Multifunctional double-arm type nursing robot

Abstract

The invention relates to a multifunctional double-arm type nursing robot which comprises a chassis assembly, a mechanical arm assembly, a lifting assembly and a console. The mechanical arm assembly comprises a mechanical arm base, a seven-freedom-degree main mechanical arm, a six-freedom-degree auxiliary mechanical arm and a flight time camera, wherein the seven-freedom-degree main mechanical arm, the six-freedom-degree auxiliary mechanical arm and the flight time camera are installed on the mechanical arm base. The mechanical arm base is installed on the lifting assembly. A main end effector is mounted at the tail end of the seven-degree-of-freedom main mechanical arm; the end, away from the mechanical arm base, of the main end effector is thin and provided with a rolling shaft on the surface. An auxiliary end effector is installed at the tail end of the six-degree-of-freedom auxiliary mechanical arm and is in an arc-shaped plate shape. Compared with the prior art, the robot has flexibility and expansibility based on a high-degree-of-freedom mechanical arm, and can bear more nursing tasks and other universal tasks; the main end effector has the advantages that the situation that when the patient is held and supported, large relative friction force is generated when the mechanical arm is inserted between the back of the patient and the bed board, and discomfort or secondary injury of the patient is caused is fully prevented.

Description

Technical Field

[0001] The present invention relates to a nursing robot, and more particularly to a multifunctional double-arm nursing robot. Background Art

[0002] The current design and application of nursing robots are still in the initial stage. During the development of many nursing robots, meeting the standards of hardware and working parameters is taken as the design criterion, lacking the analysis of ergonomic indicators and comfort evaluation in the interaction process between the nursing robot and the disabled elderly. This results in relatively low comfort during handling by the nursing robot and even may cause secondary harm to the patient. The shape tends to be industrial machinery, which easily makes the patient have a resistant and fearful psychology, and the design lacks productization and marketization elements. The end-effector design of the current nursing robot has a large relative friction with the skin of the disabled person during the movement process, which may not only affect the comfort but also cause secondary harm to the disabled person.

[0003] Existing nursing robots are mainly configured with link robots or low-degree-of-freedom robots, with relatively single functions and poor flexibility. The robot usually can only complete single functions such as assisting in handling. Link nursing robots usually only support functions such as assisting in handling or assisting in getting up, and cannot meet long-term and diverse nursing needs. They do not support high-frequency nursing operations such as rehabilitation and turning over, and cannot effectively reduce the burden on nursing staff. At the same time, the low-degree-of-freedom actuators cannot finely control the posture of the end effector in contact with the patient during the working process, making it difficult to ensure the comfort of the patient.

[0004] After retrieval, the application publication number CN110154033A discloses an omnidirectional mobile double-arm robot, including a vehicle body, a rotary lifting platform, a lidar, a first robotic arm, a second robotic arm, a camera, multiple ultrasonic sensor modules, a power system, an embedded host, and an industrial control host; it has two rotational degrees of freedom and a vertical degree of freedom, and can perform more complex operation tasks through the cooperation of the two arms; by using the camera and lidar, it can achieve the fusion of VSLAM and laser SLAM navigation information, improving the navigation and positioning accuracy. However, this existing technology cannot achieve the nursing function.

[0005] In summary, how to design a robot that can achieve the nursing function is a technical problem to be solved. Summary of the Invention

[0006] The purpose of the present invention is to provide a multifunctional double-arm nursing robot to overcome the above-mentioned defect of relatively low comfort in the existing technology.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] According to one aspect of the present invention, a multifunctional dual-arm nursing robot is provided, comprising a chassis assembly, a mechanical arm assembly, a lifting assembly and a console, wherein the lifting assembly and the console are mounted on the chassis assembly; the mechanical arm assembly comprises a mechanical arm base and a seven-degree-of-freedom main mechanical arm, a six-degree-of-freedom auxiliary mechanical arm and a time-of-flight camera mounted on the mechanical arm base, wherein the mechanical arm base is mounted on the lifting assembly;

[0009] The seven-degree-of-freedom main robotic arm and the six-degree-of-freedom auxiliary robotic arm both include a plurality of interconnected joint modules and a T-shaped skeleton; a main end effector is installed at the end of the seven-degree-of-freedom main robotic arm; the end of the main end effector away from the robotic arm base is thinner, and a roller is installed on the surface away from the ground; an auxiliary end effector is installed at the end of the six-degree-of-freedom auxiliary robotic arm, and the auxiliary end effector is in the shape of an arc plate; the surfaces of the roller and the auxiliary end effector are covered with soft material.

[0010] As a preferred technical solution, the main end effector includes a connecting rod and a first part and a second part that are rotatably connected; the first part is connected to one end of the connecting rod through a thread on a fixed interface, and the other end of the connecting rod is connected to the joint module, and a threading hole is provided in the fixed interface; the surface of the connecting rod is covered with a soft material; a limit block is provided between the first part and the second part, and when the second part is rotated to the maximum limit position, the common tangent of the rollers on the first part and the second part is completely located on the side of the main end effector away from the ground.

[0011] As a preferred technical solution, the T-shaped skeleton includes a connecting plate and two connecting plates, one side of which is connected to one end of the connecting plate and is located in the same plane as the connecting plate, and the middle of the other connecting plate is connected to the other end of the connecting plate and is perpendicular to the connecting plate; the end face of the connecting plate fixes the joint module.

[0012] As a preferred technical solution, the chassis assembly includes a chassis and a DC motor, a controller, wheels, a battery and a cage-type frame installed on the chassis, the DC motor is connected to the controller, the wheels and the battery; the cage-type frame cover is arranged outside the battery, and the lifting assembly is installed on the cage-type frame.

[0013] As a preferred technical solution, the wheels include driving wheels and universal wheels. There are two driving wheels installed at both ends of one side of the chassis; the universal wheels are installed on the other side of the chassis.

[0014] As a preferred technical solution, the lifting assembly includes a frame and a lifting servo motor, a screw, a screw nut and a base installed in the frame. The lifting servo motor is connected to one end of the screw through a coupling, the screw nut is sleeved on the screw, and the base is installed on the screw nut.

[0015] As a preferred technical solution, the other end of the lead screw is fixed to the frame by an angular contact ball bearing.

[0016] As a preferred technical solution, the lifting assembly further includes a linear slide rail fixed to one side of the frame; the base is in an I-shape, and one linear slide rail is embedded on each side, and the base and the linear slide rail form a moving pair.

[0017] As a preferred technical solution, the console includes a computing platform and a screen, and the computing platform is electrically connected to the chassis assembly, the robotic arm assembly and the lifting assembly.

[0018] As a preferred technical solution, the seven-degree-of-freedom main robotic arm and the six-degree-of-freedom auxiliary robotic arm are installed at the same height.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1) Based on the flexibility and expandability of the high-degree-of-freedom robotic arm, the present invention can undertake more nursing tasks and other general tasks, and adapt to various and long-term nursing needs; the seven-degree-of-freedom main robotic arm and the six-degree-of-freedom auxiliary robotic arm are adopted, and the asymmetric design can save costs while meeting the task requirements; one end of the main end effector is thinner and a roller is installed on the surface, which fully prevents a large relative friction from being generated when the robotic arm is inserted between the patient's back and the bed board when holding the patient, causing discomfort or secondary injury to the patient; the roller and the surface of the auxiliary end effector are covered with soft materials to improve the comfort of the patient; the joint posture data of the patient is collected by a time-of-flight camera, and the working position of the robotic arm is determined by combining a vision algorithm to realize nursing functions such as assisted turning over, leg lifting and assisted handling.

[0021] 2) The first part and the second part of the main end effector of the present invention are rotatably connected. When the second part rotates to the maximum limit position, the common tangent of the rollers on the first part and the second part is completely located above the main end effector. Therefore, it can be ensured that the roller contacts the patient first, minimizing the relative friction between the patient and the hard part of the end effector; the surface of the connecting rod is covered with soft materials, which shortens the overall length of the end effector and the robotic arm while ensuring the safety and comfort of the patient, making the robotic arm more flexible when performing other tasks.

[0022] 3) The present invention adopts a T-shaped skeleton to install the joint module, which can improve the weighing capacity of the robotic arm and make the present invention more suitable for the heavy-load situation of carrying patients; the T-shaped skeleton can also change the joint direction to meet the overall configuration.

[0023] 4) The chassis assembly of the present invention is movable, driving the robot to travel to the working position; two driving wheels installed at both ends of the chassis realize steering through differential.

[0024] 5) The lifting component of the present invention drives the robotic arm and the time-of-flight camera to lift, meeting the height requirements for actual use; one end of the lead screw is fixed to the frame through angular contact ball bearings, enhancing the radial load capacity of the lifting screw; the two sides of the I-shaped base are embedded with linear slide rails, ensuring the stability and shear resistance of the lifting mechanism.

[0025] 6) The present invention realizes the overall interactive control of the robot through a console; the seven-degree-of-freedom main robotic arm and the six-degree-of-freedom auxiliary robotic arm are installed at the same height, with a high degree of bionics and facilitating the handling of patients. Description of the Drawings

[0026] Figure 1 It is a schematic diagram of the overall structure of a multifunctional dual-arm nursing robot of the present invention;

[0027] Figure 2 It is a cross-sectional view of the seven-degree-of-freedom main robotic arm of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of the main end effector of the present invention;

[0029] Figure 4 It is a front view of the main end effector of the present invention;

[0030] Figure 5 It is a top view of the main end effector of the present invention;

[0031] Figure 6 It is a schematic diagram of the installation relationship between the joint module and the T-shaped skeleton of the present invention;

[0032] Figure 7 It is a front view of the lifting component of the present invention;

[0033] Figure 8 It is a partial structure schematic diagram of the lifting component of the present invention;

[0034] Figure 9 It is a cross-sectional view of the lifting component of the present invention in the first direction;

[0035] Figure 10 It is a cross-sectional view of the lifting component of the present invention in the second direction;

[0036] Figure 11 It is a partially enlarged view of the linear slide rail of the present invention;

[0037] Figure 12 It is a schematic diagram of the structure of the chassis component of the present invention;

[0038] Figure 13 It is a schematic diagram of the structure of the lifting component installed on the chassis component of the present invention;

[0039] Indicated by the reference numerals in the figure:

[0040] 10. Chassis, 11. DC motor, 12. Controller, 13. Wheels, 130. Driving wheel, 131. Omnidirectional wheel, 14. Battery, 15. Cage skeleton, 20. Manipulator base, 21. Seven-degree-of-freedom main manipulator, 210. Joint module, 211. T-shaped skeleton, 2110. Connecting plate, 2111. Connecting disk, 212. Main end effector, 2120. Roller, 2121. Connecting rod, 2122. First part, 2123. Second part, 2124. Limiting block, 22. Six-degree-of-freedom auxiliary manipulator, 220. Auxiliary end effector, 23. Time-of-flight camera, 3. Lifting assembly, 30. Frame, 31. Lifting servo motor, 32. Lead screw, 33. Lead screw nut, 34. Base, 35. Coupling, 36. Angular contact ball bearing, 37. Linear slide rail, 40. Computing platform, 41. Screen. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] As Figure 1 shown, the present invention provides a multi-functional two-arm nursing robot, including a chassis assembly, a manipulator assembly, a lifting assembly 3, and a console. By using the flexibility and versatility of the high-degree-of-freedom manipulator, the robot can perform complex nursing actions such as assisting in turning over and lifting legs. At the same time, locking the joints enables the manipulator to complete high-load functions such as assisting in handling. The modular design of the end effector can give the robot more expandability, such as replacing the gripper to pick up objects and other functions.

[0043] As Figure 12 shown, the chassis assembly includes a chassis 10, a pair of DC motors 11, a controller 12, wheels 13, a battery 14, and a cage skeleton 15. The pair of DC motors 11, the controller 12, and the battery 14 are installed on the chassis 10. The chassis 10 can be made of aluminum alloy, and the battery 14 can be a lithium battery 14, providing power for the movement of the robot. The controller 12 controls the DC motor 11 to achieve the forward and backward movement and differential steering of the robot. The DC motor 11 is connected to the controller 12 and the battery 14, and the cage skeleton 15 covers the outside of the battery 14. As Figure 13As shown, the lifting assembly 3 is installed on the cage-shaped frame 15, and the cage-shaped frame 15 also serves as the base 34 of the lifting assembly 3, which can protect the battery 14 and effectively save the internal space of the robot, and ensure the rigid connection of the robot. The main load-bearing components of the chassis assembly and the lifting assembly 3 are connected by bolts, ensuring the load strength of the robot. The wheels 13 include two driving wheels 130 and two omnidirectional wheels 131. The two driving wheels 130 are installed at both ends of one side of the chassis 10, and the two omnidirectional wheels 131 are installed at both ends of the other side of the chassis 10. Each of the two driving wheels 130 is connected to a DC motor 11.

[0044] The robotic arm assembly includes a robotic arm base 20, a seven-degree-of-freedom main robotic arm 21, a six-degree-of-freedom auxiliary robotic arm 22, and a time-of-flight camera 23 (TOF camera). The robotic arm base 20 is installed on the base 34 of the lifting assembly 3 to achieve the function of lifting the dual robotic arms in the z-axis direction. The time-of-flight camera 23 is installed in front of the robotic arm base 20. The seven-degree-of-freedom main robotic arm 21 and the six-degree-of-freedom auxiliary robotic arm 22 are installed on the side of the robotic arm base 20 close to the ground. As Figure 2 shown, both include a plurality of interconnected joint modules 210 and a T-shaped frame 211. The seven-degree-of-freedom main robotic arm 21 and the six-degree-of-freedom auxiliary robotic arm 22 can be used for user-assisted rehabilitation training. When performing large-load tasks such as assisted handling, some joint modules 210 will be locked by a locking mechanism to enhance the stability and load capacity of the robotic arm.

[0045] The robotic arm base 20 includes an internal plastic housing, triangular stiffeners, and an external decorative panel. The robotic arm base 20 is installed on the base 34 of the lifting assembly 3 through the triangular stiffeners.

[0046] The main end effector 212 is installed at the end of the seven-degree-of-freedom main robotic arm 21. As Figure 3 shown, the main end effector 212 includes a connecting rod 2121 and a first part 2122 and a second part 2123 that are rotatably connected. The rotational degrees of freedom of the first part 2122 and the second part 2123 can improve the flexibility of the robotic arm insertion. The first part 2122 is threadedly connected to one end of the connecting rod 2121 through a fixed interface. The other end of the connecting rod 2121 is connected to the joint module 210. A wire passing hole is provided in the fixed interface. The end of the second part 2123 away from the robotic arm base 20 is thinner and trapezoidal as a whole. Rollers 2120 are installed on the upper surfaces of the first part 2122 and the second part 2123; the rollers 2120 can convert sliding friction into rolling friction during operation, improving the comfort of the patient. A limiting block 2124 is provided between the first part 2122 and the second part 2123. When the second part 2123 rotates to the maximum limit position, as Figure 4 shown, the common tangent line l of the rollers 2120 on the first part 2122 and the second part 2123 1It is completely located on the side of the main end effector 212 away from the ground, minimizing the relative friction between the patient and the surface of the effector, reducing the patient's discomfort experience and the possibility of secondary injuries. As Figure 5 shown, the surfaces of the connecting rod 2121 and the roller 2120 are coated with soft materials, such as soft foam, and together with the first part 2122 and the second part 2123, they reach the safe length for the cradling operation. While ensuring the safety and comfort of the patient in the cradling state, this design shortens the overall length of the end effector and the robotic arm, making the robotic arm more flexible when performing other tasks, and also ensuring the stability of the robotic arm and reducing the load on the joint module 210 of the robotic arm.

[0047] The low-degree-of-freedom nursing robotic arm cannot precisely control the posture of the end effector when in contact with people, and the contact with the patient is relatively rigid. It cannot rotate the contact surface to fit the patient's body when cradling the patient, resulting in a low level of patient comfort. The scooping mechanism may even cause secondary injuries when caring for patients with pressure ulcers. The main end effector 212 with rollers 2120 fully solves the problem that when a general robotic arm cradles a patient, a large relative friction is generated when the robotic arm inserts into the patient's back, causing discomfort to the cared-for person, reducing the harm to patients with pressure ulcers, and improving the comfort of the patient during the handling process.

[0048] An auxiliary end effector 220 is installed at the end of the six-degree-of-freedom auxiliary robotic arm 22. The auxiliary end effector 220 is in the shape of an arc plate, and the surface of the auxiliary end effector 220 is coated with soft materials.

[0049] The main end effector 212 and the auxiliary end effector 220 adopt a modular design. The effector is connected to the robotic arm through a universal interface, and the effector can be replaced according to different functional requirements, ensuring the versatility and expandability of the robot, enabling the robot to undertake more general tasks and adapt to various and long-term nursing needs.

[0050] The dual robotic arms of the present invention adopt an asymmetric design (a seven-degree-of-freedom main robotic arm 21 and a six-degree-of-freedom auxiliary robotic arm 22), which can save costs. During the operation of performing auxiliary handling of patients and other heavy-load operations, the degree of freedom of the robotic arm can be reduced through the braking of the joint module 210, enhancing the load capacity of the robotic arm. The modular end effector design can give the robotic arm more development space and expandability.

[0051] As Figure 6As shown, the T-shaped frame 211 includes a connecting plate 2110 and two connecting discs 2111. One side of a connecting disc 2111 is connected to one end of the connecting plate 2110 and lies in the same plane as the connecting plate 2110; the other connecting disc 2111 is either connected to the other end of the connecting plate 2110 at the middle and is perpendicular to the connecting plate 2110, or is connected to the other end of the connecting plate 2110 at one side and lies in the same plane as the connecting plate 2110. The end face of the connecting disc 2111 fixes the joint module 210. Connecting the joint module 210 with the T-shaped frame can improve the load-bearing capacity of the robotic arm and change the joint axis direction to meet the SRS configuration of the robotic arm.

[0052] The joint pose data of the patient is obtained by the TOF camera combined with the vision algorithm, and the working position of the robotic arm is determined by visually identifying the characteristics of the contact line between the patient and the hospital bed. After the robotic arm drives the robotic arm base 20 to the working position through the lifting servo motor 31, nursing functions such as assisted turning over, leg lifting, and assisted handling are realized through robotic arm trajectory planning and 3D point cloud recognition of the human body structure. When performing the handling task, after the seven-degree-of-freedom main robotic arm 21 and the six-degree-of-freedom auxiliary robotic arm 22 determine the handling pose, some joints are locked. The main end effector 212 and the auxiliary end effector 220 will simultaneously insert under the patient's back and knee joint driven by the driving wheel 130. The seven-degree-of-freedom main robotic arm 21 adjusts the angles of a part of the main end effector 212 and the second part 2123 according to the torso angle of the patient to ensure that the contact surfaces fit; when performing rehabilitation operations, the seven-degree-of-freedom main robotic arm 21 and the six-degree-of-freedom auxiliary robotic arm 22 are used to imitate the nursing actions of the nursing worker to realize the functions of raising the hand and lifting the leg.

[0053] As Figures 7 to 11 As shown, the lifting assembly 3 is installed in front of the console and includes a frame 30, a lifting servo motor 31, a lead screw 32, a lead screw nut 33, a base 34, and two linear slide rails 37. The lifting servo motor 31 is installed on the top of the frame 30 and is connected to one end of the lead screw 32 through a coupling 35. Both ends of the lead screw 32 are fixed to the frame 30 through angular contact ball bearings 36, and the angular contact ball bearings 36 further enhance the longitudinal load-bearing capacity. The lead screw nut 33 is sleeved on the lead screw 32. The base 34 is installed on the lead screw nut 33, and the robotic arm base 20 is fixed to the base 34. The two linear slide rails 37 are installed on both sides of the frame 30. The base 34 is in an I-shaped shape, and one linear slide rail 37 is embedded on each side. The base 34 can slide along the linear slide rail 37 to ensure the stability and shear resistance of the base 34, and realize the high load and stable capacity of the lifting mechanism. The lifting servo motor 31 drives the lead screw 32 to rotate through the rigid coupling 35, and the lead screw 32 drives the lead screw nut 33 and the base 34 thereon to lift.

[0054] The console is installed at the rear side of the chassis assembly, and includes a computing platform 40 and a screen 41. The computing platform 40 is electrically connected to the chassis assembly, the robotic arm assembly and the lifting assembly 3 to achieve robot control. The computing platform 40 includes an industrial computer (x86) and an NVIDIA RTX 3060.

[0055] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or replacements, and these modifications or replacements should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multifunctional dual-arm nursing robot, characterized in that: The invention comprises a chassis component, a mechanical arm component, a lifting component (3) and a control console, wherein the lifting component (3) and the control console are mounted on the chassis component; the mechanical arm component comprises a mechanical arm base (20) and a seven-degree-of-freedom main mechanical arm (21), a six-degree-of-freedom auxiliary mechanical arm (22) and a time-of-flight camera (23) mounted on the mechanical arm base (20), and the mechanical arm base (20) is mounted on the lifting component (3); The seven-degree-of-freedom main robotic arm (21) and the six-degree-of-freedom auxiliary robotic arm (22) both comprise a plurality of interconnected joint modules (210) and a T-shaped skeleton (211); a main end effector (212) is installed at the end of the seven-degree-of-freedom main robotic arm (21); the end of the main end effector (212) away from the robotic arm base (20) is thinner, and a roller (2120) is installed on the surface away from the ground; an auxiliary end effector (220) is installed at the end of the six-degree-of-freedom auxiliary robotic arm (22), and the auxiliary end effector (220) is in the shape of an arc plate; the surfaces of the roller (2120) and the auxiliary end effector (220) are coated with soft material.

2. A multifunctional dual-arm nursing robot according to claim 1, characterized in that: The main end effector (212) comprises a connecting rod (2121) and a first part (2122) and a second part (2123) that are rotatably connected; the first part (2122) is connected to one end of the connecting rod (2121) through a thread on a fixed interface, and the other end of the connecting rod (2121) is connected to the joint module (210), and a threading hole is provided in the fixed interface; the surface of the connecting rod (2121) is coated with a soft material; a limit block (2124) is provided between the first part (2122) and the second part (2123), and when the second part (2123) is rotated to the maximum limit position, the common tangent of the roller (2120) on the first part (2122) and the second part (2123) is completely located on the side of the main end effector (212) away from the ground.

3. The multifunctional dual-arm nursing robot according to claim 1, characterized in that: The T-shaped skeleton (211) comprises a connecting plate (2110) and two connecting disks (2111), wherein one side of one of the connecting disks (2111) is connected to one end of the connecting plate (2110) and is located in the same plane as the connecting plate (2110), and the middle of the other connecting disk (2111) is connected to the other end of the connecting plate (2110) and is perpendicular to the connecting plate (2110); the end surface of the connecting disk (2111) is fixed to the joint module (210).

4. The multifunctional dual-arm nursing robot according to claim 1, characterized in that: The chassis assembly comprises a chassis (10) and a DC motor (11), a controller (12), wheels (13), a battery (14) and a cage-type frame (15) mounted on the chassis (10); the DC motor (11) is connected to the controller (12), the wheels (13) and the battery (14); the cage-type frame (15) is covered outside the battery (14), and the lifting assembly (3) is mounted on the cage-type frame (15).

5. The multifunctional dual-arm nursing robot according to claim 4, characterized in that: The wheels (13) include a driving wheel (130) and a universal wheel (131). The driving wheels (130) are two and are installed at two ends of one side of the chassis (10); the universal wheel (131) is installed on the other side of the chassis (10).

6. The multifunctional dual-arm nursing robot according to claim 1, characterized in that: The lifting assembly (3) comprises a frame (30) and a lifting servo motor (31), a lead screw (32), a lead screw nut (33) and a base (34) installed in the frame (30); the lifting servo motor (31) is connected to one end of the lead screw (32) via a coupling (35); the lead screw nut (33) is sleeved on the lead screw (32); and the base (34) is installed on the lead screw nut (33).

7. The multifunctional dual-arm nursing robot according to claim 6, characterized in that: The other end of the lead screw (32) is fixed on the frame (30) via an angular contact ball bearing (36).

8. The multifunctional dual-arm nursing robot according to claim 6, characterized in that: The lifting assembly (3) further comprises a linear slide rail (37) fixed on one side of the frame (30); the base (34) is I-shaped, with a linear slide rail (37) embedded on each side, and the base (34) and the linear slide rail (37) form a moving pair.

9. The multifunctional dual-arm nursing robot according to claim 1, characterized in that: The console comprises a computing platform (40) and a screen (41), wherein the computing platform (40) is electrically connected to the chassis assembly, the mechanical arm assembly and the lifting assembly (3).

10. The multifunctional dual-arm nursing robot according to claim 1, characterized in that: The seven-degree-of-freedom main mechanical arm (21) and the six-degree-of-freedom auxiliary mechanical arm (22) are installed at the same height.

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