting plate 1541 is fixedly mounted on the bottom of the rear end of the bottom supporting frame 112 of the chassis 11 through screws, and the travel motor 151 is fixedly mounted on the motor mounting plate 1 543 through screws for providing power for the traveling of the movable platform 1; the driving gear 152 is fixedly mounted on the output shaft of the travel motor 151, the driven gear 153 is splinelessly mounted on the driving axle 132, and is fixedly connected to the driving gear 131 through screws, and the driving gear 152 and the driven gear 153 are kept meshed externally; the axle support 1542, the motor mounting plate 1543 and the main mounting plate 1541 are fixedly connected by welding, or are made into an integral casting structure by a casting method; and a servo gear motor is adopted as the travel motor 151.

[0042] As shown in FIGS. 1, 2 and 6, the rotary unit 2 includes a rotary top cover 21, a rotary base 22, a rotary motor 23, a rotary gear 24, and an annular gear 25. The rotary base 22 is fixedly mounted on the rotary unit mounting frame 1 1 of the chassis 11 through screws for supporting the rotary top cover 21 and mounting the rotary motor 23 and the annular gear 25; the rotary top cover 21 is configured to support and fixedly mount the lifting unit 3, and the rotary top cover 21 is mounted in the rotary base 22 and connected to the rotary base 22 through two deep groove ball type transverse bearings and a cylindrical roller thrust bearing; the rotary motor 23 is fixedly mounted on the rotary base 22 for providing power for the rotation of the rotary gear 24, and the rotary gear 24 is fixedly mounted on the output shaft of the rotary motor 23; the annular gear 25 is fixedly mounted in the rotary top cover 21 through screws, and is kept meshed with the rotary gear 24 internally; an angle sensor is also arranged in the rotary base 22 for acquiring the rotation angle parameter of the rotary top cover 21 relative to the rotary base 22; and a servo gear motor is adopted as the rotary motor 23.

[0043] As shown in FIGS. 1 and 7, the lifting unit 3 includes a bottom connecting plate 31, guide pillars 34, a connecting beam 33, a driving cylinder 34, a lifting seat 35, guide modules 36, and a top connecting plate 37. The bottom connecting plate 31 is fixedly mounted on the rotary top cover 21 of the rotary unit 2 through screws; there arc two guide pillars 34, which are symmetrically mounted between the bottom connecting plate 31 and the top connecting plate 37, and are fixedly connected to the bottom connecting plate 31 and the top connecting plate 37 through screws or welding; there are two guide modules 36, which are symmetrically fixedly mounted on the lifting seat 35, and the guide modules 35 are embedded in the guideways of the adjacent guide pillars 34 to play a role of guiding and reducing frictional resistance; the connecting beam 33 is configured to fix and mount the driving cylinder 34, and is positioned over the bottom connecting plate 3 1, with both ends being fixedly connected to the adjacent guide pillars 34 through screws or welding respectively; the driving cylinder 34 can provide power for the upward and downward sliding of the lifting seat 35 along the guide pillars 34, the lower end of the driving cylinder 34 is fixedly mounted on the connecting beam 33, and the upper end of the driving cylinder is connected to the lifting scat 35 through a hinge; the upper and lower ends of the lifting seat 35 are provided with anti-slide teeth for preventing the supporting beam assembly 4 from sliding on the lifting seat 35; an electric push rod is adopted as the driving cylinder 34, and the extension and retraction of the driving cylinder 34 is controlled by the forward and reverse rotations of the lifting motor 341, which is a servo gear motor.

(00441 As shown in FIGS. 1, 7, 8 and 12, the guide module 36 includes a guide frame 361, an upper guide wheel 362, an upper adjusting screw 363, a lower guide wheel 364, and a lower adjusting screw 365. The upper and lower ends of the guide frame 361 are provided with an upper wheel hole 3611 and a lower wheel hole 3612 for mounting the upper guide wheel 362 and the lower guide wheel 364 respectively, and both the upper wheel hole 3611 and the lower wheel hole 3612 are slotted through holes; the upper guide wheel 362 and the lower guide wheel 364 are mounted in the upper wheel hole 3611 and the lower wheel hole 3612 respectively, and the upper adjusting screw 363 and the lower adjusting screw 365 are positioned on the upper outer side and lower inner side of the guide frame 361 respectively, and are connected to the guide frame 361 through threads; the upper guide wheel 362 is positioned in the guideway of the guide pillar 32 and kept in contact with the front guide surface of the guideway, and the lower guide wheel 364 is positioned in the guideway of the guide pillar 32 and kept in contact with the rear guide surface of the guideway; the upper adjusting screw 363 is perpendicularly intersected with the axis of the upper guide wheel 362, the lower adjusting screw 365 is perpendicularly intersected with the axis of the lower guide wheel 364, and the axes of the upper adjusting screw 363 and the lower adjusting screw 365 are kept parallel, ensuring that the guide module 36 can be conveniently mounted on or dismounted from the guide pillar 32 and adjusted. The upper guide wheel 362 includes a wheel body 3621, a mounting portion 3622, and a locking portion 3623. The mounting portion 3622 is positioned between the wheel body 3621 and the locking portion 3623, the wheel body 3621 is connected to the mounting portion 3622 through a bearing, and the outer side of the mounting portion 3622 is provided with two positioning planes which are symmetrically arranged and matched with the upper wheel hole 3611; and the outer cylindrical surface of the locking portion 3623 is provided with an external thread. The lower guide wheel 364 and the upper guide wheel 362 have the same structure.

[0045] As shown in FTGS. I, 9, 10 and 11, the supporting beam assembly 4 includes a left cantilever beam 41 and a right cantilever beam 42, which have the same structure and arc symmetrically arranged on the lifting seat 35 of the lifting unit 3. The left cantilever beam 41 includes a left L-shaped beam body 411, a left embedded cover 412, and a left guide rail 413. The rear end of the left L-shaped beam body 411 is mounted on the lifting seat 35, and the left embedded cover 412 is embedded in the left L-shaped beam body 411 in a fastening manner; and the left guide rail 413 is positioned under the left L-shaped beam body 411 and connected to the left L-shaped beam body 411 through lugs. The right cantilever beam 42 includes a right L-shaped beam body 421, a right embedded cover 422, and a right guide rail 423. The rear end of the right L-shaped beam body 421 is mounted on the lifting scat 35, and the right embedded cover 422 is embedded in the right L-shaped beam body 421 in a fastening manner, and the right guide rail 423 is positioned under the right L-shaped beam body 421 and connected to the right L-shaped beam body 421 through lugs. The rear ends of the left L-shaped beam body 411 and the right L-shaped beam body 421 are both provided with anti-slide teeth, and the rear ends of the left L-shaped beam body 411 and the right L-shaped beam body 421 are kept in contact with the lifting seat 35 through the meshing of the anti-slide teeth: and the bottoms of the front ends of the left L-shaped beam body 411 and the right L-shaped beam body 421 arc both provided with T-shaped slide ways for mounting adjustable fixed pulleys 63 of the horizontal movement driving units 6. Both the left embedded cover 412 and the right embedded cover 422 can play a role of improving the comfort of supporting, increasing friction and decorating.

100461 As shown in FIGS. 1, 9 and 10, the parallel operating arm 5 is a three-degrees-of-freedom parallel mechanism with a 4UPR structure. The parallel operating arm 5 includes a first branch chain 51, a second branch chain 52, a third branch chain 53, a fourth branch chain 54, a left arc-shaped plate 55, a right arc-shaped plate 56, a chest-andabdomen sling 57, and thigh slings 58. The first branch chain 51 and the third branch chain 53 are symmetrically arranged on the left and right sides of the bottom of the middle rear portion of the supporting beam assembly 4, and the second branch chain 52 and the fourth branch chain 54 are symmetrically arranged on the left and right sides of the bottom of the front end of the supporting beam assembly 4; the upper ends of the first branch chain 51 and the second branch chain 52 are mounted on the left guide rail 413 of the left cantilever beam 41, and can slide forward and backward along the left guide rail 413 under the drive of the horizontal movement driving unit 6: the lower ends of the first branch chain 51 and the second branch chain 52 are fixedly connected to the two ends of the left arc-shaped plate 55 respectively; the upper ends of the third branch chain 53 and the fourth branch chain 54 are mounted on the right guide rail 423 of the right cantilever beam 42, and can slide forward and backward along the right guide rail 423 under the drive of the horizontal movement driving unit 6, and the lower ends of the third branch chain 53 and the fourth branch chain 54 are fixedly connected to the two ends of the right arc-shaped plate 56 respectively; the front and rear ends of the left arc-shaped plate 55 are provided with thigh sling positioning holes 551, the middle of the left arc-shaped plate 55 is also provided with two thigh sling riveting holes 552, and both ends of the right arc-shaped plate 56 are provided with chest-and-abdomen sling positioning holes 561; the thigh slings 58 are configured to fix the thighs of the user, and there are two thigh slings 58 which are symmetrically fixed on the left arc-shaped plate 55; the chest-and-abdomen sling 57 is configured to fix the chest and abdomen of the user, and the two ends of the chest-andabdomen sling 57 are connected to the two ends of the right arc-shaped plate 56 respectively. The structure of the first branch chain 51 is exactly the same as those of the second branch chain 52, the third branch chain 53 and the fourth branch chain 54, and their topological structures are all UPR structures.

[0047] As shown in FIGS. 1, 9 and 10, the first branch chain 51 includes a first universal joint 511, a first outer sleeve 512, a first inner rod 513, and a first hinge 514, the upper end of the first universal joint Sills mounted on the left guide rail 413 and connected to the left guide rail 413 through a linear bearing, the lower end of the first universal joint 511 is fixedly connected to the upper end of the first outer sleeve 512, the first outer sleeve 512 is provided with a plurality of adjusting-pin holes, the upper end of the first inner rod 513 is inserted in the first outer sleeve 512 and fixed with the first outer sleeve 512 through a pin, the lower end of the first inner rod 513 is fixedly connected to the upper end of the first hinge 514, and the lower end of the first hinge 514 is fixedly connected to the rear end of the left are-shaped plate 55; the second branch chain 52 includes a second universal joint 521, a second outer sleeve 522, a second inner rod 523, and a second hinge 524, the upper end of the second universal joint 521 is mounted on the left guide rail 413 and connected to the left guide rail 413 through a linear bearing, the lower end of the second universal joint 521 is fixedly connected to the upper end of the second outer sleeve 522, the second outer sleeve 522 is provided with a plurality of adjusting pin holes, the upper end of the second inner rod 523 is inserted in the second outer sleeve 522 and fixed with the second outer sleeve 522 through a pin, the lower end of the second inner rod 523 is fixedly connected to the upper end of the second hinge 524, and the lower end of the second hinge 524 is fixedly connected to the front end of the left are-shaped plate 55; the third branch chain 53 includes a third universal joint 531, a third outer sleeve 532, a third inner rod 533, and a third hinge 534, the upper end of the third universal joint 531 is mounted on the right guide rail 423 and connected to the right guide rail 423 through a lin ear bearing, the lower end of the third universal joint 531 is fixedly connected to the upper end of the third outer sleeve 532, the upper end of the third inner rod 533 is inserted in the third outer sleeve 532, the lower end of the third inner rod 533 is fixedly connected to the upper end of the third hinge 534, and the lower end of the third hinge 534 is fixedly connected to the rear end of the right arc-shaped plate 56; the fourth branch chain 54 includes a fourth universal joint 541, a fourth outer sleeve 542, a fourth inner rod 543, and a fourth hinge 544, the upper end of the fourth universal joint 541 is mounted on the right guide rail 423 and connected to the right guide rail 423 through a linear bearing, the lower end of the fourth universal joint 541 is fixedly connected to the upper end of the fourth outer sleeve 542, the upper end of the fourth inner rod 543 is inserted in the fourth outer sleeve 542, the lower end of the fourth inner rod 543 is fixedly connected to the upper end of the fourth hinge 544, and the lower end of the fourth hinge 544 is fixedly connected to the front end of the right arc-shaped plate 56; the axes of the first hinge 514 and the second hinge 524 are parallel to each other, the axes of the third hinge 534 and the fourth hinge 544 are parallel to each other, and the axes of the first hinge 514 and the third hinge 534 are perpendicular to each other; in an initial state, the two axes of the cross trunnion of the first universal joint 511 are kept parallel to those of the cross trunnion of the second universal joint 521 respectively, the two axes of the cross trunnion of the third universal joint 531 are kept parallel to those of the cross trunnion of the fourth universal joint 541 respectively, the axis of the first hinge 514 is kept parallel to one axis of the cross trunnion of the first universal joint 511, and the axis of the third hinge 534 is kept parallel to one axis of the cross trunnion of the third universal joint 531. Thus, it is ensured that the parallel mechanism composed of the parallel operating arm 5 has three degrees of freedom of movement, including one degree oF freedom of horizontal movement and two degrees of freedom of rotation, in a certain space.

[0048] As shown in FIGS. I, 9, 10 and II, the horizontal movement driving unit 6 includes a horizontal movement motor 61, a horizontal movement reel 62, an adjustable fixed pulley 63, a tensioner 64, a horizontal movement wire rope 65, and a horizontal movement motor support 66. The horizontal movement motor support 66 is fixedly mounted on the left L-shaped beam body 411 or the right L-shaped beam body 42 I through screws; the horizontal movement motor 61 is fixedly mounted on the horizontal movement motor support 66 through screws for providing power for the rotation of the horizontal movement reel 62 and the horizontal movement of the parallel operating arm 5; the horizontal movement reel 62 is fixedly mounted on the output shaft of the horizontal movement motor 61; the adjustable fixed pulley 63 is fixedly mounted at the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421; the tensioner 64 is configured to tension the horizontal movement wire rope 65, and the tensioner 64 is positioned at the rear end of the adjustable fixed pulley 63 and close to the adjustable fixed pulley 63, and is fixedly mounted on the bottom of the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421 through screws; the front and rear ends of the horizontal movement wire rope 65 are wound on the adjustable fixed pulley 63 and the horizontal movement reel 62 respectively, and the horizontal movement wire rope 65 positioned under the middle position is fixedly connected to the first universal joint 511 and the second universal joint 521 or the third universal joint 532 and the fourth universal joint 541.

[0049] As shown in FIGS. 1, 9, 10 and 11, the adjustable fixed pulley 63 includes a pulley base 631, a pulley shaft 632, and a pulley 633. The top of the pulley base 631 is provided with a T-shaped slider, and the T-shaped slider of the pulley base 631 is arranged in the T-shaped slide way of the left L-shaped beam body 411 or the right L-shaped beam body 421; and the pulley 633 is fixedly mounted on the pulley base 631 through the pulley shaft 632 and connected to the pulley shaft 632 through a bearing.

[0050] As shown in FIGS. I, 9 and 11, the tensioner 64 includes a tensioning support 641 and a tensioning screw 642. The tensioning support 641 is fixedly mounted on the bottom of the front end of the left L-shaped beam body 411 or the right L-shaped beam body 421 through screws, the tensioning screw 642 is connected to the tensioning support 641 through threads, and the front end of the tensioning screw 642 is kept in contact with the pulley base 631.

[0051] As shown in FIGS. 1, 9 and 10, the posture adjustment driving unit 7 includes a posture adjustment motor 71, a posture adjustment reel 72, and posture adjustment wire ropes 73. The posture adjustment motor 71 is fixedly mounted at the rear end of the right L-shaped beam body 421 through screws and positioned under the right guide rail 423 to provide power for the right arc-shaped plate 56 in the parallel operating arm 5 and the posture adjustment of the user fixed on the left arc-shaped plate 55 and the right arc-shaped plate 56; the posture adjustment reel 72 is fixedly mounted on the output shaft of the posture adjustment motor 71 for storing and winding the posture adjustment wire ropes 73; there are two posture adjustment wire ropes 73, the rear ends of which arc fixed and both wound on the posture adjustment reel 72, the front end of one of the two posture adjustment wire ropes 73 is fixedly connected to the third inner rod 533 after passing through the third universal joint 531 and the third outer sleeve 532, and the front end of the other of the two posture adjustment wire ropes 73 is fixedly connected to the fourth inner rod 543 after passing through the fourth universal joint 541 and the fourth outer sleeve 542.

100521 As shown in FIGS. 1, 9 and 10, small servo gear motors arc adopted as the horizontal movement motor 61 and the posture adjustment motor 7!.

[0053] As shown in FIGS. 1, 3 and 7, the measurement and control system 8 includes a binocular vision camera 81, a laser radar 82, ranging sensors 83, and a controller 84. The binocular vision camera 81 is fixedly mounted on the top connecting plate 37 of the lifting unit 3 through screws, the laser radar 82 is fixedly mounted on the bottom connecting plate 31 of the lifting unit 3 through screws, the ranging sensors 83 are arranged on the front side, hack side, left side and right side of the housing 12 of the movable platform I respectively, and are fixedly mounted on the housing 12 through screws or glue, and laser ranging sensors or ultrasonic ranging sensors are adopted as the ranging sensors 83: the controller 84 is fixedly mounted on the T-shaped supporting frame 113 of the chassis 11 through screws, and a data acquisition card is also arranged in the controller 84 for acquiring sensed information of the laser radar 82, the ranging sensors 83, angle sensors and displacement sensors and graphic information from the binocular vision camera 81; the binocular vision camera 81 is connected to the power source 16 in the chassis I I and the data acquisition card in the controller 84 through a power line and a data line respectively, the laser radar 82 and the ranging sensors 83 are connected to the data acquisition card through data lines, and the binocular vision camera 81 is provided with an LED light source. The controller 84 is con figured to control the movable platform 1, the rotary unit 2, the lifting unit 3, the parallel operating arm 5, the horizontal movement driving unit 6 and the posture adjustment driving unit 7 to execute corresponding actions or task instructions.

[0054] As shown in FIGS. I, 4, 6, 7 and 8, more further, angle sensors may also be arranged at both ends of the driving axle 132, the displacement sensors are arranged in the guide module 36 and the left cantilever beam 41, and the angle sensor in the rotary base 22, the angle sensors at both ends of the axle 132 and the displacement sensors are all connected to the data acquisition card through data lines.

[0055] From the perspective of mechanics, the parallel operating arm 5 is a parallel mechanism with three degrees of freedom of movement in space, including one degree of freedom of horizontal movement and two degrees of freedom of rotation. The parallel operating arm 5, the supporting beam assembly 4, the lifting unit 3 and the rotary unit 2 together form a hybrid mechanism with five degrees of freedom in space, including two degrees of freedom of horizontal movement and three degrees of freedom of rotation among which the vertical movement is a redundant degree of freedom. Coupled with the movement of the movable platform 1 on the ground, the present invention has at most six degrees of freedom of movement, including three degrees of freedom of horizontal movement and three degrees of freedom of rotation.

[0056] During use, if the present invention executes a task such as helping the user in rising, transferring, toileting, cleaning, posture adjustment, or etc., firstly, the travel motor 151 in the driving wheel driver 15 is controlled to make the movable platform 1 and the supporting beam assembly 4 of the present invention approach the user, and then the horizontal movement motor 61 in the horizontal movement driving unit 6 is driven to move the left arc-shaped plate 55 and the right arc-shaped plate 56 in the parallel operating arm 5 to approach the thighs, chest and abdomen of the user respectively, and the thighs, chest and abdomen of the user are fixed on the parallel operating arm 5 by the thigh slings 58 and the chest-and-abdomen sling 57 respectively. Then, according to needs, it can be chosen to perform lifting by means of the lifting unit 3 and angle adjustment by means of the rotary unit 2 or control the posture adjustment motor 71 in the posture adjustment driving unit 7 to drive the third branch chain 53 and the fourth branch chain 54 to lengthen or shorten, so as to adjust the posture of the user. When the present invention executes a task such as assisting exercise rehabilitation, it is necessary to appropriately lower the supporting beam assembly 4 and adjust the distance between the left cantilever beam 41 and the right cantilever beam 42 fixed on the lifting seat 35 according to the width of the user's body, so that the user can be supported on the left embedded cover 411 and the right embedded cover 421 by both arms, and the waist or thighs of the user can be fixed on the left arc-shaped plate 55 and the right arc-shaped plate 56 by flexible straps according to a use requirement, so as to improve safety in use. The lengths of the first branch chain 51 and the second branch chain 52 in the parallel operating arm 5 can be manually adjusted according to the actual requirement of the user. Functions, such as autonomous navigation, collision prevention and image recognition, in the working environment are mainly implemented by the laser radar 82, the ranging sensors 83, the binocular vision camera 81, the data acquisition card and the controller 84 in the measurement and control system 8.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "back", "left", "right", "horizontal" and "vertical" and the like is based on the orientation or positional relationship shown in the accompanying drawings, and is merely intended to facilitate the description of the present invention and the simplification of the description rather than indicate or imply that the units or elements indicated must have specific orientations and be constructed and operated in the specific orientations, and therefore these terms shall not be understood as a limitation to the present invention.

100581 The basic principle, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the aforementioned examples. What has been described in the aforementioned examples and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, there will be various changes and improvements of the present invention, all of which shall fall within the claimed scope of the present invention. The protection scope of the present invention is defined by the appended claims and equivalents thereof.

Claims

CLAIMSI. A multifunctional assistive nursing robot, comprising a movable platform, a rotary unit, a lifting unit, a supporting beam assembly, a parallel operating arm, horizontal movement driving units, a posture adjustment driving unit, and a measurement and control system, wherein the movable platform comprises a chassis, a housing, a driving wheel system, driven wheels, a driving wheel driver, and a power supply, wherein the driving wheel system and the driven wheels are arranged at the rear end and front end of the bottom of the chassis respectively, the driving wheel driver is arranged at a position of the bottom of the chassis close to the driving wheel system, and the housing is fixedly mounted on the chassis through screws; a rotary unit mounting frame is arranged on the top of the rear end of the chassis, a bottom supporting frame is arranged on the bottom of the rear end of the chassis, a T-shaped supporting frame and a power supply supporting frame are arranged on the bottom supporting frame, the power supply supporting frame is positioned at the front end of the T-shaped supporting frame, and the power supply is mounted on the power supply supporting frame; the lower end of the rotary unit is fixedly mounted on the rotary unit mounting frame of the chassis through screws, and the lower end of the lifting unit is fixedly mounted on the top of the rotary unit through screws; the rear end of the supporting beam assembly is mounted on the lifting unit, and the upper end of the parallel operating arm is mounted on the supporting beam assembly and connected to the supporting beam assembly through the horizontal movement driving units; there are two horizontal movement driving units, which are symmetrically fixedly mounted on the bottom of the supporting beam assembly; the posture adjustment driving unit is fixedly mounted on the bottom of the right side of the supporting beam assembly; the driving wheel system comprises two driving wheels and a driving axle, the driving axle is connected to the chassis through the driving wheel driver, and the two driving wheels are symmetrically mounted at the two ends of the driving axle and connected to the driving axle through bearings; the rotary unit comprises a rotary top cover, a rotary base, a rotary motor, a rotary gear, arid an annular gear; the rotary base is fixedly mounted on the rotary unit mounting frame of the chassis through screws; the rotary top cover is mounted in the rotary base and connected to the rotary base through two deep groove ball type transverse bearings and a cylindrical roller thrust bearing; the rotary motor is fixedly mounted on the rotary base, and the rotary gear is fixedly mounted on the output shaft of the rotary motor; the annular gear is fixedly mounted in the rotary top cover through screws, and is kept meshed with the rotary gear internally; an angle sensor is also arranged in the rotary base; and a servo gear motor or a servo hydraulic motor is adopted as the rotary motor; the lifting unit comprises a bottom connecting plate, guide pillars, a connecting beam, a driving cylinder, a lifting seat, guide modules, and a top connecting plate; the bottom connecting plate is fixedly mounted on the rotary top cover of the rotary unit through screws; there are two guide pillars, which are symmetrically mounted between the bottom connecting plate and the top connecting plate, and are fixedly connected to the bottom connecting plate and the top connecting plate by welding; there are two guide modules, which are symmetrically fixedly mounted on the lifting seat, and the guide modules are embedded in the guideways of the adjacent guide pillars; the connecting beam is positioned over the bottom connecting plate, with both ends being fixedly connected to the adjacent guide pillars by welding respectively; the lower end of the driving cylinder is fixedly mounted on the connecting beam, and the upper end of the driving cylinder is connected to the lifting seat through a hinge; the upper and lower ends of the lifting seat are provided with anti-slide teeth; and an electric push rod, an air cylinder or a hydraulic cylinder is adopted as the driving cylinder; the supporting beam assembly comprises a left cantilever beam and a right cantilever beam, which have the same structure and are symmetrically arranged on the lifting seat of the lifting unit; the left cantilever beam comprises a left L-shaped beam body, a left embedded cover, and a left guide rail, the rear end of the left L-shaped beam body is mounted on the lifting seat, the left embedded cover is embedded in the left L-shaped beam body in a fastening manner, and the left guide rail is positioned under the left L-shaped beam body and connected to the left L-shaped beam body through lugs; the right cantilever beam comprises a right L-shaped beam body, a right embedded cover, and a right guide rail, the rear end of the right L-shaped beam body is mounted on the lifting seat, the right embedded cover is embedded in the right L-shaped beam body in a fastening manner, and the right guide rail is positioned under the right L-shaped beam body and connected to the right L-shaped beam body through lugs; the rear ends of the left L-shaped beam body and the right L-shaped beam body are both provided with anti-slide teeth, and the rear ends of the left L-shaped beam body and the right L-shaped beam body are kept in contact with the lifting seat through the meshing of the anti-slide teeth; the bottoms of the front ends of the left L-shaped beam body and the right L-shaped beam body are both provided with T-shaped slide ways; the parallel operating arm, which is a three-degrees-of-freedom parallel mechanism with a 4UPR structure, comprises a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a left arc-shaped plate, a right arc-shaped plate, a chest-and-abdomen sling, and thigh slings; the first branch chain and the third branch chain are symmetrically arranged on the left and right sides of the bottom of the middle rear portion of the supporting beam assembly, and the second branch chain and the fourth branch chain are symmetrically arranged on the left and right sides of the bottom of the front end of the supporting beam assembly; the upper ends of the first branch chain and the second branch chain are mounted on the left guide rail of the left cantilever beam and connected to the left L-shaped beam body through the horizontal movement driving unit, and the lower ends of the first branch chain and the second branch chain are fixedly connected to the two ends of the left arc-shaped plate respectively; the upper ends of the third branch chain and the fourth branch chain are mounted on the right guide rail of the right cantilever beam and connected to the right L-shaped beam body through the horizontal movement driving unit, and the lower ends of the third branch chain and the fourth branch chain are fixedly connected to the two ends of the right arc-shaped plate respectively; there are two thigh slings, which are symmetrically fixed on the left arc-shaped plate: the two ends of the chestand-abdomen sling are connected to the two ends of the right arc-shaped plate respectively; the structure of the first branch chain is exactly the same as those of the second branch chain, the third branch chain and the fourth branch chain, and their topological structures are all UPR structures; the horizontal movement driving unit comprises a horizontal movement motor, a horizontal movement reel, an adjustable fixed pulley, a tensioner, a horizontal movement wire rope, and a horizontal movement motor support; the horizontal movement motor support is fixedly mounted on the left L-shaped beam body or the right L-shaped beam body through screws; the horizontal movement motor is fixedly mounted on the horizontal movement motor support through screws, and the horizontal movement reel is fixedly mounted on the output shaft of the horizontal movement motor; the adjustable fixed pulley is fixedly mounted at the front end of the left L-shaped beam body or the right L-shaped beam body, and the tensioner is positioned at the rear end of the adjustable fixed pulley and close to the adjustable fixed pulley, and is fixedly mounted on the bottom of the front end of the left L-shaped beam body or the right L-shaped beam body through screws; the front and rear ends of the horizontal movement wire rope are wound on the adjustable fixed pulley and the horizontal movement reel respectively, and the horizontal movement wire rope positioned under the middle position is fixedly connected to the first universal joint and the second universal joint or the third universal joint and the fourth universal joint; the adjustable fixed pulley comprises a pulley base, a pulley shaft, and a pulley the top of the pulley base is provided with a T-shaped slider, and the T-shaped slider of the pulley base is arranged in the T-shaped slide way of' the left L-shaped beam body or the right L-shaped beam body; and the pulley is fixedly mounted on the pulley base through the pulley shaft and connected to the pulley shaft through a bearing; the tensioner comprises a tensioning support and a tensioning screw; the tensioning support is fixedly mounted on the bottom of the front end of the left L-shaped beam body or the right L-shaped beam body through screws, the tensioning screw is connected to the tensioning support through threads, and the front end of the tensioning screw is kept in contact with the pulley base; the measurement and control system comprises a binocular vision camera, a laser radar, ranging sensors, and a controller, the binocular vision camera is fixedly mounted on the top connecting plate of the lifting unit through screws, the laser radar is fixedly mounted on the bottom connecting plate of the lifting unit through screws, the ranging sensors are fixedly mounted on the housing of the movable platform through screws or glue, the controller is fixedly mounted on the T-shaped supporting frame of the chassis through screws, a data acquisition card is also arranged in the controller, the binocular vision camera is connected to the power source in the chassis and the data acquisition card in the controller through a power line and a data line respectively, the ranging sensors and the laser radar are connected to the data acquisition card through data lines, and the binocular vision camera is provided with an LED light source.
2. The multifunctional assistive nursing robot of claim 1, wherein the first branch chain comprises a first universal joint, a first outer sleeve, a first inner rod, and a first hinge, the upper end of the first universal joint is mounted on the left guide rail and connected to the left guide rail through a linear bearing, the lower end of the first universal joint is fixedly connected to the upper end of the first outer sleeve, the upper end of the first inner rod is inserted in the first outer sleeve and fixed with the first outer sleeve through a pin, the lower end of the first inner rod is fixedly connected to the upper end of the first hinge, and the lower end of the first hinge is fixedly connected to the rear end of the left arc-shaped plate; the second branch chain comprises a second universal joint, a second outer sleeve, a second inner rod, and a second hinge, the upper end of the second universal joint is mounted on the left guide rail and connected to the left guide rail through a linear bearing, the lower end of the second universal joint is fixedly connected to the upper end of the second outer sleeve, the upper end of the second inner rod is inserted in the second outer sleeve and fixed with the second outer sleeve through a pin, the lower end of the second inner rod is fixedly connected to the upper end of the second hinge, and the lower end of the second hinge is fixedly connected to the front end of the left arc-shaped plate; the third branch chain comprises a third universal joint, a third outer sleeve, a third inner rod, and a third hinge, the upper end of the third universal joint is mounted on the right guide rail and connected to the right guide rail through a linear bearing, the lower end of the third universal joint is fixedly connected to the upper end of the third outer sleeve, the upper end of the third inner rod is inserted in the third outer sleeve, the lower end of the third inner rod is fixedly connected to the upper end of the third hinge, and the lower end of the third hinge is fixedly connected to the rear end of the right arc-shaped plate; the fourth branch chain comprises a fourth universal joint, a fourth outer sleeve, a fourth inner rod, and a fourth hinge, the upper end of the fourth universal joint is mounted on the right guide rail and connected to the right guide rail through a linear bearing, the lower end of the fourth universal joint is fixedly connected to the upper end of the fourth outer sleeve, the upper end of the fourth inner rod is inserted in the fourth outer sleeve, the lower end of the fourth inner rod is fixedly connected to the upper end of the fourth hinge, and the lower end of the fourth hinge is fixedly connected to the front end of the right arc-shaped plate; both the first outer sleeve and the second outer sleeve are provided with a plurality of adjusting pin holes; the axes of the first hinge and the second hinge are parallel to each other, the axes of the third hinge and the fourth hinge are parallel to each other, and the axes of the first hinge and the third hinge are perpendicular to each other; in an initial state, the two axes of the cross trunnion of the first universal joint are kept parallel to those of the cross trunnion of the second universal joint respectively, the two axes of the cross trunnion of the third universal joint are kept parallel to those of the cross trunnion of the fourth universal joint respectively, the axis of the first hinge is kept parallel to one axis of the cross trunnion of the first universal joint, and the axis of the third hinge is kept parallel to one axis of the cross trunnion of the third universal joint.
3. The multifunctional assistive nursing robot of claim I, wherein the driving wheel driver comprises a travel motor, a driving gear, a driven gear, and a combining support, the combining support comprises a main mounting plate, an axle support, and a motor mounting plate, the main mounting plate is fixedly mounted on the bottom of the rear end of the bottom supporting frame of the chassis through screws, the travel motor is fixedly mounted on the motor mounting plate through screws, the driving gear is fixedly mounted on the output shaft of the travel motor, the driven gear is splinelessly mounted on the driving axle, and is fixedly connected to the driving gear through screws, and the driving gear and the driven gear are kept meshed externally-the axle support, the motor mounting plate and the main mounting plate are fixedly connected by welding, or form an integral casting structure; and a servo gear motor or a servo hydraulic motor is adopted as the travel motor.
4. The multifunctional assistive nursing robot of claim 1, wherein the posture adjustment driving unit comprises a posture adjustment motor, a posture adjustment reel, and posture adjustment wire ropes; the posture adjustment motor is fixedly mounted at the rear end of the right L-shaped beam body through screws and positioned under the right guide rail; the posture adjustment reel is fixedly mounted on the output shaft of the posture adjustment motor; there are two posture adjustment wire ropes, the rear ends of which are fixed and both wound on the posture adjustment reel, the front end of one of the two posture adjustment wire ropes is fixedly connected to the third inner rod after passing through the third universal joint and the third outer sleeve, and the front end of the other of the two posture adjustment wire ropes is fixedly connected to the fourth inner rod after passing through the fourth universal joint and the fourth outer sleeve.
5. The multifunctional assistive nursing robot of claim 1, wherein the guide module comprises a guide frame, an upper guide wheel, an upper adjusting screw, a lower guide wheel, and a lower adjusting screw; the upper and lower ends of the guide frame are provided with an upper wheel hole and a lower wheel hole, and both the upper wheel hole and the lower wheel hole are slotted through holes; the upper guide wheel and the lower guide wheel are mounted in the upper wheel hole and the lower wheel hole respectively, and the upper adjusting screw and the lower adjusting screw are positioned on the upper outer side and lower inner side of the guide frame respectively, and are connected to the guide frame through threads; the upper guide wheel is positioned in the guideway of the guide pillar and kept in contact with the front guide surface of the guideway, and the lower guide wheel is positioned in the guideway of the guide pillar and kept in contact with the rear guide surface of the guideway; the upper adjusting screw is perpendicularly intersected with the axis of the upper guide wheel, the lower adjusting screw is perpendicularly intersected with the axis of the lower guide wheel, and the axes of the upper adjusting screw and the lower adjusting screw are kept parallel; and the lower guide wheel and the upper guide wheel have the same structure.
6. The multifunctional assistive nursing robot of claim I or 4, wherein small servo gear motors are adopted as the horizontal movement motor and the posture adjustment motor.
7. The multifunctional assistive nursing robot of claim 5, wherein the upper guide wheel comprises a wheel body, a mounting portion, and a locking portion; the mounting portion is positioned between the wheel body and the locking portion, the wheel body is connected to the mounting portion through a bearing, and the outer side of the mounting portion is provided with two positioning planes which are symmetrically arranged and matched with the upper wheel hole; and the outer cylindrical surface of the locking portion is provided with an external thread