CN112356757B - Carriage extension system for mobile operation vehicle - Google Patents
Carriage extension system for mobile operation vehicle Download PDFInfo
- Publication number
- CN112356757B CN112356757B CN202011371619.5A CN202011371619A CN112356757B CN 112356757 B CN112356757 B CN 112356757B CN 202011371619 A CN202011371619 A CN 202011371619A CN 112356757 B CN112356757 B CN 112356757B
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- China
- Prior art keywords
- telescopic sleeve
- carriage
- distance
- adjusting
- supporting part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/04—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically
- B60S9/06—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically of screw-and-nut type
- B60S9/08—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically of screw-and-nut type the screw axis being substantially vertical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
Abstract
The invention discloses a carriage extension system for a mobile operation vehicle. Aiming at the outdoor complex terrain, an adjusting mechanism is designed to adjust the levelness of the expanded carriage, the requirements on the processing precision of a first-level adjusting part can be reduced while the adjusting precision is ensured through the arrangement of the first-level adjusting part and a second-level adjusting part, the cost is saved, the measurement of the average distance between a supporting part and the ground through a sensor effectively ensures the precision of horizontal control, and the movable operation vehicle can be well adapted to the outdoor complex terrain.
Description
Technical Field
The invention relates to the technical field of mobile medical equipment, in particular to a carriage extension system for a mobile operation vehicle.
Background
The mobile operation vehicle is a mobile medical device used for carrying out on-site operation treatment on a large number of sick and wounded persons when sudden natural disasters or major epidemic outbreaks occur, has the characteristics of flexibility, quick expansion and complete matching, and generally comprises a chassis transportation system, a carriage system, an environment protection system, a medical function system, a power supply and distribution and other protection systems and the like, wherein, the carriage system is generally an expandable structure to enlarge the use space, but the traditional carriage supporting mechanism is easy to cause the deflection of the expanded carriage due to the rugged and uneven field terrain, simultaneously the carriage also can influence the use of medical instrument and the going on of emergency operation in the operation car in supporting fixed back external environment's effect, needs a simple structure, strong reliability, maintenance cost are low urgently, can realize the carriage extended system for the removal operation car that uses to complicated topography.
Disclosure of Invention
The technical problem that this application will solve is: the utility model provides a carriage extension system for mobile operation car, carry out effectual control to the level of carriage to adapt to complicated topography, avoid the carriage skew that traditional carriage supporting mechanism easily leads to.
In order to achieve the aim, the invention provides a carriage expansion system for a mobile operation vehicle, which comprises a main carriage, a multi-stage expansion carriage, an adjusting mechanism, a sensor and a controller, wherein the main carriage is connected with the multi-stage expansion carriage; the adjusting mechanism is arranged at one end of each expansion compartment and can adjust the levelness of the expansion compartment according to different ground levelness; the adjustment mechanism includes: the first-stage adjusting part, the second-stage adjusting part and the supporting part; the supporting part is used for contacting with the ground so as to support the expanded compartment; the first adjusting part is arranged at the bottom of the expanded carriage and used for roughly adjusting the position of the supporting part; the second adjusting part is arranged at the lower end of the first adjusting part and is used for finely adjusting the supporting part;
the sensors are arranged in the supporting parts and used for measuring the distance from each supporting part to the ground;
the controller controls the first adjusting part and the second adjusting part to move according to the distance from the supporting part to the ground, which is obtained by the sensor, so as to adapt to complicated terrain conditions.
Further, the first adjusting portion is specifically configured to: including a first transmission, the first transmission includes: the main shaft of the servo motor is connected with a speed change device, and the speed change device is connected with the first screw rod through an output gear; the expansion carriage is characterized by further comprising a fixing sleeve fixed on the expansion carriage base, the first screw rod is arranged above the fixing sleeve, a first telescopic sleeve is arranged inside the fixing sleeve, the upper end of the first telescopic sleeve is provided with threads matched with the first screw rod, and a groove for mounting the second telescopic sleeve is formed in the lower end of the first telescopic sleeve.
Furthermore, the inside of the fixed sleeve is symmetrically provided with two vertical first bulges, and the first telescopic sleeve is symmetrically provided with first grooves matched with the two vertical first bulges and used for guiding the first telescopic sleeve.
Further, the second regulating portion includes: the second transmission device is arranged at the top end of the first groove, the upper end of the second lead screw is connected with an output shaft of the second transmission device through a connector, and the second lead screw is matched with threads formed in the upper end part of the second telescopic sleeve; two vertical second bulges are symmetrically arranged in the groove at the lower end part of the first telescopic sleeve, and second grooves matched with the two vertical second bulges are symmetrically arranged at two sides of the second telescopic sleeve; wherein the first lead screw has a larger pitch than the second lead screw.
Furthermore, the supporting part is connected with the bottom end of the second telescopic sleeve through a floating joint.
Further, the leveling mechanism works in the following manner: presetting a first unit distance L1, wherein the first unit distance L1 represents the distance for moving the first telescopic sleeve after each rotation of the first transmission device; presetting a second unit distance L2, wherein the second distance represents the distance that the second telescopic sleeve moves when the second transmission rotates one circle; equally dividing a ground area S right below the sensor into n x n unit bins Si,jThe controller controls the sensor to collect each unit bin Si,jDistance d to the sensori,j(ii) a According to the distance di,jTo obtain the average distance D between the ground and the supporting part; acquiring a first rotation number W1; acquiring a second rotation number W2; the controller controls the first transmission device to rotate the first rotation number W1 to drive the first telescopic sleeve to move, and when the first telescopic sleeve moves in place, the controller controls the second transmission device to rotate the second rotation number W2 to drive the second telescopic sleeve to move, so that the supporting part is in contact with the ground;
wherein the average distance D is equal to
Said first number of revolutions W1 is equal to the rounding down; the second number of rotations is equal to the pair
And (6) performing upper rounding.
Compared with the prior art, the technical scheme of the application has the following technical advantages:
(1) the invention adopts the adjusting mechanism to adjust the levelness of the expanded carriage, can adapt to rugged terrains, and improves the adaptability of the expanded carriage to complex environments.
(2) The first-stage adjusting part and the second-stage adjusting part are arranged, the first-stage adjusting part is firstly utilized to roughly adjust the position of the supporting part, then the position of the army supporting part is adjusted through the second stage to be finely adjusted, therefore, the precision requirement on the first-stage adjusting part can be reduced, the cost is saved, and meanwhile, the carriage can be more stably expanded through the fine adjustment of the second-stage adjusting part.
(3) Because the local range of the ground also has the difference of the height, the controller calculates the average distance between the adjusting mechanism and the ground to ensure the accuracy of the extending position of the supporting part.
(4) The supporting part is connected with the second-stage adjusting part through the floating joint, so that the bending influence on the second telescopic sleeve and the second screw rod, which is possibly caused by uneven stress, is effectively avoided.
Drawings
FIG. 1 is a schematic diagram of a first level expansion of the carriage expansion system for a three-level mobile surgical vehicle of the present invention;
FIG. 2 is a schematic diagram of a second level expansion of the carriage expansion system for a three-level mobile surgical cart of the present invention;
FIG. 3 is a schematic diagram of a three-level expansion of the carriage expansion system for a three-level mobile surgical cart according to the present invention;
fig. 4 is a schematic view of an adjustment mechanism of the present invention.
Description of reference numerals:
1-main car 2-adjusting mechanism 21-first transmission 211-servomotor
212-transmission 22-fixed sleeve 221-first lead screw 222-first telescopic sleeve
23-second transmission device 24-second telescopic sleeve 241-second screw rod 25-floating joint
26-support 27-sensor 3-primary expansion carriage 4-secondary expansion carriage
5-three-stage expansion carriage
Detailed Description
Referring to fig. 1-3, the carriage extension system for the mobile operation vehicle is composed of a main carriage 1, a first-stage extension carriage 3, a second-stage extension carriage 4, a third-stage extension carriage 5 and an adjusting mechanism 2, when medical treatment is performed in the field, the first-stage extension carriage 3, the second-stage extension carriage 4 and the third-stage extension carriage 5 are extended out of the main carriage 1 at one time through a telescopic mechanism (a scissor type telescopic mechanism is used in the embodiment, but not limited to the telescopic mechanism), a group of adjusting mechanisms 2 are arranged at the bottom of each extension carriage, and the adjusting mechanisms 2 are used for adjusting the levelness of the extension carriages.
Referring to fig. 4, in some embodiments, the adjustment mechanism 2 includes: first transmission 21, comprising: a servo motor 211, wherein a main shaft of the servo motor 211 is connected with a speed changing device 212, and the speed changing device 212 is connected with the first screw rod 221 through an output gear, so that the servo motor 211 can drive the first screw rod 221 to rotate; the expansion carriage is characterized by further comprising a fixed sleeve 22, the fixed sleeve 22 is fixed on a base of the expansion carriage, a first screw rod 221 is arranged above the fixed sleeve 22, a first telescopic sleeve 222 is arranged inside the fixed sleeve 22, threads matched with the first screw rod 221 are arranged at the upper end portion of the first telescopic sleeve 222, and the first screw rod 221 rotates to enable the first telescopic sleeve 222 to move up and down; two vertical first protrusions are symmetrically arranged inside the fixed sleeve 22, and first grooves matched with the two vertical first protrusions are symmetrically arranged on the first telescopic sleeve 222 and used for guiding the first telescopic sleeve 222.
A groove for mounting the second telescopic sleeve 24 is formed at the lower end of the first telescopic sleeve 222, a second transmission device 23 is arranged at the top end of the groove, the upper end of the second lead screw 241 is connected with an output shaft of the second transmission device 23 through a connector, and in some embodiments, the second transmission device 23 may be a servo motor; the second screw rod 241 is matched with the thread arranged at the upper end of the second telescopic sleeve 24, so that the second telescopic sleeve 24 is driven to move up and down; two vertical second protrusions are symmetrically arranged in the groove at the lower end of the first telescopic sleeve 222, and second grooves matched with the two vertical second protrusions are symmetrically arranged at two sides of the second telescopic sleeve 24 and used for guiding the second telescopic sleeve 24. Wherein the pitch of the first lead screw 221 is larger than that of the second lead screw 241.
The lower end of the second telescopic sleeve 24 is provided with a supporting part 26, the supporting part 26 is connected with the second telescopic sleeve 24 through a floating joint 25, an inner cavity for placing a sensor 27 is arranged on the inner side of the middle part of the supporting part 26, and the sensor 27 is used for detecting the distance between the bottom of the adjusting mechanism 2 and the ground.
The main compartment 1 is also provided with a controller which is connected with the first transmission device 21, the second transmission device 23 and the sensor 27, and the controller controls the movement of the first adjusting part and the second adjusting part according to the distance from the supporting part obtained by the sensor to the ground so as to adapt to complicated terrain conditions.
The levelling means 2 operates in such a way that a first unit distance L1 is set, which represents the distance the first telescopic sleeve 222 moves per revolution of the first transmission 21, a second unit distance L2, which represents the distance the second telescopic sleeve 24 moves per revolution of the second transmission 23; equally dividing a ground area S right below the sensor 7 into n multiplied by n unit surface elements Si, j, controlling the sensor 7 by the controller to acquire the distance di, j between each unit surface element Si, j and the sensor, and then according to a formula
To find the average distance D from the ground to the sensor 7; the lower round is performed to obtain the first rotation number W1 of the first transmission device 21, the pair
The second rotation number W2 of the second transmission device 23 is obtained by the upper rounding, then the controller controls the first transmission device 21 to rotate W1 circles to drive the first telescopic sleeve 222 to move, when the first telescopic sleeve 222 movesAfter the support skid is moved to the right position, the controller controls the second transmission device 23 to rotate, so that the second telescopic sleeve 24 is driven to move, and the support skid 26 is in contact with the ground.
In the process of unfolding the carriage, when the first-stage expanded carriage 3 is unfolded in place, the adjusting mechanism 2 below the first-stage expanded carriage works to enable the supporting part 26 to move, after the supporting part 26 is stably contacted with the ground, the second-stage expanded carriage 4 is unfolded, the process is repeated, and then the third-stage expanded carriage 5 is unfolded.
While this summary includes particular embodiments, it will be apparent to those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the claims and their equivalents. The embodiments described herein are to be considered in all respects only as illustrative and not restrictive. The description of features and aspects in each embodiment is believed to apply to similar features and aspects in other embodiments. Therefore, the scope of the invention should be defined not by the detailed description but by the claims, and all changes within the scope of the claims and equivalents thereof should be construed as being included in the technical solution of the present invention.
Claims (1)
1. A carriage extension system for a mobile operation vehicle comprises a main carriage and a multi-stage extension carriage, and is characterized by further comprising an adjusting mechanism, a sensor and a controller;
the adjusting mechanism is arranged at one end of each expansion compartment and can adjust the levelness of the expansion compartment according to different ground levelness;
the adjustment mechanism includes: a first adjusting part, a second adjusting part and a supporting part; the supporting part is used for contacting with the ground so as to support the expanded compartment; the first adjusting part is arranged at the bottom of the expanded carriage and used for roughly adjusting the position of the supporting part; the second adjusting part is arranged at the lower end of the first adjusting part and is used for finely adjusting the supporting part;
the first regulating portion includes: a first transmission, the first transmission comprising: the servo motor, the speed changing device connected with a main shaft of the servo motor and the first screw rod connected with the speed changing device; the expansion carriage comprises an expansion carriage base, a first screw rod and a second screw rod, and is characterized by further comprising a fixed sleeve fixed on the expansion carriage base, wherein the first screw rod is arranged above the fixed sleeve, a first telescopic sleeve is arranged inside the fixed sleeve, the upper end of the first telescopic sleeve is provided with a thread matched with the first screw rod, and the lower end of the first telescopic sleeve is provided with a groove for mounting the second telescopic sleeve;
two vertical first bulges are symmetrically arranged in the fixed sleeve, and first grooves matched with the two vertical first bulges are symmetrically arranged on the first telescopic sleeve and used for guiding the first telescopic sleeve;
the second regulating portion includes: the second transmission device is arranged at the top end of the first groove, the upper end of the second lead screw is connected with an output shaft of the second transmission device through a connector, and the second lead screw is matched with threads formed in the upper end part of the second telescopic sleeve; two vertical second bulges are symmetrically arranged in the groove at the lower end part of the first telescopic sleeve, and second grooves matched with the two vertical second bulges are symmetrically arranged at two sides of the second telescopic sleeve; wherein the pitch of the first lead screw is greater than that of the second lead screw;
the supporting part is connected with the bottom end of the second telescopic sleeve through a floating joint;
the sensors are arranged in the supporting parts and used for measuring the distance from each supporting part to the ground;
the controller controls the first adjusting part and the second adjusting part to move according to the distance from the supporting part to the ground, which is obtained by the sensor, so as to adapt to complicated terrain conditions;
the working mode of the adjusting mechanism is as follows: presetting a first unit distance L1, wherein the first unit distance L1 represents the distance for moving the first telescopic sleeve after each rotation of the first transmission device;
presetting a second unit distance L2, wherein the second unit distance L2 represents the distance that the second telescopic sleeve moves every rotation of the second transmission device;
equally dividing a ground area S right below the sensor into n x n unit bins Si,jThe controller controls the sensor to collect each unit bin Si,jDistance d to the sensori,j；
According to the distance di,jTo obtain the average distance D between the ground and the supporting part;
acquiring a first rotation number W1;
acquiring a second rotation number W2;
the controller controls the first transmission device to rotate the first rotation number W1 to drive the first telescopic sleeve to move, and when the first telescopic sleeve moves in place, the controller controls the second transmission device to rotate the second rotation number W2 to drive the second telescopic sleeve to move, so that the supporting part is in contact with the ground;
wherein the average distance D is equal to
(ii) a The first number of rotations W1 is equal to two
Performing lower rounding; the second number of rotations W2 is equal to two
And (6) performing upper rounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371619.5A CN112356757B (en) | 2020-11-30 | 2020-11-30 | Carriage extension system for mobile operation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371619.5A CN112356757B (en) | 2020-11-30 | 2020-11-30 | Carriage extension system for mobile operation vehicle |
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| Publication Number | Publication Date |
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| CN112356757A CN112356757A (en) | 2021-02-12 |
| CN112356757B true CN112356757B (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011371619.5A Active CN112356757B (en) | 2020-11-30 | 2020-11-30 | Carriage extension system for mobile operation vehicle |
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| CN (1) | CN112356757B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113085699B (en) * | 2021-05-19 | 2022-04-01 | 中国人民解放军总医院第三医学中心 | Carriage expanding type rehabilitation vehicle |
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| CN103277474A (en) * | 2013-06-04 | 2013-09-04 | 中联重科股份有限公司 | Screw transmission type telescoping mechanism and engineering machine |
| DE102012103698A1 (en) * | 2012-04-26 | 2013-10-31 | Bpw Bergische Achsen Kg | Operational mounted supporting device for commercial vehicle i.e. semi-trailer vehicle, has gearbox assembly whose components are designed as gear housing and countershafts whose ends are supported in side walls of gear housing |
| CN107140185A (en) * | 2017-05-22 | 2017-09-08 | 程伯儒 | A kind of intelligent multi-rotor unmanned aerial vehicle |
| CN107938848A (en) * | 2016-10-12 | 2018-04-20 | 郑静晨 | A kind of shelter electronic expanding unit and electronic expanded shelter |
| CN108340888A (en) * | 2018-02-12 | 2018-07-31 | 合肥工业大学 | A kind of the fire fighting truck supporting leg auto-folder and levelling device of embedded ground formula |
| CN209987905U (en) * | 2019-03-12 | 2020-01-24 | 唐山众兴专用汽车制造有限公司 | Load-bearing support structure of semitrailer |
-
2020
- 2020-11-30 CN CN202011371619.5A patent/CN112356757B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012103698A1 (en) * | 2012-04-26 | 2013-10-31 | Bpw Bergische Achsen Kg | Operational mounted supporting device for commercial vehicle i.e. semi-trailer vehicle, has gearbox assembly whose components are designed as gear housing and countershafts whose ends are supported in side walls of gear housing |
| CN103277474A (en) * | 2013-06-04 | 2013-09-04 | 中联重科股份有限公司 | Screw transmission type telescoping mechanism and engineering machine |
| CN107938848A (en) * | 2016-10-12 | 2018-04-20 | 郑静晨 | A kind of shelter electronic expanding unit and electronic expanded shelter |
| CN107140185A (en) * | 2017-05-22 | 2017-09-08 | 程伯儒 | A kind of intelligent multi-rotor unmanned aerial vehicle |
| CN108340888A (en) * | 2018-02-12 | 2018-07-31 | 合肥工业大学 | A kind of the fire fighting truck supporting leg auto-folder and levelling device of embedded ground formula |
| CN209987905U (en) * | 2019-03-12 | 2020-01-24 | 唐山众兴专用汽车制造有限公司 | Load-bearing support structure of semitrailer |
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| CN112356757A (en) | 2021-02-12 |
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