CN105411757B - Self-balancing stretcher - Google Patents
Self-balancing stretcher Download PDFInfo
- Publication number
- CN105411757B CN105411757B CN201610018050.1A CN201610018050A CN105411757B CN 105411757 B CN105411757 B CN 105411757B CN 201610018050 A CN201610018050 A CN 201610018050A CN 105411757 B CN105411757 B CN 105411757B
- Authority
- CN
- China
- Prior art keywords
- stretcher
- anterior
- support
- self
- supporting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2220/00—Adaptations of particular transporting means
- A61G2220/14—Cars
Abstract
The invention discloses a kind of Self-balancing stretcher, including anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The stretcher, which is installed on anterior-posterior balance mechanism and left-right balance mechanism, makes front and rear inclination angle and the left and right tilt adjustable of stretcher；The Self-balancing stretcher of the present invention, can steadily send out the wounded under complicated rescue environment, it is ensured that wounded's safety is conveyed out disaster area, it is to avoid the wounded are in rescue work and during transporting by secondary injury.
Description
Technical field
The present invention relates to stretcher, more particularly to a kind of Self-balancing stretcher.
Background technology
After generation geological disaster, road and building are by serious destruction, and ambulance can not reach the injured ground of the wounded
Point, people, which need the wounded are lifted into ambulance location with stretcher, could implement to give first aid to or send to hospital on the spot rescue, and use letter
When easy stretcher is given first aid to the wounded, because road is uneven, people with stretcher during the wounded are transported, and stretcher can be front and rear or left
The right side is jolted, and can so aggravate the pain of the wounded, or even causes secondary injury to the wounded, to subsequently giving treatment to unfavorable.
The content of the invention
In view of this, it is an object of the invention to provide a kind of Self-balancing stretcher, it is adaptable to the rescue work after geological disaster
In, it can smoothly carry out the transport of the wounded under complicated rescue environment, it is ensured that wounded's safety is conveyed out disaster area.
The Self-balancing stretcher of the present invention, including anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The stretcher peace
Make front and rear inclination angle and the left and right tilt adjustable of stretcher loaded on anterior-posterior balance mechanism and left-right balance mechanism；
Further, the anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support；It is described
Arc guide rail is vertically arranged；The front end of the anterior-posterior balance support is articulated with the transmission belt of synchronous belt drive mechanism, and rear end is slided
It is dynamic to be connected to arc guide rail；
Further, the left-right balance mechanism includes left-right balance support, spline motor and supporting plate；The left-right balance branch
Frame and spline motor are fixed on anterior-posterior balance support；The output shaft of spline motor along anterior-posterior balance support be longitudinally arranged and by
Left-right balance support carries out radial support positioning；The supporting plate is fixed on the output shaft of spline motor；
Further, longitudinal direction of the stretcher along supporting plate is slidably connected with supporting plate single-degree-of-freedom, and the rear end of supporting plate is fixed with
For entering the spacing fixed dam of line slip to stretcher；
Further, multiple pulleys are provided with the supporting plate to be made between supporting plate and stretcher to be slidably matched by pulley；
The beneficial effects of the invention are as follows：The Self-balancing stretcher of the present invention, can be steady by the wounded under complicated rescue environment
Send out, it is ensured that the wounded safety be conveyed out disaster area, it is to avoid the wounded rescue work and transport during by secondary injury.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is Fig. 1 A-A sectional views
Fig. 3 is Fig. 1 top view.
Embodiment
Fig. 1 is structural representation of the invention；Fig. 2 is Fig. 1 A-A sectional views, and Fig. 3 is Fig. 1 top view, such as figure institute
Show：The Self-balancing stretcher of the present embodiment, including anterior-posterior balance mechanism, left-right balance mechanism and stretcher 1；The stretcher 1 is pacified
Make front and rear inclination angle and the left and right tilt adjustable of stretcher 1 loaded on anterior-posterior balance mechanism and left-right balance mechanism, front and rear inclination angle refers to
The inclination angle that stretcher 1 is rotated along its horizontal axle, left and right inclination angle refers to the inclination angle that stretcher 1 is rotated along its longitudinal axle；Also wrap
Include for installing anterior-posterior balance mechanism, the manpower support of left-right balance mechanism, from walking basal seat or vehicle；Can be by anterior-posterior balance
Mechanism, left-right balance mechanism are arranged on manpower support, from walking basal seat or vehicle, pass through manpower or vehicle-mounted transport
Mode sends out the wounded, and automatic control system is installed in corresponding manpower support, from walking basal seat or vehicle, passes through detection
Balanced controls and left-right balance mechanism send control signal to keep stretcher 1 steady pavement behavior forwards, backwards；Can be in complexity
Rescue environment under smoothly carry out the wounded transport, it is ensured that the wounded safety be conveyed out disaster area, it is to avoid the wounded are in rescue work
With during transport by secondary injury.
In the present embodiment, the anterior-posterior balance mechanism includes synchronous belt drive mechanism 2, arc guide rail 3 and anterior-posterior balance branch
Frame 4；The arc guide rail 3 is vertically arranged；The front end of the anterior-posterior balance support 4 is articulated with the biography of synchronous belt drive mechanism 2
Dynamic band, rear end is slidably connected to arc guide rail 3；The vertically arranged circle for referring to the place of arc guide rail 3 of arc guide rail 3 is located at one
It is specially that synchronous belt drive mechanism 2 is driven by servomotor along along a certain perpendicular of the longitudinal direction of stretcher 1 in perpendicular,
Synchronous belt drive mechanism 2 can be longitudinally arranged along stretcher 1, setting can also be obliquely installed or erect, as shown in figure 1, this reality
Apply mode low after the former height of the synchronous belt drive mechanism 2 in example to be obliquely installed, motion and anterior-posterior balance by timing belt
The Action of Gravity Field of of support 4 itself can be such that anterior-posterior balance support 4 is slided between synchronous belt drive mechanism 2 and arc guide rail 3, and then
Inclination angle before and after adjustment, keeps balance；The rear end of anterior-posterior balance support 4 correspondence arc guide rail 3 is provided with roller, makes anterior-posterior balance support 4
Arc guide rail 3, reduction friction are connected to by roller-coaster；The anterior-posterior balance mechanism bearing capacity of the present embodiment is strong, suitable for calamity
Area is rescued, and the rear end of synchronous belt drive mechanism 2 is articulated with corresponding manpower support, from walking basal seat or vehicle, and timing belt is passed
The front end of motivation structure 2 is installed on corresponding manpower support, from walking basal seat or vehicle by pillar；The two ends of the pillar with
Synchronous belt drive mechanism 2 and corresponding manpower support, from being articulated and connected between walking basal seat or vehicle, the pillar is served as reasons
The double acting hydraulic cylinder of automatic control system control, automatic control system controls pillar to elongate or shorten according to pavement behavior, with
The gradient of synchronous belt drive mechanism 2 is adjusted, increases the adjusting range at inclination angle before and after anterior-posterior balance support 4, strong adaptability is expert at
Ensure that anterior-posterior balance support 4 is steady in the case of Shi Yupo roads.
In the present embodiment, the left-right balance mechanism includes left-right balance support 5, spline motor and supporting plate 6；The left and right
Balance bracket 5 and spline motor are fixed on anterior-posterior balance support 4；Longitudinal direction of the output shaft of spline motor along anterior-posterior balance support 4
Arrange and radial support positioning is carried out by left-right balance support 5；The supporting plate 6 is fixed on the output shaft of spline motor, spline
Motor includes the motor and decelerator become one, using the output shaft of decelerator as the output shaft of spline motor, passes through control
The rotating of motor processed and corner control the left and right inclination angle of supporting plate 6；Pass through synchronous belt drive mechanism 2 and left-right balance mechanism
It is compound so that superposed stretcher 1 within the specific limits, can automatically adjust equilbrium position, it is to avoid in rescue work
Due to the influence of extraneous factor, cause the secondary injury to the wounded；
The operation principle of Self-balancing stretcher is：Pass through corresponding manpower support, three from walking basal seat or vehicle front
Dimension omnidirectional's laser radar is scanned analysis to the landform in front of Self-balancing stretcher, when not having barrier, keeps toothed belt transmission
The leading dimension position of mechanism 2, makes anterior-posterior balance support 4 keep balance in the longitudinal direction, moves on；
When barrier occurs in front, single-chip microcomputer is by the way that the signal that photoelectric sensor is passed back is analyzed；
It is (front and rear in order to prevent whole mobile platform from turning on one's side, it is ensured that the scope of activities of center of gravity without departing from adjustable extent
Balancing safety adjustable range is front and rear each 10 °) a., when three-dimensional omnidirectional's Laser Radar Scanning has barrier to front, feeds back to
Control system, b. starts to be scanned blocking surfaces grade information by three-dimensional omnidirectional's laser radar, and feeds back to control
System；C. by feedback of the millimetre-wave radar to front obstacle distance, it is moved to barrier in control Self-balancing stretcher certain
Apart from when, start to start closed-loop synchronous belt drive mechanism 2, and carried out according to the grade information of the blocking surfaces of feedback slow
Regulation；D. when Self-balancing stretcher starts throwing over barrier, controller is by the detection to gait of march, to adjust timing belt
With the speed of service of spline motor, it is ensured that stretcher is horizontal all the time around on position；E. in adjustment horizontal position
While putting, the stent location information fed back by the gyroscope on anterior-posterior balance support 4 is to timing belt and spline motor
The speed of service be corrected processing, strengthen the accuracy of adjustment；
During vehicle-mounted transport, if during beyond the adjustable extent of synchronous belt drive mechanism 2, passing through three-dimensional omnidirectional's laser radar and passing
The front terrain information returned, again planning action path.If during energy avoiding obstacles, being detoured；If in the presence of other obstacles
Thing, then proceed step a.
In the present embodiment, longitudinal direction of the stretcher 1 along supporting plate 6 is slidably connected with the single-degree-of-freedom of supporting plate 6, after supporting plate 6
End is fixed with for entering the spacing fixed dam 7 of line slip to stretcher 1, and one end using the corresponding wounded head of stretcher 1 is before
End, one end of correspondence foot is rear end, as shown in figure 1, the rear end of supporting plate 6 is the right-hand member of supporting plate 6 shown in Fig. 1, supporting plate 6
Front end is higher than rear end, therefore stretcher 1 is close to fixed dam 7 under its own Action of Gravity Field, and is determined by fixed dam 7
Position, stretcher 1 can be pulled out, be easy to escorting for the wounded, and the sliding part matched with supporting plate 6 can be installed on existing Simple stretcher
To realize the assembling of Self-balancing stretcher, existing resource is made full use of, cost is reduced.
In the present embodiment, multiple pulleys 8 are provided with the supporting plate 6 to be made between supporting plate 6 and stretcher 1 to slide by pulley 8
It is dynamic to coordinate, it is easy to push-in and the pull-out of stretcher 1.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (3)
1. a kind of Self-balancing stretcher, it is characterised in that：Including anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The load
Frame bed, which is installed on anterior-posterior balance mechanism and left-right balance mechanism, makes front and rear inclination angle and the left and right tilt adjustable of stretcher；Before and after described
Balanced controls include synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support；The arc guide rail is vertically arranged；It is described
The front end of anterior-posterior balance support is articulated with the transmission belt of synchronous belt drive mechanism, and rear end is slidably connected to arc guide rail；It is described same
Step tape handler is driven by servomotor；
The left-right balance mechanism includes left-right balance support, spline motor and supporting plate；Left-right balance support and the spline electricity
Machine is fixed on anterior-posterior balance support；The output shaft of spline motor is longitudinally arranged and by left-right balance branch along anterior-posterior balance support
Frame carries out radial support positioning；The supporting plate is fixed on the output shaft of spline motor；
Longitudinal direction of the stretcher along supporting plate is slidably connected with supporting plate single-degree-of-freedom；Also include be used for install anterior-posterior balance mechanism,
The manpower support of left-right balance mechanism, from walking basal seat or vehicle, in corresponding manpower support, from walking basal seat or vehicle
Upper installation automatic control system；
The operation principle of Self-balancing stretcher is：By corresponding manpower support, it is complete from the three-dimensional of walking basal seat or vehicle front
Analysis is scanned to the landform in front of Self-balancing stretcher to laser radar, when not having barrier, synchronous belt drive mechanism is kept
Leading dimension position, make anterior-posterior balance support keep in the longitudinal direction balance, move on；
When barrier occurs in front, single-chip microcomputer is by the way that the signal that photoelectric sensor is passed back is analyzed；
In order to prevent whole mobile platform from turning on one's side, it is ensured that the scope of activities of center of gravity, before anterior-posterior balance safe adjustment range is
Each 10 ° afterwards, without departing from adjustable extent：A. when three-dimensional omnidirectional's Laser Radar Scanning has barrier to front, control is fed back to
System processed, b. starts to be scanned blocking surfaces grade information by three-dimensional omnidirectional's laser radar, and feeds back to control system
System；C. by feedback of the millimetre-wave radar to front obstacle distance, the spacing of barrier one is moved in control Self-balancing stretcher
From when, start to start closed-loop synchronous belt drive mechanism, and carried out according to the grade information of the blocking surfaces of feedback slow
Regulation；D. when Self-balancing stretcher starts throwing over barrier, controller by the detection to gait of march, come adjust timing belt and
The speed of service of spline motor, it is ensured that stretcher is horizontal all the time around on position；E. in adjustment horizontal position
While putting, the stent location information fed back by gyroscope on anterior-posterior balance support is to timing belt and spline motor
The speed of service is corrected processing, strengthens the accuracy of adjustment；
During vehicle-mounted transport, if during beyond the adjustable extent of synchronous belt drive mechanism, being passed back by three-dimensional omnidirectional's laser radar
Front terrain information, again planning action path；If during energy avoiding obstacles, being detoured；If in the presence of other barriers,
Proceed step a.
2. Self-balancing stretcher according to claim 1, it is characterised in that：The rear end of supporting plate is fixed with for entering to stretcher
The spacing fixed dam of line slip.
3. Self-balancing stretcher according to claim 2, it is characterised in that：Multiple pulleys are provided with the supporting plate makes supporting plate
It is slidably matched between stretcher by pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610018050.1A CN105411757B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610018050.1A CN105411757B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105411757A CN105411757A (en) | 2016-03-23 |
| CN105411757B true CN105411757B (en) | 2017-08-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610018050.1A Expired - Fee Related CN105411757B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105411757B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107496083A (en) * | 2017-10-17 | 2017-12-22 | 杜鹏伟 | A kind of stretcher of liftable self-balancing |
| CN107890393B (en) * | 2017-11-30 | 2020-10-27 | 定远县中林机械技术有限公司 | Stretcher and ambulance cot for field rescue |
| CN113679538A (en) * | 2021-09-29 | 2021-11-23 | 上海新纪元机器人有限公司 | Self-balancing stretcher and vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4841585A (en) * | 1987-03-12 | 1989-06-27 | Kabushiki Kaisha Toshiba | Swingable and slidable bed apparatus |
| CN200973792Y (en) * | 2006-03-09 | 2007-11-14 | 江西理工大学 | Full-automatic health-care shaking bed for good sleeping |
| WO2010056193A1 (en) * | 2008-11-12 | 2010-05-20 | Zouce Ab | Transportation apparatus and method for carrying a payload in a desired plane independent of 3d tilting of said apparatus |
| CN201624895U (en) * | 2010-07-20 | 2010-11-10 | 中国地质大学（武汉） | Combined shock-absorbing stretcher vehicle for field rescue |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
| CN103222753A (en) * | 2013-03-27 | 2013-07-31 | 河北联合大学 | Intelligent health-preserving bed |
| CN204671411U (en) * | 2015-05-20 | 2015-09-30 | 王和舒琦 | A kind of Self-balancing stretcher |
| CN205286731U (en) * | 2016-01-12 | 2016-06-08 | 重庆交通大学 | Rescue apparatus |
-
2016
- 2016-01-12 CN CN201610018050.1A patent/CN105411757B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4841585A (en) * | 1987-03-12 | 1989-06-27 | Kabushiki Kaisha Toshiba | Swingable and slidable bed apparatus |
| CN200973792Y (en) * | 2006-03-09 | 2007-11-14 | 江西理工大学 | Full-automatic health-care shaking bed for good sleeping |
| WO2010056193A1 (en) * | 2008-11-12 | 2010-05-20 | Zouce Ab | Transportation apparatus and method for carrying a payload in a desired plane independent of 3d tilting of said apparatus |
| CN201624895U (en) * | 2010-07-20 | 2010-11-10 | 中国地质大学（武汉） | Combined shock-absorbing stretcher vehicle for field rescue |
| CN201768098U (en) * | 2010-09-03 | 2011-03-23 | 东莞理工学院 | Field stretcher omnidirectional self-balanced ambulance |
| CN103222753A (en) * | 2013-03-27 | 2013-07-31 | 河北联合大学 | Intelligent health-preserving bed |
| CN204671411U (en) * | 2015-05-20 | 2015-09-30 | 王和舒琦 | A kind of Self-balancing stretcher |
| CN205286731U (en) * | 2016-01-12 | 2016-06-08 | 重庆交通大学 | Rescue apparatus |
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| Publication number | Publication date |
|---|---|
| CN105411757A (en) | 2016-03-23 |
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Address after: No. 1, Fuxing Avenue, Shuang Fu new area, Jiangjin District, Chongqing Patentee after: chongqing jiaotong university Address before: 400074 Chongqing Nan'an District University Avenue, No. 66 Patentee before: chongqing jiaotong university |
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Granted publication date: 20170808 Termination date: 20200112 |
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