Load adaptive shared nursing robot and motion method

Abstract

The present application relates to nursing robot technical field, specifically to a load adaptive sharing type nursing robot and motion method. Including upper limb mechanism, left leg mechanism, right leg mechanism and foot base; The foot base includes left walking mechanism, right walking mechanism and screw slide group installed in the left walking mechanism and the right walking mechanism, and the screw slide group is used to drive the relative sliding of the left walking mechanism and the right walking mechanism to be staggered;The screw slide group includes a driving motor installed in the left walking mechanism, a synchronous pulley set, a screw and a sliding block, and the sliding block is installed with the right walking mechanism through a connecting piece. When the nursing robot holds the patient, the driving motor drives the sliding block to move on the screw, so that the right walking mechanism is staggered relative to the left walking mechanism, the support span is expanded, the carrying capacity and the anti-overturning stability of the whole machine are enhanced, the stability of the patient in the dynamic transfer process is ensured, the safety and reliability of the operation process are further ensured, and the practicability of the device is enhanced.

Description

Technical Field

[0001] This invention relates to the field of nursing robot technology, specifically to a load-adaptive, load-sharing nursing robot and its motion method. Background Technology

[0002] With the increasing aging of society and the growing demand for nursing care, nursing robots are being used more and more widely in areas such as assisting the elderly and disabled, and patient transfer. One of their core functions is to safely and smoothly transfer disabled or semi-disabled patients from beds, wheelchairs, and other locations to other places. In this process, the stability and mobility of the nursing robot are two key technical indicators to ensure safe and reliable operation.

[0003] Currently, most nursing robots on the market use a fixed-width foot base and walking mechanism design. When performing actions such as holding or lifting patients, the patient's center of gravity will inevitably shift and rise, causing a change in the overall center of gravity of the robot. The fixed-width foot base has limited support span, and when faced with such dynamically changing loads, it has insufficient anti-tipping ability, which can easily lead to swaying or even imbalance, seriously threatening the safety of patients and operators. Summary of the Invention

[0004] Given that existing technologies have insufficient anti-tipping capacity, are prone to swaying or even imbalance, and seriously threaten the safety of patients and operators, this invention provides a load-adaptive distributed nursing robot and its motion method. The robot can adaptively slide and stagger the left and right walking mechanisms according to the lifting action of the nursing robot, thereby expanding the support span and providing sufficient and stable support for the device.

[0005] This invention provides a load-adaptive, load-sharing nursing robot, comprising a human-like upper limb mechanism, a left leg mechanism, a right leg mechanism, and a foot base; the foot base includes: a left walking mechanism installed at the bottom of the left leg mechanism, a right walking mechanism installed at the bottom of the right leg mechanism, and a screw-slider assembly installed within the left and right walking mechanisms, the screw-slider assembly being used to drive the relative sliding offset of the left and right walking mechanisms.

[0006] The lead screw slide assembly includes: a drive motor installed in the left walking mechanism, a lead screw coaxially mounted with the output shaft of the drive motor via a synchronous pulley assembly, and a sliding block that rotates with the lead screw. The sliding block is installed with the right walking mechanism via a connector. When the nursing robot picks up the patient, the drive motor drives the sliding block to move on the lead screw, causing the right walking mechanism to slide away from the left walking mechanism.

[0007] Furthermore, both the left and right walking mechanisms include: a mounting frame, a foot shell mounted on the outside of the mounting frame, a steering wheel assembly mounted inside the mounting frame for driving the movement, and a caster wheel assembly mounted inside the mounting frame for assisting the movement of the steering wheel assembly.

[0008] The steering wheel assembly of the left traveling mechanism is arranged diagonally opposite to the steering wheel assembly of the right traveling mechanism, and the omnidirectional wheel assembly of the left traveling mechanism is arranged diagonally opposite to the omnidirectional wheel assembly of the right traveling mechanism.

[0009] Furthermore, the steering wheel assembly includes: a travel motor disposed in the mounting frame along the x-axis direction, a steering wheel coaxially mounted with the output shaft of the travel motor, a steering motor disposed in the mounting frame along the z-axis direction, a transmission gear set coaxially mounted with the output shaft of the steering motor, and a steering gear meshing with the transmission gear set, wherein the steering wheel is mounted on the steering gear; the travel motor drives the steering wheel to rotate, and the steering motor controls the steering of the steering wheel.

[0010] Furthermore, the omnidirectional wheel assembly includes: a wheel assembly mounting base installed in the mounting frame body, a Z-axis steering wheel installed on the wheel assembly mounting base along the Z-axis direction, and a double rotating wheel installed with the Z-axis steering wheel via a wheel assembly connector; the rotation of the double rotating wheel is adjusted by the rotation of the Z-axis steering wheel, so that the double rotating wheel can rotate in any direction to adapt to the movement of the nursing robot.

[0011] Furthermore, the bottom of both the left and right walking mechanisms is provided with several bullseye wheels for assisting movement.

[0012] Furthermore, both the left leg mechanism and the right leg mechanism include: a human-like hip joint assembly, a thigh unit, a knee joint assembly, a calf unit, and an ankle joint assembly that are rotatably mounted in sequence.

[0013] The knee joint assembly includes: a knee joint rotation assembly installed between the thigh unit and the lower leg unit, and a knee joint drive assembly installed within the thigh unit for driving the knee joint rotation assembly to rotate.

[0014] The hip joint assembly includes: a hip joint rotation assembly mounted between the thigh unit and the upper limb mechanism, and a hip joint drive assembly mounted within the thigh unit for driving the hip joint rotation assembly to rotate.

[0015] The ankle joint assembly includes: an ankle joint rotation assembly installed between the lower leg unit and the foot base, and an ankle joint drive assembly installed within the lower leg unit for driving the ankle joint rotation assembly to rotate.

[0016] Furthermore, the knee joint rotation assembly includes: a left knee wheel, a right knee wheel, and a knee rotation shaft installed between the left knee wheel and the right knee wheel; the knee joint drive assembly includes: a left knee drive unit for driving the left knee wheel to rotate, and a right knee drive unit for driving the right knee wheel to rotate; when the left knee wheel and the right knee wheel rotate synchronously, the knee joint assembly mimics the bending / extension of the human knee joint.

[0017] Furthermore, both the left knee drive unit and the right knee drive unit include: a first motor disposed within the thigh unit, a first drive pulley coaxially mounted with the output shaft of the first motor, a first driven pulley connected to the first drive pulley via a synchronous belt, and a first transmission component coaxially mounted with the first driven pulley, wherein the first transmission component is vertically connected to the left knee wheel / right knee wheel.

[0018] Furthermore, the thigh unit is provided with a first mounting cavity for mounting the hip joint drive assembly and a second mounting cavity for mounting the knee joint drive assembly, and the calf unit is provided with a third mounting cavity for mounting the ankle joint drive assembly.

[0019] The present invention also provides a motion method for a load-adaptive, load-sharing nursing robot: when the nursing robot picks up a patient: the drive motor is started, and the sliding block moves synchronously through the rotation of the lead screw. At this time, the right walking mechanism slides backward and offset relative to the left walking mechanism.

[0020] When the nursing robot moves: the left and right walking mechanisms are staggered, driving the steering wheel assembly to rotate and simultaneously controlling its direction, thus controlling the robot's movement. When the robot reaches the desired position: the upper limb, left leg, and right leg mechanisms work together to lower the patient, and the drive motor reverses, causing the lead screw to rotate and the sliding block to rotate in the opposite direction, thus changing the staggered state of the right and left walking mechanisms to a combined state, completing the patient's movement.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. This invention patent utilizes a lead screw sliding mechanism to allow the left and right walking mechanisms to slide out of each other. When the nursing robot lifts a patient, this offset effectively expands the support span, creating a more stable support structure. This significantly enhances the overall load-bearing capacity and anti-tipping stability, preventing the nursing robot from swaying or becoming unbalanced due to a shift in the center of gravity, thus ensuring the smooth movement of the patient. This adaptively adjustable support structure not only improves static stability but also maintains good mechanical balance during dynamic transfer, effectively suppressing vibrations or tilting caused by changes in the center of gravity, thereby ensuring the patient's stability during transfer. Furthermore, the wider support base enhances adaptability to uneven ground, further ensuring the safety and reliability of the operation and enhancing the practicality of the device.

[0023] 2. This invention patent endows the nursing robot with omnidirectional movement capability through the coordinated arrangement of the steering wheel assembly and the universal wheel assembly, further realizing precise forward, backward, left turn, right turn and other multiple movement directions, thereby improving the mobility and adaptability of the nursing robot, enabling it to flexibly adjust its posture and avoid obstacles, which not only enhances the flexibility of the device's movement, but also improves the efficiency of nursing care.

[0024] 3. This invention integrates the hip joint drive assembly, knee joint drive assembly, and ankle joint drive assembly into the thigh unit and calf unit, respectively. This not only enhances the protection of the joint drive assembly structure and prevents it from being exposed, but also reduces the moment of inertia compared to placing the joint motor at the joint. This improves the control accuracy and balance performance of the robot's motion. Furthermore, by further increasing the overall weight of the left and right leg mechanisms, it helps to suppress the risk of force imbalance and tipping caused by sudden load increases, thereby significantly enhancing the stability of the left and right leg mechanisms during movement and the overall operational smoothness of the device.

[0025] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] Figure 1 This is a structural diagram of the nursing robot.

[0028] Figure 2 This is a diagram of the overall structure of the left leg mechanism.

[0029] Figure 3 This is a diagram of the internal structure of the left leg mechanism.

[0030] Figure 4 This is a structural diagram of the knee joint assembly.

[0031] Figure 5 This is a cross-sectional view of the left leg mechanism.

[0032] Figure 6 This is a diagram of the internal structure of the foot base.

[0033] Figure 7 This is a structural diagram of the lead screw slide block.

[0034] Figure 8 This is a structural diagram of the steering wheel assembly.

[0035] Figure 9 This is a structural diagram of the omnidirectional wheel assembly.

[0036] The diagram is labeled as follows: 1. Upper limb unit; 11. Left arm unit; 12. Right arm unit; 13. Trunk unit; 14. Head unit;

[0037] 2. Left leg mechanism; 21. Hip joint assembly; 211. Hip joint rotation assembly; 212. Hip joint drive assembly; 22. Thigh unit; 221. First mounting cavity; 222. Second mounting cavity; 23. Knee joint assembly; 231. Knee joint rotation assembly; 2311. Knee left wheel; 2312. Knee right wheel; 2313. Knee rotation shaft; 232. Knee joint drive assembly; 2321. Knee left drive unit; 23211. First motor; 23212. First drive pulley; 23213. Synchronous belt; 23214. First driven pulley; 23215. First transmission component; 23216. Tapered roller bearing component; 2322. Knee right drive unit; 24. Lower leg unit; 241. Third mounting cavity; 25. Ankle joint assembly; 251. Ankle joint rotation assembly; 252. Ankle joint drive assembly; 3. Right leg mechanism;

[0038] 4. Foot base; 41. Left travel mechanism; 411. Mounting frame; 412. Foot shell; 413. Steering wheel assembly; 4131. Travel motor; 4132. Steering wheel; 4133. Steering motor; 4134. Transmission gear set; 4135. Steering gear; 414. Universal wheel assembly; 4141. Wheel set mounting base; 4142. Z-axis steering wheel; 4143. Wheel set connector; 4144. Double rotating wheel; 42. Right travel mechanism; 43. Lead screw slide block; 431. Drive motor; 432. Synchronous pulley block; 433. Lead screw; 434. Sliding block; 435. Connector; 44. Bullseye wheel. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0040] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0041] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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 component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Please refer to Figures 1-9 The present invention provides a load-adaptive and load-sharing nursing robot, including a human-like upper limb mechanism 1, a left leg mechanism 2, a right leg mechanism 3, and a foot base 4; the foot base 4 includes: a left walking mechanism 41 installed at the bottom of the left leg mechanism 2, a right walking mechanism 42 installed at the bottom of the right leg mechanism 3, and a screw-slide assembly 43 installed in the left walking mechanism 41 and the right walking mechanism 42, the screw-slide assembly 43 being used to drive the left walking mechanism 41 and the right walking mechanism 42 to slide relative to each other.

[0043] like Figure 7 As shown, the lead screw slide assembly 43 includes: a drive motor 431 installed in the left walking mechanism 41, a lead screw 433 coaxially mounted with the output shaft of the drive motor 431 via a synchronous pulley assembly 432, and a sliding block 434 rotatably engaged with the lead screw 433. The sliding block 434 is installed with the right walking mechanism 42 via a connector 435. When the nursing robot picks up the patient, the drive motor 431 drives the sliding block 434 to move on the lead screw 433, causing the right walking mechanism 42 to slide away from the left walking mechanism 41.

[0044] In this embodiment, the screw-sliding assembly 43 allows the left walking mechanism 41 and the right walking mechanism 42 to slide out of each other. When the nursing robot lifts the patient, this offset effectively expands the support span, forming a more stable support structure. This significantly enhances the overall load-bearing capacity and anti-tipping stability, preventing the nursing robot from swaying or becoming unbalanced due to a shift in the center of gravity, thus ensuring the smooth movement of the patient. This adaptively adjustable support structure not only improves static stability but also maintains good mechanical balance during dynamic transfer, effectively suppressing vibrations or tilting caused by changes in the center of gravity, thereby ensuring the patient's stability during transfer. Furthermore, the wider support base enhances adaptability to uneven ground, further ensuring the safety and reliability of the operation and enhancing the practicality of the device.

[0045] In this embodiment, when the nursing robot picks up the patient, the drive motor 431 is activated, causing the lead screw 433 to rotate and drive the sliding block 434 to move on the lead screw 433. This causes the right walking mechanism 42 to move forward and separate from the left walking mechanism 41 under the movement of the sliding block 434. At this time, the left walking mechanism 41 and the right walking mechanism 42 are in a staggered state, which enhances the overall stability of the robot. Since the upper limb mechanism 1 needs to bear the entire weight of the human body when picking someone up, it is easy for the robot to tip over due to uneven force. Therefore, by driving the lead screw sliding block 43 to make the left walking mechanism 41 and the right walking mechanism 42 staggered, the support area at the bottom of the nursing robot is expanded, and the force on the nursing robot is balanced, providing a more stable and balanced support for the nursing robot that picks up the patient.

[0046] After the nursing robot puts down the patient, the control drive motor 431 reverses, and the lead screw 433 rotates in the opposite direction, causing the sliding block 434 to move backward, so that the right walking mechanism 42 moves backward to be aligned with the left walking mechanism 41, and the operation is completed.

[0047] like Figure 6 As shown, both the left traveling mechanism 41 and the right traveling mechanism 42 include: a mounting frame 411, a foot shell 412 mounted on the outside of the mounting frame 411, a steering wheel assembly 413 mounted inside the mounting frame 411 for driving travel, and a caster wheel assembly 414 mounted inside the mounting frame 411 for assisting the movement of the steering wheel assembly 413.

[0048] Furthermore, the steering wheel assembly 413 of the left walking mechanism 41 and the steering wheel assembly 413 of the right walking mechanism 42 are arranged diagonally opposite each other, and the universal wheel assembly 414 of the left walking mechanism 41 and the universal wheel assembly 414 of the right walking mechanism 42 are arranged in another diagonal direction, ensuring the stability and balance of the foot base 4, and further ensuring the smoothness of the nursing robot's movement.

[0049] Furthermore, the foot base 43 is equipped with a steering wheel 4132 drive unit for controlling the movement of the steering wheel assembly 413.

[0050] In this embodiment, after the nursing robot picks up the patient, the steering wheel assembly 413 is controlled to move by the steering wheel 4132 drive unit, thereby controlling the movement of the nursing robot. At this time, the universal wheel assembly 414 moves synchronously with the steering wheel assembly 413 to ensure the stability and flexibility of the nursing robot's movement.

[0051] This embodiment, through the coordinated arrangement of the steering wheel assembly 413 and the universal wheel assembly 414, endows the nursing robot with omnidirectional movement capability, further realizing precise forward, backward, left turn, right turn and other multiple movement directions, thereby improving the mobility and adaptability of the nursing robot, enabling it to flexibly adjust its posture and avoid obstacles, which not only enhances the flexibility of the device's movement, but also improves the efficiency of nursing care.

[0052] like Figure 8 As shown, the steering wheel assembly 413 includes: a travel motor 4131 disposed in the mounting frame 411 along the x-axis direction; a steering wheel 4132 coaxially mounted with the output shaft of the travel motor 4131; a steering motor 4133 disposed in the mounting frame 411 along the z-axis direction; a transmission gear set 4134 coaxially mounted with the output shaft of the steering motor 4133; and a steering gear 4135 meshing with the transmission gear set 4134. The steering wheel 4132 is mounted on the steering gear 4135. The travel motor 4131 drives the steering wheel 4132 to rotate, and the steering motor 4133 controls the steering of the steering wheel 4132.

[0053] In this embodiment, starting the walking motor 4131 causes the steering wheel 4132 to rotate, controlling the forward movement of the nursing robot. Reversing the walking motor 4131 enables the nursing robot to move backward. Controlling the forward or reverse rotation of the steering motor 4133, and through the transmission gear set 4134, causes the steering gear 4135 to rotate forward or reverse, thereby controlling the left or right rotation of the steering wheel 4132, and thus controlling the left or right rotation of the nursing robot, ensuring smooth movement. Furthermore, the steering wheel assembly 413 includes a steering wheel assembly 413 located in the left walking mechanism 41 and a steering wheel assembly 413 located in the right walking mechanism 42. The coordinated operation of the steering wheel assemblies 413 controls the nursing robot's forward, backward, left, or right rotation, enhancing control precision and stability, and improving the flexibility of the nursing robot.

[0054] like Figure 9As shown, the omnidirectional wheel assembly 414 includes: a wheel assembly mounting base 4141 installed in the mounting frame 411, a z-axis steering wheel 4142 installed on the wheel assembly mounting base 4141 along the z-axis direction, and a double rotating wheel 4144 installed with the z-axis steering wheel 4142 via a wheel assembly connector 4143; the rotation of the double rotating wheel 4144 is adjusted by rotating the z-axis steering wheel 4142, so that the double rotating wheel 4144 can rotate in any direction to adapt to the movement of the nursing robot.

[0055] In this embodiment, the rotation of the z-axis steering wheel 4142 assists in adjusting the movement direction of the dual rotating wheels 4144, so that the movement direction of the dual rotating wheels can be adjusted at any angle. In this way, the dual rotating wheels 4144 can adaptively rotate and adjust to follow the movement direction of the steering wheel assembly 413, thereby adaptively assisting the movement of the steering wheel assembly 413 and ensuring the flexibility and smoothness of the nursing robot's movement.

[0056] Furthermore, the caster wheel assembly 414 includes a caster wheel assembly 414 disposed in the left travel mechanism 41 and a caster wheel assembly 414 disposed in the right travel mechanism 42. The caster wheel assembly 414 assists the steering wheel assembly 413 in controlling the movement of the nursing robot through their coordinated operation.

[0057] Furthermore, the bottom of both the left walking mechanism 41 and the right walking mechanism 42 is equipped with several bullseye wheels 44 for assisting movement. The bullseye wheels 44 not only assist the movement of the nursing robot, but also enhance the balance of the foot base 4, further ensuring the stability and balance of the nursing robot's movement.

[0058] like Figure 2 and Figure 3 As shown, both the left leg mechanism 2 and the right leg mechanism 3 include: a hip joint assembly 21, a thigh unit 22, a knee joint assembly 23, a lower leg unit 24, and an ankle joint assembly 25, which are rotatably mounted in sequence.

[0059] The knee joint assembly 23 includes: a knee joint rotation assembly 231 installed between the thigh unit 22 and the lower leg unit 24, and a knee joint drive assembly 232 installed in the thigh unit 22 for driving the knee joint rotation assembly 231 to rotate.

[0060] The hip joint assembly 21 includes: a hip joint rotation assembly 211 installed between the thigh unit 22 and the upper limb mechanism 1, and a hip joint drive assembly 212 installed in the thigh unit 22 for driving the hip joint rotation assembly 211 to rotate.

[0061] The ankle joint assembly 25 includes: an ankle joint rotation assembly 251 mounted between the lower leg unit 24 and the foot base 4, and an ankle joint drive assembly 252 mounted within the lower leg unit 24 for driving the ankle joint rotation assembly 251 to rotate.

[0062] In this embodiment, the adaptive bending or extension of the lower limbs of the nursing robot is achieved through the coordinated control of the hip joint assembly 21, knee joint assembly 23 and ankle joint assembly 25 of the left leg mechanism 2 and the right leg mechanism 3. When the nursing robot performs the action of holding a person, the hip joint assembly 21, knee joint assembly 23 and ankle joint assembly 25 can synchronously simulate the rotation of human joints, thereby effectively distributing the increased load evenly and ensuring the stability of the entire device during operation.

[0063] To further clarify, the left leg mechanism 2 and the right leg mechanism 3 have the same structure.

[0064] like Figure 4 As shown, the knee joint rotation assembly 231 includes: a left knee wheel 2311, a right knee wheel 2312, and a knee rotation shaft 2313 installed between the left knee wheel 2311 and the right knee wheel 2312; the knee joint drive assembly 232 includes: a left knee drive unit 2321 for driving the left knee wheel 2311 to rotate, and a right knee drive unit 2322 for driving the right knee wheel 2312 to rotate; when the left knee wheel 2311 and the right knee wheel 2312 rotate synchronously, the knee joint assembly 23 mimics the bending / extension of the human knee joint.

[0065] In this embodiment, the ankle joint rotation assembly 251, the hip joint rotation assembly 211 and the knee joint rotation assembly 231 have the same structure.

[0066] Furthermore, the hip joint drive assembly 212, ankle joint drive assembly 252 and knee joint drive assembly 232 have the same structure.

[0067] Furthermore, the left knee drive unit 2321 and the right knee drive unit 2322 synchronously drive the left knee wheel 2311 and the right knee wheel 2312 to rotate. The synchronous rotation of the left knee wheel 2311 and the right knee wheel 2312 is ensured by the setting of the knee rotation shaft 2313. The thigh unit 22 and the lower leg unit 24 rotate relative to each other, realizing the bending and extension of the human knee joint, ensuring the flexibility and coordination of the robot. In this embodiment, by setting the left knee drive unit 2321 and the right knee drive unit 2322 inside the thigh unit 22, the exposed drive components are avoided, the weight at the knee joint is reduced, the rotational inertia of the leg end is reduced, the flexibility of the knee joint rotation is ensured, and the weight of the lower limb of the nursing robot is concentrated, which further ensures the balance and efficiency of the nursing robot when carrying people.

[0068] To further explain, when the nursing robot executes the command to hold a person, the hip joint drive component 212 and the ankle joint drive component 252 and the knee joint drive component 232 synchronously drive the ankle joint rotation component 251, the hip joint rotation component 211 and the knee joint rotation component 231 to rotate, so that they bend to a degree that is suitable for the nursing robot to hold a person, thus ensuring the balance of the nursing robot when holding a person.

[0069] like Figure 4 As shown, both the left knee drive unit 2321 and the right knee drive unit 2322 include: a first motor 23211 disposed in the thigh unit 22, a first drive pulley 23212 coaxially mounted with the output shaft of the first motor 23211, a first driven pulley 23214 connected to the first drive pulley 23212 via a synchronous belt 23213, and a first transmission component 23215 coaxially mounted with the first driven pulley 23214. The first transmission component 23215 is vertically connected to the left knee wheel 2311 / right knee wheel 2312.

[0070] In this embodiment, the first motor 23211 is started, and the first driving pulley 23212 rotates accordingly. The first driven pulley 23214 is driven to rotate synchronously through the synchronous belt 23213, so that the first transmission component 23215 rotates accordingly to control the rotation of the left knee wheel 2311 / right knee wheel 2312. The synchronous rotation of the left knee wheel 2311 and the right knee wheel 2312 imitates the movement of the human knee joint.

[0071] Furthermore, the first motors 23211 of the left knee drive unit 2321 and the right knee drive unit 2322 need to start synchronously. It is necessary to ensure that the first drive pulleys 23212 of the left knee drive unit 2321 and the right knee drive unit 2322 rotate at the same frequency. This ensures the synchronicity of the rotation of the left knee wheel 2311 and the right knee wheel 2312. The synchronicity of the rotation of the left knee wheel 2311 and the right knee wheel 2312 is further achieved by setting the knee rotation shaft 2313, which further ensures the smoothness of joint rotation.

[0072] To further clarify, the left knee wheel 2311 and the right knee wheel 2312 are quasi-hyperboloid gears, and the first transmission component 23215 is a bevel gear that meshes with the quasi-hyperboloid gear.

[0073] In this embodiment, the meshing of the bevel gear and the hypoid gear enables the left knee wheel 2311 / right knee wheel 2312 to rotate synchronously with the first driven pulley 23214. Furthermore, by synchronously controlling the first motor 23211 in the left knee drive unit 2321 and the right knee drive unit 2322, the left knee wheel 2311 and the right knee wheel 2312 rotate synchronously. The knee rotation shaft 2313 further ensures the consistency of their rotation, thereby guaranteeing the coordination and smoothness of the rotation of the knee joint assembly 23.

[0074] Furthermore, a worm gear can also be selected as the first transmission component 23215, in which case the worm gear acts as the left knee wheel 2311 / right knee wheel 2312. By coaxially mounting the worm gear and the first driven pulley 23214, the synchronicity of the rotation of the worm gear and the first driven pulley 23214 is ensured. Any transmission structure that can achieve the transmission effect required in this patent can be applied here, and the selection of the transmission structure is no longer limited in this invention.

[0075] like Figure 4 As shown, the first transmission component 23215 is provided with two tapered roller bearing components 23216, with the large diameter ends of the two tapered roller bearing components 23216 arranged opposite to each other.

[0076] In this embodiment, the two tapered roller bearing components 23216 are arranged back-to-back, with the pressure cones of the two tapered roller bearing components 23216 facing inward. This makes the distance between the fulcrums of the two tapered roller bearing components 23216 greater than the physical distance between the tapered roller bearing components 23216 themselves, further enhancing the anti-overturning capability and stability of the first transmission component 23215. The first transmission component 23215 simultaneously bears radial loads and bidirectional axial loads. The arrangement of the two tapered roller bearing components 23216 increases the distance between the fulcrums, reducing the deformation of the shaft system when subjected to combined loads, enhancing the transmission stability of the first transmission component 23215 and further ensuring its service life.

[0077] like Figure 5 As shown, the thigh unit 22 is provided with a first mounting cavity 221 for mounting the hip joint drive assembly 212 and a second mounting cavity 222 for mounting the knee joint drive assembly 232, and the calf unit 24 is provided with a third mounting cavity 241 for mounting the ankle joint drive assembly 252.

[0078] In this embodiment, the hip joint drive assembly 212, knee joint drive assembly 232, and ankle joint drive assembly 252 are integrated inside the thigh unit 22 and the lower leg unit 24, respectively. This not only enhances the protection of the joint drive assembly structure and prevents it from being exposed, but also reduces the moment of inertia compared to placing the joint motor at the joint. This improves the control accuracy and balance performance of the robot's motion. Furthermore, by further increasing the overall weight of the left and right leg mechanisms, it helps to suppress the risk of force imbalance and tipping caused by sudden load increases, thereby significantly enhancing the stability of the left and right leg mechanisms during movement and the overall operational smoothness of the device.

[0079] To further explain, the upper limb mechanism 1 includes: a human-like left arm unit 11, a right arm unit 12, a torso unit 13, and a head unit 14; when the nursing robot picks up the patient, the left arm unit 11, the right arm unit 12, and the torso unit 13 work together to adaptively adjust, thereby sharing the increased weight of the patient and ensuring the overall stability of the device.

[0080] like Figures 1-9 As shown, the present invention also provides a motion method for a load-adaptive, load-sharing nursing robot: when the nursing robot picks up a patient: the drive motor 431 is started, and the sliding block 434 moves synchronously through the rotation of the lead screw 433. At this time, the right walking mechanism 42 slides backward and offset relative to the left walking mechanism 41.

[0081] When the nursing robot moves: the left walking mechanism 41 and the right walking mechanism 42 are staggered, driving the steering wheel assembly 413 to rotate, and synchronously controlling the direction of the steering wheel assembly 413 to control the movement of the nursing robot.

[0082] When the nursing robot moves to the appropriate position, the upper limb mechanism 1, left leg mechanism 2 and right leg mechanism 3 work together to put the patient down, and control the drive motor 431 to reverse, so that the lead screw 433 rotates and drives the sliding block 434 to rotate in the opposite direction, so that the right walking mechanism 42 and the left walking mechanism 41 change from a staggered state to a combined state, thus completing the movement of the patient.

[0083] like Figures 1-9 As shown, the steps of the motion method for the load-adaptive, load-sharing nursing robot are as follows:

[0084] When the nursing robot lifts a patient, it starts the drive motor 431, causing the lead screw 433 to rotate in the forward direction and drive the right walking mechanism 42 to slide forward. At this time, the right walking mechanism 42 is staggered from the left walking mechanism 41. At the same time, the hip joint drive component 212, the knee joint drive component 232 and the ankle joint drive component 252 are started simultaneously, which drives the ankle joint rotation component 251, the hip joint rotation component 211 and the knee joint rotation component 231 to rotate synchronously, and controls the left leg mechanism 2 and the right leg mechanism 3 to bend adaptively to support the weight of the patient.

[0085] The steering wheel assembly 413 is controlled to rotate, and with the cooperation of the universal wheel assembly 414, the nursing robot can move flexibly in all directions to move the patient to a suitable position.

[0086] When the nursing robot moves the patient to a suitable position, the patient is smoothly placed in the position to be moved through the coordinated movement of the left arm unit 11, the right arm unit 12 and the trunk unit 13.

[0087] The ankle joint rotation component 251, hip joint rotation component 211 and knee joint rotation component 231 are synchronously controlled to change from a bent state to an extended state, so that the nursing robot changes to an upright state. Then, by controlling the drive motor 431 to reverse, the lead screw 433 rotates in the opposite direction, driving the sliding block 434 to move backward, and controlling the right walking mechanism 42 to move backward until it is aligned with the left walking mechanism 41. At this time, the device operation is completed.

[0088] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A load-adaptive, load-sharing nursing robot, characterized in that, It includes a human-like upper limb mechanism (1), a left leg mechanism (2), a right leg mechanism (3), and a foot base (4); the foot base (4) includes: a left walking mechanism (41) installed at the bottom of the left leg mechanism (2), a right walking mechanism (42) installed at the bottom of the right leg mechanism (3), and a screw slide assembly (43) installed in the left walking mechanism (41) and the right walking mechanism (42), the screw slide assembly (43) being used to drive the relative sliding of the left walking mechanism (41) and the right walking mechanism (42) to be offset; The lead screw slide assembly (43) includes: a drive motor (431) installed in the left walking mechanism (41), a lead screw (433) coaxially mounted with the output shaft of the drive motor (431) via a synchronous pulley assembly (432), and a sliding block (434) rotatably engaged with the lead screw (433). The sliding block (434) is installed with the right walking mechanism (42) via a connector (435). When the nursing robot picks up the patient, the drive motor (431) drives the sliding block (434) to move on the lead screw (433), so that the right walking mechanism (42) slides away from the left walking mechanism (41).

2. The load-adaptive, load-sharing nursing robot according to claim 1, characterized in that, Both the left walking mechanism (41) and the right walking mechanism (42) include: a mounting frame (411), a foot shell (412) mounted on the outside of the mounting frame (411), a steering wheel assembly (413) mounted inside the mounting frame (411) for driving the walking, and a caster wheel assembly (414) mounted inside the mounting frame (411) for assisting the movement of the steering wheel assembly (413). The steering wheel assembly (413) of the left traveling mechanism (41) and the steering wheel assembly (413) of the right traveling mechanism (42) are arranged diagonally opposite each other, and the caster wheel assembly (414) of the left traveling mechanism (41) and the caster wheel assembly (414) of the right traveling mechanism (42) are arranged in another diagonal direction.

3. The load-adaptive, load-sharing nursing robot according to claim 2, characterized in that, The steering wheel assembly (413) includes: a travel motor (4131) disposed in the mounting frame (411) along the x-axis direction, a steering wheel (4132) coaxially mounted with the output shaft of the travel motor (4131), a steering motor (4133) disposed in the mounting frame (411) along the z-axis direction, a transmission gear set (4134) coaxially mounted with the output shaft of the steering motor (4133), and a steering gear (4135) meshing with the transmission gear set (4134). The steering wheel (4132) is mounted on the steering gear (4135). The travel motor (4131) drives the steering wheel (4132) to rotate, and the steering motor (4133) controls the steering wheel (4132) to turn.

4. The load-adaptive, load-sharing nursing robot according to claim 2, characterized in that, The universal wheel assembly (414) includes: a wheel mounting base (4141) installed in the mounting frame (411), a z-axis steering wheel (4142) installed on the wheel mounting base (4141) along the z-axis direction, and a double rotating wheel (4144) installed with the z-axis steering wheel (4142) via a wheel connecting member (4143); the rotation of the double rotating wheel (4144) is adjusted by the rotation of the z-axis steering wheel (4142), so that the double rotating wheel (4144) can rotate in any direction to adapt to the movement of the nursing robot.

5. The load-adaptive, load-sharing nursing robot according to claim 2, characterized in that, The bottom of both the left walking mechanism (41) and the right walking mechanism (42) is provided with several bullseye wheels (44) for assisting movement.

6. The load-adaptive, load-sharing nursing robot according to claim 1, characterized in that, The left leg mechanism (2) and the right leg mechanism (3) each include: a human-like hip joint assembly (21), a thigh unit (22), a knee joint assembly (23), a lower leg unit (24), and an ankle joint assembly (25) that are rotatably installed in sequence. The knee joint assembly (23) includes: a knee joint rotation assembly (231) installed between the thigh unit (22) and the lower leg unit (24), and a knee joint drive assembly (232) installed in the thigh unit (22) for driving the knee joint rotation assembly (231) to rotate. The hip joint assembly (21) includes: a hip joint rotation assembly (211) installed between the thigh unit (22) and the upper limb mechanism (1), and a hip joint drive assembly (212) installed in the thigh unit (22) for driving the hip joint rotation assembly (211) to rotate. The ankle joint assembly (25) includes: an ankle joint rotation assembly (251) installed between the lower leg unit (24) and the foot base (4), and an ankle joint drive assembly (252) installed in the lower leg unit (24) for driving the ankle joint rotation assembly (251) to rotate.

7. The load-adaptive, load-sharing nursing robot according to claim 6, characterized in that, The knee joint rotation assembly (231) includes: a left knee wheel (2311), a right knee wheel (2312), and a knee rotation shaft (2313) mounted between the left knee wheel (2311) and the right knee wheel (2312). The knee joint drive assembly (232) includes: a left knee drive unit (2321) for driving the left knee wheel (2311) to rotate, and a right knee drive unit (2322) for driving the right knee wheel (2312) to rotate. When the left knee wheel (2311) and the right knee wheel (2312) rotate synchronously, the knee joint assembly (23) mimics the bending / extension of the human knee joint.

8. The load-adaptive, load-sharing nursing robot according to claim 7, characterized in that, Both the left knee drive unit (2321) and the right knee drive unit (2322) include: a first motor (23211) disposed in the thigh unit (22), a first drive pulley (23212) coaxially mounted with the output shaft of the first motor (23211), a first driven pulley (23214) connected to the first drive pulley (23212) via a synchronous belt (23213), and a first transmission component (23215) coaxially mounted with the first driven pulley (23214). The first transmission component (23215) is vertically connected to the left knee wheel (2311) / right knee wheel (2312).

9. The load-adaptive, load-sharing nursing robot according to claim 7, characterized in that, The thigh unit (22) is provided with a first mounting cavity (221) for mounting the hip joint drive assembly (212) and a second mounting cavity (222) for mounting the knee joint drive assembly (232), and the calf unit (24) is provided with a third mounting cavity (241) for mounting the ankle joint drive assembly (252).

10. The motion method of the load-adaptive, load-sharing nursing robot according to claim 2, characterized in that, When the nursing robot picks up the patient: the drive motor (431) is started, and the sliding block (434) is moved synchronously by rotating the lead screw (433). At this time, the right walking mechanism (42) slides back and forth relative to the left walking mechanism (41). When the nursing robot moves: the left walking mechanism (41) and the right walking mechanism (42) are in a staggered state, driving the steering wheel assembly (413) to rotate, and synchronously controlling the steering of the steering wheel assembly (413) to control the movement of the nursing robot; When the nursing robot moves to the appropriate position: the upper limb mechanism (1), left leg mechanism (2) and right leg mechanism (3) work together to put the patient down; the drive motor (431) is reversed, so that the lead screw (433) rotates and drives the sliding block (434) to rotate in the opposite direction, so that the right walking mechanism (42) and the left walking mechanism (41) change from a staggered state to a combined state, thus completing the movement of the patient.

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