CN111067739B - Folding bedridden patient transfer robot - Google Patents

Abstract

The invention provides a folding bedridden patient carrying robot, which is characterized in that: the rack is provided with a rack, a driving shaft provided with a driving wheel is supported on the lower surface of the rack, the other end of the driving shaft is provided with a universal wheel, chain transmission is arranged between the advancing driving device and the driving shaft, and the lifting driving device is provided with a gear I meshed with the rack; the overturning shaft provided with the speed reducer I is supported on the lifting frame I, two ends of the transmission shaft I are connected with the overturning driving device and the speed reducer I, the transmission shaft II provided with the speed reducer II is supported on the lifting frame I, the speed reducer III is arranged between the transmission shaft II and the telescopic driving device, one end of the supporting arm is sleeved on the connecting shaft, and the other end of the supporting arm is inserted into the speed reducer II; one end of the folding arm is hinged on the connecting shaft, the other end of the folding arm is provided with a bearing plate, one end of the arc-shaped guide rail is fixed on the straight arm, one end of the arc-shaped arm is fixed on the folding arm, the other end of the arc-shaped arm is provided with a folding driving device, and a gear II arranged on the folding driving device is meshed with the inner gear ring. The invention is convenient, reliable, stable and comfortable.

Description

Folding bedridden patient transfer robot

Technical Field

The invention provides a folding bedridden patient carrying robot, belongs to the field of medical equipment and equipment, and is mainly used for carrying bedridden patients.

Background

With the development of society and the continuous increase of the proportion of the population of the aged over 60 years and 65 years, china gradually enters an aging society. With this, the number of bedridden, even long-term bedridden patients is increasing due to various diseases or other causes. Therefore, the nursing work for bedridden patients is becoming important, and the number of people who are in specialized care work is increasing.

The same problem encountered by the personnel engaged in nursing work, whether in hospitals or at home, is the handling of bedridden patients. Especially in hospitals, as patients need to be checked frequently, nursing staff is required to move the patients back and forth among a sickbed, a stretcher and checking equipment during each check, so that the workload and the working difficulty of the nursing staff are increased, and the pain of the patients is increased. Therefore, the Zibo scientific medical instrument limited company invents a lifting type bedridden patient carrying robot (application number: 202010019682.6) which can well finish the carrying work of bedridden patients. However, after the robot grabs and lifts the patient, the patient is always placed on one side of the robot in the transferring process, so that the stability is poor, and even the possibility of tipping is high.

In view of the current situation of the medical instrument industry, there is an urgent need for a bedridden patient handling robot that is convenient and reliable for handling patients and has good stability.

Disclosure of Invention

The invention aims to provide the folding bedridden patient carrying robot which replaces manual carrying of bedridden patients, can overcome the problems of the prior art and equipment, is convenient and reliable, has good stability and does not cause any uncomfortable feeling to the patients.

The technical proposal is as follows: the folding device comprises a chassis, a lifting mechanism, a turnover mechanism and a folding device, wherein the chassis comprises a frame and a travelling device, the frame is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 edge lines and the longest 4 edge lines of a rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove is located on a symmetrical plane perpendicular to the longest ridge of the cuboid box, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge of the cuboid box. Rectangular holes with the length direction perpendicular to the longest ridge line are formed between the middle long groove of the vertical plate of the rectangular box provided with the long groove and the 2 long grooves on the two sides; the inner surface of the vertical plate of the cuboid box provided with the long groove is provided with a rack, the length direction of the rack is vertical to 2 longest edges of the vertical plate, the tooth shape of the rack faces towards the inside of the cuboid box, and the rack is positioned between the 2 longest edges of the vertical plate and deviates from the symmetrical plane of the cuboid box vertical to the longest edges. The inner surface of the vertical plate of the cuboid box provided with the long groove is provided with 3 guide rails parallel to the long groove, 2 guide rails I with L-shaped cross sections on two sides are symmetrically arranged relative to the symmetrical plane of the cuboid box and perpendicular to the longest ridge, the distance from a guide rail II with a rectangular cross section to the symmetrical plane of the cuboid box and perpendicular to the longest ridge is a, the distance from the plane of the guide rail II to the inner surface of the vertical plate is equal to the distance from the plane of the guide rail I to the inner surface of the vertical plate, which is parallel to the plane of the guide rail I, which is not contacted with the vertical plate, to the inner surface of the vertical plate, the distance from the plane of the guide rail I to the inner surface of the vertical plate is equal to 2a, the 2 guide rails I on two sides are positioned between the 2 long grooves on two sides, and the difference between the distance between the 2 long grooves on two sides and the 2 guide rails I on two sides is equal to 2a. The travelling device comprises a driving shaft, a driving wheel, universal wheels, a chain transmission, a travelling driving device and a controller, wherein two ends of the driving shaft, the middle of which passes through an inner hole of a driven part of the chain transmission, are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame, the axis of the driving shaft is parallel to the bottom plate of the cuboid box and is close to a vertical plate which is in a plumb state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft (7) is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the frame is provided with a cuboid opening, the driving part of the chain transmission extends into the cuboid box of the frame, and the two ends of the driving shaft are provided with driving wheels; an output shaft of a traveling driving device arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame is connected with a driving part of chain transmission, and the axis of the output shaft of the traveling driving device is parallel to the shortest ridge line of the cuboid box; the travelling driving device is connected with a controller arranged on the upper surface of a bottom plate of a cuboid box of the frame through a wire, the control panel is arranged on the upper surface of a top plate which is parallel to the ground above the cuboid box of the frame and is close to one side of a vertical plate of the cuboid box which is not provided with a long slot, and the controller is connected with the control panel through a wire; the bottom plate of the cuboid case of frame keeps away from the shortest crest line of drive shaft department, is close to 1 piece other shortest crest line departments of cuboid case and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid case, and the even core line of 2 mounting holes is parallel with the shortest crest line of cuboid case, and the revolving axle of 2 universal wheels inserts in 2 mounting holes of bottom plate by the cuboid case below of frame and the parallel bottom plate lower surface of ground respectively. The lifting mechanism comprises a lifting frame, a gear I and a lifting driving device, wherein the lifting frame comprises a lifting frame I and a lifting frame II, and the lifting frame I and the lifting frame II are both rectangular plane 4-sided frame structures. The distance between the 2 short side frames of the lifting frame I is equal to the distance between the 2 long grooves on the outer side of the cuboid box of the frame, the 2 short side frames of the lifting frame I extend out of 2 connecting rods respectively towards the same direction perpendicular to the rectangular plane of the lifting frame I, the 2 long side frames of the lifting frame I are positioned at the symmetrical plane perpendicular to the long side frames of the lifting frame I, and 1 connecting rod extends out of the 2 short side frames respectively towards the same direction of the connecting rods extending out of the 2 short side frames; the 2 long frames of the lifting frame I are respectively provided with 3 rollers towards the extending direction of the connecting rod, the axes of the rollers are parallel to the rectangular plane of the lifting frame I, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, of the lifting frame I, the distance between the 2 rollers at the two ends is equal to the distance between the 2 guide rails I at the two sides of the cuboid box of the frame, and the distance between the middle roller and the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, is a; the distance between the 2 short side frames of the lifting frame II is equal to the distance between the 2 short side frames of the lifting frame I, 3 rollers are respectively arranged on the 2 long side frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rollers are parallel to the rectangular plane of the lifting frame II, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long side frame, the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame II is equal to the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame I, and the distance from the middle roller to the symmetrical plane of the lifting frame II perpendicular to the long side frame is a; the two sides of the rectangular frame plane of the lifting frame II are respectively provided with 1 seat board I at the position close to the 1 long frame, the seat boards I are perpendicular to the rectangular plane of the lifting frame II and are parallel to the long frame of the lifting frame II, one side of the rectangular frame plane of the lifting frame II, which is provided with rollers, is provided with 1 seat board II at the position close to the seat boards I and the 1 long frame, and one end of the seat board II, which is far away from the lifting frame II, is obliquely arranged towards the other 1 long frame direction of the lifting frame II and towards the direction far away from the rectangular frame plane of the lifting frame II; one side of the rectangular frame plane of the lifting frame I, which is provided with the idler wheels, is provided with 1 seat board III at the position of the same 1 long frame close to the seat board I, and one end of the seat board III, which is far away from the long frame of the lifting frame I, is obliquely arranged towards the other 1 long frame direction of the lifting frame I and towards the direction far away from the rectangular frame plane of the lifting frame I; the long frame and the 6 connecting rods extending out of the short frame of the lifting frame I are inserted into the cuboid box from the outside of the cuboid box of the frame through 3 long grooves on the cuboid box, the 2 connecting rods on the same 1 short frame of the lifting frame I pass through 1 long groove on the same side of the cuboid box, the connecting rods on the 2 long frames of the lifting frame I pass through 1 long groove in the middle of the cuboid box, and the direction of the offset of the idler wheels in the middle of the 2 long frames of the lifting frame I relative to the symmetry plane of the lifting frame I, which is perpendicular to the long frames, is the same as the direction of the offset of the guide rail II relative to the symmetry plane of the cuboid box, which is perpendicular to the longest edge line; the end of 6 connecting rods inserted into the cuboid box is provided with 1 lifting frame II, the rectangular plate surface of the lifting frame II after installation is parallel to the rectangular plate surface of the lifting frame I, the idler wheels on the lifting frame II face the direction of the lifting frame I, and the long frame provided with the seat board I on the lifting frame II is located below the other 1 long frame of the lifting frame II. The output shaft of the lifting driving device arranged on the seat board I is provided with a gear I, the gear I is meshed with a rack arranged on the cuboid box, and the lifting driving device is connected with a controller arranged on the upper surface of the cuboid box bottom plate of the frame through a wire. The turnover mechanism comprises a turnover shaft, a straight arm, a supporting arm, a speed reducer I, a turnover driving device, a connecting shaft, a transmission shaft I, a transmission shaft II, a speed reducer III and a telescopic driving device, the middle part and two ends of the turnover shaft are supported above the lifting frame I, and the axis of the turnover shaft is parallel to the long frame of the lifting frame I; the driven end of the speed reducer I is arranged on the turnover shaft, the turnover driving device is arranged on the seat board II of the lifting mechanism, and the axis of the output shaft of the turnover driving device faces obliquely upwards and is vertical to the long frame of the lifting frame II; one end of the transmission shaft I is connected with an output shaft of the overturning driving device, and the other end of the transmission shaft I penetrates through a rectangular hole in a cuboid box of the frame and extends out of the cuboid box to be connected with a driving part of the speed reducer I; the middle part and the both ends of the transmission shaft II that length is greater than the long frame length of crane I support respectively in the long frame department that is close to crane I below of crane I, and keep away from one side of gyro wheel, and the initiative part of 2 reduction gears II is fixed respectively at transmission shaft II both ends, and transmission shaft II's axis is parallel with the long frame of crane I. One end of the 3 straight arms is respectively fixed at the middle part and two ends of the turnover shaft, the other end of the 3 straight arms is respectively fixed at the middle part and two ends of the connecting shaft with the length longer than the length of the long frame of the lifting frame I, and the 3 straight arms, the turnover shaft and the connecting shaft are positioned in the same plane; one end of the 2 supporting arms are respectively sleeved at two ends of the connecting shaft, external threads are arranged at the other end of the supporting arms, and one ends of the 2 supporting arms provided with the external threads are respectively inserted into threaded holes of driven parts of the 2 reducers II; the driven end of the speed reducer III is arranged on the transmission shaft II, the telescopic driving device is arranged on the seat board III of the lifting mechanism, the axis of the output shaft of the telescopic driving device faces obliquely downwards and is perpendicular to the long frame of the lifting frame I, the output shaft of the telescopic driving device is connected with the driving part of the speed reducer III, and the telescopic driving device is connected with a controller arranged on the upper surface of the cuboid box bottom plate of the frame through a wire. The folding device comprises folding arms, supporting plates, arc-shaped guide rails, arc-shaped arms and a folding driving device, one ends of the 3 folding arms are respectively hinged to the middle part and the two ends of the connecting shaft, the middle part and the two ends of the supporting plates in the shape of rectangular flat plates are respectively fixed on the 3 folding arms, and the long sides of the supporting plates are parallel to the axis of the connecting shaft; the arc guide rail is in a circular arc shape larger than a semicircle, the section of the arc guide rail is in a hollow rectangular shape, the inner surface of the hollow rectangular section with a larger radius is provided with an annular gear, one end of each of the 2 arc guide rails is respectively fixed at the middle parts of the 2 straight arms positioned at the two ends of the turning shaft, the circle centers of the 2 arc guide rails are all positioned on the axis of the connecting shaft, when the connecting shaft is positioned at one side far away from the frame, the arc guide rail is positioned above the straight arms, reinforcing ribs which are radially arranged are arranged between the 2 arc guide rails and the connecting shaft, and the planes of the arc guide rails and the reinforcing ribs at the same side are perpendicular to the axis of the connecting shaft; the arc-shaped arm is in a semicircular arc shape, the cross section of the arc-shaped arm is in a rectangular shape, and the radius of the centroid of the rectangular cross section of the arc-shaped arm is equal to the radius of the centroid of the hollow rectangular cross section of the arc-shaped guide rail; one end of each of the 2 arc-shaped arms is respectively fixed in the middle of the 2 folding arms positioned at the two ends of the connecting shaft, the arc-shaped arms are positioned above the folding arms, the arc-shaped arms penetrate into the hollow rectangle of the arc-shaped guide rail, the circle centers of the 2 arc-shaped arms are all positioned on the axis of the connecting shaft, and the plane of the whole arc section of each arc-shaped arm is vertical to the axis of the connecting shaft; the 2 folding driving devices with the gears II arranged on the output shafts are arranged at the end parts of the arc-shaped arms far away from the folding arms through the seat boards IV, the axes of the output shafts of the folding driving devices are parallel to the axes of the connecting shafts, the gears II arranged on the output shafts of the folding driving devices are meshed with the inner gear rings arranged on the inner surfaces of the hollow rectangles of the arc-shaped guide rails, and the folding driving devices are connected with the controllers arranged on the upper surfaces of the cuboid box bottom plates of the racks through wires.

On the basis of the prior art, the frame of the chassis is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove is located on a symmetrical plane perpendicular to the longest ridge of the cuboid box, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge of the cuboid box. Rectangular holes are formed between the middle long groove of the vertical plate of the cuboid box provided with the long groove and the 2 long grooves on two sides, and the length direction of each rectangular hole is perpendicular to the longest ridge; the inner surface of the vertical plate of the cuboid box provided with the long groove is provided with a rack, the length direction of the rack is vertical to 2 longest edges of the vertical plate, the tooth shape of the rack faces towards the inside of the cuboid box, and the rack deviates from the symmetrical plane of the cuboid box which is vertical to the longest edges. The inner surface of the vertical plate of the cuboid box provided with the long groove is provided with 3 guide rails parallel to the long groove, 2 guide rails I with L-shaped cross sections on two sides are symmetrically arranged relative to the symmetrical plane of the cuboid box and perpendicular to the longest ridge, the distance from a guide rail II with a rectangular cross section to the symmetrical plane of the cuboid box and perpendicular to the longest ridge is a, the distance from the plane of the guide rail II to the inner surface of the vertical plate is equal to the distance from the plane of the guide rail I to the inner surface of the vertical plate, which is parallel to the plane of the guide rail I, which is not contacted with the vertical plate, to the inner surface of the vertical plate, the distance from the plane of the guide rail I to the inner surface of the vertical plate is equal to 2a, the 2 guide rails I on two sides are positioned between the 2 long grooves on two sides, and the difference between the distance between the 2 long grooves on two sides and the 2 guide rails I on two sides is equal to 2a. The middle part of a driving shaft of the travelling device passes through an inner hole of a driven part of the chain transmission, two ends of the driving shaft are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame, and are close to a vertical plate which is in a vertical state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the machine frame is provided with a cuboid opening corresponding to the chain transmission position on the driving shaft, the driving part of the chain transmission extends into the cuboid box of the machine frame, and the driving wheels are arranged at two ends of the driving shaft; an output shaft of a traveling driving device arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame is connected with a driving part of chain transmission, and the axis of the output shaft of the traveling driving device is parallel to the shortest ridge line of the cuboid box; the controller is arranged on the upper surface of a bottom plate of a cuboid box of the frame, the travelling driving device is connected with the controller through a wire, the control panel is arranged on the upper surface of a top plate which is parallel to the ground above the cuboid box of the frame and is close to one side of a vertical plate of the cuboid box which is not provided with a long groove, and the controller is connected with the control panel through a wire; the bottom plate of the cuboid case of frame keeps away from the shortest crest line of drive shaft department, is close to 1 piece other shortest crest line departments of cuboid case and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid case, and the even core line of 2 mounting holes is parallel with the shortest crest line of cuboid case, and the revolving axle of 2 universal wheels inserts in 2 mounting holes of bottom plate by the cuboid case below of frame and the parallel bottom plate lower surface of ground respectively. Lifting frame I and lifting frame II of elevating system are rectangle plane 4 limit shape frame construction. The distance between the 2 short side frames of the lifting frame I is equal to the distance between the 2 long grooves on the outer side of the cuboid box of the frame 1, the 2 short side frames of the lifting frame I respectively extend out of 2 connecting rods towards the same direction perpendicular to the rectangular plane of the lifting frame I, the 2 long side frames of the lifting frame I are positioned at the symmetrical plane perpendicular to the long side frames of the lifting frame I, and the directions of the connecting rods extending out towards the 2 short side frames respectively extend out of 1 connecting rod; the 2 long frames of the lifting frame I are respectively provided with 3 rollers towards the extending direction of the connecting rod, the axes of the rollers are parallel to the rectangular plane of the lifting frame I, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, of the lifting frame I, the distance between the 2 rollers at the two ends is equal to the distance between the 2 guide rails I at the two sides of the cuboid box of the frame, and the distance between the middle roller and the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, is a; the distance between the 2 short side frames of the lifting frame II is equal to the distance between the 2 short side frames of the lifting frame I, 3 rollers are respectively arranged on the 2 long side frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rollers are parallel to the rectangular plane of the lifting frame II, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long side frame, the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame II is equal to the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame I, and the distance from the middle roller to the symmetrical plane of the lifting frame II perpendicular to the long side frame is a; the two sides of the rectangular frame plane of the lifting frame II are respectively provided with 1 seat board I at the position close to the 1 long frame, the seat boards I are perpendicular to the rectangular plane of the lifting frame II and are parallel to the long frame of the lifting frame II, one side of the rectangular frame plane of the lifting frame II, which is provided with rollers, is provided with 1 seat board II at the position close to the seat boards I and the 1 long frame, and one end of the seat board II, which is far away from the lifting frame II, is obliquely arranged towards the other 1 long frame direction of the lifting frame II and towards the direction far away from the rectangular frame plane of the lifting frame II; one side of the rectangular frame plane of the lifting frame I, which is provided with the idler wheels, is provided with 1 seat board III at the position of the same 1 long frame close to the seat board I, and one end of the seat board III, which is far away from the long frame of the lifting frame I, is obliquely arranged towards the other 1 long frame direction of the lifting frame I and towards the direction far away from the rectangular frame plane of the lifting frame I; the long frame and the 6 connecting rods extending out of the short frame of the lifting frame I are inserted into the cuboid box from the outside of the cuboid box of the frame 1 through 3 long grooves on the cuboid box, the 2 connecting rods on the same 1 short frame of the lifting frame I pass through 1 long groove on the same side of the cuboid box, the connecting rods on the 2 long frames of the lifting frame I pass through 1 long groove in the middle of the cuboid box, and the direction of the offset of the idler wheels in the middle of the 2 long frames of the lifting frame I relative to the symmetry plane of the lifting frame I perpendicular to the long frames is the same as the direction of the offset of the guide rail II relative to the symmetry plane of the cuboid box perpendicular to the longest edge line; the end of 6 connecting rods inserted into the cuboid box is provided with 1 lifting frame II, the rectangular plate surface of the lifting frame II after installation is parallel to the rectangular plate surface of the lifting frame I, the idler wheels on the lifting frame II face the direction of the lifting frame I, and the long frame provided with the seat board I on the lifting frame II is located below the other 1 long frame of the lifting frame II. The lifting driving device is arranged on the seat board I, a gear I is arranged on an output shaft of the lifting driving device, the gear I is meshed with a rack arranged on the cuboid box, and the lifting driving device is connected with a controller arranged on the upper surface of the cuboid box bottom plate of the frame 1 through a wire. The middle part and two ends of a turnover shaft of the turnover mechanism are supported above the lifting frame I, and the axis of the turnover shaft is parallel to the long frame of the lifting frame I; the driven end of the speed reducer I is arranged on the turnover shaft, the turnover driving device is arranged on the seat board II of the lifting mechanism, and the axis of the output shaft of the turnover driving device faces obliquely upwards and is vertical to the long frame of the lifting frame II; one end of the transmission shaft I is connected with an output shaft of the overturning driving device, and the other end of the transmission shaft I penetrates through a rectangular hole in a cuboid box of the frame and extends out of the cuboid box to be connected with a driving part of the speed reducer I; the length of the transmission shaft II is greater than the length of the long frame of the lifting frame I, the middle part and the two ends of the transmission shaft II are respectively supported at one side of the lifting frame I, which is close to the long frame below the lifting frame I, and is far away from the roller, the driving part of the 2-piece speed reducer II is respectively fixed at the two ends of the transmission shaft II, and the axis of the transmission shaft II is parallel to the long frame of the lifting frame I. One end of the 3 straight arms is respectively fixed at the middle part and two ends of the turning shaft, the length of the connecting shaft is longer than the length of the long frame of the lifting frame I, the other end of the 3 straight arms is respectively fixed at the middle part and two ends of the connecting shaft, and the 3 straight arms, the turning shaft and the connecting shaft are positioned in the same plane; one end of the 2 supporting arms are respectively sleeved at two ends of the connecting shaft, external threads are arranged at the other end of the supporting arms, and one ends of the 2 supporting arms provided with the external threads are respectively inserted into threaded holes of driven parts of the 2 reducers II; the driven end of the speed reducer III is arranged on the transmission shaft II, the telescopic driving device is arranged on the seat board III of the lifting mechanism, the axis of the output shaft of the telescopic driving device faces obliquely downwards and is perpendicular to the long frame of the lifting frame I, the output shaft of the telescopic driving device is connected with the driving part of the speed reducer III, and the telescopic driving device is connected with a controller arranged on the upper surface of the cuboid box bottom plate of the frame through a wire. One end of the 3 folding arms of the folding device are respectively hinged at the middle part and the two ends of the connecting shaft, the middle part and the two ends of the supporting plate in a rectangular flat plate shape are respectively fixed on the 3 folding arms, and the long side of the supporting plate is parallel to the axis of the connecting shaft; the arc guide rail is in a circular arc shape larger than a semicircle, the section of the arc guide rail is in a hollow rectangular shape, the inner surface of the hollow rectangular section with a larger radius is provided with an annular gear, one end of each of the 2 arc guide rails is respectively fixed at the middle parts of the 2 straight arms positioned at the two ends of the turning shaft, the circle centers of the 2 arc guide rails are all positioned on the axis of the connecting shaft, when the connecting shaft is positioned at one side far away from the frame, the arc guide rail is positioned above the straight arms, reinforcing ribs which are radially arranged are arranged between the 2 arc guide rails and the connecting shaft, and the planes of the arc guide rails and the reinforcing ribs at the same side are perpendicular to the axis of the connecting shaft; the arc-shaped arm is in a semicircular arc shape, the cross section of the arc-shaped arm is in a rectangular shape, and the radius of the centroid of the rectangular cross section of the arc-shaped arm is equal to the radius of the centroid of the hollow rectangular cross section of the arc-shaped guide rail; one end of each of the 2 arc-shaped arms is respectively fixed in the middle of the 2 folding arms positioned at the two ends of the connecting shaft, the arc-shaped arms are positioned above the folding arms, the arc-shaped arms penetrate into the hollow rectangle of the arc-shaped guide rail, the circle centers of the 2 arc-shaped arms are all positioned on the axis of the connecting shaft, and the plane of the whole arc section of each arc-shaped arm is vertical to the axis of the connecting shaft; the output shaft of the folding driving device is provided with a gear II, 2 folding driving devices are arranged at the end part of the arc-shaped arm far away from the folding arm through a seat board IV, the axis of the output shaft of the folding driving device is parallel to the axis of the connecting shaft, the gear II arranged on the output shaft of the folding driving device is meshed with an inner gear ring arranged on the inner surface of a hollow rectangle of the arc-shaped guide rail, and the folding driving device is connected with a controller arranged on the upper surface of a cuboid box bottom plate of the frame through a wire.

The working principle is as follows: firstly, the robot runs to the bedside of a patient, and the patient is turned over towards the direction away from the robot; the turnover mechanism and the folding device of the robot descend, and when the supporting plate of the folding device falls to the position for grabbing a patient, namely the supporting plate contacts the bed surface of the patient, the side-turned patient is turned back to a horizontal state and is horizontally laid on the supporting plate, so that the action of grabbing the patient is completed. Secondly, when the lifting mechanism enables the turnover mechanism and the folding device to ascend to one side above the chassis of the robot, the turnover mechanism and the folding device rotate around a turnover shaft of the turnover mechanism and face to the upper side of the chassis of the robot, and then the turnover action is completed; in the whole overturning process, the whole folding device including the bearing plate always keeps a horizontal state. And when the supporting plate is completely turned over to the upper part of the chassis, the traveling device of the robot can drive the robot to run, so that the patient is transported to a destination to be checked and the like, and the transportation action is completed.

Finally, when the robot arrives at the destination, one side of the robot, which is close to the inspection equipment, is provided with a turnover mechanism and a folding device, and the turnover mechanism rotates around a turnover shaft of the turnover mechanism and is far away from a chassis of the robot; when the straight arm of the turnover mechanism is in a horizontal state, the turnover mechanism and the folding device are lowered; when the bearing plate of the folding device contacts the bed surface, the patient is turned over towards the direction away from the robot; the turnover mechanism and the folding device of the robot are lifted and separated, and after the patient turns back to the lying state, the examination can be started.

After the inspection is finished, the process is repeated.

Compared with the prior art, the invention replaces manual operation to carry bedridden patients, greatly reduces the workload and the working difficulty of nursing staff, and can reduce the number of nursing staff to a certain extent; the invention does not cause any uncomfortable feeling to the patient when the patient is carried. Compared with the prior art, the invention has the advantages that the turnover mechanism and the folding device are additionally arranged, so that a patient can walk after being placed above the chassis of the robot, the robot is prevented from being turned over, and the invention is safe, reliable and good in stability.

Drawings

FIG. 1 is an isometric view of an embodiment of the present invention transferring a patient, i.e., a carrier plate, above a chassis;

FIG. 2 is an isometric view of the embodiment of the invention shown in FIG. 1 with the patient being transported, i.e., the carrier plate, above the chassis and the hidden frame adjacent one side riser and the left side riser of the crane;

FIG. 3 is an isometric view of the embodiment of the invention shown in FIG. 1 prior to inversion, i.e., when the inversion mechanism and folding device are raised to the highest point;

FIG. 4 is an isometric view of the embodiment of the invention shown in FIG. 1 capturing a patient, i.e., with the support plate above the patient's couch top;

FIG. 5 is an isometric view of the travel drive arrangement of the embodiment of FIG. 1 of the present invention;

FIG. 6 is an isometric view of the lift drive, flip drive and telescoping drive arrangement of the embodiment of FIG. 1 of the present invention;

fig. 7 is an isometric view of the folding drive arrangement of the embodiment of the present invention shown in fig. 1.

Detailed Description

1. The device comprises a frame 2, a long groove 3, a rectangular hole 4, a rack 5, a guide rail I6, a guide rail II 7, a driving shaft 8, a driving wheel 9, a universal wheel 10, a chain transmission 11, a travelling driving device 12, a controller 13, a control panel 14, a gear I15, a lifting driving device 16, a lifting frame I17, a lifting frame II 18, a connecting rod 19, a roller 20, a seat board I21, a seat board II 22, a seat board III 23, a turnover shaft 24, a straight arm 25, a supporting arm 26, a speed reducer I27, a turnover driving device 28, a connecting shaft 29, a transmission shaft I30, a transmission shaft II 31, a speed reducer II 32, a speed reducer III 33, a telescopic driving device 34, a folding arm 35, a bearing board 36, an arc-shaped guide rail 37, an arc-shaped arm 38, a folding driving device 39, an annular gear 40, a reinforcing rib 41, a gear II 42 and a seat board IV.

In the embodiment shown in fig. 1-7: the frame 1 of the chassis is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves 2 perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove 2 is located on a symmetrical plane perpendicular to the longest ridge of the cuboid box, and the other 2 long grooves 2 are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge of the cuboid box. A rectangular hole 3 is arranged between the middle long groove 2 of the vertical plate of the cuboid box provided with the long groove 2 and the 2 long grooves 2 on two sides, and the length direction of the rectangular hole 3 is perpendicular to the longest ridge line; the inner surface of the vertical plate of the cuboid box provided with the long groove 2 is provided with a rack 4, the length direction of the rack 4 is vertical to 2 longest edges of the vertical plate, the tooth shape of the rack 4 faces towards the inside of the cuboid box, and the rack 4 deviates from the symmetrical plane of the cuboid box vertical to the longest edges. The inner surface of the vertical plate of the cuboid box provided with the long groove 2 is provided with 3 guide rails parallel to the long groove 2, the 2 guide rails I5 with L-shaped cross sections at two sides are symmetrically arranged relative to the symmetrical plane of the cuboid box and perpendicular to the longest ridge, the distance from the guide rail II 6 with the rectangular cross section to the symmetrical plane of the cuboid box and perpendicular to the longest ridge is a, the distance from the plane of the guide rail II 6 to the inner surface of the vertical plate is equal to the distance from the plane of the guide rail I5 to the inner surface of the vertical plate, which is parallel to the plane of the guide rail I5 and is not contacted with the vertical plate, the 2 guide rails I5 at two sides are positioned between the 2 long grooves 2 at two sides, and the difference between the distance between the 2 long grooves 2 at two sides and the distance between the 2 guide rails I5 at two sides is equal to 2a. The middle part of a driving shaft 7 of the travelling device passes through the inner hole of a driven part of the chain transmission 10, two ends of the driving shaft 7 are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame 1, and are close to a vertical plate which is in a vertical state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft 7 is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the machine frame 1 is provided with a cuboid opening corresponding to the chain transmission 10 on the driving shaft 7, the driving part of the chain transmission 10 extends into the cuboid box of the machine frame 1, and driving wheels 8 are arranged at two ends of the driving shaft 7; an output shaft of a traveling driving device 11 arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame 1 is connected with an active part of the chain transmission 10, and an axis of the output shaft of the traveling driving device 11 is parallel to the shortest ridge line of the cuboid box; the controller 12 is arranged on the upper surface of a bottom plate of the cuboid box of the frame 1, the travelling driving device 11 is connected with the controller 12 through a wire, the control panel 13 is arranged on the upper surface of a top plate parallel to the ground above the cuboid box of the frame 1 and is close to one side of a vertical plate of the cuboid box without the long groove 2, and the controller 12 is connected with the control panel 13 through a wire; the bottom plate of the cuboid box of frame 1 keeps away from the shortest crest line of drive shaft 7 department, is close to the other 1 shortest crest line departments of cuboid box and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid box, and the even heart line of 2 mounting holes is parallel with the shortest crest line of cuboid box, and 2 universal wheel 9's swivel axis inserts in the 2 mounting holes of bottom plate by the cuboid box below of frame 1 and the parallel bottom plate lower surface of ground respectively. The lifting frame I16 and the lifting frame II 17 of the lifting mechanism are both rectangular plane 4-sided frame structures. The distance between the 2 short side frames of the lifting frame I16 is equal to the distance between the 2 long slots 2 on the outer side of the cuboid box of the frame 1, the 2 short side frames of the lifting frame I16 respectively extend out of 2 connecting rods 18 towards the same direction perpendicular to the rectangular plane of the lifting frame I16, the 2 long side frames of the lifting frame I16 are positioned at the symmetrical plane perpendicular to the long side frames of the lifting frame I16, and 1 connecting rod 18 respectively extends out towards the same direction of the connecting rods 18 extending out of the 2 short side frames; 3 rollers 19 are respectively arranged in the extending direction of the 2 long frames of the lifting frame I16 towards the connecting rod 18, the axes of the rollers 19 are parallel to the rectangular plane of the lifting frame I16, the axes of the rollers 19 are positioned in the same plane, the 2 rollers 19 at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I16 which is perpendicular to the long frames, the distance between the 2 rollers 19 at the two ends is equal to the distance between the 2 guide rails I5 at the two sides of the cuboid box of the frame 1, and the distance between the middle roller 19 and the symmetrical plane of the lifting frame I16 which is perpendicular to the long frames is a; the distance between the 2 short side frames of the lifting frame II 17 is equal to the distance between the 2 short side frames of the lifting frame I16, 3 rollers 19 are respectively arranged on the 2 long side frames of the lifting frame II 17 in the same direction perpendicular to the rectangular plane of the lifting frame II 17, the axes of the rollers 19 are parallel to the rectangular plane of the lifting frame II 17, the axes of the rollers 19 are positioned in the same plane, the 2 rollers 19 at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II 17 perpendicular to the long side frame, the distance between the 2 rollers 19 at the two ends of the same long side frame of the lifting frame II 17 is equal to the distance between the 2 rollers 19 at the two ends of the same long side frame of the lifting frame I16, and the distance between the middle roller 19 and the symmetrical plane of the lifting frame II 17 perpendicular to the long side frame is a; the two sides of the rectangular frame plane of the lifting frame II 17 are respectively provided with 1 seat board I20 at the positions close to 1 long frame, the seat boards I20 are perpendicular to the rectangular plane of the lifting frame II 17 and are parallel to the long frame of the lifting frame II 17, one side of the rectangular frame plane of the lifting frame II 17 provided with the idler wheels 19 is provided with 1 seat board II 21 at the positions close to the seat boards I20 and 1 long frame, and one end of the seat board II 21, far from the long frame of the lifting frame II 17, is arranged obliquely towards the other 1 long frame direction of the lifting frame II 17 and towards the direction far from the rectangular frame plane of the lifting frame II 17; one side of the rectangular frame plane of the lifting frame I16, which is provided with the roller 19, is provided with 1 seat board III 22 at the position of the same 1 long frame close to the seat board I20, and one end of the seat board III 22, which is far away from the long frame of the lifting frame I16, is obliquely arranged towards the other 1 long frame direction of the lifting frame I16 and towards the direction far away from the rectangular frame plane of the lifting frame I16; the long frame and the 6 connecting rods 18 extending out of the short frame of the lifting frame I16 are inserted into the cuboid box from the outside of the cuboid box of the frame 1 through 3 long slots 2 on the cuboid box, 2 connecting rods 18 on the same 1 short frame of the lifting frame I16 are inserted into 1 long slot 2 on the same side of the cuboid box, the connecting rods 18 on the 2 long frames of the lifting frame I16 are inserted into 1 long slot 2 in the middle of the cuboid box, and the directions of the rollers 19 in the middle of the 2 long frames of the lifting frame I16 and the directions of the guide rails II 6 and the symmetry planes of the cuboid box and the longest edges are the same; the tail end of the 6 connecting rods 18 inserted into the cuboid box is provided with 1 lifting frame II 17, the rectangular plate surface of the lifting frame II 17 after installation is parallel to the rectangular plate surface of the lifting frame I16, the roller 19 on the lifting frame II 17 faces the direction of the lifting frame I16, and the long frame provided with the seat board I20 on the lifting frame II 17 is located below the other 1 long frame of the lifting frame II 17. The lifting driving device 15 is arranged on the seat board I20, a gear I14 is arranged on an output shaft of the lifting driving device 15, the gear I14 is meshed with the rack 4 arranged on the cuboid box, and the lifting driving device 15 is connected with the controller 12 arranged on the upper surface of the bottom plate of the cuboid box of the frame 1 through a wire. The middle part and two ends of a turnover shaft 23 of the turnover mechanism are supported above the lifting frame I16, and the axis of the turnover shaft 23 is parallel to the long frame of the lifting frame I16; the driven end of the speed reducer I26 is arranged on the turnover shaft 23, the turnover driving device 27 is arranged on the seat board II 21 of the lifting mechanism, and the axis of the output shaft of the turnover driving device 27 faces obliquely upwards and is vertical to the long frame of the lifting frame II 17; one end of a transmission shaft I29 is connected with an output shaft of the overturning driving device 27, and the other end of the transmission shaft I29 penetrates through a rectangular hole 3 in a rectangular box of the frame 1 and extends out of the rectangular box to be connected with a driving part of the speed reducer I26; the length of the transmission shaft II 30 is greater than that of the long frame of the lifting frame I16, the middle part and the two ends of the transmission shaft II 30 are respectively supported at one side of the lifting frame I16, which is close to the long frame below the lifting frame I16 and is far away from the roller 19, the driving parts of the 2-piece speed reducers II 31 are respectively fixed at the two ends of the transmission shaft II 30, and the axis of the transmission shaft II 30 is parallel to the long frame of the lifting frame I16. One end of the 3 straight arms 24 is respectively fixed at the middle part and two ends of the turnover shaft 23, the length of the connecting shaft 28 is longer than the length of the long frame of the lifting frame I16, the other end of the 3 straight arms 24 is respectively fixed at the middle part and two ends of the connecting shaft 28, and the 3 straight arms 24, the turnover shaft 23 and the connecting shaft 28 are positioned in the same plane; one end of the 2 supporting arms 25 is respectively sleeved at two ends of the connecting shaft 28, external threads are arranged at the other end of the supporting arms 25, and one ends of the 2 supporting arms 25 with the external threads are respectively inserted into threaded holes of driven parts of the 2 reducers II 31; the driven end of the speed reducer III 32 is arranged on the transmission shaft II 30, the telescopic driving device 33 is arranged on the seat board III 22 of the lifting mechanism, the axis of the output shaft of the telescopic driving device 33 faces obliquely downwards and is vertical to the long frame of the lifting frame I16, the output shaft of the telescopic driving device 33 is connected with the driving part of the speed reducer III 32, and the telescopic driving device 33 is connected with the controller 12 arranged on the upper surface of the cuboid box bottom plate of the frame 1 through a wire. One end of the 3 folding arms 34 of the folding device is respectively hinged at the middle part and two ends of the connecting shaft 28, the middle part and two ends of the supporting plate 35 in a rectangular flat plate shape are respectively fixed on the 3 folding arms 34, and the long side of the supporting plate 35 is parallel to the axis of the connecting shaft 28; the arc-shaped guide rail 36 is in a circular arc shape larger than a semicircle, the section of the arc-shaped guide rail 36 is in a hollow rectangular shape, one end of each arc-shaped guide rail 36 with an annular gear 39,2 arranged on the inner surface of the hollow rectangular section with a larger radius is respectively fixed in the middle of each 2 straight arms 24 positioned at the two ends of the turning shaft 23, the circle centers of the 2 arc-shaped guide rails 36 are all positioned on the axis of the connecting shaft 28, when the connecting shaft 28 is positioned at one side far away from the frame 1, the arc-shaped guide rail 36 is positioned above the straight arms 24, reinforcing ribs 40 which are radially arranged are arranged between the 2 arc-shaped guide rails 36 and the connecting shaft 28, and the planes of the arc-shaped guide rails 36 and the reinforcing ribs 40 at the same side are perpendicular to the axis of the connecting shaft 28; the arc-shaped arm 37 is in a semicircular arc shape, the cross section of the arc-shaped arm 37 is in a rectangular shape, and the radius of the centroid of the rectangular cross section of the arc-shaped arm 37 is equal to the radius of the centroid of the hollow rectangular cross section of the arc-shaped guide rail 36; one end of each of the 2 arc-shaped arms 37 is fixed in the middle of each of the 2 folding arms 34 positioned at the two ends of the connecting shaft 28, the arc-shaped arms 37 are positioned above the folding arms 34, the arc-shaped arms 37 penetrate into the hollow rectangle of the arc-shaped guide rail 36, the circle centers of the 2 arc-shaped arms 37 are positioned on the axis of the connecting shaft 28, and the plane of the whole arc-shaped section of the arc-shaped arms 37 is perpendicular to the axis of the connecting shaft 28; the output shaft of the folding driving device 38 is provided with a gear II 41,2, the folding driving device 38 is arranged at the end part of the arc-shaped arm 37 far away from the folding arm 34 through a seat board IV 42, the axis of the output shaft of the folding driving device 38 is parallel to the axis of the connecting shaft 28, the gear II 41 arranged on the output shaft of the folding driving device 38 is meshed with an inner gear ring 39 arranged on the inner surface of the hollow rectangle of the arc-shaped guide rail 36, and the folding driving device 38 is connected with the controller 12 arranged on the upper surface of the cuboid bottom plate of the frame 1 through a wire.

Claims (1)

1. The folding bedridden patient carrying robot comprises a chassis, a lifting mechanism, a turnover mechanism and a folding device, wherein the chassis comprises a frame (1) and a travelling device, the frame (1) is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of a rectangular box are parallel to the ground; the long side of the cuboid box is the longest edge line, 3 long grooves (2) perpendicular to the longest edge line are formed in the 1 vertical plates in a plumb state, the middle long groove (2) is positioned on a symmetrical plane of the cuboid box perpendicular to the longest edge line, and the other 2 long grooves (2) are symmetrically arranged relative to the symmetrical plane of the cuboid box perpendicular to the longest edge line; the method is characterized in that: rectangular holes (3) with the length direction perpendicular to the longest ridge line are formed between the middle long groove (2) of the vertical plate of the rectangular box provided with the long groove (2) and the 2 long grooves (2) on the two sides; the inner surface of a vertical plate of the cuboid box provided with the long groove (2) is provided with a rack (4), the length direction of the rack (4) is vertical to 2 longest edges of the vertical plate, the tooth shape of the rack (4) faces towards the inside of the cuboid box, and the rack (4) is positioned between the 2 longest edges of the vertical plate and deviates from a symmetrical plane of the cuboid box and vertical to the longest edges; the inner surface of a vertical plate of the cuboid box provided with the long groove (2) is provided with 3 guide rails parallel to the long groove (2), 2 guide rails I (5) with L-shaped cross sections on two sides are symmetrically arranged relative to the symmetrical surface of the cuboid box and perpendicular to the longest edge line, the distance from a guide rail II (6) with a rectangular cross section to the symmetrical surface of the cuboid box and perpendicular to the longest edge line is a, the guide rail II (6) is parallel to the vertical plate surface where the guide rail II (6) is positioned, the distance between the plane which is not contacted with the vertical plate surface and the inner surface of the vertical plate is equal to the distance between the guide rail I (5) and the vertical plate surface where the guide rail I (5) is positioned, the 2 guide rails I (5) on two sides are positioned between the 2 long grooves (2) on two sides, and the difference between the distance between the 2 guide rails I (5) on two sides and the 2 guide rails I (5) on two sides is equal to 2a; the travelling device comprises a driving shaft (7), a driving wheel (8), universal wheels (9), a chain transmission (10), a travelling driving device (11) and a controller (12), wherein two ends of the driving shaft (7) with the middle part penetrating through an inner hole of a driven part of the chain transmission (10) are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame (1), and are close to a vertical plate which is arranged at one end of the cuboid box and is in a vertical state, and the short side of the vertical plate is the shortest ridge line, and the axis of the driving shaft (7) is parallel to the shortest ridge line of the cuboid box; the bottom plate of the cuboid box of the frame (1) is provided with a cuboid opening at the position corresponding to the chain transmission (10) on the driving shaft (7), the driving part of the chain transmission (10) extends into the cuboid box of the frame (1), and driving wheels (8) are arranged at two ends of the driving shaft (7); an output shaft of a traveling driving device (11) arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame (1) is connected with an active part of a chain transmission (10), and the axis of the output shaft of the traveling driving device (11) is parallel to the shortest ridge line of the cuboid box; the travelling driving device (11) is connected with a controller (12) arranged on the upper surface of a bottom plate of a cuboid box of the frame (1) through a wire, the control panel (13) is arranged on the upper surface of a top plate above the cuboid box of the frame (1) and parallel to the ground, and is close to one side of a vertical plate of the cuboid box without the long groove (2), and the controller (12) is connected with the control panel (13) through a wire; 2 mounting holes are formed in the position, far away from the shortest ridge line at the position of the driving shaft (7), of the bottom plate of the cuboid box of the frame (1) and in the position, close to the other 1 shortest ridge line of the cuboid box, the axes of the mounting holes are perpendicular to the bottom plate of the cuboid box, the connecting lines of the 2 mounting holes are parallel to the shortest ridge line of the cuboid box, and the rotating shafts of the 2 universal wheels (9) are respectively inserted into the 2 mounting holes of the bottom plate, parallel to the ground, of the bottom plate below the cuboid box of the frame (1); the lifting mechanism comprises a lifting frame, a gear I (14) and a lifting driving device (15), wherein the lifting frame comprises a lifting frame I (16) and a lifting frame II (17), and the lifting frame I (16) and the lifting frame II (17) are both in rectangular plane 4-sided frame structures; the distance between the 2 short frames of the lifting frame I (16) is equal to the distance between the 2 long grooves (2) on the outer side of the cuboid box of the frame (1), the 2 short frames of the lifting frame I (16) respectively extend out of 2 connecting rods (18) towards the same direction perpendicular to the rectangular plane of the lifting frame I (16), the 2 long frames of the lifting frame I (16) are positioned at the symmetrical plane perpendicular to the long frames, and the connecting rods (18) extending out towards the 2 short frames respectively extend out of 1 connecting rod (18) towards the same direction; 3 rollers (19) are respectively arranged in the extending direction of the 2 long frames of the lifting frame I (16) towards the connecting rod (18), the axes of the rollers (19) are parallel to the rectangular plane of the lifting frame I (16), the axes of the rollers (19) are positioned in the same plane, the 2 rollers (19) at the two ends of the same long frame are symmetrically arranged relative to the symmetry plane of the lifting frame I (16) perpendicular to the long frame, the distance between the 2 rollers (19) at the two ends is equal to the distance between the 2 guide rails I (5) at the two sides of the cuboid box of the frame (1), and the distance between the middle roller (19) and the symmetry plane of the lifting frame I (16) perpendicular to the long frame is a; the distance between the 2 short side frames of the lifting frame II (17) is equal to the distance between the 2 short side frames of the lifting frame I (16), 3 rollers (19) are respectively arranged on the 2 long side frames of the lifting frame II (17) towards the same direction perpendicular to the rectangular plane of the lifting frame II (17), the axes of the rollers (19) are parallel to the rectangular plane of the lifting frame II (17) and are positioned in the same plane, the 2 rollers (19) at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II (17) perpendicular to the long side frame, the distance between the 2 rollers (19) at the two ends of the same long side frame of the lifting frame II (17) is equal to the distance between the 2 rollers (19) at the two ends of the same long side frame of the lifting frame I (16), and the distance between the middle roller (19) and the symmetrical plane of the lifting frame II (17) perpendicular to the long side frame is a; 1 seat board I (20) is respectively arranged at two sides of the rectangular frame plane of the lifting frame II (17) and close to 1 long frame, the seat board I (20) is perpendicular to the rectangular plane of the lifting frame II (17) and parallel to the long frame of the lifting frame II (17), one side of the rectangular frame plane of the lifting frame II (17) provided with a roller (19) is provided with 1 seat board II (21) at the position of the same 1 long frame close to the seat board I (20), and one end of the seat board II (21) far away from the long frame of the lifting frame II (17) is obliquely arranged towards the other 1 long frame direction of the lifting frame II (17) and towards the direction far away from the rectangular frame plane of the lifting frame II (17); one side of the rectangular frame plane of the lifting frame I (16) provided with the roller (19) is provided with 1 seat board III (22) at the position which is close to the seat board I (20) and is 1 long frame, and one end of the seat board III (22) far away from the long frame of the lifting frame I (16) is obliquely arranged towards the other 1 long frame direction of the lifting frame I (16) and towards the direction far away from the rectangular frame plane of the lifting frame I (16); the long frame and the 6 connecting rods (18) extending out of the short frame of the lifting frame I (16) are inserted into the cuboid box from the outside of the cuboid box of the frame (1) through 3 long grooves (2) on the cuboid box, 2 connecting rods (18) on the same short frame of the lifting frame I (16) pass through 1 long groove (2) on the same side of the cuboid box, the connecting rods (18) on the 2 long frames of the lifting frame I (16) pass through 1 long groove (2) in the middle of the cuboid box, and the direction of the offset of the roller (19) in the middle of the 2 long frames of the lifting frame I (16) relative to the symmetry plane of the lifting frame I (16) perpendicular to the long frames is the same as the offset of the guide rail II (6) relative to the symmetry plane of the cuboid box perpendicular to the longest edge line; the tail end of the 6 connecting rods (18) inserted into the cuboid box is provided with 1 lifting frame II (17), the rectangular plate surface of the lifting frame II (17) after installation is parallel to the rectangular plate surface of the lifting frame I (16), the idler wheels (19) on the lifting frame II (17) face the lifting frame I (16), and the long frame provided with the seat board I (20) on the lifting frame II (17) is positioned below the other 1 long frame of the lifting frame II (17); the output shaft of a lifting driving device (15) arranged on the seat board I (20) is provided with a gear I (14), the gear I (14) is meshed with a rack (4) arranged on a cuboid box, and the lifting driving device (15) is connected with a controller (12) arranged on the upper surface of a cuboid box bottom plate of the frame (1) through a wire; the turnover mechanism comprises a turnover shaft (23), a straight arm (24), a supporting arm (25), a speed reducer I (26), a turnover driving device (27), a connecting shaft (28), a transmission shaft I (29), a transmission shaft II (30), a speed reducer II (31), a speed reducer III (32) and a telescopic driving device (33), the middle part and two ends of the turnover shaft (23) are supported above a lifting frame I (16), and the axis of the turnover shaft (23) is parallel to the long frame of the lifting frame I (16); the driven end of the speed reducer I (26) is arranged on the turnover shaft (23), the turnover driving device (27) is arranged on the seat board II (21) of the lifting mechanism, and the axis of the output shaft of the turnover driving device (27) faces obliquely upwards and is vertical to the long frame of the lifting frame II (17); one end of a transmission shaft I (29) is connected with an output shaft of the overturning driving device (27), and the other end of the transmission shaft I (29) penetrates through a rectangular hole (3) in a cuboid box of the frame (1) and extends out of the cuboid box to be connected with a driving part of a speed reducer I (26); the middle part and two ends of a transmission shaft II (30) with the length greater than the length of a long frame of the lifting frame I (16) are respectively supported at one side of the lifting frame I (16) which is close to the long frame below the lifting frame I (16) and is far away from the roller (19), the driving part of a 2-piece speed reducer II (31) is respectively fixed at two ends of the transmission shaft II (30), and the axis of the transmission shaft II (30) is parallel to the long frame of the lifting frame I (16); one end of the 3 straight arms (24) is respectively fixed at the middle part and two ends of the turnover shaft (23), the other end of the 3 straight arms (24) is respectively fixed at the middle part and two ends of the connecting shaft (28) with the length longer than the length of the long frame of the lifting frame I (16), and the 3 straight arms (24), the turnover shaft (23) and the connecting shaft (28) are positioned in the same plane; one end of the 2 supporting arms (25) is sleeved at two ends of the connecting shaft (28) respectively, external threads are arranged at the other end of the supporting arms (25), and one ends of the 2 supporting arms (25) with the external threads are inserted into threaded holes of driven parts of the 2 reducers II (31) respectively; the driven end of the speed reducer III (32) is arranged on the transmission shaft II (30), the telescopic driving device (33) is arranged on the seat board III (22) of the lifting mechanism, the axis of the output shaft of the telescopic driving device (33) faces obliquely downwards and is vertical to the long frame of the lifting frame I (16), the output shaft of the telescopic driving device (33) is connected with the driving part of the speed reducer III (32), and the telescopic driving device (33) is connected with the controller (12) arranged on the upper surface of the cuboid bottom plate of the frame (1) through a wire; the folding device comprises folding arms (34), supporting plates (35), arc guide rails (36), arc-shaped arms (37) and folding driving devices (38), one ends of the 3 folding arms (34) are respectively hinged to the middle part and two ends of the connecting shaft (28), the middle part and two ends of the supporting plates (35) which are in a rectangular flat plate shape are respectively fixed on the 3 folding arms (34), and the long sides of the supporting plates (35) are parallel to the axis of the connecting shaft (28); the arc-shaped guide rail (36) is in a circular arc shape larger than a semicircle, the section of the arc-shaped guide rail (36) is in a hollow rectangular shape, an inner surface of the hollow rectangular section with a larger radius is provided with an annular gear (39), one end of each 2 arc-shaped guide rails (36) is respectively fixed in the middle of each 2 straight arms (24) positioned at two ends of the turning shaft (23), the circle centers of the 2 arc-shaped guide rails (36) are all positioned on the axis of the connecting shaft (28), when the connecting shaft (28) is positioned at one side far away from the frame (1), the arc-shaped guide rails (36) are positioned above the straight arms (24), reinforcing ribs (40) which are radially arranged are arranged between each 2 arc-shaped guide rails (36) and the connecting shaft (28), and the planes of the reinforcing ribs (40) at the same side are perpendicular to the axis of the connecting shaft (28); the arc-shaped arm (37) is in a semicircular arc shape, the cross section of the arc-shaped arm (37) is in a rectangular shape, and the radius of the centroid of the rectangular cross section of the arc-shaped arm (37) is equal to the radius of the centroid of the hollow rectangular cross section of the arc-shaped guide rail (36); one end of each of the 2 arc-shaped arms (37) is respectively fixed in the middle of each of the 2 folding arms (34) positioned at two ends of the connecting shaft (28), each arc-shaped arm (37) is positioned above each folding arm (34), each arc-shaped arm (37) penetrates into a hollow rectangle of each arc-shaped guide rail (36), the circle centers of the 2 arc-shaped arms (37) are all positioned on the axis of the connecting shaft (28), and the plane of the whole arc section of each arc-shaped arm (37) is perpendicular to the axis of the connecting shaft (28); the 2 folding driving devices (38) with the gears II (41) arranged on the output shafts are arranged at the end parts of the arc-shaped arms (37) far away from the folding arms (34) through the seat boards IV (42), the axes of the output shafts of the folding driving devices (38) are parallel to the axes of the connecting shafts (28), the gears II (41) arranged on the output shafts of the folding driving devices (38) are meshed with the inner gear rings (39) arranged on the inner surfaces of the hollow rectangles of the arc-shaped guide rails (36), and the folding driving devices (38) are connected with the controller (12) arranged on the upper surfaces of the cuboid bottom plates of the machine frame (1) through wires.