US 11,701,781 B2
Multi-arm robot for realizing conversion between sitting and lying posture of patients and carrying patients to different positions
Di Wu, Liaoning (CN); Caiyi Zhong, Liaoning (CN); Xin Wang, Liaoning (CN); and Jinghui Sun, Liaoning (CN)
Assigned to DALIAN UNIVERSITY OF TECHNOLOGY, Liaoning (CN); and CHENGDU RESEARCH INSTITUTE, DALIAM UNIVERSITY OF TECHNOLOGY, Sichuan (CN)
Appl. No. 17/607,623
Filed by DALIAN UNIVERSITY OF TECHNOLOGY, Liaoning (CN); and CHENGDU RESEARCH INSTITUTE, DALIAN UNIVERSITY OF TECHNOLOGY, Sichuan (CN)
PCT Filed Aug. 26, 2020, PCT No. PCT/CN2020/111278
§ 371(c)(1), (2) Date Oct. 29, 2021,
PCT Pub. No. WO2021/253629, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 202010545969.2 (CN), filed on Jun. 16, 2020.
Prior Publication US 2022/0314457 A1, Oct. 6, 2022
Int. Cl. B25J 19/00 (2006.01); B25J 11/00 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01)
CPC B25J 11/009 (2013.01) [B25J 5/007 (2013.01); B25J 9/0084 (2013.01); B25J 19/002 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A multi-arm robot for realizing conversion between sitting and lying posture of patients and carrying patients to different positions, comprising a manipulator module, a trunk module, a chassis moving module and a control module, and that the manipulator module comprises at least 3 manipulators and has at least three points of action on human body: shoulder-back, a point between caudal vertebrae and lumbar vertebrae and knee;
the trunk module comprises a trunk column, a trunk shell and two linear module connected to the manipulators by manipulator connectors;
the chassis moving module comprises a chassis frame, a telescopic counterweight and omnidirectional wheels; the upper part of the chassis frame is connected with the trunk column; the telescopic counterweight is arranged on the chassis frame; and the omnidirectional wheels are arranged around the chassis frame in a cross layout;
the control module comprises a main controller, two manipulator sub controllers, a chassis moving sub controller, an ultrasonic distance sensor and an operating handle; the main controller and the manipulator sub controllers are arranged inside the trunk column; the chassis moving sub controller is arranged under the chassis frame; the ultrasonic distance sensor is arranged around the chassis frame; the operation handle sends the operation instructions to the main controller by wireless communication; the main controller sends the corresponding control instructions to the manipulator sub controllers and the chassis moving sub controller, and the sub controllers control the manipulators and the chassis moving module to act according to the instructions received; the ultrasonic distance sensor sends the distance information to the main controller by sub controllers, and the main controller judges whether there is a collision risk; the main controller will perform an emergency stop operation and give an alarm if necessary;
each manipulator comprises a shoulder joint, an upper arm, an elbow joint, a wrist joint and a lower arm; the shoulder joints realize left/right rotation of the manipulator to adjust the location of points of action; the elbow joints realize forward/backward rotation of the manipulators to adjust inclination angles of the lower arms; the wrist joint realizes the rotation of the lower arm to adjust contact angles between the lower arms and patients; each lower arm consists of a lower arm plate and a frontal movable folding structure including a baffle and a pull plate used to fix the baffle;
each manipulator has four degrees of freedom, including a linear moving pair at the shoulder, a rotating pair at the elbow and a rotating pair at the wrist.