CN107753230B - Operating bed table top automatic control system and method - Google Patents
Operating bed table top automatic control system and method Download PDFInfo
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- CN107753230B CN107753230B CN201711065681.XA CN201711065681A CN107753230B CN 107753230 B CN107753230 B CN 107753230B CN 201711065681 A CN201711065681 A CN 201711065681A CN 107753230 B CN107753230 B CN 107753230B
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- 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
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
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- 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
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
- A61G13/04—Adjustable operating tables; Controls therefor tiltable around transverse or longitudinal axis
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- 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
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Abstract
A kind of operating bed table top automatic control system and method, controller read table top inclination angle value θ 1, backboard bending angle angle value θ 2 and table surface height value H1 when receiving control signal；In folding control signal under controlling signal and being table top hypsokinesis control signal and/or backboard, judge whether θ 1, θ 2 and H1 meet condition 1, control, which executes table top hypsokinesis and operates and/or execute, when meeting rolls over operation under backboard；When controlling signal is that table top hypsokinesis controls folding control signal on signal and backboard, judges whether θ 2 is less than θ 1, judge whether θ 1, θ 2 and H1 meet condition 2 when being, table top hypsokinesis operation is executed when meeting and is executed and rolls over operation on backboard；Control signal be table top lean forward control signal and backboard under folding control signal when, judge whether θ 2 is greater than θ 1, judge whether θ 1, θ 2 and H1 meet condition 3 when being, when meeting control execute table top lean forward operation and execute backboard under roll over operation, when being unsatisfactory for condition stop execute operation.
Description
Technical field
The present invention relates to operating bed mesa technique fields, more particularly to a kind of operating bed table top automatic control system and side
Method.
Background technique
When designing operating bed, need to provide the extreme angles of each movement, such as: table-board to right or left inclines maximum angle
It is 25 degree, table top anteversion and retroversion maximum angle is 30 degree, and it is 70 degree that maximum angle is rolled on backboard, and it is 40 that maximum angle is rolled under backboard
Degree, etc..Meanwhile the maximum angle that these movements can reach also is limited by table surface height, only when table top is liftoff higher
When, it just can guarantee the realization of extreme angles.When table top is lower, some movements can not reach the limit of angle, for example carry on the back
Folding and table top hypsokinesis can make head plate touch ground, damage to operating bed if operating angle is excessive under plate.Similarly, platform
The limiting altitude of face lifting is also limited by table top inclination and backboard angle of turning back.When under table top hypsokinesis and backboard dog-ear degree compared with
When big, the height that table top can decline is smaller.It conditions each other it can be seen that existing between each operating angle and table surface height
Relationship, so that operating angle and table surface height is matched, be the problem of must be taken into consideration in design process.
Traditional control mode is that table surface height is divided into several shelves, and operating angle is also classified into several shelves, then different
Gear section, set fixed an angle limit value or limit height value.The advantage of doing so is that principle is simple, but join
Quantity is quite big, and the angle of each movement requires actual test, seems simple heavy workload actually.And control is flexible
Property is poor, because the gear divided is limited.How simplified control parameter amount, mitigate test job amount, improve control flexibility
And sensitivity, it is exactly the technical problem to be solved in the invention.
Summary of the invention
The present invention is in view of the problems of the existing technology and insufficient, provides a kind of operating bed table top automatic control system and side
Method.
The present invention is to solve above-mentioned technical problem by following technical proposals:
The present invention provides a kind of operating bed table top automatic control system comprising in table top anteversion and retroversion executing agency and backboard
Xia Zhe executing agency, it is characterized in that, which further includes first angle sensor, second angle sensor, photoelectric encoder
And controller；
The first angle sensor is used for the vector angle that detection platform tilts forward and back；
The second angle sensor is used to detect the vector angle that backboard is bent up and down；
The photoelectric encoder is used for height of the detection platform apart from ground；
The controller is used for the timing when receiving control signal and reads the table top inclination angle that the first angle sensor transmits
The table surface height value that the backboard bending angle angle value θ 2 and the photoelectric encoder that angle value θ 1, the second angle sensor transmit are transmitted
H1；
The controller be also used to the control signal be table top hypsokinesis control under signal or backboard folding control signal or
When table top hypsokinesis controls folding control signal under signal and backboard, table top inclination angle value θ 1, backboard bending angle angle value θ are judged
Whether 2 and table surface height value H1 meets Rule of judgment 1, and when meeting Rule of judgment 1, the controller controls the table top anteversion and retroversion
Executing agency executes table top hypsokinesis operation or the backboard vertical folding executing agency executes before rolling over operation or the table top under backboard
Hypsokinesis executing agency executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation under backboard, is being unsatisfactory for sentencing
Stop executing operation when broken strip part 1；
The controller is also used to the judgement when the control signal is that table top hypsokinesis controls folding control signal on signal and backboard
Backboard bending angle angle value θ 2 whether be less than table top inclination angle value θ 1, judge when to be table top inclination angle value θ 1,
Whether backboard bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 2, the controller when meeting Rule of judgment 2
It controls the table top anteversion and retroversion executing agency and executes and roll over behaviour on table top hypsokinesis operation and backboard vertical folding executing agency execution backboard
Make, stops executing operation when being unsatisfactory for Rule of judgment 2；
The controller be also used to the control signal be table top lean forward control signal and backboard under folding control signal when, judgement
Backboard bending angle angle value θ 2 whether be greater than table top inclination angle value θ 1, judge when to be table top inclination angle value θ 1,
Whether backboard bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 3, the controller when meeting Rule of judgment 3
Control the table top anteversion and retroversion executing agency execute table top lean forward operation and the backboard vertical folding executing agency execute backboard under roll over behaviour
Make, stops executing operation when being unsatisfactory for Rule of judgment 3；
Wherein, Rule of judgment 1:L1*sin θ 1+L2*sin (θ 1+ θ 2)≤H1-L3；
Rule of judgment 2:L1*sin θ 1+L2*sin (θ 1- θ 2)≤H1-L3；
Rule of judgment 3:L2*sin (θ 2- θ 1) 1≤H1-L3 of-L1*sin θ；
P1 indicates that the AnchorPoint when movement of table top anteversion and retroversion, P2 indicate that the AnchorPoint of backboard vertical folding movement, P3 indicate head
Plate apical position, L1 indicate the distance of P1 and two AnchorPoint of P2, and L2 indicates P2 AnchorPoint to the distance on the vertex P3, the top L3 expression P3
The liftoff safe distance of point.
Preferably, the controller is also used to the judgement when the control signal received controls signal there are table top hypsokinesis
Whether table top inclination angle value θ 1 reaches a limiting angle angle value, and the table top anteversion and retroversion executing agency is controlled when to be and is not executed
Table top hypsokinesis operation controls the table top anteversion and retroversion executing agency when to be no and continues to execute table top hypsokinesis operation.
Preferably, the controller is also used to judge the table surface height when the control signal is table top decline control signal
Whether value H1 is greater than liftoff safe distance L3, and the controller controls the table lifting mechanism and executes table top decline behaviour when to be
Make, stops executing operation when to be no.
Preferably, the controller is that ARM controls chip.
The present invention also provides a kind of operating bed table top autocontrol methods, it is characterized in that, utilize above-mentioned operating bed
Table top automatic control system realized, method includes the following steps:
The table top inclination angle value θ that the first angle sensor transmits is read in controller timing when receiving control signal
1, the table surface height value H1 that the backboard bending angle angle value θ 2 and the photoelectric encoder that the second angle sensor transmits are transmitted；
The controller is after rolling over control signal or table top under the control signal is table top hypsokinesis control signal or backboard
Incline when controlling under signal and backboard folding control signal, judges table top inclination angle value θ 1, backboard bending angle angle value θ 2 and should
Whether table surface height value H1 meets Rule of judgment 1, and when meeting Rule of judgment 1, the controller controls the table top anteversion and retroversion and executes machine
Structure executes table top hypsokinesis operation or the backboard vertical folding executing agency executes folding operation or the table top anteversion and retroversion under backboard and holds
Row mechanism executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation under backboard, is being unsatisfactory for Rule of judgment
Stop executing operation when 1；
The controller judges the backboard when the control signal is that table top hypsokinesis controls folding control signal on signal and backboard
Whether bending angle angle value θ 2 is less than table top inclination angle value θ 1, and table top inclination angle value θ 1, the backboard are judged when to be
Whether bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 2, and when meeting Rule of judgment 2, controller control should
Table top anteversion and retroversion executing agency executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation on backboard, not
Stop executing operation when meeting Rule of judgment 2；
The controller the control signal be table top lean forward control signal and backboard under folding control signal when, judge the backboard
Whether bending angle angle value θ 2 is greater than table top inclination angle value θ 1, and table top inclination angle value θ 1, the backboard are judged when to be
Whether bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 3, and when meeting Rule of judgment 3, controller control should
Table top anteversion and retroversion executing agency execute table top lean forward operation and the backboard vertical folding executing agency execute backboard under roll over operation, not
Stop executing operation when meeting Rule of judgment 3.
Preferably, the controller judges the table top when the control signal received controls signal there are table top hypsokinesis
Whether inclination angle value θ 1 reaches a limiting angle angle value, is controlled after the table top anteversion and retroversion executing agency do not execute table top when to be
Incline operation, the table top anteversion and retroversion executing agency is controlled when to be no and continues to execute table top hypsokinesis operation.
Preferably, the controller judges that table surface height value H1 is when the control signal is table top decline control signal
It is no be greater than liftoff safe distance L3, when for being the controller control the table lifting mechanism execution table top step-down operation, for
Stop executing operation when no.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
The present invention makes table top angle of turning back match with table surface height, in operating bed table top action process to guarantee hand
The head plate of art bed will not touch ground, avoid damaging operating bed.
The present invention is established corresponding mathematics model, is calculated using trigonometric function according to the mechanical feature and action feature of operating bed
Method realizes the automatic control between table surface height and angle of turning back.This method not only gets rid of traditional stepping method bring
A large amount of control parameters alleviate test burden, and realize whole smooth control, improve the sensitivity and flexibly of control
Property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the operating bed table top automatic control system of present pre-ferred embodiments.
Fig. 2 is the operating bed basic structure model schematic diagram of present pre-ferred embodiments.
Fig. 3 is to roll over model schematic under the table top hypsokinesis of present pre-ferred embodiments, backboard.
Fig. 4 is the table top hypsokinesis of present pre-ferred embodiments, rolls on backboard, and upper dog-ear degree is less than the signal of hypsokinesis angle model
Figure.
Fig. 5 is the table top hypsokinesis of present pre-ferred embodiments, rolls on backboard, and upper dog-ear degree is less than the signal of hypsokinesis angle model
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of operating bed table top automatic control systems comprising first angle sensor
1, second angle sensor 2, photoelectric encoder 3, ARM control chip 4, table top anteversion and retroversion executing agency 5, backboard vertical folding execute
Mechanism 6 and table lifting mechanism 7.
Lower mask body introduces the function that each component has:
The first angle sensor 1 is used for the vector angle that detection platform tilts forward and back.
The second angle sensor 2 is used to detect the vector angle that backboard is bent up and down.
The photoelectric encoder 3 is used for height of the detection platform apart from ground.
ARM control chip 4 is used for the timing when receiving control signal and reads the table top that the first angle sensor 1 transmits
The table top that the backboard bending angle angle value θ 2 and the photoelectric encoder 3 that inclination angle value θ 1, the second angle sensor 2 transmit are transmitted
Height value H1.
Assuming that: the basic structure model of operating bed is as shown in Figure 2, wherein P1 indicates the axle center when movement of table top anteversion and retroversion
Point, P2 indicate the AnchorPoint of backboard vertical folding movement, and P3 indicates head plate apical position, L1 indicate P1 and two AnchorPoint of P2 away from
From L2 indicates P2 AnchorPoint to the distance on the vertex P3, and L3 indicates the liftoff safe distance on the vertex P3, according to the specific knot of operating bed
Structure determines the parameter.
From figure 2 it can be seen that not limited by angle of turning back when table top rises；Similarly, on backboard before folding, table top
When inclining, do not limited by table surface height；Therefore, emphasis of the present invention is for folding, table top hypsokinesis under the control of decline process and backboard
The control of process.As long as controlling P3 point, it is set to be not below liftoff safety line, so that it may guarantee the safety of operating bed.
In conjunction with operation table mechanism and action feature, dynamic control model can be divided into several equivalent mathematical models.
For the first model as shown in figure 3, to roll over model under table top hypsokinesis, backboard, the meaning of P1, P2, P3, L1, L2, L3 are detailed
See that Fig. 2 illustrates, P2 ': after table top hypsokinesis, the new AnchorPoint of backboard vertical folding；P3 ': after rolling under table top hypsokinesis, backboard, head plate is new
Vertex；P4, P5, P6: facilitate the reference point of calculating；H:H is the vertical range of the vertex P3 decline；H1:H1 be table top over the ground
The vertical range in face；θ 1: table top hypsokinesis angle；θ 2: dog-ear degree under backboard.
This model contains three kinds of situations in fact: rolling under table top hypsokinesis and backboard；Table top hypsokinesis and backboard does not have
Turn back (θ 2=0)；Under backboard folding and table top there is no turn back (θ 1=0).After table top hypsokinesis, table top anteversion and retroversion axle center
Point position is constant, but backboard vertical folding AnchorPoint is moved to P2 ' from P2；After rolling under backboard, head plate vertex is from P3
It is moved to P3 '.As seen from Figure 3, the mobile vertical range H=in head plate vertex | P5-P3 ' |=| P5-P4 |+| P4-P3 ' |, it sees
Examine discovery | P5-P4 |=| P6-P2 ' |=L1*sin θ 1, | P4-P3 ' |=L2*sin (θ 1+ θ 2) can obtain H=L1*sin θ 1+L2*
sin(θ1+θ2)；Assuming that table top distance away the ground is read as H1 by photoelectric encoder, then, H should meet H≤H1-L3.It arranges
: L1*sin θ 1+L2*sin (θ 1+ θ 2)≤H1-L3 (Rule of judgment 1).Wherein, L1, L2, L3 are fixed constant value, θ 1, θ 2
It is the real-time change amount read with H1, these three parameters mutually restrict, such as when executing table top hypsokinesis movement, table top hypsokinesis
Angle, θ 1 is restricted by folding angle, θ 2 and table surface height H1 under pronotum is worked as；When executing folding movement under backboard, angle, θ is rolled under backboard
2 are restricted by current table top hypsokinesis angle, θ 1 and table surface height H1；When executing lowering action, H1 is by current for table top terrain clearance
The restriction of angle, θ 2 is rolled under table top hypsokinesis angle, θ 1 and backboard；And these three restrictions are real-time, continuous.
Second model for table top hypsokinesis, on backboard as shown in figure 4, roll over, and when upper dog-ear degree is less than hypsokinesis angle
Model, the meaning of P1, P2, P3, L1, L2, L3 are detailed in Fig. 2 explanation, P2 ': after table top hypsokinesis, the new AnchorPoint of backboard vertical folding；
P3 ': after being rolled in table top hypsokinesis, backboard, the new vertex of head plate；P4, P5, P6: facilitate the reference point of calculating；The decline of the vertex H:P3
Vertical range；H1: vertical range of the table top to ground；θ 1: table top hypsokinesis angle；θ 2: dog-ear degree on backboard.
After table top hypsokinesis, table top anteversion and retroversion AnchorPoint position is constant, but backboard vertical folding AnchorPoint is moved to from P2
P2'；After rolling on backboard, head plate vertex is moved to P3 ' from P3.From fig. 4, it can be seen that the vertical range that head plate vertex is mobile
H=| P5-P3 ' |=| P5-P4 |+| P4-P3 ' |, observation discovery | P5-P4 |=| P6-P2 ' |=L1*sin θ 1, | P4-P3 ' |=
L2*sin (θ 1- θ 2) can obtain H=L1*sin θ 1+L2*sin (θ 1- θ 2)；Assuming that table top distance away the ground is read by photoelectric encoder
It is taken as H1, then, H should meet H≤H1-L3.It arranges: L1*sin θ 1+L2*sin (θ 1- θ 2)≤H1-L3 (Rule of judgment
2).Wherein, L1, L2, L3 are fixed constant value, and θ 1, θ 2 and H1 are the real-time change amount read, the restriction of these three parameters
Relationship is in this way: when executing table top hypsokinesis movement, table top hypsokinesis angle, θ 1 is by when folding angle, θ 2 and table surface height on pronotum
The restriction of H1；When executing lowering action, table top terrain clearance H1 is by folding angle, θ 2 on current table top hypsokinesis angle, θ 1 and backboard
It restricts；When executing folding movement on backboard, folding angle, θ 2 is not by the system of current table top hypsokinesis angle, θ 1 and table surface height H1 on backboard
About；It can be seen that there are two kinds of restricting relations between these three parameters, and this restrict is real-time, continuous.
The third model is as shown in figure 5, lean forward, roll under backboard for table top, and when lower dog-ear degree is greater than forward leaning angle
Model, the meaning of P1, P2, P3, L1, L2, L3 are detailed in Fig. 2 explanation, P2 ': after table top leans forward, the new AnchorPoint of backboard vertical folding；
P3 ': after table top leans forward, rolls under backboard, the new vertex of head plate；P4, P5, P6: facilitate the reference point of calculating；H:H is the vertex P3
The vertical range of decline；H1:H1 is vertical range of the table top to ground；θ 1: table top forward leaning angle；θ 2: dog-ear degree under backboard.
After table top leans forward, table top anteversion and retroversion AnchorPoint position is constant, but backboard vertical folding AnchorPoint is moved to from P2
P2'；After rolling under backboard, head plate vertex is moved to P3 ' from P3.As seen from Figure 5, the mobile vertical range in head plate vertex
H=| P5-P3'|=| P4-P3'|-| P4-P5 |, observation discovery | P4-P5 |=| P2'-P6 |=L1*sin θ 1, | P4-P3'|=
L2*sin (θ 2- θ 1) can obtain H=L2*sin (θ 2- θ 1)-L1*sin θ 1；Assuming that table top distance away the ground is read by photoelectric encoder
It is taken as H1, then, H should meet H≤H1-L3.It arranges: L2*sin (θ 2- θ 1)-L1*sin θ 1≤H1-L3 (Rule of judgment
3).Wherein, L1, L2, L3 are fixed constant value, and θ 1, θ 2 and H1 are the real-time change amount read in program, these three parameters
Restricting relation be it is such, when executing that folding acts under backboard, folding angle, θ 2 is by current table top forward leaning angle θ 1 and platform under backboard
The restriction of face height H1；When executing lowering action, table top terrain clearance H1 rolls under by current table top forward leaning angle θ 1 and backboard
The restriction of angle, θ 2；When executing table top forward swing, table top forward leaning angle θ 1 is not by when folding angle, θ 2 under pronotum and table top height
Spend the restriction of H1；It can be seen that there are two kinds of restricting relations between these three parameters, and this restrict is real-time, continuous.
In addition to three of the above model, also there are three types of models, but the head plate vertex P3 of these three models is not less than water
Flat surface would not also be lower than liftoff safety line, and the execution of any movement is all unrestricted, be safe, these three models point
It is not: is rolled in table top hypsokinesis, backboard and upper dog-ear degree is greater than hypsokinesis angle；Table top is leaned forward, rolled under backboard and lower dog-ear degree
Less than forward leaning angle；Table top leans forward and rolls on backboard.
According to above-mentioned principle, workflow of the invention are as follows:
The controller is used in the control signal be that folding controls signal or platform under table top hypsokinesis controls signal or backboard
When face hypsokinesis controls folding control signal under signal and backboard, table top inclination angle value θ 1, backboard bending angle angle value θ 2 are judged
Whether meet Rule of judgment 1 with table surface height value H1, the controller controls the table top anteversion and retroversion and holds when meeting Rule of judgment 1
Row mechanism executes table top hypsokinesis operation or the backboard vertical folding executing agency executes before and after rolling over operation or the table top under backboard
Executing agency's execution table top hypsokinesis of inclining operates and the backboard vertical folding executing agency executes and rolls over operation under backboard, is being unsatisfactory for judging
Stop executing operation when condition 1.
The controller is also used to the judgement when the control signal is that table top hypsokinesis controls folding control signal on signal and backboard
Backboard bending angle angle value θ 2 whether be less than table top inclination angle value θ 1, judge when to be table top inclination angle value θ 1,
Whether backboard bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 2, the controller when meeting Rule of judgment 2
It controls the table top anteversion and retroversion executing agency and executes and roll over behaviour on table top hypsokinesis operation and backboard vertical folding executing agency execution backboard
Make, stops executing operation when being unsatisfactory for Rule of judgment 2.
The controller be also used to the control signal be table top lean forward control signal and backboard under folding control signal when, judgement
Backboard bending angle angle value θ 2 whether be greater than table top inclination angle value θ 1, judge when to be table top inclination angle value θ 1,
Whether backboard bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 3, the controller when meeting Rule of judgment 3
Control the table top anteversion and retroversion executing agency execute table top lean forward operation and the backboard vertical folding executing agency execute backboard under roll over behaviour
Make, stops executing operation when being unsatisfactory for Rule of judgment 3.
The controller is also used to judge that the table top inclines when the control signal received controls signal there are table top hypsokinesis
Whether oblique angle angle value θ 1 reaches a limiting angle angle value, and the table top anteversion and retroversion executing agency is controlled when to be and does not execute table top hypsokinesis
Operation controls the table top anteversion and retroversion executing agency when to be no and continues to execute table top hypsokinesis operation.
The controller is also used to whether judge table surface height value H1 when the control signal is table top decline control signal
Greater than liftoff safe distance L3, it is being no that the controller, which controls the table lifting mechanism and executes table top step-down operation, when to be
When stop execute operation.
Additionally need explanation:
1, some operating beds have the function of " table top is flexible ", this function will affect the parameter L1 in three formula above,
The distance of two AnchorPoint of namely P1 and P2, referring to fig. 2.For example illustrate that table top vertically moves distance 350mm in technical parameter, that
L1 in formula should be changed to L1+L4, and wherein L4 is the distance of table top longitudinal movement, 0≤L4≤350mm.
2, L3 is the liftoff safe distance in head plate vertex in formula, and choosing for this parameter should be in conjunction with specific operating bed
Design feature, and enough enough surpluses are stayed for " table-board to right or left inclines " movement, it is ensured that under corresponding extreme position, Neng Goubao
Card table-board to right or left, which fascinates, to be gone on smoothly.For example L3=300mm can be taken.
The present invention is established corresponding mathematics model, is calculated using trigonometric function according to the mechanical feature and action feature of operating bed
Method realizes the automatic control between table surface height and angle of turning back.This method not only gets rid of traditional stepping method bring
A large amount of control parameters alleviate test burden, and realize whole smooth control, improve the sensitivity and flexibly of control
Property.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (7)
1. a kind of operating bed table top automatic control system comprising table top anteversion and retroversion executing agency and backboard vertical folding execute machine
Structure, which is characterized in that the system further includes first angle sensor, second angle sensor, photoelectric encoder and controller；
The first angle sensor is used for the vector angle that detection platform tilts forward and back；
The second angle sensor is used to detect the vector angle that backboard is bent up and down；
The photoelectric encoder is used for height of the detection platform apart from ground；
The controller is used for the timing when receiving control signal and reads the table top inclination angle value θ that the first angle sensor transmits
1, the table surface height value H1 that the backboard bending angle angle value θ 2 and the photoelectric encoder that the second angle sensor transmits are transmitted；
The controller is also used in the control signal be that folding controls signal or table top under table top hypsokinesis controls signal or backboard
When hypsokinesis controls folding control signal under signal and backboard, table top inclination angle value θ 1,2 and of backboard bending angle angle value θ are judged
Whether table surface height value H1 meets Rule of judgment 1, and when meeting Rule of judgment 1, the controller controls table top anteversion and retroversion execution
Mechanism executes table top hypsokinesis operation or the backboard vertical folding executing agency executes folding operation or the table top anteversion and retroversion under backboard
Executing agency executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation under backboard, is being unsatisfactory for judging item
Stop executing operation when part 1；
The controller is also used to judge the back when the control signal is that table top hypsokinesis controls folding control signal on signal and backboard
Whether plate bending angle angle value θ 2 is less than table top inclination angle value θ 1, and table top inclination angle value θ 1, the back are judged when to be
Whether plate bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 2, and when meeting Rule of judgment 2, the controller is controlled
The table top anteversion and retroversion executing agency executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation on backboard,
Stop executing operation when being unsatisfactory for Rule of judgment 2；
The controller be also used to the control signal be table top lean forward control signal and backboard under folding control signal when, judge the back
Whether plate bending angle angle value θ 2 is greater than table top inclination angle value θ 1, and table top inclination angle value θ 1, the back are judged when to be
Whether plate bending angle angle value θ 2 and table surface height value H1 meet Rule of judgment 3, and when meeting Rule of judgment 3, the controller is controlled
The table top anteversion and retroversion executing agency execute table top lean forward operation and the backboard vertical folding executing agency execute backboard under roll over operation,
Stop executing operation when being unsatisfactory for Rule of judgment 3；
Wherein, Rule of judgment 1:L1*sin θ 1+L2*sin (θ 1+ θ 2)≤H1-L3；
Rule of judgment 2:L1*sin θ 1+L2*sin (θ 1- θ 2)≤H1-L3；
Rule of judgment 3:L2*sin (θ 2- θ 1) 1≤H1-L3 of-L1*sin θ；
P1 indicates that the AnchorPoint when movement of table top anteversion and retroversion, P2 indicate that the AnchorPoint of backboard vertical folding movement, P3 indicate head plate top
End position, L1 indicate the distance of P1 and two AnchorPoint of P2, the distance of L2 expression P2 AnchorPoint to the vertex P3, and L3 indicates the vertex P3
Liftoff safe distance.
2. operating bed table top automatic control system as described in claim 1, which is characterized in that the controller is also used to receiving
To the control signal there are table top hypsokinesis control signal when, judge whether table top inclination angle value θ 1 reaches an extreme angles
Value, the table top anteversion and retroversion executing agency is controlled when for being does not execute table top hypsokinesis and operate, before and after controlling the table top when to be no
Incline executing agency continue to execute table top hypsokinesis operation.
3. operating bed table top automatic control system as described in claim 1, which is characterized in that the controller is also used in the control
When signal processed is table top decline control signal, judge whether table surface height value H1 is greater than liftoff safe distance L3, when to be
The controller controls the table lifting mechanism and executes table top step-down operation, stops executing operation when to be no.
4. operating bed table top automatic control system as described in claim 1, which is characterized in that the controller is that ARM controls core
Piece.
5. a kind of operating bed table top autocontrol method, which is characterized in that it utilizes operating bed table top as described in claim 1
Automatic control system realized, method includes the following steps:
Controller timing when receiving control signal reads the table top inclination angle value θ 1 that the first angle sensor transmits, should
The table surface height value H1 that the backboard bending angle angle value θ 2 and the photoelectric encoder that second angle sensor transmits are transmitted；
The controller is that folding controls signal or table top hypsokinesis control under table top hypsokinesis controls signal or backboard in the control signal
Under signal and backboard processed when folding control signal, table top inclination angle value θ 1, backboard bending angle angle value θ 2 and the table top are judged
Whether height value H1 meets Rule of judgment 1, and when meeting Rule of judgment 1, the controller controls the table top anteversion and retroversion executing agency and holds
Row table top hypsokinesis operation or the backboard vertical folding executing agency execute folding operation or the table top anteversion and retroversion under backboard and execute machine
Structure executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation under backboard, when being unsatisfactory for Rule of judgment 1
Stopping executes operation；
The controller judges that the backboard is bent when the control signal is that table top hypsokinesis controls folding control signal on signal and backboard
Whether angle value θ 2 is less than table top inclination angle value θ 1, and table top inclination angle value θ 1, backboard bending are judged when to be
Whether angle value θ 2 and table surface height value H1 meet Rule of judgment 2, and when meeting Rule of judgment 2, the controller controls the table top
Anteversion and retroversion executing agency executes table top hypsokinesis operation and the backboard vertical folding executing agency executes and rolls over operation on backboard, is being unsatisfactory for
Stop executing operation when Rule of judgment 2；
The controller the control signal be table top lean forward control signal and backboard under folding control signal when, judge the backboard bend
Whether angle value θ 2 is greater than table top inclination angle value θ 1, and table top inclination angle value θ 1, backboard bending are judged when to be
Whether angle value θ 2 and table surface height value H1 meet Rule of judgment 3, and when meeting Rule of judgment 3, the controller controls the table top
Anteversion and retroversion executing agency execute table top lean forward operation and the backboard vertical folding executing agency execute backboard under roll over operation, be unsatisfactory for
Stop executing operation when Rule of judgment 3.
6. operating bed table top autocontrol method as claimed in claim 5, which is characterized in that the controller should what is received
Signal is controlled there are when table top hypsokinesis control signal, judges whether table top inclination angle value θ 1 reaches a limiting angle angle value,
The table top anteversion and retroversion executing agency is controlled when to be and does not execute table top hypsokinesis operation, and table top anteversion and retroversion execution is controlled when to be no
Mechanism continues to execute table top hypsokinesis operation.
7. operating bed table top autocontrol method as claimed in claim 5, which is characterized in that the controller is in the control signal
When declining control signal for table top, judge whether table surface height value H1 is greater than liftoff safe distance L3, control when to be
Device controls the table lifting mechanism and executes table top step-down operation, stops executing operation when to be no.
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| CN109077749B (en) * | 2018-06-26 | 2022-08-16 | 上海联影医疗科技股份有限公司 | Scanning bed, medical imaging system, bed height determination method, device and medium |
| CN112697182A (en) * | 2020-12-02 | 2021-04-23 | 上海力申科学仪器有限公司 | Measuring and controlling device and method for non-abrasion length and angle of electric operating table |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102008382A (en) * | 2010-12-31 | 2011-04-13 | 太仓市康辉科技发展有限公司 | Operating table control device |
| CN203195915U (en) * | 2013-04-05 | 2013-09-18 | 曲阜市力文科贸有限公司 | Rotatable operating table |
| CN107184357A (en) * | 2017-07-06 | 2017-09-22 | 宫英 | Portable X-ray operating table |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0124126D0 (en) * | 2001-10-08 | 2001-11-28 | Eschmann Holdings Ltd | Surgical tables |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102008382A (en) * | 2010-12-31 | 2011-04-13 | 太仓市康辉科技发展有限公司 | Operating table control device |
| CN203195915U (en) * | 2013-04-05 | 2013-09-18 | 曲阜市力文科贸有限公司 | Rotatable operating table |
| CN107184357A (en) * | 2017-07-06 | 2017-09-22 | 宫英 | Portable X-ray operating table |
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