CN115737327A - Split type medical crane tower and control method thereof - Google Patents

Split type medical crane tower and control method thereof Download PDF

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Publication number
CN115737327A
CN115737327A CN202211059150.0A CN202211059150A CN115737327A CN 115737327 A CN115737327 A CN 115737327A CN 202211059150 A CN202211059150 A CN 202211059150A CN 115737327 A CN115737327 A CN 115737327A
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CN
China
Prior art keywords
terminal part
head
main body
tower
tower crane
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Pending
Application number
CN202211059150.0A
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Chinese (zh)
Inventor
杨正云
樊尚冰
陈长江
潘文炳
蒋亚娟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Mindray Bio Medical Electronics Co Ltd
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Nanjing Mindray Bio Medical Electronics Co Ltd
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Filing date
Publication date
Application filed by Nanjing Mindray Bio Medical Electronics Co Ltd filed Critical Nanjing Mindray Bio Medical Electronics Co Ltd
Publication of CN115737327A publication Critical patent/CN115737327A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • A61B50/33—Trays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G12/00—Accommodation for nursing, e.g. in hospitals, not covered by groups A61G1/00 - A61G11/00, e.g. trolleys for transport of medicaments or food; Prescription lists
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Abstract

The invention provides a split type medical crane tower and a control method thereof, wherein the medical crane tower comprises a crane tower main body and a terminal part matched with the crane tower main body, and the terminal part is used for bearing medical instruments; the control method comprises the following steps: receiving an instruction for carrying out butt joint preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset butt joint height in response to the instruction; and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position. The medical tower crane main body and the terminal part are detachable, the butt joint process is accurate, the automation degree is high, and the use efficiency of the medical tower crane is improved.

Description

Split type medical crane tower and control method thereof
Technical Field
The invention relates to the field of medical instruments, in particular to a split type medical tower crane and a control method thereof.
Background
At present, in the common medical tower crane on the market, the terminal part (such as a terminal box) and the tower crane main body are fixedly connected together through screws, an internal line pipe is arranged on the ceiling along the tower crane main body from the terminal box, and once the installation is completed, medical staff can not split the terminal part and the tower crane main body.
Because the terminal box and the tower crane main body are fixedly connected together through the screws, manual connection is needed, and the operation is inconvenient; meanwhile, due to the fact that the terminal box and the tower crane cannot be detached, medical staff cannot replace different terminal boxes for the tower crane, and waste of the tower crane is caused.
Disclosure of Invention
The invention mainly provides a split type medical tower crane and a control method thereof, aiming at improving the use efficiency of the medical tower crane.
One embodiment provides a control method of a split type medical crane, which comprises a crane main body and a terminal part matched with the crane main body, wherein the crane main body and the terminal part are arranged in a split manner, the crane main body is used for suspending and moving the terminal part, and the terminal part is used for bearing medical equipment and can move on the ground; the control method comprises the following steps:
receiving a continuous trigger instruction of an equipotential key arranged on the tower crane main body, and controlling a lifting head of the tower crane main body to ascend or descend during the period that the equipotential key is continuously triggered until the tower crane main body moves to a preset docking height;
detecting whether the terminal part reaches a preset butting position or not, and if the terminal part reaches the preset butting position, controlling the hanging head and the terminal part to be in butting fixation by self;
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
An embodiment provides a control method of a split type medical crane tower, which comprises a crane tower main body and a terminal part matched with the crane tower main body, wherein the terminal part is used for bearing medical equipment; the control method comprises the following steps:
receiving an instruction for carrying out docking preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset docking height in response to the instruction;
and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position.
In the method provided by an embodiment, a height sensor is arranged on the lifting head and used for detecting the height of the lifting head.
An embodiment provides the method, wherein the receiving an instruction for docking preparation, and in response to the instruction, controlling a head of a tower crane body to ascend or descend to a preset docking height comprises:
receiving a continuous trigger instruction of an equipotential key arranged on the tower crane main body;
and controlling the lifting head of the tower crane main body to ascend or descend during the period that the equipotential key is continuously triggered until the tower crane main body moves to a preset butting height.
An embodiment provides the method, further comprising:
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
An embodiment provides the method, when receiving an instruction for docking preparation, further including:
sending a prompt signal for prompting the emptying of articles in the area below the hanging head; and/or the presence of a gas in the gas,
whether articles exist in the area below the hanging head is detected, and if the articles exist, corresponding alarm information is sent out.
In the method provided by an embodiment, the sending out the prompt signal for prompting to empty the article in the area below the hanging head includes:
projecting a butt-joint region of the terminal part in a region below the hanging head to prompt a user to empty the article in the butt-joint region and push the terminal part to a butt-joint position of the terminal part.
An embodiment provides the method, further comprising:
when the hanging head and the terminal end are controlled to be in butt joint and fixed by self, the hanging head and the terminal end are controlled to be in strong electric butt joint;
and/or the presence of a gas in the gas,
after detecting that the docking fixing is successful, the method further comprises the following steps: and detecting whether the weak current of the hanging head and the terminal part is connected or not, and if so, outputting strong current to the terminal part by the hanging head.
An embodiment provides the method, wherein the controlling the hanging head to be self-butted and fixed with the terminal part comprises:
controlling the hoisting head to lift the terminal part to enable the terminal part to be away from the ground or to be away from the ground;
the hoisting head and the terminal part are fixed together by docking means provided on the hoisting head and/or the terminal part.
An embodiment provides the method, wherein the detecting whether the terminal portion reaches a preset butt joint position includes:
detecting whether the terminal portion reaches a preset butting position by a sensor, or,
determining that the terminal part reaches a preset butt joint position after a butt joint key arranged on the tower crane main body is triggered; and if the butting key is not triggered, determining that the terminal part does not reach a preset butting position.
An embodiment provides a control method of a split type medical tower crane, which comprises a tower crane main body and a terminal part matched with the tower crane main body; the control method comprises the following steps:
receiving an instruction for separation preparation, and controlling a hoisting head of the hoisting tower main body to descend to a preset first height in response to the instruction; wherein the terminal part is butt-fixed to the hanging head;
and receiving a separation instruction, and responding to the instruction, and controlling the hanging head to be separated from the terminal part.
One embodiment provides a control method of a split type medical crane tower, which comprises a crane tower main body and a terminal part matched with the crane tower main body, wherein the terminal part is used for bearing medical instruments and can move on the ground; the control method comprises the following steps:
receiving a separation instruction, responding to the instruction, controlling a hanging head of the tower crane main body to descend to a preset first height, wherein the hanging head is fixedly connected with the terminal part in an abutting mode, and controlling the hanging head to be separated from the terminal part.
An embodiment provides the method, further comprising:
and after the hanging head descends to a preset first height, sending a prompt signal for prompting that the separation operation can be carried out.
An embodiment provides the method, further comprising:
and detecting whether the separation is successful, and if the separation is successful, sending a prompt signal for prompting the successful separation.
An embodiment provides the method wherein the receiving an instruction for separation preparation, and in response to the instruction, controlling the head of the tower body to descend to a preset first height comprises:
and receiving a continuous trigger instruction of a descending key arranged on the tower crane main body, and controlling the head of the tower crane main body to descend until the head descends to a preset first height during the descending key is continuously triggered.
In the method provided by an embodiment of the present invention,
a disconnection key is arranged on the tower crane main body, and the disconnection key is triggered by a user to send the separation instruction; alternatively, the first and second electrodes may be,
a descending key and a disconnection key are arranged on the tower crane main body, and the descending key and the disconnection key are triggered by a user in sequence to send the separation instruction; alternatively, the first and second electrodes may be,
and a descending key and a disconnection key are arranged on the tower crane main body, and the descending key and the disconnection key are triggered by a user at the same time to send the separation instruction.
An embodiment provides the method, wherein the controlling the hanging head to be separated from the terminal portion includes:
controlling the hanging head to stop outputting strong current to the terminal part;
and controlling the hanging head and the terminal part to release butt joint fixation and release strong electric butt joint.
An embodiment provides the method, wherein the controlling the hanging head and the terminal portion to release the butt fixing comprises:
releasing the horizontal displacement restriction between the suspension head and the terminal portion;
and controlling the hoisting head to descend so that the terminal part contacts the ground.
An embodiment provides a split type medical tower crane, including: the crane comprises a controller, a crane body and a terminal part matched with the crane body, wherein the crane body and the terminal part are arranged in a split manner;
the terminal part is used for carrying a medical instrument;
the tower body comprising a head for suspending and/or moving the terminal section;
the controller is configured to:
receiving an instruction for carrying out butt joint preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset butt joint height in response to the instruction;
and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position.
The split type medical tower crane provided by one embodiment further comprises a prompting device for outputting a prompting signal; the controller is further configured to:
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
An embodiment provides a split type medical tower crane, including: the crane comprises a controller, a crane body and a terminal part matched with the crane body, wherein the crane body and the terminal part are arranged in a split manner;
the terminal part is used for carrying a medical instrument;
the tower body comprising a head for suspending and/or moving the terminal section;
the controller is configured to:
receiving an instruction for separation preparation, and controlling a hoisting head of the hoisting tower main body to descend to a preset first height in response to the instruction; wherein the terminal part is butt-fixed to the hanging head;
and receiving a separation instruction, and responding to the instruction, and controlling the hanging head to be separated from the terminal part.
An embodiment provides a split type medical tower crane, including: a controller, a tower crane main body and a terminal part matched with the tower crane main body, wherein the tower crane main body and the terminal part are arranged in a split mode;
the terminal part is used for carrying a medical instrument;
the tower body comprising a head for suspending and/or moving the terminal section;
the controller is configured to:
receiving a separation instruction, responding to the instruction, controlling a hanging head of the tower crane main body to descend to a preset first height, wherein the hanging head is fixedly connected with the terminal part in an abutting mode, and controlling the hanging head to be separated from the terminal part.
The split type medical tower crane provided by an embodiment further comprises a prompting device for outputting a prompting signal; the controller is further configured to:
and detecting whether the separation is successful, and if the separation is successful, sending a prompt signal for prompting the successful separation.
In the split medical tower crane provided by an embodiment, the controller is further configured to:
receiving an instruction for carrying out docking preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset docking height in response to the instruction;
and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position.
According to the split type medical crane tower and the control method thereof in the embodiment, the medical crane tower comprises a crane tower main body and the terminal parts matched with the crane tower main body, the terminal parts are used for bearing medical instruments, and the crane tower main body and the terminal parts are arranged in a split mode. And after receiving the instruction for carrying out the preparation for docking, controlling the hoisting head of the hoisting tower main body to ascend or descend to a preset docking height, so that the hoisting tower main body is ready for docking. Whether the terminal part reaches the preset butt joint position or not is detected, if the terminal part reaches the preset butt joint position, the hanging head and the terminal part are controlled to automatically carry out butt joint and fixation, and therefore the butt joint process of the tower crane main body and the terminal part is accurate and high in automation degree, and the use efficiency of the medical tower crane is improved.
Drawings
FIG. 1 is a schematic view of a split medical tower crane provided by the present invention, wherein a tower crane main body is matched with a plurality of terminal portions;
FIG. 2 is a structural diagram of an embodiment of a tower main body in the split medical tower crane provided by the invention;
fig. 3 is a structural view of an embodiment of a terminal part in the split medical tower crane provided by the present invention;
fig. 4 is a flowchart of an embodiment of a control method of a split type medical tower crane provided in the present invention;
FIG. 5 is a block diagram of an electrical control part of the tower crane main body in the split medical tower crane provided by the present invention;
fig. 6 is a schematic view of an embodiment of a butt-joint region projected by a first prompting device 40 in the split medical tower crane provided by the present invention;
FIG. 7 is a schematic view of the split medical tower crane provided by the present invention, in which the main body of the tower crane is butted with the terminal part;
fig. 8 is a schematic view of an embodiment of a docking device in the split medical tower crane provided by the present invention;
FIG. 9 is a schematic view of the split medical tower crane of the present invention with the first power connector of the crane head abutting the second power connector of the terminal portion;
FIG. 10 is a flowchart illustrating an embodiment of a method for controlling a split medical tower crane according to the present invention;
fig. 11 is a flowchart of an embodiment of a control method of a split type medical tower crane according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" as used herein includes both direct and indirect connections (couplings), unless otherwise specified.
The medical tower crane is used as common medical auxiliary equipment in an operating room, various medical instruments hoisted by the medical tower crane can serve for the operation well, and the medical instruments can be moved and fixed in a large space, so that the medical tower crane can meet the requirements of different scenes; in addition, the hoisting mode can well save the space of an operating room, and is convenient for medical personnel to carry out various operations. However, the existing medical tower is basically fixed with the terminal part, so that the medical tower is inconvenient to change the function. The invention provides a new medical tower crane, which splits the existing integrated medical tower crane into a tower crane main body and a terminal part, wherein the terminal part has a moving function and can move flexibly in an operating room or among operating rooms, and the butt joint of different tower crane main bodies and the terminal part is a unified butt joint device, so that the switching of the functions of the tower crane according to different operations and the sharing of the terminal part in the operating room are realized, the purchase cost is saved, and the utilization rate is improved. And the accuracy of butt joint can be improved by controlling the butt joint process to a certain extent, the operation is simplified, and the service efficiency of the tower crane is improved. The medical tower crane is described in detail below with reference to certain embodiments.
The split medical crane provided by the invention comprises a crane main body 10 and a terminal part 20 for carrying medical instruments, as shown in fig. 1. The tower crane main body 10 and the terminal part 20 are arranged in a split mode, the two are matched, and the two are fixed to form a complete medical tower crane.
The tower body 10 is used for suspending and/or moving the terminal section 20, and in the present embodiment, the tower body 10 can move the terminal section 20 within the working space after suspending the terminal section 20, and can suspend and stop the terminal section 20 at an arbitrary position within the working space.
Specifically, as shown in fig. 2, the upper end of the tower crane body 10 is a mounting portion 110, and the mounting portion 110 is used for being fixedly mounted on the ceiling of the operating room. The lower end of the tower main body 10 is a head 130 for abutting and fixing the terminal section 20. There are one or more robotic arms 120 between the mounting portion 110 and the hanging head 130, and fig. 2 shows two cross arms connected, or in some embodiments, a single cross arm. The movement of the suspension head 130 in the XYZ-space direction is achieved by a single crossbar or a combination of two crossbars, with the suspension head 130 suspended at the end of the crossbar. The robot arm 120 has joints, and the tower crane body 10 may further include a lifting mechanism, and the lifting head 130 may be theoretically moved to any one spatial point within the maximum arm extension range of the crossbar and the maximum lifting stroke range of the lifting mechanism by using the combined actions of rotation of the different joints and vertical lifting of the lifting mechanism. The hanging head 130 is provided with a certain number of air sources and strong/weak power interfaces, and can independently meet the use requirements of partial operation scenes.
As shown in fig. 5 and 7, the hanging head 130 is further provided with a height sensor 30 for detecting the height of the hanging head. The height sensor 30 may employ a distance measuring sensor, such as a laser distance measuring sensor, an ultrasonic distance measuring sensor, or the like. One or more height sensors 30 may be provided. In the present embodiment, a plurality of sensors are provided, and the maximum height of the hanging head can be taken as the final height of the hanging head from the heights of the hanging heads detected by the height sensors 30 in consideration of the detection of the height of the ground where the object may interfere.
The terminal portion 20 can be moved on the floor, wall or ceiling, for example, by self-driving or manually pushing, so that the terminal portion 20 can be moved easily and conveniently on the common terrain of the operating room.
As shown in fig. 1 and 3, the terminal portion 20 may include a carrier body 220 and a traveling mechanism 230. Wherein the carrying body 220 is used for carrying medical instruments (such as medical equipment and medical consumables). The carrying body 220 can load, install or fix different types of devices according to customized requirements of different surgical scenes, so as to configure different types of functions for the terminal portion 20, such as configuring a multi-layer carrying tray/drawer, a cable management mechanism, configuring an air source interface and a strong/weak power source interface, configuring a large screen mounting structure, and the like; thus, the plurality of terminal portions 20 in the department room have different functions; of course, the carrier body 220 may also integrate the above-described functions, so that the various terminal portions 20 of the department may be identical. The traveling mechanism 230 is used for driving the carrying body 220 to move on the ground, for example, the traveling mechanism 230 may employ a plurality of wheels (in the figure, casters) to achieve the movement of the terminal portion 20, and the terminal portion 20 may be regarded as a cart platform capable of carrying medical instruments; the movement of the terminal portion 20 can be achieved by walking with multiple feet, or even the movement of the terminal portion 20 can be achieved by a track, as long as the terminal portion 20 can be moved on the ground, and the specific manner is not limited.
Because the terminal part 20 and the tower crane main body 10 are split, the splitting is convenient, and the terminal part 20 can move on the ground, so that the tower crane main body 10 can conveniently move to other operating rooms, the tower crane main body 10 can form a tower crane assembly with a plurality of terminal parts 20, what kind of functions need to be realized by the tower crane, the corresponding terminal part 20 can be butted with the tower crane main body 10, the replacement of the tower crane functions is very flexible and convenient, and the utilization rate of the tower crane is improved.
The split medical tower crane of the present invention has various specific control methods, and several methods are listed below for explanation.
As shown in fig. 4, the control method includes the steps of:
step 1, receiving an instruction for docking preparation, and in response to the instruction, controlling the head 130 of the tower crane main body 10 to ascend or descend to a preset docking height (e.g., 1.5 m). As shown in fig. 5, in the present embodiment, the split medical tower crane further includes a controller 60, and the controller 60 may be disposed on the terminal portion 20 or disposed on the tower crane body 10, and is mainly used for controlling the docking and undocking of the tower crane body 10 and the terminal portion 20 based on the user's operation. The present embodiment will be described by taking an example in which the controller 60 is provided in the tower crane main body 10.
The controller 60 receives an instruction for performing docking preparation, and in response to the instruction, controls the head 130 of the tower crane body 10 to ascend or descend to a preset docking height. The command for preparing docking may be sent by an external device or by a separate medical tower crane, and in this embodiment, for example, the equipotent key K (see fig. 9) is provided on the tower crane main body 10 or the terminal portion 20, and in this embodiment, the equipotent key K is provided on the tower crane main body 10, so that it is relatively safer for the user to press the equipotent key K on the tower crane main body 10, and it is also possible to avoid false triggering.
The instruction for performing docking preparation includes a trigger instruction of the equipotential key K, and in this embodiment, specifically includes a persistent trigger instruction of the equipotential key K. That is, the controller 60 receives a continuous trigger instruction to the equipotential key K provided on the tower crane main body 10; in response to the instruction, the head of the tower crane body 10 is controlled to ascend or descend while the allelic key K is continuously triggered until the tower crane moves to the preset docking height, and specifically, the head of the tower crane body 10 is controlled to ascend or descend while the allelic key K is continuously triggered, and the head height detected by the height sensor 30 is also acquired, and the ascending or descending of the head is stopped when the head height reaches the preset docking height. In this embodiment, the user presses the equipotential key K always and does not loosen one's hand, just can let the head of hanging remove predetermined butt joint height to make the head of hanging do the preparation before the butt joint is fixed, continuously press the equipotential key K and just can let the head of hanging remove predetermined butt joint height, can avoid the spurious triggering, improved the security.
In the embodiment where the controller 60 is provided at the terminal portion 20, the terminal portion 20 and the tower body 10 may each be provided with a wireless communication module, and the controller 60 may receive the trigger instruction of the equipotential key K through the wireless communication module.
The split medical tower crane further comprises a first prompting device 40 for outputting a prompting signal. The first presentation device 40 may be provided on the tower crane body 10 or on the terminal section 20, and in the present embodiment, the first presentation device may be provided on the tower crane body 10, specifically, on the crane head. The controller 60 may be further configured to control the first prompting device 40 to issue a prompting signal for prompting to empty the article in the region below the hanging head when receiving an instruction for performing preparation for docking, so as to prompt a user to empty the region below the hanging head, so as to make room for the terminal portion 20. The first prompting device 40 may include a speaker, and correspondingly, the prompting signal may be an audio signal. The first prompting device 40 may also include an indicator light, and correspondingly, the prompting signal may be a light signal. The first prompting device 40 may also include a display, and correspondingly, the prompting signal may be an optical signal or characters, patterns, etc. displayed by the display. In this embodiment, the first prompting device 40 includes a projection device (e.g., a projection lamp) for projecting the docking area of the terminal portion 20 in the area below the hanging head to prompt the user to empty the article in the docking area and push the terminal portion 20 to the docking position of the terminal portion 20. That is, referring to fig. 6 together, when receiving the instruction for preparing docking, the controller 60 controls the first presentation device 40 to project the docking area a of the terminal portion 20 in the lower area of the head so as to present the user to empty the article in the docking area a and push the terminal portion 20 to the docking position of the terminal portion 20. The docking area projected by the projection means can be said to be a rough docking position, and the precise docking position is detected by the corresponding detection means. The docking area may be a projected shadow frame (the area enclosed by the thick solid lines in the figure, which may be a light-formed frame or a shadow-formed frame). When the projection device projects the docking area, the projection device may also project a direction indicator b together, where the direction indicator b indicates the direction in which the terminal portion 20 enters the docking area a, so that the user can manually push the terminal portion 20 into the docking area a, and the embodiment in which the terminal portion 20 automatically enters the docking area can also indicate the direction in which the terminal portion 20 advances.
In the embodiment where the controller 60 is provided at the terminal portion 20, both the terminal portion 20 and the tower body 10 may be provided with wireless communication modules, and the controller 60 may control the first prompting device 40 through the wireless communication modules.
The tower crane main body 10 may further be provided with a first detection device, and in this embodiment, the first detection device is specifically provided on the crane head. The first detection device is used for detecting whether articles exist in an area (such as a butt joint area a) below the hanging head. The controller 60 is further configured to send a corresponding alarm message through the first prompting device 40 when the first detecting device detects that an article exists in an area (e.g., the docking area a) below the hanging head, such as the projected docking area a turns red or flashes. Through the equipotential key K and the prompt message and the alarm message, the follow-up terminal part 20 can be ensured to enter the butt joint position in an all-around manner, and the method is very convenient and fast.
Likewise, in the embodiment where the controller 60 is disposed at the terminal portion 20, both the terminal portion 20 and the tower crane body 10 may be provided with wireless communication modules, and the controller 60 may acquire the detection result of the first detection device through the wireless communication modules.
Step 2, the user can push the terminal part 20 to move to the butt joint position; the terminal portion 20 may also be provided with an operation button for operating the forward, backward and steering of the terminal portion 20, and a user may operate the operation button to move the terminal portion 20 to the docking position; the terminal unit 20 can also receive an instruction for docking preparation, so as to automatically find the docking position until the second detection device detects that the terminal unit 20 reaches the docking position, and the instruction for docking preparation can be transmitted by the controller 60 through the wireless communication module, or can be issued by the user operating the relevant button on the terminal unit 20.
The split medical tower crane further comprises a second detection device for detecting whether the terminal part 20 reaches a preset butt joint position. The controller 60 detects whether the terminal portion 20 reaches a preset butting position by the second detecting device, and controls the hanging head 130 to be butted and fixed with the terminal portion 20 by itself when the terminal portion 20 reaches the preset butting position. There are various ways of detecting whether the terminal section 20 reaches the preset butting position by the second detecting means, and 2 will be described below.
One is that the second detection means comprises a sensor. The controller 60 detects whether the terminal portion 20 reaches a preset docking position by a sensor. The sensor can be arranged on the hanging head 130, and a marker is arranged at the corresponding position of the terminal part 20; the sensor may be provided at the terminal portion 20, and a marker is provided at a position corresponding to the hanging head 130, and the former is exemplified in the present embodiment. The sensor is used to identify the marker, and when the marker is identified, it is determined that the terminal portion 20 is located at the docking position. The sensor can adopt radio frequency identification, can also adopt the camera to discern, can also adopt one or more photoelectric sensor to discern etc.. Taking radio frequency identification as an example, the sensor comprises a reader-writer, and the marker comprises an electronic tag; for example, if the reader/writer is attached to the head, the electronic tag is attached to the terminal unit 20. After power-on, after the reader-writer on the suspension head completes initialization, it starts to send signal according to fixed period, when the terminal part 20 enters into the identified area, it will receive the signal sent by the reader-writer, and obtain energy to be powered on and activated, so as to be identified by the reader-writer, and thus determine that the terminal part 20 enters into the butt-joint position. The reader-writer and the electronic tag may be arranged in pairs, and one or more pairs, for example, three pairs, may be arranged to implement three-point positioning. Taking a photo sensor as an example, a photo interrupter is used, and the corresponding marker on the terminal portion 20 is used to block the photo interrupter. The photo-interrupters and the markers may be provided in one or more pairs (two or more), and it is determined that the terminal portion 20 is located at the butting position when all the photo-interrupters simultaneously detect the obstruction. When the sensors and controllers 60 are provided one at the terminal portion 20 and one at the tower main body 10, the above-described functions can be realized by communication through the wireless communication module as well.
The hanging head can be further provided with a second prompting device 50, and the second prompting device 50 is used for outputting a prompting signal when the terminal part 20 is located at the butting position so as to prompt whether the terminal part 20 is located at the butting position. For example, a speaker may be used to give a prompt sound, an indicator light may be turned on or off or a color change may be used to give a prompt, a display may be used to display a text, an image, a bright light, and the like, and the indicator may be in a docking position or not, and the specific implementation manner is not limited. When the sensor detects that the terminal part 20 reaches the preset butt joint position, the second prompting device 50 is triggered to send out corresponding prompting information.
The other is that the second detecting device includes a docking key, which is disposed on the tower crane main body 10, specifically on the hanging head 130 in this embodiment. After the docking key is triggered, the controller 60 determines that the terminal section 20 reaches a preset docking position; if the docking key is not activated, it is determined that the terminal portion 20 has not reached the preset docking position. Since the docking key is user-activated, this is essentially a user detecting whether the terminal section 20 is in the docked position, which the user thinks is pressed.
The terminal portion 20 is in the docking position, indicating that it is ready for docking, and is then ready for docking.
The docking device 70 is provided on the hanging head 130 and/or the terminal portion 20. The docking devices 70 on different tower crane bodies 10 and/or terminal parts 20 are the same, so that the switching of functions of the tower crane according to different operations and the sharing of the terminal parts 20 in an operating room are realized, the purchase cost is saved, and the utilization rate is improved. The docking device 70 is used for docking and fixing the terminal portion 20 and the hanging head 130 when the terminal portion 20 is located at the docking position; of course, it can also be used to separate the termination 20 and the suspension head 130. The docking position is a position where the terminal portion 20 and the suspension head 130 can be docked. The docking position may be below the hanging head 130, such as directly below the hanging head 130, diagonally below, and the like. The docking position may be changed according to a change in the position of the tower crane body 10, and for example, if the docking position is directly below or obliquely below the head 130 of the tower crane body 10, the position directly below or obliquely below the head 130 is the docking position. The docking position may also be a fixed position. The docking device 70 can automatically dock and fix the terminal portion 20 and the tower body 10 when the terminal portion 20 is located at the docking position, and can dock and fix the terminal portion 20 and the head 130 under the trigger of a docking instruction issued by a user (for example, the user presses a corresponding button). The docking device 70 may be primarily mounted on the head 130, i.e., the docking fixture and separation of the two is dominated by the tower body 10; the docking device 70 may be mainly mounted on the terminal portion 20, that is, the terminal portion 20 may guide the docking fixing and separating of the two, and the former is taken as an example in the present embodiment. The docking device 70 includes a first docking component disposed on the suspension head 130 and a second docking component disposed on the terminal portion 20. The first and second docking members are fitted to each other for docking and fixing the terminal portion 20 and the suspension head 130 when the terminal portion 20 is located at the docking position, and for separating the terminal portion 20 and the suspension head 130. In other words, the suspension head 130 includes a first docking member, and the terminal portion 20 includes a second docking member that fits with the first docking member. When the terminal part 20 is located at the butting position, the terminal part 20 and the hanging head 130 are butted and fixed through a first butting part and a second butting part; the terminal portion 20 and the suspension head 130 are also separated by a first docking member and a second docking member. The docking device 70 can achieve automatic docking fixing and detaching of the terminal portion 20 and the hanging head 130, and the specific implementation manner is not limited, and is exemplified below.
As shown in fig. 8, in one embodiment, the first docking member includes a rail 131 and a cylinder 132. The second docking component includes a docking plate 210. The rail 131 and the docking plate 210 are fitted, and both adopt horizontal docking. The rail 131 is used to limit the movement of the docking plate 210 in the vertical direction, and may be a wedge-shaped rail, so that the docking plate 210 is more firmly fixed. The air cylinder 132 serves to restrict the movement of the docking plate 210 in the horizontal direction. When the suspension head is at the docking height, the rail 131 and the docking plate 210 are at the same height, so that the docking plate 210 can be located in the rail 131 by only moving the terminal portion 20, and when the terminal portion 20 is pushed to the position, the mechanical structure (marker) on the terminal portion 20 blocks 2 photo-interrupters inside the suspension head, and 2 photo-interrupters are simultaneously blocked, the controller 60 determines that the terminal portion 20 is already at the docking position, and then controls the suspension head 130 to lift the terminal portion 20, so that the terminal portion 20 is away from the ground (for example, 5cm away from the ground) or is about to be away from the ground. The traveling mechanism 230 of the terminal portion 20 is lifted off, the terminal portion 20 is completely lifted, and the terminal portion 20 is prevented from automatically sliding out of the rail 131 due to the gravity of a doctor after the doctor looses his hand when the ground is uneven, so that butt fixing cannot be completed or the butt fixing is inaccurate in a later period. After the terminal portion 20 is lifted, the degree of freedom of the terminal portion 20 in the vertical direction is limited by the influence of the weight of the terminal portion 20 itself. Furthermore, the controller 60 fixes the suspension head and the terminal portion 20 together by the docking device 70 provided on the suspension head and/or the terminal portion 20, for example, the docking device 70 fixes the suspension head 130 and the terminal portion 20 together by pressing, friction, screw fastening or clipping, in this embodiment, the controller 60 controls the cylinder 132 to press the docking plate 210 downward, so that the docking plate 210 cannot be separated from the rail 131, and the terminal portion 20 is limited in the degree of freedom in the horizontal direction by the pressing and friction, thereby achieving docking and fixing of the terminal portion 20 and the suspension head 130. The butt joint mode makes full use of gravity, only needs to limit the horizontal direction, and has simple and reliable structure.
The controller 60 controls the suspension head and the terminal portion 20 to perform strong electric docking when controlling the suspension head and the terminal portion 20 to perform self-docking and fixing. Specifically, as shown in fig. 9, at least one first power connector 133 is further disposed on the hanging head 130, and the first power connector 133 is used for supplying power to the terminal portion 20. The terminal portion 20 is provided with a second power connection 240 adapted to the first power connection 133. The second power connection 240 is adapted to connect to the first power connection 133 to enable the terminal portion 20 to draw power from the tower body 10. The first power supply connecting piece can be interfaces, plugs, sockets and the like of various strong electricity (such as 220V). The second power connector 240 may be a variety of strong electrical interfaces, sockets, plugs, etc. that mate with the first power connector 133. The terminal portion 20 is further provided with a third power connector for supplying power to various medical devices, which is electrically connected to the second power connector, and can be a connector, a socket, a plug, etc. for various strong electricity. For example, a power socket (third power connector) is integrated in the terminal portion 20, and a device placed on the terminal portion 20 can be electrically connected to the power socket in advance to complete the docking of the circuit. Finally, only one plug (the second power connector) needs to be led out from the terminal part 20 to complete the butt joint with the jack (the first power connector) on the hanging head 130, and the butt joint mode can be direct manual plugging and unplugging, and an automatic plugging structure can also be arranged. Taking the automatic insertion as an example, the position of the second power connector 240 on the terminal portion 20 corresponds to the first power connector 133 on the hanging head 130, so that when the docking device 70 docks and fixes the terminal portion 20 and the hanging head 130 of the tower body 10, that is, when the terminal portion 20 and the hanging head of the tower body 10 are docked and fixed by the first docking component and the second docking component, the first power connector and the second power connector naturally complete automatic docking. Of course, the first power connection 133 may be driven by a separate power mechanism to interface with the second power connection 240. That is, the controller 60 drives the first power connector 133 to be connected to the second power connector 240 through the power mechanism, for example, the power mechanism drives the first power connector 133 to be connected to the second power connector 240.
The crane head is further provided with a first weak current connector (such as various types of weak current female heads) for providing weak current to the terminal portion 20, and the terminal portion 20 is further provided with a second weak current connector (such as various types of weak current male heads), so that a user can manually connect the first weak current connector and the second weak current connector, thereby enabling the terminal portion 20 to obtain weak current from the tower crane body 10. Of course, the positions of the first weak current connector and the second weak current connector may also correspond, so that when the docking device 70 docks and fixes the terminal portion 20 and the hanging head 130 of the tower crane body 10, the first weak current connector and the second weak current connector also naturally complete automatic docking. The first weak current connector can also be driven by a separate power mechanism to be in butt joint with the second weak current connector. That is, the controller 60 drives the first weak current connection member to be butted with the second weak current connection member through the power mechanism. The terminal portion 20 is further provided with a third weak current connector for supplying power and/or communication to various medical devices, which is electrically connected with the second weak current connector, and can be various weak current interfaces, sockets, plugs, etc. The first weak current connector and the second weak current connector can be provided with a plurality of pairs, some are 12V, 5V and other interfaces, plugs, sockets and the like, and some are various types of communication interfaces, such as SD I, DVI, HDM I, DP line and other interfaces, ports, joints and the like.
The first weak current connector is connected with a weak current line of the tower crane body 10, at least part of the weak current has a communication function, and the controller 60 is electrically connected with the weak current line with the communication function, so that whether weak current handshake communication between the tower crane body 10 and the terminal part 20 is successful can be known, for example, the controller 60 detects whether the terminal part 20 feeds back a weak current signal, if so, the weak current handshake communication is successful, that is, the butt joint and fixation of the hanging head and the terminal part 20 is successful. The first power supply connecting piece is connected with an external strong power supply through a strong power circuit, a controllable switch is arranged on the strong power circuit, after the successful butt joint and fixation is detected, the controller 60 detects whether the weak current of the hanging head and the terminal part 20 is connected, if so, the hanging head is controlled to output strong current to the terminal part 20, and specifically, after the controller 60 determines that the weak current handshake communication between the tower crane main body 10 and the terminal part 20 is successful (namely, after the first weak current connecting piece is in butt joint with the second weak current connecting piece), the controllable switch is controlled to be conducted, so that the terminal part 20 obtains strong current. It can be seen that the user does not need to plug in a strong electric interface, and only after confirming that the butt-joint fixing is successful, a strong electric power is output to the terminal part 20, so that the safety is improved. After the strong electricity is switched on, the medical tower crane can be normally operated, such as lifting, descending, turning on the lamp of the cross arm lamp, releasing the brake of the joint air brake and the like.
The head 130 is also provided with at least one first gas line connection for feeding gas to the terminal section 20. The terminal portion 20 is provided with second gas line connections adapted to the respective first gas line connections. The second gas line connection is intended to be connected to the first gas line connection, so as to enable the terminal portion 20 to take in the gas delivered by the tower body 10. The first gas pipeline connecting piece can be various joints, quick joints, valves and the like. The second gas line connection may be a variety of fittings, quick-connect fittings, valves, etc. that mate with the first gas line connection. The terminal portion 20 is further provided with a third gas pipeline connecting piece for supplying gas to various gas terminals (such as an anesthesia machine and a breathing machine), and the third gas pipeline connecting piece is connected with the second gas pipeline connecting piece through a medical gas pipeline, and can be various connectors, quick connectors, valves and the like. Each first gas pipeline connecting piece can be intensively arranged in one area, and each corresponding second gas pipeline connecting piece is also intensively arranged in one area, so that manual or automatic butt joint is facilitated. The connection of the first gas pipeline connecting piece and the second gas pipeline connecting piece can be manual or automatic; taking the automatic insertion as an example, the position of the second gas line connector on the terminal portion 20 corresponds to the position of the first gas line connector on the suspension head 130, so that when the docking device 70 docks and fixes the terminal portion 20 and the suspension head 130 of the suspension tower body 10, that is, when the terminal portion 20 and the suspension head of the suspension tower body 10 are docked and fixed by the first docking component and the second docking component, the first gas line connector and the second gas line connector also naturally complete automatic docking.
At least one of a first power connection, a first light current connection and a first gas line connection may be provided on the first docking plate of the head, and correspondingly at least one of a second power connection, a second light current connection and a second gas line connection may be provided on the terminal portion 20. The controller 60 may control the first docking plate and the second docking plate to be docked by the power mechanism when controlling the hanging head 130 and the terminal portion 20 to be docked and fixed by itself, so that at least one of the first power supply connector, the first weak current connector and the first gas line connector is docked with at least one of the second power supply connector, the second weak current connector and the second gas line connector. The actuating mechanism can be the air cylinder 132, so that the butt joint fixation and the butt joint of strong current, weak current, gas pipelines and the like can be synchronously completed.
And 3, detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing. This step can be performed by the controller 60, for example, the controller 60 detects whether the terminal portion 20 feeds back a weak current signal, and if so, indicates that the first weak current connector and the second weak current connector are successfully connected, that is, the hanging head 130 and the terminal portion 20 are successfully butt-fixed, so as to control the second prompting device 50 to issue a prompting signal for prompting the success of butt-fixing, such as a green light. Thus, the user can use the crane safely.
As can be seen from the above, the medical tower crane provided by the present invention has the advantages that the tower crane main body 10 and the terminal part 20 can be separated and butted, the operation is simple, the prompt and feedback are provided for each operation, the degree of automation is high, and the use efficiency of the medical tower crane is improved.
Specifically, in a practical application scenario, when docking is required, the head 130 of the tower body 10 needs to be lifted to the same height (e.g., 1.5 m) as the second docking component of the terminal portion (mobile box) 20, and at this time, the user needs to press the docking button to make hands loose, then the head 130 controls electric rotation under the control of the controller 60 according to the height value measured by the distance measuring sensor at the bottom of the head, and then the head automatically adjusts the height (up/down) to a predetermined docking height (e.g., 1.5 m) under the drive of the motor, during the height adjustment (up/down), in order to prompt the doctor to empty the region for the next docking operation of the terminal portion 20, during the height adjustment, a beam of light is simultaneously emitted to prompt the region (docking region) to be emptied, and if there is an article in the docking region, the first prompting device 40 prompts to empty the article in the region, and after reaching the predetermined docking height, the light emission of the region (docking button) to the region 20 is automatically stopped, at this time, as shown in fig. 6.
When the terminal portion 20 is pushed to the right position, the marker on the terminal portion 20 blocks the 2 photo-interrupters in the hanging head, and the 2 photo-interrupters are simultaneously blocked, and the controller (e.g., MCU) 60 accordingly determines that the terminal portion 20 is pushed to the right position, i.e., the in-position signal is normal, and at this time, the hanging head automatically rises for a certain distance (e.g., 5 cm) to lift off the ground for the four wheels of the terminal portion 20 to be completely hung up, so as to prevent the terminal portion 20 from being out of the docking position when the doctor looses his hands, and to avoid the later-stage strong power docking being misaligned and mis-docked.
After a certain distance, for example 5cm, the controller 60 will open the corresponding solenoid valve to ventilate the power mechanism (cylinder) connected to the strong electricity, and the cylinder will extend to connect the strong electricity, power the circuit board on the terminal portion 20, and communicate.
When detecting that the cylinder in-place signal and the weak current handshake communication of the terminal part 20 are successful, a strong current switch can be turned on to electrify the socket of the terminal part 20 (220V); the tower crane can then be used for normal operation.
After the operation is completed, the terminal portion 20 can be separated from the head by various specific procedures, and two specific procedures are described below. As shown in fig. 10, the control method of the split type medical tower crane includes the following steps:
step 4, the controller 60 receives an instruction for separation preparation, and in response to the instruction, controls the head 130 of the tower crane body 10 to descend to a preset first height. The command for preparing for separation may be issued by an external device, or may be issued by a button on the tower main body 10, and the latter is exemplified in the present embodiment. As shown in fig. 9, the hanging head is provided with an up key L for controlling the lifting of the hanging head and a down key M for controlling the lowering of the hanging head. In other words, the instruction for performing separation preparation may include a continuous trigger instruction of the down key M. The user continuously presses the lowering key M, the controller 60 receives a continuous triggering instruction of the lowering key M, and controls the head 130 of the tower main body 10 to descend until the lowering key M is continuously triggered until the head descends to the preset first height. The first height may be a docking height or other heights, such as a height at which the suspension head 130 lifts the terminal portion 20 when the suspension head 130 is docked with the terminal portion 20, to provide for subsequent separation. The height of the head 130 can be detected by the height sensor 30 on the head 130, and since the height of the terminal portion 20 is known, the height of the head can also be calculated from the value detected by the height sensor at the bottom of the terminal portion 20.
After the hanging head is lowered to the preset first height, the controller 60 sends out a prompt signal for prompting the separation operation through the second prompting device 50, such as sending out a prompt sound, lighting an indicator lamp, and the like. The second prompting device 50 may be the same as or different from the first prompting device 40, and in this embodiment, the latter is taken as an example, the second prompting device 50 includes a backlight of the off key, and after the hanging head descends to a preset first height, the controller 60 controls the backlight of the off key to light up, so as to prompt the user to press the off key to trigger the separation instruction.
Step 5, the controller 60 receives the separation command, and in response to the command, controls the suspension head 130 to separate from the terminal portion 20. A disconnection key can be arranged on the tower crane main body 10, and the disconnection key can be specifically arranged on the hanging head 130, so that a user can press the disconnection key conveniently. The disconnection key is triggered by a user to send a disconnection instruction.
The controller 60 controls the hanging head 130 to be separated from the terminal portion 20, and specifically, may control the hanging head 130 to stop outputting a strong current to the terminal portion 20, for example, control a controllable switch serially connected to a strong current line of the tower crane body 10 to be turned off, thereby turning off a strong current supply of the terminal portion 20. The controller 60 controls the hanging head 130 and the terminal portion 20 to release the docking fixation and release the strong electric docking. Specifically, the controller 60 controls the suspension head 130 and the terminal portion 20 to release the docking fixation, for example, controls the docking device 70 to release the docking fixation of the suspension head 130 and the terminal portion 20 by reversing the above docking fixation process, and may first release the horizontal displacement restriction between the suspension head 130 and the terminal portion 20, for example, control the air cylinder 132 to contract (rise), so that the docking plate 210 and the rail 131 are only affected by the weight of the terminal portion 20. Further, the controller 60 controls the suspension head 130 to descend so that the terminal portion 20 contacts the ground, and thus the interaction force between the docking plate 210 and the rail 131 becomes 0. The controller 60 releases the strong power connection and may control the power mechanism to drive the first power connector 133 to move away from the second power connector 240, thereby disengaging the two power connectors.
If the weak current and the gas circuit are connected and automatically butted, the separation is also automatically separated, and if the weak current and the gas circuit are connected and manually butted, a user is required to disconnect the first weak current connecting piece and the second weak current connecting piece and disconnect the first gas pipeline connecting piece and the second gas pipeline connecting piece. The termination section 20 can then be removed and the tower body 10 and termination section 20 can be subsequently used independently.
The controller 60 also detects whether or not the separation is successful, and if the separation is successful, a warning signal for warning the success of the separation is issued by the second warning device 50, thereby warning the user that the terminal portion 20 can be safely removed. For example, the controller 60 determines whether or not the weak current signal fed back from the terminal unit 20 is received after receiving the separation command, and determines that the separation is successful if the weak current signal fed back from the terminal unit 20 is not received. The second prompting device 50 issues a signal for prompting the separation success, for example, a backlight lamp for disconnecting a key is turned off.
In the embodiment shown in fig. 10, the separation of the terminal portion 20 from the suspension head 130 is divided into two steps, one step in fig. 11. In the embodiment shown in fig. 11, the control method of the split type medical tower crane includes the following steps:
step 6, the controller 60 receives the separation command, controls the head 130 of the tower main body 10 to descend to a preset first height in response to the command, and controls the head 130 to separate from the terminal portion 20. That is, the user issues a detach command. The separate command may be triggered by a single key or by a combination of multiple (two or more) keys, as exemplified below.
In one mode, a disconnection key is provided on the head 130 of the tower crane main body 10, and the disconnection key is triggered by a user to send a disconnection command. The button is triggered, which is very convenient. The controller 60 controls the hanging head 130 of the tower crane body 10 to descend to the first predetermined height, and controls the hanging head 130 to separate from the terminal portion 20, the specific process of which is described in the above steps 4 and 5, which is not described in detail herein.
Another way is that the head 130 of the tower crane main body 10 is provided with a down key and a break key, which are sequentially triggered by a user to send a separation instruction. And the misoperation can be avoided by the form triggering of the combined keys. The controller 60 controls the hanging head 130 of the tower crane body 10 to descend to the first predetermined height, and controls the hanging head 130 to separate from the terminal portion 20, the specific process of which is described in the above steps 4 and 5, which is not described in detail herein.
In another mode, the head 130 of the tower crane body 10 is provided with a down key and a break key, and the down key and the break key are simultaneously triggered by a user to send a separation instruction. The controller 60 controls the hanging head 130 of the tower crane main body 10 to descend to a preset first height, and controls the hanging head 130 to separate from the terminal portion 20, and the specific process thereof is performed through the above steps 4 and 5, which are not described herein again.
In the embodiment shown in fig. 10 and 11, keys on the suspension head 130, such as a down key and a off key, may be provided on the terminal portion 20, and these keys may transmit corresponding commands to the controller 60 through weak current or wireless communication, so that the controller 60 controls the separation of the terminal portion 20 from the suspension head 130.
In a specific application scenario, for example, after an operation is completed, a field is cleaned, the terminal portion 20 needs to be detached and pushed into a next-door operating room for continuous use, and the device utilization rate is improved, the basic process is opposite to the above docking process, namely, a key on the hanging head 130 is pressed, the key can be a combined key for disconnection and descent, or can be designed into a form of starting a separation function by double-click of the key (mainly, the combined key is used only by preventing false triggering), then the hanging head 130 controls electric rotation under the control of the controller 60 according to a height value measured by a distance measuring sensor at the bottom of the terminal portion 20, then the hanging head 130 is driven by the motor to automatically adjust the height to a preset height, then the electromagnetic valve is closed, the air source of the air cylinder is disconnected, and at this time, the air cylinder is retracted under the action of the spring, and the electrical connection of the terminal portion 20 is disconnected. Then the crane head 130 is automatically lowered a certain distance, for example, 5cm, to let the terminal portion 20 land on 4 wheels, at this time, the wedge-shaped rail on the crane head 130 is separated from the butt plate of the terminal portion 20, and finally, the terminal portion is pulled horizontally to complete the disassembly.
Reference is made herein to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope hereof. For example, the various operational steps, as well as the components used to perform the operational steps, may be implemented in differing ways depending upon the particular application or consideration of any number of cost functions associated with operation of the system (e.g., one or more steps may be deleted, modified or incorporated into other steps).
Additionally, as will be appreciated by one skilled in the art, the principles herein may be reflected in a computer program product on a computer readable storage medium, which is pre-loaded with computer readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, blu Ray disks, etc.), flash memory, and/or the like. These computer program instructions may be loaded onto a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions which execute on the computer or other programmable data processing apparatus create means for implementing the functions specified. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including means for implementing the function specified. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified.
While the principles herein have been illustrated in various embodiments, many modifications of structure, arrangement, proportions, elements, materials, and components and otherwise, used in the practice of the disclosure, which are particularly adapted to specific environments and operative requirements, may be employed without departing from the principles and scope of the present disclosure. The above modifications and other changes or modifications are intended to be included within the scope of this document.
The foregoing detailed description has been described with reference to various embodiments. However, one skilled in the art will recognize that various modifications and changes may be made without departing from the scope of the present disclosure. Accordingly, the disclosure is to be considered in all respects as illustrative and not restrictive, and all such modifications are intended to be included within the scope thereof. Also, advantages, other advantages, and solutions to problems have been described above with regard to various embodiments. However, the benefits, advantages, solutions to problems, and any element(s) that may cause any element(s) to occur or become more pronounced are not to be construed as a critical, required, or essential feature or element of any or all the claims. As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, system, article, or apparatus. Furthermore, the term "coupled," and any other variation thereof, as used herein, refers to a physical connection, an electrical connection, a magnetic connection, an optical connection, a communicative connection, a functional connection, and/or any other connection.
Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. Accordingly, the scope of the invention should be determined from the following claims.

Claims (25)

1. The control method of the split type medical crane is characterized in that the medical crane comprises a crane body and a terminal part matched with the crane body, the crane body and the terminal part are arranged in a split mode, the crane body is used for suspending and moving the terminal part, and the terminal part is used for bearing medical equipment and can move on the ground; the control method comprises the following steps:
receiving a continuous trigger instruction of an equipotential key arranged on the tower crane main body, and controlling a lifting head of the tower crane main body to ascend or descend during the period that the equipotential key is continuously triggered until the tower crane main body moves to a preset docking height;
detecting whether the terminal part reaches a preset butting position or not, and if the terminal part reaches the preset butting position, controlling the hanging head and the terminal part to be in butting fixation by self;
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
2. The control method of the split type medical crane tower is characterized in that the medical crane tower comprises a crane tower main body and a terminal part matched with the crane tower main body, wherein the terminal part is used for bearing medical instruments; the control method comprises the following steps:
receiving an instruction for carrying out docking preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset docking height in response to the instruction;
detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be in butting fixation by itself if the terminal part reaches the preset butting position.
3. A method according to claim 2, wherein a height sensor is provided on the head for detecting the height of the head.
4. The method of claim 2 or 3, wherein said receiving an instruction for docking preparation, in response to which controlling a head of the tower body to ascend or descend to a preset docking height, comprises:
receiving a continuous trigger instruction of an equipotential key arranged on the tower crane main body;
and controlling the lifting head of the tower crane main body to ascend or descend during the period that the equipotential key is continuously triggered until the tower crane main body moves to a preset butting height.
5. The method of claim 2, further comprising:
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
6. The method of claim 2, upon receiving an instruction to perform docking preparation, further comprising:
sending a prompt signal for prompting the emptying of articles in the area below the hanging head; and/or the presence of a gas in the atmosphere,
whether articles exist in the area below the hanging head is detected, and if the articles exist, corresponding alarm information is sent out.
7. The method of claim 6, wherein said issuing a notification signal for notifying emptying of items from the area below the hanging head comprises:
projecting a butt-joint region of the terminal part in a region below the hanging head to prompt a user to empty the article in the butt-joint region and push the terminal part to a butt-joint position of the terminal part.
8. The method of claim 1 or 5, further comprising:
when the hanging head and the terminal end are controlled to be in butt joint and fixed by self, the hanging head and the terminal end are controlled to be in strong electric butt joint;
and/or the presence of a gas in the gas,
after detecting that the docking fixing is successful, the method further comprises the following steps: and detecting whether the hanging head is connected with the terminal part in a weak current manner, and if so, outputting the strong current to the terminal part by the hanging head.
9. The method according to claim 1 or 2, wherein said controlling said head to self-dock with said terminal portion comprises:
controlling the hoisting head to lift the terminal part to enable the terminal part to be away from the ground or to be away from the ground;
the hoisting head and the terminal part are fixed together by docking means provided on the hoisting head and/or the terminal part.
10. The method according to claim 1 or 2, wherein said detecting whether said terminal portion reaches a preset docking position comprises:
detecting whether the terminal portion reaches a preset butting position by a sensor, or,
determining that the terminal part reaches a preset butt joint position after a butt joint key arranged on the tower crane main body is triggered; and if the butting key is not triggered, determining that the terminal part does not reach a preset butting position.
11. The control method of the split type medical crane tower is characterized in that the medical crane tower comprises a crane tower main body and a terminal part matched with the crane tower main body; the control method comprises the following steps:
receiving an instruction for separation preparation, and controlling a hoisting head of the hoisting tower main body to descend to a preset first height in response to the instruction; wherein the terminal part is fixed on the hanging head in a butt joint way;
and receiving a separation instruction, and responding to the instruction, and controlling the hanging head to be separated from the terminal part.
12. The control method of the split type medical crane tower is characterized in that the medical crane tower comprises a crane tower main body and a terminal part matched with the crane tower main body, wherein the terminal part is used for bearing medical equipment and can move on the ground; the control method comprises the following steps:
receiving a separation instruction, responding to the instruction, controlling a hanging head of the tower crane main body to descend to a preset first height, wherein the hanging head is fixedly butted with the terminal part, and controlling the hanging head to be separated from the terminal part.
13. The method of claim 11, further comprising:
and sending a prompt signal for prompting that the separation operation can be carried out after the lifting head descends to a preset first height.
14. The method of claim 11 or 12, further comprising:
and detecting whether the separation is successful, and if the separation is successful, sending a prompt signal for prompting the successful separation.
15. The method of claim 11, wherein said receiving an instruction for separation preparation, and in response to said instruction, controlling a head of the tower crane body to descend to a preset first height comprises:
and receiving a continuous trigger instruction of a descending key arranged on the tower crane main body, and controlling the head of the tower crane main body to descend until the head descends to a preset first height during the descending key is continuously triggered.
16. The method of claim 12,
a disconnection key is arranged on the tower crane main body, and the disconnection key is triggered by a user to send the separation instruction; alternatively, the first and second liquid crystal display panels may be,
a descending key and a disconnection key are arranged on the tower crane main body, and the descending key and the disconnection key are triggered by a user in sequence to send the separation instruction; alternatively, the first and second liquid crystal display panels may be,
and a descending key and a disconnection key are arranged on the tower crane main body, and the descending key and the disconnection key are triggered by a user at the same time to send the separation instruction.
17. The method of claim 11 or 12, wherein said controlling said suspension head to disengage from said termination comprises:
controlling the hanging head to stop outputting strong electricity to the terminal part;
and controlling the hanging head and the terminal part to release butt joint fixation and release strong electric butt joint.
18. The method of claim 17, wherein said controlling said suspension head and said termination portion to release said docking securement comprises:
releasing the horizontal displacement restriction between the hanging head and the terminal portion;
and controlling the hoisting head to descend to enable the terminal part to contact the ground.
19. A method for controlling a split type medical tower crane, comprising the method for controlling a split type medical tower crane according to any one of claims 1 to 10 and the method for controlling a split type medical tower crane according to any one of claims 11 to 17.
20. A split type medical tower crane, comprising: a controller, a tower crane main body and a terminal part matched with the tower crane main body, wherein the tower crane main body and the terminal part are arranged in a split mode;
the terminal part is used for carrying a medical instrument;
the tower body comprising a head for suspending and/or moving the terminal section;
the controller is configured to:
receiving an instruction for carrying out docking preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset docking height in response to the instruction;
and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position.
21. The split medical tower crane of claim 20, further comprising a prompting device for outputting a prompting signal; the controller is further configured to:
and detecting whether the butt joint fixing is successful, and if the butt joint fixing is successful, sending a prompt signal for prompting the success of the butt joint fixing.
22. A split type medical tower crane, comprising: a controller, a tower crane main body and a terminal part matched with the tower crane main body, wherein the tower crane main body and the terminal part are arranged in a split mode;
the terminal part is used for carrying a medical instrument;
the tower crane body comprising a hoisting head for suspending and/or moving the terminal section;
the controller is configured to:
receiving an instruction for separation preparation, and controlling a hoisting head of the hoisting tower main body to descend to a preset first height in response to the instruction; wherein the terminal part is fixed on the hanging head in a butt joint way;
and receiving a separation instruction, and responding to the instruction, and controlling the hanging head to be separated from the terminal part.
23. A split type medical tower crane, comprising: a controller, a tower crane main body and a terminal part matched with the tower crane main body, wherein the tower crane main body and the terminal part are arranged in a split mode;
the terminal part is used for carrying a medical instrument;
the tower body comprising a head for suspending and/or moving the terminal section;
the controller is configured to:
receiving a separation instruction, responding to the instruction, controlling a hanging head of the tower crane main body to descend to a preset first height, wherein the hanging head is fixedly connected with the terminal part in an abutting mode, and controlling the hanging head to be separated from the terminal part.
24. The split medical tower crane of claim 22 or 23, further comprising a prompting device for outputting a prompting signal; the controller is further configured to:
and detecting whether the separation is successful, and if the separation is successful, sending a prompt signal for prompting the successful separation.
25. The split medical tower crane of claim 22, 23 or 24, wherein the controller is further configured to:
receiving an instruction for carrying out docking preparation, and controlling a hoisting head of the hoisting tower main body to ascend or descend to a preset docking height in response to the instruction;
and detecting whether the terminal part reaches a preset butting position or not, and controlling the hanging head and the terminal part to be butted and fixed automatically if the terminal part reaches the preset butting position.
CN202211059150.0A 2021-09-06 2022-08-31 Split type medical crane tower and control method thereof Pending CN115737327A (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202111047315 2021-09-06
CN2021110473158 2021-09-06
CN202111040637 2021-09-06
CN202111040637X 2021-09-06

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CN202211064522.9A Pending CN115770112A (en) 2021-09-06 2022-08-31 Medical hanging equipment
CN202280058580.2A Pending CN117881376A (en) 2021-09-06 2022-08-31 Medical crane tower and medical crane tower system
CN202211059150.0A Pending CN115737327A (en) 2021-09-06 2022-08-31 Split type medical crane tower and control method thereof
CN202280058530.4A Pending CN117956953A (en) 2021-09-06 2022-08-31 Medical crane tower, docking method, separation method, management method and management system thereof

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CN202280058580.2A Pending CN117881376A (en) 2021-09-06 2022-08-31 Medical crane tower and medical crane tower system

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CN115770112A (en) 2023-03-10
CN117956953A (en) 2024-04-30
WO2023030382A1 (en) 2023-03-09
WO2023030418A1 (en) 2023-03-09

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