Four-direction telescopic supporting leg type mechanical arm ultrasonic gripper nursing walking robot

Abstract

The invention relates to a four-direction telescopic supporting leg type mechanical arm ultrasonic gripper nursing walking robot. The robot is characterized by comprising a telescopic moving frame, a multi-joint mechanical arm, an ultrasonic nursing gripper device and a power circuit control integrated box. The telescopic moving frame can easily enter and exit all wards and move in the wards, multiple paralyzed patients can be nursed, the cost of using the ultrasonic nursing robot is greatly reduced, better supporting stability can be obtained during nursing, rollover is not prone to occurring, the ultrasonic nursing robot can be moved away after nursing, and the nursing efficiency is improved. And the space of a ward cannot be always occupied. Meanwhile, in the nursing process, all limb parts of the paralyzed patient can be moved, ultrasonic cavitation physiotherapy can be conducted on the clamped limbs, intramuscular capillary expansion can be stimulated, blood circulation is promoted, human metabolism is accelerated, thrombus and amyotrophy are prevented, and the paralyzed patient can be nursed more easily. And the workload of family members or nursing workers can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical care devices, and in particular to a nursing walking robot. Background Art

[0002] At present, due to the loss of motor function and long-term inactivity of paralyzed patients, their family members or caregivers need to help move their limbs every day to ensure smooth blood circulation in all parts of the body and prevent the occurrence of blood clots and muscle atrophy. However, turning over and moving the limbs of paralyzed patients is a physically demanding task and is also very time-consuming and laborious.

[0003] To solve this problem, there has now also emerged a device for helping paralyzed patients move their bodies. For example, a Chinese patent document discloses a technical solution with a patent application number of 201410790297.6 and a name of "Paralyzed Patient Body Position Movement Assistance Device". This solution mainly consists of a base, a vertical pillar, and a top frame. Among them, multiple electric wire ropes are provided on the top frame. When in use, the multiple electric wire ropes are respectively tied to the limb parts of the paralyzed patient to lift each limb part through the electric wire ropes to achieve the purpose of moving the limbs. However, in actual application, the following deficiencies still exist in this assistance device: First, due to the very large overall volume of this assistance device, it is not easy to move around casually, so one such assistance device needs to be equipped for each hospital bed, which not only has a high usage cost but also occupies a lot of space in the ward.

[0004] Second, each operation requires tying the electric wire ropes to the limb parts of the paralyzed patient, and the use is not yet convenient enough. If the electric wire ropes are not untied after use, it will also affect the blood circulation of all parts of the body.

[0005] Third, this assistance device can only lift and lower the limb parts, and can only serve the purpose of moving the limbs and preventing joint stiffness. It fails to provide good stimulation to the capillaries deep in the muscle tissue. In order to prevent muscle atrophy in paralyzed patients, family members or caregivers can only knead each muscle part of the paralyzed patient carefully to stimulate the dilation of capillaries in the muscle, accelerate the excretion of metabolic waste, and delay muscle atrophy. However, this operation still requires a lot of labor and time and does not greatly reduce the workload of family members and caregivers.

[0006] Therefore, based on the foregoing deficiencies, the applicant believes that this type of nursing device still needs to be further improved to better meet the daily nursing needs of paralyzed patients. Summary of the Invention

[0007] The object of the present invention is to solve the above problems and deficiencies, and to provide a four-way telescopic support leg type robotic arm ultrasonic gripper nursing walking robot. The lateral dimension and longitudinal dimension of the telescopic mobile frame of the ultrasonic nursing robot can be adjusted, and it can easily enter and exit each ward and move in the ward. It can provide care for multiple paralyzed patients, greatly reducing the cost of using the ultrasonic nursing robot. During nursing, better support stability can be obtained, and it is not easy to tip over. After nursing, the ultrasonic nursing robot can be removed and will not always occupy the space of the ward. At the same time, during the nursing process, not only can each limb part of the paralyzed patient be moved to prevent joint stiffness, but also ultrasonic cavitation physiotherapy can be performed on the clamped limb, which helps to stimulate the dilation of capillaries in the muscle, promote blood circulation, accelerate human metabolism, prevent the appearance of thrombosis and muscle atrophy, and maintain the health of the human body, which can greatly reduce the workload of family members or caregivers.

[0008] The technical solution of the present invention is realized as follows: A four-way telescopic support leg type robotic arm ultrasonic gripper nursing walking robot, which is characterized by including a telescopic mobile frame, a multi-joint robotic arm, an ultrasonic nursing gripper device, and a power circuit control integration box; the telescopic mobile frame includes two lateral telescopic rods, two longitudinal telescopic rods, four walking wheels, four telescopic auxiliary support legs, and a mounting platform. The two longitudinal telescopic rods are respectively connected to the non-movable ends of the two lateral telescopic rods at intervals, so that the two longitudinal telescopic rods and the two lateral telescopic rods are connected to form a rectangular frame structure with adjustable lateral dimension and longitudinal dimension. The tops of the four walking wheels and the four telescopic auxiliary support legs are respectively arranged at both ends of the two lateral telescopic rods, and the mounting platform is fixed to the non-movable ends of the two longitudinal telescopic rods; the power circuit control integration box is arranged on the mounting platform, and the ultrasonic nursing gripper device is connected to the mounting platform through the multi-joint robotic arm and can be adjusted in multiple directions, and the ultrasonic nursing gripper device, the multi-joint robotic arm, the two lateral telescopic rods, the two longitudinal telescopic rods, the four walking wheels, and the four telescopic auxiliary support legs are respectively electrically connected to the power circuit control integration box.

[0009] Preferably, the lateral telescopic rod is composed of a left telescopic cross rod and a right telescopic cross rod assembled together, and the telescopic direction of the left telescopic cross rod is opposite to that of the right telescopic cross rod; the longitudinal telescopic rods are respectively composed of a left telescopic longitudinal rod and a right telescopic longitudinal rod assembled together, and the telescopic direction of the left telescopic longitudinal rod is opposite to that of the right telescopic longitudinal rod.

[0010] Preferably, the telescopic auxiliary support leg is composed of a telescopic auxiliary cross rod, a connecting seat, a telescopic auxiliary vertical rod, and a support base connected in sequence.

[0011] Preferably, the installation platform is a lifting platform; the installation platform is composed of a supporting bottom plate and lifting columns arranged on the supporting bottom plate, and one end of the multi-joint robotic arm and the power circuit control integration box are respectively fixed to the top of the lifting columns.

[0012] Preferably, the ultrasonic care gripper device includes two ultrasonic circumferential clamping assemblies arranged facing each other, and a working cavity is formed between the two ultrasonic circumferential clamping assemblies; the ultrasonic circumferential clamping assembly includes a first ultrasonic clamping arm, a second ultrasonic clamping arm, and a third ultrasonic clamping arm that are sequentially rotatably connected end to end, and the first ultrasonic clamping arm is rotatably connected to the multi-joint robotic arm.

[0013] Preferably, the first ultrasonic clamping arm, the second ultrasonic clamping arm, and the third ultrasonic clamping arm respectively include a clamping arm and an ultrasonic massage component arranged on the clamping arm; a universal joint is also provided between the ultrasonic massage component and the clamping arm; the clamping arm of the third ultrasonic clamping arm is a tray structure, and a guiding inclined surface is also provided on the tray structure; the ultrasonic massage component includes a housing, a plurality of massage convex grains, an ultrasonic vibration element, a medicine spraying hole, and a pipe connection port, the ultrasonic vibration element is installed in the housing, each massage convex grain is arranged on the front end surface of the housing, the medicine spraying hole is opened in the gap between the massage convex grains, and the pipe connection port is arranged on the back surface or side surface of the housing.

[0014] Preferably, the traveling wheel includes a mounting seat, a connecting rod, a shock-absorbing spring, and an electric roller. One end of the connecting rod is hinged to the bottom of the mounting seat, both ends of the shock-absorbing spring are respectively connected to the other end of the connecting rod and the mounting seat, the electric roller is rotatably connected to the connecting rod, and the mounting seat is arranged at the end of the transverse telescopic rod; a horizontal steering motor is also provided between the mounting seat and the transverse telescopic rod; the electric roller is composed of a tire, a wheel hub, a permanent magnet, a motor rotor, a motor stator, a motor winding, a motor controller, a bearing member, a brake shoe, a brake caliper, and a suspension shaft, and the suspension shaft is connected to the connecting rod.

[0015] Preferably, a camera and a detection and recognition probe electrically connected to the power circuit control integration box are also provided on the multi-joint robotic arm; a camera electrically connected to the power circuit control integration box is also provided on the rectangular frame body structure; the power circuit control integration box includes a box body and a battery and a control circuit board arranged in the box body, and the control circuit board is integrated with a wireless communication module; hooks are also provided on the rectangular frame body structure and the multi-joint robotic arm.

[0016] Advantages of the present invention: By adjusting the lateral and longitudinal dimensions of the telescopic mobile frame, the volume of the ultrasonic nursing robot is reduced, enabling it to easily enter and move in various wards. This allows it to provide care for multiple paralyzed patients, greatly reducing the cost of using the ultrasonic nursing robot. After the care is completed, the ultrasonic nursing robot can be removed, without occupying the ward space all the time. Moreover, after the ultrasonic nursing robot enters the ward, the telescopic mobile frame is extended, which can change the distance between the four telescopic auxiliary legs to increase the support base area of the telescopic mobile frame and obtain better support stability. When turning over a paralyzed patient, it can prevent the ultrasonic nursing robot from tipping over due to the heavy weight of the paralyzed patient, ensuring the safety and reliability of use. Also, since the two longitudinal telescopic rods are respectively connected to the non-movable ends of the two lateral telescopic rods, there is no longitudinal telescopic rod connecting the movable ends of the two lateral telescopic rods. When extended, it can easily extend to the bottom of the hospital bed and is not easily blocked by the hospital bed or other items. Secondly, by setting up a multi-joint robotic arm, the ultrasonic nursing gripper device can achieve multi-directional position movement, enabling it to more precisely grasp various limb parts of the human body for movement to prevent joint stiffness in paralyzed patients. At the same time, by outputting ultrasonic energy to the clamped limb using the ultrasonic nursing gripper device, ultrasonic cavitation physiotherapy can be performed on the clamped limb, allowing the ultrasonic energy to penetrate deep into the human muscle tissue, which helps stimulate the dilation of capillaries in the muscle, promote blood circulation, accelerate human metabolism, prevent the occurrence of blood clots and muscle atrophy, and maintain the health of the human body. Using this ultrasonic nursing robot to care for paralyzed patients can greatly reduce the workload of family members or caregivers. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the ultrasonic nursing robot of the present invention in the extended state.

[0018] Figure 2 It is an overall structural schematic diagram of the present invention with partial disassembly.

[0019] Figure 3 It is a partial structural schematic diagram of the telescopic mobile frame of the present invention.

[0020] Figure 4 It is a structural schematic diagram of the rectangular frame body structure of the present invention.

[0021] Figure 5 It is a structural schematic diagram of the installation platform of the present invention.

[0022] Figure 6 It is a structural schematic diagram of the multi-joint robotic arm of the present invention.

[0023] Figure 7It is a schematic cross-sectional structure diagram of the first embodiment of the left telescopic cross bar, right telescopic cross bar, left telescopic longitudinal bar, right telescopic longitudinal bar, lifting column, telescopic auxiliary cross bar, telescopic auxiliary vertical bar, first telescopic arm or second telescopic arm of the present invention.

[0024] Figure 8 It is a schematic cross-sectional structure diagram of the second embodiment of the left telescopic cross bar, right telescopic cross bar, left telescopic longitudinal bar, right telescopic longitudinal bar, lifting column, telescopic auxiliary cross bar, telescopic auxiliary vertical bar, first telescopic arm or second telescopic arm of the present invention.

[0025] Figure 9 It is a schematic structure diagram of the grasping device of the present invention.

[0026] Figure 10 It is a schematic structure diagram of the walking wheel of the present invention.

[0027] Figure 11 It is a schematic cross-sectional structure diagram of the electric roller of the present invention.

[0028] Figure 12 It is a schematic structure diagram of the power circuit control integrated box of the present invention.

[0029] Figure 13 It is a three-dimensional structure diagram of the ultrasonic care robot of the present invention in the retracted state. Detailed implementation mode

[0030] As Figures 1 to 4 shown, a four-way telescopic support leg type robotic arm ultrasonic gripper care walking robot of the present invention includes a telescopic mobile frame 1, a multi-joint robotic arm 2, an ultrasonic care gripper device 3, and a power circuit control integrated box 4; the telescopic mobile frame 1 includes two transverse telescopic rods 11, two longitudinal telescopic rods 13, four walking wheels 15, four telescopic auxiliary legs 16, and an installation platform 17. The two longitudinal telescopic rods 13 are respectively and spacedly connected to the non-movable ends of the two transverse telescopic rods 11, so that the two longitudinal telescopic rods 13 and the two transverse telescopic rods 11 are connected to form a rectangular frame structure 10 with adjustable transverse and longitudinal dimensions. The tops of the four walking wheels 15 and the four telescopic auxiliary legs 16 are respectively arranged at both ends of the two transverse telescopic rods 11, and the installation platform 17 is fixed to the non-movable ends of the two longitudinal telescopic rods 13; the power circuit control integrated box 4 is arranged on the installation platform 17, and the ultrasonic care gripper device 3 is connected to the installation platform 17 through the multi-joint robotic arm 2 in a multi-directionally adjustable manner, and the ultrasonic care gripper device 3, the multi-joint robotic arm 2, the two transverse telescopic rods 11, the two longitudinal telescopic rods 13, the four walking wheels 15, and the four telescopic auxiliary legs 16 are respectively electrically connected to the power circuit control integrated box 4.

[0031] In practical applications, the transverse telescopic rod 11 and the longitudinal telescopic rod 13 can be of a single-end telescopic rod structure or a double-end telescopic rod structure. When the double-end telescopic rod structure is adopted, the transverse telescopic rod 11 and the longitudinal telescopic rod 13 can be implemented by the following structure: As Figure 4 shown, the transverse telescopic rod 11 is composed of a left telescopic crossbar 111 and a right telescopic crossbar 112 assembled together, and the telescopic directions of the left telescopic crossbar 111 and the right telescopic crossbar 112 are opposite; the longitudinal telescopic rod 13 is respectively composed of a left telescopic longitudinal rod 121 and a right telescopic longitudinal rod 122 assembled together, and the telescopic directions of the left telescopic longitudinal rod 121 and the right telescopic longitudinal rod 122 are opposite. Among them, the left telescopic crossbar 111, the right telescopic crossbar 112, the left telescopic longitudinal rod 121, and the right telescopic longitudinal rod 122 are all of single-end telescopic rod structures, so that the double-end telescopic rod structure can be manufactured more easily. During actual assembly, the non-movable end of the left telescopic crossbar 111 and the non-movable end of the right telescopic crossbar 112 are butt-jointed and fixed together by means of screw locking or welding; similarly, the non-movable end of the left telescopic longitudinal rod 121 and the non-movable end of the right telescopic longitudinal rod 122 are also butt-jointed and fixed together by means of screw locking or welding.

[0032] In order to further improve the structure of the telescopic auxiliary leg 16, as Figure 3 shown, the telescopic auxiliary leg 16 is composed of a telescopic auxiliary crossbar 161, a connecting seat 162, a telescopic auxiliary vertical rod 163, and a support base 164 connected in sequence. By providing the telescopic auxiliary vertical rod 163, the support base 164 can be driven to move up and down, so that the support base 164 can contact and leave the ground, and when the robot moves, it will not affect the movement of the telescopic mobile frame 1. By providing the telescopic auxiliary crossbar 161, the adjustable distance between the four support bases 164 can be further increased, so that the support base area of the telescopic mobile frame 1 can be further increased. In this way, when turning over a paralyzed patient, the support load-bearing performance of the telescopic mobile frame 1 can be further improved, and the probability of tipping over is greatly reduced, and the reliability is very high. By providing the connecting seat 162, it is convenient to connect the telescopic auxiliary vertical rod 163 and the telescopic auxiliary crossbar 161 together. During actual assembly, the telescopic auxiliary crossbar 161, the connecting seat 162, the telescopic auxiliary vertical rod 163, and the support base 164 are fixed together in sequence by welding, and the four telescopic auxiliary legs 16 are fixed by welding the telescopic auxiliary crossbar 161 to the end of the corresponding transverse telescopic rod 11.

[0033] In order to further increase the movement range of the ultrasonic nursing gripper device 3, as Figure 5As shown, the installation platform 17 is a lifting platform; the installation platform 17 is composed of a support bottom plate 171 and lifting columns 172 arranged on the support bottom plate 171. One end of the multi-joint robotic arm 2 and the power circuit control integration box 4 are respectively fixed to the top of the lifting columns 172. Specifically, the support bottom plate 171 is fixed to the non-movable ends of the two longitudinal telescopic rods 13 by welding; the lifting columns 172 are fixed to the support bottom plate 171 by welding or screw locking. By also arranging the power circuit control integration box 4 at the top of the lifting columns 172, it is possible to prevent the wires connected to the power circuit control integration box 4 from being pulled off when the multi-joint robotic arm 2 is lifted. In practical applications, a support plate (not shown) for installing the power circuit control integration box 4 and the multi-joint robotic arm 2 can also be added to the top of the lifting columns 172. As a preference, one end of the multi-joint robotic arm 2 can also be directly fixed to the power circuit control integration box 4, which can make the structure more compact and simple.

[0034] In order to make the multi-joint robotic arm 2 of the present invention have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 6 shown, the multi-joint robotic arm 2 is composed of a fixed seat 21, a first driving joint 22, a second driving joint 23, a first telescopic arm 201, a third driving joint 24, a fourth driving joint 25, a second telescopic arm 202, a fifth driving joint 26, a sixth driving joint 27, a seventh driving joint 28, and an eighth driving joint 29. By arranging the first telescopic arm 201 and the second telescopic arm 202, the movement range of the ultrasonic care gripper device 3 can be further increased. Further, in order to enable these components to be simply, scientifically, reasonably, and organically assembled together, again as Figure 6As shown, the fixed seat 21 is fixed on the power circuit control integrated box 4. A driving motor is provided inside the first driving joint 22, and the motor output end of the first driving joint 22 is fixed on the fixed seat 21 to enable the first driving joint 22 to rotate; the second driving joint 23 is fixed on one end of the first telescopic arm 201. A driving motor is provided inside the second driving joint 23, and the motor output end of the second driving joint 23 is fixed on the first driving joint 22 to enable the second driving joint 23 and the first telescopic arm 201 to rotate together; the third driving joint 24 is fixed on the other end of the first telescopic arm 201; the fourth driving joint 25 is fixed on one end of the second telescopic arm 202. A driving motor is provided inside the fourth driving joint 25, and the motor output end of the fourth driving joint 25 is fixed on the third driving joint 24 to enable the fourth driving joint 25 and the second telescopic arm 202 to rotate together; the fifth driving joint 26 is fixed on the other end of the second telescopic arm 202, and a driving motor is provided inside the fifth driving joint 26; the sixth driving joint 27 is fixed on the motor output end of the fifth driving joint 26 to enable the sixth driving joint 27 to rotate; a driving motor is provided inside the seventh driving joint 28, and the motor output end of the seventh driving joint 28 is fixed on the sixth driving joint 27 to enable the seventh driving joint 28 to rotate; a driving motor is provided inside the eighth driving joint 29, and the motor output end of the eighth driving joint 29 is fixed on the seventh driving joint 28 to enable the eighth driving joint 29 to rotate; specifically, as Figure 2 as Figure 9 shown, a connecting block 291 is further provided on the eighth driving joint 29. The connecting block 291 is locked on the eighth driving joint 29 by screws, and the ultrasonic care gripper device 3 is connected to the connecting block 291, which facilitates the installation of the ultrasonic care gripper device 3 on the eighth driving joint 29. In practical applications, the multi-joint robotic arm 2 can also adopt an existing multi-joint robotic arm structure, such as the technical solution disclosed in the patent document with the Chinese patent application number 202210361877.8 and the title "A Multi-Joint Manipulator and Palletizing Equipment".

[0035] In order to enable the telescopic rods of the present invention to have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 7 as Figure 8As shown, the left telescopic crossbar 111, right telescopic crossbar 112, left telescopic vertical bar 121, right telescopic vertical bar 122, lifting column 172, telescopic auxiliary crossbar 161, telescopic auxiliary vertical bar 163, first telescopic boom 201, and second telescopic boom 202 respectively include a first cylinder 1001, a second cylinder 1002, and a third cylinder 1003 that are sleeved together. A motor 1004 and a reduction gear component 1005 are provided inside or outside the first cylinder 1001. A first lead screw 1006 is further provided inside the first cylinder 1001. The first lead screw 1006 is drivingly connected to the motor 1004 through the reduction gear component 1005. A threaded connection block 1007 screwed to the first lead screw 1006 is fixedly provided in the second cylinder 1002. A bearing 1008 is provided on the threaded connection block 1007. The inner ring of the bearing 1008 is fixedly connected to a second lead screw 1009 disposed in the second cylinder 1002. The second lead screw 1009 is provided with an external thread 1010 and an internal thread hole 1011. The internal thread hole 1011 is screwed to the first lead screw 1006. An internal thread hole 1012 screwed to the external thread 1010 of the second lead screw 1009 is provided on the third cylinder 1003. Specifically, the first cylinder 1001, the second cylinder 1002, and the third cylinder 1003 are all square cylinders. When the first cylinder 1001, the second cylinder 1002, and the third cylinder 1003 are all circular cylinders, a limiting guide groove (not shown) and a limiting guide protrusion (not shown) that are slidably nested together are further provided between the first cylinder 1001 and the second cylinder 1002, and between the second cylinder 1002 and the third cylinder 1003. In this way, when the first lead screw 1006 rotates, the second cylinder 1002 and the third cylinder 1003 can be simultaneously driven to extend or retract. In practical applications, each telescopic rod can also adopt an existing electric telescopic rod, such as the technical solution disclosed in the patent document with the Chinese patent application number 201911294043.4 and the name "multi-section electric push rod".

[0036] To further improve the structure of the ultrasonic care gripper device 3, as Figure 9As shown, the ultrasonic care gripper device 3 includes two ultrasonic circumferential clamping components 31 arranged facing each other, and a working cavity 30 is formed between the two ultrasonic circumferential clamping components 31; the ultrasonic circumferential clamping component 31 includes a first ultrasonic clamping arm 311, a second ultrasonic clamping arm 312, and a third ultrasonic clamping arm 313 that are sequentially rotatably connected end to end, and the two ultrasonic circumferential clamping components 31 are respectively rotatably connected to the multi-joint robotic arm 2 through the first ultrasonic clamping arm 311. Specifically, the first ultrasonic clamping arms 311 of the two ultrasonic circumferential clamping components 31 are respectively rotatably connected to the connecting block 291. By setting such a three-section clamping arm, when turning over a paralyzed patient, circumferential clamping can be achieved, making the clamping more stable. When clamping a certain limb part, the two third ultrasonic clamping arms 313 can be used to clamp the limb. In practical applications, such as Figure 2 As shown, driving motors 37 are respectively arranged between the first ultrasonic clamping arm 311 and the connecting block 291, between the second ultrasonic clamping arm 312 and the first ultrasonic clamping arm 311, and between the third ultrasonic clamping arm 313 and the second ultrasonic clamping arm 312 to achieve rotational connection through the driving motors 37, and each driving motor 37 is respectively electrically connected to the power circuit control integrated box 4.

[0037] In addition to the ultrasonic care gripper device 3 described above, the ultrasonic care gripper device 3 can be replaced with ultrasonic massage heads in other forms, or can be replaced with electric gripper mechanisms in various forms and structures to help people do various things in life and in action.

[0038] In order to make each ultrasonic clamping arm of the present invention have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 9 As shown, the first ultrasonic clamping arm 311, the second ultrasonic clamping arm 312, and the third ultrasonic clamping arm 313 respectively include a clamping arm 32 and an ultrasonic massage component 33 arranged on the clamping arm 32. In order to make the ultrasonic massage component 33 fit more closely to the human body, as Figure 9 As shown, a universal joint 36 is further arranged between the ultrasonic massage component 33 and the clamping arm 32. The universal joint 36 can be a cross universal joint or a ball head universal joint. When turning over a paralyzed patient, in order to make the third ultrasonic clamping arm 313 move more easily to the back of the paralyzed patient, as Figure 9 As shown, the clamping arm 32 of the third ultrasonic clamping arm 313 is a tray structure, and a guiding inclined surface 314 is further arranged on the tray structure. This tray structure design can increase the contact area with the paralyzed patient, and the supporting effect is better, making the paralyzed patient more stable and comfortable when turning over.

[0039] In order to endow the ultrasonic massage component 33 of the present invention with characteristics such as simple structure, easy implementation, and high reliability, as Figure 9 shown, the ultrasonic massage component 33 includes a housing 331, a plurality of massage bumps 332, an ultrasonic vibration element 333, a medicine spraying hole 334, and a pipe connection port 335. The ultrasonic vibration element 333 is installed inside the housing 331. Each massage bump 332 is arranged on the front end face of the housing 331. The medicine spraying hole 334 is opened in the gap between the massage bumps 332. The pipe connection port 335 is arranged on the back or side of the housing 331. Among them, the massage bumps 332 are soft rubber bumps, so that when clamping and massaging a limb part, the pain caused by the massage bumps 332 pressing against the limb can be reduced, and the use is more comfortable. In practical applications, as Figure 3 shown, the housing 331 has an arc-shaped plate structure, so that the contour of the ultrasonic massage component 33 can better fit the contour of the human body, and the nursing is more comfortable and reliable. The pipe connection port 335 is connected to an external medicine gas supply device 100 through a pipeline. The medicine gas supply device 100 supplies medicine gas to the ultrasonic massage component 33 to achieve the purpose of applying medicine while massaging. In addition, in order to obtain a better ultrasonic energy efficiency ratio for the present invention, the ultrasonic vibration element 333 is an ultrasonic transducer of 1 MHz or above; or the ultrasonic vibration element 333 is an ultrasonic vibration motor with a rotational speed of 10,000 revolutions per minute or above. The medicine gas supply device 100 can adopt the drug centralized supply device in a patent technical solution with a patent application number of CN201920719552.6 and a name of "a centralized drug supply ultrasonic massage and medicine application device" proposed by the applicant to the Patent Office of the State Intellectual Property Office of China. Its specific structure and working principle will not be elaborated here too much.

[0040] In order to further improve the structure of the traveling wheel 15, as Figure 10 shown, the traveling wheel 15 includes a mounting seat 151, a connecting rod 152, a shock-absorbing spring 153, and an electric roller 154. One end of the connecting rod 152 is hinged to the bottom of the mounting seat 151. Both ends of the shock-absorbing spring 153 are respectively connected to the other end of the connecting rod 152 and the mounting seat 151. The electric roller 154 is rotatably connected to the connecting rod 152. The mounting seat 151 is arranged at the end of the horizontal telescopic rod 11; a horizontal steering motor 155 is further provided between the mounting seat 151 and the horizontal telescopic rod 11. This can play a shock-absorbing role when traveling on a bumpy road surface, making the movement of the ultrasonic nursing robot more stable. In practical applications, a horizontal steering motor 155 is also provided on the mounting seat 151, and the power output end of the horizontal steering motor 155 is fixed to the end of the horizontal telescopic rod 11 so that the traveling wheel 15 can achieve steering.

[0041] In order to make the electric roller 154 of the present invention have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 11 shown, the electric roller 154 is composed of a tire 1500, a wheel hub 1501, a permanent magnet 1502, a motor rotor 1503, a motor stator 1504, a motor winding 1505, a motor controller 1506, a bearing member 1507, a brake shoe 1508, a brake caliper 1509, and a suspension shaft 1510. The suspension shaft 1510 is connected to a connecting rod 152. In this way, the electric roller 154 can achieve electric drive movement and braking. And these structures make the electric roller 154 a roller with a hub motor in the prior art. For its specific connection structure and working principle, reference can be made to the technical solution disclosed in the patent document with the Chinese patent publication number CN221042575U and the name "A Hub Motor Assembly", and no further elaboration will be made here.

[0042] In order to facilitate family members or caregivers to observe the nursing status of paralyzed patients, and to achieve intelligent recognition of various limb parts of the human body and intelligent unmanned operation, as Figure 6 shown, a camera 5 and a detection and recognition probe 6 electrically connected to the power circuit control integration box 4 are further provided on the multi-joint robotic arm 2. In order to facilitate observing the road conditions, as Figure 3 shown, a camera 5 electrically connected to the power circuit control integration box 4 is also provided on the rectangular frame body structure 10.

[0043] In order to further improve the structure of the power circuit control integration box 4, as Figure 12 shown, the power circuit control integration box 4 includes a box body 41, a battery 42 and a control circuit board 43 arranged in the box body 41. The control circuit board 43 is integrated with a wireless communication module 44. By setting the wireless communication module 44, the operator can perform wireless remote control of the ultrasonic nursing robot to work, which is more convenient to use. The wireless communication module 44 can be a Bluetooth communication module or a WIFI module.

[0044] When implementing the solution of the present invention, an intelligent control IC chip and a circuit board can also be respectively added to the telescopic mobile frame 1, the multi-joint robotic arm 2, the ultrasonic nursing gripper device 3, the ultrasonic massage component 33, and the medicine gas supply device 100, and then the telescopic mobile frame 1, the multi-joint robotic arm 2, the ultrasonic nursing gripper device 3, the ultrasonic massage component 33, and the medicine gas supply device 100 are controlled by the intelligent control IC chip and the circuit board. At the same time, a Bluetooth communication module, a WIFI module and other wireless communication modules for transmitting control signals to and from the control circuit board 43 can be added to the intelligent control IC chip and the circuit board, and the corresponding control APP software can be developed to realize the operation of the ultrasonic nursing robot by a smart phone, a tablet computer, a dedicated remote controller, etc.

[0045] For the convenience of hanging items on the ultrasonic care robot, such as Figure 1 As shown, a hook 7 is further provided on the rectangular frame body structure 10 and the multi-joint robotic arm 2.

Claims

1. A four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot, characterized in that: It comprises a telescopic mobile frame (1), a multi-joint mechanical arm (2), an ultrasonic nursing gripper device (3), and a power circuit control integrated box (4); The telescopic mobile frame (1) comprises two transverse telescopic rods (11), two longitudinal telescopic rods (13), four running wheels (15), four telescopic auxiliary legs (16), and a mounting platform (17); the two longitudinal telescopic rods (13) are respectively connected to the inactive ends of the two transverse telescopic rods (11) at intervals, so that the two longitudinal telescopic rods (13) are connected to the two transverse telescopic rods (11) to form a rectangular frame structure (10) with adjustable transverse and longitudinal dimensions; the top ends of the four running wheels (15) and the four telescopic auxiliary legs (16) are respectively arranged at the two ends of the two transverse telescopic rods (11); and the mounting platform (17) is fixed to the inactive ends of the two longitudinal telescopic rods (13); The power circuit control integrated box (4) is arranged on a mounting platform (17); the ultrasonic nursing gripper device (3) is connected to the mounting platform (17) via a multi-joint mechanical arm (2) in a manner that allows for multi-directional adjustment; and the ultrasonic nursing gripper device (3), the multi-joint mechanical arm (2), two transverse telescopic rods (11), two longitudinal telescopic rods (13), four walking wheels (15), and four telescopic auxiliary legs (16) are respectively electrically connected to the power circuit control integrated box (4).

2. According to claim 1, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized in that: The transverse telescopic rod (11) is composed of a left telescopic cross rod (111) and a right telescopic cross rod (112) assembled together, and the telescopic direction of the left telescopic cross rod (111) is opposite to the telescopic direction of the right telescopic cross rod (112); the longitudinal telescopic rod (13) is respectively composed of a left telescopic longitudinal rod (121) and a right telescopic longitudinal rod (122) assembled together, and the telescopic direction of the left telescopic longitudinal rod (121) is opposite to the telescopic direction of the right telescopic longitudinal rod (122).

3. According to claim 2, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized in that: The telescopic auxiliary supporting leg (16) is composed of a telescopic auxiliary horizontal rod (161), a connecting seat (162), a telescopic auxiliary vertical rod (163), and a supporting base (164) which are connected in sequence.

4. According to claim 3, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized in that: The installation platform (17) is a lifting platform; the installation platform (17) is composed of a supporting base plate (171) and a lifting column (172) arranged on the supporting base plate (171); one end of the multi-joint mechanical arm (2) and a power circuit control integrated box (4) are respectively fixed to the top of the lifting column (172).

5. According to claim 4, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized in that: The multi-joint mechanical arm (2) is composed of a fixed base (21), a first driving joint (22), a second driving joint (23), a first telescopic arm (201), a third driving joint (24), a fourth driving joint (25), a second telescopic arm (202), a fifth driving joint (26), a sixth driving joint (27), a seventh driving joint (28), and an eighth driving joint (29).

6. According to claim 5, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized in that: The left telescopic cross bar (111), the right telescopic cross bar (112), the left telescopic longitudinal bar (121), the right telescopic longitudinal bar (122), the lifting column (172), the telescopic auxiliary cross bar (161), the telescopic auxiliary vertical bar (163), the first telescopic arm (201), and the second telescopic arm (202) respectively comprise a first cylinder (1001), a second cylinder (1002), and a third cylinder (1003) which are fitted together. A motor (1004) and a reduction gear component (1005) are provided inside or outside the first cylinder (1001). A first screw rod (1006) is also provided inside the first cylinder (1001). The first screw rod (1006) is connected to the first cylinder (1001) by the reduction gear component (1003). 05) is drivably connected to the motor (1004), a threaded connection block (1007) is fixedly provided in the second cylinder (1002) and is threadedly connected to the first screw rod (1006), a bearing (1008) is provided on the threaded connection block (1007), an inner ring of the bearing (1008) is fixedly connected to a second screw rod (1009) arranged in the second cylinder (1002), the second screw rod (1009) is provided with an external thread (1010) and an internal thread hole (1011), the internal thread hole (1011) is threadedly connected to the first screw rod (1006), and an internal thread hole (1012) is provided on the third cylinder (1003) and is threadedly connected to the external thread (1010) of the second screw rod (1009).

7. According to claim 1, the four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot is characterized by: The ultrasonic nursing gripper device (3) comprises two ultrasonic encircling clamping assemblies (31) arranged in a direction toward each other, and a working cavity (30) is formed between the two ultrasonic encircling clamping assemblies (31); the ultrasonic encircling clamping assembly (31) comprises a first ultrasonic clamping arm (311), a second ultrasonic clamping arm (312), and a third ultrasonic clamping arm (313) which are rotatably connected together in sequence end to end, and the first ultrasonic clamping arm (311) is rotatably connected to the multi-joint mechanical arm (2).

8. The four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot according to claim 7 is characterized in that: The first ultrasonic clamping arm (311), the second ultrasonic clamping arm (312), and the third ultrasonic clamping arm (313) respectively comprise a clamping arm (32) and an ultrasonic massage component (33) arranged on the clamping arm (32); a universal joint (36) is also arranged between the ultrasonic massage component (33) and the clamping arm (32); the clamping arm (32) of the third ultrasonic clamping arm (313) is a support plate structure, and a guiding inclined surface (314) is also arranged on the support plate structure; the ultrasonic massage component (33) comprises an outer shell (331), a plurality of massage convex particles (332), and an ultrasonic vibration element (333); the ultrasonic vibration element (333) is installed in the outer shell (331), and each massage convex particle (332) is arranged on the front end surface of the outer shell (331).

9. The four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot according to claim 1 is characterized in that: The walking wheel (15) comprises a mounting seat (151), a connecting rod (152), a shock absorbing spring (153), and an electric roller (154); one end of the connecting rod (152) is hinged on the bottom of the mounting seat (151); two ends of the shock absorbing spring (153) are respectively connected to the other end of the connecting rod (152) and the mounting seat (151); the electric roller (154) is rotatably connected to the connecting rod (152); the mounting seat (151) is arranged at the end of the transverse telescopic rod (11); the mounting seat (15 1) and the transverse telescopic rod (11) are further provided with a horizontal steering motor (155); the electric roller (154) is composed of a tire (1500), a wheel hub (1501), a permanent magnet (1502), a motor rotor (1503), a motor stator (1504), a motor winding (1505), a motor controller (1506), a bearing (1507), a brake shoe (1508), a brake caliper (1509), and a suspension shaft (1510); the suspension shaft (1510) is connected to the connecting rod (152).

10. The four-way telescopic support leg type mechanical arm ultrasonic gripper nursing walking robot according to claim 1 is characterized in that: The multi-joint robotic arm (2) is also provided with a camera (5) and a detection and identification probe (6) electrically connected to the power circuit control integrated box (4); the rectangular frame structure (10) is also provided with a camera (5) electrically connected to the power circuit control integrated box (4); the power circuit control integrated box (4) comprises a box body (41), a battery (42) and a control circuit board (43) arranged in the box body (41), and the control circuit board (43) is integrated with a wireless communication module (44); the rectangular frame structure (10) and the multi-joint robotic arm (2) are also provided with a hook (7).

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