Self-service shifting robot

Abstract

The invention relates to the technical field of medical auxiliary instruments, and discloses a self-service shifting robot which comprises a bottom plate, a shell is fixedly connected to the top of the bottom plate, a supporting frame is fixedly connected to one side of the shell, a shifting assembly is installed at the bottom of the supporting frame, and a control box is fixedly installed at the bottom of the supporting frame. The two sides of the bottom plate are each provided with a telescopic adjustable moving assembly, a cushion plate is hinged to the other side of the shell, a through hole is formed in the cushion plate, and an arc-shaped backrest is fixedly connected to the bottom of the outer side face of the cushion plate. According to the self-service shifting robot, through the arrangement of the transmission assembly, the driving assembly, the unfolding assembly and the moving assembly can be synchronously driven, so that when a patient is lifted by the robot, a base plate can be synchronously unfolded and supported, and the moving assembly can be synchronously stretched and unfolded; the stability of the patient getting on and off the robot is improved, the production cost of the robot is reduced, and energy-saving and environment-friendly functions are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, in particular to a self-service transfer robot. Background Art

[0002] Chinese invention patent publication number CN112494247A discloses a self-service transfer robot. This robot uses an electric control module to drive the corresponding mechanism, thus achieving self-service electric operation. Through advanced system design, microcomputer control, and multi-sensor interaction and fusion, disabled patients can control the robot themselves, automatically calling the transfer robot, automatically moving the robot up and down, automatically raising and lowering the seat, and automatically controlling the robot to carry the patient to the desired location, eliminating the need for dedicated care from others. When alone, patients can move freely, greatly facilitating their daily lives, work, entertainment, and travel, improving their quality of life, and reducing or eliminating the need for accompanying caregivers.

[0003] Chinese invention patent publication number CN115607369A discloses a transfer robot. While a patient is on the robot, a caregiver can utilize a power module to more easily move the patient, reducing the physical demands on the caregiver and making it more suitable for home care. Furthermore, the transfer robot of the present invention can be used not only indoors but also outdoors, thanks to its power module, which provides powered walking assistance and resistance safety protection. Furthermore, the power module is a completely independent module; meaning that when the power module is removed, the transfer robot can be used as a non-assisted transfer device.

[0004] In the related art, although the existing transfer robots have the corresponding automatic shifting and automatic seat lifting functions during use, which reduces the accompanying work of nursing staff, in the actual operation process, when patients get on and off the robot, the transfer robots lack the lifting function, so that during the getting on and off process, nursing staff still need to perform auxiliary operations. Moreover, during the auxiliary operation, although the existing robot chassis is heavy, it is still necessary to ensure the stability of the robot to avoid the problem of the robot tipping over during the getting on and off process of patients of different weights. In addition, in order to improve the function of the robot, more electric drive components are required, and multiple drives cannot be effectively combined, thereby increasing the production cost of the robot. Summary of the Invention

[0005] (1) Technical problems solved

[0006] In response to the deficiencies in the prior art, the present invention provides a self-service transfer robot, which can synchronously drive the driving component, the unfolding component and the moving component through the setting of the transmission component. It is not only convenient for the robot to lift the patient, but also can synchronously unfold the pad to support the patient, and can also synchronously retract and unfold the moving component, thereby improving the stability of the patient when getting on and off the robot, and reducing the production cost of the robot. It has energy-saving and environmental protection functions, and solves the problem that the existing transfer robot cannot combine multiple electric drives, thereby increasing the production cost of the robot.

[0007] (2) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a self-service shifting robot comprises a base plate, the top of the base plate is fixedly connected to a shell, one side of the shell is fixedly connected to a support frame, a shifting assembly is installed at the bottom of the support frame, a control box is fixedly installed at the bottom of the support frame, telescopically adjustable moving assemblies are provided on both sides of the base plate, a pad is hinged on the other side of the shell, and a through hole is opened inside the pad, an arc-shaped backrest is fixedly connected to the bottom of the outer side of the pad, and a tool for rotating the pad ninety degrees is provided inside the shell. The unfolding component is a U-shaped frame fixedly connected to the top of the shell, and movable plates are fixedly connected on both sides of the inner wall of the U-shaped frame. Inclined grooves are provided inside the two movable plates, and a pulling component is provided between the two inclined grooves. A U-shaped lifting plate is provided inside the U-shaped frame, and the bottom of the pulling component is slidably connected to the top of the U-shaped lifting plate. A driving component for driving the U-shaped lifting plate up and down is provided inside the shell, and a transmission component for driving the two moving components, the unfolding component and the driving component is provided at the bottom of one side of the shell.

[0009] Preferably, the transmission assembly includes a dual-axis motor fixed to the bottom of one side of the shell through a fixing frame, the two output shafts of the dual-axis motor are fixedly connected to the first rotating shaft and the second rotating shaft respectively, and the outer surface of the first rotating shaft is fixedly connected to the main sprocket.

[0010] Preferably, one end of the second rotating shaft passes through the shell and extends to the interior of the shell, the end of the second rotating shaft extending to the interior of the shell is rotatably connected to the inner wall of the shell, and the outer surface of the second rotating shaft is fixedly connected to the first bevel gear and the rotating gear respectively.

[0011] Preferably, the lifting assembly includes sliding blocks sliding on both sides of the top of the U-shaped lifting plate, the interior of the two sliding blocks are rotatably connected to guide rods, the two guide rods slide inside the two inclined grooves respectively, and a U-shaped lifting rod is fixedly connected between the tops of the two sliding blocks, and a control assembly is fixedly connected to the U-shaped lifting rod through a support rod.

[0012] Preferably, the unfolding assembly includes a lifting plate slidably connected to the inside of the shell, both sides of the top of the lifting plate are rotatably connected to movable shafts through brackets, the other ends of the two movable shafts extend to both sides of the shell respectively, one end of the two movable shafts are rotatably connected to inclined drive frames, the other ends of the two drive frames are hinged to the inner side surface of the pad, the bottom of the lifting plate is fixedly connected to a straight tooth plate meshing with the outer surface of the rotating gear, and the bottom of the straight tooth plate passes through the shell and the bottom plate in sequence and extends to the bottom of the bottom plate.

[0013] Preferably, the driving assembly includes a rotating shaft rotatably connected to the inside of the shell through a bracket, the outer surface of the top end of the rotating shaft is provided with threaded teeth, the top end of the rotating shaft is threadedly connected to a top plate through the threaded teeth, the top of the top plate is fixedly connected to a top block, the top of the top block extends to the inside of the U-shaped frame, the top of the top block is fixed to the bottom of the U-shaped lifting plate, and the bottom end of the rotating shaft is fixedly connected to a second bevel gear meshing with the outer surface of the first bevel gear.

[0014] Preferably, the movable assembly includes a movable frame fixed to one side of the base plate, a movable block is slidably connected to the interior of the movable frame, a telescopic block is fixedly connected to one side of the movable block, one side of the telescopic block extends to the outside of the movable frame, a first universal wheel is installed on one side of the telescopic block, a second universal wheel is installed on the top of the movable frame, and a positioning cover is fixedly connected to the top of the movable frame.

[0015] Preferably, a screw rod is rotatably connected between the two sides of the inner wall of the movable frame, the outer surface of the screw rod is connected to the internal thread of the movable block, one end of the screw rod extends to the outside of the movable frame, and one end of the screw rod is fixedly connected to a slave sprocket, and the main sprocket is connected to the two slave sprockets through a chain belt.

[0016] (3) Beneficial effects

[0017] Compared with the prior art, the present invention provides a self-service transfer robot with the following beneficial effects:

[0018] 1. The present invention is used to drive the U-shaped lifting plate to move up and down through the setting of the driving component. The upward movement of the U-shaped lifting plate can drive the lifting component to move upward, which not only lifts the patient upward, but also pulls the lifted patient to the position of the robot, thereby facilitating the patient's riding. The setting of the unfolding component is used to unfold and drive the pad, and the pad supports the buttocks of the patient after being lifted. The setting of the transmission component can synchronously drive the driving component, the unfolding component and the moving component, which not only facilitates the robot to lift the patient, but also can synchronously unfold and retract the moving component, thereby improving the stability of the patient when getting on and off the robot, and reducing the production cost of the robot. It has energy-saving and environmental protection functions, and can be controlled and used by one person, thereby improving the convenience of operation.

[0019] 2. The present invention can drive the spur plate to move up and down through meshing by the rotation of the rotating gear in the transmission assembly. The upward movement of the spur plate can drive the lifting plate to move upward, and the upward movement of the lifting plate can drive the two driving frames to move in a fan shape. The fan-shaped movement of the two driving frames drives the pad, so that the pad moves in a fan shape of 90 degrees at a hinged position, thereby facilitating the support of the patient's buttocks. It not only reduces the volume of the transfer robot, but also facilitates the automatic expansion and contraction of the patient when using the transfer robot, thereby improving the convenience of operation.

[0020] 3. The present invention can drive the rotation of the slave sprocket in the mobile assembly through the rotation of the main sprocket in the transmission assembly, and the rotation of the slave sprocket can drive the screw to rotate. The rotation of the screw can drive the mobile block to move left and right, and then drive the telescopic block to perform telescopic movement, forming the telescopic expansion of the first universal wheel, thereby increasing the ground contact range of the robot, thereby enhancing stability during use and avoiding the problem of rollover due to the heavy weight of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of the self-service transfer robot proposed in the present invention;

[0022] Figure 2 This is a rear view of the structure of the self-service transfer robot proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the combination of the housing and the lifting assembly of the self-service transfer robot proposed in the present invention;

[0024] Figure 4 This is a schematic structural diagram of the housing of the self-service transfer robot proposed in the present invention;

[0025] Figure 5A cross-sectional side view of the housing of the self-service transfer robot proposed in the present invention;

[0026] Figure 6 This is a schematic diagram of the connection between the deployment component and the transmission component in the self-service transfer robot proposed in the present invention;

[0027] Figure 7 This is a schematic diagram of the combination of two movable plates and a lifting component in the self-service transfer robot proposed in the present invention;

[0028] Figure 8 The self-service transfer robot proposed by the present invention Figure 7 Bottom view of the structure in ;

[0029] Figure 9 This is a schematic structural diagram of the lifting component of the self-service transfer robot proposed in the present invention;

[0030] Figure 10 This is a schematic diagram of the disassembly of the dining component in the self-service transfer robot proposed in the present invention;

[0031] Figure 11 This is a schematic diagram of the combination of two moving components in the self-service transfer robot proposed in the present invention;

[0032] Figure 12 This is a cross-sectional top view of the movable frame in the self-service transfer robot proposed in the present invention.

[0033] In the figure: 1. bottom plate; 2. shell; 3. support frame; 4. shift assembly; 5. control box; 6. moving assembly; 61. movable frame; 62. moving block; 63. telescopic block; 64. first universal wheel; 65. second universal wheel; 66. screw rod; 67. slave sprocket; 7. pad; 8. through hole; 9. curved backrest; 10. unfolding assembly; 101. lifting plate; 102. movable shaft; 103. driving frame; 104. straight tooth plate; 11. U-shaped frame; 12. movable plate; 13. tilting groove; 14. pulling assembly; 141. sliding block ; 142. Guide rod; 143. U-shaped lifting rod; 144. Control assembly; 15. U-shaped lifting plate; 16. Drive assembly; 161. Rotating shaft; 162. Top plate; 163. Top block; 164. Second bevel gear; 17. Transmission assembly; 171. Dual-axis motor; 172. First rotating shaft; 173. Second rotating shaft; 174. Main sprocket; 175. First bevel gear; 176. Rotating gear; 18. Diet assembly; 181. Positioning groove; 182. Pad frame; 183. Metal card; 184. Annular positioning frame. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Example 1:

[0036] Refer to the attached Figure 1-12 , a self-service shift robot includes a base plate 1, a shell 2 is fixedly connected to the top of the base plate 1, a support frame 3 is fixedly connected to one side of the shell 2, a shift component 4 is installed at the bottom of the support frame 3, a control box 5 is fixedly installed at the bottom of the support frame 3, and a retractable movable component 6 is provided on both sides of the base plate 1. A pad 7 is hinged on the other side of the shell 2, and a through hole 8 is opened inside the pad 7. The bottom of the outer side of the pad 7 is fixedly connected with an arc-shaped backrest 9. The inside of the shell 2 is provided with an expansion component 10 for rotating the pad 7 ninety degrees. The top of the shell 2 is fixedly connected to the U The frame 11 has movable plates 12 fixedly connected to both sides of the inner wall of the U-shaped frame 11. Inclined grooves 13 are provided inside the two movable plates 12. A lifting assembly 14 is provided between the two inclined grooves 13. A U-shaped lifting plate 15 is provided inside the U-shaped frame 11. The bottom of the lifting assembly 14 is slidably connected to the top of the U-shaped lifting plate 15. A driving assembly 16 for driving the U-shaped lifting plate 15 up and down is provided inside the shell 2. A transmission assembly 17 for driving the two moving assemblies 6, the unfolding assembly 10 and the driving assembly 16 is provided at the bottom of one side of the shell 2.

[0037] The shifting component 4 adopts the electric-driven shifting mechanism in the prior art to drive the robot to move and perform the patient shifting work;

[0038] The driving assembly 16 is configured to drive the U-shaped lifting plate 15 to move up and down. The upward movement of the U-shaped lifting plate 15 drives the lifting assembly 14 to move upward, thereby not only lifting the patient upward but also pulling the lifted patient to the position of the robot, thereby facilitating the patient's seating.

[0039] The deployment assembly 10 is configured to deploy and drive the pad 7 so as to support the buttocks of the patient after the lifting.

[0040] Through the setting of the transmission component 17, the driving component 16, the unfolding component 10 and the moving component 6 can be driven synchronously, which not only makes it convenient for the robot to lift the patient, but also can synchronously unfold the pad 7 to support it, and can also synchronously telescope and unfold the moving component 6, thereby improving the stability of the patient when getting on and off the robot, and reducing the production cost of the robot, with energy-saving and environmental protection functions.

[0041] Refer to the attached Figure 10 A dining assembly 18 is provided on the top of the U-shaped lifting plate 15. The dining assembly 18 includes a positioning groove 181 opened on the top of the U-shaped lifting plate 15. A cushion frame 182 is provided inside the positioning groove 181. The bottom of the cushion frame 182 is set in a protruding shape, and both sides of the bottom of the cushion frame 182 are fixedly connected with L-shaped metal cards 183. An annular positioning frame 184 is provided inside the cushion frame 182.

[0042] The provision of the dining component 18 facilitates the patients riding on the transfer robot to eat; the provision of the cushion frame 182 facilitates the protection of the dining area to prevent the falling of tableware and food; and the provision of the L-shaped metal card 183 facilitates the locking of the cushion frame 182 in the dining component 18, and has good disassembly and assembly functions, making it convenient for staff to clean the dining area, thereby improving the practicality of the transfer robot.

[0043] Refer to the attached Figure 3-4 and Figure 11 The transmission assembly 17 includes a dual-axis motor 171 fixed to the bottom of one side of the housing 2 through a fixing frame. The two output shafts of the dual-axis motor 171 are respectively fixedly connected to the first rotating shaft 172 and the second rotating shaft 173. The outer surface of the first rotating shaft 172 is fixedly connected to the main sprocket 174.

[0044] The dual-axis motor 171 adopts a dual-axis motor in the prior art, has two output shafts, and is a motor that can rotate forward and reverse, and is used to synchronously drive the first rotating shaft 172 and the second rotating shaft 173 to rotate synchronously. The dual-axis motor 171 adopts the existing connection method and encoding method to connect to the control system in the control box 5;

[0045] The rotation of the first rotating shaft 172 can drive the main chain wheel 174 to rotate, and further drive the two moving components 6 to be telescopically driven, thereby improving the stability of the shift robot when in use.

[0046] Refer to the attached Figure 6 One end of the second rotating shaft 173 passes through the housing 2 and extends into the interior of the housing 2. The end of the second rotating shaft 173 extending into the interior of the housing 2 is rotatably connected to the inner wall of the housing 2. The outer surface of the second rotating shaft 173 is fixedly connected to the first bevel gear 175 and the rotating gear 176 respectively.

[0047] The rotation of the second rotating shaft 173 can drive the first bevel gear 175 and the rotating gear 176 to rotate. The rotation of the first bevel gear 175 can form the driving work of the driving component 16, and the rotation of the rotating gear 176 can drive the unfolding component 10 to expand or contract.

[0048] Refer to the attached Figure 9 The lifting assembly 14 includes sliding blocks 141 sliding on both sides of the top of the U-shaped lifting plate 15. The interiors of the two sliding blocks 141 are rotatably connected to guide rods 142. The two guide rods 142 slide inside the two inclined grooves 13 respectively. A U-shaped lifting rod 143 is fixedly connected between the tops of the two sliding blocks 141. A control assembly 144 is fixedly connected to the U-shaped lifting rod 143 through a support rod.

[0049] When the U-shaped lifting plate 15 is driven up and down by the driving assembly 16, the two sliding blocks 141 in the lifting assembly 14 slide on the top of the U-shaped lifting plate 15, so that the U-shaped lifting plate 15 moves up and down, which can drive the two sliding blocks 141 to move up and down;

[0050] The two sliding blocks 141 slide horizontally on the top of the U-shaped lifting plate 15, and the guide rods 142 on the two sliding blocks 141 slide in the two inclined grooves 13 respectively, so that when the two sliding blocks 141 move up and down, the two sliding blocks 141 will move upward along the inclined tracks of the two inclined grooves 13, thereby driving the U-shaped lifting rod 143 to move upward, which can not only lift the patient from the bed, but also simultaneously drive the lifted patient to the position of the robot, thereby forming a patient and robot usage;

[0051] The setting of the U-shaped lifting rod 143 facilitates the patient's hand grip or arm placement, thereby facilitating the movement of the U-shaped lifting rod 143 to lift the patient; the control component 144 includes a control switch for controlling the transmission component 17, and a drive switch for controlling the displacement component 4.

[0052] Refer to the attached Figure 6 , the unfolding assembly 10 includes a lifting plate 101 slidably connected to the inside of the shell 2, and both sides of the top of the lifting plate 101 are rotatably connected to movable shafts 102 through brackets, and the other ends of the two movable shafts 102 extend to both sides of the shell 2 respectively, and one end of the two movable shafts 102 is rotatably connected to an inclined driving frame 103, and the other ends of the two driving frames 103 are hinged to the inner side of the pad 7, and the bottom of the lifting plate 101 is fixedly connected to a straight tooth plate 104 meshing with the outer surface of the rotating gear 176, and the bottom of the straight tooth plate 104 sequentially passes through the shell 2 and the bottom plate 1 and extends to the bottom of the bottom plate 1;

[0053] Through the rotation of the rotating gear 176 in the transmission assembly 17, the straight-toothed plate 104 can be driven to move up and down through engagement. The upward movement of the straight-toothed plate 104 can drive the lifting plate 101 to move upward, and the upward movement of the lifting plate 101 can drive the two driving frames 103 to move in a fan shape. The fan-shaped movement of the two driving frames 103 drives the pad 7, so that the pad 7 moves in a fan shape of ninety degrees at a hinged position, thereby facilitating the support of the patient's buttocks. This not only reduces the volume of the transfer robot, but also facilitates the automatic expansion and contraction of the patient when using the transfer robot, thereby improving the convenience of operation.

[0054] The working principle of the self-service transfer robot proposed in the present invention is as follows:

[0055] S1. The patient sits on the edge of the bed, places his feet on the top of the two moving assemblies 6, and holds the U-shaped lifting rod 143 with both hands, or directly places his arms on the U-shaped lifting rod 143. The dual-axis motor 171 in the transmission assembly 17 is started. The activation of the dual-axis motor 171 can drive the first rotating shaft 172 and the second rotating shaft 173 to rotate synchronously. The rotation of the first rotating shaft 172 can drive the two moving assemblies 6 through the main chain wheel 174, so that the two moving assemblies 6 are deployed, increasing the robot's footprint.

[0056] S2. By starting the second rotating shaft 173, the first bevel gear 175 and the rotating gear 176 can be driven to rotate synchronously. The rotation of the first bevel gear 175 can drive the driving assembly 16 through engagement, so that the driving assembly 16 drives the U-shaped lifting plate 15 to move upward. When the U-shaped lifting plate 15 moves upward, the two sliding blocks 141 can be driven to move upward. When the two sliding blocks 141 move upward, the two guide rods 142 tilt along the two inclined grooves 13, thereby forming an upward tilt movement of the two sliding blocks 141. The upward tilt movement of the two sliding blocks 141 can drive the upper body of the patient to be tilted and lifted upward through the U-shaped lifting rod 143, which not only makes it easier for the patient assembly to approach the robot, but also makes it easier to lift the patient from the edge of the bed.

[0057] S3. Through the rotation of the rotating gear 176, the straight-toothed plate 104 can be driven to move up and down through engagement. The upward movement of the straight-toothed plate 104 can drive the lifting plate 101 to move upward, and the upward movement of the lifting plate 101 can drive the two driving frames 103 to move in a fan shape. The fan-shaped movement of the two driving frames 103 drives the pad 7, so that the pad 7 moves in a fan shape of ninety degrees at a hinged position, thereby facilitating the support of the patient's buttocks. At this time, the patient can control the robot through the control component 144 on the lifting component 14.

[0058] Example 2: Based on Example 1, the difference is that;

[0059] Refer to the attached Figure 5 The driving assembly 16 includes a rotating shaft 161 rotatably connected to the interior of the housing 2 through a bracket. The outer surface of the top end of the rotating shaft 161 is provided with threaded teeth. The top end of the rotating shaft 161 is threadedly connected to a top plate 162 through the threaded teeth. The top of the top plate 162 is fixedly connected to a top block 163. The top of the top block 163 extends to the interior of the U-shaped frame 11. The top of the top block 163 is fixed to the bottom of the U-shaped lifting plate 15. The bottom end of the rotating shaft 161 is fixedly connected to a second bevel gear 164 that meshes with the outer surface of the first bevel gear 175.

[0060] Through the rotation of the first bevel gear 175, the second bevel gear 164 can be driven to rotate through engagement, and then the rotating shaft 161 can be driven to rotate. Through the rotation of the rotating shaft 161, the top plate 162 can be driven to move up and down. Through the up and down movement of the top plate 162, the top block 163 can be driven to move up and down, forming the up and down driving operation of the U-shaped lifting plate 15, which is convenient for the subsequent driving of the lifting component 14, forming the patient's lifting operation.

[0061] Example 3: Based on Example 1, the difference is that;

[0062] Refer to the attached Figure 11-12 The moving assembly 6 includes a movable frame 61 fixed to one side of the base plate 1, a movable block 62 is slidably connected to the inside of the movable frame 61, a telescopic block 63 is fixedly connected to one side of the movable block 62, one side of the telescopic block 63 extends to the outside of the movable frame 61, a first universal wheel 64 is installed on one side of the telescopic block 63, a second universal wheel 65 is installed on the top of the movable frame 61, and a positioning cover is fixedly connected to the top of the movable frame 61;

[0063] The setting of the moving component 6 not only facilitates the support of the robot, but also ensures its mobility during the support process, and facilitates the robot to be moved through the shifting component 4. The setting of the first universal wheel 64 and the second universal wheel 65 improves its stability during displacement. The setting of the positioning cover allows for positioning of the patient's feet, thereby facilitating the application of force to the patient's feet and improving the convenience of operation.

[0064] A screw rod 66 is rotatably connected between the two sides of the inner wall of the movable frame 61. The outer surface of the screw rod 66 is connected to the inner thread of the movable block 62. One end of the screw rod 66 extends to the outside of the movable frame 61. One end of the screw rod 66 is fixedly connected to a slave sprocket 67. The main sprocket 174 is connected to the two slave sprockets 67 through a chain belt.

[0065] The main sprocket 174 is connected to the two slave sprockets 67 through a chain belt, so that when the main sprocket 174 rotates, the two slave sprockets 67 can be driven to rotate through the chain belt, thereby forming a telescopic drive of the two moving components 6;

[0066] By rotating the chain wheel 67, the screw rod 66 can be driven to rotate, and the rotation of the screw rod 66 can drive the movable block 62 to move left and right, and then drive the telescopic block 63 to perform telescopic movement, forming the telescopic expansion of the first universal wheel 64, thereby increasing the ground contact range of the robot, thereby enhancing the stability during use and avoiding the problem of rollover due to the heavy weight of the patient.

[0067] It should be noted that the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0068] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A self-service shifting robot, comprising a base plate (1), a housing (2) fixedly connected to the top of the base plate (1), a support frame (3) fixedly connected to one side of the housing (2), a shifting assembly (4) mounted on the bottom of the support frame (3), and a control box (5) fixedly mounted on the bottom of the support frame (3), characterized in that: Both sides of the bottom plate (1) are provided with telescopically adjustable moving components (6), the other side of the shell (2) is hinged with a pad (7), and a through hole (8) is provided inside the pad (7), the bottom of the outer side of the pad (7) is fixedly connected with an arc-shaped backrest (9), the inside of the shell (2) is provided with an expansion component (10) for rotating the pad (7) ninety degrees, the top of the shell (2) is fixedly connected with a U-shaped frame (11), and both sides of the inner wall of the U-shaped frame (11) are fixedly connected with movable plates (12), and the insides of the two movable plates (12) are An inclined groove (13) is provided, a lifting assembly (14) is provided between the interiors of the two inclined grooves (13), a U-shaped lifting plate (15) is provided inside the U-shaped frame (11), the bottom of the lifting assembly (14) is slidably connected to the top of the U-shaped lifting plate (15), a driving assembly (16) for driving the U-shaped lifting plate (15) up and down is provided inside the shell (2), and a transmission assembly (17) for driving the two moving assemblies (6), the unfolding assembly (10) and the driving assembly (16) is provided at the bottom of one side of the shell (2).

2. The self-service transfer robot according to claim 1, characterized in that: The transmission assembly (17) comprises a dual-axis motor (171) fixed to the bottom of one side of the housing (2) via a fixing frame, wherein two output shafts of the dual-axis motor (171) are respectively fixedly connected to a first rotating shaft (172) and a second rotating shaft (173), and the outer surface of the first rotating shaft (172) is fixedly connected to a main chain wheel (174).

3. The self-service transfer robot according to claim 2, characterized in that: One end of the second rotating shaft (173) passes through the housing (2) and extends into the interior of the housing (2); the end of the second rotating shaft (173) extending into the interior of the housing (2) is rotatably connected to the inner wall of the housing (2); and the outer surface of the second rotating shaft (173) is fixedly connected to the first bevel gear (175) and the rotating gear (176), respectively.

4. The self-service transfer robot according to claim 1, characterized in that: The lifting assembly (14) includes sliding blocks (141) sliding on both sides of the top of the U-shaped lifting plate (15), the interiors of the two sliding blocks (141) are rotatably connected to guide rods (142), the two guide rods (142) slide inside the two inclined grooves (13) respectively, and a U-shaped lifting rod (143) is fixedly connected between the tops of the two sliding blocks (141), and a control assembly (144) is fixedly connected to the U-shaped lifting rod (143) through a support rod.

5. The self-service transfer robot according to claim 3, characterized in that: The unfolding assembly (10) includes a lifting plate (101) slidably connected to the inside of the shell (2), both sides of the top of the lifting plate (101) are rotatably connected to movable shafts (102) through brackets, the other ends of the two movable shafts (102) respectively extend to both sides of the shell (2), one end of the two movable shafts (102) are rotatably connected to inclined drive frames (103), the other ends of the two drive frames (103) are hinged to the inner side surface of the pad (7), the bottom of the lifting plate (101) is fixedly connected to a straight tooth plate (104) meshing with the outer surface of the rotating gear (176), and the bottom of the straight tooth plate (104) passes through the shell (2) and the bottom plate (1) in sequence and extends to the bottom of the bottom plate (1).

6. The self-service transfer robot according to claim 3, characterized in that: The driving assembly (16) includes a rotating shaft (161) rotatably connected to the interior of the housing (2) through a bracket, the outer surface of the top end of the rotating shaft (161) is provided with threaded teeth, the top end of the rotating shaft (161) is threadedly connected to a top plate (162) through the threaded teeth, the top of the top plate (162) is fixedly connected to a top block (163), the top of the top block (163) extends to the interior of the U-shaped frame (11), the top of the top block (163) is fixed to the bottom of the U-shaped lifting plate (15), and the bottom end of the rotating shaft (161) is fixedly connected to a second bevel gear (164) meshing with the outer surface of the first bevel gear (175).

7. The self-service transfer robot according to claim 2, characterized in that: The movable assembly (6) comprises a movable frame (61) fixed to one side of the base plate (1); a movable block (62) is slidably connected to the interior of the movable frame (61); a telescopic block (63) is fixedly connected to one side of the movable block (62); one side of the telescopic block (63) extends to the outside of the movable frame (61); a first universal wheel (64) is installed on one side of the telescopic block (63); a second universal wheel (65) is installed on the top of the movable frame (61); and a positioning cover is fixedly connected to the top of the movable frame (61).

8. The self-service transfer robot according to claim 7, characterized in that: A screw rod (66) is rotatably connected between the two sides of the inner wall of the movable frame (61), the outer surface of the screw rod (66) is connected to the internal thread of the movable block (62), one end of the screw rod (66) extends to the outside of the movable frame (61), and one end of the screw rod (66) is fixedly connected to a slave sprocket (67), and the main sprocket (174) is transmission-connected to the two slave sprockets (67) through a chain belt.

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