CN114652548B - Transfer device for slightly changing human body posture - Google Patents

Abstract

The invention provides a transfer device for slightly changing human body posture, which includes an omnidirectional mobile chassis, an upper body holding mechanism, a lifting mechanism, a riding mechanism, and a knee-lifting mechanism; the upper body holding mechanism is arranged above the omnidirectional moving chassis, The mechanism is arranged under the upper body supporting mechanism, the lifting mechanism is connected with the upper body supporting mechanism and can drive the upper body supporting mechanism to move up and down, and the knee-jacking mechanism is arranged opposite to the riding mechanism. During the shifting process, it can ensure that only a small change in the human body posture can complete the transfer of the human body. It can distribute the force during the hugging process to the armpits and feet, and distribute the body's weight to the armpit and feet during the shifting process. The underarms and buttocks minimize the impact of the displacement process on the human body, and can realize the switching between the elderly or patients in toilets, wheelchairs, beds, etc., and are widely used in homes, nursing homes, and medical institutions. .

Description

A transfer device that slightly changes the posture of the human body

technical field

The invention relates to the field of auxiliary devices, in particular to a transfer device for slightly changing the posture of a human body.

Background technique

As the problem of aging becomes more and more prominent, the demand for transfer products of rehabilitation aids for the elderly is also increasing, and the products of elderly care and health care aids are also emerging in the market. Auxiliary toilet, auxiliary bath, etc. As the physical function of the elderly continues to degrade with age and lacks exercise ability, the transfer of the elderly in various scenes such as wheelchairs, beds, and toilets has also become a major problem. Carrying the elderly through manual transfer is not only a burden for the porters, but also will cause unnecessary damage to the body of the elderly, and will also have a certain impact on the dignity of the elderly.

The patent with the publication number CN109571511A discloses an auxiliary stand-up and shift robot, which includes a robot base, a stand, a seat cushion, a top knee, a hand holding frame and a push handle, wherein: the stand is installed on the base, the seat cushion, the top Knee, handle frame and push handle are installed on the stand; the first open and close caster frame and the second open and close caster frame are rotatably connected on both sides of the rear of the base, the first open and close caster frame and the second open and close caster Rear wheels are respectively installed on the frame; front wheels are respectively installed on both sides of the front part of the base. However, it has certain shortcomings mainly reflected in: during the process of holding the human body, the armpits on the left and right sides need to bear all the holding force, while other parts of the upper limbs are not stressed, and there is no grasping place for the hands, and no support for the front chest and back. Protection, the waist is not supported, and accidents are prone to occur during the lifting process.

The patent with the publication number CN113041106A discloses a walking aid and displacement robot device, which includes an armrest structure, a lifting structure, a standing push rod, a chassis structure and a pedal; the width of the armrest structure can be adjusted to be arranged on the lifting structure; the height of the lifting structure Adjustably hinged on the chassis structure, the length of the standing push rod is adjustable and supported between the chassis structure and the lifting structure, and the pedals are detachably arranged on the chassis structure. However, it has certain shortcomings mainly reflected in: most of the holding force is borne by the grasping force of the handle, and its waist and back have no support parts, the hips are not supported during the shifting process, and the legs are always under stress. And very prone to backward tilt.

Therefore, there is an urgent need to study a transfer aid, which can better solve the problems of difficulty in shifting, poor support of upper limbs, and uncomfortable rides in the prior art.

Contents of the invention

In order to solve the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a transfer device with a simple structure and low cost for slightly changing the posture of the human body, which can solve the problem that the existing moving robot needs to greatly change the pose, move, and move. Difficult positioning and uncomfortable rides. The invented transfer device with slightly changed human posture can ensure that the transfer of the human body can be completed with only a small change in the posture of the human body during the shifting process, and can distribute the force during the holding process to the armpit and both sides. At the foot, the weight of the body is distributed to the armpits and buttocks during the shifting process, which can ensure the comfort during the shifting.

Specifically, the present invention provides a transfer device that slightly changes the posture of the human body, which includes an omnidirectional mobile chassis, an upper body holding mechanism, a lifting mechanism, a riding mechanism, and a knee pushing mechanism; To the top of the mobile chassis, the riding mechanism is arranged below the upper body supporting mechanism, the lifting mechanism is connected with the upper body supporting mechanism and can drive the upper body supporting mechanism to move up and down, and the knee pushing mechanism set opposite to the riding mechanism;

The omnidirectional mobile chassis includes a chassis connection plate, a first frame and a second frame, the first frame and the second frame are arranged symmetrically to each other and are respectively connected with the chassis connection plate, the first frame and the second frame The bottom of each is provided with a mobile device;

The upper body support mechanism includes a support frame connecting pipe, a first support frame, a second support frame, a chest rest, arms, a back support safety belt, a big arm support plate, an elbow support plate and a handle; The first end of the first support frame and the second support frame are respectively connected to one end of the connection pipe of the support frame, and the second ends of the first support frame and the second support frame are respectively connected to the back Support one end of the safety belt, the length of the back support safety belt connected to the first support frame and the second support frame can be adjusted as required, and the back support safety belt is connected to the first support frame and the second support frame The connection of the frame is provided with arms, and the middle position of the first support frame and the second support frame is provided with a big arm support plate, an elbow support plate and a handle, a large arm support plate, an elbow support plate and The handles are all fixedly connected to the first hugging frame and the second hugging frame, the connecting pipe of the hugging frame, the first hugging frame, the second hugging frame and the back supporting safety belt form a ring structure, the The chest rest is arranged in the middle of the ring structure and fixedly connected with the first holding frame and the second holding frame respectively by means of connecting pipes;

The lifting mechanism includes a drive rod, a U-shaped guide rod and a pulley block, the two ends of the U-shaped guide rod are connected to the first frame and the second frame respectively, and the pulley block and the U-shaped guide rod form a moving pair , the drive rod is connected with the pulley block and the U-shaped guide rod by means of a connecting rod, and the pulley block on each side is provided with three pulleys, and the three pulleys are arranged in an inverted triangle, and the connecting line of the axes of the two pulleys is connected with the U-shaped guide rod. The axis of the rod is vertical, and the other pulley is arranged on the inner side of the bottom;

The riding mechanism includes a seat plate support frame and a seat plate, the seat plate is rotatably connected with the seat plate support frame, the support frame is connected with the first frame and the second frame, and the seat plate An arc-shaped protrusion and an arc-shaped chute are respectively arranged at the connection between the plate and the support frame of the seat plate;

The knee pushing mechanism includes a first knee rest and a second knee rest adjacently arranged, and the first knee rest and the second knee rest respectively include a knee guard and a connecting piece, and the two connecting pieces are connected to the first frame and the second knee respectively. The second frame is connected, and the two knee guards are respectively installed on the connecting piece and can be adjusted for up and down displacement and front and rear displacement on the connecting piece.

Preferably, both the first frame and the second frame include an inclined circular tube of the chassis and a horizontal circular tube of the chassis, the upper ends of the two inclined circular tubes of the chassis are connected by means of a horizontal connecting pipe of the chassis, and the U-shaped guide rod The lower end of the chassis is inserted into the upper end of the inclined circular tube of the chassis, and the lower part of the inclined circular tube of the chassis is connected to the horizontal circular tube of the chassis.

Preferably, the bottom of the horizontal circular tube of the chassis is connected with a universal wheel by means of a universal wheel connecting frame, and the universal wheel is provided with a brake device.

Preferably, the back support safety belt is provided with a plurality of safety belt buckles for length adjustment.

Preferably, the drive rod is directly connected to the horizontal connecting pipe of the chassis and the connecting rod through a pin shaft.

Preferably, the connecting piece includes a guard plate support plate, a front and rear adjustment pull ring pin, an arc bend, an up and down adjustment pull ring pin, an up and down adjustment rod, a front and rear adjustment rod, and a T-shaped pipe. One end is fixedly connected to the oblique circle of the chassis, the second end of the curved pipe is fixedly connected to the upper and lower adjustment rods, the upper and lower adjustment rods are fixed to the front and rear adjustment rods to form the T-shaped tube, The front and rear adjustment rods are fixedly connected to the guard plate support plate, and the guard plate support plate is bolted to the knee guard plate.

Preferably, the up and down adjustment rod includes a up and down adjustment rod and an up and down adjustment sub rod, the front and rear adjustment rod includes a front and rear adjustment rod and a front and rear adjustment sub rod, and the distance between the up and down adjustment sub rod and the front and rear adjustment rod is are fixed together by welding.

Preferably, the up-and-down adjustment mother rod and the front-rear adjustment mother rod are both provided with positioning holes, and the up-down adjustment sub-rods and the front-rear adjustment sub-rods are both provided with multi-stage adjustment holes.

Preferably, soft materials are provided at the seats of the riding mechanism, the arms, the chest rest and the knee supports.

Preferably, the angle of the arc-shaped chute is 240 degrees, the angle of the arc-shaped protrusion is 60 degrees, the arc-shaped protrusion can realize 180-degree opening and closing in the arc-shaped chute, and the rotation axis of the seat plate is set as diagonally.

Preferably, the driving rod is connected with a driving motor, and the driving motor is connected with a host controller.

Compared with the prior art, the beneficial effects of the present invention are as follows:

(1) A kind of transfer device of the present invention that slightly changes the posture of the human body can ensure that the transfer of the human body can be completed with only a small change in the posture of the human body during the shifting process, and the force in the holding process can be reduced. Distribute to the underarms and feet, not just the upper limbs. During the shifting process, the weight of the human body is distributed to the armpits and buttocks, which can realize the transfer of the human body in a semi-sitting and standing posture, thereby reducing the change in posture during the shifting process, and at the same time ensuring that the knee bending angle is 90 degrees in the semi-sitting state The comfortable angle minimizes the impact on the body of the elderly during the process of supporting and shifting.

(2) The overall structure of this patent is simple and easy to use. Only one nursing staff is needed during nursing, which greatly reduces the workload of the nursing staff. It is widely used in homes, nursing homes, and medical institutions to switch between multiple scenes such as beds. It has a simple structure and is suitable for promotion. It can save nursing costs and labor time costs.

Description of drawings

Fig. 1 is a side view of the overall structure of the present invention's holding state;

Fig. 2 is a perspective view of the mobile frame of the chassis of the present invention;

Fig. 3 is a side view of the upper body supporting mechanism of the present invention;

Fig. 4 is a motion locus diagram of the riding mechanism of the present invention;

Fig. 5 is the overall structure front view of the implementation state of the present invention;

Fig. 6 is a schematic diagram of the human body posture in the transport state of the present invention;

Fig. 7 is a schematic diagram of human body posture during the hugging process of the present invention.

Some of them are marked as follows:

1-omnidirectional mobile chassis, 2-upper body support mechanism, 3-lifting mechanism, 4-riding mechanism, 5-top knee mechanism, 11-chassis connecting plate, 12-universal wheel bracket, 13-universal wheel, 14 -Chassis horizontal connecting pipe, 15-chassis oblique round pipe, 16-chassis horizontal round pipe, 21-supporting frame connecting pipe, 22-chest rest, 23-embracing arms, 24-back support seat belt, 25-seat belt Buckle, 26-Holding frame, 27-Big arm support plate, 28-Elbow support plate, 29-Handle, 31-Drive rod, 32-U-shaped guide rod, 33-Pulley block, 41-Seat plate support frame , 42-riding seat plate, 43-seat plate rotation pin, 51-front and rear adjustment ring pin, 52-arc elbow, 53-up and down adjustment ring pin, 54-up and down adjustment rod, 55-knee guard, 56-front and rear adjustment rods, 57-T-shaped pipe.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in Figures 1 to 5, the present invention provides a transfer device that slightly changes the posture of the human body, which includes an omnidirectional mobile chassis 1, an upper body supporting mechanism 2, a lifting mechanism 3, and a Riding mechanism 4 and the knee pushing mechanism 5 that are arranged on the chassis pedal top. The upper body support mechanism 2 is arranged above the omnidirectional mobile chassis 1, the riding mechanism is arranged below the upper body support mechanism 2, the lifting mechanism 3 is connected with the upper body support mechanism 2 and can drive the upper body support mechanism 2 to move up and down, The knee mechanism 5 is arranged opposite to the riding mechanism 4 . It can distribute the force during the holding process to the armpits and feet, and distribute the body weight to the armpits and buttocks during the shifting process, which can realize the transfer of the human body in a semi-sitting posture and reduce the impact on the body during the shifting process. The posture is changed, and at the same time, the knee bending angle is guaranteed to be at a comfortable angle of 90 degrees in the semi-sitting state, so as to minimize the impact of the support and displacement process on the elderly's body.

The omnidirectional mobile chassis 1 comprises a chassis connecting plate 11, a first frame 101 and a second frame 102, the first frame 101 and the second frame 102 are arranged symmetrically to each other and are respectively connected with the chassis connecting plate 11, the first frame 101 and the second frame The bottom of 102 is respectively provided with moving device, and moving device can be universal wheel etc., can realize the movement of whole device by means of moving device.

The upper body support mechanism 2 includes a support frame connecting pipe 21, a first support frame 201, a second support frame 202, a chest rest 22, arms 23, a back support safety belt 24, a big arm support plate 27, an elbow support Plate 28 and handle 29. The first ends of the first support frame 201 and the second support frame 202 are respectively connected to one end of the support frame connecting pipe 21, and the second ends of the first support frame 201 and the second support frame 202 are respectively connected to the back support safety One end of the belt, the length of the back supporting safety belt connected to the first holding frame 201 and the second holding frame 202 can be adjusted as required, the back supporting safety belt is connected to the first holding frame 201 and the second holding frame 202 The connection is provided with an arm 23, the middle position of the first support frame 201 and the second support frame 202 is provided with a large arm support plate 27, an elbow support plate 28 and a handle 29, the large arm support plate 27, the elbow The support plate 28 and the handle 29 are all fixedly connected with the first hugging frame 201 and the second hugging frame 202, and the bracketing frame connecting pipe 21, the first hugging frame 201, the second hugging frame 202 and the back support safety belt Forming a ring structure, the chest rest 22 is arranged in the middle of the ring structure and fixedly connected with the first holding frame 201 and the second holding frame 202 respectively by means of connecting pipes.

The lifting mechanism 3 includes a drive rod, a U-shaped guide rod and a pulley block. The two ends of the U-shaped guide rod are respectively connected with the first frame and the second frame. The pulley block and the U-shaped guide rod form a moving pair. And U-shaped guide rod connection. The pulley block on each side is provided with three pulleys, and the three pulleys are arranged in an inverted triangle shape, wherein the line connecting the axes of the two pulleys is perpendicular to the axial direction of the U-shaped bar, and the other pulley is arranged on the inner side below. The setting of the pulley block can better enable the lifting mechanism 3 to lift, and the lifting can be realized with the least mechanical structure.

The ride mechanism 4 includes a seat plate support frame and a seat plate, the seat plate and the seat plate support frame can be rotatably connected, the support frame is connected with the first frame 101 and the second frame 102, and the seat plate and the seat plate support frame are connected at the joint Arc-shaped protrusions and arc-shaped slide grooves for position limitation are respectively arranged. The angle of the arc-shaped chute is 240 degrees, and the angle of the arc-shaped protrusion is 60 degrees. The arc-shaped protrusion can realize 180-degree opening and closing in the arc-shaped chute, and the rotation axis of the seat plate is set to be oblique. The arrangement of the arc-shaped protrusion and the arc-shaped chute can facilitate the rotation of the seat plate to open or close.

Knee pushing mechanism 5 comprises the first knee rest 501 and the second knee rest 502 that are arranged adjacently, and the first knee rest 501 and the second knee rest 502 respectively comprise knee shields and connectors, and the two connectors are connected to the first frame respectively. 101 is connected to the second frame 102, and the two knee guards are respectively mounted on the connectors and can be adjusted for up and down displacement and front and rear displacement on the connectors.

Preferably, both the first frame and the second frame include a chassis slanting round tube and a chassis horizontal round tube, the upper ends of the two chassis slanting round tubes are connected by means of a chassis horizontal connecting tube, and the lower end of the U-shaped guide rod is inserted into the chassis The inside of the upper end of the oblique circular pipe, the bottom of the oblique circular pipe of the chassis is connected to the horizontal circular pipe of the chassis.

Connector comprises guard plate support plate, front and rear adjustment draw ring pin 51, arc bend 52, up and down adjustment draw ring pin 53, up and down adjustment rod 54, front and rear adjustment rod 56 and T-shaped pipe 57, the first arc bend 52 One end is fixedly connected with the oblique round pipe of the chassis, the second end of the curved pipe 52 is fixedly connected with the upper and lower adjustment rods 54, the upper and lower adjustment rods 54 are fixed with the front and rear adjustment rods 56 to form a T-shaped pipe 57, and the front and rear adjustment rods 56 are connected with the guard The plate support plate is fixedly connected, and the guard plate support plate is bolted to the knee guard plate.

The up and down adjusting rod 54 includes the up and down adjusting female rod and the up and down adjusting child rod, the front and rear adjusting rod 56 includes the front and rear adjusting female rod and the front and rear adjusting sub rod, and the up and down adjusting sub rod and the front and rear adjusting female rod are fixed together by welding.

Both the up and down adjustment female rod and the front and rear adjustment female rod are provided with positioning holes, and the up and down adjustment sub rods and the front and rear adjustment sub rods are all provided with multi-stage adjustment holes.

specific embodiment

The omnidirectional mobile chassis 11 comprises a chassis horizontal round pipe 16, a chassis oblique round pipe 15, a chassis connecting plate 11, a chassis horizontal connecting pipe 14, a universal wheel 13 and a universal wheel bracket 12 thereof, and the chassis horizontal round pipe 16 and the chassis oblique It is connected by welding at a certain angle to the round pipe 15 to form the left and right frames of the chassis. The left and right frames are placed symmetrically, connected by bolts through the chassis horizontal connecting pipe 14 and the chassis connecting plate 11, and the two ends of the chassis horizontal round pipe 16 are provided with universal wheel brackets 12. Connected by welding, the universal wheel bracket 12 is connected with the universal wheel 13 by bolts, and the universal wheel at the front end has a braking function.

The upper body support mechanism 22 includes a support frame 26, an upper body wrapping structure and a surrounding support part, wherein the support frame includes a left and right side support frame 26 and a support frame connecting pipe 21, and the upper body cover structure includes a left and right arm 23, The chest rests 22, the back supports the safety belt 24 and the safety belt buckle 25, the supporting frame 26 is connected with the arms 23 and the chest rest 22 by bolts, the safety belt buckle 25 is connected with the arms 23 by screws, and the embracing support part includes a large Arm support plate 27, elbow support plate 28 and handle 29, the position distribution of the three is the same as that of the human body when carrying on the back, forming an imitation human body carrying on the back. The support frame 26 is connected with the pulley block by bolts, and the pulley block 33 is connected with the U-shaped guide bar 32. Composition of mobile pairs.

The lifting mechanism 3 includes a driving rod 31 and a U-shaped guide rod 32. The driving rod 31 is placed in the middle position, and its tail end is connected with the horizontal connecting pipe 14 of the chassis through a pin shaft. connection, the front end is connected with the supporting frame connecting pipe 21 through a pin shaft, the supporting frame connecting pipe 21 is connected with the supporting frames 26 on the left and right sides through bolts, and the U-shaped guide rod 32 is inserted in the inclined circular tube 15 of the chassis, The bolt is fixedly connected with the chassis 1, the supporting frame 26 and the U-shaped guide rod 32 form a moving pair through a pulley, and the driving rod 31 drives the supporting frame 26 to move up and down.

The ride mechanism 4 includes a seat plate support frame 41, a seat plate 42 and a seat plate rotation pin 43, wherein the seat plate support frame 41 and the seat plate 42 are connected by the seat plate rotation pin 43, and the seat plate support frame 41 is oblique to the chassis. The round pipes 15 are connected by bolts, and the center of rotation of the seat plate is provided with an arc-shaped protrusion and an arc-shaped chute, which are used to limit the opening and closing of the seat plate.

Knee jacking mechanism 5 is formed by series connection of curved pipe, up and down adjustment structure, front and rear adjustment structure and knee guard plate. One end of the curved pipe 52 is welded to the inclined round pipe 15 of the chassis, the other end is connected to the upper and lower adjustment rods 54 by welding, and the upper and lower adjustment rods are welded into a T shape with the front and rear adjustment rods Tube 57, the front and rear adjustment sub-rods are connected to the guard plate support plate by welding, the guard plate support plate and the knee guard plate 55 are connected by a bolt group, each adjustment mechanism forms a moving pair through the nesting of the circular tube and the pin shaft, and the adjustment pin shaft Cooperating with the multi-level hole positions enables the knee guard 55 to reach a suitable spatial position.

Work process of the present invention is specifically:

As shown in Figures 6 to 7, when in use, a nurse needs to be equipped to assist in manipulating the shifting device. The nurse first needs to convert the elderly or other people who need to be moved to a sitting position, and then expand the seat board outward So that the seat board is located on both sides of the seat, and then push the shifting device to the side of the bed, and place it directly in front of the human body. The human body first puts both feet on the bottom pedal, and then adjusts the two pull ring pins of the knee pushing mechanism to make the knee Close to the sponge on the knee rest, the arms of the human body are in an embracing posture, and the handle is firmly grasped with both hands, and then the safety belt on the back is adjusted to a suitable position to ensure that the human body will not tilt backwards, and the nursing staff locks the two directional wheels at the same time Manipulate the up button to make the lifting mechanism drive the upper body supporting mechanism to rise slowly. After rising to a suitable position, end the rising action and release the brake of the directional wheel, and slowly pull the moving robot and the human body out from the bedside. And rotate the seat board to a suitable position (that is, it is located below the human buttocks), then lock the locking mechanism, and finally manipulate the down button to move the upper body of the human body down slowly by means of the lowering of the upper body support mechanism so that the human buttocks are located on the seat board, so far After completing the entire shifting process, turn on the brakes of the directional wheels to move the shifting device to the destination, then open the seat board and use the upper body support mechanism to drive the human body up, and place the human body on the destination bed. Complete the entire shifting process.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. All such modifications and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (7)

1. A transfer device for slightly changing human body posture, characterized in that: it includes an omnidirectional mobile chassis, an upper body holding mechanism, a lifting mechanism, a riding mechanism, and a knee-lifting mechanism; To the top of the mobile chassis, the riding mechanism is arranged below the upper body supporting mechanism, the lifting mechanism is connected with the upper body supporting mechanism and can drive the upper body supporting mechanism to move up and down, and the knee pushing mechanism set opposite to the riding mechanism; The omnidirectional mobile chassis includes a chassis connection plate, a first frame and a second frame, the first frame and the second frame are arranged symmetrically to each other and are respectively connected with the chassis connection plate, the first frame and the second frame The bottom of each is provided with a mobile device; The upper body support mechanism includes a support frame connecting pipe, a first support frame, a second support frame, a chest rest, arms, a back support safety belt, a big arm support plate, an elbow support plate and a handle; The first end of the first support frame and the second support frame are respectively connected to one end of the connection pipe of the support frame, and the second ends of the first support frame and the second support frame are respectively connected to the back Support one end of the safety belt, the length of the back support safety belt connected to the first support frame and the second support frame can be adjusted as required, and the back support safety belt is connected to the first support frame and the second support frame The connection of the frame is provided with arms, and the middle position of the first support frame and the second support frame is provided with a big arm support plate, an elbow support plate and a handle, a large arm support plate, an elbow support plate and The handles are all fixedly connected to the first hugging frame and the second hugging frame, the connecting pipe of the hugging frame, the first hugging frame, the second hugging frame and the back supporting safety belt form a ring structure, the The chest rest is arranged in the middle of the ring structure and fixedly connected with the first holding frame and the second holding frame respectively by means of connecting pipes; The lifting mechanism includes a drive rod, a U-shaped guide rod and a pulley block, the two ends of the U-shaped guide rod are connected to the first frame and the second frame respectively, and the pulley block and the U-shaped guide rod form a moving pair , the drive rod is connected with the pulley block and the U-shaped guide rod by means of a connecting rod, and the pulley block on each side is provided with three pulleys, and the three pulleys are arranged in an inverted triangle, and the connecting line of the axes of the two pulleys is connected with the U-shaped guide rod. The axis of the rod is vertical, and the other pulley is arranged on the inner side of the bottom; The riding mechanism includes a seat plate support frame and a seat plate, the seat plate is rotatably connected with the seat plate support frame, the support frame is connected with the first frame and the second frame, and the seat plate The board and the support frame of the seat plate are respectively provided with an arc-shaped protrusion and an arc-shaped chute for limiting; The knee pushing mechanism includes a first knee rest and a second knee rest adjacently arranged, and the first knee rest and the second knee rest respectively include a knee guard and a connecting piece, and the two connecting pieces are connected to the first frame and the second knee respectively. The second frame is connected, and the two knee guards are respectively installed on the connecting piece and can be adjusted for up and down displacement and front and rear displacement on the connecting piece; The connector includes a guard plate support plate, front and rear adjustment pull ring pins, an arc bend, an up and down adjustment pull ring pin, an up and down adjustment rod, a front and rear adjustment rod, and a T-shaped pipe. The first end of the arc bend is connected to the The chassis is fixedly connected obliquely, the second end of the curved pipe is fixedly connected to the up and down adjustment rods, the up and down adjustment rods are fixed to the front and rear adjustment rods to form the T-shaped tube, and the front and rear adjustment rods are fixed to form the T-shaped tube. The adjusting rod is fixedly connected to the guard plate support plate, and the guard plate support plate is bolted to the knee guard plate; The up and down adjustment rods include up and down adjustment mother rods and up and down adjustment sub rods, the front and rear adjustment rods include front and rear adjustment mother rods and front and rear adjustment sub rods, and the up and down adjustment sub rods and the front and rear adjustment mother rods are welded fixed together; Both the up and down adjustment mother rod and the front and rear adjustment mother rods are provided with positioning holes, and the up and down adjustment sub-rods and the front and rear adjustment sub-rods are all provided with multi-stage adjustment holes; Realize half-sitting posture transfer, reduce the change of posture during the shifting process, and at the same time ensure that the knee bending angle is 90 degrees in the semi-sitting state. 2. The transfer device for slightly changing human body posture according to claim 1, characterized in that: the first frame and the second frame both include a chassis oblique circular tube and a chassis horizontal circular tube, and the two chassis oblique circular tubes The upper ends of the tubes are connected by means of the chassis horizontal connecting pipe, the lower end of the U-shaped guide rod is inserted into the upper end of the chassis inclined circular tube, and the lower part of the chassis inclined circular tube is connected to the chassis horizontal circular tube. 3. The transfer device for slightly changing human body posture according to claim 2, characterized in that: the bottom of the horizontal circular tube of the chassis is connected with a universal wheel by means of a universal wheel connecting frame, and the universal wheel is provided with Braking device. 4. The transfer device for slightly changing human body posture according to claim 1, characterized in that: the back support seat belt is provided with a plurality of seat belt buckles for length adjustment. 5 . The transfer device for slightly changing human body posture according to claim 1 , wherein the driving rod is directly connected with the horizontal connecting pipe of the chassis and the connecting rod through pin shafts. 6 . 6. The transfer device for slightly changing human body posture according to claim 1, characterized in that: the angle of the arc-shaped chute is 240 degrees, the angle of the arc-shaped protrusion is 60 degrees, and the arc-shaped protrusion can The opening and closing of 180 degrees is realized in the arc-shaped chute, and the rotation axis of the seat plate is set in an oblique direction. 7. The transfer device for slightly changing the posture of the human body according to claim 1, characterized in that: the driving rod is connected with a driving motor, and the driving motor is connected with a host controller; The , chest and knee supports are all provided with soft materials.

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