A fully automatic multifunctional mechanical arm shifting locomotive

Abstract

The present invention provides a fully automatic multifunctional mechanical arm transfer vehicle, which is aimed at the needs of disabled patients and elderly disabled people for mobility assistance in their daily lives. It provides a battery-powered vehicle, embedded with a computer and sensor system, using a side-positioned 4-DOF mechanical arm connected to a body protection device, holding the body up and down for movement, and having multiple movement modes such as "falling down and pulling up to move", "prone lifting and moving", "entering and exiting a vehicle to move", "accompanying and walking to move", and also has the function of a wheelchair. The present invention is innovative in terms of automation and intelligence.

Description

Technical Field

[0001] The present invention relates to a rehabilitation assistive device, in particular to a fully automatic multifunctional service assistive device with artificial intelligence elements that helps disabled or handicapped people to live and move their bodies. Background Art

[0002] Body movement has always been a difficult point in nursing work, and it requires relatively high physical and technical skills. With the arrival of aging, more and more elderly people are entering the stage of disability or semi-disability. The biggest difficulty in the daily life of these disabled or semi-disabled elderly people and people with disabilities is the problem of body movement. How to use assistive devices to help them live a normal life at this stage has always been a concern of family members and medical rehabilitation nursing workers.

[0003] At present, the auxiliary devices for the movement of the body of disabled, semi-disabled or handicapped people are mainly transfer machine technology. There are currently three types of transfer machines. The first is to install a hanging rail on the top of the house, use an electric hoist and a sling to lift the body and move it along the predetermined track. The second is to use a movable small crane, sling and other equipment to lift and move the body. The third is to use the armpit muscles and shoulder blades of the human body as support to lift and move the body. These methods have solved the problem of body movement of disabled people to a certain extent, but they all require the assistance of multiple medical staff or other people to complete, and are restricted by factors such as the living environment, which is extremely inconvenient. Given its single function, the idle rate is high. Many families will be entangled in functionality and cost-effectiveness when purchasing equipment.

[0004] In recent years, some research and exploration have been conducted on body mobility assistive devices at home and abroad, and some new products have emerged. Most of these products lack practicality and personalization in design. High-end products are expensive, bulky, and complicated to operate, and are not suitable for general family use. Although mid- and low-end products have been improved in some aspects, the degree of automation, intelligence, and functionality is not high. With the development of the elderly care industry, many disabled elderly people will enter elderly care institutions. Using assistive devices to reduce the intensity of care is the basis for improving the quality of care. For empty-nest family care, assistive devices will become a must. With cars entering families, using assistive devices to help disabled people get in and out of the car is also a function that assistive devices should have. Therefore, high cost performance, multifunctionality, intelligence, and humanization have become the development direction of shifting equipment. Summary of the invention

[0005] The present invention provides a fully automatic multifunctional mechanical arm transfer locomotive, which overcomes the deficiencies of existing technologies and functions, and is aimed at the needs of disabled patients and elderly disabled people for mobility assistance in their daily lives. It provides a transfer assistance device that is powered by a battery, embedded with a computer and a sensor system, uses a side mechanical arm to connect a body protection device, holds the body up and down, and has multiple body protection and fixing modes.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] The fully automatic multifunctional mechanical arm shifting locomotive includes: a base and a moving part, a mechanical arm lifting part, a body fixing and protecting part, and an intelligent control part; the characteristics are as follows: the base and the moving part are composed of an accessory equipment part, a side frame, a spanning frame, a side beam and casters; the accessory equipment part has a built-in battery pack, a micro air pump, an electric push rod D and a computer embedded system, one side of the accessory equipment part is equipped with an electric differential caster and connected to the side beam, and the other side is connected to the spanning frame, the spanning frame is equipped with a folding seat and connected to the side frame, and the side frame is equipped with an electric differential caster; a rear pedal is installed at the rear end of the base and the moving part; the front end is a side beam angler, the side beam angler is connected to the side beam A, the side beam A has an electric push rod H built in and connected to the side beam B, the side beam B has a side beam A built in and connected to the electric push rod H, and the end of the side beam B is a universal caster D; the accessory equipment part and the machine The mechanical arm lifting part is connected, and the mechanical arm lifting part consists of a vertical arm and a lifting arm. The bottom end of the vertical arm A is connected to the vertical arm fixed base in the chassis of the accessory equipment part. The vertical arm A has an internal electric push rod D and is connected to the vertical arm B. The vertical arm B has an internal vertical arm A and is connected to the electric push rod D. The top of the vertical arm B is the lifting power unit, and the top of the lifting power unit is the navigation sensor. The lifting power unit is connected to the lifting arm A, the lifting arm A has an internal electric push rod K and is connected to the lifting arm B, and the lifting arm B has an internal lifting arm A and is connected to the electric push rod K. The end of the lifting arm B is the corner power unit; the corner power unit is connected to the longitudinal rotating arm bracket, the longitudinal rotating arm bracket is connected to the transverse rotating arm pivot, the transverse rotating arm pivot is connected to the body protection frame, the body protection frame is equipped with a frame connecting buckle, the frame connecting buckle is connected to the multi-functional airbag, and the bottom of the body protection frame is a hip support frame.

[0008] In order to increase the vehicle-mounted functions, the rear end of the base and the mobile part is designed and installed with a rear pedal. The rear pedal is installed at the rear end of the base and the mobile part. The rear pedal is two flat plates of different sizes connected to form a U-shaped pedal. The pedal opening is hinged to the accessory equipment part and the side frame respectively. The hinged part is the pedal pivot and the electric hinge. The bottom of the rear pedal is installed with a universal caster B.

[0009] In order to realize the automatic adjustment function of the side beam, the accessory equipment part and the connection part between the side frame and the side beam are installed with side beam anglers. The side beam adjuster assembly has an inverted concave column rigidly connected to the side frame and hinged with the convex column. The convex column is rigidly connected to the side beam and is provided with a positioning bolt A. The positioning bolt A is connected to the electric push rod A. The electric push rod A acts to adjust the angle of the side beam. The bottom end of the convex column is a convex column fixing frame. The bottom end of the convex column fixing frame is connected to the universal caster A, and a balancing spring is installed at the connection part.

[0010] In order to realize the lifting function, the lifting part of the robotic arm is provided with a lifting power unit and a turning power unit at the connection part between the vertical arm and the lifting arm, and at the connection part between the lifting arm and the body protection frame; the structure of the lifting power unit and the turning power unit is a combination of a DC motor + a transmission; that is, a DC motor A is built in or externally connected to the top of the vertical arm, DC motor A is connected to transmission A, and transmission A is connected to lifting arm A: lifting arm A is connected to lifting arm B, lifting arm B is built in or externally connected to DC motor B, and DC motor B is connected to transmission B; transmission A / B is a planetary gear transmission or a worm gear transmission.

[0011] In order to realize the lifting function, the structure of the lifting power unit and the corner power unit may be a gear chain structure; that is, the top of the vertical arm B is connected to the lifting power unit, the lifting power unit has a built-in lifting gear, one side of the vertical arm B is an electric push rod E, the electric push rod E is connected to the lifting chain, the lifting chain is rigidly connected to the fixing bolt A after meshing around the lifting gear; the end of the lifting arm B is connected to the corner power unit, the corner power unit has a built-in corner gear, one side of the lifting arm B is an electric push rod Z, the electric push rod Z is connected to the corner chain, the corner chain is rigidly connected to the fixing bolt B after meshing around the corner gear.

[0012] In order to realize the longitudinal and transverse rotation functions of the body protection frame, the connection part between the corner power unit and the body protection frame is a combination of a longitudinal rotation arm bracket and a transverse rotation arm pivot; the corner power unit is connected to the longitudinal rotation arm bracket, the longitudinal rotation arm bracket is rigidly connected to the transverse rotation arm pivot, the transverse rotation arm pivot is connected to the corner motor and is hinged with the pivot fixing frame A and the pivot fixing frame B, the pivot fixing frame A and the pivot fixing frame B are rigidly connected to the arm shaft fixing frame, and the arm shaft fixing frame is rigidly connected to the body protection frame.

[0013] In order to ensure the safety and comfort of body fixation, the body protection frame is connected by a transverse bracket B, a transverse bracket C, a transverse bracket D and the vertical brackets at both ends. The upper part of the vertical bracket has a built-in telescopic bracket C, and the telescopic bracket C has a built-in electric push rod B and is connected to the armpit bracket. The armpit bracket is a saddle-shaped soft bracket that is equal to the size of the armpit of the body. The vertical brackets are provided with frame connecting buckles and safety belts on both sides; the transverse brackets B and C are rigidly connected to the arm shaft fixing frame in the middle, and the arm shaft fixing frame is provided with telescopic brackets A on both sides. The telescopic bracket A has a built-in telescopic bracket B, and the telescopic bracket B is rigidly connected to the transverse bracket A; the transverse bracket D is provided with a rotating sleeve in the middle, and the rotating sleeve is provided with a sleeve positioning bolt, and the sleeve positioning bolt is connected to the electric push rod C fixed in the middle of the transverse bracket C; the electric push rod C acts on the rotation of the rotating sleeve, the rotating sleeve is connected to the lifting connecting rod, and the lifting connecting rod is connected to the hip support plate.

[0014] In order to implement protective fixation for a completely disabled body, the equipment is equipped with a multifunctional airbag; the multifunctional airbag is composed of a U-shaped airbag belt with adjustable air pressure and a back connecting belt, an airbag headrest, a waist connecting belt, a multifunctional safety belt, a connecting buckle, and a hip connecting belt; the multifunctional safety belt is connected to the frame connecting buckle; the U-shaped airbag belt is connected to a micro air pump; the micro air pump 92 changes the shape and function of the multifunctional airbag 80 by inflation; when inflated to 100%, the U-shaped airbag belt can be straightened to form a stretcher mode, allowing the body to lie flat; when inflated to 70%, the U-shaped airbag belt can form a seat mode, and when inflated to 50%, the U-shaped airbag belt can form a sling mode.

[0015] In order to realize automatic and intelligent operation, the equipment is equipped with a navigation sensor, which is connected to the computer embedded system to form an automatic operation mode and has voice navigation, Bluetooth navigation, laser navigation and remote control functions.

[0016] The working principle of the present invention is: using batteries as power; the base is an accessory equipment part connected with the side frame to form a leaping structure and connected with the side beam moving part, and 8 casters are used to maintain the safe and balanced operation of the equipment; the lifting part is a 4-degree-of-freedom mechanical arm installed and fixed on the side corner accessory equipment part of the base, the mechanical arm is connected to the body fixing protection part, clamping the body to implement longitudinal and lateral multi-angle rotation and lifting and movement; the equipment is installed with an embedded system and has an automatic control function.

[0017] The present invention is different from other similar devices in that: first, the overall mechanical structure is different. The base mechanical structure of other similar products is generally a flat "П"-shaped structural frame base as the main frame, and four universal casters are installed at the four corners of the frame as a mobile device. The base mechanical structure of the present invention is a straddling frame structure connected to the side beam moving part, and 8 casters are used to keep the equipment running safely and balanced; second, the lifting device structure and function are different. The lifting device of other similar products is installed in the middle of the "П"-shaped structural frame, which is limited to the front longitudinal lifting and movement; the lifting part of the present invention is a 4-degree-of-freedom mechanical arm installed in the side corner chassis of the base, and the mechanical arm is connected to the body fixed protection part, holding the body to implement longitudinal and transverse multi-angle rotation lifting and movement; third, the technical focus is different, and the technical focus of other similar products is mainly reflected in the lifting and movement; while realizing the lifting and shifting function, the present invention also takes into account the vehicle-mounted function, which is convenient for patients and caregivers to use together; fourth, the control method is different, and the present invention has unique advantages in automation and intelligence.

[0018] The beneficial effects and creativity of the present invention are as follows: First, the present invention combines the lifting and shifting functions with automation, intelligence and humanization in an organic way in terms of design concept and technology, thus expanding the scope of use and facilitating patients and users. Second, the lifting system is a 4-DOF mechanical arm installed at the side corner of the base, which is connected to the fixed protection part of the body and holds the body to implement longitudinal and transverse multi-angle rotation and lifting movement; third, the multifunctional airbag can be adjusted to form a stretcher mode; a seat mode; a sling mode. Fourth, it has multiple movement modes such as "falling down and pulling up to move", "prone lifting and moving", "entering and exiting the vehicle to move", and also has the function of a wheelchair. Fifth, the shifting machine is changed into a shifting locomotive, and the vehicle-mounted function is added on the basis of implementing the lifting and shifting functions, so that the caregiver can travel with him randomly. The two are organically combined in terms of design concept and technology, expanding the scope of use. Sixth, the present invention is innovative in terms of automation and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Figure 2 It is the overall structure diagram of the present invention;

[0020] Figure 3 This is a structural diagram of a rear pedal of a base according to the present invention;

[0021] Figure 4 It is a structural diagram of the side frame and the side beam corner device of the present invention;

[0022] Figure 5 This is a structural diagram of the side beam of the present invention;

[0023] Figure 6 This is a combined structural diagram of the motor transmission of the lifting part mechanical arm of the present invention;

[0024] Figure 7 This is a diagram of the gear chain assembly structure of the lifting part mechanical arm of the present invention;

[0025] Figure 8 Fig. 9 This is a schematic diagram of the body protection frame structure and connection of the present invention;

[0026] Fig.10 This is a structural diagram of the multifunctional airbag of the present invention.

[0027] In the figure: 1 electric differential caster 3 side frame 4 spanning frame 5 accessory equipment part 6 lifting power part 7 balance spring 8 corner power part 9 folding seat 10 base moving part 11 rear pedal 12 pedal pivot 13 electric hinge 14 universal caster B 15 electric push rod A 16 positioning bolt A 17 inverted concave column 18 convex column 19 convex column fixing frame 20 mechanical arm lifting part 21 longitudinal rotating arm bracket 22 transverse rotating arm pivot 23 pivot fixing frame A 24 pivot fixing frame B 25 arm shaft fixing frame 26 corner motor 27 safety belt 30 body protection frame 31 transverse bracket A 32 telescopic bracket B 33 transverse bracket B 34 telescopic bracket A 35 transverse bracket C 37 transverse bracket D 38 upright bracket 39 electric push rod B 40 hip support frame 41 telescopic bracket C 42 armpit bracket 45 rotating sleeve 46 electric push rod C 47 Casing positioning bolt 48 Lifting connecting rod 49 Hip support plate 50 Fixed vertical arm 51 Vertical arm A 52 Electric push rod D 53 Vertical arm B 54 DC motor A 55 Transmission A 56 Electric push rod E 57 Lifting chain 58 Lifting gear 59 Fixed bolt A 60 Side beam angler 61 Side beam A 62 Foot pedal 63 Electric push rod H 64 Side beam B 65 Side beam 66 Caster bracket 67 Universal caster A 68 Universal caster D 70 Lifting arm 71 Lifting arm A 72 Electric push rod K 73 Lifting arm B 74 DC motor B 75 Transmission B 76 Electric push rod Z 77 Angle chain 78 Angle gear 79 Fixed bolt B 80 multifunctional airbag 81 U-shaped airbag belt 82 back connecting belt 83 airbag headrest 84 waist connecting belt 85 multifunctional safety belt 86 connecting buckle 87 hip connecting belt 88 frame connecting buckle 90 navigation sensor 91 battery pack 92 micro air pump 93 computer embedded system 94 vertical arm fixing base. DETAILED DESCRIPTION

[0028] The specific implementation mode of the fully automatic multifunctional mechanical arm shifting locomotive of the present invention is described in detail below with reference to the accompanying drawings.

[0029] Figure 1 , Figure 2The overall structure diagram of the present invention; the overall structure in the figure is composed of a base moving part 10, a side beam 65, a vertical arm 50, a lifting arm 70, and a body protection frame 30. The base moving part 10 is composed of an accessory device part 5, a side frame 3, a spanning frame 4, a side beam 65, and casters 1, 67, and 68; the accessory device part 5 is located at the rear side of the equipment, and one side of the accessory device part 5 is equipped with an electric differential caster 1 and a side beam angler 60, and a universal caster A67 is arranged at the bottom of the side beam angler 60 and connected to the side beam 65, a foot pedal 62 is installed on the plane of the side beam 65, and a universal caster D68 is installed at the end of the side beam. The other side of the accessory device part 5 is connected to the spanning frame 4, and a folding seat 9 is installed on the plane of the spanning frame 4 and connected to the side frame 3, and the side frame 3 is equipped with an electric differential caster 1; the front end of the side frame 3 is a side beam angler 60, and a universal caster A67 is arranged at the bottom of the side beam angler 60 and connected to the side beam 65. The attachment device part 5 has a built-in vertical arm fixing base 94 connected to the mechanical arm lifting part 20, and the mechanical arm lifting part 20 can rotate horizontally; the mechanical arm lifting part 20 is composed of a vertical arm 50 connected to a lifting arm 70, and the connecting part is a lifting power part 6; the top of the lifting power part 6 is a navigation sensor 90; the lifting power part 6 is connected to the lifting arm 70, and the end of the lifting arm 70 is a corner power part 8; the corner power part 8 is connected to the longitudinal rotating arm bracket 21, and the longitudinal rotating arm bracket 21 is connected to the body protection frame 30. The device of the present invention can be deformed and shrunk in volume, which is convenient for parking and operation. Figure 2 The middle lifting arm 70 can be rotated and dropped to the plane of the accessory equipment part 5, and the side beams 65 on both sides can be rotated inward to the inside of the spanning frame 4. After the equipment is deformed and shrunk in volume, the volume is reduced, and the operation of the equipment is more convenient and flexible.

[0030] Figure 3 This is a diagram of the rear pedal structure of the base of the present invention. In order to increase the vehicle-mounted function and realize the function of medical staff and the person being cared for traveling together, a rear pedal 11 is designed and installed at the rear end of the base and the mobile part 10. It is used by medical staff to stand and operate equipment and care for patients. In the figure, the rear pedal 11 is installed at the rear end of the base and the mobile part 10. The rear pedal 11 is a U-shaped pedal formed by two large and small flat plates connected. The pedal opening is hinged to the accessory equipment part 5 and the side frame 3 respectively. The hinged part is the pedal pivot 12 and the electric hinge 13. The bottom of the rear pedal 11 is installed with a universal caster B14.

[0031] Figure 4The side frame and the side beam angler of the present invention are shown in the figure. The rear part of the side frame 3 is provided with a rear pedal 11, and the bottom part is provided with an electric differential caster 1. In order to realize the function of automatically adjusting the angle of the side beam 65, the accessory device part 5 and the side frame 3 and the side beam connection part are provided with a side beam angler 60. In the figure, the side beam adjuster 60 assembly has an inverted concave column 17 rigidly connected to the side frame 3 and hinged to the convex column 18. The convex column 18 is provided with a positioning bolt A16 and rigidly connected to the side beam A61. The positioning bolt A16 is connected to the electric push rod A15, and the electric push rod A15 acts to adjust the angle of the side beam 65. The bottom end of the convex column 18 is a convex column fixing frame 19, and the bottom end of the convex column fixing frame 19 is connected to the universal caster A67, and the connection part is provided with a balance spring 7.

[0032] Figure 5 It is a structural diagram of the side beam of the present invention; in the figure, the side beam A61 has an internal electric push rod H62 and is connected to the side beam B64, the side beam B64 has an internal side beam A61 and is connected to the electric push rod H62, the end of the side beam B64 is a caster bracket 66, and the caster bracket 66 is connected to the universal caster D68.

[0033] Figure 6 The figure is a diagram of the motor transmission combination structure of the mechanical arm lifting part of the present invention; in the figure, the mechanical arm lifting part 20 can be controlled to rotate laterally after being connected to the vertical arm fixed base 94. The vertical arm fixed base 94 is installed and fixed in the chassis of the accessory equipment part 5, and the chassis of the accessory equipment part 5 also has a battery pack 91, a micro air pump 92, and a computer embedded system 93 built in. In order to realize the fixed lifting function of the vertical arm 50, the lower end of the vertical arm A51 is hinged with the vertical arm fixed base 94, and the vertical arm A51 has an electric push rod D52 built in and connected to one end of the vertical arm B53. The electric push rod D52 acts on the lifting and lowering of the vertical arm B53; the other end of the vertical arm B53 has a built-in or external DC motor A54, and the DC motor A54 is connected to the transmission A55 to form a motor transmission combination. The transmission A55 is connected to the lifting arm A71: the lifting arm A71 has a built-in electric push rod K72 and is connected to the lifting arm B73, the lifting arm B73 has a built-in or external DC motor B74, and the DC motor B74 is connected to the transmission B75; the transmission A55 and the transmission B75 are planetary gear transmissions or worm gear transmissions.

[0034] Figure 7: It is a structural diagram of the gear chain combination of the mechanical arm of the present invention; in the figure, the connection part between the vertical arm B53 and the lifting arm A71 is the lifting power unit 6; the connection part between the lifting arm B73 and the longitudinal rotating arm bracket 21 is the corner power unit; the structure of the lifting power unit and the corner power unit may be a gear + chain combination; that is, the top of the vertical arm B53 is connected to the lifting power unit 6, the lifting power unit 6 has a lifting gear 58 built in, and the lifting gear 58 is installed with a fixing bolt A59; one side of the vertical arm B53 is an electric push rod E56, the electric push rod E56 is connected to the lifting chain 57, and the lifting chain 57 is rigidly connected to the fixing bolt A59 after meshing around the lifting gear 58; the end of the lifting arm B73 is connected to the corner power unit 8, the corner power unit 8 has a corner gear 78 built in, and the corner gear 78 is installed with a fixing bolt B79; one side of the lifting arm B73 is an electric push rod Z76, the electric push rod Z76 is connected to the corner chain 77, and the corner chain 77 is rigidly connected to the fixing bolt B79 after meshing around the corner gear 78.

[0035] Figure 8 Fig. 9 The body protection frame structure and connection diagram of the present invention; in order to ensure the body is fixed safely and comfortably, Figure 8The middle body protection frame 30 is formed by combining four components: a frame combination, a connecting frame combination, an armpit bracket combination, and a hip bracket combination. The frame combination is as follows: The transverse bracket B33, transverse bracket C35, and transverse bracket D37 are connected to the vertical brackets 38 at both ends to form a "曰"-shaped frame. The transverse bracket B33 and transverse bracket C35 are equidistantly connected to 2 vertical telescopic brackets A 34 in the middle. The telescopic bracket A 34 internally houses a telescopic bracket B32, and the telescopic bracket B32 is connected to the transverse bracket A31. The connecting frame combination is as follows: The transverse bracket B33 and transverse bracket C35 are rigidly connected to the arm shaft fixing frame 25 in the middle. The arm shaft fixing frame 25 is rigidly connected to the pivot fixing frame A23 and pivot fixing frame B24. The pivot fixing frame A23 and pivot fixing frame B24 are hinged to the transverse rotating arm pivot 22. The transverse rotating arm pivot 22 is connected to the corner motor 26, and the corner motor 26 acts on the transverse rotation of the body protection frame 30. The transverse rotating arm pivot 22 is connected to the longitudinal rotating arm bracket 21, and the longitudinal rotating arm bracket 21 is connected to the corner power unit 8. The corner power unit 8 acts on the longitudinal rotation of the body protection frame 30. The armpit bracket combination is as follows: The upper section of the vertical brackets 38 on both sides of the body protection frame 30 internally houses a telescopic bracket C 41. The telescopic bracket C 41 internally houses an electric push rod B 39 and is connected to the armpit bracket 42. The armpit bracket 42 is a saddle-shaped soft support equal in size to the body's armpit area. The hip bracket combination is as follows: The transverse bracket D37 is a rotating sleeve 45 in the middle. The rotating sleeve 45 is provided with a sleeve positioning bolt 47, and the sleeve positioning bolt 47 is connected to the electric push rod C46 fixed in the middle of the transverse bracket C35. The electric push rod C46 acts on the rotating sleeve 45 to drive the hip support frame 40 to rotate and position. The rotating sleeve 45 is connected to a lifting link 48, and the lifting link 48 is connected to the hip support plate 49. Frame connection buckles 88 and safety belts 27 are installed on both sides of the body protection frame 30, and the frame connection buckles 88 are used to connect the multifunctional airbag 80.

[0036] To achieve the longitudinal and transverse rotation functions of the body protection frame 30, Fig. 9 The connection part of the corner power unit 8 and the body protection frame 30 shown is a combination of the longitudinal rotating arm bracket 21 and the transverse rotating arm pivot 22; in the figure, the corner power unit 8 is connected to the longitudinal rotating arm bracket 21. The longitudinal rotating arm bracket 21 is rigidly connected to the transverse rotating arm pivot 22. The transverse rotating arm pivot 22 is connected to the corner motor 26 and is hinged to the pivot fixing frame A23 and pivot fixing frame B24. The pivot fixing frame A23 and pivot fixing frame B24 are rigidly connected to the arm shaft fixing frame 25, and the arm shaft fixing frame 25 is rigidly connected to the body protection frame 30.

[0037] Fig.10The multifunctional airbag structure diagram of the present invention. As shown in the figure, the multifunctional airbag 80 is composed of a U-shaped airbag belt 81 with adjustable air pressure, a back connecting belt 82, an airbag headrest 83, a waist connecting belt 84, a multifunctional safety belt 85, a connecting buckle 86, and a hip connecting belt 87. When in use, the U-shaped airbag belt 81 is laid down from the head along both sides of the body to the hips, the hip connecting belt 87 is connected to the connecting buckle 86, the waist connecting belt 84 is passed through the waist gap of the body and connected to the connecting buckle 86, and then the micro air pump 92 is started to inflate the U-shaped airbag belt 81, and the body is lifted up by the expansion of the airbag belt, and then the back connecting belt 82 and the multifunctional safety belt 85 are connected. There are several multifunctional safety belts 85, which can be connected to the frame connecting buckle 88 respectively. The micro air pump 92 changes the shape and function of the multifunctional airbag 80 through inflation. When inflated to 100%, the multifunctional airbag 80 can be straightened to form a stretcher mode, allowing the body to lie flat; when inflated to 70%, the multifunctional airbag 80 can form a seat mode; when inflated to 50%, the multifunctional airbag 80 can form a sling mode.

Claims

1. A fully automatic multifunctional mechanical arm shifting locomotive, characterized in that: The base and mobile part (10) is composed of an accessory equipment part (5), a side frame (3), a spanning frame (4), a side beam (65) and casters; the accessory equipment part (5) has a built-in battery pack (91), a micro air pump (92), an electric push rod D (52) and a computer embedded system (93); one side of the accessory equipment part (5) is equipped with an electric differential caster (1) and connected to the side beam (65), and the other side is connected to the spanning frame (4); the spanning frame (4) is equipped with a folding seat (9) and connected to the side frame ( 3), the side frame (3) is equipped with an electric differential caster (1); the rear end of the base and the moving part (10) is equipped with a rear pedal (11); the front end is a side beam angler (60), the side beam angler (60) is connected to the side beam A (61), the side beam A (61) has a built-in electric push rod H (63) and is connected to the side beam B (64), and the end of the side beam B (64) is a universal caster D (68); the accessory equipment part (5) is connected to the mechanical arm lifting part (20), and the mechanical arm lifting part (20) is composed of a vertical arm (50) and a lifting arm (70); the bottom end of the vertical arm A (51) is connected to the vertical arm fixing base (94) in the chassis of the accessory equipment part (5); the vertical arm A (51) has an internal electric push rod D (52) and is connected to the vertical arm B (53); the top of the vertical arm B (53) is a lifting power unit (6); the top of the lifting power unit (6) is a navigation sensor (90); the lifting power unit (6) is connected to the lifting arm A (71); the lifting arm A (71) has an internal electric push rod K (72) and is connected to the lifting arm B (7 3) connection, the end of the lifting arm B (73) is a corner power unit (8); the corner power unit (8) is connected to the longitudinal rotating arm bracket (21), the longitudinal rotating arm bracket (21) is connected to the transverse rotating arm pivot (22), the transverse rotating arm pivot (22) is connected to the body protection frame (30), the body protection frame (30) is equipped with a frame connecting buckle (88), the frame connecting buckle (88) is connected to the multifunctional airbag (80), and the bottom of the body protection frame (30) is a hip support frame (40), The connection part between the corner power unit (8) and the body protection frame (30) is a combination of a longitudinal rotating arm bracket (21) and a transverse rotating arm pivot (22); the longitudinal rotating arm bracket (21) is rigidly connected to the transverse rotating arm pivot (22); the transverse rotating arm pivot (22) is connected to the corner motor (26) and is hinged to a pivot fixing frame A (23) and a pivot fixing frame B (24); the pivot fixing frame A (23) and the pivot fixing frame B (24) are rigidly connected to an arm shaft fixing frame (25); the arm shaft fixing frame (25) is rigidly connected to the body protection frame (30); The body protection frame (30) is formed by connecting a transverse bracket B (33), a transverse bracket C (35), a transverse bracket D (37) and vertical brackets (38) at both ends; the upper part of the vertical bracket (38) is built with a telescopic bracket C (41), the telescopic bracket C (41) is built with an electric push rod B (39) and is connected to an armpit bracket (42), the armpit bracket (42) is a saddle-shaped soft bracket with the same size as the armpit of the body, and the vertical bracket (38) is provided with a frame connecting buckle (88) and a safety belt (27) on both sides; the transverse bracket B (33) and the transverse bracket C (35) are rigidly connected to the arm shaft fixing frame (25) in the middle, and the arm shaft fixing frame (25) is provided with a frame connecting buckle (88) and a safety belt (27) on both sides; the transverse bracket B (33) and the transverse bracket C (35) are rigidly connected to the arm shaft fixing frame (25) in the middle, and the arm shaft fixing frame (25) is provided with a frame connecting buckle (88) and a safety belt (27) on both sides. The fixed frame (25) has telescopic brackets A (34) on both sides, the telescopic bracket A (34) has a built-in telescopic bracket B (32), and the telescopic bracket B (32) is rigidly connected to the transverse bracket A (31); the transverse bracket D (37) has a rotating sleeve (45) in the middle, the rotating sleeve (45) is provided with a sleeve positioning bolt (47), and the sleeve positioning bolt (47) is connected to an electric push rod C (46) fixed in the middle of the transverse bracket C (35); the electric push rod C (46) acts on the rotation of the rotating sleeve (45), the rotating sleeve (45) is connected to a lifting connecting rod (48), and the lifting connecting rod (48) is connected to a hip support plate (49).

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