A posture-changing transfer robot for transfer scenarios

Abstract

The present invention belongs to the field of medical auxiliary equipment, and specifically discloses a posture-changing transfer robot for transfer scenarios, including a moving device, the moving device is electrically connected to a control module, a first lifting device and a second lifting device are installed on the moving device, the upper end of the first lifting device is rotatably connected to a head support device, and the upper end of the second lifting device is rotatably connected to a hip support device and a leg support device; the head support device, the hip support device and the leg support device have the same structure, and all include N transfer plates that are sequentially connected in transmission, a first drive motor is provided on both sides of the first transfer plate, and a transmission mechanism is provided on both sides of all transfer plates, and the output shaft of the first drive motor is connected to the transmission mechanism. The present invention improves the comfort and safety of patients during transfer, reduces the burden on medical staff during patient transfer and the difficulty of patient transfer. The present invention is suitable for the transfer of patients in various scenarios.

Description

Technical Field

[0001] The present invention belongs to the field of medical auxiliary equipment, and in particular to a posture-changing transport robot for transfer scenarios. Background Art

[0002] With social development, the spectrum of diseases has significantly shifted, leading to an increase in patients requiring long-term hospitalization and rehabilitation care. During their medical treatment, more and more patients are frequently transferred between different departments and examination equipment to complete various examinations, treatments, and rehabilitation programs. This significantly increases the frequency and difficulty of patient transfers. At the same time, hospitals are generally facing a relative shortage of medical staff. Faced with an increasing number of patients, medical staff often face heavy workloads, creating difficulties and demands in patient transfers. It is precisely because of these complex factors that the issue of patient transfers in hospitals has become a critical medical aspect that requires focused attention and resolution.

[0003] The traditional way of transferring patients is mainly through manual handling. Depending on the patient's condition, a single-person auxiliary transfer tool is used to provide assistance, or multiple medical staff are required to collaborate to complete the transfer, which increases the labor intensity of medical staff. With the rapid development of artificial intelligence, the application scenarios and service models of intelligent service robots based on artificial intelligence technology are also constantly expanding. The Chinese invention patent application number 201380076990.0 discloses a nursing robot with a carrying function. The robot is mainly composed of a holding part, a base, a body support part, and an information acquisition device. When carrying the user, the robot hugs the user's armpits and requires the user to rely on his or her own support to always stand on the base. It is not suitable for users who cannot provide greater support themselves, such as users with weak legs or feet or damaged lower limbs who have difficulty in moving. Summary of the Invention

[0004] The purpose of the present invention is to provide a posture-changing transfer robot for transfer scenarios, which adopts a combination of mechanical design principles and electrical control to realize the transfer and transportation functions of patients who need to be transferred in various scenarios, ensure the safety of the transferred patients during the transfer process, and at the same time, improve the comfort level of the patients, reduce the burden on medical staff during the transfer of patients and the difficulty of the patient transfer process.

[0005] In order to achieve the above-mentioned purpose, the technical methods adopted by the present invention are as follows:

[0006] A posture-changing transport robot for transfer scenarios includes a mobile device, the mobile device is electrically connected to a control module, a first lifting device and a second lifting device are installed on the mobile device, the upper end of the first lifting device is rotatably connected to a head support device, and the upper end of the second lifting device is rotatably connected to a hip support device and a leg support device; the head support device, the hip support device and the leg support device have the same structure, and all include N transfer plates that are sequentially connected in a transmission manner, N ≥ 3 and N is an integer, the first transfer plate of the head support device is rotatably connected to the first lifting device, and the first transfer plate of the head support device is close to two ends of one end of the first lifting device. A first drive motor is provided on both sides; the first transfer plate of the hip support device and the first transfer plate of the leg support device are rotatably connected to the second lifting device, and the first drive motor is provided on both sides of the first transfer plate of the hip support device close to one end of the second lifting device, and the first drive motor is provided on both sides of the first transfer plate of the leg support device close to one end of the second lifting device; a transmission mechanism is provided on both sides of all transfer plates, and the output shaft of the first drive motor is connected to the transmission mechanism for driving the transfer plate to move, thereby controlling the angle between the transfer plates; the first lifting device, the second lifting device and the first drive motor are all electrically connected to the control module.

[0007] As a definition: the transmission mechanism includes a first transmission assembly, a second transmission assembly, and a third transmission assembly. The first transmission assembly is provided on both sides of the first transfer board, the second transfer board, ..., and the (N-1)th transfer board are provided on both sides of the second transmission assembly, and the third transmission assembly is provided on both sides of the (N)th transfer board; the first transmission assembly includes a first transmission rod, a second transmission rod, a third transmission rod, and a first gear; the second transmission assembly includes a fourth transmission rod, a fifth transmission rod, a sixth transmission rod, a second gear, and a third gear; and the third transmission assembly includes a fourth gear;

[0008] The output shaft of the first driving motor is fixedly connected to the first end of the first transmission rod, the second end of the first transmission rod is hinged to the first end of the second transmission rod, the second end of the second transmission rod is hinged to the first end of the third transmission rod, the second end of the third transmission rod is fixedly connected to one end of the first gear central shaft, and the other end of the first gear central shaft is fixedly connected to an end of the first transfer plate away from the first lifting device or the second lifting device; the second transfer plate,..., the N-1 transfer plate are respectively fixedly connected to one end of the second gear central shaft and one end of the third gear central shaft, the other end of the second gear central shaft is fixedly connected to the first end of the fourth transmission rod, the second end of the fourth transmission rod is hinged to the first end of the fifth transmission rod, the second end of the fifth transmission rod is hinged to the first end of the sixth transmission rod, and the second end of the sixth transmission rod is fixedly connected to the other end of the third gear central shaft; one end of the N transfer plate close to the N-1 transfer plate is fixedly connected to one end of the fourth gear central shaft;

[0009] The second gear on the second transfer board and the first gear on the first transfer board are connected via a transmission gear, the third gear on the second transfer board and the second gear on the third transfer board are connected via a transmission gear, and so on, the third gear on the N-2 transfer board and the second gear on the N-1 transfer board are connected via a transmission gear, and the third gear on the N-1 transfer board and the fourth gear on the N transfer board are connected via a transmission gear.

[0010] As a limitation: a thin film pressure sensor is provided on the upper surface of each transfer board, and the thin film pressure sensor is electrically connected to the control module.

[0011] As a limitation: each transfer board is provided with a transfer belt.

[0012] As a limitation: the upper end of the first lifting device is rotatably connected to the head support device through the first rotating assembly, the upper end of the second lifting device is rotatably connected to the hip support device through the second rotating assembly, and the upper end of the second lifting device is rotatably connected to the leg support device through the third rotating assembly; the first rotating assembly, the second rotating assembly and the third rotating assembly have the same structure and all include a third mounting plate, the third mounting plate of the first rotating assembly is fixedly mounted on the top end of the first lifting device, the third mounting plates of the second rotating assembly and the third rotating assembly are fixedly mounted on the top end of the second lifting device, the fifth drive motor and the bearing bracket are mounted on the third mounting plate, the fifth drive motor is electrically connected to the control module, the output shaft of the fifth drive motor is connected to the rotating shaft through a coupling, the rotating shaft passes through the bearing bracket and is fixedly connected to the rotating disk; a cover for covering the fifth drive motor and the bearing bracket is also mounted on the third mounting plate.

[0013] As a limitation: a translation platform for adjusting the distance between the first lifting device and the second lifting device is installed on the moving device, the first lifting device is installed on the translation platform, the translation platform includes a platform base, the platform base is installed on the moving device, one end of the platform base is installed with a motor transmission seat, the other end of the platform base is installed with a fixed seat, the second drive motor is installed on the motor transmission seat, the second drive motor is electrically connected to the control module, the output shaft of the second drive motor is fixedly connected to the first lead screw, the other end of the first lead screw is rotatably connected to the fixed seat, the first lead screw is sleeved with a nut seat adapted thereto, linear guide rails are provided on both sides of the platform base, a slider is slidably connected to the linear guide rail, a moving plate is installed on the upper surface of the slider and the upper surface of the nut seat, and the upper surface of the moving plate is fixedly connected to the bottom of the first lifting device.

[0014] As a limitation: the first lifting device and the second lifting device have the same structure, both include a fixed base plate, a fixed shell and a lifting shell, the fixed shell is fixed on the fixed base plate, the fixed base plate is fixed on the moving device, the lifting shell is sleeved on the fixed shell, a fixed column is installed on the fixed base plate, a first mounting plate is installed on the upper end of the fixed column, a third drive motor is installed on the first mounting plate, the third drive motor is electrically connected to the control module, the output shaft of the third drive motor is connected to the first steering box, one output shaft of the first steering box is connected to the second steering box, the other output shaft of the first steering box is connected to the third steering box, both output shafts of the second steering box and the third steering box are connected to the turbine box through a worm, a second lead screw passes through the turbine box, the top end of the second lead screw is fixed with a flange, and the upper surface of the flange is fixed to the lifting shell.

[0015] As a limitation: the mobile device includes a frame, and Mecanum wheels are installed at the four corners of the bottom of the frame. The Mecanum wheels are driven by a fourth drive motor, and the fourth drive motor is electrically connected to the control module.

[0016] As a limitation: the mobile device is equipped with a body shell for surrounding the first lifting device and the second lifting device, the body shell is equipped with a display and an armrest, and the display is electrically connected to the control module.

[0017] Due to the adoption of the above solution, the present invention has the following beneficial effects compared with the prior art:

[0018] (1) The present invention provides a posture-changing transfer robot for transfer scenarios. By setting a moving device, a first lifting device, a second lifting device, a head support device, a hip support device and a leg support device, the patient can be transferred to the posture-changing transfer robot and then transferred to a designated location, thereby completing the patient's transfer and transportation, reducing the burden on medical staff and the difficulty of patient transfer in the process of patient transfer. The application scenarios are wide, suitable for various transfer scenarios, and more convenient to connect with various types of equipment; the head support device, the hip support device and the leg support device include N transfer plates connected in sequence by transmission, which are connected by the output shaft of the first drive motor and the transmission mechanism to form an under-driven structure, so that a certain angle of bending can be generated between the transfer plates. When it is necessary to transfer the patient, all the transfer plates are formed into a structure with an arc as a whole, which improves the comfort of the patient during the transfer and transportation process, and can prevent the patient from accidentally slipping, thereby improving the safety of the patient during the transfer and transportation process. When it is not necessary to transfer the patient, the transfer plates are folded to reduce the storage space;

[0019] (2) The present invention provides a posture-changing transfer robot for transfer scenarios. By setting transmission rods and gears, power transmission is achieved, and the angles between transfer boards are controlled, thereby improving the comfort and safety of patients during transfer and transport, and reducing the storage space. By setting a transfer belt on each transfer board, when the patient is transferred, the patient moves, driving the transfer belt to slide relative to the transfer board, thereby reducing the resistance of the patient to or from the transfer board. By setting a first rotating assembly, a second rotating assembly and a third rotating assembly, the angles of the head support device, the hip support device and the leg support device are adjusted, thereby improving the comfort of the patient. The first lifting device and the second lifting device both adopt four turbine screw lifting structures, which improve the stability and safety of the lifting device. Safety; Mecanum wheels are set at the bottom of the frame of the mobile device, which can realize the all-round movement of the posture-changing transfer robot; by setting a display, the physical condition information of the transported object and the working status information of the posture-changing transfer robot can be displayed in real time, and it is convenient for users to operate; by setting an armrest, it is convenient for users to adjust the position of the posture-changing transfer robot by pushing the armrest, and it is convenient to retract and extend the posture-changing transfer robot; by setting a thin film pressure sensor on the transfer board, the pressure value of the transfer board can be measured in real time, and the intention perception based on patient pressure is used to infer and understand the patient's intention according to the change of pressure exerted by the patient's body, and adjust the posture of the head support device, hip support device and leg support device to make the patient more comfortable, thereby improving the patient's comfort.

[0020] The present invention is applicable to the transfer of patients in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a schematic structural diagram of a posture-changing transport robot for transfer scenarios according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic structural diagram of a translation platform according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of a first lifting device according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic structural diagram of a first rotating assembly according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic structural diagram of a head support device according to an embodiment of the present invention;

[0027] Figure 6 for Figure 5 A partial enlarged view of part A;

[0028] In the figure: 1, frame; 2, Mecanum wheel; 3, fourth drive motor; 4, second mounting plate; 5, platform base; 6, motor transmission seat; 7, fixed seat; 8, second drive motor; 9, first screw; 10, linear guide; 11, slider; 12, moving plate; 13, fixed bottom plate; 14, fixed housing; 15, lifting housing; 16, fixed column; 17, first mounting plate; 18, third drive motor; 19, first steering box; 20, second steering box; 21, third steering box; 22, turbine box; 23, second screw; 24, flange; 25, first 1. Third mounting plate; 26. Fifth drive motor; 27. Bearing bracket; 28. Rotating disk; 29. Cover; 30. First transfer plate; 31. Second transfer plate; 32. Third transfer plate; 33. Fourth transfer plate; 34. Mounting frame; 35. Transfer belt; 36. First transmission rod; 37. Second transmission rod; 38. Third transmission rod; 39. First gear; 40. Fourth transmission rod; 41. Fifth transmission rod; 42. Sixth transmission rod; 43. Second gear; 44. Third gear; 45. Fourth gear; 46. Transmission gear; 47. Machine body shell; 48. Armrest. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the following embodiments. However, those skilled in the art should understand that the present invention is not limited to the following embodiments, and any improvements and equivalent changes made based on the specific embodiments of the present invention are within the scope of protection of the claims of the present invention.

[0030] Embodiment A posture-changing transport robot for transfer scenarios

[0031] A posture-changing transport robot for transfer scenarios, such as Figure 1As shown, the mobile device includes a moving device electrically connected to a control module. The moving device includes a frame 1 formed of welded square tubes. Mecanum wheels 2 are mounted at the four corners of the bottom of the frame 1. The Mecanum wheels 2 are driven by a fourth drive motor 3, which is electrically connected to the control module. The frame 1 of the mobile device is provided with a second mounting plate 4, on which a translation platform and a second lifting device are mounted. The translation platform is provided with a first lifting device, which is used to adjust the distance between the first and second lifting devices. The upper end of the first lifting device is rotatably connected to a head support device via a first rotating assembly. The upper end of the second lifting device is rotatably connected to a hip support device via a second rotating assembly. The upper end of the second lifting device is rotatably connected to a leg support device via a third rotating assembly. The second mounting plate 4 is also provided with a housing 47 that surrounds the first and second lifting devices. A display electrically connected to the control module is mounted on the housing 47. The display is used to display real-time information about the physical condition of the transported object and the operating status of the posture-changing transfer robot, while also facilitating user operation. The housing 47 is also provided with a handrail 48.

[0032] like Figure 2 As shown, the translation platform of this embodiment includes a platform base 5, which is mounted on a second mounting plate 4, a motor transmission seat 6 is mounted on one end of the platform base 5, and a fixed seat 7 is mounted on the other end of the platform base 5. A second drive motor 8 is mounted on the motor transmission seat 6, and the second drive motor 8 is electrically connected to the control module. The output shaft of the second drive motor 8 is fixedly connected to a first lead screw 9, and the other end of the first lead screw 9 is rotatably connected to the fixed seat 7. A nut seat adapted to the first lead screw 9 is sleeved on the first lead screw 9, and linear guide rails 10 are provided on both sides of the platform base 5, and a slider 11 is slidably connected to the linear guide rail 10, and a movable plate 12 is mounted on the upper surface of the slider 11 and the upper surface of the nut seat.

[0033] like Figure 3As shown, the first lifting device and the second lifting device of this embodiment have the same structure, both including a fixed base plate 13, a fixed shell 14 and a lifting shell 15. The fixed base plate 13 of the first lifting device is fixedly mounted on the movable plate 12 of the translation platform, the fixed shell 14 is fixedly mounted on the fixed base plate 13, and the lifting shell 15 is sleeved on the fixed shell 14. A fixed column 16 is mounted on the fixed base plate 13, and a first mounting plate 17 is mounted on the upper end of the fixed column 16. A third drive motor 18 is mounted on the first mounting plate 17. The third drive motor 18 is electrically connected to the control module. The output shaft of the drive motor 18 is connected to the first steering box 19, one output shaft of the first steering box 19 is connected to the second steering box 20, the other output shaft of the first steering box 19 is connected to the third steering box 21, and both output shafts of the second steering box 20 and the third steering box 21 are connected to the turbine box 22 through a worm gear. The first steering box 19, the second steering box 20 and the third steering box 21 are all T-type steering boxes, and a second lead screw 23 passes through the turbine box 22. The top end of the second lead screw 23 is fixed with a flange 24, and the upper surface of the flange 24 is fixed to the lifting shell 15.

[0034] like Figure 4 As shown, the first rotating assembly, the second rotating assembly and the third rotating assembly of this embodiment have the same structure and all include a third mounting plate 25. The third mounting plate 25 of the first rotating assembly is fixedly mounted on the top of the lifting shell 15 of the first lifting device, and the third mounting plates 25 of the second rotating assembly and the third rotating assembly are fixedly mounted on the top of the lifting shell 15 of the second lifting device. The fifth drive motor 26 and the bearing bracket 27 are installed on the third mounting plate 25. The fifth drive motor 26 is electrically connected to the control module. The output shaft of the fifth drive motor 26 is connected to the rotating shaft through a coupling. The rotating shaft passes through the bearing bracket 27 and is fixedly connected to the rotating disk 28; the third mounting plate 25 is also equipped with a cover 29 for covering the fifth drive motor 26 and the bearing bracket 27.

[0035] like Figure 5As shown, the head support device, the hip support device and the leg support device have the same structure and all include N transfer plates connected in sequence by transmission, N≥3 and N is an integer. In this embodiment, N=4. The first transfer plate 30 of the head support device is fixedly mounted on the rotating disk 28 of the first rotating assembly via a mounting bracket 34. The first transfer plate 30 of the hip support device is fixedly mounted on the rotating disk 28 of the second rotating assembly via a mounting bracket 34. The first transfer plate 30 of the leg support device is fixedly mounted on the rotating disk 28 of the third rotating assembly via a mounting bracket 34. First drive motors are provided on both sides of the interior of the first transfer plate 30 near one end of the rotating disk 28. The first drive motors are electrically connected to the control module. Transmission mechanisms are provided on both sides of all transfer plates. The output shaft of the first drive motor is connected to the transmission mechanism for driving the movement of the transfer plates, thereby controlling the angle between the transfer plates. The upper surface of each transfer board is provided with a thin film pressure sensor, which is electrically connected to the control module. Each transfer board is covered with a flexible material, on which a transfer belt 35 is provided. The transfer belt 35 can slide relative to the transfer board to facilitate the transfer of the patient to the transfer board. Figure 6As shown, the transmission mechanism includes a first transmission assembly, a second transmission assembly and a third transmission assembly. The first transmission assembly is provided on both sides of the first transfer plate 30, the second transmission assembly is provided on both sides of the second transfer plate 31 and the third transfer plate 32, and the third transmission assembly is provided on both sides of the fourth transfer plate 33; the first transmission assembly includes a first transmission rod 36, a second transmission rod 37, a third transmission rod 38 and a first gear 39, the second transmission assembly includes a fourth transmission rod 40, a fifth transmission rod 41, a sixth transmission rod 42, a second gear 43 and a third gear 44, and the third transmission assembly includes a fourth gear 45; the output shaft of the first drive motor is fixedly connected to the first end of the first transmission rod 36, the second end of the first transmission rod 36 is hinged to the first end of the second transmission rod 37, the second end of the second transmission rod 37 is hinged to the first end of the third transmission rod 38, the second end of the third transmission rod 38 is fixedly connected to one end of the central axis of the first gear 39, and the other end of the central axis of the first gear 39 is away from the first transfer plate 30 to the first lifting device or the second One end of the lifting device is fixedly connected; both ends of the second transfer plate 31 and the third transfer plate 32 are respectively fixed to one end of the central axis of the second gear 43 and one end of the central axis of the third gear 44, the other end of the central axis of the second gear 43 is fixed to the first end of the fourth transmission rod 40, the second end of the fourth transmission rod 40 is hinged to the first end of the fifth transmission rod 41, the second end of the fifth transmission rod 41 is hinged to the first end of the sixth transmission rod 42, and the second end of the sixth transmission rod 42 is fixed to the other end of the central axis of the third gear 44; one end of the fourth transfer plate 33 is fixed to one end of the central axis of the fourth gear 45 near the third transfer plate 32; the second gear 43 on the second transfer plate 31 and the first gear 39 on the first transfer plate 30 are connected by a transmission gear 46, the third gear 44 on the second transfer plate 31 and the second gear 43 on the third transfer plate 32 are connected by a transmission gear 46, and the third gear 44 on the third transfer plate 32 and the fourth gear 45 on the fourth transfer plate 33 are connected by a transmission gear 46. In this embodiment, the first drive motor, the first transmission assembly, the second transmission assembly, the third transmission assembly and the transmission gear 46 constitute an under-driven structure. The first drive motor drives the first transmission assembly, the second transmission assembly, the third transmission assembly and the transmission gear 46 to move, so that a certain angle of bending is generated between the transfer boards. When it is necessary to transfer a patient, the bending angle is smaller, so that all the transfer boards form a curved structure as a whole, so that the patient is in a comfortable posture and can prevent the patient from accidentally slipping; when it is not necessary to transfer the patient, the transfer boards are folded to reduce the storage space.

[0036] When the posture-changing transfer robot of this embodiment is working, the staff issues instructions on the display, and the control module controls the fourth drive motor 3, which in turn drives the Mecanum wheel 2 to move, so that the mobile device moves to the front of the patient's bed or other equipment; the control module controls the third drive motor 18, which drives the second lead screw 23 up and down through the first steering box 19, the second steering box 20, the third steering box 21 and the turbine box 22, and adjusts the height of the first lifting device and the second lifting device so that the head support device, the hip support device and the leg support device are at the height of the patient; the control module controls the second drive motor 8, which drives the second lead screw 23 up and down through the nut seat on the first lead screw The bar 9 moves, driving the slider 11 to move on the linear guide rail 10, and then driving the first lifting device to move horizontally, adjusting the distance between the first lifting device and the second lifting device to accommodate patients of different heights; the control module controls the fifth drive motor 26 to drive the rotation of the head support device, the hip support device and the leg support device, so that all transfer boards are flush with the plane where the patient is located, and the control module then controls the moving device to move toward the patient, so that the fourth transfer board 33 is inserted under the patient, and the control module controls the moving device to move slowly, and the transfer belt 35 slides relative to the transfer board to transfer the patient to the head support device, the hip support device and the leg support device. The thin film pressure sensor on the transfer board measures the pressure applied by the human body in real time. The control module uses a specific algorithm and establishes a kinematic model to process the pressure data, thereby interpreting the patient's potential behavioral intentions. Based on the patient's behavioral intentions, the control module controls the fifth drive motor 26 to adjust the angles of the head support, hip support, and leg support to position the patient at a comfortable angle. At the same time, the control module controls the first drive motors of the head support, hip support, and leg support to make the transfer boards bend at a smaller angle, forming a curved structure to prevent the patient from slipping. The control module controls the mobile device to start moving. When it reaches a designated position or above a designated device, the control module controls the mobile device to stop moving. At the same time, the control module controls the first lifting device and the second lifting device to move up and down to the designated position or the height of the designated device. Then, the control module controls the head support, hip support, and leg support to rotate so that all transfer boards are flush with the plane of the designated position or the designated device. Then, the control module controls the first drive motor to adjust the bending angle between the transfer boards so that each transfer board is flush, facilitating the transfer of the patient from the transfer board. The control module controls the movement of the mobile device away from the patient, slowly withdrawing the head support, hip support, and leg support from beneath the patient to complete the patient's transfer. Throughout the entire movement process, the status of the posture-changing transfer robot and the patient's condition are displayed on a monitor for easy observation. When the patient does not need to be transferred, the control module controls the first drive motor, driving the first, second, and third transmission assemblies and transmission gear 46, causing the transfer board to fold together, reducing storage space.

Claims

1. A posture-changing transport robot for transfer scenarios, characterized in that: The mobile device includes a moving device electrically connected to a control module, a first lifting device and a second lifting device installed on the moving device, an upper end of the first lifting device is rotatably connected to a head support device, and an upper end of the second lifting device is rotatably connected to a hip support device and a leg support device; The head support device, the hip support device and the leg support device have the same structure, and all include N transfer plates that are sequentially connected by transmission, N ≥ 3 and N is an integer, the first transfer plate of the head support device is rotatably connected to the first lifting device, and the first transfer plate of the head support device is close to both sides of one end of the first lifting device. A first drive motor is provided; the first transfer plate of the hip support device and the first transfer plate of the leg support device are both rotatably connected to the second lifting device, and the first transfer plate of the hip support device is close to both sides of one end of the second lifting device. A first drive motor is provided, and the first transfer plate of the leg support device is close to both sides of one end of the second lifting device. A transmission mechanism is provided on both sides of all the transfer plates, and the first The output shaft of the drive motor is connected to the transmission mechanism for driving the transfer board to move, thereby controlling the angle between the transfer boards; the first lifting device, the second lifting device and the first drive motor are all electrically connected to the control module; the transmission mechanism includes a first transmission assembly, a second transmission assembly and a third transmission assembly, the first transfer board is provided with a first transmission assembly on both sides, the second transfer board, ..., the N-1th transfer board is provided with a second transmission assembly on both sides, and the Nth transfer board is provided with a third transmission assembly on both sides; the first transmission assembly includes a first transmission rod, a second transmission rod, a third transmission rod and a first gear, the second transmission assembly includes a fourth transmission rod, a fifth transmission rod, a sixth transmission rod, a second gear and a third gear, and the third transmission assembly includes a fourth gear; The output shaft of the first driving motor is fixedly connected to the first end of the first transmission rod, the second end of the first transmission rod is hinged to the first end of the second transmission rod, the second end of the second transmission rod is hinged to the first end of the third transmission rod, the second end of the third transmission rod is fixedly connected to one end of the first gear central shaft, and the other end of the first gear central shaft is fixedly connected to an end of the first transfer plate away from the first lifting device or the second lifting device; the second transfer plate,..., the N-1 transfer plate are respectively fixedly connected to one end of the second gear central shaft and one end of the third gear central shaft, the other end of the second gear central shaft is fixedly connected to the first end of the fourth transmission rod, the second end of the fourth transmission rod is hinged to the first end of the fifth transmission rod, the second end of the fifth transmission rod is hinged to the first end of the sixth transmission rod, and the second end of the sixth transmission rod is fixedly connected to the other end of the third gear central shaft; one end of the N transfer plate close to the N-1 transfer plate is fixedly connected to one end of the fourth gear central shaft; The second gear on the second transfer board and the first gear on the first transfer board are connected via a transmission gear, the third gear on the second transfer board and the second gear on the third transfer board are connected via a transmission gear, and so on, the third gear on the N-2 transfer board and the second gear on the N-1 transfer board are connected via a transmission gear, and the third gear on the N-1 transfer board and the fourth gear on the N transfer board are connected via a transmission gear.

2. The posture-changing transport robot for transfer scenarios according to claim 1 is characterized in that: A film pressure sensor is provided on the upper surface of each transfer board, and the film pressure sensor is electrically connected to the control module.

3. The posture-changing transport robot for transfer scenarios according to claim 1 is characterized in that: Each transfer board is provided with a transfer belt.

4. The posture-changing transport robot for transfer scenarios according to claim 1, characterized in that: The upper end of the first lifting device is rotatably connected to the head support device through the first rotating assembly, the upper end of the second lifting device is rotatably connected to the hip support device through the second rotating assembly, and the upper end of the second lifting device is rotatably connected to the leg support device through the third rotating assembly; the first rotating assembly, the second rotating assembly and the third rotating assembly have the same structure and all include a third mounting plate, the third mounting plate of the first rotating assembly is fixedly mounted on the top end of the first lifting device, the third mounting plates of the second rotating assembly and the third rotating assembly are fixedly mounted on the top end of the second lifting device, and the fifth drive motor and the bearing bracket are mounted on the third mounting plate, the fifth drive motor is electrically connected to the control module, the output shaft of the fifth drive motor is connected to the rotating shaft through a coupling, and the rotating shaft passes through the bearing bracket and is fixedly connected to the rotating disk; a cover for covering the fifth drive motor and the bearing bracket is also mounted on the third mounting plate.

5. The posture-changing transport robot for transfer scenarios according to claim 1 is characterized in that: The movable device is equipped with a translation platform for adjusting the distance between the first lifting device and the second lifting device. The first lifting device is installed on the translation platform. The translation platform includes a platform base, the platform base is installed on the movable device, one end of the platform base is equipped with a motor transmission seat, and the other end of the platform base is equipped with a fixed seat. The second drive motor is installed on the motor transmission seat, the second drive motor is electrically connected to the control module, and the output shaft of the second drive motor is fixedly connected to the first lead screw, and the other end of the first lead screw is rotatably connected to the fixed seat. The first lead screw is provided with a nut seat adapted thereto, and linear guide rails are provided on both sides of the platform base, and a slider is slidably connected to the linear guide rails. A movable plate is installed on the upper surface of the slider and the upper surface of the nut seat, and the upper surface of the movable plate is fixedly connected to the bottom of the first lifting device.

6. The posture-changing transport robot for transfer scenarios according to claim 1, characterized in that: The first lifting device and the second lifting device have the same structure, both include a fixed base plate, a fixed shell and a lifting shell, the fixed shell is fixed on the fixed base plate, the fixed base plate is fixed on the moving device, the lifting shell is sleeved on the fixed shell, a fixed column is installed on the fixed base plate, a first mounting plate is installed on the upper end of the fixed column, a third drive motor is installed on the first mounting plate, the third drive motor is electrically connected to the control module, the output shaft of the third drive motor is connected to the first steering box, one output shaft of the first steering box is connected to the second steering box, the other output shaft of the first steering box is connected to the third steering box, both output shafts of the second steering box and the third steering box are connected to the turbine box through a worm, a second lead screw passes through the turbine box, the top end of the second lead screw is fixed with a flange, and the upper surface of the flange is fixed to the lifting shell.

7. The posture-changing transport robot for transfer scenarios according to claim 1, characterized in that: The mobile device includes a frame, and Mecanum wheels are installed at the four corners of the bottom of the frame. The Mecanum wheels are driven by a fourth drive motor, and the fourth drive motor is electrically connected to the control module.

8. The posture-changing transport robot for transfer scenarios according to claim 1, characterized in that: The mobile device is provided with a body shell for surrounding the first lifting device and the second lifting device. The body shell is provided with a display and an armrest. The display is electrically connected to the control module.

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