Nursing-oriented double-arm teleoperation and data acquisition robot

Abstract

The nursing-oriented double-arm teleoperation and data acquisition robot comprises a back mechanism, a left arm mechanism and a right arm mechanism, and the upper portion of the back mechanism is connected with the left arm mechanism and the right arm mechanism and used for supporting and driving double arms to act; the back mechanism is formed by sequentially connecting a bottom piece, a bearing table, a waist rotating steering engine, four air pressure rods, a caudal vertebra mechanism, a spine mechanism and a shoulder flange. Two waist rotation freedom degrees are introduced into the back mechanism, front-back bending and left-right twisting actions of the waist of the robot are achieved, and therefore the coordination of double-arm operation is remarkably improved. The telescopic structure of the pneumatic rod provides auxiliary support and damping adjustment for the waist, and the weight of the upper structure can be automatically balanced according to the load; and the waist steering engine is matched with the caudal vertebra mechanism to realize the bending action, so that the robot can simulate the trunk adjustment of a human body in the operation process. A more comprehensive rehabilitation environment can be provided for patients with waist problems, the waist activity is improved, and muscle recovery is accelerated.

Description

Technical Field

[0001] This invention relates to the field of robot teleoperation and human-machine collaborative control technology, specifically a dual-arm teleoperation and data acquisition robot for nursing care. Background Technology

[0002] Existing dual-arm teleoperated data acquisition robots mostly employ rigid torso structures. In master-slave control, they typically only perform posture mapping on the arm ends or joints, lacking description and reproduction of the natural lumbar movement capabilities of the human body. Since the human body expands the workspace of the hands and maintains balance and coordination by flexing and arching the waist and rotating the torso horizontally when performing everyday dual-arm collaborative tasks, robots lacking lumbar freedom of movement can lead to limited workspace, unnatural arm coordination, and difficulties in posture compensation. In natural human movement, the waist and arms have a coordinated relationship; ignoring the waist's involvement can cause deviations between the robot's movements and the operator's subjective intentions, reducing operational accuracy. Furthermore, lumbar rehabilitation is frequently used in routine rehabilitation training environments. For example, improving lumbar flexibility and addressing lumbar muscle adhesions often requires a certain degree of lumbar freedom of movement.

[0003] While some studies have attempted to expand the workspace by incorporating sliding rails or lifting mechanisms into dual-arm structures, the problem of free coordination in bending forward and turning the waist remains unresolved. Therefore, a robot structure and control strategy capable of realistically reconstructing the multi-chain coordinated motion of the human shoulder-waist-arm during dual-arm teleoperation is still lacking.

[0004] To address this, a dual-arm teleoperated data acquisition robot with two degrees of freedom at the waist is proposed. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a teleoperated data acquisition robot with two degrees of freedom in the lumbar region, addressing the current lack of lumbar freedom in dual-arm teleoperated data acquisition robots, in order to enable patients to receive lumbar care.

[0006] To address the above problems, the present invention provides the following solution:

[0007] A dual-arm teleoperation and data acquisition robot for nursing care includes a back mechanism, a left arm mechanism, and a right arm mechanism. The back mechanism is fixedly mounted on a bottom mounting platform via a base, and the left and right arm mechanisms are symmetrically mounted on both sides of the back mechanism. The upper part of the back mechanism is connected to the left and right arm mechanisms to support and drive the movement of the two arms. The back mechanism is composed of a base plate, a support platform, a waist rotation servo motor, four pneumatic rods, a tailbone mechanism, a spine mechanism, and shoulder flanges connected in sequence.

[0008] The base plate is located at the bottom of the back mechanism and is used to fix it to the mounting platform to form an integral support base. Two bearing platforms are provided above the base plate, and the upper surface of the base plate is hinged to the lower end of the pneumatic rod. The four pneumatic rods are arranged symmetrically, with the upper ends of the front and rear two connected to the surface of the tailbone mechanism, and the upper ends of the other two connected to the surface of the spine mechanism. The lower ends are connected to the surface of the tailbone mechanism. The upper end of the spine mechanism is connected to the shoulder flange by bolts to form an adjustable height back mechanism.

[0009] The lower end of the waist servo is mounted on the base, and the output end of the waist rotation servo is connected to the tailbone mechanism to drive the forward and backward bending motion of the waist structure. The upper end of the tailbone mechanism is connected to another servo to realize the left and right rotation of the waist. The upper part of the spine mechanism is provided with left and right arm connecting shoulder flanges for hinged connection with the shoulder of the double arm mechanism, thereby realizing the transmission of force and motion.

[0010] Furthermore, the substrate and the support platform are arranged in parallel to enhance stability; four pneumatic rods are symmetrically arranged in pairs on both sides of the central axis to form a stable support frame; the waist rotation servo is arranged along the vertical axis to drive the bending motion; the tailbone mechanism and the spine mechanism are connected by a horizontal pivot, thereby enabling waist movement freedom in both the vertical and horizontal planes; the left and right arm mechanisms are arranged along both sides of the spine mechanism, with the shoulders connected to the upper end of the spine, and the upper arm and forearm connected by a multi-degree-of-freedom joint, with a handle installed at the end of the forearm; in the overall structure, the back mechanism is located at the central main axis, and the left and right arms are symmetrically distributed to form an ergonomic operating layout.

[0011] Furthermore, the left arm mechanism includes a shoulder mechanism, an upper arm mechanism, a forearm mechanism, and a handle structure. The left and right arm mechanisms are symmetrically arranged on both sides of the spine mechanism of the back mechanism. Each arm mechanism has six degrees of freedom, which is used to realize multi-directional coordinated movement of the two arms and complex operation.

[0012] Furthermore, the upper end of the shoulder mechanism is connected to the spine mechanism via a shoulder flange to form a fixed base for the arm; a first servo and a second servo are sequentially arranged below the shoulder flange, the output shaft of the first servo is connected to the upper end of the first connector, and the lower end of the first connector is fixedly connected to the second servo to realize the shoulder pitch and horizontal rotation movements; the lower end of the second servo is connected to the second connector on the upper part of the upper arm mechanism to form a hinge point between the shoulder and the upper arm.

[0013] The upper end of the large arm mechanism is connected to the second servo motor via a second connector, and its lower end is fixedly installed to the third servo motor via a third connector. The output end of the third servo motor is connected to the fourth servo motor via a fourth connector, forming a joint structure. The output end of the fourth servo motor is fixedly connected to the fifth connector, and the lower end of the fifth connector is connected to the fifth servo motor. The output end of the fifth servo motor is then connected to the sixth connector, and the lower end of the sixth connector is fitted with the sixth servo motor. The output end of the sixth servo motor is fixedly connected to the end handle, which is used for easy gripping by the human hand to drive the entire robot to move.

[0014] Through the series arrangement of the six servo motors and connectors, the arm mechanism can achieve six degrees of freedom of movement similar to a human arm, including complex movements such as shoulder pitch and rotation, upper arm swing, elbow flexion and extension, and wrist twisting. Precise control of the three-dimensional position and attitude in space can be achieved based on operator input.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] Compared to previous inventions, this invention introduces two degrees of rotational freedom in the lumbar region into the back mechanism, enabling the robot's lumbar region to bend forward and backward and twist left and right, thereby significantly improving the coordination of dual-arm operation. The telescopic structure of the pneumatic rod provides auxiliary support and damping adjustment for the lumbar region, automatically balancing the weight of the upper structure according to the load; the lumbar servo motor works in conjunction with the tailbone mechanism to achieve bending movements, allowing the robot to simulate human torso adjustments during operation. This provides a more comprehensive rehabilitation environment for patients with lumbar problems, improving lumbar mobility and accelerating muscle recovery. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of one of the arms of the present invention;

[0019] Figure 1 In the middle, 1-left arm mechanism, 2-shoulder flange, 3-spine mechanism, 4-tailbone mechanism, 5-bearing platform, 6-pneumatic rod, 7-bottom plate, 8-spine servo motor, 9-tailbone servo motor. Figure 2 The arm mechanism consists of: 101 - first connector, 102 - second connector, 103 - third connector, 104 - fourth connector, 105 - fifth connector, 106 - sixth connector, 107 - handle, 108 - first servo motor, 109 - second servo motor, 110 - third servo motor, 111 - fourth servo motor, 112 - fifth servo motor, and 113 - sixth servo motor. Detailed Implementation

[0020] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention and do not limit the scope of protection of the claims of this application.

[0021] according to Figure 1 Figure 2 As shown, the present invention discloses a dual-arm teleoperation and data acquisition robot for nursing care. The robot consists of three parts: a back mechanism, a left arm mechanism, and a right arm mechanism. The left arm mechanism and the right arm mechanism are symmetrically arranged and connected to both sides of the back mechanism.

[0022] The back mechanism consists of a base plate 7, a support platform 5, pneumatic rods 6, a tailbone mechanism 4, and a spine mechanism 3. The base plate 7 and support platform 5 are bolted together and arranged vertically, with their centers coinciding. The tailbone mechanism 4's bottom tailbone servo motor is bolted to the upper part of the support platform 5, and the rotation of the servo motor simulates a person bending over. The lower end of the spine mechanism 3's servo motor is bolted to the upper end of the tailbone mechanism 4, and the rotation of the spine servo motor simulates the left-right swaying of the waist. The pneumatic rods 6 are symmetrically arranged along the axis in four directions: front, back, left, and right. The lower ends of the front and back pneumatic rods are bolted to the base plate 7, and their upper ends are hinged to the outer shell of the tailbone mechanism 4. The upper ends of the left and right pneumatic rods are bolted to the outer shell of the spine mechanism 3, and their lower ends are connected to the outer shell of the tailbone mechanism 4. The four pneumatic rods can adjust the damping of the overall mechanism, providing power when straightening the back and returning the waist to a neutral position, avoiding sticking caused by the mechanical structure. The shoulder flange 2 is bolted to the top of the spine mechanism 3, forming the complete back mechanism.

[0023] The left arm mechanism 1 consists of a shoulder mechanism, an upper arm mechanism, and a forearm mechanism. The shoulder mechanism is formed by a first servo motor 108 and a second servo motor 109 connected by bolts through a first connector 101. The upper end of the second connector 102 is connected to the second servo motor 109, and the lower end is connected to the third servo motor 110. The simultaneous operation of the three servo motors can simulate human shoulder movements and achieve shoulder swinging.

[0024] The upper end of the third connector 103 is connected to the third servo motor 110, and the lower end is connected to the fourth servo motor 111. The lower end of the fourth servo motor 111 is connected to the fourth connector 104, and the lower end of the fourth connector 104 is connected to the fifth connector 105 by bolts. The lower end of the fifth connector 105 is connected to the fifth servo motor 112. Through these connectors and servo motors, the movement of the human upper arm is simulated. The rotation of the upper arm is achieved by the rotation of the fourth servo motor 111, and the swinging movement of the upper arm is achieved by the rotation of the fifth servo motor 112.

[0025] The forearm mechanism is connected from the upper end of the sixth connector 106 to the lower end of the fifth servo motor 112. The lower end of the sixth connector 106 is connected to the sixth servo motor 113, and the lower end of the sixth servo motor 106 is connected to the handle 107. The above components constitute the forearm mechanism, and the rotation of the sixth servo motor can simulate the rotation of a human hand.

[0026] The working principle and workflow of this invention are as follows:

[0027] This invention relates to a dual-arm teleoperation and data acquisition robot for nursing care. Before any action is performed, a healthy person holds the handle 107 to control the entire robot's movements. When the person makes an action, the robot's posture changes accordingly. The rotation angle data of the servo motors of each joint is read and transmitted to a remote computer. Based on the data from the computer, the remote robot's servo motors also rotate at the same angle, thereby helping the patient move and achieve rehabilitation.

[0028] In one alternative approach, to achieve the action of a remotely controlled robot bending over and lifting a patient, a healthy person stands facing the dual-arm teleoperated data acquisition robot, holding handle 7 with both hands. By controlling the dual-arm teleoperated data acquisition robot, the person rotates the coccyx servo downwards. The rotation angle is transmitted to the remote computer via servo signals, thus remotely controlling the larger robot to perform the same bending motion and angle. Next, the arm mechanism 1 is controlled to rotate the first servo 108 to achieve an inward arm adduction motion, and in the same way, the larger robot completes the corresponding action. Then, the handle 7 is rotated outwards, causing the fourth servo 111 to rotate, bringing the arm mechanism to a facing angle towards the person. Finally, the handle 7 is lifted, causing the fifth servo 112 to rotate at a suitable angle, controlling the remotely controlled large robot to lift the patient.

[0029] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the present invention.

[0030] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A dual-arm teleoperation and data acquisition robot for nursing care, comprising a back mechanism, a left arm mechanism, and a right arm mechanism, characterized in that, The back mechanism is fixedly mounted on the bottom mounting platform via a base, and the left and right arm mechanisms are symmetrically mounted on both sides of the back mechanism; the upper part of the back mechanism is connected to the left and right arm mechanisms to support and drive the movement of the two arms; the back mechanism is composed of a base plate, a support platform, a waist rotation servo motor, four pneumatic rods, a tail cone mechanism, a spine mechanism, and a shoulder flange connected in sequence. The base plate is located at the bottom of the back mechanism and is used to fix it to the mounting platform to form an integral support base. Two bearing platforms are provided above the base plate, and the upper surface of the base plate is hinged to the lower end of the pneumatic rod. The four pneumatic rods are arranged symmetrically, with the upper ends of the front and rear two connected to the surface of the tailbone mechanism, and the upper ends of the other two connected to the surface of the spine mechanism. The lower ends are connected to the surface of the tailbone mechanism. The upper end of the spine mechanism is connected to the shoulder flange by bolts to form an adjustable height back mechanism. The lower end of the waist servo is mounted on the base, and the output end of the waist rotation servo is connected to the tailbone mechanism to drive the forward and backward bending motion of the waist structure. The upper end of the tailbone mechanism is connected to another servo to realize the left and right rotation of the waist. The upper part of the spine mechanism is provided with left and right arm connecting shoulder flanges for hinged connection with the shoulder of the double arm mechanism, thereby realizing the transmission of force and motion.

2. The robot according to claim 1, characterized in that, The substrate and support platform are arranged in parallel to enhance stability; four pneumatic rods are symmetrically arranged in pairs on both sides of the central axis to form a stable support frame; the waist rotation servo is arranged along the vertical axis to drive the bending motion; the tailbone mechanism and the spine mechanism are connected by a horizontal pivot, thus enabling waist movement freedom in both the vertical and horizontal planes; the left and right arm mechanisms are arranged on both sides of the spine mechanism, with the shoulders connected to the upper end of the spine, and the upper arm and forearm connected by a multi-degree-of-freedom joint, with a handle installed at the end of the forearm; in the overall structure, the back mechanism is located at the central main axis, and the left and right arms are symmetrically distributed to form an ergonomic operating layout.

3. The robot according to claim 1, characterized in that, The left arm mechanism includes a shoulder mechanism, an upper arm mechanism, a forearm mechanism, and a handle structure. The left and right arm mechanisms are symmetrically arranged on both sides of the spine mechanism of the back mechanism. Both the left and right arm mechanisms have six degrees of freedom, which are used to realize multi-directional coordinated movement of the two arms and complex operation.

4. The robot according to claim 3, characterized in that, The upper end of the shoulder mechanism is connected to the spine mechanism via a shoulder flange to form a fixed base for the arm. A first servo motor and a second servo motor are sequentially arranged below the shoulder flange. The output shaft of the first servo motor is connected to the upper end of the first connector, and the lower end of the first connector is fixedly connected to the second servo motor to realize the shoulder pitch and horizontal rotation movements. The lower end of the second servo motor is connected to the second connector on the upper part of the upper arm mechanism to form a hinge point between the shoulder and the upper arm. The upper end of the large arm mechanism is connected to the second servo motor via a second connector, and its lower end is fixedly installed to the third servo motor via a third connector. The output end of the third servo motor is connected to the fourth servo motor via a fourth connector, forming a joint structure. The output end of the fourth servo motor is fixedly connected to the fifth connector, and the lower end of the fifth connector is connected to the fifth servo motor. The output end of the fifth servo motor is then connected to the sixth connector, and the lower end of the sixth connector is fitted with the sixth servo motor. The output end of the sixth servo motor is fixedly connected to the end handle, which is used for easy gripping by the human hand to drive the entire robot to move.

5. The robot according to claim 4, characterized in that, Through the series arrangement of the above six servo motors and connectors, the arm mechanism can achieve six degrees of freedom of movement similar to the human arm, including shoulder pitch and rotation, upper arm swing, elbow flexion and extension, and complex wrist twisting movements.

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