Multifunctional full-automatic shifting robot

Abstract

The invention relates to the technical field of human body rehabilitation instruments, and discloses a multifunctional full-automatic shifting robot which comprises a movable conveying module, a supporting plate module, a movable chassis and a visual module. The supporting plate module comprises a back supporting plate, a hip supporting plate, a leg supporting plate and a posture adjusting module, the movable conveying module comprises a movable back conveying module, a movable hip conveying module and a movable leg conveying module, and the vision module is arranged at the top of the back supporting plate. A modularized conveying mechanism is adopted, the body of the back, the hip and the legs of a disabled person is subjected to distributed displacement, the modularized design can be suitable for different bed bodies or other types of transfer planes while safe displacement is guaranteed, nursing personnel do not need to participate, a patient can be independently helped to independently achieve bed-chair transfer, and the bed-chair transfer efficiency is improved. The labor pressure of nursing personnel is relieved.

Description

Technical Field

[0001] The invention relates to the technical field of human body rehabilitation equipment, and in particular to a multifunctional fully automatic transfer robot. Background Art

[0002] The transfer robot is an important device in the nursing and medical industry. It is an important auxiliary tool for the care and transfer of moderately and severely disabled people. It is designed to help moderately and severely disabled people (such as hemiplegia, stroke, loss of upper and lower limb function, etc.) to assist in transfer in different nursing facilities, such as transfer from nursing beds to wheelchairs, transfer from operating beds to wheelchairs, and transfer of wheelchairs between medical testing equipment planes. Conventional transfer equipment can only simply move the disabled person to the facility to be transferred, and then the nursing staff will pick up the disabled person and transfer him to other equipment with manual assistance. This process requires a lot of physical labor from the nursing staff, and this process can easily cause lumbar muscle injuries to the nursing staff. At the same time, the instability during the transfer process can easily cause secondary injuries to the disabled person.

[0003] At present, there is a lack of a transfer robot structure with integrated posture conversion and mutual transfer functions between different devices in China. The relevant technical documents include patent number CN221998247U, a transfer robot with good stability. The patent discloses a riding mobile wheelchair using a chest bracket as a support, which enables disabled persons to rely on the chest bracket as a support for transfer after being safely transferred to the transfer robot. The premise for using this transfer device is that the disabled person needs to maintain a sitting position and be transferred to the wheelchair with the help of a caregiver. This transfer method not only requires the full assistance of the caregiver, but also requires the disabled person to have a certain physical support ability.

[0004] Patent No. CN111467142A is a bed-chair conversion roller transfer wheelchair, which can achieve the horizontal plane of the wheelchair lying down and the upper surface of most bed types. At the same time, the use of rollers can help caregivers transfer patients between beds and chairs more easily. First of all, the wheel structure uses the traditional rear-drive front universal wheel structure, which requires a certain rotation radius, and there is a problem of insufficient space for home use.

[0005] Patent No. CN112545790A discloses a bed-chair combination design, which adopts a combined docking method with a side entrance to improve space utilization. However, it needs to be used in conjunction with a nursing bed, and a household bed cannot be transferred. Secondly, it does not have a standing function, and the functions realized in the overall structure are insufficient. Moreover, since a specific matching bed type is required, this means that it requires high costs and is not universal.

[0006] Patent No. CN116459086A is a multifunctional wheelchair robot with circular transfer. The patent discloses a wheelchair shifting mechanism that utilizes a circular transfer mechanism to gradually transfer disabled persons. The circular shifting transmission mechanism used in this structure has a narrow contact surface with the human body and has strict requirements on the position of the person during the shifting process. This can easily lead to the shifting equipment being unable to effectively support the disabled person during the transfer process, causing secondary injuries to the disabled person. Summary of the invention

[0007] The technical problem to be solved by the present invention is that the existing disabled persons' displacement device requires the cooperation of medical staff, which is labor-intensive, inconvenient to use, and easily causes secondary injuries to patients.

[0008] In order to solve the above technical problems, the technical solution of the present invention is to provide a multifunctional fully automatic shifting robot, including a movable transmission module, a support plate module, a mobile chassis and a visual module, the mobile chassis includes a chassis frame, a posture transformation module and an omnidirectional movement module, the posture transformation module is arranged on both sides of the chassis frame, the omnidirectional movement module is arranged at the bottom of the chassis frame, the support plate module includes a back support plate, a hip support plate, a leg support plate and a posture adjustment module, the hip support plate is located above the chassis frame and is connected to the posture transformation module, the back support plate and the leg support plate are rotated respectively Connected on two opposite sides of the hip support plate, the posture adjustment module is arranged below the back support plate, the hip support plate and the leg support plate, the movable transmission module includes a movable back transmission module, a movable hip transmission module and a movable leg transmission module, the movable back transmission module, the movable hip transmission module and the movable leg transmission module have the same structure, the movable back transmission module is arranged on the back support plate, the movable hip transmission module is arranged on the hip support plate, the movable leg transmission module is arranged on the leg support plate, and the visual module is arranged on the top of the back support plate.

[0009] Optionally, the posture transformation module includes a lifting motor, a lifting motor connecting rod and a lifting motor support rod; a lifting motor connecting rod fixing piece is provided at the bottom of the hip support plate close to the back support plate, one end of the lifting motor connecting rod is hinged to the lifting motor connecting rod fixing piece, a slide groove is provided on the side of the chassis frame, the other end of the lifting motor connecting rod is slidably connected in the slide groove, both ends of the lifting motor support rod are respectively hinged to the middle part of the lifting motor connecting rod and the chassis frame by pins, a lifting motor fixing seat is provided on the chassis frame, the output end of the lifting motor is fixed on the lifting motor connecting rod, and the other end of the lifting motor is hinged to the lifting motor fixing seat by a pin.

[0010] Optionally, the posture transformation module also includes a seat motor and a seat lifting rod, the seat lifting rod is connected to the seat motor, a seat motor connecting piece is provided at the bottom of one side of the hip support plate close to the leg support plate, a seat motor fixing piece is provided on the chassis frame, the upper end of the seat lifting rod is hinged to the seat motor connecting piece, and the lower end is fixed to the seat motor fixing piece.

[0011] Optionally, the omnidirectional mobile module includes two independent suspension modules and two universal wheels, the universal wheels are arranged at two corners of the front end of the bottom of the chassis frame, and the independent suspension modules are arranged at two corners of the rear end of the bottom of the chassis frame.

[0012] Optionally, the independent suspension module includes a chassis steering motor, a driving wheel, a rotating support bearing, a suspension support seat and a steering fixed plate, the steering fixed plate is fixedly connected to the chassis frame, the rotating support bearing includes a fixed surface and a rotating surface, the fixed surface of the rotating support bearing is connected to the steering fixed plate, the suspension support seat is located below the steering fixed plate, the rotating surface of the rotating support bearing is fixed to the top of the suspension support seat, the chassis steering motor is arranged on the steering fixed plate, and a steering motor coupling is connected to the output end thereof, the steering motor coupling is connected to the rotating surface of the rotating support bearing, a plurality of shock absorbing links are connected to the suspension support seat by pins, the other end of the shock absorbing link is connected to a driving wheel fixing, the driving wheel is connected to the driving wheel fixing, and a suspension support rod is hinged between the driving wheel fixing and the suspension support seat.

[0013] Optionally, a back panel connector is provided on the back support plate at the connection with the hip support plate, a back-hip connector is provided at the edge of the hip support plate and is hinged to the back panel connector through a pin, a leg panel connector is provided on the leg support plate at the connection with the hip support plate, and a hip-leg connector is provided at the edge of the hip support plate and is hinged to the leg panel connector through a pin.

[0014] Optionally, the posture adjustment module includes a posture motor, a posture motor fixing part is provided on the back side of the back support plate, a posture motor connecting part is provided on the middle part of the bottom of the hip support plate near the edge of the back support plate, the posture motor is hinged between the posture motor fixing part and the posture motor connecting part through a pin, connecting rod back plate connecting parts are provided on both sides of the back side of the back support plate near the edge of the hip support plate, connecting rod leg plate connecting parts are provided on both sides of the back side of the leg plate support plate near the edge of the hip support plate, and a posture connecting rod is hinged between the connecting rod back plate connecting part and the connecting rod leg plate connecting part.

[0015] Optionally, the movable leg conveying module includes an annular cloth belt, a smooth thin plate, an internal device of the conveying plate, a ball screw and a V-shaped plate, the annular cloth belt is sleeved on the outside of the internal device of the conveying plate, two ball screws are provided, which are respectively located on both sides of the internal device of the conveying plate and fixed to the leg support plate, the ball screw is provided with a sliding connector, the smooth thin plate is located below the annular cloth belt and is connected to one side of the sliding connector, and the other side of the sliding connector is connected to the internal device of the conveying plate, V-plate connectors are provided on both side ends of the internal device of the conveying plate, the V-shaped plate is connected to one side of the internal device of the conveying plate through the V-plate connector, a supporting slide rail is provided on the leg support plate, the supporting slide rail includes a fixed plate and a sliding plate, the fixed plate of the supporting slide rail is fixedly connected to the leg support plate, and the sliding plate of the supporting slide rail is connected to the internal device of the conveying plate.

[0016] Optionally, the internal device of the transmission plate includes a support frame, the sliding connecting piece, the V-plate connecting piece and the sliding plate supporting the slide rail are all connected to the support frame, synchronous belts are provided on both sides of the support frame, a plurality of rollers are provided inside the support frame, a transmission motor fixing plate is provided on one end of the support frame, a transmission motor is provided in the transmission motor fixing plate, a coupling is provided on the output end of the transmission motor, a right-angle steering gear is connected to the transmission coupling, output couplings are provided on both sides of the right-angle steering gear, an active transmission shaft is connected to the output coupling, an active synchronous pulley is connected to the active transmission shaft, the synchronous pulley cooperates with the synchronous belt for transmission, the annular cloth belt is bonded and fixed to the synchronous belt, a passive transmission shaft is provided at the other end of the support frame, passive synchronous pulleys are provided at both ends of the passive transmission shaft, and the passive synchronous pulley is located in the synchronous belt.

[0017] Optionally, the ball screw includes a screw motor, a screw slider and a screw, the screw is connected to the output end of the screw motor, the screw slider is sleeved on the screw, and the sliding connector is connected to the screw slider.

[0018] In summary, the present invention has at least one of the following beneficial effects:

[0019] 1. The step-by-step transmission and shifting adopted by the present invention can be applied to most types of beds currently on the market. A modular transmission mechanism is used to distribute and shift the back, buttocks and legs of disabled people. This modular design can be applied to different beds or other types of transfer planes while ensuring safe shifting. It does not require the participation of nursing staff and can independently help patients realize bed-chair transfers, reducing the labor pressure of nursing staff.

[0020] 2. The transfer robot of the present invention can effectively realize the arbitrary conversion of sitting, lying and supine postures, making it convenient for disabled persons to adopt the most suitable posture for transfer during the transfer process, thereby improving the practical diversity of wheelchairs.

[0021] 3. The lifting function of the transfer robot of the present invention allows the transfer robot to adjust its height according to the specific plane height of the docking equipment, thereby improving the applicability and stability of the transfer robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the multifunctional fully automatic shifting robot of the present invention;

[0023] Figure 2 This is a schematic diagram of the main structure of the multifunctional fully automatic shifting robot of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a movable transmission module of the multifunctional fully automatic shifting robot of the present invention;

[0025] Figure 4 It is a schematic diagram of the internal device structure of the transmission plate of the multifunctional fully automatic shifting robot of the present invention;

[0026] Figure 5 This is a schematic structural diagram of a support plate module of the multifunctional fully automatic shifting robot of the present invention;

[0027] Figure 6 This is a schematic diagram of the mobile chassis structure of the multifunctional fully automatic shifting robot of the present invention;

[0028] Figure 7 It is a schematic diagram of an independent suspension module of the multifunctional fully automatic transfer robot of the present invention;

[0029] Figure 8 This is a schematic diagram of the shifting function of the multifunctional fully automatic shifting robot of the present invention;

[0030] Fig. 9 This is a schematic diagram of the posture transformation of the multifunctional fully automatic shifting robot of the present invention;

[0031] Fig.10 This is a schematic diagram of the multifunctional fully automatic shifting robot of the present invention docking with a toilet. DETAILED DESCRIPTION

[0032] The following combination Figure 1-10 The present invention is described in further detail.

[0033] The present invention discloses a multifunctional fully automatic shifting robot, referring to Figure 1 and Figure 2, including a movable transmission module 1, a support plate module 2, a mobile chassis 3 and a visual module 4, the mobile chassis 3 includes a chassis frame 321, a posture transformation module 31 and an omnidirectional movement module 32, the posture transformation module 31 is arranged on both sides of the chassis frame 321, and the omnidirectional movement module 32 is arranged at the bottom of the chassis frame 321, the support plate module 2 includes a back support plate 21, a hip support plate 22, a leg support plate 23 and a posture adjustment module, the hip support plate 22 is located above the chassis frame 321 and is connected to the posture transformation module 31, the back support plate 21 and the leg support plate 23 are respectively rotatably connected to the opposite sides of the hip support plate 22, and the posture adjustment module Located below the back support plate 21, the hip support plate 22 and the leg support plate 23, the movable transmission module 1 includes a movable back transmission module 11, a movable hip transmission module 12 and a movable leg transmission module 13. The movable back transmission module 11, the movable hip transmission module 12 and the movable leg transmission module 13 have the same structure. The movable back transmission module 11 is arranged on the back support plate 21, the movable hip transmission module 12 is arranged on the hip support plate 22, the movable leg transmission module 13 is arranged on the leg support plate 23, the visual module 4 is arranged on the top of the back support plate 21, and a foot pedal 24 is provided at the lower end of the leg support plate 23.

[0034] In a further embodiment, referring to Figure 6 The posture transformation module 31 includes a lifting motor 312, a lifting motor connecting rod 311 and a lifting motor support rod 313. A lifting motor connecting rod fixing piece 224 is provided at the bottom of the hip support plate 22 near the back support plate 21. One end of the lifting motor connecting rod 311 is hinged on the lifting motor connecting rod fixing piece 224. A slide groove 3211 is provided on the side of the chassis frame 321. The other end of the lifting motor connecting rod 311 is slidably connected in the slide groove 3211. The two ends of the lifting motor support rod 313 are respectively hinged to the middle part of the lifting motor connecting rod 311 and the chassis frame 321 through pins. A lifting motor fixing seat 314 is provided on the chassis frame 321. The output end of the lifting motor 312 is fixed on the lifting motor connecting rod 311, and the other end of the lifting motor 312 is hinged on the lifting motor fixing seat 314 through a pin.

[0035] The posture transformation module 31 also includes a seat motor 316 and a seat lifting rod, the seat lifting rod is connected to the seat motor 316, a seat motor connector 325 is provided at the bottom of one side of the hip support plate 22 close to the leg support plate 23, a seat motor fixing part 315 is provided on the chassis frame 321, the upper end of the seat lifting rod is hinged to the seat motor connector 325, and the lower end is fixed to the seat motor fixing part 315.

[0036] In a further embodiment, referring to Figure 7The omnidirectional mobile module 32 includes two independent suspension modules 33 and two universal wheels 34. The universal wheels 34 are arranged at the two corners of the front end of the bottom of the chassis frame 321. The independent suspension module 33 is arranged at the two corners of the rear end of the bottom of the chassis frame 321. The independent suspension module 33 includes a chassis steering motor 331, a driving wheel 338, a rotating support bearing 333, a suspension support seat 334 and a steering fixed plate 3212. The steering fixed plate 3212 is fixedly connected to the chassis frame 321. The rotating support bearing 333 includes a fixed surface and a rotating surface. The fixed surface of the rotating support bearing 333 is connected to the steering fixed plate 3212. The suspension support seat 334 is located at the bottom of the chassis frame 321. Below the steering fixed plate 3212, the rotating surface of the rotating support bearing 333 is fixed on the top of the suspension support seat 334, the chassis steering motor 331 is arranged on the steering fixed plate 3212, and the output end thereof is connected with a steering motor coupling 332, the steering motor coupling 332 is connected to the rotating surface of the rotating support bearing 333, and a plurality of shock absorbing links 335 are connected to the suspension support seat 334 through pins, and the other end of the shock absorbing link 335 is connected to a driving wheel fixing part 337, the driving wheel 338 is connected to the driving wheel fixing part 337, and a suspension support rod 336 is hinged between the driving wheel fixing part 337 and the suspension support seat 334.

[0037] In a further embodiment, referring to Figure 5 A back plate connecting piece 211 is provided at the connection between the back support plate 21 and the hip support plate 22, and a back-hip connecting piece 221 is provided at the edge of the hip support plate 22 and is hinged to the back plate connecting piece 211 through a latch, so as to realize the relative rotation between the back support plate 21 and the hip support plate 22, and a leg plate connecting piece 231 is provided at the connection between the leg support plate 23 and the hip support plate 22, and a hip-leg connecting piece 222 is provided at the edge of the hip support plate 22 and is hinged to the leg plate connecting piece 231 through a latch;

[0038] like Figure 5 As shown, the posture adjustment module includes a posture motor 213, a posture motor fixing part 212 is provided on the back of the back support plate 21, a posture motor connecting part 223 is provided at the middle of the bottom of the hip support plate 22 near the edge of the back support plate 21, the posture motor 213 is hinged between the posture motor fixing part 212 and the posture motor connecting part 223 through a latch, a connecting rod back plate connecting part 214 is provided on both sides of the back of the back support plate 21 near the edge of the hip support plate 22, a connecting rod leg plate connecting part 232 is provided on both sides of the back of the leg plate support plate 23 near the edge of the hip support plate 22, and a posture connecting rod 225 is hinged between the connecting rod back plate connecting part 214 and the connecting rod leg plate connecting part 232;

[0039] Thus, the four-bar linkage mechanism is formed, and the posture motor 213 changes the angle between the back support plate 21 and the hip support plate 23 by utilizing the linkage characteristics of the four-bar linkage, thereby changing the angle between the leg support plate 23 and the hip support plate 22. The displacement robot is changed from a sitting position to a lying position by a posture motor 213, and the structure is simple.

[0040] In a further embodiment, referring to Figure 3 The movable leg conveying module 13 includes an annular cloth belt 131, a smooth thin plate 132, a conveying plate internal device 133, a ball screw 136 and a V-shaped plate 103. The annular cloth belt 131 is sleeved on the outside of the conveying plate internal device 133. Two ball screws 136 are provided, which are respectively located on both sides of the conveying plate internal device 133 and fixed on the leg support plate 23. A sliding connection 137 is provided on the ball screw 136. The smooth thin plate 132 is located below the annular cloth belt 131 and is connected to one side of the sliding connection 137. The other side of the sliding connector 137 is connected to the internal device 133 of the transmission plate. V-plate connectors 135 are provided at both ends of the internal device 133 of the transmission plate. The V-shaped plate 103 is connected to one side of the internal device 133 of the transmission plate through the V-plate connector 135. A supporting rail 134 is provided on the leg support plate 23. The supporting rail 134 includes a fixed plate and a sliding plate. The fixed plate of the supporting rail 134 is fixedly connected to the leg support plate 23, and the sliding plate of the supporting rail 134 is connected to the internal device 133 of the transmission plate.

[0041] In a further embodiment, referring to Figure 4The internal device 133 of the transmission plate includes a support frame 1331, a sliding connector 137, a V-plate connector 135 and a sliding plate of the support rail 134 are all connected to the support frame 1331, and the sliding plate of the support rail 134 is fixed to the support frame 1331, so that the support frame 1331 can transfer the gravity to the leg support plate 23 during the sliding process, and synchronous belts 1332 are arranged on both sides of the support frame 1331, and a plurality of rollers 1341 are arranged inside the support frame 1331, and a transmission motor fixing plate 13311 is arranged on one end of the support frame 1331, and a transmission motor 1338 is arranged in the transmission motor fixing plate 13311, and a coupling 1337 is arranged on the output end of the transmission motor 1338, and a right-angle deflector 1336 is connected to the transmission coupling 1337, and output couplings 1335 are arranged on both sides of the right-angle deflector 1336. An active transmission shaft 1334 is connected to the shaft 1335, and an active synchronous pulley 1333 is connected to the active transmission shaft 1334. The synchronous pulley 1333 cooperates with the synchronous belt 1332 for transmission. The annular cloth belt 131 is bonded and fixed to the synchronous belt 1332 to realize synchronous transmission. A passive transmission shaft 1340 is provided at the other end of the support frame 1331. Passive synchronous pulleys 1339 are provided at both ends of the passive transmission shaft 1340. The passive synchronous pulley 1339 is located in the synchronous belt 1332. The ball screw 136 includes a screw motor 1363, a screw slider 1362 and a screw 1361. The screw 1361 is connected to the output end of the screw motor 1363, the screw slider 1362 is sleeved on the screw 1361, and the sliding connection 137 is connected to the screw slider 1362, so that the screw slider 1362 drives the support frame 1331 to slide synchronously.

[0042] The multifunctional fully automatic transfer robot of the present invention is provided with a battery power supply, which is connected to each motor and the visual module 4 and supplies power. The present invention can adjust the horizontal height of the transfer robot through the cooperation of the lifting motor 312 and the seat plate motor 316 to realize the transfer between nursing equipments at different heights. Since the transfer principle is similar, this article takes the transfer of a bed and a chair as an example to introduce the transfer principle of the present invention:

[0043] Reference Figure 8 and Fig. 9In the process of shifting from the nursing bed to the shifting robot (abcde), the shifting robot first moves to the bedside and relies on the visual module 4 to navigate and avoid obstacles. The visual module 4 is an existing obstacle avoidance device, not an innovation of the present invention. The posture of the support plate module 2 is changed by the posture motor 213. When docking with the bed, the support plate module 2 is in a horizontal position. Then, the independent suspension drive module 33 is adjusted by the chassis steering motor 331 to make it move laterally until the V-shaped plate 103 is inserted into the gap between the human body and the bed surface. Further, the screw motor 1363 fixed on the back support plate 21 drives the screw slider 1361 and drives the support frame 1331 to move laterally. At the same time, the transmission motor 1338 drives the synchronous belt 1332 to rotate in the opposite direction of the movement of the support frame 1331. The synchronous belt 1332 drives the annular cloth belt 131 to rotate synchronously. When the back of the human body contacts the annular cloth belt 131, the screw motor 1363 continuously pushes the internal device 133 of the transmission plate until the back of the human body is completely transferred to the annular cloth belt 131, and the movable back transmission module 11 stops moving. In this process, due to the friction force generated by the contact between the buttocks and legs of the human body and the bed surface, the human body will not be displaced in the horizontal direction. While the movable back transmission module 11 moves horizontally, the annular cloth belt 131 is transmitted in the opposite direction. When the movable back transmission module 11 completely lifts the back of the human body, the movable buttocks transmission module 12 moves in the same way until the buttocks of the human body are lifted. Then the movable leg transmission module 13 lifts the legs of the human body in the same transmission way until the movable transmission module completely lifts the human body. At this point, the displacement of the human body from the bed to the shifting robot is completed. Such a structural design eliminates the relative slippage and discomfort caused by the friction generated by the relative movement of the transmission device and the contact surface of the human body as much as possible.

[0044] In the process of the transfer robot moving to the bed (fijklm), the transfer robot first relies on the visual module 4 to navigate to the bedside, and changes the posture of the support plate module through the posture motor 213. When docking with the bed, the support plate module 2 is in a horizontal position, and the screw motor 1363 of the movable transmission module 1 drives the back support plate 21, the hip support plate 22 and the leg support plate 23 to move synchronously until the human body is transferred to the top of the transfer robot. Further, the screw motor 1363 in the movable back transmission module 11 drives the support frame 1331 to move horizontally away from the top of the bed, and at the same time The synchronous belt 1332 drives the annular cloth belt 131 to transmit in reverse until the back of the human body is transmitted to the surface of the bed. During this process, the movable hip transmission module 12 and the movable leg transmission module 13 do not work. When the back of the human body completely returns to the surface of the bed, the movable hip transmission module 12 transmits the buttocks of the human body to the surface of the bed in the same way. At this time, the movable leg transmission module 13 does not work. When the back and buttocks of the human body are transmitted to the surface of the bed, the movable leg transmission module 13 transmits the legs of the human body to the top of the bed in the same way as before, thereby completing the transfer of the human body from the shift robot to the bed.

[0045] The transfer robot has a posture adjustment function. Specifically, the seat motor 316 fixed to the chassis frame 321 through the seat motor fixing part 315 pushes the hip support plate 22, changes the angle between the hip support plate 22 and the horizontal ground, and then changes the human body posture. Such functional design can help the transfer robot move according to the needs of disabled people during the movement process, thereby enhancing comfort.

[0046] The shifting robot has a lifting function, specifically, the lifting motor 312 pushes the lifting motor connecting rod 311 to change the angle between the lifting motor connecting rod 311 and the chassis frame 321, thereby raising the height of the hip support plate 22 and the back support plate 23 relative to the ground. At the same time, the seat plate motor 316 pushes the height of the hip support plate 22 and the leg support plate 23 relative to the ground, thereby maintaining the horizontal elevation of the hip support plate 22. Such a structural design improves the utilization rate of the motor while enhancing the applicability of the shifting robot, and it can be horizontally docked with shifting planes of different heights and shifted.

[0047] The transfer robot has a lateral movement function, specifically by adjusting the direction of the drive wheel 338 in the independent suspension drive module 33 through the chassis steering motor 331 installed on the mobile frame 321, thereby enhancing the maneuverability of the transfer robot and further reducing the position adjustment time of the transfer robot during the docking transfer plane process.

[0048] In other embodiments, reference Fig.10The toilet needs of disabled people are taken into consideration during the design of the transfer robot. In the overall frame design, a toilet opening is designed between the hip support plate 22 and the movable hip transfer module 12 of the transfer robot in order to avoid secondary injuries caused by transfer during the toileting process. A space avoidance design method is also adopted in the design of the mobile chassis 3 to enable the transfer robot to dock with the toilet.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multifunctional fully automatic shifting robot, characterized in that: The invention comprises a movable transmission module (1), a support plate module (2), a mobile chassis (3) and a visual module (4); the mobile chassis (3) comprises a chassis frame (321), a posture transformation module (31) and an omnidirectional movement module (32); the posture transformation module (31) is arranged on both sides of the chassis frame (321); the omnidirectional movement module (32) is arranged at the bottom of the chassis frame (321); the support plate module (2) comprises a back support plate (21), a hip support plate (22), a leg support plate (23) and a posture adjustment module; the hip support plate (22) is located above the chassis frame (321) and is connected to the posture transformation module (31); the back support plate (21) and the leg support plate (23) are respectively rotatably connected to the hip support plate (22) relative to each other. On both sides of the back support plate (21), the posture adjustment module is arranged below the back support plate (21), the hip support plate (22) and the leg support plate (23); the movable transmission module (1) comprises a movable back transmission module (11), a movable hip transmission module (12) and a movable leg transmission module (13); the movable back transmission module (11), the movable hip transmission module (12) and the movable leg transmission module (13) have the same structure; the movable back transmission module (11) is arranged on the back support plate (21), the movable hip transmission module (12) is arranged on the hip support plate (22), the movable leg transmission module (13) is arranged on the leg support plate (23); and the visual module (4) is arranged on the top of the back support plate (21).

2. The multifunctional fully automatic transfer robot according to claim 1, characterized in that: The posture transformation module (31) comprises a lifting motor (312), a lifting motor connecting rod (311) and a lifting motor supporting rod (313); a lifting motor connecting rod fixing piece (224) is provided at the bottom of the hip support plate (22) close to the back support plate (21); one end of the lifting motor connecting rod (311) is hinged on the lifting motor connecting rod fixing piece (224); a sliding groove (3211) is provided on the side of the chassis frame (321); and the lifting motor connecting rod (311) is provided on the side of the chassis frame (321). ) and the other end is slidably connected in the slide groove (3211); the two ends of the lifting motor support rod (313) are respectively hinged to the middle part of the lifting motor connecting rod (311) and the chassis frame (321) through pins; the chassis frame (321) is provided with a lifting motor fixing seat (314); the output end of the lifting motor (312) is fixed on the lifting motor connecting rod (311); and the other end of the lifting motor (312) is hinged to the lifting motor fixing seat (314) through a pin.

3. The multifunctional fully automatic transfer robot according to claim 2, characterized in that: The posture transformation module (31) also includes a seat plate motor (316) and a seat plate lifting rod, wherein the seat plate lifting rod is connected to the seat plate motor (316), a seat plate motor connecting piece (325) is provided at the bottom of one side of the hip support plate (22) close to the leg support plate (23), and a seat plate motor fixing piece (315) is provided on the chassis frame (321), and the upper end of the seat plate lifting rod is hinged to the seat plate motor connecting piece (325), and the lower end is fixed to the seat plate motor fixing piece (315).

4. The multifunctional fully automatic transfer robot according to claim 2, characterized in that: The omnidirectional mobile module (32) comprises two independent suspension modules (33) and two universal wheels (34), wherein the universal wheels (34) are arranged at two corners of the front end of the bottom of the chassis frame (321), and the independent suspension module (33) is arranged at two corners of the rear end of the bottom of the chassis frame (321).

5. The multifunctional fully automatic transfer robot according to claim 4, characterized in that: The independent suspension module (33) comprises a chassis steering motor (331), a driving wheel (338), a rotation support bearing (333), a suspension support seat (334) and a steering fixing plate (3212), wherein the steering fixing plate (3212) is fixedly connected to the chassis frame (321), the rotation support bearing (333) comprises a fixed surface and a rotating surface, the fixed surface of the rotation support bearing (333) is connected to the steering fixing plate (3212), the suspension support seat (334) is located below the steering fixing plate (3212), and the rotating surface of the rotation support bearing (333) is fixed to the suspension support seat (334). At the top, the chassis steering motor (331) is arranged on the steering fixing plate (3212), and the output end thereof is connected with a steering motor coupling (332), the steering motor coupling (332) is connected to the rotating surface of the rotating support bearing (333), a plurality of shock absorbing connecting rods (335) are connected to the suspension support seat (334) through a latch, the other end of the shock absorbing connecting rod (335) is connected with a driving wheel fixing member (337), the driving wheel (338) is connected to the driving wheel fixing member (337), and a suspension support rod (336) is hinged between the driving wheel fixing member (337) and the suspension support seat (334).

6. The multifunctional fully automatic transfer robot according to claim 1, characterized in that: A back plate connecting piece (211) is provided at the connection between the back support plate (21) and the hip support plate (22); a back-hip connecting piece (221) is provided at the edge of the hip support plate (22) and is hinged to the back plate connecting piece (211) via a latch; a leg plate connecting piece (231) is provided at the connection between the leg support plate (23) and the hip support plate (22); and a hip-leg connecting piece (222) is provided at the edge of the hip support plate (22) and is hinged to the leg plate connecting piece (231) via a latch.

7. The multifunctional fully automatic transfer robot according to claim 1, characterized in that: The posture adjustment module comprises a posture motor (213), a posture motor fixing part (212) is provided on the back of the back support plate (21), a posture motor connecting part (223) is provided at the middle of the bottom of the hip support plate (22) near the edge of the back support plate (21), the posture motor (213) is hinged between the posture motor fixing part (212) and the posture motor connecting part (223) through a latch, connecting rod back plate connecting parts (214) are provided on both sides of the back of the back support plate (21) near the edge of the hip support plate (22), connecting rod leg plate connecting parts (232) are provided on both sides of the back of the leg plate support plate (23) near the edge of the hip support plate (22), and a posture connecting rod (225) is hinged between the connecting rod back plate connecting part (214) and the connecting rod leg plate connecting part (232).

8. The multifunctional fully automatic transfer robot according to claim 1, characterized in that: The movable leg conveying module (13) comprises an annular cloth belt (131), a smooth thin plate (132), a conveying plate internal device (133), a ball screw (136) and a V-shaped plate (103); the annular cloth belt (131) is sleeved on the outside of the conveying plate internal device (133); two ball screws (136) are provided, which are respectively located on both sides of the conveying plate internal device (133) and fixed on the leg supporting plate (23); a sliding connecting piece (137) is provided on the ball screw (136); the smooth thin plate (132) is located below the annular cloth belt (131) and is connected to one side of the sliding connecting piece (137); The sliding connection member (137) is connected to the internal device (133) of the transmission plate. The two side ends of the internal device (133) of the transmission plate are provided with V-plate connecting members (135). The V-shaped plate (103) is connected to one side of the internal device (133) of the transmission plate through the V-plate connecting member (135). The leg support plate (23) is provided with a supporting slide rail (134). The supporting slide rail (134) includes a fixed plate and a sliding plate. The fixed plate of the supporting slide rail (134) is fixedly connected to the leg support plate (23), and the sliding plate of the supporting slide rail (134) is connected to the internal device (133) of the transmission plate.

9. The multifunctional fully automatic transfer robot according to claim 8, characterized in that: The transmission plate internal device (133) comprises a support frame (1331), the sliding connection member (137), the V-plate connection member (135) and the sliding plate supporting the slide rail (134) are all connected to the support frame (1331), synchronous belts (1332) are arranged on both sides of the support frame (1331), a plurality of rollers (1341) are arranged inside the support frame (1331), a transmission motor fixing plate (13311) is arranged on one end of the support frame (1331), a transmission motor (1338) is arranged inside the transmission motor fixing plate (13311), a coupling (1337) is arranged on the output end of the transmission motor (1338), and a straight coupling (1337) is connected to the transmission coupling (1337). An angle steering gear (1336), output couplings (1335) are provided on both sides of the right-angle steering gear (1336), an active transmission shaft (1334) is connected to the output coupling (1335), an active synchronous pulley (1333) is connected to the active transmission shaft (1334), the synchronous pulley (1333) cooperates with the synchronous belt (1332) for transmission, the annular cloth belt (131) is bonded and fixed to the synchronous belt (1332), a passive transmission shaft (1340) is provided at the other end of the support frame (1331), passive synchronous pulleys (1339) are provided at both ends of the passive transmission shaft (1340), and the passive synchronous pulley (1339) is located in the synchronous belt (1332).

10. The multifunctional fully automatic transfer robot according to claim 9, characterized in that: The ball screw (136) comprises a screw motor (1363), a screw slider (1362) and a screw (1361); the screw (1361) is connected to the output end of the screw motor (1363); the screw slider (1362) is sleeved on the screw (1361); and the sliding connection (137) is connected to the screw slider (1362).

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