A mechanical hand system and robot for assisting with shifting or turning over

Abstract

The application discloses a mechanical hand system and a robot for assisting in shifting or turning over, and relates to the technical field of mechanical hands. The mechanical hand system for assisting in shifting or turning over comprises a mechanical hand moving subsystem, a lower limb mechanical hand assisting assembly connected with a moving support system through the mechanical hand moving subsystem, a trunk mechanical hand assisting assembly connected with the lower limb mechanical hand assisting assembly, and a neck mechanical hand assisting assembly connected with the trunk mechanical hand assisting assembly. The trunk mechanical hand assisting assembly is used for lifting a user's body and / or providing assistance for the movement or pose change of the user's body. The neck mechanical hand assisting assembly is used for lifting the user's body and / or providing assistance for the movement or pose change of the user's body. The lower limb mechanical hand assisting assembly is used for lifting the user's body and / or providing assistance for the movement or pose change of the user's body.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a robotic arm system and robot that assists in displacement or turning over. Background Technology

[0002] With the increasing aging population and the rising incidence of related chronic diseases, the global demand for medical and nursing care equipment is growing. This is particularly true for patients with lower limb disorders and paraplegia, who often require assistance with basic activities such as repositioning and turning over in their daily lives. This not only significantly impacts the patients' quality of life and mental health but also places a tremendous physical burden and stress on caregivers. Furthermore, due to the limited number of caregivers and their varying levels of professional competence, secondary trauma may be inflicted on patients during repositioning and turning, and caregivers may also develop occupational diseases such as lumbar strain due to the high intensity of their work.

[0003] Currently available assisted transfer devices, such as manual or electric transfer slings, still have many limitations and shortcomings. Many transfer devices are complex to operate, relying on the assistance of caregivers and failing to truly reduce the physical burden on caregivers. Furthermore, most devices are difficult to adapt to the different physical conditions or body types of patients, lack sufficient intelligence and automation, have poor human-computer interaction, and lack the ability to perceive and dynamically adjust the patient's physical condition in real time. Similarly, existing assisted turning devices are scarce and also suffer from insufficient automation and intelligence. Currently, there is no highly intelligent, adaptable, and easy-to-operate robotic arm on the market that integrates transfer and turning functions for long-term bedridden patients.

[0004] Therefore, a technical solution is needed to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0005] The purpose of this application is to provide a robotic arm system for assisting in displacement or turning over to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0006] To achieve the above objectives, this application provides a robotic arm system for assisting in displacement or turning over, the robotic arm system for assisting in displacement or turning over comprising: Robotic arm movement subsystem; A lower limb robotic arm auxiliary component, wherein the lower limb robotic arm auxiliary component is connected to the mobile support system through the robotic arm motion subsystem; A torsional robotic arm auxiliary component, wherein the torsional robotic arm auxiliary component is connected to the lower limb robotic arm auxiliary component; A neck robotic arm assist component, which is connected to the torso robotic arm assist component; wherein... The torso manipulator auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The neck robotic arm auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The lower limb robotic arm auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes.

[0007] Optionally, the lower limb robotic arm auxiliary component includes a left lower limb robotic arm auxiliary component and a right lower limb robotic arm auxiliary component; The robotic arm movement subsystem includes a robotic arm auxiliary system bracket, a connecting frame, a linear motor assembly, a work platform, a moving end robotic arm connector, a fixed end robotic arm connector, and an electric push rod for robotic arm movement; wherein... The linear motor assembly is mounted on the connecting frame, and the working platform is connected to the linear motor assembly and disposed on the side of the connecting frame. The working platform can move under the control of the linear motor assembly. One end of the robotic arm auxiliary system bracket is connected to the mobile support system, and the other end is connected to the connecting frame; The fixed-end manipulator connector is installed on the side of the connecting frame, and the right lower limb manipulator auxiliary component is connected to the fixed-end manipulator connector via the electric push rod for manipulator movement. The movable end robotic arm connector is installed on the work platform and can move closer to or further away from the right lower limb robotic arm auxiliary component when the work platform moves. The left lower limb robotic arm auxiliary component is connected to the movable end robotic arm connector via the robotic arm movement electric push rod.

[0008] Optionally, the torso manipulator auxiliary assembly includes a left torso manipulator auxiliary assembly and a right torso manipulator auxiliary assembly; The neck robotic arm auxiliary component includes a left neck robotic arm auxiliary component and a right neck robotic arm auxiliary component; The left lower limb robotic arm auxiliary component includes a left lower limb robotic arm housing, a left lower limb robotic arm drive component, and a left lower limb flexible robotic arm component; wherein... The housing of the left lower limb robotic arm is mounted on the work platform via an electric push rod for the movement of the robotic arm. The left lower limb manipulator drive assembly is installed inside the left lower limb manipulator housing. The left lower limb manipulator drive assembly and the left lower limb flexible manipulator assembly transmit power through a synchronous belt. The left lower limb manipulator housing and the synchronous belt are provided with a synchronous belt tensioning assembly to adjust the preload. The left torso manipulator auxiliary component includes a left torso manipulator housing, a left torso manipulator drive component, and a left torso flexible manipulator component; The left neck manipulator auxiliary component includes a left neck manipulator housing, a left neck manipulator drive component, and a left neck flexible manipulator component; The left torso robotic arm housing is hinged to the left lower limb robotic arm housing; The left neck robotic arm housing is hinged to the left torso robotic arm housing; The right lower limb robotic arm auxiliary component includes a right lower limb robotic arm housing, a right lower limb robotic arm drive component, and a right lower limb flexible robotic arm component; wherein... The housing of the right lower limb robotic arm is mounted on the fixed end robotic arm connector via the electric push rod for robotic arm movement. The right lower limb manipulator drive assembly is installed inside the right lower limb manipulator housing. The right lower limb manipulator drive assembly and the right lower limb flexible manipulator assembly transmit power through a synchronous belt. The right lower limb manipulator housing and the synchronous belt are provided with a synchronous belt tensioning assembly to adjust the preload. The right torso manipulator auxiliary component includes a right torso manipulator housing, a right torso manipulator drive component, and a right torso flexible manipulator component. The right neck robotic arm auxiliary component includes a right neck robotic arm housing, a right neck robotic arm drive component, and a right neck flexible robotic arm component. The right torso robotic arm housing is hinged to the right lower limb robotic arm housing; The right neck robotic arm assembly housing is hinged to the right torso robotic arm housing.

[0009] Optionally, the left lower limb manipulator drive assembly includes a left lower limb manipulator motor base, a left lower limb manipulator motor, a left lower limb manipulator motor flange, a left lower limb drive helical gear, a left lower limb driven helical gear, a left lower limb transmission shaft, a left lower limb synchronous belt drive pulley, a left lower limb transmission shaft fixing component, and a left lower limb synchronous belt tensioning assembly. The motor mount of the left lower limb manipulator is installed on the inner surface of the inner side of the left lower limb manipulator housing; The left lower limb robotic arm motor is installed inside the left lower limb robotic arm motor mount; The rotor of the left lower limb robotic arm motor is connected to the flange of the left lower limb robotic arm motor; The left lower limb active helical gear is connected to the left lower limb robotic arm motor flange via a keyway; The driven helical gear of the left lower limb is connected to the transmission shaft of the left lower limb via a keyway; Four left lower limb synchronous belt drive pulleys are installed on the left lower limb drive shaft through keyway engagement, with both ends respectively installed at the central through hole of the left lower limb drive shaft fixing component; The left lower limb drive shaft fixing component is connected to the inner side of the left lower limb manipulator housing; The left lower limb manipulator housing is equipped with a left lower limb synchronous belt tensioning assembly with the same number of drive pulleys as the left lower limb synchronous belt. The left lower limb synchronous belt tensioning assembly includes a tension adjustment cover, a lead screw mounting component, a first deep groove ball bearing, a lead screw, a lead screw fixing component, a lead screw fixing cover, a lead screw guide rail, a lead screw slider, a tension idler wheel, a second deep groove ball bearing, and an idler wheel pressure cover. The outer surface of the left lower limb manipulator housing is provided with a circular boss, and the center of the boss is provided with a stepped through hole for installing the lead screw mounting component; The outer side of the lead screw mounting component is connected to the tension adjustment cover; The stepped through hole of the left lower limb manipulator housing boss is used to install the first deep groove ball bearing; One threaded end of the lead screw is connected to the lead screw fixing component, and the other end of the lead screw is a smooth shaft that is coaxially engaged with the lead screw fixing assembly composed of the lead screw fixing component and the lead screw fixing cover. The lead screw fixing component and the lead screw fixing cover are connected. The lead screw fixing cover has a through hole in the center to accommodate the lead screw, and a space is left between the two to install the deep groove ball bearing. The central through hole of the lead screw slider is installed coaxially with the lead screw, and the two through holes on both sides of the lead screw slider are used to cooperate with the lead screw guide rail for installation. The tension idler wheel is mounted on the side shaft of the lead screw slider. The center of the tension idler wheel is provided with a stepped through hole for the tension idler wheel, and both ends are used to install with the second deep groove ball bearing. The outer side of the side shaft of the lead screw slider is provided with threads to connect with the idler wheel cover.

[0010] Optionally, the left lower limb flexible manipulator assembly includes a first joint segment, a second joint segment, a third joint segment, a fourth joint segment, a fifth joint segment, a sixth joint segment, a seventh joint segment, an eighth joint segment, a ninth joint segment, and a joint segment hinge assembly. The first joint segment is connected to the housing of the left lower limb robotic arm; The first joint segment, the second joint segment, the third joint segment, the fourth joint segment, the fifth joint segment, the sixth joint segment, the seventh joint segment, the eighth joint segment, and the ninth joint segment are connected in pairs by joint hinge assemblies.

[0011] Optionally, each of the joint hinge assemblies includes a joint hinge shaft, a hinge cover, a joint hinge deep groove ball bearing, and a double ratchet self-locking assembly; The first joint segment and the second joint segment are connected by a joint segment hinge assembly, including: The joint hinge shaft is installed coaxially with the first joint segment and the second joint segment; The hinge cover mates with the countersunk hole on the outer side of the second joint segment. The hinge cover has four mounting holes evenly distributed around its circumference, which are connected to the four mounting holes in the countersunk hole on the outer side of the second joint segment by screws. The hinge cover has a countersunk hole in the center, and two threaded holes in the center of the countersunk hole, which are connected to the joint hinge shaft by set screws. The first joint segment mates with the joint hinge shaft, and the circular grooves at both ends of the through hole are used to install the joint hinge deep groove ball bearing. The inner side of the second joint segment is provided with a circular groove for installing the joint hinge deep groove ball bearing, and the inner side of the bearing is provided with a thrust washer to fix the axial position of the bearing. The double ratchet self-locking assembly includes an internally engaging ratchet, a ratchet drive disc, a first pawl slider, a second pawl slider, and a corrugated spring; Two internally meshing ratchet teeth are installed in opposite directions; The internal meshing ratchet has an arc-shaped protrusion at its outer circumferential end, which is threadedly connected to the first joint segment. The ratchet drive disc includes two cylinders with different diameters. The smaller diameter end of the ratchet drive disc is connected to the joint hinge shaft through a keyway, and the larger diameter end is provided with two large diameter end grooves. The first pawl slider and the second pawl slider can slide within the large-diameter end groove of the ratchet drive disc; The joint hinge shaft has a light hole in the radial direction. The first pawl slider and the second pawl slider are both equipped with the corrugated spring at their cylindrical ends and the light hole in the joint hinge shaft. The first pawl slider and the second pawl slider are respectively engaged with the internal meshing ratchet. Under the action of the corrugated spring, the first pawl slider and the second pawl slider respectively cooperate with the internal meshing ratchet in the same ratchet direction to achieve rotational locking.

[0012] This application also provides a robot, which includes a mobile support system and a robotic arm system for assisting in displacement or turning over as described above.

[0013] Optionally, the mobile support system includes: Ground support components; A first-direction rotating component is hinged to the ground support component, and the first-direction rotating component is capable of rotating relative to the ground support component in a first direction. The second rotatable component is hinged to the first rotatable component and is capable of rotating relative to the first rotatable component in a second direction. A lateral extension assembly, which is connected to the second direction rotating member, is used to move closer to or further away from the second direction rotating member; A third-direction rotating component is connected to the lateral extension assembly. The third-direction rotating component is capable of rotating in the third direction. The robotic arm auxiliary system is connected to the third-direction rotating component.

[0014] Optionally, the ground support includes a base, base wheels, and a base motor assembly; wherein, The base wheel is mounted on the base; The base motor assembly is mounted on the base and is connected to the first direction rotating component. The base motor assembly is used to control the rotation of the first direction rotating component.

[0015] Optionally, the first direction rotating member includes: A first support frame, one end of which is connected to the base motor assembly, and the other end of which is hinged to the second direction rotating component; A telescopic drive assembly, one end of which is connected to the first support frame, and the other end of which is connected to the second-direction rotating component; wherein... The extension or retraction of the telescopic drive assembly enables the second directional rotating member to rotate about its hinged position with the first support frame.

[0016] The robotic arm system for assisting in transfer or turning over in this application can lift and move the user or help the user turn over. It can solve the problems and risks of insufficient number of professional nursing staff, insufficient professional quality, and occupational diseases. It can meet the common transfer and turning needs of patients in the nursing process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a robot system according to an embodiment of this application.

[0018] Figure 2 yes Figure 1 The diagram shows the structure of the robot's mobile support system.

[0019] Figure 3 yes Figure 2 The structural cross-sectional view of region B shown.

[0020] Figure 4 yes Figure 2 The structural cross-sectional view of region A shown.

[0021] Figure 5 yes Figure 2 The cross-sectional view of the mechanism of the third rotation direction component in region A of the support system shown.

[0022] Figure 6 yes Figure 4 The diagram shows the lateral elongation component in its original state.

[0023] Figure 7 yes Figure 4 The diagram shows the extended state of the lateral extension component.

[0024] Figure 8 yes Figure 1 The diagram shows the structure of the robotic arm assist system of the robot.

[0025] Figure 9 yes Figure 8 The diagram shows the structure of the robotic arm subsystem of the robot manipulator assistance system.

[0026] Figure 10 yes Figure 9 The diagram shows the structure of the left lower limb manipulator drive assembly and the flexible manipulator assembly (the left lower limb manipulator housing is hidden) of the manipulator auxiliary subsystem.

[0027] Figure 11 yes Figure 10 The diagram shows a cross-sectional view of the synchronous belt tensioning assembly of the flexible robotic arm component.

[0028] Figure 12 yes Figure 10 The diagram shows a cross-sectional view of the idler wheel portion of the timing belt tensioning assembly of the flexible manipulator component.

[0029] Figure 13 yes Figure 9 The diagram shows the structure of the double ratchet self-locking assembly in the flexible manipulator component.

[0030] Figure 14 yes Figure 9 The exploded view of the double ratchet self-locking assembly in the flexible manipulator component shown is a schematic diagram.

[0031] Figure 15 yes Figure 9 The diagram shows the structure of the lower limb-torso manipulator connection assembly (shell hidden) of the manipulator subsystem shown.

[0032] Figure 16 yes Figure 9 The diagram shows the structure of the torso-neck manipulator connection assembly (shell hidden) of the manipulator subsystem shown.

[0033] Figure 17 yes Figure 1 The diagram shows the robot's working state when it is in a lying position.

[0034] Figure 18 yes Figure 17 The diagram shows the robot's state before rotation in the first direction during its working condition.

[0035] Figure 19 yes Figure 18 The diagram shows the working state of the robot rotating in the second rotation direction.

[0036] Figure 20 yes Figure 18 The diagram shows the working state of the robot rotating in the third rotation direction.

[0037] Figure 21 yes Figure 18 The diagram shows the working state of the robot with the lateral extension component extended.

[0038] Figure 22 yes Figure 1 The diagram shows the robot's working state as it moves while the human is in a seated or standing position.

[0039] Figure 23 yes Figure 1 The diagram shows the robot's operation during pose transformation.

[0040] Figure 24 yes Figure 1 The diagram shows the robot assisting in turning over.

[0041] Figure 25 yes Figure 1 The diagram shows the initial working posture of the robot during assisted turning.

[0042] Figure 26 yes Figure 1 The diagram shows the robot's final working posture during assisted turning.

[0043] Figure Labels

[0044]

[0045] Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0047] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0048] like Figures 1 to 24 The robot shown, used to assist in human displacement or turning over, includes a robotic arm movement subsystem, a lower limb robotic arm auxiliary component, a torso robotic arm auxiliary component, and a neck robotic arm auxiliary component. The lower limb robotic arm auxiliary component is used to connect with the mobile support system via the robotic arm motion subsystem; The torso manipulator auxiliary component is connected to the lower limb manipulator auxiliary component; The neck robotic arm auxiliary component is connected to the torso robotic arm auxiliary component; The torso manipulator auxiliary component is used to support the user's torso and / or provide assistance for the user's torso movement or posture changes; The neck robotic arm assistive component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The lower limb robotic arm assistive component is used to support the user's body and / or provide assistance for the user's body movement or posture changes.

[0049] The robot described in this application, designed to assist in human relocation or turning over, can lift and move the user or help the user turn over. It can solve the current problems and risks of insufficient professional nursing staff, lack of professional competence, and occupational diseases, and can meet the common relocation and turning needs of patients during the nursing process.

[0050] See Figures 1 to 3 In this embodiment, the mobile support system includes a ground support component, a first-direction rotating component, a second-direction rotating component, a lateral extension assembly, and a third-direction rotating component, wherein... The first directional rotating component is hinged to the ground support component, and the first directional rotating component is capable of rotating relative to the ground support component in a first direction; The second directional rotating member is hinged to the first directional rotating member, and the second directional rotating member can rotate relative to the first directional rotating member in the second direction. The lateral extension component is connected to the second direction rotating component, and the lateral extension component is used to move closer to or further away from the second direction rotating component; The third-direction rotating component is connected to the lateral extension assembly, the third-direction rotating component is capable of rotating in the second direction, and the robotic arm auxiliary system is connected to the third-direction rotating component.

[0051] In this embodiment, the mobile support system is used to support the weight of the robotic arm assist system and the patient, and provides multiple active degrees of freedom in multiple directions. The overall position and height of the robotic arm assist system can be adjusted to better adapt to different usage environments and users, and can realize patient displacement functions within a certain range.

[0052] See Figures 2 to 7 In this embodiment, the ground support includes a base 1, base wheels 2, and a base motor assembly; wherein, The base wheel 2 is mounted on the base 1; The base motor assembly is mounted on the base 1 and is connected to the first direction rotating component. The base motor assembly is used to control the rotation of the first direction rotating component.

[0053] In this embodiment, the first-direction rotating component includes a first support frame 3 and a telescopic drive assembly. One end of the first support frame 3 is connected to the base motor assembly, and the other end is hinged to the second-direction rotating component. One end of the telescopic drive assembly is connected to the first support frame 3, and the other end is connected to the second-direction rotating component. The second-direction rotating member can be rotated about the hinged position with the first support frame 3 by extending or shortening the telescopic drive assembly.

[0054] More specifically, the base assembly can be divided into base 1, base wheel 2, and base motor assembly, wherein the base motor assembly includes base motor 4, base motor fixing cover 5, base motor flange 6, and flat thrust needle roller bearing 7.

[0055] In this embodiment, the base wheels 2 are installed at the four corners of the base 1 to ensure the robot's mobility and convenience; the base motor 4 is installed in the motor mounting slot in the middle of the base 1, and the base motor fixing cover 5 is installed on the top of the motor to fix the position of the base motor 4; one side of the base motor flange 6 is connected to the rotor of the base motor 4, and the other side is connected to the first support frame 3 of the support frame assembly; the planar thrust needle roller bearing 7 is located between the base motor fixing cover 5 and the base motor flange 6 to convert sliding friction into rolling friction and reduce friction.

[0056] In this embodiment, the base 1 has a cylindrical stepped groove in the middle to accommodate the base motor 4; the base motor fixing cover 5 has six circumferentially evenly distributed mounting holes, which are connected to the mounting holes circumferentially provided in the motor mounting groove in the middle of the base 1 by screws; the base motor flange 6 has six mounting holes circumferentially provided on its inner side, which are connected to the six mounting holes on the rotor of the base motor 4 by screws, and six mounting holes on its outer side, which are connected to the six mounting holes at the bottom of the first support frame 3 of the support frame assembly by bolts and nuts; the adjacent mounting surfaces of the base motor flange 6 and the base motor fixing cover 5 are both provided with annular grooves to accommodate the planar thrust needle roller bearing 7; see also Figure 3 The base motor 4 drives the support frame assembly to rotate relative to the base assembly through the base motor flange 6, thereby realizing the stationary rotation function of the robot's overall mobile support device and manipulator auxiliary system within a certain range. This can meet the robot's work requirements when it is working in a position that is inconsistent with the patient's orientation during assisted transfer or turning over.

[0057] In this embodiment, the second direction rotating member is hinged to the first direction rotating member, and the second direction rotating member can rotate relative to the first direction rotating member in a second direction.

[0058] Specifically, the second-direction rotating component includes a first support frame 3, a second support frame 11, an electric push rod fixing component 8, an electric push rod 12, a handle 9, a control panel 10, and a lateral extension assembly.

[0059] In this embodiment, the bottom of the first support frame 3 is connected to the ground support, and the top is connected to the second support frame 11 via a hinge, allowing free rotation. The first support frame 3 has a handle 9 and a control panel 10 in the middle. The handle 9 is connected to the first support frame 3 via screws. The back of the control panel 10 has a connecting rod, which is fixed to the handle 9 via set screws, facilitating movement and operation of the robot by nursing staff. The base of the electric push rod 12 is connected to the first support frame 3 via an electric push rod fixing member 8, and its movable end is connected to the mounting hole provided in the second support frame 11. (See also...) Figure 6 , Figure 7 , Figure 18 and Figure 21The rotation of the movable hinge between the first support frame 3 and the second support frame 11 is controlled by the extension and retraction of the electric push rod, that is, the height of the robot is adjusted to adapt to the hospital bed of different heights; the lateral extension component is connected to the second support frame 11 to realize the adjustment of lateral degree of freedom.

[0060] In this embodiment, the lateral extension assembly includes a lateral extension electric push rod 13, a lateral extension linear bearing 14, a lateral extension linear bearing cover 15, and a passive rotation assembly.

[0061] In this embodiment, the starting end of the lateral extension component, i.e., the cylindrical end of the passive rotation component, mates with a cylindrical stepped hole at the end of the second support frame 11. A lateral extension linear bearing 14 is provided within the stepped hole, and a lateral extension linear bearing cap 15 is provided at the end, which is connected to the second support frame 11 by screws. This allows the lateral extension component to slide freely within a certain range. (See also...) Figure 6 , Figure 7 , Figure 18 and Figure 21 The base end of the lateral extension electric push rod 13 is connected to the mounting hole above the second support frame 11 by bolts and nuts, and the movable end is engaged with the mounting hole on the third lateral rotating part by bolts and nuts. The movement of the lateral extension component is controlled by the extension and retraction of the electric push rod, so as to meet the working needs of the robot to adapt to the difference in relative position between itself and the patient when it is moving or turning over.

[0062] In this embodiment, the third-party directional rotating component includes a passive rotating assembly, which includes a passive rotating housing 16, a passive rotating fixing cover 17, a passive rotating shaft 18, a passive rotating deep groove ball bearing 19, a passive rotating component 20, and a passive rotating component pressure cover 22. Two identical passive rotating housings 16 are connected to the movable end of the push rod to form a whole, and the cylindrical end of the merged structure slides in the groove at the end of the second support frame 11. The passive rotating fixing cover 17 is installed at the center of the passive rotating housing 16. A passive rotating shaft 18 is provided between the two passive rotating fixing covers 17, and a passive rotating component 20 is provided on the shaft. The passive rotating component 20 is disc-shaped with a cylindrical end on its outer side, and can rotate freely on the shaft. The passive rotating component pressure cover 22 is connected to the cylindrical end of the passive rotating component 20 by screws, and a stepped hole is provided at the end of the passive rotating component for connecting the rotating assembly of the robot arm auxiliary system. More specifically, the passive rotating housing 16 has a countersunk through hole at its center, which mates with the small-diameter end of the passive rotating fixing cover 17, while the large-diameter end contacts the surface of the passive rotating housing 16; the passive rotating fixing cover 17 has a threaded hole at its center, which is connected to the threaded hole on the passive rotating shaft 18 by a set screw; the passive rotating component 20 is mounted on the passive rotating shaft 18, and a passive rotating deep groove ball bearing 19 is provided between them to reduce friction; the bottom of the cavity formed by the passive rotating housing 16 has a rectangular square hole, and the cylindrical end of the passive rotating component 20 on the outside moves within the rectangular square hole to achieve the limiting function of the passive rotating assembly; This ground support allows for active adjustment of both longitudinal and lateral degrees of freedom. Meanwhile, the passive degree of freedom design of the end lateral extension component ensures that the rotating component of the robotic arm auxiliary system and the robotic arm auxiliary system will not fail to be perpendicular to the bed surface due to the height adjustment of the support system.

[0063] In this embodiment, the third-party rotating component further includes a rotating flange 21 for the robotic arm auxiliary system, a thrust needle roller bearing 23 for the robotic arm auxiliary system, a cover 24 for the rotating motor of the robotic arm auxiliary system, a rotating motor 25 for the robotic arm auxiliary system, a housing 26 for the rotating motor of the robotic arm auxiliary system, and a fixing component 27 for the robotic arm auxiliary system. One end of the rotating flange 21 is connected to the rotating motor 25 for the robotic arm auxiliary system, and the other end is fitted and installed with the passive rotating component 20. The rotating motor 25 for the robotic arm auxiliary system is installed in the motor slot of the housing 26 for the robotic arm auxiliary system, and its position is fixed by the connection between the cover 24 and the housing 26 for the robotic arm auxiliary system. The bottom of the housing 26 for the robotic arm auxiliary system is connected to the fixing component 27 for the robotic arm auxiliary system. More specifically, the rotating flange 21 of the robotic arm auxiliary system consists of a cylinder and two discs. The larger disc is connected to the rotor of the robotic arm auxiliary system rotating motor 25 by screws, and the smaller disc mates with the stepped hole at the cylindrical end of the passive rotating component 20. A thrust needle roller bearing 23 for the robotic arm auxiliary system is provided between the smaller disc end of the rotating flange 21 and the passive rotating component cover 22 to reduce friction during rotation. One end of the housing 26 of the robotic arm auxiliary system rotating motor is cylindrical, and the cylindrical end has a motor slot to accommodate the robotic arm auxiliary system. The auxiliary system rotating motor 25 has six mounting holes evenly distributed circumferentially along its outer edge. The motor cover 24 is annular, and the six evenly distributed mounting holes are screwed into the outer casing mounting holes to fix the motor position. The other end of the outer casing 26 of the auxiliary system rotating motor is square, with four mounting holes at the four corners. These holes are screwed into the four mounting holes on the auxiliary system fixing component 27. Both adjacent surfaces have semi-cylindrical grooves to accommodate the auxiliary system bracket, which is then fixed in position with set screws. See also... Figure 19 , Figure 20 , Figure 23 as well as Figure 24 The robotic arm assist system is driven to rotate by the rotating motor 25, which plays a role in adjusting the orientation of the robotic arm assist system and assisting in displacement, so as to meet the working needs of the robot to adapt to the different orientations of the patient's sitting or lying position when performing displacement or turning work.

[0064] In this embodiment, the first direction is the direction parallel to the ground when the mobile support system of this application is placed on the ground.

[0065] In this embodiment, the third direction is the same as the first direction.

[0066] In this embodiment, the second direction is perpendicular to the first direction.

[0067] In this embodiment, the lower limb robotic arm auxiliary component includes a left lower limb robotic arm auxiliary component and a right lower limb robotic arm auxiliary component.

[0068] In this embodiment, the torso manipulator auxiliary component includes a left torso manipulator auxiliary component and a right torso manipulator auxiliary component.

[0069] In this embodiment, see Figure 7 , Figure 9 The robotic arm movement subsystem includes a robotic arm auxiliary system bracket 28, a connecting frame 29, a linear motor assembly, a work platform, a moving end robotic arm connector 30, a fixed end robotic arm connector 31, and an electric push rod for robotic arm movement. The electric push rod for robotic arm movement includes a left electric push rod 32 and a right electric push rod.

[0070] The linear motor assembly is mounted on the connecting frame 29, and the working platform is connected to the linear motor assembly and disposed on the side of the connecting frame. The working platform can move under the control of the linear motor assembly. One end of the robotic arm auxiliary system bracket 28 is connected to the mobile support system, and the other end is connected to the connecting frame 29; The linear motor assembly includes a stator, a mover, a slide rail, and a slider. The connecting frame 29 includes a side cover, a top cover, and a base. The stator and the slide rail are respectively installed on the base. The slider is disposed on the slide rail. The mover is connected to the slider and can move linearly under the action of the alternating magnetic field of the stator. The working platform is connected to the mover. The top cover is installed above the working platform. The side cover connects the top cover and the base. The fixed-end manipulator connector 31 is installed on the right end of the upper cover of the connector frame 29, and the right lower limb manipulator auxiliary component is connected to the fixed-end manipulator connector 31 through the electric push rod for manipulator movement; The movable end manipulator connector 30 is mounted on the work platform and can move closer to or further away from the right lower limb manipulator auxiliary component when the work platform of the connecting frame 29 moves. The left lower limb manipulator auxiliary component is connected to the movable end manipulator connector 30 via an electric push rod for manipulator movement.

[0071] More specifically, the robotic arm auxiliary system bracket 28 has mounting surfaces at both ends, and each mounting surface has a mounting hole at both ends, which is fixed to the sliding groove on the side of the connecting frame 29 by bolts and nuts; the mounting hole on the work platform is connected to the movable end robotic arm connector 30, and the far end of the connecting frame 29 is connected to the fixed end robotic arm connector 31; the movable end robotic arm connector 30 is connected to the movable end of the left electric push rod 32, and the fixed end robotic arm connector 31 is connected to the right electric push rod; the base of the left electric push rod 32 is connected to the left lower limb robotic arm auxiliary component, and the base of the right electric push rod is connected to the right lower limb robotic arm auxiliary component; In this embodiment, the movable end manipulator connector 30 consists of a movable end cylinder bent at 90 degrees and a rectangular mounting plane. The rectangular mounting plane has six mounting holes that are connected to the mounting holes on the work platform by screws. The cylindrical end of the movable end cylinder has a push rod mounting hole and a through hole on the outside, which is connected to the push rod of the left electric push rod 32 by bolts and nuts. The fixed end manipulator connector 31 consists of a fixed end cylinder bent at 90 degrees and a buckle. The buckle is installed at the far end of the linear motor and is fixed to the left side by tightening the bolts and nuts on the buckle. The cylindrical end of the fixed end cylinder is connected in the same way as the movable end manipulator connector.

[0072] In this embodiment, the lower limb robotic arm assistive component includes a left lower limb robotic arm assistive component and a right lower limb robotic arm assistive component; from Figures 11 to 16 As can be seen from the diagram, in this embodiment, the left lower limb robotic arm auxiliary component, the right lower limb robotic arm auxiliary component, the left torso robotic arm auxiliary component, and the right torso robotic arm auxiliary component have the same structure. For ease of description, only the left lower limb robotic arm auxiliary component will be used as an example.

[0073] The left lower limb robotic arm assembly includes a left lower limb robotic arm housing 33, a left lower limb robotic arm drive assembly, and a left lower limb flexible robotic arm assembly; The left lower limb manipulator drive assembly is installed inside the left lower limb manipulator housing 33. The left lower limb manipulator drive assembly and the left lower limb flexible manipulator assembly transmit power through a synchronous belt. The left lower limb manipulator housing 33 and the synchronous belt are provided with a synchronous belt tensioning assembly to adjust the preload. The left lower limb robotic arm drive assembly includes a left lower limb robotic arm motor base 36, a left lower limb robotic arm motor 37, a left lower limb robotic arm motor flange 38, a left lower limb driving helical gear 39, a left lower limb driven helical gear 40, a left lower limb transmission shaft 41, a left lower limb synchronous belt drive pulley 42, a left lower limb transmission shaft fixing component 43, and a synchronous belt tensioning assembly; the left lower limb synchronous belt drive pulley 42 serves as the drive input end to drive the movement of the left lower limb flexible robotic arm assembly; More specifically, the left lower limb robotic arm motor base 36 is installed on the inner surface of the left lower limb robotic arm housing 33. The left lower limb robotic arm motor base 36 has seven mounting holes evenly distributed around the circumference, which are installed with the seven through holes on the inner side of the left lower limb robotic arm housing 33 by bolts and nuts. The left lower limb robotic arm motor 37 is installed inside the left lower limb robotic arm motor base 36; The rotor of the left lower limb robotic arm motor 37 has six mounting holes, which are connected to the six mounting holes evenly distributed around the circumference of the left lower limb robotic arm motor flange 38 by screws. The left lower limb active spiral gear 39 is connected to the left lower limb robotic arm motor flange 38 via a keyway, and the left lower limb driven spiral gear 40 is also connected to the left lower limb transmission shaft 41 via a keyway. Four left lower limb synchronous belt drive pulleys 42 are installed on the left lower limb drive shaft through keyway engagement. The two ends are respectively installed at the central through hole of the left lower limb drive shaft fixing part 43. A rolling bearing is provided in the middle of the left lower limb drive shaft fixing part 43 to ensure transmission stability and improve transmission efficiency. The left lower limb drive shaft fixing component 43 has six mounting holes evenly distributed around its circumference, which are connected to the six through holes on the side of the left lower limb robotic arm housing 33 by bolts and nuts.

[0074] See Figure 8 , Figure 10 , Figure 11 , Figure 2 The left lower limb robotic arm housing 33 is provided with the same number of synchronous belt tensioning components as the left lower limb synchronous belt drive pulleys 42. In this embodiment, the synchronous belt tensioning components are adjusted by a screw device. The screw device includes a tension adjustment cover 44, a screw mounting part 45, a first deep groove ball bearing 46, a screw 47, a screw fixing part 48, a screw fixing cover 49, a screw guide rail 50, a screw slider 51, a tension idler wheel 52, a second deep groove ball bearing 53, and an idler wheel pressure cover 54. Specifically, the outer surface of the left lower limb robotic arm housing 33 has four circular bosses, with a stepped through hole at the center of each boss for mounting the lead screw mounting component 45. The outer side of the lead screw mounting component 45 is connected to the tension adjustment cover 44 by a set screw. The tension adjustment cover 44 is corrugated circumferentially to facilitate user adjustment of the tension of the robotic arm drive assembly. The stepped through hole at both ends of the left lower limb robotic arm housing 33 has a larger diameter for mounting the first deep groove ball bearing 46 to reduce damping when adjusting the tension. One threaded end of the lead screw 47 is connected to the other end of the lead screw fixing component 48. The screw has a threaded hole connection at one end and a smooth shaft at the other, which is coaxially fitted with the screw fixing assembly consisting of the screw fixing member 48 and the screw fixing cover 49. The screw fixing member 48 and the screw fixing cover 49 are connected by screws. The screw fixing cover 49 has a through hole at the center to accommodate the screw 47, while leaving space between them to install the first deep groove ball bearing 46. The screw slider 51 is installed coaxially with the screw 47 through hole at the center, and the through holes on both sides are used to fit with the screw guide rail 50 to ensure that the screw slider 51 translates along the axial direction of the screw 47 when the screw 47 rotates, without rotating.

[0075] See Figure 12 To achieve the tensioning effect of the synchronous belt tensioning assembly, the tensioning idler wheel 52 is installed on the side shaft of the lead screw slider 51. The tensioning idler wheel 52 has a stepped through hole at the center, and both ends are used to install with the second deep groove ball bearing 53. The inner bearing is fixed by the shoulder on the side shaft of the lead screw slider 51. The outer side of the side shaft is threaded to connect with the idler wheel cover 54 to fix the axial position of the idler wheel.

[0076] See Figure 10 In this embodiment, the left lower limb flexible robotic arm assembly includes a first joint segment 5501, a second joint segment 5502, a third joint segment 5503, a fourth joint segment 5504, a fifth joint segment 5505, a sixth joint segment 5506, a seventh joint segment 5507, an eighth joint segment 5508, a ninth joint segment 5509, and a joint hinge assembly. The first joint segment 5501 is connected to the left lower limb robotic arm housing 33; The first joint segment 5501, the second joint segment 5502, the third joint segment 5503, the fourth joint segment 5504, the fifth joint segment 5505, the sixth joint segment 5506, the seventh joint segment 5507, the eighth joint segment 5508, and the ninth joint segment 5509 are connected in pairs by joint hinge assemblies. Specifically, the first joint segment 5501 and the second joint segment 5502 are connected by joint hinge assemblies, the second joint segment 5502 and the third joint segment 5503 are connected by joint hinge assemblies, the third joint segment and the fourth joint segment are connected by joint hinge assemblies, the fourth joint segment and the fifth joint segment are connected by joint hinge assemblies, the fifth joint segment and the sixth joint segment are connected by joint hinge assemblies, the sixth joint segment and the seventh joint segment are connected by joint hinge assemblies, and the seventh joint segment and the eighth joint segment are connected by joint hinge assemblies.

[0077] In this embodiment, the connection method between each joint segment is the same, and the structure of each joint segment is also the same. For ease of description, only the connection between the first joint segment 5501 and the second joint segment 5502 via a joint hinge assembly will be described: See Figure 13 The joint hinge assembly includes a joint hinge shaft 57, a hinge cover 56, a joint hinge deep groove ball bearing 58, and a double ratchet self-locking assembly.

[0078] The joint hinge shaft 57 is coaxially mounted with the first joint segment 5501 and the second joint segment 5502; the hinge cover 56 mates with the countersunk hole on the outer side of the second joint segment 5502, and the hinge cover 56 has four mounting holes evenly distributed around its circumference, which are connected to the four mounting holes in the countersunk hole of the second joint segment 5502 by screws; the hinge cover 56 has a countersunk hole in the center, and two threaded holes in the center of the countersunk hole, which are connected to the joint hinge shaft 57 by set screws; both ends of the through hole of the first joint segment 5501 and the joint hinge shaft 57 are provided with circular grooves for installing the joint hinge deep groove ball bearing 58, and the second joint segment 5502 has the same circular groove on the inner side for installing the joint hinge deep groove ball bearing 58. The bearing has a thrust washer on the inner side to fix the axial position of the bearing. In this embodiment, the surface of each joint segment component is covered with an airbag. Since rigid materials may cause discomfort or even secondary trauma to patients when interacting with the human body, using flexible materials to cover the surface of the joint segments can effectively reduce safety hazards and improve user comfort. The double ratchet self-locking component set on the joint hinge assembly is a self-locking mechanism. This mechanism uses a mechanical structure to achieve bidirectional self-locking. It can only be unlocked when the driven wheel 59 of the hinge synchronous belt rotates, allowing the flexible manipulator to bend or straighten, i.e., the joint hinge assembly to rotate.

[0079] See Figure 13 as well as Figure 14When the hinge timing belt driven wheel 59 rotates, the cylinder whose end contacts the first pawl slider 6201 and the second pawl slider 6202 can drive the first pawl slider 6201 or the second pawl slider 6202 to move centripetally. The pawl slider unlocks the internal meshing ratchet, thereby realizing unlocking in a clockwise or counterclockwise rotation direction.

[0080] See Figure 10 , Figure 14 In this embodiment, the double ratchet self-locking assembly includes an internally engaged ratchet 60, a ratchet drive disc 61, a first pawl slider 6201, a second pawl slider 6202, and a corrugated spring 63. Taking the joint hinge assembly between the first joint segment 5501 and the second joint segment 5502 as an example: the internally engaged ratchet 60 is generally annular, and the ratchet teeth of the two internally engaged ratchet 60 are installed in opposite directions; the circumferential outer end of the internally engaged ratchet 60 is provided with an arc-shaped protrusion, and the arc-shaped protrusion is provided with two threaded holes, which are connected to the threaded holes on the first joint segment 5501; the ratchet drive disc 61 is composed of two cylinders with different diameters, and the smaller diameter end of the ratchet drive disc 61 is connected to the joint hinge. Shaft 57 is connected via a keyway, and two sliding grooves are provided at the large-diameter end; the pawl slider can slide within the sliding groove of the ratchet drive disc 61, that is, move radially along the hinge shaft; the joint hinge shaft 57 has a light hole in the radial direction, and the cylindrical ends of the first pawl slider 6201 and the second pawl slider 6202 and the light hole are equipped with corrugated springs 63 to realize that the first pawl slider 6201 and the second pawl slider 6202 respectively engage with the internal meshing ratchet 60; under the action of the corrugated springs, the first pawl slider 6201 and the second pawl slider 6202 respectively cooperate with the internal meshing ratchet 60 in the same ratchet direction to realize rotational locking in one direction respectively; More specifically, when the robotic arm assists the patient in repositioning, and the individual robotic arm motors (e.g., the left lower limb robotic arm motor 37) are not outputting power and the flexible robotic arm assembly bears the patient's weight, the flexible robotic arm assembly will tend to straighten. The double ratchet assembly, due to the engagement of the joint hinge first pawl slider 6201 with the corresponding internally meshing ratchet 60, utilizes the unidirectional self-locking characteristic of the ratchet to limit the straightening tendency of the flexible robotic arm assembly. When the robotic arm assists the patient in turning over, the trunk robotic arm assisting assembly and lower limb robotic arm assisting assembly on one side (e.g., the right side) provide protective support during the turning process (hereinafter referred to as the fixed end), while the trunk on the other side... The robotic arm auxiliary component and the lower limb robotic arm auxiliary component provide a turning assistance function (hereinafter referred to as the active end). The double ratchet component, due to the engagement of the second pawl slider 6202 of the joint hinge with the corresponding internal meshing ratchet 60, utilizes the one-way self-locking characteristic of the ratchet to limit the bending tendency of the flexible robotic arm component. Furthermore, when the drive component controls the hinge synchronous belt driven wheel 59 to rotate counterclockwise or clockwise via the synchronous belt, the trigger block of the ratchet transmission disk 61 contacts the inclined surface on the first pawl slider 6201 or the second pawl slider 6202. Under the action of the driving force, the pawl slider moves towards the axis, and the corrugated spring is compressed, thereby realizing the unlocking function.

[0081] When the various robotic arm motors (e.g., the left lower limb robotic arm motor 37) output power to drive the synchronous belt driven pulley 59 to rotate, the synchronous belt driven pulley 59 and the double ratchet assembly have two cylindrical trigger blocks on their adjacent surfaces. The trigger blocks contact the inclined surfaces of the first pawl slider 6201 or the second pawl slider 6202. When the robotic arm motor drives the flexible robotic arm assembly to bend, the trigger block that contacts the first pawl slider 6201, guided by the rotation of the synchronous belt driven pulley 59, contacts the inclined surfaces on the first pawl slider 6201, causing the first pawl slider 6201 to move centripetally, and the corrugated spring 63 is compressed, that is, the first pawl slider 6201 engages with the internally meshing ratchet. When the flexible robotic arm assembly straightens, the trigger block that engages with the second pawl slider 6202, guided by the rotation of the synchronous belt driven wheel 59, contacts the inclined surface on the second pawl slider 6202, causing the second pawl slider 6202 to move centripetally and the corrugated spring 63 to be compressed. That is, the second pawl slider 6201 separates from the internally engaged ratchet 60, and the flexible robotic arm assembly straightens. When the robotic arm motor does not drive the flexible robotic arm assembly, that is, when the synchronous belt driven wheel 59 does not rotate, the corrugated spring 63 returns to its original state, the pawl slider returns to its original position, and re-engages with the internally engaged ratchet 60.

[0082] In this embodiment, the left neck robotic arm auxiliary component and the right neck robotic arm auxiliary component have the same structure.

[0083] In this embodiment, the key components of the left neck manipulator auxiliary component, the left lower limb manipulator component, and the left torso manipulator component have the same general structure and principle, and each component plays the same role; only the synchronous belt tensioning component is not provided, and the joint hinge component is only provided with two sets of the double ratchet self-locking components; the specific structural principle is the same as that of the lower limb manipulator component.

[0084] It is understandable that the left neck robotic arm auxiliary component has the same structure as the left lower limb robotic arm component and the left torso robotic arm component.

[0085] In this embodiment, each driven pulley 59 of the synchronous belt is provided with two synchronous belt mounting grooves; in order to ensure that the left lower limb manipulator motor 37 can drive each hinge joint simultaneously, a synchronous belt is provided between adjacent driven synchronous belt pulleys for transmission; in order to avoid the synchronous belt from becoming loose on one side after deformation when the flexible manipulator component is bent or straightened, thus preventing a certain joint from failing to rotate, and ensuring the stability of the transmission.

[0086] See Figure 13 as well as Figure 14 In this embodiment, the lower limb-to-torso robotic arm connection assembly includes a left-side lower limb-to-torso robotic arm connection assembly and a right-side lower limb-to-torso robotic arm connection assembly. The left-side lower limb-to-torso robotic arm connection assembly and the right-side lower limb-to-torso robotic arm connection assembly have the same structure. Here, only the left-side lower limb-to-torso robotic arm connection assembly is described as an example.

[0087] See Figure 15 , Figure 16 The left lower limb-torso robotic arm connection assembly includes a universal joint 6601, an adjusting nut 65 for joint connection, and an electric push rod 64 for joint connection. The two ends of the universal joint 6601 mate with the side mounting holes of the left lower limb robotic arm housing 33 and the left torso robotic arm housing 34, respectively. The inner surface of the mounting hole is smooth, and the outer end is provided with a tapered thread that mates with the tapered thread in the adjusting nut 65 for joint connection, thereby fixing the universal joint 6601 and also allowing for adjustment of the distance between the left lower limb robotic arm auxiliary assembly and the left torso robotic arm auxiliary assembly. (See also...) Figure 21 The base and push rod of the joint connection electric push rod 64 are respectively engaged with the mounting holes on the outer surfaces of the left lower limb manipulator housing 33 and the left torso manipulator housing 34. The rotation of the cross shaft universal joint 6601 is realized by the extension and retraction of the push rod of the joint connection electric push rod 64, that is, the sitting and lying posture changes are realized. The torso-neck robotic arm connection assembly includes a left-side torso-neck robotic arm connection assembly and a right-side torso-neck robotic arm connection assembly. The left-side and right-side torso-neck robotic arm connection assemblies have the same structure, and only the left-side torso-neck robotic arm connection assembly will be described here as an example.

[0088] The left torso-neck robotic arm connection assembly includes an adjusting nut 65 for joint connection, an interlaced universal joint 6602, a neck robotic arm connecting rod 67, and a neck robotic arm connector 68. The interlaced universal joint 6602 is connected to the left torso robotic arm housing 34 and the neck robotic arm connecting rod 67 via the adjusting nut 65 and a tapered thread, enabling both fixation and distance adjustment. Furthermore, the angle of the interlaced universal joint 6602 is adjusted by tightening the set screws on the interlaced universal joint. When the robotic arm assist system is in the turning operation mode, the angle can be adjusted... The neck robotic arm auxiliary component flips upward to avoid interference with the human body during the turning process; the other end of the neck connecting rod is connected to the neck housing connector 68, and the neck housing connector 68 is connected to the neck robotic arm housing 35; the neck housing connector 68 consists of a large disc and a small disc, with a through hole in the center to accommodate the neck robotic arm connecting rod 67, and an installation platform on the side of the small disc, which is used to fasten the neck robotic arm connecting rod 67 with bolts and nuts; the large disc has four mounting holes evenly distributed around its circumference, which are matched with the mounting holes on the neck robotic arm housing 35 with bolts and nuts.

[0089] For more details, see Figure 1 , Figures 7 to 22 When a patient needs to be moved while lying down, the mobile support system adjusts its rotational and lateral degrees of freedom to position the robotic arm assist system precisely above the patient. During operation, the robotic arm components on both sides (left and right sides) of the robotic arm assist system (lower limb robotic arm assist component, torso robotic arm assist component, and neck robotic arm assist component) gradually and synchronously descend under the action of the electric push rods of the robotic arm movement subsystem. Simultaneously, each flexible robotic arm component (e.g., left lower limb flexible robotic arm component, right lower limb flexible robotic arm component, etc.) begins to bend and extend into the patient's back, legs, and neck, achieving the function of lifting and supporting the patient. Then, under the action of the robotic arm movement subsystem and the mobile support system, the lying patient is moved to another bed. Finally, the robotic arm assist system moves in reverse according to the above-described robotic arm assist system workflow, causing the robot to detach from the human body, thereby realizing the function of moving the patient from one bed to another. For more details, see Figure 22When a patient is in a seated position and is being moved, the mobile support system adjusts its rotational and lateral degrees of freedom so that the robotic arm assist system is positioned appropriately above and in front of the patient. During operation, the robotic arm components on both sides (left and right sides) of the robotic arm assist system (lower limb robotic arm assist component, trunk robotic arm assist component, and neck robotic arm assist component) gradually approach the patient under the combined action of the electric push rods of the robotic arm movement subsystem and the lateral extension component. At the same time, the flexible robotic arm component begins to bend, realizing the function of lifting and supporting the patient. Then, under the action of the robotic arm movement subsystem and the mobile support system, the seated patient is moved to a hospital bed or wheelchair. Finally, the robotic arm assist system moves in the reverse direction according to the above-described robotic arm assist system workflow, causing the robot to detach from the human body, thereby realizing the patient's transfer function from bed to bed, bed to wheelchair, or wheelchair to wheelchair. Further, see Figure 15 and Figure 23 During the process of robot-assisted patient transfer, it can also assist the patient in changing their posture from lying down to sitting up and from sitting up to lying down. After the robot achieves the function of supporting the patient in a lying down or sitting up position, the extension and retraction of the electric push rod used for posture change can realize the switching of different patient postures, thereby realizing the transfer function from lying down in the hospital bed to sitting up in the wheelchair. For more details, see Figures 25 to 26 When a patient needs to turn from supine to lateral position while lying in bed, the mobile support system adjusts its rotational and lateral degrees of freedom so that the robotic arm assist system is positioned appropriately above the patient. Before assisting the turning, the fixed-end robotic arm component (right-side robotic arm component in this embodiment) of the robotic arm assist system is lowered to near the bed surface while remaining straight, providing protection and support. The movable-end robotic arm component (left-side robotic arm component in this embodiment) gradually descends, and the flexible robotic arm component simultaneously bends and extends to the back of the patient. During the assisted turning, the movable-end robotic arm component moves towards the fixed-end robotic arm component under the action of the linear motor component's working platform, the movable-end electric push rod rises synchronously, the flexible robotic arm component gradually straightens synchronously, and the fixed-end robotic arm component remains unchanged, thereby realizing the patient's supine-lateral turning function. Similarly, when a patient needs to turn from side-lying to supine while lying on their side in bed, the adjustment method of the mobile support system is similar. When preparing to assist in turning over, the robotic arm components on both sides (left and right) are lowered to near the bed surface while remaining straight, and the patient leans against the movable robotic arm component. During assisted turning, the movable robotic arm component moves away from the fixed robotic arm component under the action of the working platform of the linear motor component, the movable electric push rod descends synchronously, and the flexible robotic arm component gradually bends synchronously to assist the patient to lie flat. After the patient lies flat, the movable robotic arm component detaches from the human body, similar to the workflow of the robotic arm assistance system detaching from the human body after the displacement function is realized, thereby realizing the patient's side-lying to supine turning function. Furthermore, when a patient needs to turn over from supine to prone or prone to supine, the robot can first be controlled to perform the lying-to-side-lying turning function and detach from the human body; the third rotation direction of the mobile support system controls the robotic arm auxiliary system to rotate 180 degrees, and adjusts it to a suitable position in conjunction with the lateral extension component; then the robotic arm auxiliary system is controlled to perform the side-lying-flat-lying workflow, thereby realizing the patient's supine-prone or prone-to-supine turning function.

[0090] This application has the following advantages: 1. This application relates to a robot for assisting in human transfer or turning over, which combines transfer and turning functions. It can solve the problems and risks of insufficient number of professional nursing staff, insufficient professional quality, and occupational diseases. It can simultaneously meet the common transfer and turning needs of patients during the nursing process. It not only overcomes the shortcomings of existing transfer devices, such as low level of intelligence, poor convenience, and possible secondary injury, but also fills the gap in the lack of nursing aids that can meet the turning needs of patients.

[0091] 2. The robot used in this application for assisting human transfer or turning over has good versatility and universality. For the transfer function, the designed robotic arm assistive system can meet the patient's transfer needs in lying and sitting positions, and can assist the patient in switching from lying to sitting positions, meeting the patient's transfer needs between hospital beds, wheelchairs, hospital beds, and wheelchairs. For the turning function, the designed robotic arm assistive system can meet the patient's needs from supine to lateral, lateral to supine, or supine to prone. At the same time, it is applicable to a wide range of patients, and the designed neck support function ensures that it can be applied to patients with neck weakness, such as patients with high-level paraplegia. 3. A double ratchet mechanical self-locking mechanism was designed, which can achieve bidirectional self-locking and enhance the stability and safety of the designed robotic arm auxiliary system during the transfer or flipping process. During the transfer process after the lifting and support function is completed, there is no need for the motor to work, nor for self-locking mechanisms that require the introduction of additional electrical components such as clutches, which can improve the robot's endurance and save energy consumption.

[0092] 4. The mobile support system of this application is designed with multiple active degrees of freedom, which can not only flexibly adjust the relative position between the robotic arm assist system and the patient to ensure the patient's comfort and safety during work; it can also flexibly move the patient within a certain range, expand the working range, improve the robot's environmental adaptability, reduce the involvement of nursing staff, and thus reduce their workload.

[0093] 5. The robot used in this application for assisting in human transfer or turning over is highly intelligent and easy to operate; it is designed with an operation panel, through which nursing staff can preset the motion trajectory or manually control the robot's various degrees of freedom, with good human-computer interaction, meeting the specific work needs of different working environments or different patients.

[0094] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm system for assisting in displacement or turning over, characterized in that, The robotic arm system for assisting in displacement or turning includes: Robotic arm movement subsystem; A lower limb robotic arm auxiliary component, wherein the lower limb robotic arm auxiliary component is connected to the mobile support system through the robotic arm motion subsystem; A torsional robotic arm auxiliary component, wherein the torsional robotic arm auxiliary component is connected to the lower limb robotic arm auxiliary component via a lower limb-torsional robotic arm connection component; A neck-mounted robotic arm assistive component, wherein the neck-mounted robotic arm assistive component is connected to the torso-mounted robotic arm assistive component via a torso-neck robotic arm connection component; wherein... The torso manipulator auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The neck robotic arm auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The lower limb robotic arm auxiliary component is used to support the user's body and / or provide assistance for the user's body movement or posture changes; The lower limb robotic arm auxiliary component includes a left lower limb robotic arm auxiliary component and a right lower limb robotic arm auxiliary component; The left lower limb robotic arm auxiliary component includes a first joint segment (5501), a second joint segment (5502), a third joint segment (5503), a fourth joint segment (5504), a fifth joint segment (5505), a sixth joint segment (5506), a seventh joint segment (5507), an eighth joint segment (5508), a ninth joint segment (5509), and a joint segment hinge assembly; The first joint segment (5501) is connected to the housing (33) of the left lower limb robotic arm; The first joint segment (5501), the second joint segment (5502), the third joint segment (5503), the fourth joint segment (5504), the fifth joint segment (5505), the sixth joint segment (5506), the seventh joint segment (5507), the eighth joint segment (5508), and the ninth joint segment (5509) are connected in pairs by joint hinge assemblies; Each of the said joint hinge assemblies includes a joint hinge shaft (57), a hinge cap (56), a joint hinge deep groove ball bearing (58), and a double ratchet self-locking assembly; The first joint segment (5501) and the second joint segment (5502) are connected by a joint segment hinge assembly, including: The joint hinge shaft (57) is coaxially mounted with the first joint segment (5501) and the second joint segment (5502); The hinge cover (56) mates with the countersunk hole on the outer side of the second joint segment (5502). The hinge cover (56) has four mounting holes evenly distributed around its circumference, which are connected to the four mounting holes in the countersunk hole on the outer side of the second joint segment (5502) by screws. The hinge cover (56) has a countersunk hole in the center, and two threaded holes in the center of the countersunk hole, which are connected to the joint hinge shaft (57) by set screws. The first joint segment (5501) is engaged with the joint hinge shaft (57), and the circular grooves at both ends of the through hole are used to install the joint hinge deep groove ball bearing (58). The inner side of the second joint segment (5502) is provided with a circular groove for installing the joint hinge deep groove ball bearing (58). The inner side of the bearing is provided with a thrust washer to fix the axial position of the bearing. The double ratchet self-locking assembly includes an internally engaged ratchet (60), a ratchet drive disc (61), a first pawl slider (6201), a second pawl slider (6202), and a corrugated spring (63). Two internally meshing ratchet (60) ratchet teeth are installed in opposite directions; The internal meshing ratchet (60) has an arc-shaped protrusion at its outer circumferential end, and the arc-shaped protrusion is threadedly connected to the first joint segment (5501). The ratchet drive disc (61) includes two cylinders with different diameters. The smaller diameter end of the ratchet drive disc (61) is connected to the joint hinge shaft (57) via a keyway, and the larger diameter end is provided with two large diameter end grooves. The first pawl slider (6201) and the second pawl slider (6202) can slide within the large-diameter end groove of the ratchet drive disc (61); The joint hinge shaft (57) is provided with a joint hinge shaft light hole in the radial direction. The cylindrical ends of the first pawl slider (6201) and the second pawl slider (6202) and the joint hinge shaft light hole are both equipped with the corrugated spring (63). The first pawl slider (6201) and the second pawl slider (6202) respectively mesh with the internal meshing ratchet (60). Under the action of the corrugated spring, the first pawl slider (6201) and the second pawl slider (6202) respectively cooperate with the internal meshing ratchet (60) in the same ratchet direction to achieve rotational locking.

2. The robotic arm system for assisted displacement or turning over as described in claim 1, characterized in that, The robotic arm movement subsystem includes a robotic arm auxiliary system bracket (28), a connecting frame (29), a linear motor assembly, a work platform, a moving end robotic arm connector (30), a fixed end robotic arm connector (31), and an electric push rod for robotic arm movement; wherein... The linear motor assembly is mounted on the connecting frame (29), the working platform is connected to the linear motor assembly and is disposed on the side of the connecting frame (29), and the working platform can move under the control of the linear motor assembly; One end of the robotic arm auxiliary system bracket (28) is connected to the mobile support system, and the other end is connected to the connecting frame; The fixed-end manipulator connector (31) is installed on the connecting frame, and the right lower limb manipulator auxiliary component is connected to the fixed-end manipulator connector (31) through the electric push rod for manipulator movement; The movable end manipulator connector (30) is installed on the work platform and can move closer to or further away from the right lower limb manipulator auxiliary component when the work platform moves. The left lower limb manipulator auxiliary component is connected to the movable end manipulator connector (30) through the electric push rod for manipulator movement.

3. The robotic arm system for assisted displacement or turning over as described in claim 2, characterized in that, The torso robotic arm auxiliary component includes a left torso robotic arm auxiliary component and a right torso robotic arm auxiliary component; The neck robotic arm auxiliary component includes a left neck robotic arm auxiliary component and a right neck robotic arm auxiliary component; The left lower limb robotic arm auxiliary component includes a left lower limb robotic arm housing (33), a left lower limb robotic arm drive component, and a left lower limb flexible robotic arm component; wherein... The left lower limb manipulator housing (33) is mounted on the work platform via the electric push rod for manipulator movement; The left lower limb manipulator drive assembly is installed inside the left lower limb manipulator housing (33). The left lower limb manipulator drive assembly and the left lower limb flexible manipulator assembly transmit power through a synchronous belt. The left lower limb manipulator housing (33) and the synchronous belt are provided with a synchronous belt tensioning assembly to adjust the preload. The left torso manipulator auxiliary component includes a left torso manipulator housing (34), a left torso manipulator drive component, and a left torso flexible manipulator component; The left neck manipulator auxiliary component includes a left neck manipulator housing (35), a left neck manipulator drive component, and a left neck flexible manipulator component; The left torso manipulator housing is hinged to the left lower limb manipulator housing (33); The left neck manipulator housing is hinged to the left torso manipulator housing (34); The right lower limb robotic arm auxiliary component includes a right lower limb robotic arm housing, a right lower limb robotic arm drive component, and a right lower limb flexible robotic arm component; wherein... The housing of the right lower limb manipulator is mounted on the fixed end manipulator connector (31) via the electric push rod for manipulator movement; The right lower limb manipulator drive assembly is installed inside the right lower limb manipulator housing. The right lower limb manipulator drive assembly and the right lower limb flexible manipulator assembly transmit power through a synchronous belt. The right lower limb manipulator housing and the synchronous belt are provided with a synchronous belt tensioning assembly to adjust the preload. The right torso manipulator auxiliary component includes a right torso manipulator housing, a right torso manipulator drive component, and a right torso flexible manipulator component. The right neck robotic arm auxiliary component includes a right neck robotic arm housing, a right neck robotic arm drive component, and a right neck flexible robotic arm component. The right torso robotic arm housing is hinged to the right lower limb robotic arm housing; The right neck robotic arm housing is hinged to the right torso robotic arm housing.

4. The robotic arm system for assisted displacement or turning over as described in claim 3, characterized in that, The left lower limb manipulator drive assembly includes a left lower limb manipulator motor base (36), a left lower limb manipulator motor (37), a left lower limb manipulator motor flange (38), a left lower limb drive helical gear (39), a left lower limb driven helical gear (40), a left lower limb transmission shaft (41), a left lower limb synchronous belt drive pulley (42), a left lower limb transmission shaft fixing component (43), and a left lower limb synchronous belt tensioning assembly; The left lower limb manipulator motor mount (36) is installed on the inner surface of the left lower limb manipulator housing (33); The left lower limb robotic arm motor (37) is installed inside the left lower limb robotic arm motor base (36); The rotor of the left lower limb robotic arm motor (37) is connected to the flange (38) of the left lower limb robotic arm motor; The left lower limb active helical gear (39) and the left lower limb manipulator motor flange (38) are connected by a keyway; The driven helical gear (40) of the left lower limb and the transmission shaft (41) of the left lower limb are connected by a keyway; Four left lower limb synchronous belt drive pulleys (42) are installed on the left lower limb drive shaft through keyway, and both ends are respectively installed at the central through hole of the left lower limb drive shaft fixing part (43); The left lower limb drive shaft fixing component (43) is connected to the inner side of the left lower limb manipulator housing (33); The left lower limb manipulator housing (33) is provided with the same number of left lower limb synchronous belt tensioning components as the left lower limb synchronous belt drive pulleys (42). The left lower limb synchronous belt tensioning components include a tension adjustment cover (44), a lead screw mounting component (45), a first deep groove ball bearing (46), a lead screw (47), a lead screw fixing component (48), a lead screw fixing cover (49), a lead screw guide rail (50), a lead screw slider (51), a tension idler wheel (52), a second deep groove ball bearing (53), and an idler wheel pressure cover (54). The outer surface of the left lower limb manipulator housing (33) is provided with a circular boss, and the center of the boss is provided with a stepped through hole for installing the lead screw mounting component (45). The outer side of the lead screw mounting component (45) is connected to the tension adjustment cover (44); The stepped through hole of the boss of the left lower limb manipulator housing (33) is used to install the first deep groove ball bearing (46). One threaded end of the lead screw (47) is connected to the lead screw fixing member (48), and the other end of the lead screw (47) is an optical shaft, which is coaxially engaged with the lead screw fixing assembly composed of the lead screw fixing member (48) and the lead screw fixing cover (49). The lead screw fixing member (48) and the lead screw fixing cover (49) are connected. The lead screw fixing cover (49) has a through hole at the center to accommodate the lead screw (47), and there is space between the two to install the first deep groove ball bearing (46). The central through hole of the lead screw slider (51) is coaxially mounted with the lead screw (47), and the through holes on both sides of the lead screw slider (51) are used to cooperate with the lead screw guide rail (50) for installation. The tension idler wheel (52) is installed on the side shaft of the lead screw slider (51). The center of the tension idler wheel (52) is provided with a tension idler wheel stepped through hole, and both ends are used to install with the second deep groove ball bearing (53). The outside of the side shaft of the lead screw slider (51) is provided with a thread to connect with the idler wheel cover (54).

5. A robot, characterized in that, The robot includes a mobile support system and a robotic arm system for assisting in displacement or turning over as described in any one of claims 1 to 4.

6. The robot as described in claim 5, characterized in that, The mobile support system includes: Ground support components; A first-direction rotating component is hinged to the ground support component, and the first-direction rotating component is capable of rotating relative to the ground support component in a first direction. The second rotatable component is hinged to the first rotatable component and is capable of rotating relative to the first rotatable component in a second direction. A lateral extension assembly, which is connected to the second direction rotating member, is used to move closer to or further away from the second direction rotating member; A third-direction rotating component is connected to the lateral extension assembly. The third-direction rotating component is capable of rotating in the third direction. The robotic arm auxiliary system bracket is connected to the third-direction rotating component.

7. The robot as described in claim 6, characterized in that, The ground support includes a base (1), base wheels (2), and a base motor assembly; wherein... The base wheel (2) is mounted on the base (1); The base motor assembly is mounted on the base (1), and the base motor assembly is connected to the first direction rotating member. The base motor assembly is used to control the rotation of the first direction rotating member.

8. The robot as described in claim 7, characterized in that, The first direction rotating member includes: The first support frame (3) has one end connected to the base motor assembly and the other end hinged to the second direction rotating member; A telescopic drive assembly, one end of which is connected to the first support frame (3), and the other end of which is connected to the second-direction rotating component; wherein, The second directional rotating member can be rotated about the hinge position with the first support frame (3) by extending or shortening the telescopic drive assembly.

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