Multi-mode movable health assisting mechanical arm system and cooperative control method thereof

Abstract

The invention discloses a multi-mode movable health assisting mechanical arm system which solves the problem that mobility and stability of a traditional nursing robot cannot be achieved at the same time through a crane-imitating triangular supporting structure, a four-corner supporting structure, a modularized mechanical arm and a multi-machine cooperative control technology. The system supports single-machine operation and multi-machine cooperation, is suitable for scenes such as support, object delivery and emergency rescue, is long in endurance time, adopts a modular design, adopts general modules as much as possible, greatly reduces the mass production cost, and has extremely high medical and family application values.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent service robots, and specifically relates to a health-assisting robotic arm system that integrates a wheeled mobile chassis, an expandable triangular support structure, and multi-machine collaboration capabilities. The system is suitable for use in homes, nursing homes, hospitals, and other scenarios, and can provide safe and stable physical assistance and life care services for people with limited mobility. Background Art

[0002] Existing nursing robots have the following problems: First, health-assistive robotic arms (such as patents) that work in fixed positions such as bedside have limited working range and occupy living space when not working; second, there is a contradiction between mobility and stability: traditional wheeled robots are flexible but prone to shaking during operation, and fixed robotic arms lack scene adaptability; third, insufficient collaborative capabilities: multi-machine collaborative algorithms are highly complex and difficult to achieve precise movement synchronization; fourth, energy management defects: insufficient battery life during continuous work, and lack of automatic charging integrated design.

[0003] References to existing technologies: The auxiliary robotic arm system of Guangzhou Zero Software Technology Co., Ltd. (patent CN2025102717587 "A multi-degree-of-freedom adaptable health-assistive robotic arm system and its control method" and patent 202510271664X "A detachable multimodal AI health-assistive robotic arm system for use at the bedside") needs to be fixedly installed at locations such as the bedside, cannot perform mobile operations, and has a limited working range. The support leg-assisted lifting device of Jiangsu Noga Machinery (patent CN118619097B "A lifting device with support leg assistance") enhances stability through adaptive support legs, but its structure is complex and is not adapted to mobile scenarios; Zoomlion's boom assembly auxiliary system (CN115432587A "") proposes a collaborative leveling solution for multiple lifting units, but does not involve human interaction and dynamic path planning. Summary of the invention

[0004] Robotic arm-mobile chassis integrated design: Wheeled mobile carrier: four-wheel omnidirectional drive chassis, built-in laser radar and visual SLAM module, support dynamic obstacle avoidance and path planning; support structure can be selected in two forms: a) Triangle support ( Figure 1 Middle left picture): It contains three independent hydraulic legs, which are evenly distributed at 120° when unfolded; b) Four corner supports ( Figure 1 Middle right picture): It contains four retractable / foldable mechanical legs, which are arranged in a rectangular symmetrical layout when unfolded; Modular robotic arms (3-6 degrees of freedom), with end effectors including two-finger grippers, three-finger adaptive hands and five-finger bionic hands; Multi-machine collaborative control module, supporting dynamic load distribution and sub-second motion synchronization.; Energy management: The chassis has a built-in high-density battery (battery life ≥ 8 hours) and supports automatic return to the charging base (magnetic docking accuracy ±1mm).

[0005] Robotic arm system: Modular robotic arm: compatible with 3-6 degrees of freedom configuration, the end can be replaced with a two-finger gripper, a three-finger adaptive hand or a five-finger bionic hand (gripping force 1-20N adjustable); sensor fusion: binocular camera (user posture recognition), millimeter-wave radar (anti-collision), six-axis force sensor (contact force closed-loop control).

[0006] Multi-machine collaborative control ( Figure 2 ): Distributed computing framework: Distributed node communication based on ROS 2, supporting dual-machine collaboration to complete high-complexity tasks such as lifting and dressing; Dynamic load balancing: Automatically assign action priority according to the position and load status of the robotic arm (such as the main arm bears 70% of the load, and the auxiliary arm adjusts the balance).

[0007] The support structure of the present invention is extended in form ( Figure 3 ): Telescopic leg design: adopts a multi-stage sleeve structure with built-in high-precision linear guide; the drive mode can be selected as hydraulic (high-load scenario) or electric push rod (low-cost version), and the extension speed is 0.1-0.5m / s; folding leg design: the leg body is a carbon fiber connecting rod, and the folding joint adopts a worm gear self-locking mechanism; when unfolded, it is quickly released through the spring accumulator, and the robotic arm posture pre-adjustment is synchronously triggered.

[0008] The innovation of the present invention is reflected in the crane-like support structure, multi-machine dynamic collaboration, and low-cost modularization. For example, the triangular support mode is a crane-like support structure: the mechanical distribution is optimized when the triangular support is unfolded (refer to the support leg design in CN118619097B "A lifting device with support leg assistance"), and the stability is greatly improved compared with the traditional wheeled chassis; Multi-machine dynamic collaboration: Based on the reference and improvement of Zoomlion’s collaborative leveling technology (CN115432587A “Boom assembly auxiliary loading system”), sub-second action synchronization and load adaptive distribution are achieved; Low-cost modularity: The robot arm joints use Yushu Technology U series motors, which are compatible with 3-6 degrees of freedom configurations, and can significantly reduce the cost of replacing a single joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 : Schematic diagram of the composition of the health-assisting robotic arm system. In the figure: Left Figure 3 Healthy assistive robotic arm with corner support; right Figure 4 Angle-supported health-assistive robotic arm; 1. Health-assistive robotic arm body; 2. Bolt-mounted quick-release base; 3. Four-wheel omnidirectional drive chassis; 4. Independent hydraulic legs with triangular support structure; 5. Two-finger gripper (replaceable to three-finger adaptive hand and five-finger bionic hand); 6. Binocular camera; 7. Millimeter-wave radar; 8. Six-axis force sensor (contact force closed-loop control); 9. Retractable / foldable mechanical legs.

[0010] Figure 2 : Schematic diagram of multi-cooperative control.

[0011] Figure 3 : Support mode selection diagram.

[0012] Figure 4 : Tripod support expansion control logic.

[0013] Figure 5 : Schematic diagram of the legs unfolded.

[0014] Figure 6 : Folding leg joint structure. DETAILED DESCRIPTION

[0015] Example 1: Helping someone get up from bed ( Figure 4 ). Steps: 1) The user calls "Help me get up", and the chassis navigates to the bedside (avoiding obstacles); 2) The triangular bracket unfolds to form a stable support surface; 3) The five fingers of the robotic arm support the user's back, and the six-axis force sensor controls the lifting speed (≤5cm / s); 4) After the action is completed, the bracket retracts and the chassis returns to the charging base.

[0016] Example 2: Anti-slip support in the bathroom. Steps: 1) The IP67 waterproof chassis enters the shower room, and the triangular bracket is unfolded on the anti-slip mat; 2) The dual robotic arms work together to support the user's armpits, and the millimeter-wave radar monitors the water stains on the ground in real time; 3) If the user's center of gravity deviation is detected to be greater than 10°, the emergency brake is triggered and a voice alarm is sounded.

[0017] Example 3: Multi-machine collaborative dressing. Steps: 1) Two robotic arms grab the left and right cuffs of clothing respectively; 2) The main arm recognizes the position of the user's arm through vision, and the auxiliary arm dynamically adjusts the unfolding angle of the clothing; 3) The force sensor limits the stretching force to ≤3N to prevent pulling the user's limbs.

[0018] Example 4: Emergency transfer and rescue. Steps: 1) Detect the user's fall signal (through the wearable device), and the chassis moves to the user's side urgently; 2) The tripod is unfolded and locked, and the robotic arm lifts the user to a wheelchair or stretcher; 3) Automatically plan a path to the emergency point, and avoid obstacles in real time along the way.

[0019] Example 5: Four-corner support for uneven ground adaptation ( Figure 5 ). Scenario: Outdoor ramp support in a nursing home. 1) The four-corner support chassis detects a ground slope of 10° and starts the independent extension and retraction of the legs; 2) The left front leg is extended by 30mm to compensate for the height difference, and the pressure sensor ensures that the load on the four legs is balanced; 3) The robotic arm performs ramp support, and the force sensor limits the lateral offset force to <2N.

[0020] Example 6: Emergency obstacle avoidance with triangular support. Scenario: Getting up at night in the bedroom. 1) The user triggers an emergency call, and the chassis detects a ground obstacle (such as slippers) while moving; 2) The triangular support is instantly deployed and locked, and the robotic arm enters the lifting preparation state in advance; 3) After the support is completed, the support structure is retracted and bypasses the obstacle to return to the charging station.

[0021] Example 7: Retractable four-corner support rehabilitation training. Scenario: Walking assistance in hospital rehabilitation room. 1) The high load mode is triggered when the user is standing for training; 2) Four retractable legs extend from the chassis to form a 2m×1.5m support surface; 3) The robotic arm monitors the user's center of gravity in real time, and the leg pressure sensor is dynamically leveled (error ≤3%).

[0022] Example 8: Folding triangular support wheelchair collaboration ( Figure 6 ). Scenario: The wheelchair and the robotic arm move together. 1) The folded legs are stored on both sides of the robotic arm base; 2) When the chassis is close to the wheelchair, the legs rotate downward 90° and unfold; 3) The two robotic arms work together to transfer the user to the wheelchair, and the support force fluctuation throughout the process is less than 1kg.

Claims

1. A multi-modal mobile health-assisting robotic arm system, characterized in that It includes: a four-wheel omnidirectional drive chassis, an integrated deployable support structure, the support structure includes: a) telescopic legs: driven by hydraulic / electric push rods, extending from the inside of the chassis during operation; b) foldable legs: stored on the outside of the chassis or the robotic arm through rotating joints, and rotated to a preset angle when unfolded; the support structure supports two layout forms: i) triangular support: three legs are symmetrically distributed at 120°; ii) four-corner support: four legs are symmetrically distributed in a rectangular shape; modular robotic arm (3-6 degrees of freedom), the end effector can be replaced by a gripper or a multi-finger bionic hand; integrated support structure and SLAM navigation module; multi-machine collaborative control module, supporting dynamic load distribution and sub-second motion synchronization.

2. The system according to claim 1, characterized in that: The maximum extension length of the telescopic legs is 1.2-1.5 times the diameter of the chassis, and they are completely hidden in the chassis cavity when retracted; the foldable legs are flush with the robot arm casing when stored, with an unfolding angle of 60°-180°, and self-locking buckles are provided at the folding joints.

3. The system according to claim 1, characterized in that: The movable health-assistive robotic arm system can be equipped with a type of support leg + a support method, or a composite support leg + support method. When the composite support leg + support method is selected, the unfolding form of the support structure is adaptively matched with the scene: triangular support + folding legs are automatically selected in narrow spaces (unfolding time ≤ 2 seconds); four-corner support + telescopic legs are automatically switched in high-load scenes (support force ≥ 500kg).

4. The system according to claim 1, characterized in that: The storage positions of the foldable legs include: the grooves on the outer side of the chassis (the legs are flush with the wheel hub after being folded); and both sides of the robotic arm base (the legs are attached to the robotic arm shell after being folded).

5. The system according to claim 1, characterized in that: The chassis has a built-in automatic charging docking module, the charging seat positioning accuracy is ±1mm, and the charging efficiency is ≥95%.

6. The system according to claim 1, characterized in that: The multi-machine collaborative control module adopts a priority dynamic allocation algorithm, with the main arm load accounting for 50-80%, and the auxiliary arm responsible for balance adjustment.

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