Stable transfer nursing robot, robot system and operation control method

Abstract

The invention provides a nursing robot capable of moving stably, a robot system and an operation control method.The nursing robot comprises a robot body and two multi-degree-of-freedom mechanical arms arranged on the two sides of the robot body, and the robot body is provided with a control system for controlling the two mechanical arms to act. Auxiliary side walls capable of stretching out and retracting are telescopically connected to the mechanical arms, the auxiliary side walls comprise a hip auxiliary side wall which is arranged on one mechanical arm, can stretch out to the position between the two mechanical arms and supports the hip of the patient, and the hip auxiliary side wall is connected with a first telescopic driving mechanism for driving the hip auxiliary side wall to stretch out or retract back. According to the nursing robot, by arranging the extensible hip auxiliary side wall, when the two mechanical arms of the nursing robot hold up a patient, the hip auxiliary side wall extends out to support the hip of the patient, the patient can be prevented from sliding down and being injured, the hip auxiliary side wall shares part of the weight of the patient, the comfort level of the patient is improved, and the nursing robot is convenient to use. And a patient can be prevented from being injured by the mechanical arm.

Description

Technical Field

[0001] The present invention belongs to the field of nursing robots, and in particular relates to a nursing robot with smooth transfer, a robot system and an operation control method. Background Art

[0002] Nursing is very difficult for people who have lost or lack the ability to move (such as patients with paralysis, shock, anesthesia, coma, and disability, as well as elderly people with damaged or degraded body functions). Nursing for this group mainly includes feeding services, transfer and transportation, and personal hygiene. During the nursing process, manual transfer of patients requires great strength from medical staff, and even requires the cooperation of multiple people. In addition, in the face of the increasing shortage of nursing staff, the burden can be greatly reduced by using care robots for transfer.

[0003] For disabled or semi-disabled people who lie in bed for a long time and cannot stand on their own, they usually rely on the arms of a care robot to hold them horizontally for transfer and transportation, such as the transfer robot disclosed in CN201810609935.8, the two-arm transfer and nursing robot disclosed in CN202311786607.2, and the nursing robot disclosed in CN201811515894.2. When the foregoing two-arm transfer and nursing robot picks up the patient, the robot's arms support the middle of the patient's back and the crook of the legs respectively. However, disabled people have no independent support and no support at the buttocks, so they are prone to sliding down, which is uncomfortable and there is a risk of injury. Summary of the invention

[0004] The present invention aims to solve the technical problems existing in the prior art. The first object of the present invention is to provide a smoothly transferred care robot. The second object of the present invention is to provide a robot system based on the aforementioned care robot. The third object of the present invention is to provide an operation control method based on the aforementioned robot system.

[0005] To achieve the above-mentioned first purpose, the present invention adopts the following technical scheme: a smoothly transferred care robot, comprising a robot body and two multi-degree-of-freedom robotic arms arranged on both sides of the robot body, the robot body having a control system for controlling the movements of the two robotic arms, the robotic arms being retractably connected with auxiliary side walls that can be extended and retracted, the auxiliary side walls comprising a buttocks auxiliary side wall arranged on one of the robotic arms and capable of extending between the two robotic arms to support the patient's buttocks, the buttocks auxiliary side wall being connected to a first telescopic drive mechanism for driving the buttocks auxiliary side wall to extend or retract.

[0006] The above technical solution, by providing an extendable hip auxiliary side wall, when the two mechanical arms of the care robot pick up the patient, the hip auxiliary side wall extends to support the patient's hips, which can prevent the patient from slipping and getting injured. In addition, the hip auxiliary side wall shares part of the patient's weight, improves the patient's comfort, and can also prevent the patient from being strangled by the mechanical arms.

[0007] In a preferred embodiment of the present invention, a first opening is provided at the bottom of the robotic arm on which the hip auxiliary side wall is provided, the first telescopic drive mechanism is a first multi-stage electric cylinder installed in the robotic arm, the hip auxiliary side wall is installed at the lower end of the first multi-stage electric cylinder, and the first multi-stage electric cylinder can extend in and out obliquely downward from the first opening.

[0008] In the above technical solution, the first telescopic driving mechanism adopts a first multi-stage electric cylinder, which has a small size when fully retracted, so as to try to fully retract the buttocks auxiliary side wall into the robot arm without hindering the operation of the robot arm.

[0009] In a preferred embodiment of the present invention, the auxiliary side wall also includes a neck auxiliary side wall disposed on another robotic arm and capable of supporting the patient's neck, and the neck auxiliary side wall is connected to a second telescopic drive mechanism for driving it to extend or retract to the robotic arm.

[0010] The above technical solution, by adding neck auxiliary side walls, when the two mechanical arms of the care robot pick up the patient, the neck auxiliary side walls also extend out to support the patient's neck, which can prevent the disabled person's head from drooping and injuring the neck, thereby improving safety.

[0011] In a preferred embodiment of the present invention, a second opening is provided at the top of the robotic arm on which the neck auxiliary side wall is provided, the second telescopic drive mechanism is a second multi-stage electric cylinder installed in the robotic arm, the neck auxiliary side wall is installed at the upper end of the second multi-stage electric cylinder, and the second multi-stage electric cylinder can extend in and out obliquely upward from the second opening.

[0012] In the above technical solution, the second telescopic drive mechanism adopts a second multi-stage electric cylinder, which has a small size when fully retracted, so as to try to retract the auxiliary side wall of the neck completely into the robot arm without hindering the operation of the robot arm.

[0013] In a preferred embodiment of the present invention, both robotic arms are provided with weight sensors for measuring weight; and / or the robot body or the robotic arm is provided with an image sensor for measuring the patient's height; and / or a distance sensor for measuring height distance is provided at the bottom of the robot body or the robotic arm.

[0014] The above technical solution, by setting a weight sensor, an image sensor, and a distance sensor, respectively measures the patient's weight, height, and lifting height, thereby facilitating the extension of the hip auxiliary side wall and the neck auxiliary side wall to a more suitable position, improving the patient's comfort, and facilitating the reasonable distribution of the power of the two robotic arms.

[0015] In order to achieve the above-mentioned second purpose, the present invention adopts the following technical solution: a robot system, including a bed for a patient to lie on, and the aforementioned smooth transfer care robot, the bed has sinkable insertion openings corresponding to the middle position of the patient's back and the leg pit, and the bed is connected to a liftable connection with a baffle that can close the insertion opening.

[0016] The above technical solution, by setting a sunken insertion port on the bed, facilitates the two robotic arms to be inserted into the two insertion ports on the bed, and are respectively located in the middle position of the patient's back and the leg pit. There is no need for manual assistance for the robotic arms to enter the middle position of the patient's back and the leg pit, further reducing the labor intensity of humans.

[0017] To achieve the third purpose mentioned above, the present invention adopts the following technical scheme: a method for controlling the operation of a robot system, comprising the following steps: S1, obtaining an image of a patient, obtaining the height of the patient, and determining the middle position of the patient's back and the position of the leg pits; S2, the insertion holes of the bed corresponding to the middle position of the patient's back and the position of the leg pits sink; S3, two robotic arms are respectively inserted into the two insertion holes of the bed, and a trial lift is performed to obtain the weight of the patient; S4, the two robotic arms distribute the force, lift the patient up a first distance; S5, the auxiliary side walls are extended, and the two robotic arms lift the patient for transfer; S6, after the patient is transferred into place, the lifted patient is put down to the first distance, the auxiliary side walls are retracted, the robotic arms on the back are retracted first, and then the robotic arms on the legs are retracted.

[0018] The above technical solution obtains the patient's weight through trial lifting before picking up the patient, so as to facilitate the distribution of the force of the robotic arm; after the patient is lifted up a first distance, the auxiliary side wall is extended, and at the same time, when the lifted patient is lowered to the first distance, the auxiliary side wall is retracted, which does not hinder the robotic arm from lifting and lowering the patient, thereby ensuring the smoothness of the transfer.

[0019] In another preferred embodiment of the present invention, in step S4, the method for distributing force between the two robotic arms is: determine the center of gravity according to the weight and height of the patient, obtain the horizontal distance D1 from the middle of the back to the center of gravity, and the horizontal distance D2 from the leg pit to the center of gravity; F1*D1=F2*D2, F1+F2=MG, wherein F1 is the force required by the back robotic arm, F2 is the force required by the leg robotic arm, the directions of F1 and F2 are vertically upward, M is the patient's weight, and G is the acceleration of gravity.

[0020] The above technical solution distributes the power of the two mechanical arms according to the distance between the middle back position and the leg pit position and the center of gravity before picking up the patient and extending the auxiliary side wall, so that the patient is subjected to more even force to prevent the patient from tipping over or falling.

[0021] In another preferred embodiment of the present invention, after the auxiliary side wall is extended after the patient is lifted up, the distribution of force between the two mechanical arms is adjusted:

[0022] The force required by the back robot arm is The angle between the force direction required by the back robot and F1 is The force required by the leg robot is The angle between the force direction required by the leg manipulator and F2 is

[0023] Among them, D3 is the horizontal distance between the neck support point of the neck auxiliary side wall and the center of gravity, D4 is the horizontal distance between the hip support point of the hip auxiliary side wall and the center of gravity, θ1 is the angle between the support direction of the extended neck auxiliary side wall and the vertical upward direction, and θ2 is the angle between the support direction of the extended hip auxiliary side wall and the vertical upward direction.

[0024] According to the above technical solution, after the auxiliary side wall is extended when the patient is lifted up, the size and direction of the force of the two mechanical arms are adjusted because the auxiliary side wall shares part of the weight of the patient. When adjusting, the distance between the neck auxiliary side wall and the hip auxiliary side wall and the center of gravity, as well as the angle between the supporting direction of the extended neck auxiliary side wall and the hip auxiliary side wall and the vertical upward direction are taken into consideration, so that the patient is more evenly stressed and more comfortable, and the patient can be prevented from tipping over or falling.

[0025] In another preferred embodiment of the present invention, the method for determining the center of gravity according to the weight and height of the patient is: w =k1h+k(M-m0), where h w is the actual center of gravity position, k1 is the estimation coefficient, which is 0.56 for males and 0.54 for females, h is the patient's height, k is the correction coefficient determined by experiments, M is the patient's weight, and m0 is the standard weight reference value calculated based on height.

[0026] The above technical solution treats males and females separately when obtaining the center of gravity of the patient. Males have larger skeletons and more muscles, so the estimation coefficient of males is greater than that of females, which is more reasonable and the result is more accurate.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 1. It is a top view schematic diagram of the smoothly transferred care robot of the first embodiment.

[0030] Figure 2 It is a side view schematic diagram showing two robotic arms holding a patient and the auxiliary side wall extending.

[0031] The figure marks in the drawings of the specification include: robot body 1, robot arm 2, hip auxiliary side wall 3, first telescopic drive mechanism (first multi-stage electric cylinder) 4, neck auxiliary side wall 5, second telescopic drive mechanism (second multi-stage electric cylinder) 6, weight sensor 7, image sensor 8, distance sensor 9. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0035] Embodiment 1

[0036] This embodiment provides a care robot with smooth transfer, such as Figure 1 and Figure 2As shown, in a preferred embodiment, the care robot includes a robot body 1 and two multi-degree-of-freedom robotic arms 2 arranged on both sides of the robot body 1, the robot body 1 has a control system for controlling the movements of the two robotic arms 2, and the specific structure of the robot body 1 and the robotic arms 2 can adopt the structure of an existing dual-arm nursing robot (such as the nursing robot cited in the background technology), and the specific method of controlling the movement of the robotic arms 2 can also adopt the existing technology, which is not the innovation of the present invention and will not be described in detail here.

[0037] In the present invention, the robotic arm 2 is telescopically connected with an auxiliary side wall that can be extended and retracted, and the auxiliary side wall includes a hip auxiliary side wall 3 provided on one of the robotic arms 2 and capable of extending between the two robotic arms 2 to support the patient's buttocks. For example, the hip auxiliary side wall 3 is provided on the right robotic arm 2, and the hip auxiliary side wall 3 is connected to a first telescopic driving mechanism 4 that drives it to extend or retract.

[0038] By adopting such a technical solution, when the two mechanical arms 2 of the care robot pick up the patient, the hip auxiliary side wall 3 extends out to support the patient's hip, thereby preventing the patient from slipping and getting injured.

[0039] In the present invention, the bottom of the mechanical arm 2 (i.e., the right mechanical arm 2) provided with the buttocks auxiliary side wall 3 is provided with a first opening, the first telescopic driving mechanism 4 is a first multi-stage electric cylinder installed in the right mechanical arm 2, the buttocks auxiliary side wall 3 is fixedly installed at the lower end of the first multi-stage electric cylinder 4, and the first multi-stage electric cylinder 4 can extend in and out obliquely to the lower left from the first opening. The first multi-stage electric cylinder 4 extends obliquely downward from the first opening, so that the buttocks auxiliary side wall 3 moves obliquely downward to below the patient's buttocks. At this time, the mechanical arm 2 can slightly lower the patient's buttocks (for example, by bringing the two mechanical arms 2 closer to each other) so that the buttocks are supported by the buttocks auxiliary side wall 3, or the buttocks auxiliary side wall 3 is moved upward (for example, by rotating the right mechanical arm 2 clockwise to move the buttocks auxiliary side wall 3 upward) to support the patient's buttocks.

[0040] Preferably, by adjusting the number of stages of the first multi-stage electric cylinder 4 , as well as the shape and size of the hip auxiliary side wall 3 , the hip auxiliary side wall 3 can be fully retracted into the robotic arm 2 .

[0041] It should be noted that for patients with taller height, in order to ensure that the hip auxiliary side wall 3 can move smoothly to the bottom of the patient's buttocks, during the extension of the hip auxiliary side wall 3, the forearm of the robotic arm 2 can be rotated counterclockwise to allow the first multi-stage electric cylinder 4 to drive the hip auxiliary side wall 3 to rotate outward. After the hip auxiliary side wall 3 is extended into place, the robotic arm 2 can be rotated clockwise to allow the first multi-stage electric cylinder 4 to drive the hip auxiliary side wall 3 to rotate inward to support the patient's buttocks.

[0042] In another preferred embodiment, the auxiliary side wall also includes a neck auxiliary side wall 5 provided on another mechanical arm 2 (i.e., the left mechanical arm 2) and capable of supporting the patient's neck, and the neck auxiliary side wall 5 is connected to a second telescopic drive mechanism 6 that drives it to extend or retract to the mechanical arm. By adding the neck auxiliary side wall 5, when the two mechanical arms 2 of the care robot pick up the patient, the hip auxiliary side wall 3 and the neck auxiliary side wall 5 are both extended, and the hip auxiliary side wall 3 supports the patient's hips to prevent the patient from sliding down and getting injured, and the neck auxiliary side wall 5 supports the patient's neck to prevent the disabled person's head from sagging and damaging the neck.

[0043] In this embodiment, a second opening is provided at the top of the mechanical arm 2 (i.e., the left mechanical arm 2) on which the neck auxiliary side wall 5 is provided, and the second telescopic driving mechanism 6 is a second multi-stage electric cylinder installed in the left mechanical arm 2. The neck auxiliary side wall 5 is fixedly installed at the upper end of the second multi-stage electric cylinder 6, and the second multi-stage electric cylinder 6 can extend in and out obliquely to the upper left from the second opening. The second multi-stage electric cylinder 6 extends obliquely upward from the second opening, so that the neck auxiliary side wall 5 moves obliquely upward to the patient's neck to support the patient's neck.

[0044] Preferably, by adjusting the number of stages of the second multi-stage electric cylinder 6 , and the shape and size of the neck auxiliary side wall 5 , the neck auxiliary side wall 5 can be fully retracted into the robot arm 2 .

[0045] It should be noted that, for patients of different heights, in order to ensure that the neck auxiliary side wall 5 can better support the patient's neck, the inclination angle of the second multi-stage electric cylinder 6 can be adjusted by rotating the robotic arm 2 during the extension of the neck auxiliary side wall 5. At the same time, the position of the neck auxiliary side wall 5 can be adjusted by adjusting the extension length of the second multi-stage electric cylinder 6 to ensure that the neck auxiliary side wall 5 can better support the patient's neck.

[0046] Preferably, the top of the neck auxiliary side wall 5 is an upwardly protruding arc surface. By setting the arc surface, when the neck auxiliary side wall 5 is extended to different positions, the surface of the neck auxiliary side wall 5 can fit well with the patient's neck shape, thereby improving the patient's comfort.

[0047] In another preferred embodiment, the tops of the buttocks auxiliary side wall 3 and the neck auxiliary side wall 5 are both provided with flexible pads, which can be made of rubber or silicone and are soft and comfortable.

[0048] In another preferred embodiment, both robotic arms 2 are provided with a weight sensor 7 for measuring weight. The weight sensor 7 can be embedded in the upper surface of the forearm of the robotic arm 2 (the upper surface of the forearm when the palm of the robotic arm 2 is facing upward), and the weight of the patient is measured by the weight sensor 7.

[0049] In another preferred embodiment, an image sensor 8 for measuring the height of the patient is provided on the robot body 1 or the robot arm 2. Specifically, the image sensor 8 may be a binocular camera provided on the front of the head of the robot body 1. The image sensor 8 takes an image of the patient lying on the bed and uploads it, thereby obtaining the height of the patient, the middle position of the patient's back and the position of the leg pits, so as to facilitate the adjustment of the positions of the buttocks auxiliary side wall 3 and the neck auxiliary side wall 5; of course, an image sensor 8 may also be provided at the top of each of the two robot arms 2 at the beginning.

[0050] In another preferred embodiment, a distance sensor 9 for measuring height distance is provided at the bottom of the robot body 1 or the mechanical arm 2, so as to obtain the height position of the patient held by the mechanical arm 2, or the height difference of the patient lifted up. Specifically, the distance sensor 9 can be provided at the bottom of the forearm of the mechanical arm 2 (the lower surface of the forearm when the palm of the mechanical arm 2 is facing upward). When the forearm of the mechanical arm 2 rotates a certain angle, the distance measured by the distance sensor 9 needs to take into account the angle of rotation of the forearm. This is a prior art and will not be described in detail here. Of course, a bracket can also be provided on the robot body 1 to install the distance sensor 9. At this time, the distance sensor 9 does not move with the rotation of the forearm of the mechanical arm 2, and can directly measure the height position of the patient, or the height difference of the patient lifted up.

[0051] Embodiment 2

[0052] This embodiment provides a robot system, including the smoothly transferred care robot of embodiment 1, and a bed for patients to lie down (not shown in the figure), the bed has sunken insertion openings corresponding to the middle position of the patient's back and the leg pit position, and the bed is connected to a baffle that can be raised and lowered by a lifting drive mechanism and can close the insertion opening, and the lifting drive mechanism can use an electric push rod. Normally, the lifting drive mechanism raises the baffle to close the top of the sunken insertion opening to make the upper surface of the bed flat. When the care robot needs to transfer the patient, the baffle is first lowered to expose the insertion opening, and the two mechanical arms 2 of the care robot are inserted into the two sunken insertion openings on the bed so that the two mechanical arms 2 are respectively located in the middle position of the patient's back and the leg pit position.

[0053] Embodiment 3

[0054] This embodiment provides an operation control method of the robot system based on the second embodiment, comprising the following steps:

[0055] S1, obtain the patient's image and height through the image sensor 8, and determine the patient's middle back position and leg fossa position. The specific detection method can adopt the existing image detection method and position recognition method.

[0056] S2, the insertion openings of the bed corresponding to the middle position of the patient's back and the leg fossa are sunken to allow the two robotic arms 2 to be inserted.

[0057] S3, the two robotic arms 2 are respectively inserted into the two insertion ports of the bed, and a lifting attempt is made (to make the patient completely leave the bed), and the weight of the patient is obtained through the weight sensor 7.

[0058] S4, the two mechanical arms 2 distribute the force, lift the patient up a first distance (obtained by the distance sensor 9), at which time the patient's buttocks leave the bed at a certain height, which is convenient for the subsequent extension of the buttocks auxiliary side wall 3.

[0059] S5, the hip auxiliary side wall 3 and the neck auxiliary side wall 5 are extended to support the patient's hip and neck, and the two robotic arms 2 pick up the patient for transfer.

[0060] S6, after the patient is transferred to the position, the patient is put down to the first distance (i.e., the first distance mentioned above in step S4), the hip auxiliary side wall 3 and the neck auxiliary side wall 5 are folded up, the back robotic arm 2 is retracted first, and then the leg robotic arm 2 is retracted.

[0061] In step S4 of the present invention, the method of distributing the force between the two mechanical arms 2 is:

[0062] Determine the center of gravity according to the weight and height of the patient, and obtain the horizontal distance D1 from the middle of the back to the center of gravity, and the horizontal distance D2 from the leg pit to the center of gravity;

[0063] F1*D1=F2*D2,F1+F2=MG,

[0064] Among them, F1 is the force required by the back robotic arm, F2 is the force required by the leg robotic arm, the directions of F1 and F2 are vertically upward, M is the patient's weight, and G is the acceleration of gravity.

[0065] More preferably, if Figure 2 As shown, after the auxiliary side wall is extended after the patient is lifted up, since the neck auxiliary side wall 5 and the hip auxiliary side wall 3 share part of the patient's weight, it is necessary to adjust the distribution of force between the two mechanical arms 2:

[0066] The force required by the back robot arm 2 is The angle between the force direction required by the back robot arm 2 and F1 is The force required by the leg robot 2 is The angle between the force direction required by the leg manipulator 2 and F2 is

[0067] Among them, D3 is the horizontal distance between the neck support point of the neck auxiliary side wall 5 and the center of gravity, D4 is the horizontal distance between the hip support point of the hip auxiliary side wall 3 and the center of gravity, θ1 is the angle between the support direction of the extended neck auxiliary side wall 5 (that is, the length direction of the second multi-stage electric cylinder 6) and the vertical upward direction, and θ2 is the angle between the support direction of the extended hip auxiliary side wall 3 (that is, the length direction of the first multi-stage electric cylinder 4) and the vertical upward direction.

[0068] In the present invention, the method for determining the center of gravity according to the weight and height of the patient is:

[0069] h w =k1h+k(M-m0),

[0070] Among them, h w is the actual center of gravity; k1 is the estimation coefficient, which is 0.56 for males and 0.54 for females; h is the patient's height; k is the correction coefficient, which is determined by experiments; M is the patient's weight; m0 is the standard weight reference value calculated based on height.

[0071] In the description of this specification, the description with reference to the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0072] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A smoothly transferred care robot, comprising a robot body and two multi-degree-of-freedom mechanical arms arranged on both sides of the robot body, wherein the robot body has a control system for controlling the movements of the two mechanical arms, characterized in that: The mechanical arm is telescopically connected with an auxiliary side wall that can be extended and retracted. The auxiliary side wall includes a buttocks auxiliary side wall provided on one of the mechanical arms and capable of extending between the two mechanical arms to support the patient's buttocks. The buttocks auxiliary side wall is connected to a first telescopic driving mechanism that drives it to extend or retract.

2. The smooth transfer care robot according to claim 1, characterized in that: A first opening is provided at the bottom of the robotic arm on which the hip auxiliary side wall is arranged, the first telescopic driving mechanism is a first multi-stage electric cylinder installed in the robotic arm, the hip auxiliary side wall is installed at the lower end of the first multi-stage electric cylinder, and the first multi-stage electric cylinder can extend in and out obliquely downward from the first opening.

3. The smooth transfer care robot according to claim 1, characterized in that: The auxiliary side wall also includes a neck auxiliary side wall arranged on another of the mechanical arms and capable of supporting the patient's neck. The neck auxiliary side wall is connected to a second telescopic driving mechanism that drives it to extend or retract to the mechanical arm.

4. The smooth transfer care robot according to claim 3, characterized in that: A second opening is provided at the top of the robotic arm on which the neck auxiliary side wall is arranged, the second telescopic drive mechanism is a second multi-stage electric cylinder installed in the robotic arm, the neck auxiliary side wall is installed at the upper end of the second multi-stage electric cylinder, and the second multi-stage electric cylinder can extend in and out obliquely upward from the second opening.

5. A smoothly-transferred care robot according to any one of claims 1 to 4, characterized in that: Both of the mechanical arms are provided with weight sensors for measuring weight; and / or an image sensor for measuring the patient's height is provided on the robot body or the robot arm; And / or a distance sensor for measuring height distance is provided at the bottom of the robot body or the robot arm.

6. A robot system, comprising a bed for a patient to lie on, and a smoothly-transferred care robot according to any one of claims 1 to 5, characterized in that: The bed has sinkable insertion openings corresponding to the middle position of the patient's back and the position of the leg pits, and a baffle capable of closing the insertion openings is connected to the bed in a liftable manner.

7. An operation control method of the robot system according to claim 6, characterized in that: The steps include: S1, obtain the patient's image, obtain the patient's height, and determine the patient's middle back position and leg fossa position; S2, the insertion openings of the bed corresponding to the middle of the patient's back and the leg pits are sunken; S3, two robotic arms are inserted into the two insertion ports of the bed respectively, and a trial lift is performed to obtain the patient's weight; S4, the two robotic arms distribute the force and lift the patient up to the first distance; S5, the auxiliary side wall extends, and two robotic arms pick up the patient for transfer; S6, after the patient is transferred to the position, the patient is put down to the first distance, the auxiliary side wall is retracted, the robotic arm on the back is retracted first, and then the robotic arm on the leg is retracted.

8. The operation control method according to claim 7, characterized in that: In step S4, the method of distributing the force between the two robotic arms is: Determine the center of gravity according to the weight and height of the patient, and obtain the horizontal distance D1 from the middle of the back to the center of gravity, and the horizontal distance D2 from the leg pit to the center of gravity; F1*D1=F2*D2,F1+F2=MG, Among them, F1 is the force required by the back robotic arm, F2 is the force required by the leg robotic arm, the directions of F1 and F2 are vertically upward, M is the patient's weight, and G is the acceleration of gravity.

9. The operation control method according to claim 8, characterized in that: After lifting the patient and assisting the side wall to extend, the force distribution of the two robotic arms needs to be adjusted: The force required by the back robot arm is The angle between the force direction required by the back robot and F1 is The force required by the leg robot is The angle between the force direction required by the leg manipulator and F2 is Among them, D3 is the horizontal distance between the neck support point of the neck auxiliary side wall and the center of gravity, D4 is the horizontal distance between the hip support point of the hip auxiliary side wall and the center of gravity, θ1 is the angle between the support direction of the extended neck auxiliary side wall and the vertical upward direction, and θ2 is the angle between the support direction of the extended hip auxiliary side wall and the vertical upward direction.

10. The operation control method according to claim 8, characterized in that: The method for determining the center of gravity based on the patient's weight and height is: h w =k1h+k(M-m0), Among them, h w is the actual center of gravity position, k1 is the estimation coefficient, which is 0.56 for males and 0.54 for females, h is the patient's height, k is the correction coefficient determined by experiments, M is the patient's weight, and m0 is the standard weight reference value calculated based on height.

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