CN115300295B

CN115300295B - Pitching conversion treatment bed

Info

Publication number: CN115300295B
Application number: CN202211235629.5A
Authority: CN
Inventors: 窦鹤鸿
Original assignee: Beijing Bi'an Hongqiao Medical Technology Co ltd
Current assignee: Beijing Bi'an Hongqiao Medical Technology Co ltd
Priority date: 2022-10-10
Filing date: 2022-10-10
Publication date: 2023-01-31
Anticipated expiration: 2042-10-10
Also published as: CN115300295A

Abstract

The invention relates to the technical field of medical instruments, in particular to a pitching conversion treatment couch. The pitching conversion treatment bed comprises a robot, a bed body, a bed plate and a patient supporting part. The robot, the bed plate and the patient bearing part are arranged on the bed body; the robot comprises a machine body, a power part, a connection variable part and a telescopic device; the connection variable part is arranged between the machine body and the power part, and changes the connection distance and the connection angle of the machine body and the power part when the robot moves; the telescopic device is arranged on the machine body and can control the posture and the position of the bed plate and/or the patient supporting part; the lifting, moving, rotating and placing of the bed plate and/or the patient supporting part after the butt joint can be controlled by the movement of the robot on the bed body and the control of the telescopic device, and the adjustment and control of the pitching posture conversion of the patient in the patient supporting part can be realized. Compared with the prior art, the method for converting the pitching posture of the patient and the treatment method of the bed plate through manpower has the advantages of convenience, rapidness and no damage to the patient.

Description

Pitching conversion treatment bed

Technical Field

The invention relates to the technical field of medical instruments, in particular to a pitching conversion treatment couch.

Background

The prostrate treatment is a treatment mode required by many diseases, particularly the emergency treatment of respiratory diseases, which is a commonly used treatment mode for global medical care personnel to treat critically ill respiratory distress patients, and has obvious treatment effect. For example, in the case of new diagnosis and treatment plan for coronavirus pneumonia (trial seventh edition) published by the office of health and health commission in China, when the treatment of heavy and critically ill patients, especially patients with severe ARDS (acute respiratory distress syndrome), the prone position ventilation should be performed for more than 12 hours every day under the condition of sufficient human resources. However, the patient is turned into the prone posture from lying on the back, the prior art does not have formed intelligent special equipment, needs manual treatment, becomes heavy physical labor of medical staff of various countries, is also a professional course of nursing staff, and has a lot of people, money and material resources for the relevant aspects.

However, after the patient lies on the stomach, the patient lies on various pillows or bed plates of a common sickbed, the opening and closing of the legs and the opening of the arms are greatly limited, the neck needs to be twisted at a large angle to expose the mouth and the nose, a doctor needs to perform treatment again to meet the interventional treatment conditions of equipment such as a breathing machine and a blood pump, and the labor, material and time costs are very heavy.

Disclosure of Invention

The invention aims to provide a pitching conversion treatment bed which can solve the problems that time and labor are wasted and labor are greatly input when a patient is turned into a pitching posture in the prior art.

The invention provides a pitching conversion treatment bed, which comprises a robot, a bed body, a bed plate and a patient supporting part, wherein the bed body is arranged on the bed body;

the robot, the bed plate and the patient supporting part are arranged on the bed body;

the robot comprises a machine body, a power part, a connection variable part and a telescopic device;

the power part is arranged on the outer side of the machine body, and the power part can enable the robot to move on the bed body and stop at any position so as to drive the bed plate and/or the patient bearing part to move;

the connection variable part is arranged between the machine body and the power part, is used for connecting the machine body and the power part, and can change the connection distance and the connection angle between the machine body and the power part when the robot moves;

the telescoping device sets up on the organism, can follow the organism and stretch out or retract, and can realize through flexible with the connection or the separation of bed board and/or patient supporting part to control bed board and/or patient supporting part, lift on the bed body, rotation, move and place the transform of gesture, reach patient and change into prostrate and move the bed board and move the effect of convenient treatment by lying on the back.

Preferably, the machine body comprises a plurality of plate-shaped structural members, the end parts of adjacent plate-shaped structural members are abutted to form a frame-shaped structure, and the machine body is integrally formed into a structural member or is formed into a plurality of main structures through a casting or stamping process and then is processed into a complete structural member through a welding technology.

Preferably, the power part comprises a power plate, a power motor, a power wheel and a driven wheel;

the power motor, the power wheel and the driven wheel are arranged on the power plate, the power wheel rotates under the driving of the power motor, the driven wheel rotates or stops along with the power wheel, and the power plate is hinged to the connection variable part.

Preferably, the engagement variable part comprises an outer sleeve, an inner sleeve and a spring;

the inner sleeve is inserted between the outer sleeve and the spring, and the inner sleeve and the outer sleeve can move relatively under the action of elasticity and/or external force;

one of them is articulated with the power board for inner skleeve and outer sleeve, can change the linking angle of power board and organism through rotating, and another is connected with the organism, the axis coincidence of inner skleeve, outer sleeve and spring, and be provided with spring positioning pole on the organism of axis coincidence department, can avoid the spring to produce the displacement at flexible in-process.

Preferably, the telescopic device comprises a telescopic structure and a rotating device;

the telescopic structure comprises a telescopic plate, a telescopic driving device and a sliding assembly;

the telescopic plate is arranged on the machine body through the sliding assembly, and the telescopic driving device drives the telescopic plate to move on the machine body in a reciprocating mode;

the telescopic driving device comprises a screw rod and nut meshing type structure, a hydraulic telescopic device, a pneumatic telescopic device, an electric telescopic device, a gear chain device, a folding cross device and the like, and can be meshed with each other, driven, pressure-regulated or folded and telescopic, so that the telescopic plate can move on the machine body; obviously, the above expansion pieces all have two connection ends or two or more components, one end with two connection ends is connected with the machine body, the other end is connected with the expansion plate, one of the two or more components is installed on the machine body, the other one needs to be installed on the expansion plate for matching use, and more than two structural components or machine bodies or expansion plates are installed with a plurality of parts or used as a relay component of installation components on the machine body and the expansion plate, which are not described too much;

the sliding assembly can enable the telescopic plate to stably move on the machine body at a preset position along a preset fixing direction, the sliding assembly comprises more than one combined structural member in sliding connection with a linear bearing or a copper sleeve, a sliding rail, a sliding block and the like, and the telescopic plate can be controlled to stably move on the machine body under the driving of the telescopic member through the combined use of a plurality of sliding assemblies respectively arranged on the telescopic plate and the machine body;

the rotating device is arranged on the telescopic plate and comprises a rotating motor, a rotating shaft and a linkage assembly;

one end of the rotating shaft is connected with the rotating motor, the other end of the rotating shaft is provided with the linkage assembly, the rotating shaft extends out of the machine body and is connected with the linkage assembly on the bed plate or the patient bearing part through the movement of the telescopic plate, and the rotating motor drives the rotating shaft to rotate so as to drive the bed plate, the patient bearing part or a combination of the bed plate and the patient bearing part, which are connected with the rotating shaft, to rotate;

the linkage assembly comprises a primary combined structural member and a secondary combined structural member;

the mother-son combined structural part and the mother-son combined structural part comprise a mother part and a plurality of son parts, the mother part is arranged on a rotating shaft, the son parts are respectively arranged on the bed plate and the patient bearing part and can move on the machine body through the expansion plate, the mother part of the rotating shaft is abutted or separated from the bed plate or the son parts on the patient bearing part, and the rotating angle and the direction of the bed plate and/or the patient bearing part can be controlled under the driving of the rotating shaft.

Preferably, the rotating shaft is connected with the bed plate, the patient bearing part or a combination of the bed plate and the patient bearing part through a linkage assembly;

the rotating shaft is a hollow shaft;

the linkage assembly comprises a locking driving device, a primary combined structural member, a secondary combined structural member and a primary combined structural member and an axial positioning assembly;

the locking driving device comprises an annular rack, a locking motor, a gear and a telescopic rod;

the locking motor is arranged on the telescopic plate and has a locking function, a gear is arranged on a motor shaft of the locking motor, external teeth of the gear on the motor shaft are meshed with the annular rack, and the annular rack can reciprocate through forward or reverse rotation of the locking motor;

the telescopic rod penetrates through the hollow shaft, one end of the telescopic rod is connected with the annular rack, the other end of the telescopic rod is connected with the axial positioning assembly, and the axial positioning assembly can be driven to stretch and retract by the driving of the annular rack;

the child and the mother of the child and the mother combined structural member are connected in a locking, meshing or meshing mode, the mother is arranged on the rotating shaft, the plurality of child members are respectively arranged on the bed plate and the patient bearing part, and the child members are connected with the mother member in a locking, meshing or meshing mode.

The axial positioning assembly comprises a positioning assembly and a rotating device;

the positioning assembly comprises a first connecting rod and a second connecting rod which are both provided with two connecting ends, the first connecting rod and the second connecting rod are hinged with each other through one respective connecting end, the other connecting end of the first connecting rod is hinged with the rotating shaft, and the other connecting end of the second connecting rod is hinged with the rotating device;

rotating device is including rotating piece and articulated ear, it includes the bearing to rotate the connection with the telescopic link, articulated ear is articulated with locating component, and can realize being close to or keeping away from the motion of relative child or parent through the flexible of telescopic link, and control the folding arch of the mutual hinged end of first connecting rod and second connecting rod or straight expansion, a plurality of first connecting rods and second connecting rod encircle the telescopic link setting, when first connecting rod and second connecting rod are straight to be expanded, the circular shape radial value that the articulated end that forms each other formed is less than the diameter of linkage assembly, make child and parent connect or break away from not influenced, the circular shape radial value that the articulated end formed each other in the protruding time is greater than the diameter of linkage assembly, can the card is established on child and parent, make child and parent can not break away from, and limited the position of bed board on the bed body.

Preferably, the bed body comprises two bed heads, a bed frame, a placing frame and a limiting structure;

the two bed heads are symmetrically arranged;

the bed frame and the placing rack are arranged between the two bed heads in a layered manner;

the bed board and/or the patient supporting part are/is arranged on the bed frame and/or the placing rack;

the bedheads comprise inner layer bedhead frames and outer layer bedhead frames, the inner layer bedhead frames are arranged on the inner sides of the outer layer bedhead frames, and the inner sides are connected with the bedhead frames;

the limiting structures are correspondingly arranged on the inner-layer headstock frame and the outer-layer headstock frame, and one robot is arranged and operated in each limiting structure;

the bed board and/or the patient bearing part can be placed on the bed frame or the placing rack through the movement of the robot in the limiting structure, and the position change between the bed frame and the placing rack can be realized;

preferably, the first and second liquid crystal materials are,

the limiting structure comprises a track frame and a track;

the outer-layer bedside frame comprises a first outer-ring support frame and a first inner-ring support frame which are mutually sleeved, and the inner-layer bedside frame comprises a second outer-ring support frame and a second inner-ring support frame which are mutually sleeved;

the first outer ring support frame and the second outer ring support frame are symmetrically arranged, and the first inner ring support frame and the second inner ring support frame are symmetrically arranged;

the track frame comprises an inner ring track frame and an outer ring track frame;

the first outer ring support frame and the second outer ring support frame are both provided with outer ring track frames, and the two outer ring track frames form outer track rings;

the first inner ring support frame and the second inner ring support frame are both provided with inner ring track frames, and the two inner ring track frames form inner track rings;

the inner orbit ring and the outer orbit ring form a relatively closed orbit frame;

the cross section of the rail frame is of an L-shaped structure and comprises two end parts and two inner planes, the two inner planes are respectively a first inner plane and a second inner plane, and the two end parts are respectively a first end part and a second end part;

the first inner plane is connected with the second plane, the end part of the first inner plane is a first end part, the end part of the second plane is a second end part, and the track is arranged on the first inner plane;

the first end parts of the two L-shaped outer ring track frames or the two L-shaped inner ring track frames are arranged oppositely, and the second inner planes are arranged oppositely;

in the same lathe head frame, the second ends of the two outer ring track frames and the second ends of the two inner ring track frames are oppositely arranged, and the first inner planes are oppositely arranged;

the two bed heads are respectively provided with a robot in the track frames, and the track frames on the two bed heads are symmetrical to the robot;

the power parts on two sides of the robot respectively run on the inner track ring and the outer track ring, and a plurality of power wheels and driven wheels on two sides of the robot are respectively connected with tracks on first inner planes on the inner ring track frame and the outer ring track frame;

the positioning wheels are arranged on two sides of the robot, and the plurality of positioning wheels are respectively abutted with the second inner planes on the inner ring track frame and the outer ring track frame to operate and are used for controlling the lateral position of the robot;

the power wheels running on the two bedside outer ring track frames have the same speed, and the power wheels running on the two bedside inner ring track frames have the same speed;

the power wheels running on the two bed head inner ring track frames and the outer ring track frame can run at constant speed or differential speed.

Preferably, the patient supporting part comprises a human body ecological treatment cover, a mounting rack and a fixing rack;

the human body ecological treatment cover is a structural part arranged according to the human body ecological principle, can be formed by processes of a die, casting, stamping and the like, comprises an arm ecological cover, a trunk ecological cover, a leg ecological cover and a head ecological cover, and is arranged on the mounting frame through a connecting structure according to the ecological distribution state of a human body, so that each constituent part of the human body can be separately restrained according to the human body ecological structure, and the possibility of injury caused by mutual extrusion and collision among all parts of the body of a patient in the process of changing the pitching posture is avoided;

the mounting rack is connected with the fixing rack;

the mount is the rectangle structure, the mount includes fixing device, fixing device can be as a whole patient support portion and bed board combination, perhaps fixes patient support portion on bed frame or rack, fixing device includes multiple structure, if: bolt formula, spiral shell formula, electric suction formula, joint and screwing up formula isotructure device, this case has actually adopted bolt formula structure, promptly: a bolt is arranged in the U-shaped bed plate frame, an insertion hole is formed in the bed plate frame, an insertion block is arranged on the fixing frame corresponding to the insertion hole, and after the insertion block is inserted into the insertion hole, the bolt is inserted into the insertion block, so that the bed plate and the patient supporting part are integrally connected.

Preferably, the arm ecological cover is of a groove-shaped structure and comprises a large arm and a small arm;

the large arm part is hinged with the shoulder part of the body ecological cover, and the small arm part is connected with the abdomen part of the body ecological cover in a sliding way;

the body part ecological cover is of a U-shaped structure integrally and comprises an inner side, an outer side, a connecting structure, an upper port, a lower port, a neck bracket, a double-arm connecting port, a double-arm hinging device, a double-arm sliding groove and a concave arc-shaped chest and abdomen ecological structure;

the inner side of the body part ecological cover is the inner part of a groove of a U-shaped structure, and the outer side of the body part ecological cover is the outer part of the U-shaped structure;

the connecting structure is arranged on the outer side of the ecological cover of the trunk part and is used for connecting the mounting frame;

the upper port is of a semicircular structure and corresponds to the position of the neck of a human body and is used for extending the neck of the human body, the lower port is an open port and corresponds to the positions of the lower abdomen and the crotch of the human body and is used for extending the lower abdomen and the crotch of the human body, and a concave arc is arranged in the middle of the lower port;

the neck bracket is of an arc-shaped structure and symmetrically arranged on the semicircular structure of the neck, and the double-arm connecting ports are used for extending double arms of a human body into the arm ecological cover;

the double-arm hinge device is arranged on the outer side of the shoulder part of the body part ecological cover and is used for hinging the arm ecological cover, and the double-arm sliding groove is arranged on the outer side of the abdomen part of the body part ecological cover and is used for slidably connecting the arm ecological cover;

the concave arc-shaped breast ecological structure comprises a left bowl-shaped structure and a right bowl-shaped structure, can support the breast of a male patient and wrap the breast of a female patient, and avoids compression;

the abdomen concave arc-shaped structure is arranged at the position of the trunk ecological cover corresponding to the abdomen of a human body and is used for supporting the abdomen of a patient and relieving prone pressure;

preferably, the leg ecological cover comprises a left leg ecological cover, a right leg ecological cover and a leg mounting rack;

the left leg ecological cover and the right leg ecological cover comprise a conical U-shaped groove structure and a connecting structure;

the taper U-shaped groove structure comprises two end parts, namely an upper leg part open end and a lower leg part open end, the length, width and height values of the upper leg part open end are larger than those of the lower leg part open end, the ecological structure that thighs of human legs are larger than lower legs is met, and the upper leg part open end and the lower leg part open end are respectively used for extending out thighs and lower legs of patients;

the connecting structure comprises a left leg connecting structure and a right leg connecting structure, and the left leg connecting structure and the right leg connecting structure are both used for being connected with a leg mounting rack.

Preferably, the head ecological cover comprises a head face ecological cover, a lower jaw ecological cover, a supporting structure and a head mounting frame;

the head and face ecological cover is of a concave arc structure, is provided with a transparent structure corresponding to eyes, mouths and noses of a human body, and is provided with a connecting structure on the outer side for connecting with the supporting structure;

the lower jaw ecological cover comprises a lower jaw supporting part, a connection control sheet and a rotating part;

the lower jaw supporting part is of a concave arc structure and comprises a lower end bottom plate and an upper end opening;

the lower end bottom plate is of an arc-shaped structure, and the front side, the rear side, the left end and the right end of the lower end bottom plate are respectively provided with a side plate which extends upwards along the lower end plate and outwards slantways;

the lower end bottom plate, the front side plate, the rear side plate, the left side plate and the right side plate form an arc-shaped upper end opening;

the length values of the side plates at the front side and the rear side are greater than the length values of the side plates at the left end and the right end;

the connecting control piece comprises arc-shaped pieces, two ends of the lower jaw bearing part are respectively connected with one arc-shaped piece, the arc-shaped pieces incline towards the direction far away from the lower jaw bearing part, and the inclination direction of the arc-shaped pieces is consistent with the inclination direction of the lower jaw and the jaw of the human body;

one end of the arc-shaped piece is connected with the lower jaw bearing part, and the other end of the arc-shaped piece is connected with the supporting structure through the rotating piece.

The rotation piece is installed on bearing structure for with even the control chip is connected, and can drive the ecological cover of lower jaw portion through even the control chip and rotate under the external force drive, external force includes manpower and electric power.

Preferably, the bed board comprises a bed board frame, a fixing device, a cross beam and a bearing plate;

the bed plate frame is formed by connecting a plurality of U-shaped groove structural members which are transversely and longitudinally arranged and is of a rectangular structure;

the cross beam is arranged in a rectangular space of the bed plate frame, the end part of the cross beam is connected with a transverse or longitudinal U-shaped groove structure, and the bearing plate is arranged on the bed plate frame and the upper part of the cross beam;

the fixing device is arranged on the bed plate frame and is used for fixedly connecting the bed body and the patient supporting part.

Preferably, the system also comprises a control system;

the control system comprises a display screen, a PLC control module, a motor driver and a sensor which are arranged on the bed body;

the display screen, the motor driver and the sensor are all electrically connected with the PLC control module;

the display screen can input control instructions through the control keys to control the operation of the treatment couch and display the current state of the treatment couch or each system;

the motor driver comprises a power motor driver, a telescopic driving motor driver, a rotating motor driver and a locking motor driver;

the sensor comprises a pulse sensor, and the pulse sensor can transmit the running and parking positions, the telescopic linkage and the rotation angle states of the robot and the clamping state of the linkage assembly to the PLC control module through electric pulse signals.

Preferably, the PLC control module includes a main control module and sub-control modules, and the main control module is configured to send an instruction for operation and stop to each sub-control module, and is capable of receiving an operation status signal of each sub-control module, and timely starting the operation of each sub-control module in cooperation with each other and deciding to stop the operation of the sub-control modules;

the sub-control module comprises a power motor control module, a telescopic motor control module, a rotary motor control module, a locking motor control module and an oral cavity control module;

the power motor control module comprises an A set of power control module and a B set of power control module, wherein the A set of power control module and the B set of power control module are respectively used for carrying out grouping control on four power motors on two robots, the two motors of the power part running along the outer ring track frame are a first set of motors, the two motors of the power part running along the inner ring track frame are a second set of motors, the A set of power control module is used for controlling the first set of motors and inputting the same control signal to the two motors of the first set of motors so as to synchronously run or stop the motors, the B set of power control module is used for controlling the second set of motors and inputting the same control signal to the two motors of the second set of motors so as to synchronously run or stop the motors, and constant-speed or differential-speed running control can be realized on the two sets of other motors;

the telescopic motor control module is used for controlling a telescopic motor, the rotary motor control module is used for controlling a rotary motor, the locking motor control module is used for controlling a locking motor, the oral cavity control module is used for controlling the rotation or stop of a lower jaw motor, and the opening and closing of the oral cavity of the patient are controlled through the rotation or stop of the lower jaw motor.

Has the beneficial effects that:

through the removal of robot along setting for the track to and robot self structure, can change the position and the every single move state of bed board or patient supporting part on the bed body after the connection according to the track of setting for, and then realized lieing in the adjustment of ecological cover interior patient every single move gesture. Compared with the prior art, the pitching posture of the patient is changed through manpower, and the device has the advantages of convenience, rapidness, time and labor conservation and small influence on the patient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a pitch conversion treatment couch according to an embodiment of the present invention;

FIG. 2a is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 2b is a schematic structural diagram of another structural form of a robot according to an embodiment of the present invention

FIG. 3 is a top view of a robot according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a power section provided in an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a power section provided in accordance with an embodiment of the present invention;

FIG. 6 is a schematic structural view of a rotating shaft and a telescopic shaft according to an embodiment of the present invention;

FIG. 7 is a schematic view of a patient support according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a head-face ecological cover according to an embodiment of the present invention;

FIG. 9 is a schematic view of another perspective structure of the ecological mask for head and face according to the embodiment of the present invention;

fig. 10 to 18 are schematic structural diagrams of different states of the treatment couch switched between the upward and downward states.

Description of the reference numerals:

100: a robot; 200: a bed body; 300: a bed board; 400: a patient support;

110: a body;

120: a power section;

121: a power plate; 122: a power motor; 123: a drive shaft; 124: a power wheel; 125: positioning wheels; 126: a driven wheel;

130: a variable linking part;

131: an outer sleeve; 132: an inner sleeve; 133: a spring; 134: spring positioning rod

140: a telescopic device;

141: a rotating electric machine; 142: a rotating shaft; 143: a telescopic driving motor; 144: guiding an optical axis; 145: a retractable plate; 146: an annular rack; 147: locking the motor; 148: gear, 149: a telescopic rod;

210: a bed head; 220: a bed frame;

211: an inner bed head frame; 212: an outer bed head frame; 213: a track frame; 214: a track; 215: a power distribution cabinet space; 216: an operator station space;

2121: a first outer ring support; 2122: a first inner ring support; 2111: a second outer ring support; 2112: a second inner ring support;

2131: an inner ring track frame; 2132: an outer ring track frame;

410: an ecological cover for the arm;

420: a trunk ecological cover; 421: a torso mounting bracket;

430: a leg ecological cover; 431: a leg mounting bracket;

440: a head and face ecological cover;

450: a mandibular ecological cover; 451: a lower jaw bearing portion; 452: connecting a control sheet; 453: a rotating member;

460: a fixed mount; 470: a connecting structure; 480: a support structure; 490: a head mount.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 9, the present embodiment provides a pitch conversion treatment couch including a robot 100, a couch body 200, a bed plate 300, and a patient support 400.

The robot 100, the bed plate 300, and the patient support 400 are disposed on the bed 200.

The robot 100 includes a body 110, a power unit 120, an engagement variable unit 130, and a telescopic device 140.

The power part 120 is disposed outside the machine body 110, and the power part 120 can drive the robot 100 to move on the bed 200 and stop at any position, so as to drive the bed board 300 and/or the patient support 400 to move.

The variable engaging portion 130 is disposed between the body 110 and the power portion 120, and is used for engaging the body 110 with the power portion 120 and changing an engaging distance and an engaging angle between the body 110 and the power portion 120 when the robot 100 moves.

The telescopic device 140 is arranged on the machine body 110, can extend out of or retract back from the machine body 110, can be connected with the bed plate 300 and/or the patient support part 400 when extending out, and can be separated from the bed plate 300 and/or the patient support part 400 when retracting back; and can control the lifting, rotating, moving and changing of the placing state of the bed plate 300, the patient support part 400 and the combination body of the bed plate 300 and the patient support part 400 on the bed body 200.

It should be noted that: the bed plate 300 and the patient support part 400 at least comprise the following three using states, the bed plate 300 and the patient support part 400 are used independently, and the bed plate 300 and the patient support part 400 are used in a combined mode.

When the bed plate 300 and the patient support 400 are used separately, they are connected to the bed plate 300 or the patient support 400 by the robot 100, respectively, and moved to appropriate positions.

When the two are used in combination, the robot 100 can move one of the top board 300 and the patient support 400 to the other top, and make the two contact with each other, and then connect the top board 300 and the patient support 400 by the fixing device, so that the two form a combined body. Of course, the robot can move the bed plate 300 or the patient support 400 to separate the combined body by releasing the connection of the fixing means, and in particular, the moving process can be referred to the using method of the treatment couch.

Specifically, in the present embodiment, the robot 100 is provided on a single set track and can run along the track.

The telescopic device 140 is located on the machine body 110, and the telescopic device 140 can be combined with the bed plate 300 or the patient support 400 and can drive the bed plate 300 or the patient support 400 to rotate. During the use of the treatment couch, the robot 100 moves to a position corresponding to the couch plate 300 or the patient support 400, and is docked with the couch plate 300 or the patient support 400 to be connected by moving the telescopic device 140. After the docking is completed, the telescopic device 140 drives the bed board 300 or the patient support 400 to rotate, at this time, the angle of the bed board 300 or the patient support 400 on the bed body 200 is changed, and meanwhile, the robot 100 can also change the position of the bed board 300 or the patient support 400 on the bed body 200 by moving. That is to say, the robot 100 moves along the set track and the structure of the robot 100 itself can change the position and the pitching state of the connected bed board 300 or the patient support 400 on the bed body according to the set track, thereby realizing the adjustment of the pitching posture of the patient in the ecological cover. Compared with the prior art, the pitching posture of the patient is changed through manpower, and the device has the advantages of convenience, rapidness, time and labor conservation and small influence on the patient.

In order to further explain the above-mentioned tilt-conversion treatment couch, in the present embodiment, detailed explanations of each component of the tilt-conversion treatment couch are provided, specifically, as follows:

robot 100

Referring to fig. 2a and 2b, the robot 100 includes a body 110, a power unit 120, a variable engagement unit 130, and a telescopic device 140, and the following is a detailed structure of each component of the robot 100.

Body 110

The body 110 includes a plurality of plate-shaped structural members, and the end portions of adjacent plate-shaped structural members are abutted to form a frame-shaped structure.

It should be noted that: the structure of the body 110 may be formed by casting, stamping, etc. to form several main parts integrally or in several times, and then obtained by welding.

For example, the body 110 is composed of four guard plates, which are a front guard plate and a rear guard plate disposed oppositely, and a left guard plate and a right guard plate disposed oppositely. The front guard plate, the right guard plate, the rear guard plate and the left guard plate are sequentially connected to form a frame type structure.

It should be noted that: in this embodiment, the body 110 has a frame structure formed by a guard plate, and the purpose of the frame structure is to form a space for installing the structure such as the expansion device 140 in the guard plate, and to provide advantages of simple structure and easy installation. Of course, the structure of the machine body 110 may be modified as needed, as long as it provides a space or a position for installing the power unit 120 and the telescopic device 140.

Power section 120

Referring to fig. 2a, the power part 120 includes a power plate 121, a power motor 122, a transmission shaft 123, a power wheel 124, a driven wheel 126, a positioning wheel 125, and a mounting lug.

The power plate 121 includes an inner mounting surface, an outer mounting surface and a motor mounting groove, the inner mounting surface is a surface facing the machine body 110, the outer mounting surface is a surface facing away from the machine body 110, and the motor mounting groove is disposed on the power plate 121.

The power motor 122 is arranged in the motor mounting groove, and a power shaft of the power motor 122 is connected with the transmission shaft 123.

The driven pulley 126 is provided on the power plate 121 via a driven shaft.

And the transmission shaft 123 and the driven shaft are arranged on the outer mounting surface of the power plate 121 and are rotatably connected with the power plate 121 through bearing seats.

The transmission shaft 123 is arranged at the upper end of the power plate 121, two ends of the transmission shaft 123 are respectively provided with a power wheel 124, two sides of the lower end of the power plate 121 are respectively provided with a driven shaft, each driven shaft is provided with a driven wheel 126, and the driven shafts are installed on the power plate 121 through bearing seats. Two power wheels 124 and two driven wheels 126 are evenly distributed on the power plate 121.

The robot 100 includes two power plates 121, and the two power plates 121 are respectively disposed on two opposite mounting surfaces of the body 110 through the variable connecting portions 130.

The connection mode of the power plate 121 and the engagement variable part 130 is as follows: the mounting lug plate is arranged on the mounting surface in the power plate 121 and is hinged with the connection variable part 130 through a rotating shaft.

In this embodiment, the power wheel 124 and the driven wheel 126 are both gears, and the power shaft of the motor is connected with the transmission shaft 123 through a matched worm gear, and the worm gear is preferably used as a transmission relay. But other transmission relays are not excluded. For example, the matched relay parts such as a 90-degree bevel gear, a speed reducer, a reduction box, a reduction gear set and the like are connected.

The positioning wheels 125 are disposed at corners of the power plate 121, and specifically, one positioning wheel 125 is disposed at each of the four corners of the power plate 121 through a bearing seat and a shaft rod.

The specific movement mode of the robot 100 is: the power motor 122 drives the power wheel 124 to rotate on the rack-shaped track, the driven wheel 126 follows up, and the positioning wheel 125 is abutted to the second inner plane of the inner and outer ring track frames to operate after the robot 100 enters the track frame to operate, and it is pointed out that: the surface of the positioning wheel 125 is made of elastic material or the surface of the positioning wheel that runs is made of elastic surface, so that the positioning wheel can ensure stable running under the action of obtaining a certain damping, thereby positioning the power part 120 and preventing the power part 120 from moving or falling off in the rail frame.

It should be noted that: power plates 121 are disposed on two sides of the machine body 110 (it can be understood that a power motor 122, a worm and gear assembly, a power wheel 124, a driven wheel 126 and a positioning wheel 125 are symmetrically disposed on both power plates 121), and of course, according to actual requirements, the power plate 121 may be disposed on only one side of the power portion 120. That is, according to the track condition, the number, position and type of the power plates 121 can be selectively arranged, when only one track is arranged, one power plate 121 is selectively arranged on the power part 120, the other side of the machine body 110 can keep the balance of the machine body by arranging other structures, and when two oppositely arranged tracks are arranged, two power plates 121 are selectively arranged on the power part 120.

It should be noted that: the power part 120 and the rack-and-track structure described later are provided according to the actual purpose that the robot needs to connect, rotate, move, place the bed plate and/or the patient support part, and it can be confirmed that the device capable of realizing the movement of the robot along the set track also has structural forms such as a chain and gear meshing conduction mode, a circular arc slide rail matching with a plurality of slide blocks and then matching with a driving device, and the like, and a certain new structure or device designed to achieve the actual purpose of the present invention is unknown within the protection of the idea of the present invention.

Variable connecting part 130

Referring to fig. 5, the variable engagement portion 130 can change a connection distance and a connection angle between the body 110 and the power portion 120. To facilitate movement of the robot 100. Specifically, when the robot 100 moves along the set track, it may involve the situation of moving along the arc track, and there is a numerical variable in the moving distance of the gears (the power wheel and the driven wheel) on the inner and outer ring rack tracks, that is: the distance of the outer track is lengthened, and the distance and the angle between the machine body 110 and the power part 120 are changed through the variable connecting part 130, so that the requirement of the numerical variable difference value of the inner track and the outer track can be met.

Specifically, the engagement variable portion 130 includes an outer sleeve 131, an inner sleeve 132 and a spring 133, the inner sleeve 132 is inserted between the outer sleeve 131 and the spring 133, and the inner sleeve 132 and the outer sleeve 131 can move relatively under the action of elastic force and/or external force.

The outer sleeve 131 is arranged on the machine body 110, the inner diameter of the outer sleeve 131 is larger than the outer diameter of the inner sleeve 132, the inner sleeve 132 can be inserted into the outer sleeve 131, the inner sleeve 132 and the outer sleeve 131 are connected in a sliding mode, the inner sleeve and the outer sleeve can realize relative insertion or extraction movement under the action of elastic force and/or external force, a threshold value is preset in the extraction movement, the threshold value is larger than a variable value generated between an inner track ring and an outer track ring (the structure is referred to below) when the robot runs on the arc-shaped track, and the inner sleeve and the outer sleeve can be prevented from being separated from each other and the running stability of the robot can be guaranteed.

The variable connecting portion 130 further includes a spring positioning rod 134, the spring positioning rod 134 is disposed in the outer sleeve 131, the spring 133 is sleeved on the spring positioning rod 134, and the axes of the spring positioning rod 134, the outer sleeve 131 and the spring 133 are coincident. The spring positioning rod 134 is used for positioning the spring to prevent the spring 133 from being displaced during the expansion and contraction process. The outer side of the inner sleeve 132 is provided with a lug plate which is hinged with the mounting lug plate on the power part 120 through a rotating shaft.

The four corners of the power plate 121 are respectively provided with a variable connecting portion 130, when the robot 100 moves along a set track, the distance and the angle between the body 110 and the power portion 120 can be changed by the extension and contraction between the outer sleeve 131 and the inner sleeve 132 and the rotation of the inner sleeve 132 relative to the power plate 121, and the adjustment of the angle is controlled by the elasticity of the spring 133 and the variable of the inner and outer track rings of the arc track, namely: when the robot drives into the arc track, the inner track ring and the outer track ring generate length and angle variables, and the spring bounces or is compressed, the mounting lug plate of the power plate 121 and the lug plate of the variable connection part 130 rotate through the rotating shaft, so that the connection angle between the power part 120 and the machine body 110 is changed, and the change of the angle meets the variable requirement of the length value.

It should be noted that: the variable linking part is designed for meeting the requirements that when the robot runs in the arc-shaped orbit ring, due to the difference between the lengths of the inner orbit ring and the outer orbit ring, the designed numerical value of the robot can be changed when the robot turns, and the robot needs to keep stable running, and various structures can meet the requirements of the invention, such as: known hydraulic devices, pneumatic devices, etc., including some new structure or device that may appear in the future to meet the objectives of the present invention, are within the scope of the invention for protection.

Expansion device 140

Referring to fig. 3, the telescopic device 140 includes a telescopic structure, a rotating device, and a linkage assembly.

The telescopic structure comprises a telescopic plate 145, a telescopic driving device and a sliding assembly, wherein the telescopic plate 145 is arranged on the machine body 110 through the sliding assembly, and the telescopic driving device drives the telescopic plate 145 to move back and forth relative to the machine body 110.

The telescopic driving means includes a telescopic driving motor 143, a telescopic lead screw, and a lead screw nut. The lead screw nut is provided on the expansion plate 145. The telescopic driving motor 143 is fixed on the right guard plate, the telescopic lead screw is the driving shaft of the telescopic driving motor 143, and the telescopic lead screw is in threaded connection with the lead screw nut. The end part of the telescopic lead screw penetrates through the lead screw nut and then extends to the front guard plate. The telescopic screw rod is driven to rotate in the forward and reverse directions by the telescopic driving motor 143, so that the screw rod nut moves along the axial direction of the telescopic screw rod, and the telescopic plate 145 is driven to reciprocate along the guide optical axis 144 of the sliding assembly by the screw rod nut.

The sliding assembly includes a guiding optical axis 144, the guiding optical axis 144 is fixed on the body 110, and the expansion plate 145 is slidably connected with the guiding optical axis 144.

Specifically, the sliding assembly includes four guiding optical axes 144, and the four guiding optical axes 144 are uniformly distributed in the frame space of the machine body 110. And both ends of the guiding optical axis 144 are fixedly connected with the front guard plate and the rear guard plate, respectively. The telescopic plate 145 is provided with an optical axis hole, the telescopic plate 145 is sleeved on the guide optical axis 144 through the optical axis hole, and in order to reduce resistance when the telescopic plate 145 slides relative to the guide optical axis 144, a linear bearing is arranged in the optical axis hole, and the optical axis penetrates through the linear bearing.

A rotating means including a rotating motor 141 and a rotating shaft 142 is provided on the expansion plate 145.

One end of the rotating shaft 142 is connected to the rotating motor 141 through a relay, and the other end is mounted with a linkage assembly.

By the movement of the expansion plate 145, the rotation shaft 142 is connected to the bed plate, the patient support, or the combination of the bed plate and the patient support. The rotating motor 141 drives the rotating shaft 142 to rotate, so as to drive the bed plate, the patient support part or the combination of the bed plate and the patient support part connected with the rotating shaft 142 to rotate.

Specifically, the rotating shaft 142 includes a rotating end and a linkage end, the rotating end is connected to the rotating motor 141 through a relay, and the linkage end is connected to the bed plate or the patient support portion or the combination of the bed plate and the patient support portion through a linkage component.

The linkage assembly comprises a primary combined structural member and a secondary combined structural member, the primary member is arranged at the linkage end of the rotating shaft 142, and the plurality of primary members are respectively arranged on the bed plate and the patient supporting part. The female part and the male part are only used for distinguishing the two parts of the male combined structural part and the female combined structural part, the structures and the positions of the two parts are not limited, and the arrangement positions of the female part and the male part can be interchanged according to actual needs.

It should be noted that: the bed board and the patient supporting part are both provided with linkage components. That is, the linkage assembly includes two parts that can be abutted and separated, one of which is disposed at the linkage end of the rotating shaft 142, and the other of which is disposed on each of the bed plate and the patient support. The linkage component is used for locking the rotating shaft 142, the bed plate and the patient support part, so that the rotating shaft 142 can drive the bed plate and/or the patient support part to synchronously rotate.

The relay comprises a connecting structure between the turbine worm, a bevel gear set and a speed reducer, which are isometric and are used for connecting the rotating motor and the rotating shaft.

In this embodiment, the relay is a worm gear, and the rotating motor 141 drives the rotating shaft 142 to rotate through the worm gear transmission.

Specifically, the rotating motor 141 is fixed to the expansion plate 145, and further, the rotating motor 141 is located inside (on the side away from the front guard) the expansion plate 145. The rotation shaft 142 passes through the extension plate 145, the front guard, and extends to the outside of the front guard. In order to effectively support the rotation shaft 142 and facilitate the rotation of the rotation shaft 142, the rotation shaft 142 is connected to the extension plate 145 through a rotation bearing and is connected to the front guard through a linear bearing.

Referring to fig. 6, the rotating shaft 142 is a hollow shaft as an embodiment.

The linkage assembly comprises a locking driving device, a primary combined structural member, a secondary combined structural member, a primary combined structural member and an axial positioning assembly.

The locking drive comprises an annular rack 146, a locking motor 147 and a telescopic rod 149.

The lock motor 147 is provided on the telescopic plate 145 through an attachment plate, and the lock motor 147 has a lock function. A motor shaft of the locking motor 147 is provided with a gear, the outer teeth of the gear are engaged with the annular rack 146, and the annular rack 146 can be extended or retracted by the forward or reverse rotation of the locking motor 147.

The annular rack 146 specifically means that the rack includes a plurality of individual annular teeth arranged in series.

The sub-part and the mother-part of the sub-and mother-type combined structural member are connected in a locking, meshing or meshing mode, namely the matching mode of the sub-part and the mother-part is that the structure is compact after the sub-part and the mother-part are combined, the positions of the sub-part and the mother-part are relatively fixed, and the sub-part and the mother-part are not interfered with each other after the sub-part and the mother-part are separated. When one sub-element or the mother element is arranged on the rotating shaft 142, a plurality of matched sub-elements or mother elements are respectively arranged on the bed plate 300 and the patient support part 400, and the rotating shaft 142 extends out along with the movement of the telescopic plate 145 on the machine body 110, the sub-element or the mother element can be selectively connected with the bed plate 300 or the patient support part 400 or a combination of the bed plate 300 and the patient support part 400, and the lifting, the rotation and the moving of the bed plate 300 and/or the patient support part 400 are controlled by the connection of the matched sub-elements and the mother element, or locking, or meshing.

In the embodiment, a specific structural form of the child element and the parent element is provided:

the secondary part is a gear 148 arranged on the rotating shaft 142, the primary part is an annular tooth arranged on the bed plate 300 or the patient support part 400, the gear 148 enters the annular tooth through the movement of the rotating shaft 142, the two are mutually meshed, the rotating shaft 142 and the bed plate 300 or the patient support part 400 are circumferentially fixed, and the rotating shaft 142 can drive the bed plate 300 and/or the patient support part 400 to rotate.

The axial positioning assembly comprises a positioning assembly and a rotating device.

The positioning assembly comprises a first connecting rod and a second connecting rod which are hinged with each other, the first connecting rod is hinged with the gear 148, the other end of the first connecting rod is hinged with the rotating device, when the telescopic rod 149 stretches, the angle between the first connecting rod and the second connecting rod can change, the hinged end of the first connecting rod and the second connecting rod can be protruded, the protrusion can be operated in a positioning hole (the positioning hole is used for accommodating a protrusion structure and is positioned on the inner side of an annular tooth) of the bed plate 300 or the patient bearing part 400, the circular diameter formed by a plurality of protrusion points is larger than the diameter of the gear 148, the circular diameter can be clamped on the inner side of the annular tooth on the gear 148 and the bed plate or the patient bearing part, and the axial direction between the rotating shaft 142 and the bed body 200 or the patient bearing part 400 is limited.

The telescopic link 149 is arranged in the hollow shaft in a penetrating manner, one end of the telescopic link is connected with the annular rack 146, the other end of the telescopic link is connected with the rotating device in a rotating manner, and the rotating device can be driven to synchronously stretch and move.

Specifically, the rotating device comprises a rotating piece and a hinged lug.

The rotating member is a sleeve, a rotating ring or a bearing, etc. sleeved on the end of the telescopic rod 149, and rotates circumferentially relative to the telescopic rod 149 and is axially fixed.

Specifically, a gear 148 (female member) is disposed at an end of the rotating shaft 142, a first connecting rod is hinged to the gear 148, and a second connecting rod is hinged to a hinge lug on the rotating member.

It should be noted that the telescopic rod 149 only controls the angle between the first link and the second link, and controls the folding protrusion or the straight unfolding of the two links.

When the rotating device works, the telescopic rod 149 penetrates through the rotating shaft 142, the rotating shaft 142 rotates, the first connecting rod, the second connecting rod and the rotating device synchronously rotate along with the rotating shaft 142, the telescopic rod 149 does not rotate, and the positioning assembly is connected with the telescopic rod 149 through the rotating device, so that the positioning assembly can be prevented from influencing the rotation of the rotating shaft 142, and the rotating shaft 142 can smoothly rotate.

The positioning assembly includes a plurality of first connecting rods and a plurality of second connecting rods, the plurality of first connecting rods and the plurality of second connecting rods are hinged to each other through respective one ends to form a plurality of combined members, and the plurality of combined members are arranged along the axial direction of the telescopic rod 149.

The other ends of the first connecting rods are hinged to the gear 148, the other ends of the second connecting rods are hinged to the rotating device, the rotating device is driven to move through the telescopic rod 149, and the second connecting rods are driven to change angles relative to the first connecting rods through the movement of the rotating device.

Specifically, when the extendable rod 149 extends and retracts relative to the rotating shaft 142, the hinge portions of the plurality of first links and the plurality of second links can be extended in a direction away from the extendable rod 149 or in a direction close to the extendable rod 149 due to the angle change of the first links and the second links.

In actual use, the gear 148 firstly enters the annular teeth, when the telescopic rod 149 retracts after the first and second connecting rods pass over the annular teeth, the hinged ends of the first and second connecting rods protrude, the diameter of the protruding structure is larger than the inner diameter of the annular teeth, and the protruding structure is clamped on the inner sides of the annular teeth to form an axial limit between the rotating shaft 142 and the bed 200 or the patient support 400.

The synchronous penetration of the annular teeth on the two sides of the bed plate 300 and the patient supporting part 400 through the gear 148 and the synchronous clamping of the positioning component can limit the fixed moving position of the bed plate 300 and/or the patient supporting part 400 on the bed body 200, namely: when the robot 100 drives the bed board 300 and/or the patient support 400 to lift, rotate and move in the space on the bed body 200, the displacement phenomenon will not occur, and the possibility of collision between the bed board 300 and/or the patient support 400 and the bed body 200 is avoided.

In summary, in one embodiment, the secondary member is the gear 148 on the rotating shaft 142, the primary member is the annular teeth arranged on the bed plate 300 or the patient support 400, circumferential fixation between the rotating shaft 142 and the bed body 200 and between the rotating shaft 142 and the patient support 400 is realized by meshing the gear 148 with the annular teeth, and axial fixation (rotating shaft) between the rotating shaft 142 and the bed body 200 and between the rotating shaft and the patient support 400 is realized by matching the first connecting rod and the second connecting rod with the positioning holes in the primary member. The connection between the rotating shaft 142 and the bed body 200 and the patient support part 400 is realized, the rotating shaft 142 can drive the bed body 200 and the patient support part 400 to rotate, and the bed body 200 and the patient support part 400 can move together with the power part 120.

In the above embodiment, the connection between the rotating shaft 142 and the bed plate 300 and/or the patient support 400 is realized by using two structures in combination, one is circumferential positioning realized by a male-female combined structural member, and the other is axial positioning realized by an axial positioning assembly. This is only one implementation form provided by the present embodiment, and the connection form of the rotation shaft 142 and the bed plate 300 and/or the patient support 400 may be modified according to actual needs.

As shown in fig. 2b, it should be noted that the rotating shaft 142 is a hollow shaft used in cooperation with the above-mentioned axial positioning assembly, of course, the rotating shaft 142 may also be a solid shaft, when the rotating shaft is a solid shaft, the structural form of the primary and secondary connecting members needs to be changed, for example, the primary and secondary connecting members with locking, or meshing functions are used to connect the rotating shaft with the bed plate 300 and/or the patient support 400, that is, what structural form of the rotating shaft or the primary and secondary connecting members is used, as long as the connecting and disconnecting of the rotating shaft with the bed plate 300 and/or the patient support 400 can be realized, and after the rotating shaft is connected with the bed plate 300 and/or the patient support 400, the bed plate 300 and/or the patient support 400 can be driven to move and rotate, and a fixed space on the bed body can be defined.

Bed body 200

The bed body 200 comprises two bed heads 210, a bed frame 220, a placing frame and a limiting structure.

The two heads 210 are symmetrically disposed.

The bed frame 220 and the placing frame are arranged in layers between two bed heads 210, and the bed board 300 and/or the patient support 400 are arranged on the bed frame 220 and/or the placing frame.

The bed frame 220 and the placing frame are frame-type structures or supporting structures arranged at the end part of the bed head. Specifically, the bed frame 220 adopts a frame-type structure, the placing frame adopts a supporting plate, and the bed frame 220 is arranged on the upper side of the supporting plate at intervals.

For example, in the case where only one of the bed plate 300 and the patient support 400 is used during the use of the treatment couch, one of the bed frame 220 and the placing frame is used to place the bed plate 300, and the other is used to place the patient support 400.

Both headings 210 include an inner headframe 211 and an outer headframe 212, with the inner headframe 211 being disposed inside the outer headframe 212.

The limiting structures are correspondingly arranged on the inner layer bedside frame 211 and the outer layer bedside frame 212, and one robot 100 runs in each limiting structure.

A rotating shaft is arranged in the middle of each bed head 210, and two ends of the rotating shaft are respectively connected with an inner layer bed head frame 211 and an outer layer bed head frame 212.

The pivot is used for installing the tow chain, the one end and the pivot of tow chain are connected, the other end of tow chain is connected on robot 100, multiple cable on robot 100 passes through the tow chain and lays along inlayer head of a bed frame 211 or outer head of a bed frame 212, and connect to on motor drive and the PLC module in the switch board, the display screen is reconnected, when robot 100 moves in head of a bed 210, tow chain one end revolutes the rotation of axes, the other end moves along with robot 100, and under the drive of robot 100, make multiple cable move along with robot 100 synchronous motion, the power supply of robot 100 in service and the needs that the cable does not interfere robot 100 operation have been satisfied.

The bed board 300 and/or the patient support part 400 can be placed on the bed frame 220 or the placing frame through the operation of the robot 100 in the limiting structure, and the position change between the bed frame 220 and the placing frame can be realized.

It should be noted that, in order to improve the stability of the connection between the bed board 300, the patient support portion 400 and the bed frame 220, the bed board 300, the patient support portion 400 and the bed frame are connected by a fixing device, and the fixing device is a structure in which a positioning protrusion is matched with a positioning groove, or a structure in which a positioning pin is matched with a positioning hole. That is, the fixing device may be any device as long as it can connect and disconnect the top board 300 or the patient support portion 400 and the bed frame 220, and the top board 300 and the patient support portion 400.

The limit structure includes a rail housing 213 and a rail 214.

The outer frame 212 includes two nested first outer support brackets 2121 and first inner support brackets 2122. The inner frame 211 includes two second outer 2111 and second inner 2112 support brackets that are nested within each other. The first outer support 2121 and the second outer support 2111 are symmetrically disposed, and the first inner support 2122 and the second inner support 2112 are symmetrically disposed.

The rail bracket 213 includes an inner ring rail bracket 2131 and an outer ring rail bracket 2132.

The first outer ring support 2121 and the second outer ring support 2111 are both provided with an outer ring rail support 2132, and the two outer ring rail supports 2132 form an outer rail ring.

The first inner ring support 2122 and the second inner ring support 2112 are both provided with inner ring rail brackets 2131, and the two inner ring rail brackets 2131 form an inner rail ring.

The inner orbital ring and the outer orbital ring form a relatively closed orbital frame.

The track frame cross-section is L shape structure, including two tip and two interior planes, and two interior planes are first interior plane and second interior plane respectively, and two tip are first end and second end respectively.

First interior plane and second plane link to each other, are located being first tip of first interior plane tip, are located being the second tip of second plane tip, and the track is rack-like to be set up on first interior plane.

The first ends of the two L-shaped outer rail 2132 or inner rail 2131 frames are opposite to each other, and the second inner planes are opposite to each other.

In the same head frame (inner layer head frame 211 or outer layer head frame 212), the second ends of the two outer ring rail brackets 2132 and the inner ring rail bracket 2131 are oppositely arranged, and the first inner planes are oppositely arranged.

The robot 100 is respectively arranged in the track frames of the two bed heads, and the track frames on the two bed heads are symmetrical to the robot 100.

The power parts 120 on both sides of the robot 100 run on the inner rail ring and the outer rail ring, respectively, and the plurality of power wheels 124 and driven wheels 126 on both sides of the robot 100 are connected to the rails on the first inner planes of the inner ring rail mount 2131 and the outer ring rail mount 2132, respectively.

The positioning wheels 125 are disposed on two sides of the robot 100, and the positioning wheels 125 are respectively abutted against the second inner planes of the inner ring track frame 2131 and the outer ring track frame 2132 for controlling the lateral position of the robot.

The power wheels 124 running on the two bedside outer ring rail brackets 2132 have the same speed, and the power wheels 124 running on the two bedside inner ring rail brackets 2131 have the same speed.

The power wheels running on the two bed head inner ring track frames 2131 and the two bed head outer ring track frames 2132 can run at a constant speed or at a differential speed. Thus, the two robots can be ensured to run synchronously.

Specifically, the same robot runs at the same speed or at different speeds along the power wheels 124 running on the inner ring track frame 2131 and the outer ring track frame 2132. For example, when the inner and outer ring rail mounts 2131, 2132 have arc-shaped segments and straight segments, the power wheels 124 that run along the inner and outer ring rail mounts 2131, 2132 on the same robot 100 in the straight segments have equal speeds. In the arc section, the same robot 100 performs differential motion along the power wheels 124 running on the inner ring track frame 2131 and the outer ring track frame 2132, so as to realize turning.

In actual use, the track frames 213 and 214 each comprise straight and arc segments, the arc segments and 214 are grouped in arc R-value, the R-value of the outer ring track frame 2132, and the track on the outer ring track frame 2132 is greater than the R-value of the inner ring track frame 2131, and the track on the inner ring track frame 2131. The outer ring rail 2132 and the rails 214 located at the same position on the outer bed head frame 212 have the same R value, and the inner ring rail 2131 and the rails 214 located at the same position on the inner bed head frame 211 have the same R value.

The track frame is G type, and is specific, including lower part straight track, upper portion straight track, left side straight track, right side straight track and arc track.

The lower straight track and the upper straight track are arranged at intervals and oppositely, and the left straight track and the right straight track are arranged at intervals and oppositely.

The lower straight track, the right straight track, the left straight track and the right straight track are sequentially arranged, and the end parts of the two adjacent tracks are connected through an arc track.

In addition, the specific sizes of the lower straight rail, the upper straight rail, the left straight rail, the right straight rail and the arc rail are set according to actual needs. It is finally necessary to ensure that the robot 100 is able to rotate the bed plate 300 and/or the patient support 400 to complete the movement. That is, the final dimensions of the rails are required to provide sufficient space for movement and rotation of the deck 300 and/or patient support 400, and to interfere complementarily during movement.

And one side of the track of the robot 100 is provided with equipment such as a power distribution cabinet, an operation table, a storage cabinet and the like. A space 215 for placing a power distribution cabinet and a space 216 for placing an operation console are provided on the bed head 210.

Patient support 400

Referring to fig. 7 to 9, the patient support 400 includes a human ecological therapy cover, a mounting bracket, and a fixing bracket 460 (refer to fig. 1).

The human ecological treatment cover is arranged to be a structural part according with the human ecological principle, and comprises an arm ecological cover 410, a body ecological cover 420, a leg ecological cover 430, a head ecological cover and a lower jaw ecological cover 450, wherein the mounting frame is mounted on the mounting frame through a connecting structure according to the ecological form of a human body, each part of a patient can be separately restrained in the human ecological treatment cover according to the ecological form of the human body, and the extrusion and collision among all parts of the body of the patient in the pitching posture conversion process are avoided.

The human body ecological treatment cover is arranged on the mounting frame through the connecting structure, and the mounting frame is connected with the fixing frame 460.

The mounting bracket is a structure formed by supporting tubes or supporting rods, and the connecting structure comprises connecting pieces such as connecting plates, screws and bolts.

The fixing frame 460 is a rectangular structure, and both ends of the fixing frame 460 are provided with a sub-component or a mother-component of the linkage assembly, and the sub-component is arranged on the fixing frame in this embodiment.

The fixing structure is provided on both upper and lower sides of the fixing frame 460, and the fixing device can combine the fixing frame 460 and the bed board 300 into a whole, or fix the patient support part on the bed frame 220 or the placing frame. The fixing device is a positioning bulge and a positioning hole, or a pin, a pin hole and the like which can realize the combination and separation.

When a patient lies on the bed board 300 in a supine position, the head, the lower jaw, the two arms, the two legs and the trunk of the patient are separately fixed in the corresponding structures through the fixed combination of the fixing frame 460 and the bed board 300 according to the ecological structure of the human body, at this time, the two arms are not in contact with the trunk, the left leg and the right leg, and the patient does not contact in the process of lying on the back and turning over 180 degrees into the prone position and after lying on the prone position.

Ecological cover 410 for arm

The arm ecological cover 410 is of a groove-shaped structure, the arm ecological cover 410 comprises a large arm and a small arm, the large arm is hinged with the shoulder of the body ecological cover 420, and the small arm is connected with the belly of the body ecological cover 420 in a sliding manner.

Arm ecocover 410 also includes a hinge structure and a slide.

The hinge structure can be a hinge, a rotating shaft and the like, the shoulder part of the body ecological cover 420 is connected with the upper end of the large arm part of the arm ecological cover 410 through the hinge structure, the arm ecological cover 410 is hinged on the body ecological cover 420, and the movement can be realized.

The sliding part comprises a sliding chute and a sliding block.

The runner sets up on the ecological cover of trunk portion, and the slider sets up on the forearm portion, and slider and spout sliding connection, when big arm portion rotates for the ecological cover of trunk portion, the forearm portion swings together with big arm portion, and the forearm portion slides for the ecological cover of trunk portion simultaneously. The sliding part plays a limiting role in the swinging of the small arm part.

The body part ecological cover 420 is of a U-shaped structure integrally, and the body part ecological cover 420 comprises a connecting structure, an upper port and a lower port, a neck bracket, two arm connecting ports, two arm hinging devices, two arm sliding grooves and a concave arc-shaped chest and abdomen ecological structure.

The inner side of the body ecological cover 420 is the groove inside of the U-shaped structure, and the outer side is the outside of the U-shaped structure. The bottom surface of U type structure is recessed arcwall face, and is concrete, and belly ecological structure set up recessed arcwall face according to human back belly and chest ecological state of pronating, can provide the support to patient's belly and chest after pronating, and can reduce pressure and improve respiratory frequency.

The connection structure is disposed outside the trunk ecological cover 420 for connecting the trunk mounting bracket 421. The trunk mount 421 is a tubular or rod structure, and the trunk mount 421 is fixedly connected to the fixing frame 460. The connecting structure 470 includes an arc-shaped mounting plate and other structures for connecting two components, one side of the arc-shaped mounting plate is fixedly connected with the trunk ecological cover 420, and the other side of the arc-shaped mounting plate is fixed to the trunk mounting frame 421 through bolts after being attached to the trunk mounting frame.

The upper port is of a semicircular structure and is arranged at the position corresponding to the neck of a human body, the lower port is an open port and is arranged at the position corresponding to the belly and the crotch of the human body, and a concave arc is arranged in the middle of the lower port.

The neck bracket is of an arc structure and symmetrically arranged on the semicircular structure of the neck, and the double-arm connecting ports are used for enabling double arms of a human body to extend into the ecological cover of the arms.

The double-arm hinge device is arranged on the outer side of the shoulder part of the body part ecological cover and is used for hinging the arm ecological cover, and the double-arm sliding groove is arranged on the outer side of the abdomen part position of the body part ecological cover and is used for slidably connecting the arm ecological cover.

The leg ecological cover 430 includes a left leg ecological cover, a right leg ecological cover, and a leg mounting bracket 431.

Ecological cover of left leg, the ecological cover of right leg all include U groove structure and connection structure 470, and U groove structure is including the open end that is located the upper end to and be located the open end of thigh portion and the open end of shank portion at ecological cover of left leg, the ecological cover of right leg both ends.

The size of the left leg ecological cover and the size of the right leg ecological cover are gradually reduced from the thigh open end to the shank open end, the ecological structure principle that the radial value of the thigh is larger than the radial value of the shank in human body ecological structure science is met, the legs of a patient can be completely abutted and wrapped, and oppression is not caused.

The leg connection structure includes a left leg connection structure and a right leg connection structure. The left leg connecting structure and the right leg connecting structure are mounting plates. The left leg ecological cover and the right leg ecological cover are both provided with mounting plates. The leg mounting frame 431 is of a tubular structure, and the mounting plate is attached to the tubular structure and then fixed through bolts. The leg mount 431 is mounted on a fixing frame 460, and the fixing frame 460 can be fixedly connected with the bed board 300 or the bed frame 220.

The head restraint includes a head restraint 440, a chin restraint 450, a support structure 480, and a head mount 490.

The ecological cover 440 of the head and face part is of a concave arc structure, and is of a transparent structure corresponding to eyes, mouths and noses of a human body, so that eyes, mouths and noses of patients can be exposed outside, and the heads of the patients can be fixed and controlled by supporting and wrapping the frontal bones, the cheekbones and the maxilla of the patients through abutting.

The head-face ecological shield 440 is provided with a connection structure 470 on the outside for connection with a support structure 480.

The ecological lower jaw cover 450 includes a lower jaw support 451, a coupling piece 452, and a rotation member 453.

The lower jaw bearing part 451 is arranged to conform to the shape of the lower jaw of a human body, is used for wrapping the lower jaw of a patient and can bear the lower jaw of the patient.

The lower jaw bearing part 451 is of a concave arc structure and comprises a lower end bottom plate and an upper end opening, the lower end bottom plate is of an arc structure, and side plates which extend upwards along the lower end bottom plate and outwards incline are arranged on the front side, the rear side, the left side and the right side.

The front side and the rear side, the left side and the right side form an upper end opening of an arc structure, and the length values of the front side and the rear side are larger than the length values of the left side and the right side.

The lower end bottom plate and the side plate surround and form a containing groove with an upper end provided with an upper port. The containing tank can enable the lower jaw part of a patient to enter, the circumference of the lower end base plate is smaller than that of the upper port, the lower end base plate can realize abutting and supporting on the lower jaw bottom of the patient, and the lower jaw bottom is wrapped and supported; after the lower jaw bottom of the patient is abutted with the lower end bottom plate of the lower jaw ecological cover 450 of the lower jaw part, the upper end opening can wrap and fix the corresponding part of the extension height value of the lower jaw of the patient to the jaw joint, the abutting wrapping fixing mode accords with the principle of human ecological engineering, the beneficial effects that the head of the patient is comprehensively fixed, and the patient cannot be injured can be achieved.

The connection control piece 452 includes two arc-shaped pieces, two ends of the lower jaw supporting portion 451 are respectively connected with one arc-shaped piece, and the arc-shaped pieces incline towards the direction far away from the lower jaw supporting portion, and the inclining direction is consistent with the inclining direction of the lower jaw and the jaw of the human body. The longer the arc piece length is, the bigger the interval of two arc pieces is, accord with the angle of inclination of jaw under human ecological engineering mandible and jaw joint connected state.

One end of the arc piece is connected with the lower jaw bearing part, and the other end is connected with the supporting structure 480 through the rotating piece.

The support structure comprises a rod or a pipe in a round, square or flat strip-shaped structure, the support structure is arranged along the edge of the ecological cover on the head and face, the support structure 480 is connected with the head mounting frame 490, and the head mounting frame 490 is connected with the fixing frame 460.

In particular, the support structure 480 is made of a circular rod;

the support structure 480 includes a semicircular structure formed by bending a circular rod, and vertical rods provided at both ends of the semicircular structure, the vertical rods being hinged to the head mount 490.

The head and face ecological cover 440 and the connecting control piece 452 are both connected with the semicircular structure, and the connecting control piece 452 is arranged close to the end part of the semicircular structure.

The coupling piece 452 is coupled to the support structure 480 via a rotation member 453. The rotating member can rotate under the driving of the driving device, and drives the lower jaw bearing part 451 to rotate relative to the head face ecological cover 440 through the linkage control sheet 452, so as to realize the approaching or departing movement.

The driving device comprises a manual rotating mechanism and an electric rotating mechanism, the manual rotating mechanism and the electric rotating mechanism can drive the linkage control piece 452 to rotate and can be fixed at any position of a rotating track of the manual rotating mechanism, the manual rotating mechanism comprises a knob, and the electric rotating mechanism comprises a motor.

Bed plate 300

The bed board 300 includes a bed board frame, a fixing device, a cross beam and a bearing plate.

The bed plate frame is formed by connecting a plurality of U-shaped groove structural members (such as channel steel) which are transversely and longitudinally arranged, and the whole bed plate 300 is of a rectangular structure.

Connect through connecting device between each U type groove component, connecting device includes arc bent angle connecting piece and sharp connecting piece for connect into the rectangle structure U type groove structure, and can the split equipment, convenient transportation.

Specifically, the bed board 300 includes a frame structure composed of a horizontal U-shaped groove and a vertical U-shaped groove, the horizontal U-shaped groove and the vertical U-shaped groove are connected by a bent angle connecting piece, the vertical U-shaped groove is divided into a multi-section structure due to the fact that the length of the vertical U-shaped groove is long, and the vertical U-shaped groove is convenient to disassemble and assemble through a straight line connecting piece. The bent angle connecting piece is bent angle platelike structure, and linear connection spare is the strip plate structure, and the bent angle is connected and linear connection spare all is connected through bolt and U type groove.

The fixing device comprises a plurality of structures such as a bolt type structure, a clamping type structure, an electromagnetic adsorption structure and the like, and is used for fixedly connecting the bed board 300 with the patient supporting part 400, the bed frame 220 or the placing frame.

The U-shaped groove structure is provided with a connector, the fixing device is arranged in the U-shaped groove structural member, the fixing device can stretch out and draw back relative to the connector, is connected with the bed body (the bed frame 220 or the placing frame) or the patient supporting part after extending out, and is released from being connected with the bed body or the patient supporting part after retracting. The plurality of fixing devices realize synchronous control through the linkage rod.

For example, the fixing device is of a plug pin type structure, specifically, the fixing device comprises a plurality of plug-in protrusions which are arranged on the same linkage rod, the linkage rod can move up and down under the driving of the driving device, and when the linkage rod moves up and down, the plurality of protrusions are driven to stretch and retract relative to the connecting ports.

The driving structure comprises an electric device and a manual device and can control the linkage rod to move up and down.

The crossbeam sets up in the rectangle space of bed board frame, and the tip of crossbeam and horizontal or vertical U type groove structural connection, and the layer board setting is on bed board frame and crossbeam upper portion.

Control system

The pitch conversion treatment couch further comprises a control system.

The control system comprises a display screen, a PLC control module, a motor driver and a sensor which are arranged on the bed body.

The display screen, the motor driver and the sensor are all electrically connected with the PLC control module.

The display screen can input control instructions through the control keys to control the operation of the treatment couch and display the operation state of the treatment couch.

The motor driver comprises a power motor driver, a telescopic driving motor driver, a rotating motor driver and a locking motor driver.

The PLC control module comprises a main control module and sub-control modules, wherein the main control module is used for sending out running and stopping instructions to each sub-control module, receiving running state signals of each sub-control module, and timely starting the matching running of each sub-control module and deciding to stop the running of the sub-control modules.

The sub-control module comprises a power motor control module, a telescopic motor control module, a rotating motor control module, a locking motor control module and an oral cavity control module.

The power control module comprises a power control module A and a power control module B, the power control module A and the power control module B are respectively used for controlling four power motors on two robots to perform group control, the two motors of the power part running along the outer ring track frame 2132 are a first group of motors, the two motors of the power part running along the inner ring track frame 2131 are a second group of motors, and the power control module A is used for controlling the first group of motors and inputting the same control signal to the two motors of the first group of motors so as to enable the motors to synchronously run or stop. The B sets of power control modules are used for controlling the second group of motors and inputting the same control signals to the two motors of the second group of motors so as to synchronously operate or stop the motors, and can realize constant-speed or differential operation control on the two groups of motors.

The telescopic motor control module is used for controlling the telescopic motor, the rotary motor control module is used for controlling the rotary motor, the locking motor control module is used for controlling the locking motor, the oral cavity control module is used for controlling the lower jaw motor, and the opening and closing of the oral cavity of the patient are controlled by the rotation or stop of the lower jaw motor (namely, the electric rotating mechanism is used for driving the connecting control piece 452 to rotate.

Referring to fig. 10 to 18, in order to explain the operation process of the hospital bed in detail, the present embodiment further provides a specific control method for the hospital bed.

When a patient lying on the bed plate 300 is subjected to prone treatment.

Firstly, the robot 100 moves the patient support 400 above the patient, and the patient support 400 is clamped with the bed plate 300, in the moving process, the rotating shaft drives the patient support 400 to rotate, so that the posture of the patient support 400 is adjusted, before the patient support 400 is clamped with the bed plate 300, the posture of the patient support 400 needs to be adjusted, namely, before the patient support 400 approaches the human body, the posture adjustment is completed. That is, the opening of the patient support part 400 needs to be arranged downwards, and when the patient support part 400 is butted with the bed board 300, the human body is covered in the human body ecological therapy cover.

Specifically, when a patient lies on the bed plate 300, the patient support 400 is generally located at the lower side of the bed plate 300 in order to save space. The specific process of the butt joint of the patient support part 400 and the bed plate 300 is that the robot 100 drives the patient support part 400 to sequentially pass through the lower straight guide rail, the arc-shaped guide rail, the right straight guide rail, the arc-shaped guide rail, the upper straight guide rail, the arc-shaped straight guide rail and the left straight guide rail. Before entering the left straight guide, the robot 100 needs to rotate the patient support 400 in addition to the movement of the patient support 400 to change the posture of the patient support 400.

After the patient support 400 and the bed board 300 are completely connected, the robot 100 is separated from the patient support 400 and then connected to the bed board 300, the robot 100 drives the bed board 300, the patient and the patient support 400 to move together, and at this time, the bed board 300 is separated from the bed frame. When the robot 100 drives the three to move to the upper straight guide rail and then stop moving, the three are driven to turn over, so that the patient supporting part 400 is positioned at the lower side, the bed plate 300 is positioned at the upper side, and at the moment, the patient lies prone on the human ecological treatment cover.

It should be noted that the timing for turning the robot 100, the bed board 300, the patient, and the patient support 400 together is determined according to the size of the rail frame, provided that there is enough space for the three to turn. When the robot 100 drives the patient support part 400 and the bed plate 300 to be in butt joint, the robot can directly drive the bed plate 300 and the patient to lift without being separated from the patient support part; the rotating function can be started in the lifting process to turn over, the operation time can be relatively saved and the working efficiency can be improved as long as the speed ratio of lifting to rotating is well controlled and the interference of the bed frame to turning over is avoided.

After the bed board 300, the patient and the patient support are turned over, the robot 100 drives the three parts to return to the bed frame 220, so that the patient support is in butt joint with the bed frame.

After the patient support part is completely connected with the bed frame, the patient support part 400 is unlocked from the bed plate 300, the robot 100 drives the bed plate 300 to move to the lower straight rail along the rail frame, and the bed plate 300 is placed on the placing frame. It should be noted that, in the process that the robot 100 drives the bed plate 300 to move to the lower straight rail, the posture of the bed plate 300 is synchronously adjusted.

It should be noted that: the patient supporting part and the placing frame or the bed frame, the patient supporting part and the bed board 300, and the bed board 300 and the placing frame or the bed frame are locked and unlocked through the fixing devices. A firm connection between the above structures can be achieved and also separation can be performed as required.

To sum up, the robot 100 can drive the patient support part to move above the body of the patient, and after the patient support part is fastened with the bed plate 300, the patient and the patient support part can be driven to lift and rotate, so as to fulfill the requirement of the prone position of the patient. After patient bearing portion and bed frame fixed connection, patient bearing portion and bed board 300 separation, at this moment, robot 100 drives the bed board 300 and removes, and control the angle of bed board 300 and medical bed, realize accomodating to bed board 300, namely, put into the rack of the below of bed frame with bed board 300, at this moment, patient pronates in the patient bearing portion of bed board 300 top, bed board 300 can make things convenient for putting and arranging of multiple treatment facility, greatly reduced medical personnel's working strength more, make the great bed board 300 of area obtain best laying, the use in ward space has been optimized, the manpower has been practiced thrift, time and space cost, and this process, do not need medical personnel's too much participation, the problem that exists among the prior art has been solved.

Further, through the removal of robot along setting for the track, and robot self structure, can the selective connection and control bed board and patient support portion or the combination of bed board and patient support portion, changed the gesture and the position of bed board and patient support portion on the bed body then, can be according to the specific principle of human ecology through human ecological cover, carry out cellular-type overall restraint to patient's health, avoided the mutual extrusion and the collision of each position of patient's health in the conversion process of bowing, realized the safe conversion to the patient's gesture of bowing that is located in the ecological cover, after patient prostrates, move and accomodate the bed board, medical personnel's work has been alleviateed promptly, patient's treatment after prostrating has been improved again. Compared with the prior art, the patient bed has the advantages of convenience, rapidness, time and labor saving, safety and comfort for patients and improvement of treatment effect by changing the pitching posture of the patient and the mode of treating the bed plate through manpower.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A therapeutic bed for changing up and down is characterized by comprising a robot, a bed body, a bed board and a patient supporting part;

the robot, the bed plate and the patient bearing part are arranged on the bed body;

the telescopic device is arranged on the machine body, can extend out of or retract back from the machine body, can be connected with or separated from the bed board and/or the patient bearing part through telescopic movement, and controls the bed board and/or the patient bearing part to lift, rotate, move and change the placing posture on the bed body;

the telescopic device comprises a telescopic structure and a rotating device;

the rotating device comprises a rotating motor, a rotating shaft and a linkage assembly, wherein one end of the rotating shaft is connected with the rotating motor, and the linkage assembly is arranged at the other end of the rotating shaft;

the linkage assembly comprises a primary combined structural member, a secondary combined structural member and an axial positioning assembly;

the connection between the rotating shaft and the bed board and/or the patient supporting part is realized by combining and using two structures, wherein one structure is circumferential positioning realized by a primary combined structural member and a secondary combined structural member, and the other structure is axial positioning realized by an axial positioning assembly;

the primary and secondary combined structural members comprise a primary member and a plurality of secondary members, the primary member is arranged on the rotating shaft, the plurality of secondary members are respectively arranged on the bed plate and the patient supporting part, and the secondary members and the primary members of the primary and secondary combined structural members are connected in a locking, meshing or meshing manner; and the mother part of the rotating shaft can be abutted or separated with or from the child part on the bed plate or the patient bearing part through the movement of the telescopic plate on the machine body, and the rotating angle and direction of the bed plate and/or the patient bearing part can be controlled under the driving of the rotating shaft.

2. The tilt-conversion treatment couch of claim 1 wherein the body comprises a plurality of plate-like structures, adjacent plate-like structures abutting at ends to form a frame-type structure.

3. The tilt-conversion treatment couch of claim 1 wherein the power section comprises a power plate, a power motor, a power wheel, and a driven wheel;

the power motor, the power wheel and the driven wheel are arranged on the power plate, the power wheel rotates under the driving of the power motor, the driven wheel rotates or stops along with the power wheel, and the power plate is hinged to the linking variable part.

4. The pitch conversion couch of claim 1 wherein the engagement variable comprises an outer sleeve, an inner sleeve, and a spring;

one of the inner sleeve and the outer sleeve is hinged with the power plate, and the other one is connected with the machine body.

5. The tilt-conversion treatment couch according to claim 1,

the sliding assembly can enable the expansion plate to stably move on the machine body along a preset direction;

the rotating device is arranged on the telescopic plate,

through the movement of the telescopic plate, the rotating shaft extends out of the machine body and is connected with the linkage assembly on the bed plate or the patient bearing part, and the rotating motor drives the rotation of the rotating shaft to drive the bed plate, the patient bearing part or the combination of the bed plate and the patient bearing part connected with the rotating shaft to rotate.

6. The tilt-conversion treatment couch of claim 5 wherein the rotation shaft is a hollow shaft;

the linkage assembly comprises a locking driving device;

the locking driving device comprises an annular rack, a locking motor and a telescopic rod;

the positioning assembly comprises a first connecting rod and a second connecting rod which are both provided with two connecting ends, the first connecting rod and the second connecting rod are hinged with each other through one respective connecting end, the other connecting end of the first connecting rod is hinged with a parent part on the rotating shaft, and the other connecting end of the second connecting rod is hinged with the rotating device;

rotating device is including rotating piece and articulated young, it can rotate with the telescopic link and be connected to rotate the piece, articulated young and locating component are articulated, and can realize being close to or keeping away from the motion of relative son or mother through the flexible of telescopic link to the folding arch of mutual hinged end of control first connecting rod and second connecting rod or straight expansion.

7. The pitch conversion treatment bed according to claim 1, wherein the bed body comprises two bed heads, a bed frame, a placing frame and a limiting structure;

the two bed heads have the same structure and are symmetrically arranged;

the bedheads comprise inner layer bedhead frames and outer layer bedhead frames, and the inner layer bedhead frames are arranged on the inner sides of the outer layer bedhead frames;

the limiting structures are correspondingly arranged on the inner layer bedside frame and the outer layer bedside frame, and one robot runs in each limiting structure;

the bed board and/or the patient bearing part can place the bed board or the patient bearing part or the combined structure of the bed board and the patient bearing part on the bed frame or the placing rack through the movement of the robot in the limiting structure, and the position change on the bed frame and the placing rack can be realized.

8. The tilt-conversion treatment couch of claim 7 wherein the stop structure comprises a rail mount and a rail;

the outer-layer bedside frame comprises a first outer ring support frame and a first inner ring support frame which are mutually sleeved, and the inner-layer bedside frame comprises a second outer ring support frame and a second inner ring support frame which are mutually sleeved;

the first inner plane is connected with the second inner plane, the end part of the first inner plane is a first end part, the end part of the second inner plane is a second end part, and the rail is arranged on the first inner plane;

in the same bed head frame, the second ends of the two outer ring track frames and the two inner ring track frames are arranged oppositely, and the first inner planes are arranged oppositely;

the power parts on two sides of the robot respectively run on the inner track ring and the outer track ring, and a plurality of power wheels and driven wheels on two sides of the robot are respectively connected with the tracks on the first inner planes on the inner track frame and the outer track frame;

positioning wheels are arranged on two sides of the robot, and the positioning wheels are respectively abutted to the second inner planes on the inner ring track frame and the outer ring track frame to operate and are used for controlling the lateral position of the robot;

9. The tilt-conversion treatment couch of claim 7 wherein the patient support comprises a bionomic therapy mask, a mounting frame and a mounting frame;

the human body ecological treatment cover comprises an arm ecological cover, a trunk ecological cover, a leg ecological cover and a head ecological cover, and is arranged on the mounting frame through a connecting structure, so that each part of a patient can be separately restrained according to a human body ecological structure;

the mounting rack is connected with the fixing rack;

the fixing frame is of a rectangular structure and comprises a fixing device, and the fixing device can combine the patient bearing part and the bed board into a whole or fix the patient bearing part on the bed frame or the placing rack.

10. The tilt-conversion treatment couch of claim 9 wherein the arm ecological cover is a trough-like structure, the arm ecological cover comprising a large arm and a small arm;

the body part ecological cover is of a U-shaped structure integrally and comprises a connecting structure, an upper port, a lower port, a neck bracket, two-arm connecting ports, two-arm hinging devices, two-arm sliding grooves and concave arc-shaped chest and abdomen ecological structures;

the connecting structure is arranged on the outer side of the body ecological cover and is used for connecting the body mounting frame;

the upper port is of a semicircular structure and is arranged at the position corresponding to the neck of a human body, the lower port is an open port and is arranged at the position corresponding to the belly and the crotch of the human body, and a concave arc is arranged in the middle of the lower port;

the neck bracket is of an arc structure and symmetrically arranged on the semicircular structure of the neck, and the double-arm connecting ports are used for enabling double arms of a human body to extend into the ecological cover of the arms;

the concave arc-shaped breast ecological structure comprises a left concave spherical structure and a right concave spherical structure which are used for supporting the breast of a patient;

the concave arc-shaped abdomen ecological structure is arranged at the position of the trunk ecological cover corresponding to the abdomen of the human body.

11. The tilt-conversion treatment couch of claim 9 wherein the leg ecocover comprises a left leg ecocover, a right leg ecocover, and a leg mount;

the left leg ecological cover and the right leg ecological cover both comprise U-shaped groove structures and connecting structures;

the U-shaped groove structure comprises two end parts, namely a thigh part open end and a shank part open end;

the connection structure of the ecological cover of left leg, the ecological cover of right leg includes left shank connection structure and right shank connection structure, left side shank connection structure and right shank connection structure all are used for being connected with the shank mounting bracket.

12. The tilt-conversion treatment couch of claim 9 wherein the head ecocover comprises a head ecocover, a chin ecocover, a support structure and a head mount;

the lower end bottom plate is of an arc-shaped structure, and the front side, the rear side, the left end and the right end of the lower end bottom plate are respectively provided with a side plate which extends upwards along the lower end bottom plate and outwards slantways;

the front side plate, the rear side plate, the left end plate and the right end plate form an upper end opening of an arc structure, and the length values of the front side plate and the rear side plate are larger than the length values of the left end plate and the right end plate;

one end of the arc-shaped sheet is connected with the lower jaw bearing part, and the other end of the arc-shaped sheet is connected with the supporting structure through the rotating piece;

the rotating piece is arranged on the supporting structure and is used for being connected with the control chip, and the ecological cover of the lower jaw part can be driven to rotate by the control chip under the driving of external force.

13. The tilt-conversion treatment couch of claim 1 wherein the couch plate comprises a couch plate frame, a fixture, a cross beam, and a support plate;

the bed plate frame is formed by connecting a plurality of U-shaped groove structural members which are transversely and longitudinally arranged, and the bed plate is integrally rectangular;

the cross beam is arranged in a rectangular space of the bed plate frame, the end part of the cross beam is connected with a transverse or longitudinal U-shaped groove structural member, and the bearing plate is arranged on the bed plate frame and the upper part of the cross beam;

14. The tilt-conversion treatment couch of claim 1 further comprising a control system;

the display screen can input a control instruction through the control key to control the operation of the treatment bed and display the current state of the treatment bed or each system;

15. The tilt-turn therapeutic bed according to claim 14, wherein the PLC control module comprises a main control module and sub-control modules, the main control module is configured to issue an operation and stop command to each sub-control module, and is capable of receiving an operation status signal of each sub-control module, and timely starting the cooperative operation of each sub-control module and deciding to stop the operation of the sub-control modules;

the telescopic motor control module is used for controlling a telescopic motor, the rotary motor control module is used for controlling a rotary motor, the locking motor control module is used for controlling a locking motor, and the oral cavity control module is used for controlling a lower jaw motor and controlling the opening and closing of the oral cavity of a patient through the rotation or stop of the lower jaw motor.