CN116807795A - Transfer robot - Google Patents

Abstract

The application relates to a transfer robot, which comprises a movable bottom plate and a controller, wherein a first telescopic arm and an upper limb holding mechanism are further arranged on the upper side of the movable bottom plate, and the upper limb holding mechanism comprises a chest supporting plate, an armpit supporting plate and a back clamping plate; the movable bottom plate is also provided with a second telescopic arm positioned between the two pedal grooves, and the top end of a telescopic rod of the second telescopic arm is provided with a leg bracket; the transfer robot has a simple main body structure, occupies a small space and is convenient to store and place; when the transfer robot is used, a protector is not required to be worn, the upper limb holding mechanism can automatically hold and support the upper limb of a person to be transferred, the leg bracket can reliably support the lower limb of the person to be transferred and lighten the stress intensity of the upper limb, the person to be transferred is prevented from being injured due to dragging, and the use safety and comfort of the transfer robot are improved; the limb movement track of the person to be transferred can be simulated when the nursing staff manually carry the person to be transferred, so that the shifting process is more comfortable.

Description

A transfer robot

Technical field

The invention relates to barrier-free transfer machine technology, in particular to a transfer robot.

Background technique

As my country's population ages, the number of disabled or semi-disabled people due to age, disease, accidental injuries and other factors has greatly increased. In the process of caring for people with lower limb dysfunction, the transfer service that has the heaviest burden on the nursing staff and is most likely to cause danger is the transfer service. The transfer service refers to assisting or transporting the person being cared for with limited mobility to complete their tasks in bed, wheelchair, toilet, etc. The mutual transfer between sofas, dining tables and other life scenes.

At present, most lifts on the market are suspension-type. For example, the "electric lift" disclosed in the Chinese patent document No. CN110876665A includes a chassis, columns, upper beams, upper beam lifting devices and suspension brackets. The chassis includes a base and two support beams connected to the front end of the base. The column is connected to the base, and the upper beam is connected to the column. The upper beam lifting device can drive the upper beam to lift and lower, and the suspension frame is connected to the upper beam. It also includes a column rotation drive device and Column rotation control device, the column can rotate around its own axis, the column rotation drive device can drive the column to rotate, and there are standing areas at both ends of the base; the column rotation control device can prompt the operator to stand in the standing area, thereby preventing the column from rotating. The center of gravity of the electric lift is excessively shifted and causes tipping. The electric lift can be used in hospitals to move patients with limited mobility, such as moving patients with paralysis or injured legs and feet safely between beds, wheelchairs, seats, and toilets. transfer.

The above-mentioned suspended lifts are large in size, troublesome to wear protective gear, and have poor comfort, and are in urgent need of improvement.

Contents of the invention

The object of the present invention is to provide a transfer robot to solve the problems of large volume, troublesome wearing of protective gear and poor comfort of existing transfer machines.

In order to solve the above problems, the present invention provides a transfer robot, which includes a moving base plate and a controller. Universal wheels are installed on the moving base plate. A first telescopic arm is also hingedly installed on the upper side of the moving base plate. A first motor that drives the telescopic rod of the first telescopic arm to extend or retract is installed on the first telescopic arm, and a second motor that drives the first telescopic arm to rotate is also installed on the moving base plate; The top of the telescopic rod of the first telescopic arm is provided with a support frame, and an upper limb support mechanism is installed on the support frame. The upper limb support mechanism includes a chest support plate and axillary support plates located on both sides of the chest support plate. The back side of the chest support plate is hingedly connected to the support frame, and a third motor that drives the chest support plate to rotate is also installed on the support frame; the moving base plate is also provided with two foot grooves, so A second telescopic arm is also installed on the mobile base plate between the two foot grooves. A leg bracket is installed on the top end of the telescopic rod of the second telescopic arm. A second telescopic arm is installed on the second telescopic arm. A fourth motor that drives the telescopic rod of the second telescopic arm to extend or retract, and a fifth motor that drives the second telescopic arm to rotate is also installed on the moving base plate; the controller can linkage control the The first motor, the second motor, the third motor, the fourth motor, and the fifth motor cause the upper limb holding mechanism and the leg bracket to move simultaneously to simulate the manual work of a nursing staff. The limb movement trajectory of the person to be transferred when carrying the person to be transferred.

The transfer robot provided by the invention also has the following technical features:

Further, the bottom end of the housing of the first telescopic arm is hingedly connected to the upper side of the moving base plate, the first motor and the second motor are linear push rod motors, and the housing of the first motor The body is hingedly connected to the housing of the first telescopic arm, the end of the push rod of the first motor is hingedly connected to the telescopic rod of the first telescopic arm; the housing of the second motor is hingedly connected to the moving base plate The upper side of the second motor is hingedly connected to the housing of the first telescopic arm.

Further, the third motor is a linear push rod motor, the housing of the third motor is hingedly connected to the upper side of the support frame, and the end of the push rod of the third motor is connected to the end of the chest support plate. The back is hingedly connected; the support frame is also provided with handrails.

Further, the bottom end of the housing of the second telescopic arm is hingedly connected to the moving base plate, the fourth motor is a DC servo motor, and the fourth motor is installed on the housing of the second telescopic arm. At the bottom end, the output shaft of the fourth motor is a long screw rod. The inner end of the telescopic rod of the second telescopic arm is fixed with a screw nut adapted to the long screw rod. When the long screw rod rotates, The telescopic rod of the second telescopic arm can be driven to extend or retract through the screw nut.

Further, the fifth motor is a linear push rod motor, the housing of the fifth motor is hingedly connected to the moving base plate, and the end of the push rod of the fifth motor is connected to the housing of the second telescopic arm. Articulated.

Further, the leg bracket includes leg support tubes located on both sides of the second telescopic arm, and a rubber sleeve is set on the leg support tube.

Further, the two armpit support plates of the upper limb support mechanism are connected to the sides of the chest support plate through a first elastic hinge, and the first elastic hinge can make the two armpit support plates The outer ends are close to each other.

Furthermore, the outer ends of the two arm support plates are respectively equipped with back clamping plates through second elastic hinges, and the second elastic hinges can make the outer ends of the two back clamping plates retract toward each other. Close together.

Further, a sixth motor is installed on the back of the chest support plate, and a winch is installed on the output shaft of the sixth motor. The winch is wound with a cable clamped by the two back plates. The steel wire rope is connected to the outer end of the plate, and the spring elastic force of the second elastic hinge is smaller than the spring elastic force of the first elastic hinge; the sixth motor can drive the winch to rotate and tighten the steel wire rope. The outer ends of the two back plate holding plates and the outer ends of the two arm support plates are opened in sequence.

The invention has the following beneficial effects: the main structure of the transfer robot of the present application is simple, the second telescopic rod and the leg bracket can be retracted and hidden on the mobile base plate when not in use, occupying less space and making it easy to store and place; when in use There is no need to wear protective gear. The upper limb holding mechanism can automatically hold and support the upper limbs of the person to be transferred. The leg bracket can reliably support the lower limbs of the person to be transferred and reduce the stress intensity of the upper limbs, preventing the person to be transferred from being injured by dragging. , which improves the safety and comfort of the transfer robot; by setting up the second telescopic rod and leg bracket to lift the lower limbs, it can effectively prevent the upper limbs from accidentally slipping when picking up or putting down the person to be transferred, and improves the safety and comfort of the transfer robot. Safety; During the transfer process, the leg bracket can serve as a seat, which can significantly improve the comfort of transfer care; the upper limb holding mechanism and leg bracket of the transfer robot have a large position adjustment range, and are flexible and convenient to adjust. , can meet the transfer needs of people with different heights and weights; the controller can linkage control the moving positions of the upper limb holding mechanism and leg brackets, and can simulate the limb movement trajectory of the person to be transferred when the nursing staff manually carries the person to be transferred, so that The transfer process is more comfortable, and it can also exercise leg muscles, prevent muscle atrophy, and assist rehabilitation; nursing staff can easily adjust the upper limb holding mechanism and leg brackets according to the position, height, and body shape of the person to be transferred. Convenient; the controller can also automatically realize transfer operations in different scenarios and modes according to preset programs and input parameters.

Description of the drawings

Figure 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of an upper limb holding mechanism in an embodiment of the present invention;

Figure 3 is a schematic structural diagram of a leg bracket in an embodiment of the present invention;

Figure 4 is a partial enlarged view of position A in Figure 3;

Figure 5 is a schematic diagram of the use state of the transfer robot according to the embodiment of the present invention;

Figure 6 is a schematic diagram of the transfer robot's carrying trajectory and the center displacement of the upper and lower limbs of the human body according to the embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

In the embodiment of the transfer robot of the present invention as shown in Figures 1 to 6, the transfer robot includes a mobile base plate 30 and a controller. The mobile base plate 30 is equipped with universal wheels 31. Two wheels at the front end of the mobile base plate 30 The universal wheel 31 is self-locking to prevent accidental movement; the upper side of the moving base plate 30 is also hingedly mounted with a first telescopic arm 10, and a telescopic rod 12 is installed on the first telescopic arm 10 to drive the first telescopic arm 10 to extend or retract. The first motor 41 of the first telescopic arm 10 is mounted on the moving bottom plate 30, and a second motor 42 is installed on the moving base plate 30 to drive the rotation of the first telescopic arm 10; the top of the telescopic rod 12 of the first telescopic arm 10 is provided with a support frame 13, and the support frame 13 is provided with The armrest 14 and the support frame 13 are also equipped with an upper limb support mechanism 50. The upper limb support mechanism 50 includes a chest support plate 51 and axillary support plates 52 located on both sides of the chest support plate 51. The back of the chest support plate 51 is in contact with the support frame 13. Hingedly connected, the support frame 13 is also equipped with a third motor 43 that drives the chest support plate 51 to rotate; the movable base plate 30 is also provided with two foot grooves 32, and the movable base plate 30 is also equipped with two foot grooves 32. Between the second telescopic arm 20, the top of the telescopic rod 22 of the second telescopic arm 20 is installed with a leg bracket 60, and the second telescopic arm 20 is installed with a telescopic rod 22 that drives the second telescopic arm 20 to extend or contract. The fourth motor 44 of the back is also installed on the mobile base plate 30 to drive the fifth motor 45 of the second telescopic arm 20 to rotate; the controller can linkage control the first motor 41, the second motor 42, the third motor 43, and the third motor 43. The four motors 44 and the fifth motor 45 make the upper limb holding mechanism 50 and the leg bracket 60 move at the same time to simulate the limb movement trajectory of the person to be transferred when the caregiver manually carries the person to be transferred on his back.

When the transfer robot in the above embodiment is used, the nursing staff first inputs the height and weight of the person to be transferred to the controller through input devices such as a remote control and a display screen, and then the nursing staff moves the transfer robot to the bedside. The bedridden old man (person to be transferred) is lifted up to a sitting position, so that the feet of the old man (person to be transferred) are naturally lowered into the foot grooves 32 on the mobile base 30; and then the upper limbs are held and supported through the remote control or controller. The mechanism 50 is adjusted to a position corresponding to the height of the elderly man's chest when he is sitting, raises and retracts the leg bracket 60 to a suitable position on the lower side of the elderly man's thigh to support the lower side of the thigh, and adjusts the angle of the chest support plate 51 so that the chest support plate The front of 51 fits the old man's chest, and the old man's upper limbs are supported by two armpit support plates 52. The old man's hands can naturally hold the armrests 14, thus completing the preparations before transfer; the nursing staff can also carry out the above-mentioned The adjusted parameters are saved through the input device, so there is no need to manually adjust the elderly person next time.

After the above preparations for transfer are completed, the nursing staff starts the "carrying up" function through the remote control or controller, and the controller will automatically control the first motor 41, the second motor 42, the third motor 43, the fourth motor 44, and the third motor 44. The five motors 45 are linked together to make the upper limb support mechanism 50 and the leg bracket 60 move slowly according to the automatically planned movement trajectory. Through the three processes of forward leaning, lifting, and stable carrying, the human-like carrying action is realized and the manual carrying of the nursing staff is simulated to the maximum extent. The movements and postures of the person to be transferred.

After the above-mentioned carrying action is completed, the nursing staff can move the transfer robot to a suitable position in front of the toilet or wheelchair; if the usage parameters such as the height of the toilet and wheelchair have been saved, the nursing staff can select the corresponding robot through the remote control or controller. In the working scene, and then start the "put down" function, the controller will automatically control the first motor 41, the second motor 42, the third motor 43, the fourth motor 44, and the fifth motor 45 to slowly put the elderly person (person to be transferred) down. to the toilet or wheelchair; if the usage parameters such as the height of the toilet and wheelchair have not been saved before, the caregiver can activate the "sitting position" function, and the controller will automatically reset the person to be transferred from the "carrying" state to the "sitting position" state. The nursing staff then uses manual control to place the person to be transferred on the toilet or wheelchair, thus completing the movement of the person to be transferred between different locations; the nursing staff can also save the above manual operation process and parameters, and transfer the person to be transferred next time There is no need to operate manually when you are an elderly person. Through the multi-scene memory function, the working parameters of each motor in different scenes are saved. When using it in a certain scene, it can be carried up and put down with one button, making the operation simpler, faster and more convenient.

The transfer robot of this application has a simple main structure. When not in use, the second telescopic rod and the leg bracket can be retracted and hidden on the mobile base plate. It occupies a small space and is easy to store and place. There is no need to wear protective gear when using it. The upper limb holding mechanism can automatically hold and support the upper limbs of the person to be transferred. The leg bracket can reliably support the lower limbs of the person to be transferred and reduce the stress intensity of the upper limbs, preventing the person to be transferred from being injured due to dragging, and improving the transfer robot. It is safe and comfortable to use; by setting up the second telescopic rod and leg bracket to lift the lower limbs, when picking up or putting down the person to be transferred, it can effectively prevent the upper limbs from accidentally slipping and improve safety; during the transfer process , the leg bracket can serve as a seat, which can significantly improve the comfort of transfer care; the transfer robot's upper limb holding mechanism and leg bracket have a large position adjustment range, flexible and convenient adjustment, and can meet the needs of different heights, Weight transfer needs; the controller can linkage control the moving positions of the upper limb support mechanism and leg brackets, and can simulate the limb movement trajectory of the person to be transferred when the caregiver manually carries the person to be transferred, making the transfer process more comfortable. It can also exercise leg muscles, prevent muscle atrophy, and assist rehabilitation; nursing staff can easily adjust the upper limb holding mechanism and leg brackets according to the position, height, and body shape of the person to be transferred, which is easy to use; the controller can also Transfer operations in different scenarios and modes are automatically realized according to preset programs and input parameters.

In one embodiment of the present application, preferably, the bottom end of the housing 11 of the first telescopic arm 10 is hingedly connected to the upper side of the moving base plate 30, the first motor 41 and the second motor 42 are linear push rod motors, and the The housing of a motor 41 is hingedly connected to the housing 11 of the first telescopic arm 10, and the end of the push rod of the first motor 41 is hingedly connected to the telescopic rod 12 of the first telescopic arm 10; the housing of the second motor 42 is connected to the moving The upper side of the bottom plate 30 is hingedly connected, and the end of the push rod of the second motor 42 is hingedly connected with the housing 11 of the first telescopic arm 10 , whereby the first motor 41 can drive the telescopic rod 12 of the first telescopic arm 10 to extend. Or retract to adjust the height of the support frame 13 and the upper limb holding mechanism 50; the second motor 42 can drive the housing 11 of the first telescopic arm 10 to swing up and down to adjust the distance between the first telescopic arm 10 and the moving base plate 30 angle; specifically, through the first motor 41 and the second motor 42 working together, the positions of the support frame 13 and the upper limb holding mechanism 50 have a larger adjustment range, and the adjustment is flexible and convenient.

In one embodiment of the present application, preferably, the third motor 43 is a linear push rod motor, the housing of the third motor 43 is hingedly connected to the upper side of the support frame 13 , and the end of the push rod of the third motor 43 is connected to the chest. The back of the support plate 51 is hingedly connected; thus, the angle of the chest support plate 51 can be adjusted through the third motor 43 so that the front of the chest support plate 51 fits the chest of the person to be transferred, and the angle of the chest support plate 51 can also be adjusted at any time as needed. The angle enables the chest support plate 51 to always fit the chest of the person to be transported during the transfer process.

In one embodiment of the present application, preferably, the bottom end of the housing 21 of the second telescopic arm 20 is hingedly connected to the moving base plate 30, the fourth motor 44 is a DC servo motor, and the fourth motor 44 is installed on the second telescopic arm. 20, the output shaft of the fourth motor 44 is a long screw rod 441, and the inner end of the telescopic rod 22 of the second telescopic arm 20 is fixed with a screw nut 221 adapted to the long screw rod 441. When the screw rod 441 rotates, the screw nut 221 can drive the telescopic rod 22 of the second telescopic arm 20 to extend or retract; in this application, the telescopic rod 22 is driven to extend or retract by being provided in the housing 21 of the second telescopic arm 20 The fourth motor 44 is retracted, so that the fourth motor is hidden inside the second telescopic arm, and the appearance is simple, compact and beautiful.

In one embodiment of the present application, preferably, the fifth motor 45 is a linear push rod motor, the housing of the fifth motor 45 is hingedly connected to the moving base plate 30 , and the end of the push rod of the fifth motor 45 is connected to the second telescopic arm. 20 is hingedly connected to the housing 21; as shown in Figures 1 and 3, the end of the push rod of the fifth motor 45 is hingedly connected to the lower side of the housing 21 of the second telescopic arm 20. When the second telescopic arm 20 is downward When retracted, it can be hidden between the two footrest slots 32, making the transfer robot simple in appearance. In this application, by arranging the fourth motor 44 and the fifth motor 45, the position of the leg bracket 60 has a large adjustment range, and the adjustment is flexible and convenient; the position of the leg bracket 60 can be adjusted at any time as needed to facilitate transfer. During the process, the leg bracket 60 can always fit with the lower part of the thigh of the person to be transferred to reliably support the lower limbs.

In one embodiment of the present application, preferably, the leg bracket 60 includes leg support tubes 61 located on both sides of the second telescopic arm 20. Preferably, the leg support tube 61 is also covered with a rubber sleeve; specifically, Specifically, the two leg support tubes 61 and the second telescopic rod 20 form a T-shaped support structure and correspond to the two foot grooves 32, which can reliably support the lower part of the thigh of the person to be transferred and simulate the nursing staff's hands during manual carrying. The upper part supports the thigh of the person to be transferred.

In one embodiment of the present application, preferably, the two armpit support plates 52 of the upper limb support mechanism 50 are connected to the sides of the chest support plate 51 through a first elastic hinge 501. The first elastic hinge 501 can enable both The outer ends of the two armpit support plates 52 are folded toward each other to clamp the person to be transferred. Specifically, when preparing to transfer the person to be transferred, first manually or through the drive module, the two armpit support plates 52 are opened in opposite directions. After the chest support plate 51 fits the chest of the person to be transferred, the two armpit support plates 52 are folded toward each other under the action of the elastic component of the first elastic hinge 501 to clamp the human body, making the upper limb holding mechanism 50 easy to use and Reliable clamping.

In one embodiment of the present application, preferably, the outer ends of the two arm support plates 52 are also respectively equipped with back clamping plates 53 through second elastic hinges 502. The second elastic hinges 502 can enable the two back clamping plates to be The outer ends of the holding plates 53 are folded toward each other and clamped close to the back of the person to be transferred, so that the chest support plate 51, the armpit support plate 52 and the back clamping plate 53 form an encircling support, which ensures reliable clamping and high safety; Specifically, when preparing to transfer the person to be transferred, first manually or through the drive module, the two armpit support plates 52 and the two back clamping plates 53 are moved and opened in opposite directions. When the chest support plate 51 is in contact with the chest of the person to be transferred, After being attached, the two arm support plates 52 are folded toward each other under the action of the elastic component of the first elastic hinge 501, and the two back clamping plates 53 are folded toward each other under the action of the elastic component of the second elastic hinge 502. This clamps the sides and back of the human body, making the upper limb holding mechanism 50 easy to use and reliable in clamping.

In one embodiment of the present application, preferably, a sixth motor 46 is also installed on the back of the chest support plate 51, and a winch 54 is installed on the output shaft of the sixth motor 46, and a winch 54 is wound around the winch 54. For the steel wire rope 55 connected to the outer ends of the two back clamping plates 53, the spring elastic force of the second elastic hinge 502 is smaller than the spring elastic force of the first elastic hinge 501; when the sixth motor 46 drives the winch 54 to rotate and tighten the steel wire rope 55 It can drive the outer ends of the two back clamping plates 53 and the two armpit support plates 52 to open in sequence; specifically, when it is necessary to open the back clamping plate 53 and the armpit support plates 52, they are driven by the sixth motor 46 The winch 54 rotates to tighten the wire rope 55. Because the spring elastic force of the second elastic hinge 502 is smaller than the spring elastic force of the first elastic hinge 501, the outer ends of the two back clamping plates 53 open first. When the back clamping plates After the outer ends of 53 first open to the preset width, the outer ends of the two armpit support plates 52 begin to open, so that the back clamping plate 53 and the armpit support plate 52 open to the preset width; when the person to be transferred After the chest and chest support plate 51 fit together, the sixth motor 46 reversely rotates to drive the winch 54 to loosen the wire rope 55. The two armpit support plates 52 are reset and folded toward each other under the action of the elastic component of the first elastic hinge 501. The two back clamping plates 53 are reset and folded toward each other under the action of the elastic component of the second elastic hinge 502, thereby clamping the sides and back of the human body.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. The transfer robot comprises a movable bottom plate and a controller, wherein universal wheels are arranged on the movable bottom plate, and the transfer robot is characterized in that a first telescopic arm is hinged to the upper side of the movable bottom plate, a first motor for driving a telescopic rod of the first telescopic arm to extend or retract is arranged on the first telescopic arm, and a second motor for driving the first telescopic arm to rotate is also arranged on the movable bottom plate; the top end of the telescopic rod of the first telescopic arm is provided with a support frame, an upper limb holding mechanism is arranged on the support frame and comprises a chest support plate and axillary support plates positioned on two sides of the chest support plate, the back surface of the chest support plate is hinged with the support frame, and a third motor for driving the chest support plate to rotate is also arranged on the support frame; the movable bottom plate is also provided with two pedal grooves, a second telescopic arm positioned between the two pedal grooves is also arranged on the movable bottom plate, the top end of a telescopic rod of the second telescopic arm is provided with a leg bracket, the second telescopic arm is provided with a fourth motor for driving the telescopic rod of the second telescopic arm to extend or retract, and the movable bottom plate is also provided with a fifth motor for driving the second telescopic arm to rotate; the controller can be in linkage control with the first motor, the second motor, the third motor, the fourth motor and the fifth motor, so that the upper limb holding and supporting mechanism and the leg bracket move simultaneously to simulate the limb movement track of a person to be transferred when a nursing person manually carries the person to be transferred.

2. The transfer robot of claim 1, wherein: the bottom end of the shell of the first telescopic arm is hinged with the upper side of the movable bottom plate, the first motor and the second motor are linear push rod motors, the shell of the first motor is hinged with the shell of the first telescopic arm, and the tail end of the push rod of the first motor is hinged with the telescopic rod of the first telescopic arm; the shell of the second motor is hinged with the upper side of the movable bottom plate, and the tail end of the push rod of the second motor is hinged with the shell of the first telescopic arm.

3. The transfer robot of claim 2, wherein: the third motor is a linear push rod motor, a shell of the third motor is hinged to the upper side of the supporting frame, and the tail end of the push rod of the third motor is hinged to the back face of the chest supporting plate.

4. The transfer robot of claim 1, wherein: the bottom of the shell of the second telescopic arm is hinged with the movable bottom plate, the fourth motor is a direct-current servo motor, the fourth motor is installed at the bottom of the shell of the second telescopic arm, an output shaft of the fourth motor is a filament rod, a screw nut matched with the filament rod is fixed at the inner end of the telescopic rod of the second telescopic arm, and the filament rod can drive the telescopic rod of the second telescopic arm to stretch out or retract through the screw nut when rotating.

5. The transfer robot of claim 4, wherein: the fifth motor is a linear push rod motor, a shell of the fifth motor is hinged with the movable bottom plate, and the tail end of the push rod of the fifth motor is hinged with the shell of the second telescopic arm.

6. The transfer robot of claim 1, wherein: the leg bracket comprises leg supporting cylinders positioned on two sides of the second telescopic arm, and rubber sleeves are sleeved on the leg supporting cylinders.

7. The transfer robot of claim 1, wherein: the two armpit supporting plates of the upper limb holding mechanism are connected with the side edges of the chest supporting plate through first elastic hinges, and the outer ends of the two armpit supporting plates can be folded and closed in opposite directions by the first elastic hinges.

8. The transfer robot of claim 7, wherein: the outer ends of the two armpit supporting plates are also respectively provided with a back clamping plate through a second elastic hinge, and the second elastic hinge can enable the outer ends of the two back clamping plates to be folded and close in opposite directions.

9. The transfer robot of claim 8, wherein: a sixth motor is further arranged on the back of the chest support plate, a wire twisting disc is arranged on an output shaft of the sixth motor, steel wire ropes connected with the outer ends of the two back plate clamping plates are wound on the wire twisting disc, and the spring force of the second elastic hinge is smaller than that of the first elastic hinge; the sixth motor drives the stranded wire disc to rotate so as to tighten the steel wire rope, and the outer ends of the two backboard clamping plates and the outer ends of the two armpit supporting plates can be driven to be opened in sequence.