CN105411761B - Self-balancing stretcher car - Google Patents
Self-balancing stretcher car Download PDFInfo
- Publication number
- CN105411761B CN105411761B CN201610019654.8A CN201610019654A CN105411761B CN 105411761 B CN105411761 B CN 105411761B CN 201610019654 A CN201610019654 A CN 201610019654A CN 105411761 B CN105411761 B CN 105411761B
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- CN
- China
- Prior art keywords
- stretcher
- self
- balancing
- anterior
- crawler
- 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.)
- Expired - Fee Related
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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
- A61G1/02—Stretchers with wheels
- A61G1/0275—Stretchers with wheels having driven wheels, e.g. motorised
-
- 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
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of Self-balancing stretcher car, including crawler type walking mechanism and Self-balancing stretcher bed；The Self-balancing stretcher bed includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The stretcher is installed on crawler type walking mechanism by 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 car of the present invention, can smoothly carry out the transport of the wounded under complicated rescue environment, it is ensured that the wounded in time, safety be 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 car.
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, the wounded can just be lifted by being required to two people's cooperations, and human cost is high, and travelling speed is slow, makes wound
Member can not timely and effectively be treated, in addition, because road is uneven, people with stretcher during the wounded are transported, load
Frame meeting back and forth or left and right is jolted, and can so aggravate the pain of the wounded, or even causes secondary injury to the wounded, to follow-up treatment not
Profit.
The content of the invention
In view of this, it is an object of the invention to provide a kind of Self-balancing stretcher car, it is adaptable to the rescue work after geological disaster
In work, the transport of the wounded can be smoothly carried out under complicated rescue environment, it is ensured that the wounded in time, safety be conveyed out calamity
Area.
The Self-balancing stretcher car of the present invention, including crawler type walking mechanism and Self-balancing stretcher bed；The Self-balancing stretcher
Bed includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The stretcher passes through anterior-posterior balance mechanism and left-right balance
Mechanism, which is installed on crawler type walking mechanism, makes front and rear inclination angle and the left and right tilt adjustable of stretcher；
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 crawler type walking mechanism be longitudinally arranged and
Radial support positioning is carried out by left-right balance support；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；
Further, the crawler type walking mechanism includes vehicle frame, drive device, driving wheel, inducer, bogie wheel and shoe
Band；The crawler belt is installed on vehicle frame by driving wheel, inducer and bogie wheel；Driving wheel, inducer and bogie wheel it is cylindrical with
And the inner side of crawler belt is provided with the tooth matched；
Further, the material of the crawler belt is rubber；
Further, correspondence driving wheel, inducer and bogie wheel are provided with inner side installing plate and outboard mounting plates on the vehicle frame；
The driving wheel is installed on the outside of inner side installing plate by drive device, and driving wheel is fixed on the power output shaft of drive device
On；The inducer and bogie wheel are installed between inner side installing plate and outboard mounting plates by respective wheel shaft respectively；Inner side
It is further fixed on covering in the cover plate on bogie wheel top between installing plate and outboard mounting plates；
Further, the crawler type walking mechanism also includes the storage bin for being fixed on vehicle frame.
The beneficial effects of the invention are as follows：The Self-balancing stretcher car of the present invention, can smoothly enter under complicated rescue environment
The transport of the row wounded, it is ensured that the wounded in time, safety be conveyed out disaster area, it is to avoid the wounded rescue work and transport during by
To secondary injury.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is Fig. 1 A-A sectional views.
Embodiment
Fig. 1 is structural representation of the invention；Fig. 2 is Fig. 1 top view；Fig. 3 is Fig. 1 A-A sectional views, such as figure institute
Show：The Self-balancing stretcher car of the present embodiment, including crawler type walking mechanism and Self-balancing stretcher bed；The Self-balancing stretcher bed bag
Include anterior-posterior balance mechanism, left-right balance mechanism and stretcher 1；The stretcher 1 passes through anterior-posterior balance mechanism and left-right balance machine
Structure, which is installed on crawler type walking mechanism, makes front and rear inclination angle and the left and right tilt adjustable of stretcher 1, and front and rear inclination angle refers to the edge of stretcher 1
The inclination angle that its horizontal axle is rotated, left and right inclination angle refers to the inclination angle that stretcher 1 is rotated along its longitudinal axle；In crawler-type traveling machine
Automatic control system is installed, by detecting that balanced controls and left-right balance mechanism send control signal to pavement behavior forwards, backwards on structure
To keep stretcher 1 steady；The transport of the wounded can be smoothly carried out under complicated rescue environment, it is ensured that the wounded are timely, safety
Be conveyed out disaster area, it is to avoid the wounded rescue work and transport during 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 along along a certain perpendicular of crawler type walking mechanism longitudinal direction, synchronous belt drive mechanism 2 is by servo electricity in perpendicular
Machine is driven, and synchronous belt drive mechanism 2 can be arranged along the direct of travel of walking mechanism, can also be obliquely installed or erect setting,
As shown in figure 1, mode low after high before synchronous belt drive mechanism 2 in the present embodiment is obliquely installed, pass through the fortune of timing belt
Dynamic and anterior-posterior balance support 4 Action of Gravity Field of itself can make anterior-posterior balance support 4 in synchronous belt drive mechanism 2 and arc guide rail
Slided between 3, and then adjust front and rear inclination angle, keep 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 is connected to arc guide rail 3, reduction friction by roller-coaster；The anterior-posterior balance mechanism carrying of the present embodiment
Ability is strong, and suitable for disaster area rescue, the rear end of synchronous belt drive mechanism 2 is articulated with crawler type walking mechanism, synchronous belt drive mechanism 2
Front end crawler type walking mechanism is installed on by pillar；The two ends of the pillar and synchronous belt drive mechanism 2 and crawler type row
Walk and be articulated and connected between mechanism, the pillar is the double acting hydraulic cylinder controlled by automatic control system, automatic control system
Control pillar to elongate or shorten according to pavement behavior, to adjust the gradient of synchronous belt drive mechanism 2, increase anterior-posterior balance support
The adjusting range at inclination angle before and after 4, strong adaptability ensures that anterior-posterior balance support 4 is steady in the case of slope road is travelled on.
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 crawler type walking mechanism
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 car is：By three-dimensional omnidirectional's laser radar of crawler type walking mechanism front end to certainly
The landform of balanced stretcher front side is scanned analysis, when not having barrier, keeps the leading dimension position of synchronous belt drive mechanism 2
Put, anterior-posterior balance support 4 is kept balance in the longitudinal direction, move on；
When barrier occurs in front, pulse signal is produced by single-chip computer control system first and drives crawler-type traveling machine
The servomotor of structure makes Self-balancing stretcher car progressively slow down；Single-chip microcomputer is carried out to score by the signal passed back to photoelectric sensor
Analysis；
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, starts the speed of slow reduction crawler belt；B. start to believe the blocking surfaces gradient by three-dimensional omnidirectional's laser radar
Breath is scanned, and feeds back to control system；C. by the millimetre-wave radar positioned at crawler body front end to preceding object object distance
From feedback, control Self-balancing stretcher car be moved to barrier certain distance when, start start closed-loop toothed belt transmission machine
Structure 2, and slowly adjusted according to the grade information of the blocking surfaces of feedback；D. when Self-balancing stretcher car starts to cross barrier
When hindering thing, controller is by the detection to crawler track speeds, to adjust the speed of service of timing belt and spline motor, it is ensured that stretcher
It is horizontal all the time on position around；E. while horizontal level is adjusted, by positioned at anterior-posterior balance support
The stent location information of gyroscope feedback on 4 is corrected processing to the speed of service of timing belt and spline motor, and enhancing is adjusted
Whole accuracy；
If during beyond the adjustable extent of synchronous belt drive mechanism 2, the front passed back by three-dimensional omnidirectional's laser radar
Shape information, again planning action path.If during energy avoiding obstacles, being detoured；If in the presence of other barriers, continue into
Row 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 car, 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.
In the present embodiment, the crawler type walking mechanism include vehicle frame 9, drive device 10, driving wheel 11, inducer 12,
Bogie wheel and crawler belt 13；The crawler belt 13 is installed on vehicle frame 9 by driving wheel 11, inducer 12 and bogie wheel；Driving wheel 11, lure
The inner side of the cylindrical and crawler belt 13 of guide wheel 12 and bogie wheel is provided with the tooth matched；Driving wheel 11 is located at the front portion of vehicle frame 9 simultaneously
Rotation is driven by drive device 10, inducer 12 is located at the rear portion of vehicle frame 9, bogie wheel located at driving wheel 11 and inducer 12 it
Between, crawler belt 13 is installed on driving wheel 11, inducer 12 and bogie wheel, and the rotating speed of drive device 10 and steering are by control system control
System, and then control gait of march and the direction of crawler type walking mechanism；Crawler type walking mechanism adhesive force is strong, good by property, fits
In the complex road surfaces such as disaster area traveling.
In the present embodiment, the material of the crawler belt 13 is rubber；The strong point of rubber has been played to greatest extent, makes self-balancing
Stretcher integrally reduces to the reduction of the pressure on ground, vibration, turn to flexibly, do not damage that road surface, speed is fast, overall weight is light, increasing
The strong adaptability of Self-balancing stretcher car, makes Self-balancing stretcher car possess more flexible performance on complex road surface, improves obstacle detouring
Ability and climbing capacity.
In the present embodiment, correspondence driving wheel 11, inducer 12 and bogie wheel are provided with the and of inner side installing plate 14 on the vehicle frame 9
Outboard mounting plates 15；The driving wheel 11 is installed on the outside of inner side installing plate 14 by drive device 10, and driving wheel 11 is fixed
In on the power output shaft of drive device 10；The inducer 12 and bogie wheel are installed on inner side by respective wheel shaft respectively pacifies
Fill between plate 14 and outboard mounting plates 15；It is further fixed on covering in bogie wheel top between inner side installing plate 14 and outboard mounting plates 15
Cover plate, reliable and stable mounting structure is provided for driving wheel 11, inducer 12 and bogie wheel, while can be to the He of inducer 12
Bogie wheel effectively cover and protect, attractive in appearance suitable for the complex road surfaces such as disaster area traveling, is hardly damaged.
In the present embodiment, the crawler type walking mechanism also includes the storage bin for being fixed on vehicle frame 9；It can play to medicine
With the effect of food delivery.
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 (7)
1. a kind of Self-balancing stretcher car, it is characterised in that：Including crawler type walking mechanism and Self-balancing stretcher bed；The self-balancing
Stretcher includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher；The stretcher passes through anterior-posterior balance mechanism and left and right
Balanced controls, which are installed on crawler type walking mechanism, makes front and rear inclination angle and the left and right tilt adjustable of stretcher；The anterior-posterior balance mechanism
Including synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support；The arc guide rail is vertically arranged；The anterior-posterior balance
The front end of support is articulated with the transmission belt of synchronous belt drive mechanism, and rear end is slidably connected to arc guide rail；The toothed belt transmission
Mechanism 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 along crawler type walking mechanism
Support 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；Automatic control is installed on crawler type walking mechanism
System processed；
The operation principle of Self-balancing stretcher car is：By three-dimensional omnidirectional's laser radar of crawler type walking mechanism front end to self-balancing
Landform in front of stretcher is scanned analysis, when not having barrier, the leading dimension position of synchronous belt drive mechanism is kept, before making
Balance bracket keeps balance in the longitudinal direction afterwards, moves on；
When barrier occurs in front, pulse signal is produced by single-chip computer control system first and drives crawler type walking mechanism
Servomotor makes Self-balancing stretcher car progressively slow down；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, starts the speed of slow reduction crawler belt；B. started by three-dimensional omnidirectional's laser radar to blocking surfaces grade information
It is scanned, and feeds back to control system；C. by the millimetre-wave radar positioned at crawler body front end to front obstacle distance
Feedback, control Self-balancing stretcher car be moved to barrier certain distance when, start start closed-loop synchronous belt drive mechanism,
And slowly adjusted according to the grade information of the blocking surfaces of feedback；D. when Self-balancing stretcher car starts throwing over barrier
When, controller is by the detection to crawler track speeds, to adjust the speed of service of timing belt and spline motor, it is ensured that stretcher is preceding
Afterwards, it is horizontal all the time on right position；E. while horizontal level is adjusted, by anterior-posterior balance support
The stent location information of gyroscope feedback is corrected processing to the speed of service of timing belt and spline motor, strengthens the standard of adjustment
True property；
If during beyond the adjustable extent of synchronous belt drive mechanism, the front landform passed back by three-dimensional omnidirectional's laser radar is believed
Cease, again planning action path；If during energy avoiding obstacles, being detoured；If in the presence of other barriers, proceeding step
Rapid a.
2. Self-balancing stretcher car according to claim 1, it is characterised in that：The rear end of supporting plate is fixed with for stretcher
Enter the spacing fixed dam of line slip.
3. Self-balancing stretcher car according to claim 2, it is characterised in that：Multiple pulleys are provided with the supporting plate makes support
It is slidably matched between plate and stretcher by pulley.
4. Self-balancing stretcher car according to claim 1, it is characterised in that：The crawler type walking mechanism include vehicle frame,
Drive device, driving wheel, inducer, bogie wheel and crawler belt；The crawler belt is installed on car by driving wheel, inducer and bogie wheel
Frame；Cylindrical and crawler belt the inner side of driving wheel, inducer and bogie wheel is provided with the tooth matched.
5. Self-balancing stretcher car according to claim 4, it is characterised in that：The material of the crawler belt is rubber.
6. Self-balancing stretcher car according to claim 4, it is characterised in that：Correspondence driving wheel, inducer on the vehicle frame
Inner side installing plate and outboard mounting plates are provided with bogie wheel；The driving wheel is installed on the outer of inner side installing plate by drive device
Side, driving wheel is fixed on the power output shaft of drive device；The inducer and bogie wheel are pacified by respective wheel shaft respectively
Loaded between inner side installing plate and outboard mounting plates；It is further fixed on covering on bogie wheel between inner side installing plate and outboard mounting plates
The cover plate in portion.
7. Self-balancing stretcher car according to claim 4, it is characterised in that：The crawler type walking mechanism also includes fixing
In the storage bin of vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019654.8A CN105411761B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019654.8A CN105411761B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105411761A CN105411761A (en) | 2016-03-23 |
| CN105411761B true CN105411761B (en) | 2017-09-15 |
Family
ID=55490625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610019654.8A Expired - Fee Related CN105411761B (en) | 2016-01-12 | 2016-01-12 | Self-balancing stretcher car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105411761B (en) |
Cited By (1)
| 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 |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394435A (en) * | 2018-10-22 | 2019-03-01 | 安徽医科大学第附属医院 | A kind of medical treatment and nursing stretcher |
| CN111975737A (en) * | 2020-07-22 | 2020-11-24 | 陕西宝智通科技发展有限公司 | Crawler-type inspection robot with self-balancing system |
-
2016
- 2016-01-12 CN CN201610019654.8A patent/CN105411761B/en not_active Expired - Fee Related
Cited By (1)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105411761A (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: 20170915 Termination date: 20200112 |