Dual-arm transfer and nursing robot

Abstract

This invention discloses a dual-arm transfer nursing robot, which includes an upper limb mechanism, a lower limb support and adjustment mechanism, and an openable chassis movement mechanism. The upper limb mechanism includes a head, chest cavity, hip joint, and symmetrically arranged dual-arm working components. The lower limb support and adjustment mechanism includes symmetrically arranged leg-attaching components, thigh joints, and calf joints. The upper end of the lower limb support and adjustment mechanism is rotatably connected to the hip joint through the leg-attaching components, and the lower end is hinged to the openable chassis movement mechanism to realize the knee flexion and height adjustment of the whole machine and the opening and closing adjustment of the legs. The openable chassis movement mechanism is a symmetrical six-bar structure, integrating a first long bar, a second long bar, a first short bar, a second short bar, a first L-shaped bar, a second L-shaped bar, an intelligent trolley, bullseye wheels, and universal wheel components. The six-bar structure is adaptively opened and closed through bidirectional linkage between the lower limb mechanism and the intelligent trolley, and can switch between a large support area working state and a small volume standby storage state.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical equipment technology, and in particular relates to a dual-arm transfer nursing robot. Background Technology

[0002] A dual-arm transfer nursing robot is a humanoid robot used for assisting or carrying patients. Currently, the lower limb chassis structure of dual-arm transfer nursing robots includes humanoid bipedal and wheeled chassis. The advantage of bipedal robots is their adaptability to different environments, but their disadvantage is that they cannot move as smoothly as wheeled robots. When the robot walks, the contact area with the ground changes, causing it to wobble easily. The advantage of wheeled chassis robots is their higher stability of movement, but their disadvantage is that they have weaker spatial adaptability. Conventional wheeled chassis can only move in relatively regular spaces, and their movement will be limited when there are obstacles in some areas.

[0003] Therefore, there is an urgent need to design a dual-arm transfer nursing robot to solve the problems mentioned above. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-arm transfer nursing robot that has the advantage of being able to carry and move on its back, thus solving the problem in the prior art that the chassis mechanism of nursing robots cannot combine anthropomorphic dual-leg structure with a wheeled chassis.

[0005] To achieve the above objectives, the specific technical solution of the dual-arm transfer nursing robot of the present invention is as follows: A dual-arm transfer and care robot includes an upper limb mechanism, a lower limb support and adjustment mechanism, and an openable and closable chassis movement mechanism; The upper limb mechanism includes the head, chest cavity, hip joints, and symmetrically arranged double arm working components, used to perform carrying, assisting, and transferring nursing tasks; The lower limb support adjustment mechanism includes a leg-connecting assembly, a thigh joint, and a calf joint arranged symmetrically on the left and right. The upper end of the lower limb support adjustment mechanism is rotatably connected to the hip joint through the leg-connecting assembly, and the lower end is hinged to the openable chassis moving mechanism, which is used to realize the knee flexion and height adjustment and the leg opening and closing adjustment of the whole machine. The openable chassis moving mechanism is a symmetrical six-bar structure, integrating the first long bar, the second long bar, the first short bar, the second short bar, the first L-shaped bar, the second L-shaped bar, the intelligent trolley, the bullseye wheels and the universal wheel assembly. The six-bar structure is driven by the bidirectional linkage between the lower limb mechanism and the intelligent trolley to adaptively open and close, and can switch between a large support area working state and a small volume standby storage state.

[0006] Furthermore, shoulder joints are symmetrically mounted on both sides of the thoracic cavity, and the shoulder joints are directly rotatably connected to the outer wall of the thoracic cavity through a revolute joint; the dual-arm working components are symmetrically installed on the outside of the shoulder joints. Each dual-arm working component includes an upper arm, a forearm, and a five-finger dexterous hand. The inner end of the upper arm is rotatably connected to the shoulder joint, and the outer end of the upper arm is hinged to the inner end of the forearm using a Hooke joint. The outer end of the forearm is fixedly connected to the five-finger dexterous hand; the five-finger dexterous hand, as the end effector, directly contacts the human body and, in conjunction with the multi-degree-of-freedom movement of the upper arm and forearm, realizes nursing actions such as hugging and lifting, and close support; a revolute joint is set between the bottom of the thoracic cavity and the hip joint, so that the robot's overall upper body can adjust the pitch angle relative to the hip joint.

[0007] Furthermore, two first leg-connecting parts are symmetrically fixed on the left and right sides of the hip joint. The end of the first leg-connecting part away from the hip joint is rotatably connected to the second leg-connecting part. The lower end of the second leg-connecting part is fixedly connected to the thigh joint. The lower end of the thigh joint is hinged to the lower leg joint through a revolute joint. The revolute joints of the first and second leg-connecting parts, and the revolute joints of the thigh joint and the lower leg joint together constitute a multi-axis adjustment structure for the leg, which can realize the robot's knee flexion movement.

[0008] Furthermore, the shoulder joint features a three-stage rotation adjustment structure, including a first rotating block, a second rotating block, a third rotating block, a first connecting plate, and a second connecting plate. The first rotating block is fixedly installed at the shoulder joint assembly position in the chest cavity, and the first connecting plate is concentrically fitted onto the outer surface of the first rotating block and rotates synchronously with it. The side of the second rotating block is fixed to the outer side of the first connecting plate, and the second connecting plate is concentrically fitted onto the outer surface of the second rotating block and rotates synchronously with it. The third rotating block is fixed to the outer end face of the second connecting plate, and the top of the upper arm is fixedly fitted onto the third rotating block. This three-stage rotation structure enables multi-dimensional micro-adjustment of the arm's posture.

[0009] Furthermore, the six-bar linkage of the openable chassis moving mechanism is arranged symmetrically on both sides, including a first long rod, a second long rod, a first short rod, a second short rod, a first L-shaped rod, and a second L-shaped rod that are paired with each other; the bottom end of the lower leg joint is correspondingly hinged to the rear position of the long rod on the same side and forms a revolute joint; the first short rod is hinged to the end of the first long rod away from the connecting leg, and the first L-shaped rod is hinged to the end of the first long rod near the connecting leg; the second long rod, the second short rod, and the second L-shaped rod are assembled in the same symmetrical connection method as the first long rod, the first short rod, and the first L-shaped rod, and the ends of all the rods are hinged through revolute joints, which can realize linkage rotation.

[0010] Furthermore, the opposite ends of the first and second short rods are connected via a shared revolute joint, and the intelligent vehicle is fixedly installed at the revolute joint where the short rods are connected; bullseye wheels are fixedly installed at the bends of the first and second L-shaped rods, and chassis wheel frames are fixedly mounted at both ends of each long rod, with chassis casters mounted on the chassis wheel frames, and intelligent vehicle wheels are configured at the bottom of the intelligent vehicle; through the coordinated operation of the intelligent vehicle, bullseye wheels, and chassis casters, the entire machine can move in all directions, make fine adjustments to its posture, and achieve stable support.

[0011] Furthermore, the chassis and lower limbs adopt a two-way linkage opening and closing drive mode; in the standby state, the first short pole, the second short pole, and the intelligent vehicle are in the retracted state, the long pole and short pole on the same side are parallel to each other, and the left and right legs are arranged in parallel and in the same direction; when the operation starts, the rotating joint at the hip joint drives in the opposite direction, and cooperates with the active movement of the rotating joints of the thigh and knee joints. The leg motor drives both legs to open outward at the same speed, which simultaneously drives the first long pole and the second long pole of the chassis to unfold outward. At the same time, the intelligent vehicle moves forward in a straight line, pulling the first short pole and the second short pole to move synchronously.

[0012] Furthermore, the chassis opening and closing motion has an extreme adjustable position. When the first and second short rods move to a collinear state, the robot's legs and chassis open at their maximum angle, and the chassis support area reaches its maximum value, providing a super-large and stable support base for back-carrying and lifting operations. Subsequently, the leg opening and closing drive motor reverses, driving both legs to close inward, causing the two long rods of the chassis to retract synchronously. At the same time, the intelligent vehicle maintains its original direction and moves at a constant speed until the long and short rods on both sides of the chassis return to a parallel state, and the chassis opening and closing action is completed and the posture is locked.

[0013] Furthermore, after the chassis opens to expand the support area, the entire machine moves to the front of the person being cared for. The chassis alignment is finely adjusted by the intelligent trolley and chassis linkage rotary joint. The machine is lowered by the knee flexion rotary joint, so that the abdomen of the machine is higher than the person being cared for. The arm posture is adjusted by the three-stage rotation structure of the shoulder joint and the Hooke joint of the upper and lower arms, so that one arm is inserted under the person's legs and the other arm is close to the back. After the posture is aligned, the legs and upper body are raised together, and the arms are slightly retracted to fit the body, completing the body lifting. Then the entire machine moves to the target position to lower the body, completing the transfer and carrying operation.

[0014] Furthermore, the robot moves to the side of the person being cared for in a retracted standby posture, driving the chassis linkage to expand outward and the intelligent vehicle to move outward to increase the support range; after the person being cared for rests their arm on the robot's shoulder joint, the robot adjusts the overall height of the robot to match the person's standing posture through the leg rotation joint; the robot body maintains a fixed supporting posture to smoothly move the person being cared for to the target area, and after the person is removed, the robot controls the chassis and leg linkage to reset and retract, returning to the minimum footprint standby state and returning to its original storage position.

[0015] The dual-arm transfer nursing robot of the present invention has the following advantages: The robot's footprint can be increased according to the environment to ensure stable movement and improve overall reliability. The chassis adopts a double closed-loop structure, which enables the robot's three-degree-of-freedom chassis to be controlled and driven by the robot's two legs. This mechanism improves the robot's controllability and enhances its overall coupling and compactness. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the dual-arm transfer nursing robot of the present invention; Figure 2 This is a schematic diagram of the movable mechanism of the openable chassis of the dual-arm transfer nursing robot of the present invention in motion. Figure 3 This is a schematic diagram of the standby state of the openable chassis moving mechanism of the dual-arm transfer nursing robot of the present invention; Figures 4 to 8 This is a schematic diagram of the morphology of the openable and closable chassis moving mechanism of the dual-arm transfer nursing robot of the present invention.

[0017] Explanation of markings in the diagram: 1. First L-shaped rod; 2. Second L-shaped rod; 3. First long rod; 4. Second long rod; 5. First short rod; 6. Second short rod; 7. Intelligent car; 8. Shoulder joint; 9. Bullseye wheel; 10. Chest cavity; 11. Head; 12. Hip joint; 13. Five-finger dexterous hand; 14. Chassis and wheel frame; 15. Chassis and wheel; 16. Intelligent car wheel; 17. Arm; 18. Thigh joint; 19. Lower leg joint; 20. Chassis. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0020] The following is a reference to the appendix. Figure 1 To be continued Figure 8 The present invention describes a dual-arm transfer nursing robot.

[0021] like Figure 1 As shown, the dual-arm transfer and care robot of this invention is mainly suitable for transfer and care scenarios such as carrying and supporting disabled and semi-disabled people. The overall machine is mainly composed of three parts: the upper limb mechanism, the lower limb support and adjustment mechanism, and the openable chassis movement mechanism. The three parts cooperate and are coupled together to realize the robot's posture adaptive adjustment, support area adaptive switching, and multi-mode human transfer and care operations. Among them, the upper limb mechanism is responsible for performing delicate care actions such as human body contact, lifting, and support; the lower limb support and adjustment mechanism is responsible for the overall support, knee flexion and height adjustment, and leg opening and closing adjustment functions; the openable chassis movement mechanism serves as the basis for the overall machine's load-bearing and movement, and realizes adaptive opening and closing of the footprint through a multi-link linkage structure, taking into account both storage portability and operational support stability.

[0022] Furthermore, such as Figure 1 and Figure 2 As shown, specifically, the upper limb mechanism includes a head 11, a thoracic cavity 10, a hip joint 12, and two sets of dual-arm operating components arranged symmetrically on the left and right sides. The thoracic cavity 10 is the core load-bearing base of the upper limb mechanism. Shoulder joints 8 are symmetrically arranged on both sides of the thoracic cavity 10. The shoulder joints 8 adopt a three-stage rotation adjustment structure, specifically composed of a first rotating block, a second rotating block, a third rotating block, a first connecting plate, and a second connecting plate. The first rotating block is fixedly mounted at the pre-set installation position of the shoulder joint 8 in the thoracic cavity 10. The first connecting plate is fitted against the outer circular surface of the first rotating block and is concentrically positioned with it, allowing them to rotate synchronously. The second rotating block is laterally fixed to the outer end face of the first connecting plate, and the second connecting plate is concentrically fitted against the outer circular surface of the second rotating block, allowing it to rotate synchronously with the second rotating block. The third rotating block is fixedly installed on the outer end face of the second connecting plate for docking and fixing the upper arm structure. Through the layer-by-layer linkage rotation of the three rotating blocks and connecting plates, the shoulder joints 8 possess multi-dimensional and multi-angle posture adjustment capabilities, providing a multi-degree-of-freedom motion basis for the operation of the arm 17.

[0023] Each dual-arm working assembly is matched with a corresponding shoulder joint 8. A single dual-arm working assembly includes an upper arm, a forearm, and a five-finger dexterous hand 13. The inner end of the upper arm is fixedly connected to the third rotating block of the shoulder joint 8, allowing the upper arm to rotate in multiple directions synchronously with the three-level structure of the shoulder joint 8. The outer end of the upper arm and the inner end of the forearm are hinged together using a Hooke's joint, which allows for bidirectional swinging and fine-tuning of the angle, significantly improving the degree of freedom of movement of the forearm. The outer end of the forearm is fixedly equipped with a five-finger dexterous hand 13, which is the robot's end effector structure. It can directly contact the back, legs, shoulders, and other parts of the human body. Through the coordinated movement of the upper arm, forearm, and shoulder joint 8, it can complete delicate nursing actions such as hugging and lifting, close support, and fine-tuning of posture.

[0024] The bottom center of the thoracic cavity 10 is directly connected to the hip joint 12 via a rotating joint. This rotating joint is the pitch adjustment joint of the whole machine, which can drive the upper limbs of the machine to pitch and rotate at a certain angle relative to the hip joint 12, adapting to the work posture needs of caregivers of different heights and body shapes, and improving the fit and work adaptability of the human body.

[0025] Furthermore, such as Figures 1 to 3 As shown, the lower limb support adjustment mechanism adopts a completely symmetrical left-right structure, mainly including symmetrically arranged leg-attaching components, thigh joint 18, and lower leg joint 19. The entire lower limb structure bears the load of the upper body and realizes the functions of lifting, knee flexion, and leg opening and closing adjustment. Among them, two first leg-attaching parts are symmetrically fixedly installed on the left and right sides of the hip joint 12. The end of the first leg-attaching part away from the hip joint 12 is rotatably connected to the second leg-attaching part through a revolute joint, so that the second leg-attaching part can be deflected at an angle relative to the first leg-attaching part. The lower end of the second leg-attaching part is fixedly connected to the thigh joint 18, and the lower end of the thigh joint 18 is hinged to the lower leg joint 19 through a revolute joint. The revolute joints between the first and second leg-attaching parts and between the thigh joint 18 and the lower leg joint 19 together form a multi-axis leg adjustment structure. Through the independent or coordinated rotation of each set of revolute joints, the robot's leg can be flexed, its height can be raised and lowered, and its leg opening and closing movements can be realized, thereby adjusting the overall working height and support posture of the robot.

[0026] The openable chassis moving mechanism serves as the bottom support and moving mechanism for the entire machine. It adopts a symmetrical six-bar hinged structure and mainly includes components such as the first long bar 3, the second long bar 4, the first short bar 5, the second short bar 6, the first L-shaped bar 1, the second L-shaped bar 2, the intelligent vehicle 7, the bullseye wheel 9, the chassis wheel frame 14, the chassis wheel 15, and the intelligent vehicle wheel 16. The chassis 20's overall components are assembled using a symmetrical hinged method, with each component's end connected via a revolute joint, enabling linked rotation and adaptive attitude adjustment.

[0027] The specific assembly relationship is as follows: the bottom end of the robot's lower leg joint 19 is hinged to the rear of the same-side long rod, forming a revolute joint structure to achieve linkage coupling between the lower limb and the chassis 20. The first short rod 5 is hinged to the end of the first long rod 3 away from the connecting leg, and the first L-shaped rod 1 is hinged to the end of the first long rod 3 near the connecting leg. The second long rod 4, the second short rod 6, and the second L-shaped rod 2 are symmetrically arranged according to the assembly method of the first long rod 3, the first short rod 5, and the first L-shaped rod 1, ensuring that the left and right structures and motion characteristics of the chassis 20 are completely consistent. The relatively inner ends of the first short rod 5 and the second short rod 6 are connected through a shared revolute joint. The intelligent vehicle 7 is fixedly installed at the revolute joint position where the short rods are connected, serving as one of the active driving components for the opening and closing motion of the chassis 20 linkage.

[0028] Bullseye wheels 9 are fixedly installed at the bends of the first L-shaped rod 1 and the second L-shaped rod 2, respectively, to assist in fine-tuning the overall posture and providing stable sliding support. Chassis wheel frames 14 are fixedly mounted at both ends of each long rod. Chassis universal wheels are installed inside the chassis wheel frames 14 to ensure that the chassis 20 has omnidirectional movement capability. The bottom of the intelligent trolley 7 is equipped with intelligent trolley wheels 16, which work together with the bullseye wheels 9 and the chassis universal wheels to achieve omnidirectional movement of the entire machine, fine-tuning of posture in place, and stable support during operation.

[0029] This invention's robot employs a bidirectional linkage between its lower limb mechanism and the intelligent vehicle 7, enabling adaptive opening and closing of the six-bar linkage structure of the chassis. It can freely switch between a small-volume standby storage state and a large-support-area working state. In normal standby mode, the first short link 5, the second short link 6, and the intelligent vehicle 7 are all retracted. The long and short links on the same side of the chassis 20 are parallel to each other, and the robot's left and right legs maintain a parallel and unidirectional posture. This minimizes the robot's footprint, meeting the requirements for standby storage and space utilization.

[0030] The working principle of the dual-arm transfer nursing robot in this invention is as follows: When the robot enters the working condition, the first leg joint at the hip joint 12 is driven in the reverse direction, and at the same time, the joints of the thigh joint 18 and the knee joint of the lower leg actively operate. The leg motor drives both legs to open outward synchronously at the same speed. As the legs open, the first long rod 3 and the second long rod 4 of the chassis are simultaneously extended outward. At the same time, the intelligent car 7 moves in a straight line to the front of the robot body, pulling the first short rod 5 and the second short rod 6 to move synchronously, so that the chassis 20 expands outward as a whole, gradually increasing the area supported by the chassis 20 and improving the overall stability of the machine.

[0031] When the first short rod 5 and the second short rod 6 move to a collinear state, the opening angle of the robot's legs and the unfolding range of the chassis 20 both reach their maximum limits. At this time, the support area of ​​the chassis 20 is at its maximum, which can provide a stable support base for nursing operations with heavy loads and high stability requirements, such as carrying and lifting.

[0032] After completing the adaptation to a highly stable working posture, the leg opening and closing drive motor reverses, driving both legs to close inward at a uniform speed. Simultaneously, it drives the two long rods of the chassis 20 to retract inward. At the same time, the intelligent trolley 7 maintains its original direction and moves continuously at a uniform speed, gradually resetting the short rods. Until the long rods and short rods on both sides of the chassis 20 return to a parallel state, the opening and closing movement of the chassis 20 ends, and the whole machine is locked back into a compact standby posture, completing one complete opening and closing cycle.

[0033] Based on the dual-arm transfer nursing robot, this invention, with its aforementioned structure and linkage characteristics, enables the robot to perform two core nursing tasks: carrying and supporting. During carrying, the robot expands its support area and achieves precise alignment through the opening and closing of its chassis 20. Its lower limbs flex at the knees to adapt to the overall height. Through the three-stage rotation structure of the shoulder joint 8 and the multi-degree-of-freedom coordinated adjustment of the upper and lower arms' Hooke hinges, the robot achieves separate arm posture adaptation, separately lifting the legs and supporting the back. Combined with the overall lifting and movement, it smoothly completes the lifting, transfer, and lowering of the patient. During supporting, the robot expands its chassis 20 to enhance standing stability, adapts to the patient's standing posture through lower limb height adjustment, and, relying on its fixed body posture and omnidirectional mobility, assists the patient in walking and moving smoothly. After the task is completed, it can automatically reset and be stored, effectively adapting to various home and hospital ward transfer nursing scenarios.

[0034] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A dual-arm transfer nursing robot, characterized in that, This includes the upper limb mechanism, the lower limb support and adjustment mechanism, and the openable chassis movement mechanism; The upper limb mechanism includes the head, chest cavity, hip joints, and symmetrically arranged double arm working components, used to perform carrying, assisting, and transferring nursing tasks; The lower limb support adjustment mechanism includes a leg-connecting assembly, a thigh joint, and a calf joint arranged symmetrically on the left and right. The upper end of the lower limb support adjustment mechanism is rotatably connected to the hip joint through the leg-connecting assembly, and the lower end is hinged to the openable chassis moving mechanism, which is used to realize the knee flexion and height adjustment and the leg opening and closing adjustment of the whole machine. The openable chassis moving mechanism is a symmetrical six-bar structure, integrating the first long bar, the second long bar, the first short bar, the second short bar, the first L-shaped bar, the second L-shaped bar, the intelligent trolley, the bullseye wheels and the universal wheel assembly. The six-bar structure is driven by the bidirectional linkage between the lower limb mechanism and the intelligent trolley to adaptively open and close, and can switch between a large support area working state and a small volume standby storage state.

2. The dual-arm transfer nursing robot according to claim 1, characterized in that, The left and right sides of the thoracic cavity are symmetrically equipped with shoulder joints, which are directly rotatably connected to the outer wall of the thoracic cavity through revolute joints. The dual-arm working components are symmetrically installed on the outside of the shoulder joints. Each dual-arm working component includes an upper arm, a forearm, and a five-finger dexterous hand. The inner end of the upper arm is rotatably connected to the shoulder joint, and the outer end of the upper arm is hinged to the inner end of the forearm using a Hooke joint. The outer end of the forearm is fixedly connected to the five-finger dexterous hand. The five-finger dexterous hand, as the end effector, directly contacts the human body and, in conjunction with the multi-degree-of-freedom movement of the upper arm and forearm, realizes nursing actions such as hugging, lifting, and close support. A revolute joint is set between the bottom of the thoracic cavity and the hip joint, so that the overall upper body of the robot can adjust the pitch angle relative to the hip joint.

3. The dual-arm transfer nursing robot according to claim 1, characterized in that, Two first leg-connecting parts are symmetrically fixed on both sides of the hip joint. The end of the first leg-connecting part away from the hip joint is rotatably connected to the second leg-connecting part. The lower end of the second leg-connecting part is fixedly connected to the thigh joint. The lower end of the thigh joint is hinged to the lower leg joint through a revolute joint. The revolute joints of the first and second leg-connecting parts, as well as the revolute joints of the thigh and lower leg joints, together constitute a multi-axis adjustment structure for the leg, which can realize the robot's knee flexion movement.

4. The dual-arm transfer nursing robot according to claim 2, characterized in that, The shoulder joint features a three-stage rotation adjustment structure, comprising a first rotating block, a second rotating block, a third rotating block, a first connecting plate, and a second connecting plate. The first rotating block is fixedly installed at the shoulder joint assembly position in the chest cavity. The first connecting plate is concentrically fitted onto the outer surface of the first rotating block and rotates synchronously with it. The side of the second rotating block is fixed to the outer side of the first connecting plate, and the second connecting plate is concentrically fitted onto the outer surface of the second rotating block and rotates synchronously with it. The third rotating block is fixed to the outer end face of the second connecting plate, and the top of the upper arm is fixedly fitted onto the third rotating block. This three-stage rotation structure enables multi-dimensional fine-tuning of the arm's posture.

5. The dual-arm transfer nursing robot according to claim 1, characterized in that, The six-bar linkage of the openable chassis moving mechanism is arranged symmetrically on both sides, including a first long rod, a second long rod, a first short rod, a second short rod, a first L-shaped rod, and a second L-shaped rod that are paired with each other. The bottom end of the lower leg joint is correspondingly hinged to the rear position of the long rod on the same side and forms a revolute joint. The first short rod is hinged to the end of the first long rod away from the connecting leg, and the first L-shaped rod is hinged to the end of the first long rod near the connecting leg. The second long rod, the second short rod, and the second L-shaped rod are assembled in the same symmetrical connection method as the first long rod, the first short rod, and the first L-shaped rod. The ends of all the rods are hinged through revolute joints, which can realize linkage rotation.

6. The dual-arm transfer nursing robot according to claim 5, characterized in that, The opposite ends of the first and second short rods are connected via a shared revolute joint, and the intelligent trolley is fixedly installed at the revolute joint where the short rods are connected. Bullseye wheels are fixedly installed at the bends of the first and second L-shaped rods, and chassis wheel frames are fixedly mounted at both ends of each long rod. Chassis casters are mounted on the chassis wheel frames, and intelligent trolley wheels are configured at the bottom of the intelligent trolley. Through the coordinated operation of the intelligent trolley, bullseye wheels, and chassis casters, the entire machine can move in all directions, make fine adjustments to its posture, and achieve stable support.

7. The dual-arm transfer nursing robot according to claim 1, characterized in that, The chassis and lower limbs adopt a two-way linkage opening and closing drive mode; in the standby state, the first short pole, the second short pole, and the intelligent trolley are in the retracted state, the long pole and short pole on the same side are parallel to each other, and the left and right legs are arranged in parallel and in the same direction; when the operation starts, the rotating joint at the hip joint drives in the opposite direction, and cooperates with the active movement of the rotating joints of the thigh and knee joints. The leg motor drives both legs to open outward at the same speed, which simultaneously drives the first long pole and the second long pole of the chassis to unfold outward. At the same time, the intelligent trolley moves forward in a straight line, pulling the first short pole and the second short pole to move synchronously.

8. The dual-arm transfer nursing robot according to claim 1, characterized in that, The chassis opening and closing motion has an extreme adjustment position. When the first short rod and the second short rod move to a collinear state, the robot's legs and chassis open at the maximum angle, and the chassis support area reaches the maximum value, providing an ultra-large and stable support base for back-carrying and lifting operations. Then the leg opening and closing drive motor reverses, driving both legs to come together inward, causing the two long rods on the chassis to retract synchronously. At the same time, the intelligent car maintains its original direction and moves at a constant speed until the long and short rods on both sides of the chassis return to a parallel state, completing the chassis opening and closing action and locking the posture.

9. The dual-arm transfer nursing robot according to claim 1, characterized in that, After the chassis opens to expand the support area, the entire machine moves to the front of the person being cared for. The chassis alignment is finely adjusted by the intelligent trolley and chassis linkage. The machine is lowered by the knee flexion linkage, so that the abdomen of the machine is higher than the person being cared for. The arm posture is adjusted by the three-stage rotation structure of the shoulder joint and the Hooke's joint of the upper and lower arms, so that one arm is inserted under the person's legs and the other arm is close to the back. After the posture is aligned, the legs and upper body are raised together, and the arms are slightly retracted to fit the body, completing the body lifting. Then the entire machine moves to the target position to lower the body, completing the transfer and carrying operation.

10. The dual-arm transfer nursing robot according to claim 1, characterized in that, The robot moves to the side of the person being cared for in a retracted standby posture, driving the chassis linkage to expand outward and the intelligent vehicle to move outward to increase the support range; after the person being cared for rests their arm on the robot's shoulder joint, the robot adjusts the overall height of the robot to adapt to the person's standing posture through the leg rotation joint; the robot body maintains a fixed supporting posture to smoothly move the person being cared for to the target area, and after the person is removed, the robot controls the chassis and leg linkage to reset and retract, returning to the minimum footprint standby state and returning to its original storage position.

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