CN114601638B

CN114601638B - Remains receiving and transporting device and receiving and transporting method

Info

Publication number: CN114601638B
Application number: CN202210357004.XA
Authority: CN
Inventors: 邢啸林; 陈曦; 王玮; 姜思朋; 罗雁莎; 钟晨; 刘慧敏
Original assignee: 101 Research Institute Ministry Of Civil Affairs
Current assignee: 101 Research Institute Ministry Of Civil Affairs
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2024-07-05
Anticipated expiration: 2042-04-01
Also published as: CN114601638A

Abstract

The invention provides a remains receiving and transporting device and a receiving and transporting method, wherein the remains receiving and transporting device comprises a bearing plate for placing remains, a power crawler belt which is arranged below the bearing plate and can walk on the ground and stairs, and a power wheel which is arranged at the front end of the bearing plate and can walk on the ground; when the power caterpillar tracks walk on the ground, the lower ends of the power wheels are higher than the lower ends of the power caterpillar tracks; when the power caterpillar tracks walk on the stairs, the power wheels are not contacted with the stairs; when the power wheels walk on the ground to enable the remains receiving and transporting device to walk on the ground in a straight line or turn, the bearing plate is in an inclined state, and the power caterpillar does not contact with the ground. The remains receiving and transporting device can realize walking on the ground, walking on stairs, turning and docking with a receiving and transporting vehicle, and only needs 1 to 2 receiving and transporting personnel to assist in the whole course, so that the labor cost is reduced, and the labor intensity of the personnel is also reduced.

Description

Remains receiving and transporting device and receiving and transporting method

Technical Field

The invention belongs to the field of transportation, and particularly relates to a remains receiving and transporting device and a remains receiving and transporting method.

Background

The death of the old and sick is the normal state of the person, and the person needs to transport away remains after going out. For people going out in a hospital, a receiver can transport away remains through an elevator; people who can go out of the house, particularly people who go out of the high-rise house, are provided with an elevator, and other owners can avoid transporting away the corpse from the elevator, so that the receiver can only transport the corpse down the building through stairs.

At present, when carrying remains, the carrying personnel usually adopt a stretcher to lift the remains away, four carrying personnel are generally required to cooperate for carrying out, two carrying personnel are arranged at the front end of the stretcher, and two carrying personnel are arranged at the rear end of the stretcher. Four receiving and transporting personnel transport remains from upstairs to downstairs and then to receiving and transporting vehicles (vehicles for receiving and transporting remains), the number of people needed in the whole process is large, the labor intensity of the people is high, and particularly, the remains from high-rise receiving and transporting are required to go downstairs to rest on a stair rest platform for many times, so that the remains are very tired; in addition, the old community has small stair resting platform size due to narrow stair width, and meanwhile, the space for accommodating the stretcher and four receiving and transporting personnel is very limited, so that the operation is inconvenient, and the labor intensity of people is increased.

Disclosure of Invention

The invention aims to solve the technical problems in the prior art, and a first object of the invention is to provide a remains receiving and transporting device, and a second object of the invention is to provide a receiving and transporting method by using the remains receiving and transporting device.

In order to achieve the first object, the present invention adopts the following technical scheme: the remains receiving and transporting device comprises a bearing plate for placing remains, a power caterpillar band which is arranged below the bearing plate and can walk on the ground and stairs, and a power wheel which is arranged at the front end of the bearing plate and can walk on the ground; when the power caterpillar tracks walk on the ground, the lower ends of the power wheels are higher than the lower ends of the power caterpillar tracks; when the power caterpillar tracks walk on the stairs, the power wheels are not contacted with the stairs; when the power wheels walk on the ground to enable the remains receiving and transporting device to walk on the ground in a straight line or turn, the bearing plate is in an inclined state, and the power caterpillar does not contact with the ground.

In the technical scheme, when the transporting device runs on the ground in a straight line, the transporting device moves on the ground through the power caterpillar or the power wheel to make the transporting device move forward on the ground; when turning on the ground, the turning of the transporting device is completed by the aid of the power wheels and manpower; when going down stairs, the power crawler walks on the stairs to realize the going down of the transport device; the turning of the receiving and transporting device on the rest steps of the stairs is completed by the aid of the power wheels and manpower; when the carrier plate is in butt joint with the transport vehicle, the carrier plate is horizontal, and the power crawler drives the transport device to enter the transport plane of the transport vehicle.

The remains receiving and transporting device can realize walking on the ground, walking on stairs, turning and docking with a receiving and transporting vehicle, and only needs 1 to 2 receiving and transporting personnel to assist in the whole course, so that the labor cost is reduced, and the labor intensity of the personnel is also reduced.

In a preferred embodiment of the invention, the power track is connected to the carrier plate by a lifting mechanism; when the power caterpillar tracks walk on the ground, the height of the power wheels can be matched with the upper surface of the receiving plane of the receiving vehicle; when the power wheels walk on the receiving and transporting vehicle, the power caterpillar can rise to be flush with the power wheels, and the power caterpillar can walk on the receiving and transporting plane of the receiving and transporting vehicle.

According to the technical scheme, the lifting mechanism is arranged to enable the height of the power caterpillar band to be adjustable, so that the height of the bearing plate can be adjusted according to the height of the receiving plane of the receiving vehicle, and remains can be conveniently transported into the receiving vehicle; and after the part of the receiving and transporting device enters the receiving and transporting vehicle, the power caterpillar band can be lifted by the lifting mechanism, the power caterpillar band is flush with the power wheel, and then the receiving and transporting device is driven by the power wheel and/or the power caterpillar band to advance on the receiving and transporting vehicle, so that the receiving and transporting device and remains can be transported to the receiving and transporting vehicle together, and the remains do not need to be transported when the receiving and transporting vehicle is connected up and down.

In a preferred embodiment of the invention, the lower end of the bearing plate is also provided with a resistance track positioned at the front end of the power track, the resistance track is connected with the bearing plate through a lifting mechanism, the lower surface of the resistance track can be flush with the lower surface of the power track, and the resistance track can not contact with the ground when the remains receiving and transporting device turns.

In the technical scheme, the resistance track plays a role in resistance, when the receiving and transporting device goes down stairs, the resistance track reduces the falling force of the receiving and transporting device in the descending process, reduces the pulling force of a person pulling the receiving and transporting device, and reduces the labor intensity of the person.

In a preferred embodiment of the invention, when only the power track is provided, the length of the power track spans at least three step vertices; when the power track and the resistance track are simultaneously arranged, the power track and the resistance track are connected in a flat state, and the total length at least spans three step peaks.

According to the technical scheme, the length of the crawler belt is set, so that the length of the crawler belt at least spans three step peaks, and smooth blocking of the crawler belt during descending stairs is avoided.

In a preferred embodiment of the present invention, the lifting mechanism is a scissor lift mechanism, and the scissor lift mechanism is connected to a lift driving mechanism for driving the scissor lift mechanism to move.

According to the technical scheme, the scissor fork type lifting mechanism is small in size after being folded, so that the collecting and transporting device is flattened after being folded, and is favorable for storage.

In a preferred embodiment of the present invention, the number of power wheels is one or two, and when the number of power wheels is two, the axes of the two power wheels are collinear, and the two power wheels are connected by a differential mechanism.

In the above technical scheme, when setting up two power wheels, two can differential rotation in order to turn, and two power wheels of this scheme are at the front end of loading board, and turning radius is little, can realize the turn at the less stair rest step in space.

In another preferred embodiment of the invention, the front end of the power track is connected with a universal wheel which can lift or the acting surface can rotate relative to the power track; when the power caterpillar walks on the ground or stairs, the universal wheels are lifted or the acting surface is rotated away from the ground, so that the universal wheels are not contacted with the ground and the stairs; when the power wheel walks on the ground, the universal wheel descends or the acting surface turns to the ground, so that the universal wheel can walk on the ground.

In the technical scheme, when the power wheel walks on the ground, the universal wheel walks on the ground, and the power wheel and the universal wheel support the transporting device, so that the transporting device can be balanced and can walk automatically under the condition that no transporting person is assisted.

In another preferred embodiment of the invention, the universal wheels are connected with the frame of the power track through a lifting mechanism; or the universal wheel is arranged on a connecting frame which is rotationally connected with the frame of the power track, and the universal wheel can rotate to the upper part or the lower part of the power track through the connecting frame.

In another preferred embodiment of the present invention, the rotation axis of the link is parallel to the width direction of the carrier plate, and the link is connected with a rotation driving mechanism for driving the rotation thereof.

In another preferred embodiment of the invention, the device further comprises a controller, wherein the first output control end and the second output control end of the controller are respectively connected with the enabling end of the power track and the enabling end of the power wheel, and the controller controls the power track and the power wheel to work so as to realize straight walking of the remains receiving and transporting device on the ground, turning on the ground, going down stairs and being in butt joint with the receiving and transporting vehicle.

According to the technical scheme, the power caterpillar band and the power wheel are controlled to work through the controller, so that the remains receiving and transporting device can linearly walk on the ground, turn on the ground, go down stairs and be in butt joint with the receiving and transporting vehicle, and the receiving and transporting person does not need to frequently operate the adjusting buttons of the power caterpillar band and the power wheel, so that the labor intensity of the person is reduced.

In order to achieve the second purpose, the invention adopts the following technical scheme: the receiving and transporting method by utilizing the remains receiving and transporting device comprises the following steps: the controller controls the remains receiving and transporting device to walk on the ground, walk on stairs, turn or be in butt joint with a receiving and transporting vehicle according to instructions of operators or detection signals of the sensor; when the power wheels walk on the ground, the bearing plate is in an inclined state, and the power caterpillar does not contact the ground; when walking on the stairs, the controller controls the power caterpillar to work, the power caterpillar and the bearing plate incline along the stairs, and the power wheels are not contacted with the stairs; when turning, the bearing plate is in an inclined state, the controller controls the power wheels to travel along the ground, and the power caterpillar does not contact with the ground; when the remains conveying device is in butt joint with a carrier, the controller controls the lifting mechanism to work so as to adjust the height of the bearing plate, firstly, the height of the power wheel is matched with the upper surface of the carrier receiving plane, the controller controls the power caterpillar to work so that the remains receiving device part enters the carrier, the controller controls the lifting mechanism to adjust the height of the power caterpillar, the height of the power caterpillar is matched with the upper surface of the carrier receiving plane, and the controller controls the power wheel and/or the power caterpillar to move on the carrier receiving plane so that the remains receiving device part completely enters the carrier.

According to the technical scheme, the controller controls the remains receiving and transporting device to walk on the ground, walk on stairs, turn or be in butt joint with the receiving and transporting vehicle according to instructions of operators or detection signals of the sensor, and strength of people is reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a schematic view of a first state of a pickup device according to a first embodiment of the present application, in which the pickup device can travel straight and turn on the ground.

Fig. 2 is a schematic perspective view of the transporting device in fig. 1.

Fig. 3 is a schematic view of a second state of the receiving device according to the first embodiment of the present application, in which the receiving device can descend stairs.

Fig. 4 is a schematic perspective view of the transporting device in fig. 3.

Fig. 5 is a schematic view of a third state of the receiving and transporting device according to the first embodiment of the present application, in which the receiving and transporting device can be docked with a receiving and transporting vehicle and can walk on the ground.

Fig. 6 is another schematic view of the second state of the transporting device according to the first embodiment of the present application.

Fig. 7 is a first state diagram of the receiving device of the first embodiment of the present application when going down stairs.

Fig. 8 is a second state diagram of the receiving device of the first embodiment of the present application when the receiving device goes down stairs.

Fig. 9 is a third state diagram of the receiving device of the first embodiment of the present application when going down stairs.

Fig. 10 is a fourth state diagram of the receiving device according to the first embodiment of the present application when the receiving device goes down stairs.

Fig. 11 is a fifth state diagram of the receiving device according to the first embodiment of the present application when the receiving device goes down stairs.

Fig. 12 is a schematic view of the receiving and transporting device in a folded state according to the first embodiment of the application.

Fig. 13 is another schematic view of the power track of the catcher device traveling on the ground according to the first embodiment of the present application.

Reference numerals in the drawings of the specification include: the device comprises a bearing plate 10, a front baffle 11, a handle 12, a power track 20, a resistance track 30, a first lifting mechanism 40, a connecting rod 41, a hinge seat 42, an upper sliding rail 43, a lower sliding rail 44, a second lifting mechanism 45, a power wheel 50, a mounting seat 51, a universal wheel 60, a connecting frame 61 and a controller 70.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "vertical," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the invention.

In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.

Example 1

The present embodiment provides a remains transporting device (abbreviated as transporting device), which, as shown in fig. 1 to 5, in a preferred embodiment of the present invention, includes a carrier plate 10 for placing remains, a power crawler 20 installed below the carrier plate 10 and capable of traveling on the ground and stairs, and a power wheel 50 provided at the front end of the carrier plate 10 and capable of traveling on the ground. The length and width of the bearing plate 10 can be set according to actual implementation (for example, the length of the bearing plate 10 can be 2 meters, and the width is 0.7 meter), the front end of the bearing plate 10 is provided with a front baffle 11, so that remains can be prevented from sliding out of the bearing plate 10 when the bearing plate 10 is inclined, and two sides of the rear end of the bearing plate 10 are respectively provided with a handle 12. The power tracks 20 are arranged below the rear part of the bearing plate 10 and parallel to the bearing plate 10, the power tracks 20 can run on at least two steps at the same time, the number of the power tracks 20 is two, the two power tracks 20 are symmetrically arranged left and right and synchronously work, the power tracks 20 are in the prior art, and the structure and the principle of the power tracks 20 are not described in detail herein.

In the present embodiment, a mounting seat 51 is fixedly connected below the front end of the carrier plate 10, the power wheel 50 is mounted on the mounting seat 51, and the power wheel 50 rotates on the ground or on the pickup vehicle to advance the pickup device. The specific power wheel 50 can adopt a person to push the carrying plate 10 forward to enable the power wheel 50 to rotate on the ground or a carrier, or the power wheel 50 is driven by a driving mechanism to rotate, and when the power wheel 50 is driven by the driving mechanism, the power wheel 50 is a driving wheel, which is the prior art, such as a driving wheel disclosed in CN98806804.4 or an omni-directional driving wheel disclosed in CN 201810859152.5. The number of power wheels 50 is one or two, preferably two power wheels 50 are provided. When the number of the power wheels 50 is one, the power wheels 50 are balance wheels; when the number of the power wheels 50 is two, the axes of the two power wheels 50 are collinear, and the two power wheels 50 are connected by a differential mechanism to realize turning, which is the prior art, and is not described in detail herein.

As shown in fig. 5, when the power track 20 walks on the ground, the lower end of the power wheel 50 is higher than the lower end of the power track 20, i.e., the power wheel 50 does not land. As shown in fig. 3 and 4, the power wheel 50 does not contact the stairs when the power track 20 is walking on the stairs. As shown in fig. 1 and 2, when the power wheel 50 travels on the ground to make the pickup device travel straight or turn on the ground, the carrier plate is inclined and the power caterpillar 20 does not contact the ground.

Preferably, the lower end of the carrier plate 10 is also mounted with a drag track 30, the drag track 30 being located on the front or rear side of the power track 20, preferably the drag track 30 being located on the front side of the power track 20, and the power wheels 50 being located on the front side of the drag track 20. The drag track 30 is a track that produces frictional drag and is unpowered and incapable of driving the running of the catcher. The number of the resistance tracks 30 is two, and the two resistance tracks 30 are symmetrically arranged left and right. The drag track 30 is connected with the bearing plate 10 through a lifting mechanism (which is a second lifting mechanism 45), and the lower surface of the drag track 30 can be flush with the lower surface of the power track 20; when the remains receiving and transporting device turns, the resistance track 30 is not contacted with the ground.

Preferably, when only the power track 20 is provided, the length of the power track 20 spans at least three step apexes; when the power track 20 and the drag track 30 are provided simultaneously, the power track 20 and the drag track 30 meet at a level (do not interfere with one another during operation) and the overall length spans at least three step apices. By setting the length of the crawler belt, the length of the crawler belt at least spans three step peaks, and smooth and no jamming is ensured when the crawler belt goes down stairs.

When the receiving and transporting device is used for receiving and transporting remains, people lift the remains onto the bearing plate 10, the bearing plate 10 is inclined as shown in fig. 1, the power wheel 50 is in contact with the ground, the power caterpillar 20 and the resistance caterpillar 30 are not in contact with the ground, one or two receiving and transporting personnel hold the handle 12 to assist the operation of the receiving and transporting device, then the power wheel 50 rotates on the ground, the receiving and transporting device of the power wheel 50 advances on a corridor (passageway of a floor), and when the receiving and transporting device needs to turn, the power wheel 50 drives the bearing plate 10 to turn or the receiving and transporting device of the power wheel is assisted by people to rotate to turn. When the vehicle is traveling on the ground in a straight line, the power crawler 20 may be used to drive the vehicle to travel on the ground, and the power wheels 50 may be switched to contact the ground to turn the vehicle during turning.

In order to facilitate the auxiliary operation of the transporting device by the transporting personnel when going down stairs, as shown in fig. 6, the handle 12 is a long handle and can retract or extend into the bearing plate 10, and when going down stairs, the handle 12 is pulled out (the handle 12 is not rotatable after the handle 12 is pulled out, so that the angle between the bearing plate 10 and the horizontal plane or the vertical plane can be conveniently adjusted by operating the handle 12), the transporting device is conveniently pulled, and the transporting device is prevented from falling down; when walking on the ground, the handle 12 is retracted into the carrier plate 10 as shown in fig. 1.

When the transporting device moves to the stairs, as shown in fig. 7, the transporting person pulls the handle 12 and rotates up and down to adjust the angle of the bearing plate 10, so that the front end of the power caterpillar 20 is grounded, and then pushes the transporting device forward, so that the power wheel 50 is suspended on the stairs. As shown in fig. 8, the drag track 30 is then lowered by the second lift mechanism 45 to the height, and the drag track 30 is lowered onto the stairs and into contact with the step apex (i.e., the intersection of the stair tread with the stair riser protruding outward). As shown in fig. 9, the second lifting mechanism 45 then continues to operate, increasing the distance between the drag track 30 and the carrier plate 10, lifting the carrier plate 10 off the ground with the power track 20, making the drag track 30 level with the power track 20, and then lifting the pickup device slightly upward to reduce the contact area with the step apex, reducing the drag. The catcher is then pushed forward, as shown in fig. 10, causing the power track 20 to also contact the step apex, and then causing the power track 20 to operate, the power track 20 causing the catcher to travel down the stairs. When the receiving and transporting device goes down stairs, the resistance caterpillar band 30 plays a role in resistance, so that the falling force of the receiving and transporting device in the descending process is reduced, the pulling force of a person for pulling the receiving and transporting device is reduced, and the labor intensity of the person is reduced.

When the receiving and transporting device descends to the stair rest platform at the end of the stair, as shown in fig. 11, the second lifting mechanism 45 enables the resistance track 30 to retract upwards, the resistance track 30 leaves the peak of the step to vacate, and the power track 20 works to enable the receiving and transporting device to continue to run downwards on the stair until the power wheel 50 is in contact with the stair rest platform. The catcher is then lifted slightly upward to clear the power track 20 from the top of the step and then the catcher can be turned at the landing by the power wheels 50 to the next stairs. The steps of going downstairs and turning at the stair rest platform are repeated until the remains are transported downstairs.

It should be noted that, when the drag track 30 is not provided, the length of the power track 20 may be set to be longer, for example, the length of the power track 20 may be extended to the front portion of the carrier plate 10, for example, 1.6 m, when the receiving device moves from the corridor to the stair, the person may land the front end of the power track 20 by adjusting the angle between the carrier plate 10 and the horizontal plane, then push the receiving device forward, suspend the power wheel 50 on the stair, move the power track 20 to the uppermost step vertex, push the receiving device forward, adjust the angle of the carrier plate 10, contact the power track 20 with at least two step vertices, and then operate the power track 20 to move the receiving device downward on the stair.

After the remains are transported to the downstairs, the transporting device walks on the downstairs ground, and the specific process is the same as the walking on the corridor ground, and is not repeated here. As shown in fig. 1 and 2, the pickup device moves to the pickup vehicle, and the loading plate 10 is inclined; as shown in fig. 5, the carrier plate 10 is pressed backward to be gradually horizontal, so that the power caterpillar 20 is positioned on the ground, and then the power caterpillar 20 is operated to advance the receiving device, the power wheel 50 and the resistance caterpillar 30 of the receiving device are partially moved to the receiving plane of the receiving vehicle, the power wheel 50 is positioned on the receiving plane of the receiving vehicle, and then the remains can be transferred to the receiving vehicle.

In another preferred embodiment, the receiving and transporting device is pulled away by the receiving and transporting vehicle together with the remains when the receiving and transporting device is docked with the receiving and transporting vehicle, and the remains do not need to be transported. The power track 20 may be provided in a liftable structure at this time, and specifically, the power track 20 is connected to the carrier plate 10 by a lifting mechanism (which is the first lifting mechanism 40). When the receiving and transporting device is in butt joint with the receiving and transporting vehicle, the power caterpillar 20 is grounded, the bearing plate 10 is horizontal, and the heights of the bearing plate 10 can be adjusted through the first lifting mechanism 40 at the moment because the heights of different receiving and transporting vehicle receiving and transporting planes can be different, so that the heights of the power wheels 50 are matched with the upper surfaces of the receiving and transporting vehicle receiving and transporting planes. After the power wheel 50 and the resistance track 30 of the receiving device are moved to the receiving plane of the receiving vehicle by the operation of the power track 20, the power track 20 stops operating, the front half of the receiving device enters the receiving vehicle and is supported by the receiving vehicle, then the power track 20 is lifted to be at the same height as the receiving plane of the receiving vehicle by the first lifting mechanism 40, then the power wheel 50 and/or the power track 20 are started, and the receiving device advances on the receiving vehicle.

In the normal state, as shown in fig. 12, the first lifting mechanism 40 and the second lifting mechanism 45 are folded up, so that the size is reduced, the storage is convenient, and the lower ends of the power caterpillar 20 and the resistance caterpillar 30 are not lower than the lower ends of the power wheels 50.

There are two ways when the catcher is used to walk on the ground using the power track 20. First, as shown in fig. 5, only the power track 20 is in contact with the ground, and the resistance track 30 is folded up, at which time the carrier plate 10 needs to be held in balance by the carrier to maintain the balance of the carrier. Second, as shown in fig. 13, both the power track 20 and the drag track 30 are in contact with the ground, at which time the carrier device may be self-balancing, and may be balanced without the carrier plate 10 being held by the carrier person. Wherein, the drag track 30 can be a track without a power mechanism or a track with a power mechanism, when the drag track 30 does not have a power mechanism, the drag track 30 follows the power track 20 to walk on the ground; when the drag track 30 has a power mechanism, the drag track can walk on the ground automatically and synchronously with the power track 20.

When the receiving device is docked with the receiving vehicle, the first lifting mechanism 40 and the second lifting mechanism 45 operate to adjust the height of the carrier plate 10 so that the height of the power wheel 50 matches the upper surface of the receiving plane of the receiving vehicle when both the power track 20 and the resistance track 30 are grounded, as shown in fig. 13. The power track 20 then operates to move the power wheels 50 of the pickup device onto the pickup plane, where the balance of the carrier plate 10 is maintained by the power wheels 50 and the power track 20. The second lifting structure then operates to raise the drag track 30, as shown in fig. 5, with the lower end of the drag track 30 not lower than the lower end of the power wheel 50. Then, after the power track 20 continues to operate so that the drag track 30 of the pickup device moves partially onto the pickup plane, the power track 20 stops operating, the power track 20 is lifted up to be at the same height as the pickup plane by the first lifting mechanism 40, and then the power wheel 50 and/or the power track 20 are started, so that the pickup device advances on the pickup vehicle. It should be noted that, the distance between the power track 20 and the carrier plate 10 is kept unchanged, for example, between 0.8 m and 1m, and can be preset in the process of walking in the corridor, going down stairs, turning at rest steps of stairs, and walking on the ground below stairs. When the vehicle is in butt joint with the vehicle, the height of the bearing plate 10 is required to be adjusted through the first lifting mechanism 40 according to the height of the vehicle receiving plane, and when the vehicle receiving device runs on the vehicle receiving plane, the height of the power caterpillar 20 is required to be adjusted through the first lifting mechanism 40 so that the height of the power caterpillar 20 is matched with the upper surface of the vehicle receiving plane.

In another preferred embodiment, the height of the power wheel 50 is adjustable, for example, the power wheel 50 is connected with the bearing plate 10 through a lifting mechanism (which is a third lifting mechanism), the bearing plate 10 is inclined, when the receiving device linearly walks or turns on the ground through the power wheel 50, the power wheel 50 can be lifted, and under the condition that the power caterpillar 20 is not lifted, the inclination angle of the bearing plate 10 can be adjusted through lifting the power wheel 50, so that the height and habit of different receiving personnel can be adapted; and the inclination angle of the bearing plate 10 is adjusted by the lifting power wheel 50, which is more labor-saving than the lifting power caterpillar 20. It should be noted that, the power wheel 50 may also be connected to the drag track 30, and may be lifted along with the drag track 30, and the specific connection manner is the same as the connection manner of the universal wheel 60 and the power track 20, which is not described herein.

In a preferred embodiment of the invention, as shown in fig. 2, the first 40 and second 45 lifting mechanisms are scissor lift mechanisms, which are coupled to a lift drive mechanism that drives the actuation thereof, such as by a linear motor. The first lifting mechanism 40 and the second lifting mechanism 45 have the same structure and size, and the first lifting mechanism 40 and the second lifting mechanism 45 are arranged in a front-back symmetrical manner. The two power tracks 20 are each connected to a scissor lift mechanism, and the two scissor lift mechanisms are connected by a rotating shaft.

As shown in fig. 2, the first lifting mechanism 40 includes a plurality of connecting rods 41 that are rotatably connected, and the present invention is described by taking four connecting rods 41 as an example, the middle of the two upper connecting rods 41 is rotatably connected through a pin shaft to form a crossed structure, the middle of the two lower connecting rods 41 is rotatably connected through a pin shaft to form a crossed structure, and the lower ends of the two upper connecting rods 41 are rotatably connected with the upper ends of the two lower connecting rods 41 through pin shafts. The bearing plate 10 is fixedly connected with a hinge seat 42 and an upper sliding rail 43 extending along the length direction of the bearing plate 10, the upper front end parts of the upper two connecting rods 41 are rotationally connected with the bottom of the bearing plate 10 through the hinge seat 42, and the upper rear end parts of the upper two connecting rods 41 are rotationally connected with the upper sliding rail 43 through pin shafts and can slide in the upper sliding rail 43. The frame of the power track 20 is also correspondingly fixedly connected with a hinging seat 42 and a lower sliding rail 44 extending along the length direction of the bearing plate 10, the lower front end parts of the lower two connecting rods 41 are rotationally connected with the frame of the power track 20 through the hinging seat 42, and the lower rear end parts of the lower two connecting rods 41 are rotationally connected with the lower sliding rail 44 through pin shafts and can slide in the lower sliding rail 44.

Specifically, the end of the link 41 above the rear is driven by a linear motor to slide back and forth in the upper slide rail 43 and/or the end of the link 41 below the rear is driven to slide back and forth in the lower slide rail 44, thereby realizing the lifting of the scissor lift mechanism. The structure and working principle of the scissor lift mechanism are prior art and will not be described in detail here.

In another preferred embodiment, as shown in fig. 1, 3 and 5, the front end of the power track 20 is connected with a universal wheel 60 with an action surface capable of rotating relative to the power track 20, the action surface is a bottom plate for installing the universal wheel 60, and the universal wheel 60 and the resistance track 30 are not interfered and are staggered in position during the movement process. The front end of the frame of the power track 20 is rotatably connected with a connecting frame 61, the bottom plate of the universal wheel 60 is mounted on the connecting frame 61 through bolts, the rotation axis of the connecting frame 61 is parallel to the width direction of the bearing plate 10, the connecting frame 61 is connected with a rotary driving mechanism for driving the connecting frame to rotate, and the rotary driving mechanism is a motor capable of rotating positively and negatively.

As shown in fig. 3 and 5, when the power crawler 20 travels on the ground or stairs, the rotation driving mechanism drives the link 61 to rotate so that the acting surface of the universal wheel 60 rotates away from the ground, the universal wheel 60 does not contact the ground or stairs, and the universal wheel 60 is emptied. As shown in fig. 1, when the power wheel 50 walks on the ground, the rotation driving mechanism drives the link 61 to rotate so that the acting surface of the universal wheel 60 turns to the ground, the universal wheel 60 contacts the ground, and the universal wheel 60 can walk on the ground. When the power wheels 50 travel on the ground, the universal wheels 60 travel on the ground, and the two power wheels 50 and one universal wheel 60 support the pickup device, so that the pickup device can be balanced and can automatically travel without the assistance of pickup personnel.

It should be noted that, the universal wheel 60 may be located above and below the power track 20 by lifting the universal wheel 60, for example, the universal wheel 60 may be connected to the frame of the power track 20 by a lifting mechanism, and the universal wheel 60 may be lifted or lowered by the lifting mechanism. Specifically, when the power track 20 walks on the ground or stairs, the universal wheel 60 is lifted up so that the universal wheel 60 does not contact the ground or stairs; when the power wheel 50 walks on the ground, the universal wheel 60 descends, enabling the universal wheel 60 to walk on the ground.

It should be noted that, instead of being mounted on the front end of the power track 20, the universal wheel 60 may be connected to the carrier plate 10, for example, the universal wheel 60 may be connected to the carrier plate 10 through a lifting mechanism, or the universal wheel 60 may be mounted on a connection frame 61 rotatably connected to the carrier plate 10, so long as the movement of the universal wheel 60 does not interfere with the movement of the resistance track 30.

In another preferred embodiment, the receiving and transporting device is further provided with a controller 70, wherein the controller 70 is arranged at the rear end of the carrying floor 10 and is located between the two handles 12. The first output control end and the second output control end of the controller 70 are respectively connected with the enabling end of the power track 20 and the enabling end of the power wheel 50, and the controller 70 controls the power track 20 and the power wheel 50 to work, so that the remains receiving and transporting device can linearly walk on the ground, turn on the ground (including turning on a stair rest platform), descend stairs and be in butt joint with a receiving and transporting vehicle. When the drag crawler 30, the universal wheel 60, and the first elevating mechanism 40 are provided, the third output control end, the fourth output control end, and the fifth output control end of the controller 70 are connected to the second elevating mechanism 45, the rotation driving structure for driving the working surface of the universal wheel 60 to rotate, and the enabling end of the first elevating mechanism 40, respectively.

When the controller 70 is not provided, the rear end of the carrier plate 10 is provided with a button for controlling the power crawler 20, the power wheel 50, the second elevating mechanism 45, the rotation driving structure for driving the working surface of the universal wheel 60 to rotate and the first elevating mechanism 40 to operate.

Example two

The present embodiment provides a receiving and transporting method using the remains receiving and transporting device of the first embodiment, the receiving and transporting method including the following steps: the controller 70 controls the remains receiving and transporting device to walk on the ground, walk on stairs, turn or dock with a receiving and transporting vehicle according to instructions of an operator or detection signals of a sensor.

The controller 70 controls the power track 20 or the power wheel 50 to operate to advance as the catcher walks on the ground. When the power caterpillar 20 is operated to make the transporting device walk on the ground, the bearing plate 10 is horizontal, and the controller 70 controls the acting surface of the universal wheel 60 to rotate so as to make the universal wheel 60 separate from the ground. When the power wheel 50 works to enable the transporting device to walk on the ground, the bearing plate 10 is inclined from front to back from top to bottom, and the controller 70 controls the acting surface of the universal wheel 60 to rotate so as to enable the universal wheel 60 to be in contact with the ground.

When the receiving device walks on the stairs, the controller 70 controls the second lifting mechanism 45 to lift the resistance track 30, and the controller 70 controls the power track 20 to work to descend the stairs.

When the pickup device turns, the controller 70 controls the second elevating mechanism 45 to elevate the resistance track 30, the controller 70 controls the acting surface of the universal wheel 60 to rotate so that the universal wheel 60 contacts the ground, and the controller 70 controls the two power wheels 50 to rotate in a differential speed to turn.

When the receiving and transporting device is docked with the receiving and transporting vehicle, the controller 70 controls the first lifting mechanism 40 to work so as to adjust the height of the bearing plate 10, the height of the power wheel 50 is matched with the upper surface of the receiving and transporting vehicle receiving and transporting plane, the controller 70 controls the power caterpillar 20 to work so as to enable the remains receiving and transporting device to enter the receiving and transporting vehicle, the controller 70 controls the first lifting mechanism 40 to adjust the height of the power caterpillar 20, the height of the power caterpillar 20 is matched with the upper surface of the receiving and transporting vehicle receiving and transporting plane, and the controller 70 controls the power wheel 50 and/or the power caterpillar 20 to move on the receiving and transporting vehicle receiving and transporting the remains receiving and transporting device to enter the receiving and transporting vehicle.

Specifically, a man-machine interface may be disposed near the handle 12 to receive operator instructions, through which an operator inputs control instructions, and the controller 70 controls the lifting of the track lifting mechanisms (the first lifting mechanism 40 and the second lifting mechanism 45) and controls the operation of the power track 20 and the power wheel 50.

In another preferred embodiment, an image sensor may be provided at the front end of the carrier plate 10, and an identification unit may be provided in the controller 70, and the identification unit determines whether to travel on the ground, whether to descend stairs, turn, or dock with a pickup vehicle based on image information detected by the image sensor. The specific recognition unit can specifically recognize the image information by using a machine learning model. In addition, a distance sensor (for example, provided on the mount 51 of the power wheel 50) may be further provided at the power wheel 50, and when the distance detected by the distance sensor is constant and less than the first threshold value and the image sensor detects the ground image, it is determined that the vehicle is turning, and the power wheel 50 is controlled to operate. When the distance detected by the distance sensor increases from the first threshold value to the second threshold value, it is determined that the power wheel 50 is stopped in a downstairs state, the power track 20 starts to operate, and the first threshold value may be set to 0.1m, and the second threshold value may be the height of the first step. When the distance detected by the distance sensor is constant and greater than the third threshold, it is determined that the vehicle is traveling on the ground, and the power track 20 continues to run, the third threshold may be set to 0.5 meters. When the distance detected by the distance sensor is constant and smaller than the fourth threshold value and the image sensor detects the vehicle image, the fourth threshold value is judged to be in butt joint with the receiving and transporting vehicle, the fourth threshold value can be set to be 0.1 meter, the controller 70 controls the power track 20 to work so that the remains receiving and transporting device part enters the receiving and transporting vehicle, the controller 70 controls the first lifting mechanism 40 to adjust the height of the power track 20 so that the height of the power track 20 is matched with the upper surface of the receiving and transporting plane of the receiving and transporting vehicle, and the controller 70 controls the power wheels 50 and/or the power track 20 to move on the receiving and transporting plane of the receiving and transporting vehicle so that the remains receiving and transporting device part completely enters the receiving and transporting vehicle.

The remains transporting device is used for transporting remains, and can be used for transporting cargoes, such as cargoes in old communities without elevators, going down stairs, transporting the cargoes to a cargo cart after going down stairs, and docking with the cargo cart; the pickup device may be used only for pickup of cargoes on a plane, and it is possible to select whether or not the drag crawler 30 is disposed according to circumstances.

In the description of the present specification, reference to the terms "preferred implementation," "one embodiment," "some embodiments," "example," "a particular example" or "some examples" and the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The remains receiving and transporting device is characterized by comprising a bearing plate for placing remains, a power caterpillar band which is arranged below the bearing plate and can walk on the ground and stairs, and a power wheel which is arranged at the front end of the bearing plate and can walk on the ground;

when the power caterpillar band walks on the ground, the lower end of the power wheel is higher than the lower end of the power caterpillar band;

when the power caterpillar tracks walk on the stairs, the power wheels are not contacted with the stairs;

When the power wheels walk on the ground to enable the remains receiving and transporting device to walk on the ground in a straight line or turn, the bearing plate is in an inclined state, and the power caterpillar does not contact with the ground;

The lower part of the bearing plate is also provided with a resistance track positioned at the front end of the power track, the resistance track is connected with the bearing plate through a lifting mechanism, the lower surface of the resistance track can be flush with the lower surface of the power track, and the resistance track can not contact with the ground when the remains transporting device turns; the power caterpillar is connected with the bearing plate through a lifting mechanism;

when the power caterpillar tracks walk on the ground, the height of the power wheels can be matched with the upper surface of the receiving plane of the receiving vehicle;

when the power wheels walk on the receiving and transporting vehicle, the power caterpillar can rise to be flush with the power wheels, and the power caterpillar can walk on the receiving and transporting plane of the receiving and transporting vehicle;

the remains receiving and transporting device further comprises a controller, a first output control end and a second output control end of the controller are respectively connected with an enabling end of the power caterpillar band and an enabling end of the power wheel, and the controller controls the power caterpillar band and the power wheel to work so as to realize the straight line walking of the remains receiving and transporting device on the ground, turning on the ground, going down stairs and docking with a receiving and transporting vehicle;

An image sensor is arranged at the front end of the bearing plate, an identification unit is arranged in the controller, and the identification unit judges whether to run on the ground, descend stairs, turn or be in butt joint with a transport vehicle according to the image information detected by the image sensor;

When the distance detected by the distance sensor is increased from the first threshold value to the second threshold value, the power wheel is judged to be in a downstairs state, the power wheel is controlled to stop running, the power track starts running, the specific first threshold value is set to be 0.1 meter, and the second threshold value is the height of a first-stage step; when the distance detected by the distance sensor is constant and is larger than a third threshold value, the power crawler belt is judged to run on the ground, and the third threshold value is set to be 0.5 meter; when the distance detected by the distance sensor is constant and smaller than a fourth threshold value and the image sensor detects a vehicle image, the vehicle image is judged to be in butt joint with the receiving and transporting vehicle, the fourth threshold value is set to be 0.1 meter, the controller controls the power caterpillar to work so that the remains receiving and transporting device part enters the receiving and transporting vehicle, the controller controls the lifting mechanism to adjust the height of the power caterpillar, the height of the power caterpillar is matched with the upper surface of the receiving and transporting plane of the receiving and transporting vehicle, and the controller controls the power wheel and/or the power caterpillar to move on the receiving and transporting plane of the receiving and transporting vehicle so that the remains receiving and transporting device part completely enters the receiving and transporting vehicle.

2. The remains transport apparatus of claim 1, wherein when only the power track is provided, the length of the power track spans at least three step apexes;

When the power track and the resistance track are simultaneously arranged, the power track and the resistance track are connected in a flat state, and the total length at least spans three step peaks.

3. The remains transport device of claim 1, wherein the number of powered wheels is one or two, and when the number of powered wheels is two, the axes of the two powered wheels are collinear, and the two powered wheels are connected by a differential mechanism.

4. The remains transport device according to claim 1, wherein the front end of the power track is connected with a universal wheel which can be lifted or the action surface of which can rotate relative to the power track;

When the power caterpillar tracks walk on the ground or stairs, the universal wheels are lifted or the acting surface is turned away from the ground, so that the universal wheels are not contacted with the ground and the stairs;

When the power wheel walks on the ground, the universal wheel descends or the acting surface turns to the ground, so that the universal wheel can walk on the ground.

5. The remains transport device of claim 4, wherein the universal wheels are connected to the frame of the power track via a lifting mechanism;

Or the universal wheels are arranged on a connecting frame which is rotationally connected with the frame of the power track, and the universal wheels can rotate to the upper side or the lower side of the power track through the connecting frame.

6. The remains transport device of claim 5, wherein the rotational axis of the connector is parallel to the width direction of the carrier plate, and the connector is connected with a rotational driving mechanism for driving the connector to rotate.

7. A method of receiving and transporting a remains using the remains receiving and transporting apparatus of claim 1, comprising the steps of:

the controller controls the remains transport device to walk on the ground, walk on stairs, turn or be in butt joint with the transport vehicle according to the detection signal of the sensor;

When the power wheels walk on the ground, the bearing plate is in an inclined state, and the power caterpillar does not contact the ground;

When walking on the stairs, the controller controls the power caterpillar to work, the power caterpillar and the bearing plate incline along the stairs, and the power wheels are not contacted with the stairs;

When turning, the bearing plate is in an inclined state, the controller controls the power wheels to travel along the ground, and the power caterpillar does not contact with the ground;

when the remains conveying device is in butt joint with a carrier, the controller controls the lifting mechanism to work so as to adjust the height of the bearing plate, firstly, the height of the power wheel is matched with the upper surface of the carrier receiving plane, the controller controls the power caterpillar to work so that the remains receiving device part enters the carrier, the controller controls the lifting mechanism to adjust the height of the power caterpillar, the height of the power caterpillar is matched with the upper surface of the carrier receiving plane, and the controller controls the power wheel and/or the power caterpillar to move on the carrier receiving plane so that the remains receiving device part completely enters the carrier.