CN109394448A - A kind of regulating system of multi-angle - Google Patents

A kind of regulating system of multi-angle Download PDF

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Publication number
CN109394448A
CN109394448A CN201811187066.0A CN201811187066A CN109394448A CN 109394448 A CN109394448 A CN 109394448A CN 201811187066 A CN201811187066 A CN 201811187066A CN 109394448 A CN109394448 A CN 109394448A
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China
Prior art keywords
main body
angle
hinge hole
telescoping mechanism
case
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CN201811187066.0A
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CN109394448B (en
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田浩坤
张奕煊
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Individual
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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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • A61G7/018—Control or drive mechanisms
    • 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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  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

The present invention relates to a kind of regulating systems of multi-angle, the first main body and the second main body being flexibly connected each other including at least two, first main body is provided with the telescoping mechanism being flexibly connected each other with it, the first main body can the stroke based on telescoping mechanism and rotate so that form the first angle between the first main body and the fixed pan of the second main body around the second main body；Wherein, the first main body includes at least two the first main body I and the first main body II being flexibly connected each other；First main body I is provided with the first telescoping mechanism being flexibly connected each other with it；First main body II is provided with the second telescoping mechanism being flexibly connected each other with it；First main body I can the stroke based on the first telescoping mechanism around the first main body II so that the first main body I and the first main body II form the second angle；And/or first main body II can the stroke based on the second telescoping mechanism rotate so that the first main body II and the first main body I around the first main body I and form third angle.

Description

A kind of regulating system of multi-angle
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of regulating systems of multi-angle.The system is especially answered For the angle adjustment between nursing bed bed body.
Background technique
In existing life, many occasions are both needed to realize different functions using the variation to mutual alignment between component. Such as the rehabilitation progress for influencing patient that posture of the patient in nursing bed is direct or indirect, therefore the specific feelings according to patient Condition needs to carry out angle adjustment to nursing bed bed body, to realize that patient cannot take care of oneself or self-care ability is insufficient or doctor's inspection The variation of patient's posture when looking into.But currently, nursing bed in the market has two classes: one kind is the transmission of hand-rail type controls connecting rod, is passed Move it is unstable, be difficult to control, arduously.Another kind of is Electronic control link transmission, and noise is big, and transmission speed is unstable, and price is high Expensive, general population can not receive.Currently, China human mortality ageing phenomenon is increasingly severe, rhythm of life is fast, for many old People, the treatment of patient are more and more arduous, and hospital bed becomes an essential product in many old men life, need a kind of transmission It is nursing hospital bed come the drawbacks of improving operating beds that process is steadily easily-controllable, good novel and multifunctional fluid pressure type is experienced in bed.
A kind of multi-angle regulation disclosed in the Chinese patent of Publication No. CN207055613U is nursing hospital bed.The utility model It is nursing hospital bed to disclose a kind of multi-angle regulation, including head of a bed support plate, bed bottom plate, bed tail plate and bed board, the bed bottom plate One end has been bolted head of a bed support plate, and the other end of bed bottom plate has been bolted bed tail plate, the bed bottom plate Top center has been bolted support column, and ball stud, which is mounted in ball cup, forms spherical universal joint, the bed bottom plate It is rotatably equipped with the first cylinder, the first telescopic rod, the second telescopic rod and the second cylinder in the middle part of four sides in top respectively, described the The bottom corresponding position of bed board is rotatably installed at the top of one cylinder, the first telescopic rod, the second telescopic rod and the second cylinder, In, the first cylinder and the second telescopic rod are symmetrical arranged centered on support column, and the first telescopic rod is with support column with the second cylinder Center symmetric setting.The utility model structure novel, it is simple in sturcture, ingenious in design, it is multiple to be adjusted, it is very convenient, It can satisfy demand when nursing.
A kind of internal medicine multi-angle regulation disclosed in the Chinese patent of Publication No. CN106264921A is nursing hospital bed.The invention Including bed board, retracting cylinder, supporting leg, elasticity bolt, universal wheel, lift supporting rod, movable back board, hinge, Inflated pillow, infusion Frame, call button, fixing seat, desktop and dustbin, the bed board downside are equipped with retracting cylinder, are equipped with support on the downside of the retracting cylinder Leg, the retracting cylinder and supporting leg junction are equipped with elasticity bolt, and universal wheel, the bed board left side are equipped on the downside of the supporting leg Equipped with lift supporting rod, movable back board, the lift supporting rod and movable back board connecting plate are equipped on the upside of the lift supporting rod Equipped with hinge, Inflated pillow is equipped on the upside of the movable back board.A kind of internal medicine multi-angle regulation is nursing hospital bed to have simple side Just, structurally reasonable, vdiverse in function, easy to operate the characteristics of multi-angle regulation, suitable for walking with difficulty, often lie in bed Patient, can freely adjust the lifting of movable back board, be effectively reduced the working strength of nursing staff.
Two-stage bed body multi-angle regulation healing robot disclosed in the Chinese patent of Publication No. CN105477831A.The hair Bright second level bed body support frame can be gone up and down, the pulldown bed equipped with energy pitch regulation on second level bed body support frame, on pulldown bed Portion is equipped with constitutes the sliding table top of prismatic pair with it, and is equipped with first to move in the lower hollow part of pulldown bed and rotate afterwards Thigh support bed surface constitutes an entirety with pulldown bed bed surface when thigh support bed surface flips up, can be with when flipping down Pulldown bed forms two bed surfaces of near vertical, and knee joint can be trained by spinning upside down；Foot-operated support is equipped in pulldown bed bottom end Frame, it is foot-operated that the movement for doing class elliptical orbit is driven by crank, connecting rod, by adjusting the installation site ridden in connecting rod, and adjust Whole foot-operated angle can also adjust the elliptical shape of class, that is, change foot-operated running track, the configuration of the present invention is simple, conveniently Gait track is variable, weight is adjustable, the rehabilitation training crowd suitable for different heights.
A kind of medical bed for realizing multi-angle regulation disclosed in the Chinese patent of Publication No. CN107951662A, including doctor Bed ontology and mobile base are treated, is connected between mobile base and medical bed ontology by lifter group, every group of lifter group is at least Including two elevating levers, the free end of each elevating lever is connect by universal joint with medical bed ontology, and fixing end passes through anchor ear It is mounted in mobile base；The medical bed ontology includes head lifter plate, connecting plate and leg lifter plate, the head lifting It is equipped with the first lifting device between plate and connecting plate, the second lifting device, the head are equipped between leg lifter plate and connecting plate The side of portion's lifter plate is equipped with mobilizable balustrade panel, and the other side is equipped with mobilizable placement plate.Its structure is simple, operation side Just, practicability is good, it can be achieved that the lifting respectively of head and leg and the inclination of medical bed ontology, convenient to examine patient It is disconnected, substantially increase the comfortableness and security of patient.
A kind of multifunction seat of chair back multi-angle regulation disclosed in the Chinese patent of Publication No. CN106690965A.It should Patent includes chair leg, seat, the chair back, head rest, between the seat and the chair back by by universal adjustment bulb and with it is universal Adjusting ball head corresponding matching spherical groove composition universal adjustment connection component connection, the chair back be it is split type, by The one top chair back unit, several intermediate chair back units, tail chair back unit for being equipped with head rest successively passes through universal It adjusts connection component support combinations to be assembled, back height adjusting self-locking system is additionally provided on the chair back and folding is stretched Contracting chair leg, the people of different building shape can choose the angle and height for being suitble to oneself, and human body compactness is high, greatly improves seat comfort Degree and individual character degree；The folding chair leg on the inside of the chair back can also be would fit snugly within to pull out, seat is laid flat, fold chair leg expansion, seat It becomes as a portable bed, provides comfortable tool for taking rest for user.
In the technical solution of other angles adjustment, one kind as disclosed in the Chinese patent of Publication No. CN207788981U The multi-angle installation and adjustment support of flexible fixture.Which disclose a kind of multi-angle installation and adjustment seats of flexible fixture, including Pedestal and at least two pieces of angle adjustment plates are provided with oscillation center hole on pedestal, and one end of angle adjustment plate is by being set to pendulum Perhaps fastening bolt is mounted on the base on angle adjustment plate or pedestal and is provided with arc adjusting for articulated shaft in dynamic centre bore Hole is provided with locking hole on the corresponding pedestal or on angle adjustment plate, arc adjustment hole be adapted to locking hole site, lock Angle clamping screw is installed in tieholen, the angle lock bolt in arc adjustment hole and by the angle adjustment plate and Pedestal is locked, and the other end of the angle adjustment plate is provided with fixation hole, is equipped in the fixation hole for installing flexibility The installation air guide block of finger.The adjustable relative angle of multi-angle mounting base, and then flexible fixture is made to have multiple holding angles Degree, adaptability are wider.But the claming angle that the technical solution is applied to flexible fixture changes, and can not be applied to nursing Angle adjustment between the rigid bed body of bed.
Through the above scheme as can be seen that existing adjusting angle changing mechanism can only realize simple angular adjustment, it is difficult to Multiple angles are adjusted.And by the angular adjustment of investigation nursing bed, the tune of angle on a single plane can only be also realized Section.
Summary of the invention
Word " module " as used herein describes any hardware, software or combination thereof, is able to carry out and " mould The associated function of block ".
For the deficiencies of the prior art, the present invention discloses a kind of regulating system of multi-angle, including at least two live each other First main body described in the first main body and the second main body of dynamic connection is provided with the telescoping mechanism being flexibly connected each other with it, thus, In the case where second main body is fixed, first main body can the stroke based on telescoping mechanism and it is main around described second Body rotates so that form the first angle between first main body and the fixed pan of second main body；Wherein, described One main body includes at least two the first main body I and the first main body II being flexibly connected each other；The first main body I is provided with and it The first telescoping mechanism being flexibly connected each other；The first main body II is provided with the second telescopic machine being flexibly connected each other with it Structure；To in the case where second main body is fixed and between first main body and the fixed pan of second main body In the case where forming the first angle, the first main body I can the stroke based on the first telescoping mechanism around first main body II is so that the first main body I and the first main body II forms the second angle；And/or the first main body II can be based on The stroke of second telescoping mechanism rotates so that the first main body II and the first main body I shape around the first main body I At third angle.
According to a kind of preferred embodiment, the telescoping mechanism is configured as changing it in the way of hydraulic-driven Stroke, wherein be provided with the first electromagnetic flow valve between the first telescopic rod and hydraulic system, the second telescopic rod with it is described hydraulic The second electromagnetic flow valve is provided between system, thus opening in first electromagnetic flow valve and second electromagnetic flow valve It spends under unanimous circumstances, first main body can rotate so that first main body and described second around second main body First angle is formed between the fixed pan of main body；Or it is greater than second electricity in the aperture of first electromagnetic flow valve In the case where the aperture of magnetic flow valve, the first main body I simultaneously around second main body and the first main body II rotation with So that the first main body I and the first main body II form second angle；Or opening in first electromagnetic flow valve Degree be less than second electromagnetic flow valve aperture in the case where, the first main body II can simultaneously around the second main body with it is described So that the first main body II and the first main body I form the third angle described in first main body I.
According to a kind of preferred embodiment, the regulating system further includes the angular transducer on ground communicatively coupled with one another And data processing unit, wherein the angular transducer includes being set to the first angle sensor of the first main body I and setting It is placed in the second angle sensor of the first main body II；The first angle sensor is configured as acquiring first angle And/or second angle；The second angle sensor is configured as acquiring first angle and/or third folder Angle；Display unit is to show first angle and/or second angle and/or second jiao of the first angle sensor The mode of the first angle and/or the third angle of spending sensor is established by the data processing unit and angular transducer Data connection.
According to a kind of preferred embodiment, the regulating system further includes for input angle suspension value and the number End is manually entered according to processing unit communication connection coupled to each other, wherein the data processing unit is stopped based on the angle Value generation switching command is simultaneously electric with the executing agency of the hydraulic system, the first flow in a manner of wiredly and/or wirelessly Magnet valve and/or the second flow solenoid valve establish data connection；Or the data processing unit is based on the angle suspension value Generate regulating command and compared with first angle, second angle and the third angle with wiredly and/or wirelessly Mode and the executing agency, the first flow solenoid valve and/or the second flow solenoid valve establish data connection；Its In, the regulating command can obtain in the following way: every certain moment t, the data processor compares the of t moment One angle αt, t moment the second angle γ1tWith the third angle γ of t moment2tWith the percentage reduced value of corresponding angle suspension value； Percentage reduced value is determined according to following formula:
The data processor will be every the percentage reduced value threshold value ratio of the percentage reduced value of certain moment t and the moment Compared with if the percentage reduced value of moment t is greater than the percentage reduced value threshold value at the moment, controller is based on the information and αt、 WithWith corresponding α0、WithDifference information generate regulating command.
According to a kind of preferred embodiment, the first main body I, the first main body II and second main body are each other Between be flexibly connected in such a way that linkwork is set；The linkwork, which includes at least, hingedly to be turned and is provided with and institute State the hinge bar for the hinge hole that the rotation cambered surface in hinged swivel is agreed with；Between being used between the hinged swivel and the hinge hole Gap cooperation or interference fit；Wherein, the first linkwork is set between the first main body I and second main body；Second Linkwork is set between the first main body II and second main body；Third linkwork is set to first main body I and the first main body II；To which first in first linkwork hingedly turns the case where cooperating with the first hinge hole In the case that the hinged swivel of described the second of lower and described second linkwork cooperates with second hinge hole, described first is main Body being capable of the stroke based on telescoping mechanism and the axis limited with first hinge hole around the described first hinged swivel and institute It states the axis that the second hinged swivel is limited with second hinge hole and rotates so that first main body and second main body Fixed pan between form first angle；In the case where the described first hinged swivel cooperates with first hinge hole And in the case that the third of the third linkwork is hingedly turned with the cooperation of third hinge hole, the first main body I being capable of base The axis limited with first hinge hole and the third are hingedly turned around described first in the stroke of the first telescoping mechanism It hingedly turns the axis that the third hinge hole limits and rotates so that the first main body I and the first main body II formation institute State the second angle；And/or in the case where the second hinged swivel is with second hinge hole cooperation and the third hingedly turns With the third hinge hole cooperation in the case where, the first main body II can the stroke based on the second telescoping mechanism around described The axis and the third that second hinged swivel is limited with second hinge hole are hingedly turned and are limited with the third hinge hole Axis rotate so that the first main body II and the first main body I forms the third angle.
According to a kind of preferred embodiment, the telescoping mechanism includes support plate, fixes from moving fork and the support plate The universal joint of connection actively pitches the telescopic rod being fixedly connected with the universal joint；Wherein, the first support plate is set to described first Main body I；Second support plate is set to the first main body II；To in the slave moving fork and first support of the first universal joint In the case that disk is fixedly connected and in the case that the active of first universal joint fork is fixedly connected with the first telescopic rod, with And the slave moving fork for second stating universal joint with second support plate in the case where be fixedly connected and the master of second universal joint In the case that moving fork is fixedly connected with the second telescopic rod；The first main body I can the stroke based on the first telescopic rod around institute State the axis of the first hinged swivel and first hinge hole restriction, the third is hingedly turned and limited with the third hinge hole Axis and the axis of first universal joint rotate so that the first main body I and the first main body II forms described the Two angles；And/or the first main body II can the stroke based on the second telescopic rod around the described second hinged swivel with it is described Axis and the third that second hinge hole limits hingedly turn the axis and the second universal joint that limit with the third hinge hole Axis so that the first main body II and the first main body I form the third angle.
According to a kind of preferred embodiment, the telescoping mechanism is configured as changing it in the way of hydraulic-driven Stroke, wherein be provided with the first electromagnetic flow valve between first telescopic rod and hydraulic system；Second telescopic rod with The second electromagnetic flow valve is provided between the hydraulic system；To in first electromagnetic flow valve and second electromagnetic current Under the aperture unanimous circumstances for measuring valve, first main body can be limited around the described first hinged swivel with first hinge hole Axis and the axis that is limited with second hinge hole of the second hinged swivel rotate so that first main body and institute It states and forms first angle between the fixed pan of the second main body；Or described in being greater than in the aperture of first electromagnetic flow valve In the case where the aperture of second electromagnetic flow valve, the first main body I can be around the described first hinged swivel and first hinge Connect the axis of hole restriction, the axis of the axis that the third hingedly turns and the third hinge hole limits and first universal joint Line is so that the first main body I and the first main body II form second angle；Or in first electromagnetic flow valve Aperture be less than the aperture of second electromagnetic flow valve in the case where, the first main body II hinged can turn around described second The axis and the third that body and second hinge hole limit hingedly turns and the axis of third hinge hole restriction and the The axis of two universal joints rotates so that the first main body II and the first main body I forms the third angle.
According to a kind of preferred embodiment, the hydraulic system at least provided with two fluid power outlet ends, it is described at least Two fluid power outlet ends are flexibly connected with first telescopic rod and second telescopic rod respectively, wherein described first is flexible Bar (11a) and/or second telescopic rod (11b) can rotate during elongation or shortening around fluid power outlet end, thus First telescopic rod (11a) and second telescopic rod (11b) is enabled to be intended to two power bars when in holding state Stress.
According to a kind of preferred embodiment, the invention also discloses a kind of nursing bed using aforementioned regulating system, institutes Stating nursing bed further includes lathe bed, and second main body is fixed on the lathe bed.
According to a kind of preferred embodiment, the invention also discloses a kind of adjusting method of multi-angle, required adjusting Main body includes at least two the first main bodys and the second main body being flexibly connected each other, and first main body is provided with lives each other with it The telescoping mechanism of dynamic connection, thus, in the case where second main body is fixed, first main body can be based on telescoping mechanism Stroke and rotate so that shape between first main body and the fixed pan of second main body around second main body At the first angle；Wherein, first main body includes at least two the first main body I and the first main body II being flexibly connected each other； The first main body I is provided with the first telescoping mechanism being flexibly connected each other with it；The first main body II be provided with its that This second telescoping mechanism being flexibly connected；To, in the case where second main body is fixed and first main body with it is described In the case where forming the first angle between the fixed pan of second main body, the first main body I can be based on the first telescoping mechanism Stroke around the first main body II so that the first main body I and the first main body II form the second angle；And/or The first main body II can the stroke based on the second telescoping mechanism around the first main body I to rotate so that described first main Body II and the first main body I forms third angle.
According to a kind of preferred embodiment, the first main body I, the first main body II and second main body are each other Between be flexibly connected in such a way that linkwork is set；The linkwork, which includes at least, is fixed on hinged swivel and setting There is the hinge bar of the hinge hole agreed with the rotation cambered surface in the hinged swivel；Between the hinged swivel and the hinge hole It is gap-matched or is interference fitted；Wherein, the first linkwork be set to the first main body I and second main body it Between；Second linkwork is set between the first main body II and second main body；Third linkwork is set to described First main body I and the first main body II；To hingedly turn the first of first linkwork and match with the first hinge hole In the case where conjunction and in the case that the described second hinged swivel of second linkwork cooperates with second hinge hole, institute State the first main body can the stroke based on telescoping mechanism and limited with first hinge hole around the described first hinged swivel Axis and the second hinged swivel and the axis that second hinge hole limits rotate so that first main body with it is described First angle is formed between the fixed pan of second main body；Cooperate in the described first hinged swivel with first hinge hole In the case where and the third linkwork third hingedly turn with third hinge hole cooperation in the case where, first main body I being capable of axis and institute of the stroke based on the first telescoping mechanism around the described first hinged swivel with first hinge hole restriction It states third and hingedly turns the axis of the third hinge hole restriction so that the first main body I is formed with the first main body II Second angle；And/or in the case where the second hinged swivel is with second hinge hole cooperation and the third hingedly turns Body and the third hinge hole cooperation in the case where, the first main body II can the stroke based on the second telescoping mechanism around institute State the axis and the third hingedly turns and the third hinge hole limits that the second hinged swivel is limited with second hinge hole Fixed axis is so that the first main body II and the first main body I form the third angle.
The present invention provides a kind of regulating system of multi-angle, at least has the advantage that
(1) first angle α is that the stroke based on the first telescoping mechanism is equal with the stroke based on the second telescoping mechanism When formed.After the first angle α limits the first form, the stroke by changing the first telescoping mechanism forms the second folder Angle γ1, second of form is limited on the basis of the first form (by the first angle α and the second angle γ1It is common to limit). Similarly, after the first angle α limits the first form, the stroke by changing the second telescoping mechanism forms third angle γ2, the third form is limited on the basis of the first form (by the first angle α and third angle γ2It is common to limit).
(2) linkwork being arranged between the main body in the regulating system, hinged swivel use cambered surface with hinge hole, so that Obtain the first angle α, the second angle γ 1 and third angle γ2It is all that by 0~360 ° of adjusting, therefore, the first shape The posture of state, second of form and the third form can satisfy the selection of user.
(3) universal joint is provided in telescoping mechanism.Due to the restrict of linkwork, in the flexible of wherein telescoping mechanism When amount is greater than another telescoping mechanism stroke, it is universal that the restraining force that universal joint can be generated according to the difference of monk's contracting amount changes its Nodal axisn line hingedly turns the restraining force between hinge hole to discharge linkwork, so that forming the first angle α, the second angle γ1 With third angle γ2Process it is smooth, be able to extend linkwork service life and improve linkwork service efficiency.
(4) fluid pressure type driving mode of the invention changes the stroke of telescoping mechanism, and hydraulic transmission mode can reduce master The influence for the angle change that the pressure of body is turned down with main body, so as in the case where load change present stable drive, Efficient use state gives the comfortable usage experience of user.
(5) present invention is provided with angular transducer, flow solenoid valve and data processing unit.It on the one hand can be according to user Angle change between the angulation change main body of setting, to reach the subjective posture that user wants, to meet customer need.It is another Aspect, can be according to angle change during, in real time adjust flow solenoid valve aperture, to precisely adjust between main body Angle.
Detailed description of the invention
Fig. 1 is a kind of schematic top plan view of the main body connection of the regulating system of multi-angle provided by the invention；
Fig. 2 is a kind of the first form schematic diagram of the main body of regulating system provided by the invention；
Fig. 3 is a kind of second of form schematic diagram of the main body of regulating system provided by the invention；
Fig. 4 is a kind of the third form schematic diagram of the main body of regulating system provided by the invention；
Fig. 5 is a kind of partial enlargement diagram of the linkwork of regulating system provided by the invention；
Fig. 6 is a kind of telescoping mechanism schematic diagram of regulating system provided by the invention；
Fig. 7 is a kind of logic module schematic diagram of regulating system provided by the invention；
Fig. 8 is a kind of fluid power output schematic diagram of regulating system provided by the invention；
Fig. 9 is the schematic diagram of the nursing bed provided by the invention using the regulating system；With
Figure 10 is the bed board connection schematic diagram of nursing bed provided by the invention.
Reference signs list
1: the 2d-1: the four main body I of telescoping mechanism
3: the 2d-2: the four main body II of linkwork
4: hydraulic system 3a: hinged swivel
5: angular transducer 3b: rotation cambered surface
6: data processing unit 3c: hinge hole
7: display unit 3d: hinge hole
8: end 3e: pivoting support is manually entered
10: support plate 3f: swivel seat
11: universal joint 4a: executing agency
12: the 4b: the first electromagnetic flow valve of telescopic rod
13: the 4c: the second electromagnetic flow valve of lathe bed
14: skirt 5a: first angle sensor
15: universal wheel 5b: second angle sensor
16: the 10a: the first support plate of hard bellows
30: the first the 10b: the second support plates of linkwork
31: the second the 11a: the first universal joints of linkwork
32: the 11b: the second universal joint of third linkwork
1a: the first the 12a: the first telescopic rod of telescoping mechanism
1b: the second the 12b: the second telescopic rod of telescoping mechanism
2a: the first main body the 16a: the first hard bellows
2b: the second main body the 16b: the second hard bellows
2c: the α: the first angle of third main body
2d: the four main body γ1: the second angle
2a-1: the first main body I γ2: third angle
2a-2: the second the β: the four angle of main body II
2c-1: third main body I the θ: the five angle
2c-2: third main body II
Specific embodiment
It is described in detail with reference to the accompanying drawing.
It in description of the invention, term " first ", " second ", " third " and is used for description purposes only, and should not be understood as Indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic." first ", " are defined as a result, Two ", " third " and feature can explicitly or implicitly include one or more of the features.In description of the invention In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " inside ", " inside " is that orientation based on the figure or position are closed System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be Concrete meaning in bright.
In the present invention, term " removably " is bonding, key connection, threaded connection, pin connection, clamping, hinge It connects, one of clearance fit or transition fit.For the ordinary skill in the art, it can manage as the case may be Solve the concrete meaning of above-mentioned term in the present invention.
Embodiment 1
The present embodiment provides a kind of regulating systems of multi-angle, as shown in Figure 1.The regulating system includes at least two each other The the first main body 2a and the second main body 2b being flexibly connected.First main body 2a is provided with the telescoping mechanism 1 being flexibly connected each other with it. Thus in the case where the second main body 2b is fixed, the first main body 2a can the stroke based on telescoping mechanism 1 and around the second main body 2b rotates so that form the first angle α between the first main body 2a and the fixed pan of the second main body 2b, as shown in Figure 2.First Angle α limits the first form of the first main body 2a and the second main body 2b, such as the first form can be human body seat Limit human body leans on appearance.Wherein, the first main body 2a includes at least two the first main body I2a-1 and first being flexibly connected each other Main body II2a-2.First main body I2a-1 is provided with the first telescoping mechanism 1a being flexibly connected each other with it.First main body II2a-2 It is provided with the second telescoping mechanism 1b being flexibly connected each other with it.Thus in the case where the second main body 2b is fixed and the first main body In the case where forming the first angle α between 2a and the fixed pan of the second main body 2b, the first main body I2a-1 can be stretched based on first The stroke of contracting mechanism 1a is around the first main body II2a-2 so that the first main body I2a-1 and the first main body II2a-2 forms the second folder Angle γ1, as shown in Figure 3.First main body II2a-2 can the stroke based on the second telescoping mechanism 1b revolved around the first main body I2a-1 Turn so that the first main body II2a-2 and the first main body I2a-1 forms third angle γ2, as shown in Figure 4.First angle α is base It is formed when the stroke of the first telescoping mechanism 1a is equal with the stroke based on the second telescoping mechanism 1b.In the first angle α After limiting the first form, the stroke by changing the first telescoping mechanism 1a forms the second angle γ1, in the first form On the basis of limit second of form (by the first angle α and the second angle γ1It is common to limit), such as can when nursing bed use Lie on one's side (γ in the case where to allow patient's upper limb and waist to have certain angle (α restriction)1It limits).Similarly, it is limited in the first angle α After making the first form, the stroke by changing the second telescoping mechanism 1b forms third angle γ2, in the first form On the basis of limit the third form (by the first angle α and third angle γ2It is common to limit).
Preferably, as shown in Figure 1, the first main body I2a-1, the first main body II2a-2 and the second main body 2b are pressed each other It is flexibly connected according to the mode of setting linkwork 3.As shown in figure 5, linkwork 3 include at least hinged swivel 3a and be provided with and The hinge bar 3c for the hinge hole 3d that rotation cambered surface 3b in hinged swivel 3a agrees with.Preferably, rotation cambered surface 3b can be ball Face is also possible to ellipsoidal surface.Preferably, it is hingedly gap-matched or is interference fitted between swivel 3a and hinge hole 3c.Between Gap cooperation or interference fit enable to hingedly to turn 3a and hinge hole 3c and can either mutually rotate also and can limit between the two Slide axially, enable to hingedly turn 3a and hinge hole 3c rotation it is more reliable.First linkwork 30 is set to first Between main body I2a-1 and the second main body 2b.Second linkwork 31 is set between the first main body II2a-2 and the second main body 2b. Third linkwork is set to the first main body I2a-1 and the first main body II2a-2.Thus in the first hinge of the first linkwork 30 In the case where switching through body and the cooperation of the first hinge hole and the second hinged swivel of the second linkwork 31 cooperates with the second hinge hole In the case where, the first main body 2a can the stroke based on telescoping mechanism 1 and limited around the first hinged swivel with the first hinge hole Axis and the axis that is limited with the second hinge hole of the second hinged swivel rotate so that the first main body 2a's and the second main body 2b The first angle α is formed between fixed pan.In the case where the first hinged swivel cooperates with the first hinge hole and the hinged machine of third In the case that the third of structure 32 is hingedly turned with the cooperation of third hinge hole, the first main body I2a-1 can be based on the first telescoping mechanism The stroke of 1a hingedly turns the restriction of third hinge hole around the axis and third that the first hinged swivel is limited with the first hinge hole Axis rotates so that the first main body I2a-1 and the first main body II2a-2 and forms the second angle γ1.And/or at second hinged turn In the case that body and the second hinge hole cooperate and in the case that third is hingedly turned with the cooperation of third hinge hole, the first main body II2a-2 being capable of the axis that is limited with the second hinge hole around the second hinged swivel of the stroke based on the second telescoping mechanism 1b and the The axis that three hinged swivels are limited with third hinge hole rotate so that the first main body II2a-2 and the first main body I2a-1 formation the Three angle γ2.The wherein pivot center I of the axis that hinged swivel 3a and hinge hole 3c is limited is as shown in Figure 5.It is hinged to turn Another pivot center II of the axis that body 3a and hinge hole 3c are limited be one cross rotation cambered surface 3b geometric center and perpendicular to The straight line in linkwork section as shown in Figure 5.The linkwork being arranged between main body in the regulating system, it is hinged turn 3a with The plane of rotation of hinge hole 3c uses cambered surface, so that the first angle α, the second angle γ 1 and third angle γ2All it is that by 0~360 ° of adjusting, therefore, the posture of the first form, second of form and the third form can satisfy the selection of user.
Preferably, hingedly swivel 3a further includes swivel seat 3f.Swivel seat 3d and rotation cambered surface 3b preferably use integral type knot Structure.Hinge bar 3d is preferably inserted into pivoting support 3e in an interference fit.As shown in Figure 1, the first swivel seat and the second swivel Seat is fixedly installed in the second main body 2b.First pivoting support is fixedly installed in the first main body I2a-1.The fixed peace of second pivoting support Loaded on the first main body II2a-2.Third swivel seat is fixedly installed in the first main body I2a-1, and third pivoting support is fixedly installed in the One main body II2a-2.Fixed mode can be fixed by the way of welding by the way of through Stud connection, can also To be fixed using integral type.
Preferably, the universal joint 11 and ten thousand that telescoping mechanism 1 includes support plate 10, is fixedly connected from moving fork with support plate 10 The telescopic rod 12 being fixedly connected actively is pitched to section 10.Wherein, the first support plate 10a is set to the first main body I2a-1, the second support Disk 10b is set to the first main body II2a-2.Thus it is fixedly connected in the slave moving fork of the first universal joint 11a with the first support plate 10a In the case where and the first universal joint 11a active fork be fixedly connected with the first telescopic rod 12a in the case where, and second state ten thousand In the case where being fixedly connected to the slave moving fork of section 11b with the second support plate 10b and the active of the second universal joint 11b is pitched and is stretched with second In the case that contracting bar 11b is fixedly connected.First main body I2a-1 can the stroke based on the first telescopic rod 11a it is hinged around first Swivel hingedly turns the axis and the first universal joint 11a limited with third hinge hole with the axis of the first hinge hole restriction, third Axis rotate so that the first main body I2a-1 and the first main body II2a-2 and form the second angle γ1.And/or first main body II2a-2 being capable of the axis that is limited with the second hinge hole around the second hinged swivel of the stroke based on the second telescopic rod 11b and third The axis of axis and the second universal joint 11b that hinged swivel is limited with third hinge hole rotate so that the first main body II2a-2 with First main body I2a-1 forms third angle γ2.Universal joint 10 is preferably Bendix-Weiss universal joint.Curved grooved type is by constant velocity universal Section includes the ball fork and steel ball composition of raceway.And arc groove raceway type weiss universal joint therein refers to the steel ball in ball justice Raceway is the universal joint of circular arc type.It, which is structurally characterized in that, pitches and has done from moving fork arc groove, the two dress in the active of ball fork Four steel ball rolling channels are formed after conjunction, it is encompassing in raceway to receive 4 steel balls.Centering ball is mounted in the spherical groove at master and slave moving fork center It is interior.Straight trough raceway type weiss universal joint refers to that the steel ball rolling channel on ball fork is the universal joint of straight trough raceway type.Its structure is special Point is that straight trough has been done on two ball forks, and the center line of each straight trough and axis tilts, and inclined angle is identical and is mutually symmetrical. Raceway between two ball forks is provided with 4 steel balls.
Preferably, telescoping mechanism 1 is configured as changing its stroke in the way of hydraulic-driven.Wherein, first stretches The first electromagnetic flow valve 4a is provided between contracting bar 11a and hydraulic system 4.It is arranged between second telescopic rod 11b and hydraulic system 4 There is the second electromagnetic flow valve 4b.Thus in the aperture unanimous circumstances of the first electromagnetic flow valve 4a and the second electromagnetic flow valve 4b Under, the first main body 2a can be hinged around the axis and the second hinged swivel that the first hinged swivel is limited with the first hinge hole and second The axis that hole limits rotates so that form the first angle α between the first main body 2a and the fixed pan of the second main body 2b.Or In the case where aperture of the aperture of first electromagnetic flow valve 4a greater than the second electromagnetic flow valve 4b, the first main body I2a-1 can be around First hinged swivel hingedly turns the axis and the 10000th limited with third hinge hole with the axis of the first hinge hole restriction, third The first main body I2a-1 and the first main body II2a-2, which is rotated so that, to the axis of section 11a forms the second angle γ1.Or first In the case where aperture of the aperture of electromagnetic flow valve 4a less than the second electromagnetic flow valve 4b, the first main body II2a-2 can be around second The axis and third that hinged swivel and the second hinge hole limit hingedly turn universal with the axis of third hinge hole restriction and second The axis of section 11b rotates so that the first main body II2a-2 and the first main body I2a-1 and forms third angle γ2。
Preferably, hydraulic system 4 is at least provided with two fluid power outlet ends.At least two fluid power outlet ends are respectively with first Telescopic rod 11a and the second telescopic rod 11b is flexibly connected.For example, telescopic rod and fluid power outlet end are sealed by hard bellows 16 Connection.For example, fluid power outlet end can pass through the first hard bellows with the first telescopic rod 11a and the second telescopic rod 11b respectively 16a and the second hard bellows 16b is tightly connected.Due to hard bellows have good ductility and deformability, first Telescopic rod 11a and the second telescopic rod 11b is based on hard bellows ductility and deformability energy during elongation or shortening It is enough to be rotated around fluid power outlet end, so as to be effectively reduced the first telescopic rod 11a and the second telescopic rod 11b axial tension or Pressure enables the first telescopic rod 11a and the second telescopic rod 11b to be intended to the stress of two power bars, and it is flexible to improve first The ability to work and service life of bar 11a and the second telescopic rod 11b, prevent its operational failure.For example, the first telescopic rod 11a and Second telescopic rod 11b can also be connect by hinged mode with fluid power outlet end.
Preferably, the dynamical element of hydraulic system 4 is hydraulic pump.The executing agency of hydraulic system 4 can be hydraulic pump The speed adjusting gear of power switch and hydraulic pump.Electric energy and mechanical energy are converted to the pressure energy of liquid by hydraulic pump.Improve pressure Hydraulic oil after energy is pumped into the first telescopic rod 1a and second by the first electromagnetic flow valve 4a and the second electromagnetic flow valve 4b respectively Telescopic rod 1b.Hydraulic oil is respectively acting on the first piston for being built in the first telescopic rod 1a and the second telescopic rod 1b and second and lives Plug realizes the elongation of the first telescopic rod 1a and the second telescopic rod 1b.After withdrawing hydraulic oil, the first telescopic rod 1a and second is realized The shortening of telescopic rod 1b.Hydraulic oil is stored in fuel tank.
Preferably, hydraulic pump can be one, be also possible to multiple.The present embodiment uses 1 hydraulic pump, using 1 liquid The reason of press pump, mainly has: (1) reducing the weight of regulating system while surplus cost, be readily transported use；(2) hydraulic pump is same When to the first telescopic rod 1a and the second telescopic rod 1b fuel feeding when, in the first electromagnetic flow valve 4a and the second electromagnetic flow valve 4b aperture Under unanimous circumstances, the oil pressure consistency in the first telescopic rod 1a and the second telescopic rod 1b is higher, the first telescopic rod 1a and second The stroke consistency of telescopic rod 1b is higher, therefore more acurrate to the degree of regulation of the first angle α.
Preferably, regulating system further includes the angular transducer 5 and data processing unit 6 on ground communicatively coupled with one another.Angle Degree sensor 5 includes the first angle sensor 5a for being set to the first main body I2a-1 and be set to the first main body II2a-2 the Two angular transducer 5b.First angle sensor 5a is configured as the first angle α of acquisition and/or the second angle γ1.Second angle Sensor 5b is configured as the first angle α of acquisition and/or third angle γ2.Display unit 7 is to show first angle sensor 5a The first angle α and/or the second angle γ1And/or the first angle α and/or third angle γ of second angle sensor 5b2's Mode establishes data connection by data processing unit 6 and angular transducer 5.It is shown for example, display screen unit 7 can be LED Screen or liquid crystal display.Display screen unit 7 can any position of the flexible setting in regulating system according to the actual situation.Example Such as, LED display can be the one of side wall for being set to the second main body 2b, enable a user to eye-catching viewing angle Variation.
Preferably, regulating system further includes being coupled with each other with data processing unit 6 for input angle suspension value End 8 is manually entered in connection.Data processing unit 6 based on angle suspension value generates switching command and with wiredly and/or wirelessly Executing agency 4a, the first flow solenoid valve 4b and/or second flow solenoid valve 4c of mode and hydraulic system 4 establish data company It connects.It is manually entered and holds 8 one end that can be in mobile client, keyboard and/or voice, input the angle for needing to adjust for client Spend suspension value.Data processing unit 6 includes data processor and controller.The angle being manually entered is received in data processor In the case where suspension value, data processor can be to the executing agency of hydraulic system 4, first flow solenoid valve and/or second It measures solenoid valve and sends the control command adjusted the angle.Executing agency 4a, first flow solenoid valve 4b and/or second flow as a result, Solenoid valve 4c executes control command, adjusts the stroke of the first telescopic rod 1a and/or the stroke of the second telescopic rod 1b.Second is main Body 2b, the first main body I2a-1 and the first main body II2a-2 being capable of strokes and/or the second telescopic rod based on the first telescopic rod 1a The stroke of 1b adjusts the first angle α, the second angle γ1And/or third angle γ2。
Preferably, data processing unit 6 is based on angle suspension value and the first angle α, the second angle γ1With third angle γ2 Comparison generate regulating command and in a manner of wiredly and/or wirelessly with executing agency, first flow solenoid valve and/or second Amount solenoid valve establishes data connection.Data processing unit 6 is generated in accordance with the following steps for adjusting the first angle α, the second angle γ1With third angle γ2Regulating command:
S1: every certain moment t, data processor compares the first angle αt, the second angle γ1tWith third angle γ2tWith The percentage reduced value of corresponding angle suspension value；Percentage reduced value is determined according to following formula:
Wherein, α%、γ1%And γ2%It is the percentage reduced value of the first angle, the second angle and third angle respectively；α0、 WithIt is manually entered the first angle of end input, the angle suspension value of the second angle and third angle respectively；αt、With It is the value of the first angle every certain moment t, the second angle and third angle respectively.
S2: data processor by every the percentage reduced value threshold value comparison of the percentage reduced value of certain moment t and the moment, If the percentage reduced value of moment t is greater than the percentage reduced value threshold value at the moment, controller is based on the information and αt、With With corresponding α0、WithDifference information generate regulating command.
For example, be manually entered user in end 7 input need by the angle suspension value α that adjusts of first angle α0It is 30 °. Moment t point is three moment, and the first moment was 0.5s and corresponding percentage reduced value threshold value is 5%, the second moment be 0.8s and Corresponding percentage reduced value is 2%, and the third moment is 1.0s and corresponding percentage reduced value is 0.5%.For example, the first moment It is 28 ° by the value that first angle sensor 5a records the first angle, percentage pair this moment is calculated in data processor when 0.5s Ratio is the 6.6% percentage reduced value 5% for being greater than the moment, then controller is based on the information and -2 ° of (28 ° -30 °) lifes at this time At regulating command.For example, the regulating command be increase hydraulic system oil pressure or increase the first electromagnetic flow valve aperture and The aperture of second electromagnetic flow valve.For another example, when third moment 1s, the first order angle value for having first angle sensor 5a to record is 30.4 °, then the percentage reduced value at the moment is 1.3% to be greater than, then at this time controller be based on the information and 0.4 ° (30.4 °- 30 °) generate regulating command.Such as the regulating command is to reduce the oil pressure of hydraulic system or opening for the first electromagnetic flow valve of reduction The aperture of degree and the second electromagnetic flow valve.The regulative mode can adjust angle in real time, and this regulative mode is that layering is adjusted Section, can reach the precision of angular adjustment.
Specifically, data processor include for calculate the calculation server of percentage reduced value, comparison percentage reduced value and The comparator of percentage comparison threshold value.Calculation server and all existing conventional hardware of comparator.Controller can be using common PLC controller, for generating regulating command.
Preferably, the first main body 2a can also include three or more each other by the connection of identical structure linkwork 3 First sub- main body.For example, the first sub- main body includes the first main body I2a- for passing sequentially through identical structure linkwork 3 and being flexibly connected 1, the second main body II2a-2, third main body III and the 4th main body IV.First main body I2a-1, the second main body II2a-2, third master Body III and the 4th main body IV are movably connected on the second main body 2b by identical structure linkwork 3 respectively.
Embodiment 2
The present embodiment is that a kind of regulating system of multi-angle of the invention is applied to nursing bed technical field, wherein is repeated Content repeat no more.
The nursing bed includes above-mentioned regulating system and lathe bed 13, and the second main body 2b is fixed on lathe bed 13.Wherein, such as Fig. 2 Two main bodys also pass through linkwork 3 and are flexibly connected with third main body 2c.Third main body 2c passes through linkwork 3 and the 4th main body 2d It is flexibly connected.Third main body 2c includes the third main body I2c-1 being flexibly connected each other by linkwork 3 and third main body II2c-2.4th main body includes the 4th main body I2d-1 and the 4th main body II2d-2 being flexibly connected each other by linkwork 3.
Third main body I2c-1, third main body II2c-2, the 4th main body I2d-1 and the 4th main body II2d-2 are provided with and stretch Contracting mechanism.Therefore, which can limit different forms according to the elongation of telescoping mechanism.For example, as shown in Fig. 2, A kind of form that the 4th angle β between third main body 2c and the second main body 2b is limited.4th main body 2d and third main body 2c it Between a kind of form for limiting of the 5th angle theta.
The nursing bed can change the first angle α, the second angle γ by hydraulic-driven telescoping mechanism1, third angle γ2、 4th angle β and the 5th angle theta limit the different shape of nursing bed, can satisfy nursing and the rehabilitation demands of patient.
Preferably, lathe bed 13 is fixedly installed in skirt 14.It is provided on skirt 14 and the surface of ground face contact for moving The universal wheel 15 of the nursing bed.Universal wheel 15 and skirt 14 are attached so that from any direction in the way of it can rotate Nursing bed can be pushed to move in the direction when applying external force to lathe bed.The quantity and set-up mode of universal wheel 15 can be according to realities Border situation carries out flexible setting to guarantee to stabilize to principle.For example, the quantity of universal wheel 15 can be 3 and form triangular in shape It is configured to guarantee stationarity.Alternatively, the quantity of universal wheel 15 can be for 4 and rectangular or square form is carried out to protect Demonstrate,prove the stationarity of movement.
Preferably, hydraulic system 4 is fixedly mounted on lathe bed 13.
Embodiment 3
The present embodiment provides a kind of adjusting methods of multi-angle.The main body of adjusting includes at least two being flexibly connected each other First main body 2a and the second main body 2b.First main body 2a is provided with the telescoping mechanism 1 being flexibly connected each other with it.Thus second In the case that main body 2b is fixed, the first main body 2a can the stroke based on telescoping mechanism 1 and rotated around the second main body 2b so that It obtains and forms the first angle α between the first main body 2a and the fixed pan of the second main body 2b.Wherein, the first main body 2a includes at least two A the first main body I2a-1 and the first main body II2a-2 being flexibly connected each other.First main body I2a-1 is provided with movable each other with it First telescoping mechanism 1a of connection.First main body II2a-2 is provided with the second telescoping mechanism 1b being flexibly connected each other with it.By This in the case where the second main body 2b is fixed and forms the first angle α between the first main body 2a and the fixed pan of the second main body 2b In the case where.First main body I2a-1 can the stroke based on the first telescoping mechanism 1a around the first main body II2a-2 so that One main body I2a-1 and the first main body II2a-2 forms the second angle γ1.And/or first main body II2a-2 can stretch based on second The stroke of contracting mechanism 1b rotates so that the first main body II2a-2 and the first main body I2a-1 around the first main body I2a-1 and forms the Three angle γ2。
Preferably, the first main body I2a-1, the first main body II2a-2 and the second main body 2b are hinged according to setting each other The mode of mechanism 3 is flexibly connected.Linkwork 3 includes at least hinged swivel 3a and is provided with and the arc of rotation in hingedly swivel 3a The hinge bar 3c for the hinge hole 3d that face 3b agrees with.It is gap-matched or is interference fitted between hinged swivel 3a and hinge hole 3c. Wherein, the first linkwork 30 is set between the first main body I2a-1 and the second main body 2b.Second linkwork 31 is set to Between one main body II2a-2 and the second main body 2b.Third linkwork is set to the first main body I2a-1 and the first main body II2a-2. Thus in the case where the first of the first linkwork 30 hingedly turns and cooperate with the first hinge hole and second linkwork 31 In the case where second hinged swivel and the cooperation of the second hinge hole, the first main body 2a can the stroke based on telescoping mechanism 1 and around Axis and the second hinged swivel that first hinged swivel is limited with the first hinge hole and the axis that the second hinge hole limits rotate with So that forming the first angle α between the first main body 2a and the fixed pan of the second main body 2b.In the first hinged swivel and the first hinge In the case where connecing hole cooperation and in the case that the third of third linkwork 32 is hingedly turned with the cooperation of third hinge hole, first is main Body I2a-1 being capable of the axis that is limited with the first hinge hole around the first hinged swivel of the stroke based on the first telescoping mechanism 1a and the The axis that three hinged swivel third hinge holes limit rotates so that the first main body I2a-1 and the first main body II2a-2 and forms second Angle γ1.And/or in the case where the second hinged swivel cooperates with the second hinge hole and third hingedly turn and third hinge hole In the case where cooperation, the first main body II2a-2 can the stroke based on the second telescoping mechanism 1b around the second hinged swivel and second The axis and third that hinge hole limits hingedly turn the axis limited with third hinge hole and rotate so that the first main body II2a-2 Third angle γ is formed with the first main body I2a-12。
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair Within bright protection scope.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not Constitute limitations on claims.Protection scope of the present invention is defined by the claims and their equivalents.

Claims (10)

1. a kind of regulating system of multi-angle, the first main body (2a) and the second main body being flexibly connected each other including at least two (2b), which is characterized in that first main body (2a) is provided with the telescoping mechanism (1) being flexibly connected each other with it, thus in institute State the second main body (2b) it is fixed in the case where, first main body (2a) can the stroke based on telescoping mechanism (1) and around institute The second main body (2b) is stated to rotate so that be formed between first main body (2a) and the fixed pan of second main body (2b) First angle (α),
Wherein, first main body (2a) includes at least two the first main body I (2a-1) being flexibly connected each other and the first main body II (2a-2), the first main body I (2a-1) are provided with the first telescoping mechanism (1a) being flexibly connected each other with it, and described first Main body II (2a-2) is provided with the second telescoping mechanism (1b) being flexibly connected each other with it, thus solid in second main body (2b) The first angle (α) is formed in the case where fixed and between first main body (2a) and the fixed pan of second main body (2b) In the case of, the first main body I (2a-1) can be based on the stroke of the first telescoping mechanism (1a) around the first main body II (2a-2) rotates so that the first main body I (2a-1) and the first main body II (2a-2) forms the second angle (γ1)； And/or
The first main body II (2a-2) can be based on the stroke of the second telescoping mechanism (1b) around the first main body I (2a-1) It rotates so that the first main body II (2a-2) and the first main body I (2a-1) forms third angle (γ2)。
2. regulating system as described in claim 1, which is characterized in that the telescoping mechanism (1) is configured as according to hydraulic drive Dynamic mode changes its stroke,
Wherein, the first electromagnetic flow valve (4b), the second telescopic rod are provided between the first telescopic rod (11a) and hydraulic system (4) The second electromagnetic flow valve (4c) is provided between (11b) and the hydraulic system (4), thus in first electromagnetic flow valve Under the aperture unanimous circumstances of (4b) and second electromagnetic flow valve (4c), first main body (2a) can be around described second Main body (2b) rotates so that form described between first main body (2a) and the fixed pan of second main body (2b) One angle (α)；Or
In the case where the aperture of first electromagnetic flow valve (4b) is greater than the aperture of second electromagnetic flow valve (4c), institute It states the first main body I (2a-1) and rotates so that described the around second main body (2b) and the first main body II (2a-2) simultaneously One main body I (2a-1) and the first main body II (2a-2) form the second angle (γ1)；Or
In the case where the aperture of first electromagnetic flow valve (4b) is less than the aperture of second electromagnetic flow valve (4c), institute State the first main body II (2a-2) can simultaneously around described in the second main body (2b) and the first main body I (2a-1) so that described the One main body II (2a-2) and the first main body I (2a-1) form the third angle (γ2)。
3. regulating system as claimed in claim 1 or 2, which is characterized in that the regulating system further includes the ground coupling that communicates with one another The angular transducer (5) and data processing unit (6) on ground are closed,
Wherein, the angular transducer (5) include be set to the first main body I (2a-1) first angle sensor (5a) and It is set to the second angle sensor (5b) of the first main body II (2a-2)；
The first angle sensor (5a) is configured as acquiring first angle (α) and/or the second angle (γ1)；Institute Second angle sensor (5b) is stated to be configured as acquiring first angle (α) and/or the third angle (γ2)；
Display unit (7) with show the first angle sensor (5a) first angle (α) and/or second angle (γ1) and/or second angle sensor (5b) the first angle (α) and/or the third angle (γ2) mode pass through it is described Data connection is established in data processing unit (6) and angular transducer (5).
4. the regulating system as described in one of preceding claims, which is characterized in that the regulating system further includes for inputting End (8) are manually entered with the data processing unit (6) communication connection coupled to each other in angle suspension value,
Wherein, the data processing unit (6) based on the angle suspension value generates switching command and with wiredly and/or wirelessly The executing agency (4a) of mode and the hydraulic system (4), the first flow solenoid valve (4c) and/or second flow electricity Magnet valve (4c) establishes data connection；Or
The data processing unit (6) is based on the angle suspension value and first angle (α), the second angle (γ1) and Third angle (the γ2) comparison generate regulating command and in a manner of wiredly and/or wirelessly with the executing agency (4a), The first flow solenoid valve (4c) and/or the second flow solenoid valve (4c) establish data connection；
Wherein, the regulating command can obtain in the following way:
Every certain moment t, the data processor (6) compares the first angle α of t momentt, t moment the second angle γ1tWith The third angle γ of t moment2tWith the percentage reduced value of corresponding angle suspension value；Percentage reduced value is determined according to following formula:
The data processor (6) by every the percentage reduced value threshold value comparison of the percentage reduced value of certain moment t and the moment, If the percentage reduced value of moment t is greater than the percentage reduced value threshold value at the moment, controller is based on the information and αt、γ1tWith γ2tWith corresponding α0、γ10And γ20Difference information generate regulating command.
5. the regulating system as described in one of preceding claims, which is characterized in that the first main body I (2a-1), described One main body II (2a-2) and second main body (2b) are flexibly connected in the way of linkwork (3) are arranged each other,
Wherein, the linkwork (3) includes at least hinged swivel (3a) and is provided with and turns with the hinged swivel (3a) The hinge bar (3c) for the hinge hole (3d) that dynamic cambered surface (3b) agrees with, is adopted between hinged swivel (3a) and the hinge hole (3c) With clearance fit or interference fit；
Wherein, the first linkwork (30) is set between the first main body I (2a-1) and second main body (2b), and second Linkwork (31) is set between the first main body II (2a-2) and second main body (2b), the setting of third linkwork In the first main body I (2a-1) and the first main body II (2a-2)；
To in the case where the first of first linkwork (30) hingedly turns and cooperates with the first hinge hole and described the In the case that the hinged swivel of described the second of two linkworks (31) cooperates with second hinge hole, first main body (2a) It can be based on the stroke of telescoping mechanism (1) and hingedly turn the axis limited with first hinge hole and institute around described first It states the axis that the second hinged swivel is limited with second hinge hole and rotates so that first main body (2a) and described second First angle (α) is formed between the fixed pan of main body (2b)；And/or
In the case where the described first hinged swivel cooperates with first hinge hole and the third linkwork (32) the In the case that three hinged swivels cooperate with third hinge hole, the first main body I (2a-1) can be based on the first telescoping mechanism The stroke of (1a) hingedly turns institute around the axis and the third that the described first hinged swivel is limited with first hinge hole The axis for stating the restriction of third hinge hole rotates so that the first main body I (2a-1) and the first main body II (2a-2) is formed Second angle (the γ1)；And/or
In the case where the second hinged swivel cooperates with second hinge hole and the third is hingedly turned and is cut with scissors with the third In the case where connecing hole cooperation, the first main body II (2a-2) can the stroke based on the second telescoping mechanism (1b) around described the Two axis and the third that hingedly swivel is limited with second hinge hole hingedly turn and third hinge hole restriction Axis rotates so that the first main body II (2a-2) and the first main body I (2a-1) forms the third angle (γ2)。
6. the regulating system as described in one of claim, which is characterized in that the telescoping mechanism (1) include support plate (10), The universal joint (11) that is fixedly connected from moving fork with the support plate (10) is fixedly connected with the active of the universal joint (10) fork Telescopic rod (12),
Wherein, the first support plate (10a) is set to the first main body I (2a-1), and the second support plate (10b) is set to described One main body II (2a-2), thus, it is fixedly connected in the slave moving fork of the first universal joint (11a) with first support plate (10a) In the case of and first universal joint (11a) active fork be fixedly connected with the first telescopic rod (12a) in the case where, and In the case where the slave moving fork that second states universal joint (11b) is fixedly connected with second support plate (10b) and the described 20000th In the case that the active fork of Xiang Jie (11b) is fixedly connected with the second telescopic rod (11b), the first main body I (2a-1) being capable of base The axis that is limited with first hinge hole around the described first hinged swivel in the stroke of the first telescopic rod (11a), described the The axis of axis and first universal joint (11a) that three hinged swivels are limited with the third hinge hole rotates so that described First main body I (2a-1) and the first main body II (2a-2) form the second angle (γ1)；And/or
The first main body II (2a-2) can be based on the stroke of the second telescopic rod (11b) around the described second hinged swivel and institute The axis and the third for stating the restriction of the second hinge hole hingedly turn universal with the axis of third hinge hole restriction and second The axis of section (11b) rotates so that the first main body II (2a-2) and the first main body I (2a-1) forms the third Angle (γ2)。
7. the regulating system as described in one of preceding claims, which is characterized in that the hydraulic system (4) is at least provided with two A fluid power outlet end, at least two fluid power outlet end respectively with first telescopic rod (11a) and second telescopic rod (11b) is flexibly connected；
Wherein, first telescopic rod (11a) and/or second telescopic rod (11b) can during elongation or shortening It is rotated around fluid power outlet end, so that first telescopic rod (11a) and second telescopic rod (11b) are being in holding state When can be intended to the stresses of two power bars.
8. a kind of nursing bed using regulating system described in one of preceding claims, which is characterized in that the nursing bed also wraps It includes lathe bed (13), second main body (2b) is fixed on the lathe bed (13).
9. a kind of adjusting method of multi-angle, which is characterized in that the main body of required adjusting is flexibly connected each other including at least two The first main body (2a) and the second main body (2b), first main body (2a) is provided with the telescoping mechanism being flexibly connected each other with it (1), thus, in the case where second main body (2b) is fixed, first main body (2a) can be based on telescoping mechanism (1) Stroke and the fixation that first main body (2a) Yu second main body (2b) are rotated so that around second main body (2b) The first angle (α) is formed between plane；
Wherein, first main body (2a) includes at least two the first main body I (2a-1) being flexibly connected each other and the first main body II(2a-2)；The first main body I (2a-1) is provided with the first telescoping mechanism (1a) being flexibly connected each other with it；Described first Main body II (2a-2) is provided with the second telescoping mechanism (1b) being flexibly connected each other with it；
To in the case where second main body (2b) is fixed and first main body (2a) and second main body (2b) In the case where forming the first angle (α) between fixed pan,
The first main body I (2a-1) can be based on the stroke of the first telescoping mechanism (1a) around the first main body II (2a-2) So that the first main body I (2a-1) and the first main body II (2a-2) form the second angle (γ1)；And/or described One main body II (2a-2) can be rotated so that based on the stroke of the second telescoping mechanism (1b) around the first main body I (2a-1) The first main body II (2a-2) and the first main body I (2a-1) form third angle (γ2)。
10. adjusting the method for angle as claimed in claim 9, which is characterized in that the first main body I (2a-1), described first Main body II (2a-2) and second main body (2b) are flexibly connected in the way of linkwork (3) are arranged each other；
Wherein, the linkwork (3) includes at least hinged swivel (3a) and is provided with and turns with the hinged swivel (3a) The hinge bar (3c) for the hinge hole (3d) that dynamic cambered surface (3b) agrees with；It is adopted between hinged swivel (3a) and the hinge hole (3c) With clearance fit or interference fit；
Wherein, the first linkwork (30) is set between the first main body I (2a-1) and second main body (2b)；Second Linkwork (31) is set between the first main body II (2a-2) and second main body (2b)；The setting of third linkwork In the first main body I (2a-1) and the first main body II (2a-2)；
To in the case where the first of first linkwork (30) hingedly turns and cooperates with the first hinge hole and described the In the case that the hinged swivel of described the second of two linkworks (31) cooperates with second hinge hole, first main body (2a) It can be based on the stroke of telescoping mechanism (1) and hingedly turn the axis limited with first hinge hole and institute around described first It states the axis that the second hinged swivel is limited with second hinge hole and rotates so that first main body (2a) and described second First angle (α) is formed between the fixed pan of main body (2b)；
In the case where the described first hinged swivel cooperates with first hinge hole and the third linkwork (32) the In the case that three hinged swivels cooperate with third hinge hole, the first main body I (2a-1) can be based on the first telescoping mechanism The stroke of (1a) hingedly turns institute around the axis and the third that the described first hinged swivel is limited with first hinge hole The axis for stating the restriction of third hinge hole rotates so that the first main body I (2a-1) and the first main body II (2a-2) is formed Second angle (the γ1)；And/or
In the case where the second hinged swivel cooperates with second hinge hole and the third is hingedly turned and is cut with scissors with the third In the case where connecing hole cooperation, the first main body II (2a-2) can the stroke based on the second telescoping mechanism (1b) around described the Two axis and the third that hingedly swivel is limited with second hinge hole hingedly turn and third hinge hole restriction Axis rotates so that the first main body II (2a-2) and the first main body I (2a-1) forms the third angle (γ2)。
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CN111631904A (en) * 2020-05-28 2020-09-08 河海大学常州校区 Half wearing formula palm rehabilitation ectoskeleton

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