Nursing robot

Abstract

The nursing robot comprises a main body structure, a first nursing arm structure, a second nursing arm structure and a first lifting structure, one end of a first mechanical arm in the first nursing arm structure is connected with the main body structure, and the other end of the first mechanical arm is connected with one end of a second mechanical arm through a first joint structure; the other end of the second mechanical arm is connected with a manipulator through a second joint structure, the first nursing arm structure is used for abutting against a target part of a target object and upwarping the target object, and the second nursing arm structure is used for stretching the supporting plate into the bottom side of the target object when the target object is upwarped. The first lifting structure is used for increasing the vertical height of the second nursing arm structure, so that the target object is supported and suspended by the supporting plate. According to the invention, the workload of nursing work of medical staff in an ICU ward can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of medical care equipment, and particularly relates to a nursing robot. Background Art

[0002] ICU, that is, the Intensive Care Unit, mainly provides isolation places and equipment for critically ill or comatose patients, provides the best care, and targeted monitoring and supply, and is also known as the intensive treatment department. The existing ICU wards in hospitals concentrate critically ill patients and provide close monitoring and frequent care by medical staff, giving the best guarantee in terms of manpower, material resources and technology in order to obtain good treatment effects.

[0003] However, when there are a large number of critically ill patients in the ICU ward who need care, it will cause medical staff to face huge work pressure and time constraints, making it difficult to take comprehensive and uninterrupted care of each patient in the ICU ward. At the same time, the traditional nursing method has certain limitations in terms of efficiency and accuracy. For example, in operations such as drug delivery, recording and analysis of vital sign monitoring data, and patient turning, it consumes a large amount of manpower and is prone to human errors.

[0004] Therefore, it is of great practical significance to develop a nursing robot dedicated to the ICU ward. Summary of the Invention

[0005] The embodiments of this application provide a nursing robot to solve at least one technical problem existing in the traditional nursing method in the ICU ward.

[0006] On the one hand, to solve the above technical problems, the embodiments of this application provide a nursing robot, including: a main body structure, at least two first nursing arm structures respectively arranged on both sides of the main body structure, at least two second nursing arm structures, and a first lifting structure arranged in the main body structure and connected to the second nursing arm structure;

[0007] The first nursing arm structure is used to abut against the target part of the target object and lift the target object after abutting;

[0008] The second nursing arm structure is used to, during the process of the first nursing arm structure lifting the target object, extend a telescopic support plate to the bottom side of the target object to provide a supporting force for the target object;

[0009] The first lifting structure is used to adjust the height of the second nursing arm structure in the vertical direction, so as to, when the support plate extends to the bottom side of the target object, increase the vertical height of the second nursing arm structure, so that the support plate lifts the target object and suspends it.

[0010] In an embodiment of the present invention, the first nursing arm structure includes a first robotic arm, a first joint structure, a second robotic arm, a second joint structure, and a robotic hand. One end of the first robotic arm close to the main body structure is rotatably connected to the main body structure, and the other end is rotatably connected to one end of the second robotic arm away from the main body structure through the first joint structure. The other end of the second robotic arm is rotatably connected to the robotic hand through the second joint structure;

[0011] The first nursing arm structure is configured to make the robotic hand abut against a target part of a target object by adjusting the rotation angles of the first robotic arm, the second robotic arm, and the robotic hand, and when the robotic hand abuts against the target part of the target object, the first robotic arm, the second robotic arm, and the robotic hand are adjusted in rotation angle to lift the target object.

[0012] In an embodiment of the present invention, the robotic hand includes a first rocker. The first nursing arm structure is configured to lift the target object by adjusting the rotation angles of the first robotic arm, the second robotic arm, and the first rocker when the end of the first rocker extends to the bottom of the target part of the target object.

[0013] In an embodiment of the present invention, the robotic hand further includes a second rocker. The second rocker is disposed opposite to the first rocker to form a mechanical clamping structure. The first nursing arm structure is configured to clamp the target part of the target object by the first rocker and the second rocker, and lift the target object by adjusting the rotation angles of the first robotic arm, the second robotic arm, the first rocker, and the second rocker.

[0014] In an embodiment of the present invention, the second nursing arm structure further includes a rotating structure. The support plate is rotatably connected to the main body structure through the rotating structure.

[0015] In an embodiment of the present invention, the nursing robot further includes a third nursing arm structure and a nursing structure. One end of the third nursing arm structure is rotatably connected to the main body structure, and the other end is rotatably connected to the nursing structure;

[0016] The nursing structure is configured to spray a liquid provided in a chamber of the nursing structure onto a part to be nursed of the target object and perform drying and wiping operations.

[0017] In an embodiment of the present invention, the thickness of one end of the support plate facing the target object is less than the thickness of the end away from the target object.

[0018] In an embodiment of the present invention, the support plate is provided with an expansion structure, and the expansion structure is configured to, after the support plate extends into the bottom side of the target object, deploy an extension plate with a preset length along the length direction of the target object.

[0019] In an embodiment of the present invention, the nursing robot further includes a second lifting structure disposed in the main body structure and connected to the first nursing arm structure, and the second lifting structure is configured to adjust the height of the first nursing arm structure in the vertical direction.

[0020] In an embodiment of the present invention, the nursing robot further includes a mobile chassis disposed at the bottom end of the main body structure.

[0021] In an embodiment of the present invention, the main body structure includes two torso structures, and the distance between the two torso structures is adjustable;

[0022] Each of the torso structures is respectively provided with at least one of the first nursing arm structures and at least one of the second nursing arm structures, and a first lifting mechanism respectively disposed in each of the torso structures and connected to the corresponding second nursing arm structure.

[0023] In an embodiment of the present invention, the mobile chassis includes two traveling devices, and the traveling devices are respectively disposed at the bottom ends of the torso structures, and the distance between the two traveling devices is adjustable.

[0024] In an embodiment of the present invention, at least two sets of steering wheel groups are provided at the bottom of each of the traveling devices.

[0025] In an embodiment of the present invention, the nursing robot further includes a sensor module and a display device. The display device is disposed on the main body structure. One end of the sensor module is connected to the display device through a data transmission line, and the other end is connected to the monitoring part of the target object. The sensor module is configured to transmit the monitoring data of the target object to the display device for display.

[0026] In an embodiment of the present invention, the nursing robot further includes a storage compartment and a control module. The storage compartment and the control module are respectively disposed in the main body structure. The storage compartment is configured to store medicines required for nursing, and the control module is configured to control the behavior actions of the nursing robot according to user instructions.

[0027] An embodiment of the present application provides a nursing robot. The first nursing arm structure abuts against the target part of the target object, and when abutting against the target part of the target object, the target object is lifted, so that the support plate of the second nursing arm structure can be extended to the bottom side of the target object to provide a supporting force for the target object. It is convenient for the first lifting structure to increase the vertical height of the second nursing arm structure, so that the support plate lifts and suspends the target object. Compared with the situation that multiple medical staff are required to lift the target object in the ICU ward, the present invention can achieve the purpose of lifting the target object without medical staff, greatly reducing the workload of medical staff and thus improving the nursing efficiency of medical staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 and Figure 2 FIG.

[0030] Figure 3 and Figure 4 FIG.

[0031] Figure 5 FIG.

[0032] Figure 6 FIG.

[0033] Figure 7 FIG.

[0034] Figure 8 FIG.

[0035] Figure 9 FIG.

[0036] Among them, the reference numerals in the schematic diagrams of the specification are as follows:

[0037] 1, main body structure; 2, first nursing arm structure; 3, second nursing arm structure; 4, first lifting structure; 5, third nursing arm structure; 6, nursing structure; 7, mobile chassis; 8, camera; 9, display device;

[0038] 11. Trunk structure;

[0039] 21. First robotic arm; 22. First joint structure; 23. Second robotic arm; 24. Second joint structure; 25. Manipulator; 251. First seesaw; 252. Second seesaw;

[0040] 31. Rotating structure; 32. Support plate;

[0041] 51. Third robotic arm;

[0042] 71. Traveling device; 72. Telescopic structure; 73. Driving structure; 74. Distance sensor; 75. Seesaw structure; 751. Fixed component; 752. Concave seesaw. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0044] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined. In the present application, " / " means "or".

[0045] The present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or arrangements discussed.

[0046] In the related art, in the existing ICU wards in hospitals, critically ill patients are concentrated, and through medical staff for close monitoring and frequent care, the best guarantee is given in terms of manpower, material resources and technology in order to obtain good treatment effects

[0047] However, when there are a large number of critically ill patients in the ICU ward who require care, it will cause medical staff to face huge work pressure and time constraints, making it difficult to provide all-round and uninterrupted care for each patient in the ICU ward. At the same time, traditional nursing methods have certain limitations in terms of efficiency and accuracy. For example, in operations such as drug delivery, recording and analysis of vital sign monitoring data, and patient turning, it consumes a large amount of manpower and is prone to human errors.

[0048] Therefore, it is of great practical significance to develop a nursing robot specifically for the ICU ward.

[0049] To solve the above technical problems, please refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 are schematic structural diagrams of a nursing robot provided by an embodiment of the present invention. Specifically, as shown in Figure 1 and Figure 2 , an embodiment of the present application provides a nursing robot, including: a main body structure 1, at least two first nursing arm structures 2 respectively arranged on both sides of the main body structure 1, at least two second nursing arm structures 3, and a first lifting structure 4 arranged in the main body structure 1 and connected to the second nursing arm structure 3;

[0050] Among them, the first nursing arm structure 2 is used to abut against the target part of the target object and lift the target object after abutting. Specifically, the first nursing arm structure 2 may include a first robotic arm 21, a first joint structure 22, a second robotic arm 23, a second joint structure 24, and a mechanical hand 25. One end of the first robotic arm 21 close to the main body structure 1 is rotatably connected to the main body structure 1, and the other end is rotatably connected to one end of the second robotic arm 23 far from the main body structure 1 through the first joint structure 22, and the other end of the second robotic arm 23 is rotatably connected to the mechanical hand 25 through the second joint structure 24.

[0051] In this embodiment, the number of the first robotic arms 21 included in the first nursing arm structure 2 provided in this embodiment is not limited to one, and may also be multiple. In the case where there are multiple first robotic arms 21 in the first nursing arm structure 2, corresponding numbers of first joint structures 22 may be provided to connect two adjacent first robotic arms 21 to achieve the purpose that two adjacent first robotic arms 21 can rotate freely around the first joint structure 22.

[0052] Corresponding joint structures are provided between adjacent pairs of the first robotic arm 21, the second robotic arm 23, and the robotic hand 25, enabling the first nursing arm structure 2 to imitate various operations of a human arm by adjusting the rotation angle of any one of the first robotic arm 21, the second robotic arm 23, and the robotic hand 25. For example, it can imitate simple nursing operations of medical staff, such as pushing or prodding operations, to assist medical staff in completing some simple nursing operations, like turning a patient over or adjusting the patient's position. When performing these operations, the first nursing arm structure 2 can also act in a safe and comfortable manner according to the detected physical condition of the patient or the instructions of the medical staff, avoiding causing unnecessary harm to the patient. Thus, for patients who are bedridden for a long time, the embodiments of the present invention can help the patient turn over regularly, prevent the occurrence of pressure sores, and avoid the need for multiple medical staff to turn the patient over regularly in the ICU ward, enabling medical staff to perform more other nursing tasks and effectively reducing the waste of medical resources.

[0053] Specifically, as Figure 1 and Figure 2 shown, the first nursing arm structure 2 provided in this embodiment can be used to adjust the rotation angles of the first robotic arm 21, the second robotic arm 23, and the robotic hand 25, so that the robotic hand 25 abuts against the target part of the target object, and when the robotic hand 25 abuts against the target part of the target object, the first robotic arm 21, the second robotic arm 23, and the robotic hand 25 are adjusted to lift the target object.

[0054] It should be noted that the target object provided in this embodiment can be an object with a need for movement or handling, or a patient in the ICU ward or an elderly person without self-care ability. Exemplarily, the target object in this embodiment is mainly described with respect to a patient in the ICU ward who needs to be turned over. Therefore, when the target object is a patient in the ICU ward, the outer surfaces of the first robotic arm 21, the second robotic arm 23, and the robotic hand 25 in the first nursing arm structure 2 provided in this embodiment can all be wrapped with a soft and elastic contact material, such as medical silicone, so as to avoid damaging the patient's skin. At the same time, in order to prevent the target object from slipping when lifting the target object, this embodiment can also set a certain texture structure on the outer surface of the structure in contact with the target object, such as the outer surface of the robotic hand 25, to increase the friction between the robotic hand 25 and the target object, prevent the target object from slipping during the process of lifting the target object, and effectively improve the stability and safety of the target object during the process of lifting the target object.

[0055] In some embodiments, to achieve the purpose of lifting the target object, please continue to refer to Figure 1 and Figure 2 , the manipulator 25 provided in this embodiment may include a first rocker 251. The first nursing arm structure 2 can be used to lift the target object by adjusting the rotation angles of the first robotic arm 21, the second robotic arm 23, and the first rocker 251 when the end of the first rocker 251 extends to the bottom of the target part of the target object.

[0056] It should be noted that the target part of the target object can be a fulcrum for prying the target object. When the target object is a patient, the target part can be the arm and the buttocks, or the arm and the thigh, etc., which can lift one side of the patient without causing discomfort to the patient's body. No specific limitation is made here.

[0057] As Figure 1 and Figure 2 shown, the first rocker 251 provided in this embodiment can be an arc-shaped rocker. In other cases, the first rocker 251 can also be a straight-shaped, right-angled rocker, etc., as long as it can lift the target object. The shape of the first rocker 251 is not limited here.

[0058] As an alternative embodiment, to ensure the stability and safety of the target object when lifting the target object and when performing subsequent operations such as turning over the target object (e.g., a patient), this embodiment can also design the manipulator 25 as a mechanical clamp structure to stabilize the target object by clamping the target part of the target object, thereby avoiding the target object from slipping during the lifting process and effectively ensuring the stability and safety of the target object during the lifting process. Specifically, please also refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 is another schematic structural diagram of the nursing robot provided by the embodiment of the present invention. As Figure 3 and Figure 4 shown, the manipulator 25 provided in this embodiment may further include a second rocker 252. The second rocker 252 is disposed opposite to the first rocker 251 to form a mechanical clamp structure. The first nursing arm structure 2 can also be used to clamp the target part of the target object by the first rocker 251 and the second rocker 252, and lift the target object by adjusting the rotation angles of the first robotic arm 21, the second robotic arm 23, and the first rocker 251 and the second rocker 252. Thus, when the mechanical clamp structure formed by the first rocker 251 and the second rocker 252 clamps the target part of the target object, the stability and safety of the target object can be effectively ensured, and the target object (e.g., the target patient) can be prevented from slipping during the lifting process.

[0059] Optionally, in order to further ensure the stability and safety of the target object during the process of lifting the target object, the outer surfaces of the first rocker 251 and the second rocker 252 provided in this embodiment are both wrapped with a silicone material provided with a texture structure. In this way, when using the mechanical clamping structure formed by the first rocker 251 and the second rocker 252 to clamp the target object, it can not only avoid damaging the skin of the target object such as the patient, but also improve the friction between the target part of clamping the target object and the target part, thereby further ensuring the stability and safety of the target object during the process of lifting the target object.

[0060] Exemplarily, this embodiment can also be equipped with torque sensors (not shown in the figure) and angle sensors (not shown in the figure) at each joint structure in the first nursing arm structure 2. By the torque sensors, the torque borne by each robotic arm during the operation is monitored in real time to ensure that the force exerted by each robotic arm on the target object such as the patient's body is always within a safe range, avoiding causing harm to the patient due to excessive force. For example, when lifting the patient's limb, data will be fed back to the control system. If the torque detected by the torque sensor approaches the preset safety upper limit, the control system will automatically adjust the movement speed and strength of the corresponding robotic arm in the first nursing arm structure 2.

[0061] The angle sensors are used to record the rotation angles of each robotic arm around each joint structure, ensuring that the movement trajectories of each robotic arm are accurate. By combining with the preset lifting / turning action path algorithm, each robotic arm can perform actions according to the predetermined angles and sequences, realizing precise lifting / turning operations on the patient. For example, during the process of turning the patient from the supine position to the lateral position, the angle changes of the joint structures between each robotic arm need to strictly follow the ergonomic principle to ensure the smooth transition of the patient's body, and the angle sensors monitor and correct this process in real time to ensure the successful completion of the lifting / turning operation.

[0062] Similarly, this embodiment can also be equipped with pressure sensors (not shown in the figure) at the mechanical hand 25. In this way, the pressure distribution of the contact part with the patient's body can be accurately sensed through the pressure sensors. For example, when the mechanical hand 25 contacts the patient's arm, the pressure sensors can detect the pressure magnitudes of different parts of the arm, and the control system adjusts the grasping force and method of the mechanical hand 25 according to these data to ensure the comfort and safety of the patient's arm during the process of being lifted and moved. At the same time, when grasping the patient's limb, the mechanical hand 25 can also automatically adjust the tightness according to the shape of the limb to achieve a close and comfortable fit, just like a medical staff gently supporting the patient with their hand.

[0063] To further ensure the smooth completion of the lifting / turning operation, the nursing robot provided in this embodiment may also be configured with a camera 8. In this way, through the camera 8 and multiple pressure sensors (not shown in the figure) distributed under the patient's mattress, it is possible to detect in real time whether the lifting / turning operation on the patient is standardized and accurate. Specifically, the pressure distribution of each part of the patient's body can be sensed by the pressure sensors to determine whether the patient is in a suitable starting position and whether there are areas with excessive local pressure (such as areas where the risk of pressure sores may have occurred). At the same time, the camera 8 takes pictures of the patient from above, and image recognition technology is used to further confirm the limb position and body contour of the patient, providing accurate data support for the subsequent lifting / turning movement planning.

[0064] Among them, if the pressure sensor detects that a certain area on the patient's back continuously bears a large pressure, and the camera 8 finds that the skin color in this area has a slight abnormal change, the nursing robot will record this information and pay special attention to the protection and observation of this area during the subsequent turning process.

[0065] During the process of the nursing robot performing the lifting / turning operation, the nursing robot can plan the best turning path according to the data collected by the camera 8 and the sensors. Considering the patient's physical condition and comfort, the lifting / turning action will try to simulate the operation method of professional medical staff and be carried out in a steady and slow manner.

[0066] For general patients, the nursing robot may first gently lift one side of the patient's limb and slowly move it to the other side, while adjusting the patient's body central axis to ensure that the patient's spine maintains a natural physiological curvature during the lifting / turning process and avoid causing damage. For example, when turning the patient from the supine position to the lateral position, the nursing robot will first lift the patient's arm and leg close to the side to be turned, and then gradually rotate the patient's body. During the whole process, the patient's body posture and pressure changes will be continuously monitored to ensure the safety and comfort of the lifting / turning action.

[0067] For patients with special conditions, such as fracture or postoperative patients, the nursing robot can also adopt a more cautious turning method according to the pre-entered patient medical record information and the doctor's advice. For example, for a patient with a leg fracture, the nursing robot will pay special attention to fixing the fracture site during turning, avoid unnecessary movement of the leg, and at the same time use an auxiliary support device (such as a special soft fixing band) to keep the fracture site stable during the turning process to achieve different lifting / turning operations for patients with different needs.

[0068] In this embodiment, when the first nursing arm structure 2 tilts / lifts the patient's limb, the first nursing arm structure 2 will automatically adjust the grasping force and angle of the mechanical hand 25 according to the weight and shape of the patient's limb. For example, when lifting the patient's arm, the mechanical hand 25 will first gently touch the arm, and then gradually tighten the grasping force until it can stably lift the arm while keeping the patient's arm in a natural and relaxed state.

[0069] Optionally, the nursing robot provided in this embodiment may further include an auxiliary support device (not shown in the figure). The auxiliary support device may be a back support pad and a side protection pad with adjustable length, height, and angle. In this way, during the tilting / turning process, the nursing robot will automatically adjust the position, angle, and the length that needs to be extended or contracted of the back support pad and the side protection pad as the patient's body rotates, providing stable support for the patient to prevent the patient from slipping or the body from shaking excessively during the tilting / turning process. For example, when the patient turns to the lateral position, the side protection pad will quickly move to one side of the patient's body and adjust to a suitable height to support the patient's body and maintain the stability of the lateral position. In this way, by using the auxiliary support device, it is possible to timely adjust to a suitable position on the patient's back during the tilting / turning process of the patient, maintain the natural physiological curve of the patient's spine, and reduce the back pressure.

[0070] It should be noted that the materials of the back support pad and the side protection pad are selected as medical sponges with certain elasticity and buffering performance, and are wrapped with waterproof and breathable medical fabrics, which is convenient for cleaning and disinfection. For example, after the patient turns to the lateral position, the back support pad and the side protection pad will work together to keep the patient's body stable and comfortable in the lateral position until the subsequent nursing operations are completed or the patient returns to other positions.

[0071] After successfully tilting or turning up the target object through the first nursing arm structure 2, this embodiment can lift and suspend the target object through the second nursing arm structure 3 and the first lifting structure 4 of the nursing robot of this embodiment. Specifically, please continue to refer to Figure 2 and Figure 4 , the second nursing arm structure 3 provided in this embodiment may include a rotating structure 31 and a telescopic support plate 32. The support plate 32 can be rotatably connected to the main body structure 1 through the rotating structure 31. The second nursing arm structure 3 can be used to extend the support plate 32 to the bottom side of the target object to provide a supporting force for the target object during the process of the first nursing arm structure 2 tilting the target object through the mechanical hand 25. Among them, the support plate 32 can be composed of one or more plates, as long as the support plate 32 can be extended to the bottom side of the target object, and no specific limitation is made here.

[0072] After the support plate 32 extends into the bottom of the target object and provides a supporting force for the target object, the height of the second nursing arm structure 3 in the vertical direction can be adjusted through the first lifting structure 4, raising the vertical height of the second nursing arm structure 3, so that the support plate 32 lifts and suspends the target object, thereby completing the operation of lifting and suspending the target object, and facilitating the medical staff to perform nursing operations on the target object (patient). The nursing operations include but are not limited to cleaning operations such as changing bed sheets, quilt covers, daily necessities, etc., assisting the target object (patient) to turn over, change beds and other handling operations, and performing daily cleaning, changing drugs and other nursing operations on the target object (patient), etc.

[0073] In this way, when using the nursing robot provided by the embodiment of the present invention to lift a patient in an ICU ward, compared with the prior art in which multiple medical staff are required to lift a target object in an ICU ward, the present invention can achieve the purpose of lifting the target object without medical staff, greatly reducing the workload of medical staff, and thus improving the nursing efficiency of medical staff. Further, when there are no multiple people at home who can help lift the elderly without self-care ability and perform nursing operations on the elderly, the nursing robot provided in this embodiment can undoubtedly assist the elderly in performing daily turning operations and daily nursing operations, thus well solving the dilemma that multiple people are needed to take care of an elderly person without self-care ability, effectively improving the nursing efficiency of the elderly without self-care ability at home, and further reducing the nursing resources in the hospital.

[0074] In some embodiments, in order to facilitate the support plate 32 to extend more conveniently to the bottom side of the target object, the thickness of the end of the support plate 32 facing the target object in this embodiment is smaller than the thickness of the end far from the target object. Specifically, the thickness of the support plate 32 can increase from the end to the root of the support arm, or the thickness of a partial area at the end of the support arm is thinner, and the thickness of the area except the partial area at the end is the same and thicker than the thinner area at the end. The specific thickness of the support arm at different parts can be set according to actual needs and is not specifically limited here.

[0075] In some other embodiments, in order to improve the stability and safety of the target object during the process of the support plate 32 lifting the target object, the support plate 32 provided in this embodiment may further be provided with an expansion structure (not shown in the figure). The expansion structure is used to, after the support plate 32 extends to the bottom side of the target object, unfold an extension plate with a preset length along the length direction of the target object. Specifically, the expansion structure may be composed of a telescopic extension plate. When the support plate 32 extends to the bottom side of the target object, the extension plate can be unfolded to increase the contact area between the support plate 32 and the target object. After the expansion is fully unfolded, the second nursing arm structure 3 can be lifted by the first lifting structure 4 to complete the operation of lifting the target object.

[0076] Specifically, the length of the extension plate unfolded by the expansion structure can be set according to the length of the target object, such as the height of the patient, or it can be a preset fixed length, as long as it can increase the contact area with the target object to improve the stability and safety of the target object when being lifted. The extendable length of the expansion structure is not limited herein.

[0077] Optionally, when the height of the second nursing arm structure 3 is increased by the first lifting structure 4, in order to ensure that the first nursing arm structure 2 can stably clamp / resist the target object and prevent the target object from shaking or even tipping over, the nursing robot provided in this embodiment may further include a second lifting structure (not shown in the figure) provided in the main body structure 1 and connected to the first nursing arm structure 2. The second lifting structure is used to adjust the height of the first nursing arm structure 2 in the vertical direction. Thus, while the height of the second nursing arm structure 3 is increased by the first lifting structure 4, in this embodiment, the height of the first nursing arm structure 2 in the vertical direction can also be correspondingly adjusted by the second lifting structure to ensure that the target object remains stationary during the process of being lifted and suspended, effectively improving the stability and safety of the nursing robot during operation.

[0078] In addition, please also refer to Figures 1 to 5 Figure 5 which is a side view of the nursing robot provided by the embodiment of the present invention. As Figures 1 - 5 shown, the nursing robot provided in this embodiment may further include a mobile chassis 7 provided at the bottom end of the main body structure 1, so as to ensure the overall mobility of the nursing robot.

[0079] ​Specifically, the main body structure 1 provided in this embodiment may include two torso structures 11, the distance between the two torso structures 11 is adjustable, at least one of the first nursing arm structures 2 and at least one of the second nursing arm structures 3 are respectively arranged on each of the torso structures 11, and a first lifting mechanism 4 is respectively arranged in each of the torso structures 11 and connected to the corresponding second nursing arm structure 3.

[0080] In some embodiments, please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a mobile chassis provided by an embodiment of the present invention. As Figure 6 shown, the mobile chassis 7 provided in this embodiment may include two traveling devices 71, a telescopic structure 72, and a driving structure 73; wherein, the two traveling devices 71 are movably connected through the telescopic structure 72; the driving structure 73 is respectively arranged at the bottom ends of the two traveling devices 71, the driving structure 73 is used to drive the traveling devices 71 to perform traveling and steering operations, and the driving structure 73 is also used to adjust the distance between the two traveling devices 71.

[0081] In one case, the telescopic structure 72 may be a connecting rod with a fixed length. The connecting rod is movably connected to at least one of the traveling devices 71. The connecting rod is configured to perform a reciprocating linear motion inside the traveling device 71 that is movably connected to the connecting rod along the length direction of the connecting rod, so that the two traveling devices 71 are movably connected. In one embodiment, one end of the connecting rod may be fixedly connected to one of the traveling devices 71, and the other end is movably connected to the other traveling device 71. By retracting the connecting rod into one of the traveling devices 71 that is movably connected, the purpose of reducing the distance between the two traveling devices 71 is achieved; in another embodiment, both ends of the connecting rod may also be movably connected to the two traveling devices 71 respectively. By retracting the connecting rod into any one of the traveling devices 71 that is movably connected, or simultaneously retracting it into the two traveling devices 71 that are movably connected, the purpose of reducing the distance between the two traveling devices 71 is achieved. When actually adjusting the distance between the two traveling devices 71, the driving structure 73 drives the two traveling devices 71 to move towards each other along the length direction of the connecting rod, causing the connecting rod to move towards the inside of the traveling device 71 that is movably connected, reducing the length of the connecting rod exposed outside, which is equivalent to retracting the connecting rod into at least one of the traveling devices 71 that is movably connected, achieving the purpose of reducing the distance between the two traveling devices 71; conversely, by driving the two traveling devices 71 to move in opposite directions along the length direction of the connecting rod through the driving structure 73, the connecting rod moves towards the outside of the traveling device 71 that is movably connected, increasing the length of the connecting rod exposed outside, which is equivalent to extending the connecting rod to the outside of at least one of the traveling devices 71 that is movably connected, achieving the purpose of increasing the distance between the two traveling devices 71.

[0082] In other cases, the telescopic structure 72 may also be a telescopic rod with a preset telescopic distance. The preset telescopic distance can be set according to actual application requirements. The opposite ends of the telescopic rod are respectively fixedly connected to the two traveling devices 71. The telescopic rod is configured to movably connect the two traveling devices 71 by contracting and extending the length of the telescopic rod. The telescopic rod may be a passive telescopic rod, that is, when the driving structure 73 adjusts the distance between the two traveling devices 71, the telescopic rod is driven to contract or extend by the driving structure 73; the telescopic rod may also be an active telescopic rod. In this case, a driving motor may be provided in the active telescopic rod. When the driving structure 73 adjusts the distance between the two traveling devices 71, the telescopic rod is driven to contract or extend by the driving motor. The specific telescopic manner of the telescopic rod can be set according to actual requirements as long as it can achieve the adjustment of the distance between the two traveling devices 71, and no specific limitation is made here.

[0083] To accurately adjust the distance between the two traveling devices 71, such asFigure 1 As shown, the mobile chassis 7 provided in this embodiment may further include a distance sensor 74. The distance sensor 74 is disposed on the sidewall of any one of the traveling devices 71, and is used to detect the distance between the two traveling devices 71. When the distance sensor 74 detects that the actual distance does not match the preset distance, it will automatically feedback a signal to the driving structure 73, and the driving structure 73 will immediately adjust the length of the telescopic rod to ensure that the distance between the traveling devices 71 precisely conforms to the set value, thereby improving the mobility and stability of the robot in a complex environment. In addition, the mobile chassis 7 may also be equipped with an intelligent control system, which can analyze road condition information in real time and automatically adjust the distance between the traveling devices 71 to change the walking posture of the nursing robot, ensuring that the nursing robot can maintain an efficient and stable moving state on different terrains.

[0084] In some embodiments, in order to enable the driving structure 73 to have both moving and steering functions at the same time, the driving structure 73 provided in this embodiment may include at least two sets of omnidirectional wheels. At least two sets of omnidirectional wheels are evenly distributed at the bottom end of the traveling device 71. Each set of omnidirectional wheels can be controlled by an independent motor, which can not only realize the independent walking of each set of omnidirectional wheels, but also realize the independent 360-degree free steering of each set of omnidirectional wheels. In this way, at least two sets of omnidirectional wheels are respectively arranged on the two traveling devices 71. Through the coordinated work of multiple sets of omnidirectional wheels, the overall movement of the chassis can be realized, and it can also turn flexibly, greatly improving the operation accuracy and adaptability of the nursing robot in a narrow or complex environment. In addition, through the independent control mechanism of each set of omnidirectional wheels, the nursing robot can quickly adjust its posture when encountering obstacles, avoid collisions, and ensure the walking safety of the robot.

[0085] Optionally, each set of omnidirectional wheels may be equipped with at least two motors. The two motors are respectively used to control the omnidirectional wheels in the omnidirectional wheel set to walk and turn, so as to achieve more refined motion control. The omnidirectional wheel set may include at least two omnidirectional wheels. Each omnidirectional wheel can be driven by an independent motor. The omnidirectional wheels in each set of omnidirectional wheels can be connected by a synchronous belt or a gear to ensure synchronous rotation. The design of the omnidirectional wheel set allows each set of omnidirectional wheels to rotate independently in different directions, so as to realize the multi-directional movement and precise steering of the chassis. In this way, through the independent motor configuration of the omnidirectional wheel set, each set of omnidirectional wheels can be finely adjusted according to the real-time road conditions, improving the adaptability of the mobile chassis 7 in different environments, ensuring that the nursing robot can still maintain efficient movement and precise positioning on variable terrains, and further optimizing the overall operation performance.

[0086] As an alternative embodiment, in order to enable the mobile chassis 7 provided in this embodiment to adapt to different road conditions, please refer to Figure 7 , Figure 7 is another structural schematic diagram of the mobile chassis provided by the embodiment of the present invention. As shown in Figure 7As shown, the mobile chassis 7 provided in this embodiment may further include a seesaw structure 75. The seesaw structure 75 is disposed at the bottom end of the target traveling device. At least two sets of the steering wheel groups are evenly distributed at opposite ends of the seesaw structure 75. The seesaw structure 75 is configured to use the lever principle to make the steering wheel group at at least one end of the seesaw structure 75 contact the ground. The target traveling device 71 is any one of the two traveling devices 71. In this way, during the process of the mobile chassis 7 provided in this embodiment traveling on normal road conditions (flat road surface), through the collaborative work between the seesaw structure 75 and the steering wheel group, it can ensure that the steering wheel groups at both ends of the seesaw structure 75 contact the ground simultaneously. At the same time, the seesaw structure 75 can also provide a damping effect, effectively improving the stability and safety of the movement of the mobile chassis 7. Additionally, during the process of the mobile chassis 7 provided in this embodiment traveling on complex road conditions (such as slopes, uneven ground), through the collaborative work between the seesaw structure 75 and the steering wheel group, it can ensure that the steering wheel group at at least one end of the seesaw structure 75 contacts the ground, achieving the purpose that the mobile chassis 7 can contact the ground through at least three ends of the steering wheel group under complex road conditions, greatly improving the passability, adaptability, and stability of the mobile chassis 7 in the face of complex road conditions.

[0087] The seesaw structure 75 provided in this embodiment achieves the purpose of adjusting the chassis center of gravity through the lever principle, enabling the steering wheel group to always maintain the best contact state under different terrains, increasing the grip of the steering wheel group, and ensuring the stable movement of the mobile chassis 7. At the same time, the seesaw structure 75 can also automatically adjust the angle according to terrain changes to ensure that the steering wheel group always maintains the best contact with the ground.

[0088] Specifically, please refer to Figure 8 and Figure 9 , Figure 8 is a schematic structural diagram of the seesaw structure provided by an embodiment of the present invention, Figure 9 is a schematic structural diagram of the seesaw structure provided with a steering wheel group in an embodiment of the present invention. As shown in Figure 8 and 9 shown, the seesaw structure 75 provided in this embodiment may include a fixed component 751 and a concave seesaw 752. The fixed component 751 includes two fixing plates. The movable ends of the two fixing plates are movably connected around the through holes disposed opposite to each other. The fixed ends of the two fixing plates are respectively fixedly connected to the central concave point of the concave seesaw 752 and the bottom end of the target traveling device 71. At least one set of the steering wheel groups is respectively disposed at opposite ends of the concave seesaw 752.

[0089] Among them, in this embodiment, a bolt can pass through the oppositely arranged through holes, so that the movable ends of the two fixing plates are movably connected, thereby achieving the purpose that the two fixing plates can rotate around the through holes. After the fixing plates are respectively connected to the traveling device 71 and the steering wheel group, the tilting / descending angle of the concave-shaped seesaw 752 can be adjusted by rotating the two fixing plates, so as to ensure that at least one set of steering wheel groups on the concave-shaped seesaw 752 can maintain the best contact state on different terrains. That is to say, when the mobile chassis 7 provided in this embodiment faces different complex road conditions, it can ensure that at least 3 sets of steering wheel groups are on the ground and maintain the best contact state, thereby improving the stability and passability of the chassis and ensuring the efficient operation of the mobile chassis 7 in a complex environment.

[0090] In order to facilitate the connection between the mobile chassis 7 provided in this embodiment and the main body structure 1 of the nursing robot, a connection groove can be provided at the top of the mobile chassis 7 provided in this embodiment, and the connection groove is used to connect with the main body structure 1 of the nursing robot. By closely matching the mobile chassis 7 and the main body structure 1 of the nursing robot through the connection groove, it can ensure that the nursing robot can flexibly and efficiently perform tasks in various complex environments, effectively expanding the application scenarios of the nursing robot.

[0091] In order to ensure the safety of the mobile chassis 7 during the moving process, the mobile chassis 7 provided in this embodiment may further include an anti-collision structure (not shown in the figure), and the anti-collision structure is arranged along the circumferential direction of the traveling device 71. The anti-collision structure can be made of high-strength materials, so as to effectively absorb the impact force and reduce the damage to the chassis and the nursing robot caused by the collision. Specifically, the anti-collision structure provided in this embodiment can be a buffer pad. At the same time, the anti-collision structure can be designed to be detachable, so as to facilitate maintenance and replacement, and further improve the service life and reliability of the mobile chassis 7. By setting the anti-collision structure on the mobile chassis 7, the mobile chassis 7 provided in this embodiment can not only maintain efficient walking in a complex environment, but also ensure the safety and stability of the walking process, providing a solid guarantee for the nursing robot to perform diverse tasks.

[0092] Optionally, the traveling device 71 can also integrate sensors to continuously monitor the ground conditions, automatically adjust the traveling speed and direction, and ensure smooth operation in a complex environment. At the same time, the nursing robot can also be equipped with a navigation system interconnected with the traveling device 71, such as a combination of a lidar, a vision camera 8 and an ultrasonic sensor, which can realize autonomous path planning and obstacle avoidance functions, and ensure safe and fast movement to a designated position in the ICU ward. For example, when there are obstacles or people walking in the ward passage, the nursing robot provided in this embodiment can detect and re-plan the path in time to avoid collisions.

[0093] In some embodiments, in order to ensure the nursing ability of the nursing robot provided in this embodiment, please also refer toFigure 1 and Figure 3 The nursing robot provided in this embodiment may further include a third nursing arm structure 5 and a nursing structure 6. One end of the third nursing arm structure 5 is rotatably connected to the main body structure 1, and the other end is rotatably connected to the nursing structure 6. Wherein, the nursing structure 6 is used to spray the liquid arranged in the chamber of the nursing structure 6 on the part to be nursed of the target object and perform drying and wiping operations.

[0094] By arranging the third nursing arm structure 5 and the nursing structure 6 on the nursing robot, it can be ensured that the nursing robot provided in this embodiment, when facing a patient in need of nursing, can align the nursing structure 6 with the part to be nursed on the patient's body by adjusting the third nursing arm structure 5, and perform nursing operations such as applying medicine, drying, cleaning, and wiping. At the same time, for some parts to be nursed, such as the back area, it usually requires medical staff to turn the patient over before nursing. However, with the nursing robot provided in this embodiment of the present invention, the patient can be directly lifted and suspended without the need for medical staff, and then by adjusting the rotation angle of the third nursing arm structure 5, the nursing structure 6 can be aligned with the part to be nursed in the patient's back area for nursing operations, thereby further reducing the workload of medical staff.

[0095] Optionally, as Figure 1 and Figure 3 shown, the third nursing arm structure 5 provided in this embodiment may include a third robotic arm 51. One end of the third robotic arm 51 is rotatably connected to the main body structure 1, and the other end is rotatably connected to the nursing structure 6. Specifically, the third robotic arm 51 may be a six-axis robotic arm. In this way, by connecting the nursing structure 6 to the end of the six-axis robotic arm, the nursing structure 6 can perform nursing operations on positions in any direction and at any angle, effectively improving the flexibility of the third nursing arm structure 5 and the applicable range of the nursing robot provided in this embodiment.

[0096] Furthermore, in order to achieve the purpose of intelligentizing the nursing robot, the nursing robot provided in this embodiment may further include a sensor module (not shown in the figure), a display device 9, a storage compartment (not shown in the figure), and a control module (not shown in the figure). Wherein, the display device 9 is arranged on the main body structure 1. One end of the sensor module is connected to the display device 9 through a data transmission line, and the other end is connected to the monitoring part of the target object. The sensor module is used to transmit the monitoring data of the target object to the display device 9 for display. The storage compartment and the control module are respectively arranged in the main body structure 1. The storage compartment is used to store medicines required for nursing, and the control module is used to control the behavior actions of the nursing robot according to the user's instructions.

[0097] Specifically, the sensor module provided in this embodiment may include various vital sign monitoring sensors, such as electrocardiographs, sphygmomanometers, blood oxygen saturation monitors, etc. Through the sensor module, vital sign data of patients can be collected in real time and continuously. The control module can be the control system of the nursing robot. This control system is simultaneously connected to any structure in the nursing robot, such as the sensor module, the display device 9, the first nursing arm structure 2, the second nursing arm structure 3, the first lifting structure 4, the second lifting structure, etc. And the intelligent analysis algorithm built into the control system can process and analyze the data of any module or structure. Once an abnormal situation is detected, it can immediately send an alarm to medical staff and provide preliminary diagnostic suggestions. For example, if a patient's heart rate suddenly increases or blood pressure drops sharply, the robot will judge it as abnormal according to the preset threshold, display relevant information and possible reasons on the display device 9, and at the same time send an alarm signal to the nurse station.

[0098] Optionally, the nursing robot provided in this embodiment can also be equipped with an emergency braking system (not shown in the figure). When encountering emergencies, such as mechanical failures or external interferences, it can quickly stop all actions to ensure the safety of patients. At the same time, after emergency braking, the nursing robot can try to restore the patient to the original position according to the preset program, or maintain a relatively safe and stable state, waiting for further treatment by medical staff. For example, if there is a sudden power outage during the turning-over process, the backup power supply of the nursing robot will be immediately activated and trigger emergency braking, and at the same time use the built-in memory module to record the current action state, so that the patient can be restored to the appropriate position according to the correct steps after the power is restored.

[0099] In some other embodiments, the storage compartment can be classified and stored according to the types and usage frequencies of different drugs. The control system in the nursing robot can also accurately take out the required drugs according to the drug delivery instructions input by medical staff, and clamp and deliver the drugs to patients or medical staff through the first nursing arm structure 2. In terms of drug management, corresponding sensors can also be set in the storage compartment to realize the function of drug inventory monitoring. When the quantity of a certain drug is lower than the safety stock, it will automatically remind to replenish. For example, when there are fewer medical staff at night, the robot can accurately deliver drugs to patients according to the preset medication time and dose, improving the nursing efficiency and medication accuracy.

[0100] In addition, the nursing robot can also be equipped with a voice interaction module (not shown in the figure), so that the medical staff can not only issue various instructions to the nursing robot through touch operations on the display device 9, but also communicate with the nursing robot through voice. For example, the medical staff can say "query the blood pressure data of the patient in bed 3", and the nursing robot will display the corresponding information on the display screen and broadcast it by voice. At the same time, the nursing robot can also actively ask the medical staff for some necessary information, such as changes in the patient's symptoms, etc., so as to better complete the nursing work.

[0101] Furthermore, the nursing robot can also support seamless connection with the hospital information management system (HIS), and can obtain the patient's medical history information, medical orders, etc. in real time, and upload the nursing data collected by the nursing robot to the HIS system in a timely manner, so as to realize the sharing and integration of medical information and facilitate medical staff to fully understand the patient's condition and care situation.

[0102] As another optional embodiment, in order to improve the nursing efficiency of patients, this embodiment can also set an adjustable mattress in the ICU ward that matches the nursing robot provided by this embodiment, and the mattress can contain multiple independent air chambers or hydraulic chambers. During the turning process, by communicating with the nursing robot and the control system in the mattress, the nursing robot can control the pressure changes of the air chambers or cavities in different parts of the mattress according to the needs of turning over, thereby achieving auxiliary support and position adjustment for the patient's body. For example, when the patient wants to turn from a supine position to a left side lying position, the nursing robot will reduce the pressure of the air chamber on the right side of the patient's mattress, and increase the pressure of the air chamber on the left side, so that the mattress has a tendency to tilt to the left, assisting the patient's body rotation.

[0103] It should be noted that the surface of the mattress can be made of antibacterial, breathable and low-friction coefficient materials, which is not only beneficial to the patient's skin health, but also can reduce the friction between the patient and the mattress during turning over.

[0104] At this point, the detailed description of the nursing robot provided in this embodiment is completed.

[0105] In summary, the embodiment of the present invention provides a nursing robot, including: a main body structure, at least two first nursing arm structures respectively arranged on both sides of the main body structure, at least two second nursing arm structures, and a first lifting structure arranged in the main body structure and connected to the second nursing arm structures; the first nursing arm structure includes a first robotic arm, a first joint structure, a second robotic arm, a second joint structure, and a manipulator. One end of the first robotic arm close to the main body structure is rotatably connected to the main body structure, and the other end is rotatably connected to one end of the second robotic arm far from the main body structure through the first joint structure. The other end of the second robotic arm is rotatably connected to the manipulator through the second joint structure; the first nursing arm structure is used to make the manipulator abut against the target part of the target object by adjusting the rotation angles of the first robotic arm, the second robotic arm, and the manipulator, and when the manipulator abuts against the target part of the target object, the target object is lifted by adjusting the rotation angles of the first robotic arm, the second robotic arm, and the manipulator; the second nursing arm structure includes a rotating structure and a telescopic support plate. The support plate is rotatably connected to the main body structure through the rotating structure. The second nursing arm structure is used to extend the support plate to the bottom side of the target object to provide a supporting force for the target object during the process of the first nursing arm structure lifting the target object by the manipulator; the first lifting structure is used to adjust the height of the second nursing arm structure in the vertical direction, so that when the support plate extends to the bottom side of the target object, the vertical height of the second nursing arm structure is increased, and the support plate lifts and suspends the target object.

[0106] By using the nursing robot provided by the embodiment of the present invention, the following technical effects can be achieved:

[0107] By adjusting the rotation angles of the first robotic arm, the second robotic arm, and the manipulator in the first nursing arm structure, the manipulator abuts against the target part of the target object, and when the manipulator abuts against the target part of the target object, the target object is lifted through the target part by adjusting the rotation angles of the first robotic arm, the second robotic arm, and the manipulator. Thus, the support plate of the second nursing arm structure can be extended to the bottom side of the target object to provide a supporting force for the target object, which is convenient for the first lifting structure to increase the vertical height of the second nursing arm structure, and the support plate lifts and suspends the target object. Compared with the situation that multiple medical staff are required to lift the target object in the ICU ward, the present invention can achieve the purpose of lifting the target object without medical staff, greatly reducing the workload of medical staff and thus improving the nursing efficiency of medical staff.

[0108] In some embodiments of this specification, a progressive approach is adopted for description. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0109] The above are only specific implementation manners of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A nursing robot, characterized in that: include: A main body structure, at least two first nursing arm structures respectively arranged on both sides of the main body structure, at least two second nursing arm structures, and a first lifting structure arranged in the main body structure and connected to the second nursing arm structures; The first nursing arm structure is used to abut against a target part of a target object and to lift the target object after abutment; The second nursing arm structure is used to extend into the bottom side of the target object through a retractable support plate to provide support force for the target object during the process of the first nursing arm structure tilting the target object; The first lifting structure is used to adjust the vertical height of the second nursing arm structure, so that when the support plate extends to the bottom side of the target object, the vertical height of the second nursing arm structure is raised, so that the support plate lifts the target object and suspends it in the air.

2. The nursing robot according to claim 1, characterized in that: The first nursing arm structure comprises a first mechanical arm, a first joint structure, a second mechanical arm, a second joint structure and a manipulator, one end of the first mechanical arm close to the main structure is rotatably connected to the main structure, the other end of the first mechanical arm is rotatably connected to one end of the second mechanical arm far from the main structure through the first joint structure, and the other end of the second mechanical arm is rotatably connected to the manipulator through the second joint structure; The first nursing arm structure is used to make the robot abut the target part of the target object by adjusting the rotation angle of the first robot arm, the second robot arm and the robot arm, and to lift the target object by adjusting the rotation angle of the first robot arm, the second robot arm and the robot arm when the robot abuts the target part of the target object.

3. The nursing robot according to claim 2, characterized in that: The manipulator includes a first seesaw, and the first nursing arm structure is used to lift the target object by adjusting the rotation angles of the first manipulator arm, the second manipulator arm and the first seesaw when the end of the first seesaw extends into the bottom of the target part of the target object.

4. The nursing robot according to claim 3, characterized in that: The manipulator also includes a second seesaw, which is arranged opposite to the first seesaw to form a mechanical clamping structure. The first nursing arm structure is used to clamp the target part of the target object through the first seesaw and the second seesaw, and to lift the target object by adjusting the first mechanical arm, the second mechanical arm, and the rotation angle of the first seesaw and the second seesaw.

5. The nursing robot according to claim 1, characterized in that: The second nursing arm structure also includes a rotating structure, and the support plate is rotatably connected to the main structure via the rotating structure.

6. The nursing robot according to claim 1, characterized in that: The nursing robot further comprises a third nursing arm structure and a nursing structure, wherein one end of the third nursing arm structure is rotatably connected to the main structure, and the other end of the third nursing arm structure is rotatably connected to the nursing structure; The care structure is used to spray the liquid arranged in the chamber of the care structure to the to-be-care part of the target object and to perform drying and wiping operations.

7. The nursing robot according to claim 1, characterized in that: The thickness of the support plate at one end facing the target object is smaller than the thickness of the support plate at one end away from the target object.

8. The nursing robot according to claim 1, characterized in that: The support plate is provided with an extension structure, and the extension structure is used to unfold an extension plate of a preset length along the length direction of the target object after the support plate extends into the bottom side of the target object.

9. The nursing robot according to claim 1, characterized in that: The nursing robot also includes a second lifting structure arranged in the main structure and connected to the first nursing arm structure, and the second lifting structure is used to adjust the height of the first nursing arm structure in the vertical direction.

10. The nursing robot according to claim 1, characterized in that: The nursing robot also includes a mobile chassis arranged at the bottom end of the main structure.

11. The nursing robot according to claim 10, characterized in that: The main structure includes two trunk structures, and the distance between the two trunk structures is adjustable; Each of the trunk structures is respectively provided with at least one of the first nursing arm structures and at least one of the second nursing arm structures, as well as a first lifting mechanism which is respectively provided in each of the trunk structures and connected to the corresponding second nursing arm structures.

12. The nursing robot according to claim 11, characterized in that: The mobile chassis comprises two walking devices, which are respectively arranged at the bottom ends of the trunk structure, and the distance between the two walking devices is adjustable.

13. The nursing robot according to claim 12, characterized in that: At least two steering wheel groups are arranged at the bottom of each walking device.

14. The nursing robot according to claim 1, characterized in that: The nursing robot also includes a sensor module and a display device. The display device is arranged on the main structure. One end of the sensor module is connected to the display device via a data transmission line, and the other end is connected to the monitoring part of the target object. The sensor module is used to transmit the monitoring data of the target object to the display device for display.

15. The nursing robot according to claim 1, characterized in that: The nursing robot also includes a storage compartment and a control module, and the storage compartment and the control module are respectively arranged in the main structure. The storage compartment is used to store medicines required for nursing, and the control module is used to control the behavior of the nursing robot according to the user's instructions.

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