Leg flexible supporting device of humanoid back-carrying nursing robot

Abstract

The invention belongs to the technical field of nursing robots, and particularly relates to a leg flexible supporting device of a humanoid backpack nursing robot. The device comprises a leg wrapping module and a pose adjusting module. The two pose adjusting modules are symmetrically mounted on the left side and the right side of the robot chest rest, and each pose adjusting module is connected with one leg wrapping module; the leg wrapping module comprises a leg support bracket, a tail end wrapping plate, an adjusting air bag, a locking buckle, a connecting bracket, a reset spring and a multi-connecting-rod mechanism; the multiple reset springs are arranged on the connecting support, the rear end of the leg support support is fixedly connected with the free ends of the reset springs, the multi-connecting-rod mechanisms are arranged on the two sides of the rear end of the leg support support respectively, the two tail end wrapping plates are connected with the multi-connecting-rod mechanisms on the two sides respectively, and the adjusting air bags are arranged in the middles of the inner sides of the two tail end wrapping plates respectively. The two ends of the locking buckle are connected with the ends of the two tail end wrapping plates respectively. The folding degree of the tail end wrapping plate can be adjusted in a self-adaptive mode according to the body shape and the leg shape of the human body, the fitting degree with the legs is improved, and the use comfort is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of nursing robots, and in particular is a flexible leg supporting device for a humanoid nursing robot. Background Art

[0002] The humanoid back nursing robot can complete the task of transferring the care recipient between nursing beds, wheelchairs, toilets, sofas, etc. by carrying the care recipient in a humanoid way. During the carrying and transferring process, the care recipient lies on the humanoid back nursing robot, with the chest of the care recipient pressed against the chest support of the humanoid back nursing robot, and the arms pass over the armpit support structure of the robot, so that the hands hold the handles of the humanoid back nursing robot. The humanoid back nursing robot supports the care recipient through the armpit support structure, chest support, etc. However, part of the existing transfer robot does not have a leg support structure, which not only makes it difficult to ensure the safety of patients with lower limb disability or semi-disability during the carrying and transferring process, but also increases the force on the armpits and chest of the care recipient, resulting in poor comfort; the leg support structure of the other part usually adopts a fixed rigid support, which cannot effectively fit the care recipients of different body shapes and leg shapes, and is prone to cause pain or blood circulation obstruction due to excessive local pressure, and it is difficult to effectively prevent the care recipient from slipping and accidentally separating during the transfer process.

[0003] Therefore, in order to solve the problem of effective support for the human body's legs during the carrying and transferring process, the present invention designs a flexible leg support device for a humanoid carrying nursing robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a flexible leg support device for a humanoid nursing robot.

[0005] The present invention solves the technical problem by adopting the following technical solution:

[0006] A leg flexible support device for a humanoid backpack nursing robot, comprising a leg wrapping module and a posture adjustment module; two posture adjustment modules are symmetrically installed on the left and right sides of the chest support of the humanoid backpack nursing robot, each posture adjustment module is connected to a leg wrapping module, and the posture adjustment module is used to adjust the position of the leg wrapping module;

[0007] The leg wrapping module includes a leg support bracket, an end wrapping plate, an adjustment airbag, a locking buckle, a connecting bracket, a return spring and a multi-link mechanism; wherein the connecting bracket is fixedly connected to the slide of the posture adjustment module, a plurality of return springs are arranged on the connecting bracket, the rear end of the leg support bracket is fixedly connected to the free ends of all the return springs, and the front end of the leg support bracket is in close contact with the rear side of the human body's legs; multi-link mechanisms are respectively provided on both sides of the rear end of the leg support bracket, and the two end wrapping plates are respectively connected to the multi-link mechanisms on both sides, and the folding and unfolding of the end wrapping plates are realized by the multi-link mechanism; an adjustment airbag is respectively provided in the middle of the inner side of the two end wrapping plates, and the adjustment airbag is in contact with the human body's legs; the two ends of the locking buckle are respectively connected to the ends of the two end wrapping plates.

[0008] Furthermore, the posture adjustment module includes a stepper motor, a motor bracket, a pinion, a synchronous belt, a large gear, a limit block, a porous mounting plate, an electric push rod, a slide rod, a slide rod bracket, a rotating support platform, a slide and a threaded rod; wherein, one side of the porous mounting plate is fixedly connected to the chest support of the humanoid backpack nursing robot, the cylinder end of the electric push rod is fixedly connected to the upper end of the porous mounting plate, the rod end of the electric push rod is fixedly connected to one end of the slide rod, the other end of the slide rod is slidably connected to the porous mounting plate, one end of the slide rod bracket is fixedly connected to the slide rod, the motor bracket is located at the other end of the slide rod bracket, the stepper motor is fixed on the motor bracket, the output shaft of the stepper motor is connected to the pinion gear, the upper end of the large gear is rotatably connected to the motor bracket, the synchronous belt is meshed with the pinion gear and the large gear, and the lower end of the large gear is fixedly connected to the rotating support platform; the rotating support platform is provided with a slide groove along the length direction, the threaded rod is rotatably installed in the slide groove, and the slide is slidably connected to the threaded rod.

[0009] Furthermore, the multi-link mechanism includes a first link, a V-shaped link and a second link; one end of the first link is rotatably connected to the leg support bracket, one end of the V-shaped link is rotatably connected to the other end of the first link, the middle part of the V-shaped link is rotatably connected to the middle part of the connecting bracket, the other end of the V-shaped link is rotatably connected to the outer side of one end of the end wrapping plate, one end of the second link is rotatably connected to the upper part of the connecting bracket, and the other end is rotatably connected to the inner side of one end of the end wrapping plate.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The leg wrapping module can provide stable support for the legs of the person being cared for, reduce the pressure on the chest and armpits of the human body in the traditional transfer mode, fit closely and comfortably to different body shapes and leg shapes, prevent the safety problems caused by the person being cared for accidentally slipping off the seat cushion, and significantly improve the comfort of the person being cared for. The return spring can not only expand the end wrapping plate when it is unloaded to facilitate the placement of the human legs, but also adaptively change the compression amount due to the different pressures applied to the leg support bracket by the legs of people of different body shapes, thereby adjusting the degree of retraction of the end wrapping plate. Furthermore, the adjustment airbag on the end wrapping plate can passively and flexibly adjust the pressure applied to both sides of the legs of the person being cared for, effectively reducing the discomfort caused by shaking or improper contact during the carrying process. The locking buckle of the end wrapping plate serves as an additional locking structure to provide auxiliary wrapping pressure for the person being cared for and maintain a stable wrapping state.

[0012] The posture adjustment module allows the posture and height of the person being cared for to be adjusted by adjusting the position and angle of the leg wrapping module according to the actual scenario, thereby improving stability and comfort. The device can be applied to a variety of care scenarios to meet the personalized needs of different users. The posture adjustment module can actively adjust the position of the leg wrapping module in the front-to-back direction to facilitate the placement of the legs of the person being cared for, and can also actively adjust the position of the leg wrapping module in the left-to-right direction to adapt to the leg posture of the person being cared for with different leg shapes. It can also realize the rotation of the leg wrapping module to facilitate the robot to carry and put down the person being cared for.

[0013] The leg wrapping module and the posture adjustment module are compactly designed and occupy little space, making them easy to install and use on the humanoid backpack transfer nursing robot without adding any additional volume burden. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the installation of the present invention on a humanoid nursing robot;

[0015] Figure 2 is a stereoscopic diagram of the posture adjustment module of the present invention;

[0016] Figure 3 is a cross-sectional view of the posture adjustment module of the present invention;

[0017] Figure 4 is a cross-sectional view of a leg wrapping module of the present invention;

[0018] Figure 5 A side view of a leg wrapping module of the present invention;

[0019] In the figure: 1-leg wrapping module; 2-posture adjustment module; 3-humanoid nursing robot;

[0020] 101-leg support bracket; 102-first connecting rod; 103-V-type connecting rod; 104-second connecting rod; 105-end wrapping plate; 106-adjusting airbag; 107-locking buckle; 108-connecting bracket; 109-reset spring; 201-stepping motor; 202-coupling; 203-motor bracket; 204-small gear; 205-synchronous belt; 206-large gear; 207-limiting block; 208-gear fixing support; 209-multi-hole mounting plate; 210-electric push rod; 211-sliding rod; 212-sliding rod bracket; 213-rotating support table; 214-threaded seat; 215-sliding table; 216-threaded rod. DETAILED DESCRIPTION

[0021] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and are not intended to limit the protection scope of the present application.

[0022] The present invention provides a flexible leg support device for a humanoid nursing robot (hereinafter referred to as the device, see Figures 1 to 5 ), including a leg wrapping module 1 and a posture adjustment module 2; the two posture adjustment modules 2 are symmetrically installed on the left and right sides of the chest of the humanoid backpack nursing robot 3, and the two leg wrapping modules 1 are respectively connected to the corresponding posture adjustment modules 2; the posture adjustment module 2 is used to adjust the position of the leg wrapping module 1 to adapt to the care recipients of different body shapes and leg shapes; the leg wrapping module 1 provides safe and stable support for the legs of the care recipient.

[0023] The posture adjustment module 2 includes a stepper motor 201, a coupling 202, a motor bracket 203, a small gear 204, a synchronous belt 205, a large gear 206, a limit block 207, a gear fixing support 208, a porous mounting plate 209, an electric push rod 210, a slide rod 211, a slide rod bracket 212, a rotating support table 213, a threaded seat 214, a slide table 215 and a threaded rod 216;

[0024] Among them, one side of the porous mounting plate 209 is fixedly connected to the chest support of the humanoid backpack nursing robot 3, the cylinder end of the electric push rod 210 is fixedly connected to the upper end of the porous mounting plate 209, the rod end of the electric push rod 210 is fixedly connected to one end of the sliding rod 211, the other end of the sliding rod 211 is slidably connected to the porous mounting plate 209 through a semi-open bearing, one end of the sliding rod bracket 212 is fixedly connected to the sliding rod 211, the motor bracket 203 is fixed to the other end of the sliding rod bracket 212, the stepper motor 201 is fixed on the motor bracket 203, the output shaft of the stepper motor 201 is connected to the small gear 204 through the coupling 202, and the upper end of the large gear 206 is connected to the motor bracket 203. Rotational connection, the synchronous belt 205 is meshed with the small gear 204 and the large gear 206 at the same time, the lower end of the large gear 206 is fixedly connected to the rotating support table 213 through the gear fixing support 208, and the limit block 207 is fixed on one side of the motor bracket 203 to limit the rotation position of the rotating support table 213; the rotating support table 213 is provided with a slide groove along the length direction, one end of the threaded rod 216 penetrates the end of the rotating support table 213 and extends into the slide groove, and is rotationally connected with the threaded seat 214 at the end of the slide groove, the slide 215 is embedded in the slide groove and is slidably connected with the threaded rod 216, the slide 215 can slide back and forth in the slide groove, and the leg wrapping module 1 is fixedly installed on the slide 215. The stepper motor 201 drives the small gear 204 to rotate, and the large gear 206 rotates through the synchronous belt 205, driving the rotating support platform 213 to rotate 180°, thereby realizing the rotational movement of the leg wrapping module 1; the electric push rod 210 drives the slide bar 211 to slide back and forth along the porous mounting plate 209, and the slide bar bracket 212 slides with the slide bar 211 to realize the position adjustment of the leg wrapping module 1 in the front and rear directions; the threaded rod 216 is manually rotated to make the slide table 215 slide in the slide groove of the rotating support table 213, thereby realizing the position adjustment of the leg wrapping module 1 in the left and right directions.

[0025] The leg wrapping module 1 includes a leg support bracket 101, an end wrapping plate 105, an adjustment airbag 106, a locking buckle 107, a connecting bracket 108, a reset spring 109 and a multi-link mechanism; wherein the connecting bracket 108 is fixedly connected to the slide 215 of the posture adjustment module 2, and a plurality of reset springs 109 are arranged on the connecting bracket 108, the rear end of the leg support bracket 101 is fixedly connected to the free ends of all the reset springs 109, and the front end of the leg support bracket 101 is in close contact with the back side of the human body's legs; multi-link mechanisms are respectively provided on both sides of the rear end of the leg support bracket 101, and the two end wrapping plates 105 are respectively connected to the corresponding multi-link mechanisms, and the end wrapping plates 105 are realized by the multi-link mechanism. The resetting and unfolding of the end enclosing plate 105 and the limitation of the maximum stroke are achieved by the resetting spring 109; an adjusting airbag 106 is respectively provided in the middle of the inner side of the two end enclosing plates 105, and the adjusting airbag 106 achieves flexible contact between the end enclosing plate 105 and the human leg, so that the care recipients with different leg shapes maintain close flexible contact with the end enclosing plate 105, ensuring the comfort and safety of wearing, and at the same time playing a role in stabilizing the posture of the human leg; one end of the locking buckle 107 is connected to the end of one end enclosing plate 105, and the other end is connected to the end of the other end enclosing plate 105, and the fixed connection between the two end enclosing plates 105 is achieved by the locking buckle 107. When the back side of the human body's legs is in close contact with the front end of the leg support bracket 101, pressure is applied to the leg support bracket 101, pushing the leg support bracket 101 to move and compress the return spring 109. During the movement of the leg support bracket 101, the multi-link mechanism is deformed, causing the two end wrapping plates 105 to retract, thereby clamping and fixing the human body's legs, and the deformation of the return spring 109 limits the degree of retraction of the end wrapping plates 105. During the process of the human body's legs breaking contact with the leg support bracket 101, the return spring 109 gradually returns to its original length, thereby realizing the expansion of the end wrapping plates 105.

[0026] The multi-link mechanism includes a first link 102, a V-shaped link 103, and a second link 104; one end of the first link 102 is rotatably connected to the leg support bracket 101, one end of the V-shaped link 103 is rotatably connected to the other end of the first link 102, the middle of the V-shaped link 103 is rotatably connected to the middle of the connecting bracket 108, the other end of the V-shaped link 103 is rotatably connected to the outer side of one end of the end wrapping plate 105, one end of the second link 104 is rotatably connected to the upper part of the connecting bracket 108, and the other end is rotatably connected to the inner side of one end of the end wrapping plate 105; the folding and unfolding of the end wrapping plate 105 is realized through the linkage of the multi-link. In order to improve stability, each end wrapping plate 105 can be connected to the leg support bracket 108 through two multi-link mechanisms.

[0027] The working principle and workflow of the present invention are as follows:

[0028] In the initial state, the two end wrapping plates 105 of the leg wrapping module 1 are in the unfolded state, the electric push rod 210 is in the retracted state, the rotating support platform 213 is located outside the device, and the locking buckle 107 is in the unlocked state.

[0029] When performing the task of carrying and transferring nursing, the chest of the person being cared for is pressed against the chest support of the humanoid carrying nursing robot 3, and the arms pass over the armpit support structure of the humanoid carrying nursing robot 3, so that the hands hold the handles tightly; start the electric push rod 210, the rod end of the electric push rod 210 extends, and drives the slide bar 211 to slide backward to position one, which is a lower position in height, so that more space is left for the device to fix the legs of the human body; start the stepper motor 201, drive the small gear 204 to rotate, and drive the large gear 206 to rotate through the synchronous belt 205, so that the rotating support table 213 rotates 180°, and then rotates the leg wrapping module 1 to the inside of the device; start the electric push rod 210 again, the rod end of the electric push rod 210 contracts, and drives the slide bar 211 to slide forward to position two, which is a higher position in height, so that the leg wrapping module 1 can better support the legs of the person being cared for; manually rotate the threaded rod 216 to make the slide table 215 Slide in the slide groove of the rotating support table 213 to adjust the position of the leg wrapping module 1 in the left and right directions, so that the end wrapping plate 105 can wrap the legs of the care recipient more comfortably; the humanoid backpack nursing robot 3 carries the care recipient on its back, places the legs of the care recipient on the leg support bracket 101 and makes close contact with the front end of the leg support bracket 101, and the leg support bracket 101 moves backward under the pressure of the legs and squeezes the reset spring 109, thereby pushing the first connecting rod 102, the V-shaped connecting rod 103 and the second connecting rod 104 to work together, so that the two end wrapping plates 105 are gradually retracted to clamp the legs of the care recipient, and the airbag 106 is adjusted to achieve flexible contact between the end wrapping plates 105 and the legs and provide a certain pre-tightening force to ensure the stability of clamping and support; the connection between the two end wrapping plates 105 is achieved by locking the buckle 107 to avoid the problem of loosening of the end wrapping plates 105 caused by factors such as the shaking of the care recipient's body and the bumps and vibrations of the ground.

[0030] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A flexible leg support device for a humanoid nursing robot, characterized in that: The device comprises a leg wrapping module and a posture adjustment module; the two posture adjustment modules are symmetrically installed on the left and right sides of the chest support of the humanoid nursing robot, each posture adjustment module is connected to a leg wrapping module, and the posture adjustment module is used to adjust the position of the leg wrapping module; The leg wrapping module includes a leg support bracket, an end wrapping plate, an adjustment airbag, a locking buckle, a connecting bracket, a return spring and a multi-link mechanism; wherein the connecting bracket is fixedly connected to the slide of the posture adjustment module, a plurality of return springs are arranged on the connecting bracket, the rear end of the leg support bracket is fixedly connected to the free ends of all the return springs, and the front end of the leg support bracket is in close contact with the rear side of the human body's legs; multi-link mechanisms are respectively provided on both sides of the rear end of the leg support bracket, and the two end wrapping plates are respectively connected to the multi-link mechanisms on both sides, and the folding and unfolding of the end wrapping plates are realized by the multi-link mechanism; an adjustment airbag is respectively provided in the middle of the inner side of the two end wrapping plates, and the adjustment airbag is in contact with the human body's legs; the two ends of the locking buckle are respectively connected to the ends of the two end wrapping plates.

2. The leg flexible support device of the humanoid nursing robot according to claim 1, characterized in that: The posture adjustment module includes a stepper motor, a motor bracket, a pinion, a synchronous belt, a large gear, a limit block, a porous mounting plate, an electric push rod, a slide rod, a slide rod bracket, a rotating support platform, a slide table and a threaded rod; wherein, one side of the porous mounting plate is fixedly connected to the chest support of the humanoid backpack nursing robot, the cylinder end of the electric push rod is fixedly connected to the upper end of the porous mounting plate, the rod end of the electric push rod is fixedly connected to one end of the slide rod, the other end of the slide rod is slidably connected to the porous mounting plate, one end of the slide rod bracket is fixedly connected to the slide rod, the motor bracket is located at the other end of the slide rod bracket, the stepper motor is fixed on the motor bracket, the output shaft of the stepper motor is connected to the pinion gear, the upper end of the large gear is rotatably connected to the motor bracket, the synchronous belt is meshed with the pinion gear and the large gear, and the lower end of the large gear is fixedly connected to the rotating support platform; the rotating support platform is provided with a slide groove along the length direction, the threaded rod is rotatably installed in the slide groove of the rotating support platform, and the slide table is slidably connected to the threaded rod.

3. The leg flexible support device of the humanoid nursing robot according to claim 1 or 2, characterized in that: The multi-link mechanism includes a first link, a V-shaped link and a second link; one end of the first link is rotatably connected to the leg support bracket, one end of the V-shaped link is rotatably connected to the other end of the first link, the middle part of the V-shaped link is rotatably connected to the middle part of the connecting bracket, the other end of the V-shaped link is rotatably connected to the outer side of one end of the end wrapping plate, one end of the second link is rotatably connected to the upper part of the connecting bracket, and the other end is rotatably connected to the inner side of one end of the end wrapping plate.

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