A hip-lifting and flexible hand grasping device for a humanoid back-carrying robot

Abstract

The application discloses a hip lifting and flexible hand holding device of a human-simulating back-carrying moving robot, which comprises a hip lifting module and a flexible hand holding module; the hip lifting module comprises a lifting mechanism, a sliding mechanism and a cushion; the lifting mechanism comprises a connecting plate, an end support and a multi-link mechanism; the cushion is located on the end support and can realize reciprocating sliding on the end support through the sliding mechanism; two connecting plates are symmetrically installed on a main frame body of the human-simulating back-carrying moving robot and are connected with left and right sides of the end support through the multi-link mechanism, so that the end support can be folded and unfolded through the multi-link mechanism; two flexible hand holding modules are symmetrically installed on left and right sides of a chest rest of the human-simulating back-carrying moving robot and can flexibly support hands of a person being nursed through the flexible hand holding modules. The hip lifting module can keep a proper distance between the person being nursed and the chest rest of the human-simulating back-carrying moving robot, so that the comfort and safety are improved; the flexible hand holding module can give a certain buffer and movement space to the hands, avoid uncomfortable feeling of the hands caused by long-time gripping, flexibly buffer the impact caused by bumping, vibration and the like and avoid damage to the hands.

Description

Technical Field

[0001] This invention belongs to the field of nursing robot technology, specifically a hip support and flexible hand grip device for a humanoid carrying and transfer robot. Background Technology

[0002] The humanoid carrying and transfer robot enables the transfer of patients between nursing beds, wheelchairs, toilets, sofas, etc., by mimicking a human-like carrying motion, thus reducing the burden of caring for disabled or semi-disabled patients. During the transfer, the patient sits on the hip support device, with their chest resting on the chest rest of the humanoid carrying and transfer robot, and their hands holding the handles.

[0003] Existing transfer robots mostly have two main drawbacks. First, the buttock support device is fixed, and the seat cushion cannot be adjusted according to the user's body shape, resulting in varying levels of comfort and safety for different users. Second, the grip devices generally use rigid grips, which rely on their shape or anti-friction materials to achieve a non-slip grip. However, due to the user's limited hand dexterity and the low degree of freedom of the grip, the gripping comfort is poor, and the user may even suffer hand injuries due to impacts from bumps and vibrations during the transfer.

[0004] To address the issues of existing hip support devices and hand grip comfort, this invention designs a hip support and flexible hand grip device for a humanoid back-carrying transfer robot. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a hip support and flexible hand grip device for a humanoid carrying and transfer robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A hip support and flexible hand grip device for a humanoid carrying and transfer robot, characterized in that it includes a hip support module and a flexible hand grip module;

[0008] The buttock support module includes a support mechanism, a sliding mechanism, and a seat cushion; the support mechanism includes a connecting plate, an end bracket, and a multi-link mechanism; the seat cushion is located on the end bracket and slides back and forth on the end bracket through the sliding mechanism; two connecting plates are symmetrically installed on the main frame of the humanoid carrying robot and are respectively connected to the left and right sides of the end bracket through the multi-link mechanism, which enables the folding and unfolding of the end bracket;

[0009] Two flexible grip modules are symmetrically installed on the left and right sides of the chest rest of the humanoid back-carrying transfer robot. The flexible grip module includes a stationary rod, an anti-slip grip, a grip linkage, a rocker arm, a first damper, a mounting plate, a slide rail, a slider, and a second damper. One side of the mounting plate is hinged to the side of the chest rest of the humanoid back-carrying transfer robot. One end of the rocker arm is hinged to the upper part of the mounting plate, and the other end is hinged to one end of the grip linkage. The other end of the grip linkage is hinged to one end of the anti-slip grip, and the other end of the anti-slip grip is hinged to one end of the stationary rod. The other end of the stationary rod is fixedly connected to the lower part of the mounting plate. One end of the first damper is hinged to the upper part of the mounting plate, and the other end is hinged to the upper rocker arm. The slide rail is located on the upper side of the chest rest of the humanoid back-carrying transfer robot. One end of the second damper is connected to one end of the slide rail, and the other end of the second damper is fixedly connected to the slider. The slider is embedded in the other end of the slide rail and can slide back and forth within the slide rail. The shaft on the upper part of the mounting plate is embedded in the groove on the side of the slider.

[0010] Furthermore, the multi-link mechanism includes an electric push rod, a four-link, a short link, a three-link, and a long link; the cylinder end of the electric push rod is rotatably connected to the lower end of the connecting plate, the rod end of the electric push rod is rotatably connected to the middle of the lower side of the four-link, one end of the four-link is rotatably connected to the lower middle part of the connecting plate, and the other end is rotatably connected to one end of the long link; the other end of the long link is rotatably connected to the middle of one side of the end bracket; one end of the short link is rotatably connected to the middle of the upper side of the four-link, and the other end is rotatably connected to one end of the three-link; the middle of the three-link is rotatably connected to the upper middle part of the connecting plate, and the other end of the three-link is rotatably connected to the front end of one side of the end bracket.

[0011] Furthermore, the sliding mechanism includes a bearing housing, a slide table, a lead screw, and a lead screw drive motor; both ends of the lead screw are rotatably mounted on the end bracket via bearing housings, one end of the lead screw passes through one of the bearing housings and is connected to the output shaft of the lead screw drive motor, and the lead screw drive motor is mounted on the end bracket; the slide table is slidably mounted on the lead screw, and the seat cushion is located on the slide table and slidably connected to the end bracket.

[0012] Furthermore, the buttock support module also includes an anti-fall mechanism; the anti-fall mechanism includes a backrest drive motor, a backrest, a final cushioning structure, and a starting cushioning structure; the backrest drive motor is installed at the rear end of the seat cushion, and the output shaft of the backrest drive motor is connected to the rod end of the backrest; the starting cushioning structure is installed at the bottom of the rear end of the seat cushion, and the final cushioning structure is installed at the rear end of the seat cushion. The starting cushioning structure limits the backrest in a horizontal state, and the final cushioning structure limits the backrest in a vertical state.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] The seat cushion folds and unfolds using two symmetrical multi-link mechanisms. These mechanisms require less driving force and offer better rigidity, preventing excessive stress at local joint points. The cushion's rotational efficiency is higher and more stable, providing stable support for the person being cared for and improving safety. A sliding mechanism adjusts the cushion's position to maintain a suitable distance between the person being cared for and the humanoid carrier's chest rest, avoiding safety issues caused by excessive distance or comfort issues caused by insufficient distance. During seat position adjustment, due to the significant acceleration of the motor during startup and shutdown, an anti-fall mechanism supports the person's lower back to prevent accidental slippage and potential safety hazards.

[0015] The flexible grip module provides the hand with cushioning and room to move, avoiding discomfort caused by prolonged gripping. It also provides gentle cushioning against impacts from bumps and vibrations, preventing hand injury. Considering the varying directions of force exerted on the grip by the user's hand during use, the anti-slip grip may rotate clockwise or counter-clockwise relative to the stationary lever. Therefore, a first damper limits the rotation of the anti-slip grip, while maintaining its unloaded balance when not in use. When the mounting plate is subjected to force from the user's shoulder, it rotates around the robot's chest rest. The flexible grip module's slide rails, slider, and second damper convert the rotational motion of the safety plate into the linear motion of the slider. The second damper further limits the rotation range of the mounting plate, increasing hand freedom and ensuring comfort. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the connection between the device of the present invention and the humanoid carrying and transferring robot;

[0017] Figure 2 This is a schematic diagram of the buttock support module of the present invention;

[0018] Figure 3 This is a cross-sectional view of the buttock support module of the present invention;

[0019] Figure 4 This is a top view of the buttock support module of the present invention;

[0020] Figure 5 This is a schematic diagram of the flexible hand-grip module of the present invention;

[0021] Figure 6 This is a partial structural diagram of the flexible hand-grip module of the present invention;

[0022] In the diagram: 1-Lifting mechanism; 2-Anti-fall mechanism; 3-Sliding mechanism; 4-Seat cushion; 5-Flexible hand grip module; 6-Humanoid carrying robot;

[0023] 101-Connecting plate; 102-Electric push rod; 103-Four-link rod; 104-Short connecting rod; 105-Three-link rod; 106-Long connecting rod; 107-End bracket; 201-Backrest drive motor; 202-Backrest; 203-Final stroke buffer structure; 204-Initial stroke buffer structure; 301-Bearing seat; 302-Slide table; 303-Lead screw; 304-Coupling; 305-Lead screw drive motor; 501-Stationary rod; 502-Anti-slip grip; 503-Grip connecting rod; 504-Rock arm; 505-First damper; 506-Mounting plate; 507-Slide rail; 508-Slider; 509-Second damper. Detailed Implementation

[0024] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to describe the technical solution of the present invention in detail, and are not intended to limit the scope of protection of this application.

[0025] This invention provides a hip support and flexible hand grip device for a humanoid carrying and transfer robot (hereinafter referred to as the device, see [link]). Figures 1-6 The system includes a hip support module and a flexible hand grip module 5. The hip support module is installed on the main frame of the humanoid back-carrying transfer robot 6 and provides support for the hips of the person being cared for. The two flexible hand grip modules 5 are symmetrically installed on the left and right sides of the chest rest of the humanoid back-carrying transfer robot 6 and provide support for the hands of the person being cared for.

[0026] The buttock support module includes a support mechanism 1, a sliding mechanism 3, and a seat cushion 4. The seat cushion 4 is mounted on the end bracket 107 of the support mechanism 1. Under the action of the sliding mechanism 3, the seat cushion 4 can slide back and forth on the support mechanism 1 to adjust the position of the seat cushion 4 on the support mechanism 1, so that the distance between the caregiver of different body types and the chest support of the humanoid back-carrying mobile care robot 6 can be maintained to ensure comfort and safety. The seat cushion 4 is equipped with a pressure sensor, and the body type of the caregiver is estimated based on the pressure data measured by the pressure sensor to adjust the position of the seat cushion 4. The lifting mechanism 1 includes a connecting plate 101, an end bracket 107, and a multi-link mechanism. Two connecting plates 101 are symmetrically mounted on the main frame of the humanoid carrying robot 6, and are respectively connected to the left and right sides of the end bracket 107 via the multi-link mechanism. The multi-link mechanism enables the folding and unfolding of the end bracket 107. The multi-link mechanism includes an electric push rod 102, four auxiliary rods 103, a short link 104, three auxiliary rods 105, and a long link 106. The cylinder end of the electric push rod 102 is rotatably connected to the lower end of the connecting plate 101, and the rod end of the electric push rod 102 is rotatably connected to the middle of the lower side of the four auxiliary rods 103. One end of the four auxiliary rods 103 is rotatably connected to the lower middle part of the connecting plate 101, and the other end is rotatably connected to one end of the long link 106. The other end is rotatably connected to the middle of one side of the end bracket 107; one end of the short connecting rod 104 is rotatably connected to the middle of the upper side of the four auxiliary rods 103, and the other end is rotatably connected to one end of the three auxiliary rods 105. The middle of the three auxiliary rods 105 is rotatably connected to the upper middle part of the connecting plate 101, and the other end of the three auxiliary rods 105 is rotatably connected to the front end of one side of the end bracket 107; the electric push rod 102 extends and retracts, driving the rods to move together to realize the folding and unfolding of the end bracket 107, thereby realizing the folding and unfolding of the cushion 4; when the electric push rod 102 extends, the end bracket 107 gradually switches from a vertical state to a horizontal state, realizing the unfolding of the end bracket 107; when the electric push rod 102 shortens, the end bracket 107 gradually switches from a horizontal state to a vertical state, realizing the folding of the end bracket 107.

[0027] The sliding mechanism 3 includes a bearing housing 301, a slide table 302, a lead screw 303, and a lead screw drive motor 305. Specifically, both ends of the lead screw 303 are rotatably mounted on the end bracket 107 via the bearing housing 301, with one end passing through the bearing housing 301 and connected to the output shaft of the lead screw drive motor 305 via a coupling 304. The lead screw drive motor 305 is mounted on the end bracket 107. The slide table 302 is slidably mounted on the lead screw 303, and the seat cushion 4 is fixed on the slide table 302 with its two sides slidably connected to the two sides of the end bracket 107. The lead screw 303 is rotated by the lead screw drive motor 305, causing the slide table 302 to slide back and forth on the lead screw 303 to adjust the position of the seat cushion 4 on the end bracket 107.

[0028] The buttock support module also includes an anti-fall mechanism 2 to prevent the person being cared for from falling off the seat cushion 4. The anti-fall mechanism 2 includes a backrest drive motor 201, a backrest 202, a final cushioning structure 203, and a starting cushioning structure 204. The backrest drive motor 201 is installed at the rear end of the seat cushion 4, and the output shaft of the backrest drive motor 201 is fixedly connected to the rod end of the backrest 202. The starting cushioning structure 204 is installed at the bottom of the rear end of the seat cushion 4, and the final cushioning structure 203 is installed at the rear end of the seat cushion 4. The backrest drive motor 201 enables the backrest 202 to switch between horizontal and vertical states. When the backrest 202 is in a horizontal state, it is limited by the starting cushioning structure 204, and when the backrest 202 is in a vertical state, it is limited by the final cushioning structure 203.

[0029] The flexible grip module 5 includes a stationary rod 501, an anti-slip grip 502, a grip connecting rod 503, a rocker arm 504, a first damper 505, a mounting plate 506, a slide rail 507, a slider 508, and a second damper 509. Specifically, one side of the mounting plate 506 is hinged to the side of the chest rest of the humanoid back-carrying transfer robot 6 via a hinge. One end of the rocker arm 504 is hinged to the upper part of the mounting plate 506, and the other end is hinged to one end of the grip connecting rod 503. The other end of the grip connecting rod 503 is hinged to one end of the anti-slip grip 502, and the other end of the anti-slip grip 502 is hinged to one end of the stationary rod 501. The other end of the rod 501 is fixedly connected to the lower part of the mounting plate 506; one end of the first damper 505 is hinged to the upper part of the mounting plate 506, and the other end is hinged to the upper rocker arm 504. When subjected to force from the hand of the person being cared for, the anti-slip grip 502 will rotate clockwise or counterclockwise relative to the stationary rod 501, and at the same time drive the grip connecting rod 503 and the rocker arm 504 to move together. At this time, the damping rod of the first damper 505 will contract or extend to limit the rotation angle of the anti-slip grip 502, so that the anti-slip grip 502 can rotate within a certain range, thereby realizing the flexible hand grip module 5 to provide flexible support for the hand of the person being cared for. The slide rail 507 is installed on the upper side of the chest rest of the humanoid back-carrying transfer robot 6. One end of the second damper 509 is connected to one end of the slide rail 507, and the other end of the second damper 509 is fixedly connected to the slider 508. The slider 508 is embedded in the other end of the slide rail 507 and can slide back and forth within the slide rail 507. The shaft at the top of the mounting plate 506 is embedded in the groove on the side of the slider 508. When the person being cared for lies on the chest rest of the humanoid back-carrying transfer robot 6 and holds the anti-slip handle 502, the mounting plate 506 will rotate relative to the chest rest of the humanoid back-carrying transfer robot 6 after being squeezed by the person being cared for. This will cause the slider 508 to slide within the slide rail 507, converting the rotational motion of the mounting plate 506 into the linear motion of the slider 508. Under the constraint of the second damper 509, the sliding distance of the slider 508 is limited, so the mounting plate 506 rotates within a certain angle range.

[0030] The working principle and workflow of this invention are as follows:

[0031] Initially, the seat cushion 4 is folded, and the backrest 202 is horizontal. When a back-carrying transfer task is required, the humanoid back-carrying transfer robot 6 moves to the front of the person being cared for. The person being cared for faces the chest support of the humanoid back-carrying transfer robot 6. After the infrared sensor installed on the connecting plate 101 detects the person being cared for, it activates the electric push rod 102 to extend, pushing the four auxiliary rods 103 to rotate. This drives the short connecting rod 104, the three auxiliary rods 105, and the long connecting rod 106 to work together to gradually switch the end bracket 107 from a vertical state to a horizontal state, thus unfolding the seat cushion 4. After the seat cushion 4 is fully unfolded, the electric push rod 102 has its maximum stroke and maintains its current position. The humanoid carrying robot 6 carries the person being cared for onto the seat cushion 4. It then activates the backrest drive motor 201, causing the backrest 202 to rotate and switch from a horizontal to a vertical position. The backrest 202 provides protection from behind, preventing the person from falling off the seat cushion 4. Based on pressure data from the pressure sensors on the seat cushion 4, the robot estimates the person's body shape and activates the lead screw drive motor 305, which rotates the lead screw 303. This causes the slide 302 to slide back and forth on the lead screw 303, adjusting the position of the seat cushion 4 so that the person is seated comfortably while ensuring safety.

[0032] The patient's chest rests against the robot's chest support, with both hands gripping the anti-slip handles 502. Due to the force exerted by the patient, the mounting plate 506 rotates relative to the chest support of the humanoid carrying robot 6, causing the slider 508 to slide within the slide rail 507. Constrained by the second damper 509, the rotation range of the mounting plate 506 is limited. Simultaneously, the anti-slip handles 502 rotate relative to the stationary rod 501, driving the handle linkage 503 and the rocker arm 504 in tandem. Constrained by the first damper 505, the rotation angle of the anti-slip handles 502 is limited, achieving flexible contact between the flexible hand grip module 5 and the patient's hands. The humanoid carrying robot 6 transfers the patient in this current posture. During the transfer, if the mounting plate 506 and anti-slip handles 502 rotate due to bumps or vibrations, the second damper 509 and the first damper 505 help them reach a new equilibrium position, achieving flexible support.

[0033] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A buttock-supporting and flexible hand-gripping device for a humanoid carrying and transfer robot, characterized in that, Includes a hip support module and a flexible hand grip module; The buttock support module includes a support mechanism, a sliding mechanism, and a seat cushion; the support mechanism includes a connecting plate, an end bracket, and a multi-link mechanism; the seat cushion is located on the end bracket and slides back and forth on the end bracket through the sliding mechanism; two connecting plates are symmetrically installed on the main frame of the humanoid carrying robot and are respectively connected to the left and right sides of the end bracket through the multi-link mechanism, which enables the folding and unfolding of the end bracket; Two flexible grip modules are symmetrically installed on the left and right sides of the chest rest of the humanoid back-carrying transfer robot. The flexible grip module includes a stationary rod, an anti-slip grip, a grip linkage, a rocker arm, a first damper, a mounting plate, a slide rail, a slider, and a second damper. One side of the mounting plate is hinged to the side of the chest rest of the humanoid back-carrying transfer robot. One end of the rocker arm is hinged to the upper part of the mounting plate, and the other end is hinged to one end of the grip linkage. The other end of the grip linkage is hinged to one end of the anti-slip grip, and the other end of the anti-slip grip is hinged to one end of the stationary rod. The other end of the stationary rod is fixedly connected to the lower part of the mounting plate. One end of the first damper is hinged to the upper part of the mounting plate, and the other end is hinged to the upper rocker arm. The slide rail is located on the upper side of the chest rest of the humanoid back-carrying transfer robot. One end of the second damper is connected to one end of the slide rail, and the other end of the second damper is fixedly connected to the slider. The slider is embedded in the other end of the slide rail and can slide back and forth within the slide rail. The shaft on the upper part of the mounting plate is embedded in the groove on the side of the slider.

2. The buttock support and flexible hand grip device of the humanoid carrying and transfer robot according to claim 1, characterized in that, The multi-link mechanism includes an electric push rod, a four-link, a short link, a three-link, and a long link. The cylinder end of the electric push rod is rotatably connected to the lower end of the connecting plate, and the rod end of the electric push rod is rotatably connected to the middle of the lower side of the four-link. One end of the four-link is rotatably connected to the lower middle part of the connecting plate, and the other end is rotatably connected to one end of the long link. The other end of the long link is rotatably connected to the middle of one side of the end bracket. One end of the short link is rotatably connected to the middle of the upper side of the four-link, and the other end is rotatably connected to one end of the three-link. The middle of the three-link is rotatably connected to the upper middle part of the connecting plate, and the other end of the three-link is rotatably connected to the front end of one side of the end bracket.

3. The buttock support and flexible hand grip device of the humanoid carrying and transfer robot according to claim 1 or 2, characterized in that, The sliding mechanism includes a bearing housing, a slide table, a lead screw, and a lead screw drive motor; both ends of the lead screw are rotatably mounted on the end bracket via bearing housings, and one end of the lead screw passes through one of the bearing housings and is connected to the output shaft of the lead screw drive motor, which is mounted on the end bracket; the slide table is slidably mounted on the lead screw, and the seat cushion is located on the slide table and slidably connected to the end bracket.

4. The buttock support and flexible hand grip device of the humanoid carrying and transfer robot according to claim 1, characterized in that, The buttock support module also includes an anti-fall mechanism; the anti-fall mechanism includes a backrest drive motor, a backrest, a final cushioning structure, and a starting cushioning structure; the backrest drive motor is installed at the rear end of the seat cushion, and the output shaft of the backrest drive motor is connected to the lower end of the backrest; the starting cushioning structure is installed at the bottom of the rear end of the seat cushion, and the final cushioning structure is installed at the rear end of the seat cushion. The starting cushioning structure limits the backrest in a horizontal state, and the final cushioning structure limits the backrest in a vertical state.

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