WO2017117914A1 - 床体倾斜装置及床体倾斜的控制方法 - Google Patents

床体倾斜装置及床体倾斜的控制方法 Download PDF

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Publication number
WO2017117914A1
WO2017117914A1 PCT/CN2016/084609 CN2016084609W WO2017117914A1 WO 2017117914 A1 WO2017117914 A1 WO 2017117914A1 CN 2016084609 W CN2016084609 W CN 2016084609W WO 2017117914 A1 WO2017117914 A1 WO 2017117914A1
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WO
WIPO (PCT)
Prior art keywords
lifting
angle
bed body
lowering
bed
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PCT/CN2016/084609
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English (en)
French (fr)
Inventor
许俊红
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深圳市科曼医疗设备有限公司
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Publication of WO2017117914A1 publication Critical patent/WO2017117914A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
    • 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
    • A61G11/00—Baby-incubators; Couveuses
    • A61G11/008—Baby-incubators; Couveuses tiltable about a horizontal axis, e.g. oscillating
    • 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
    • A61G11/00—Baby-incubators; Couveuses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering

Definitions

  • the present invention relates to the field of medical devices, and more particularly to a method for controlling a bed tilting device and a bed tilt.
  • the baby incubator regulates the temperature inside the box (box temperature/body temperature) and performs proportional heating control according to the preset temperature and the measured temperature.
  • the internal air is adjusted by the principle of heat convection to create an excellent environment with suitable air, suitable temperature and humidity, similar to the mother's uterus, so as to cultivate and care for the baby.
  • the bed body tilt of the baby incubator is used more frequently in the neonatal department. Each incubator is more than 5 times a day, and the body of the baby incubator bed needs to be cleaned at least once a week.
  • the bed tilt of the general baby incubator is manually adjusted, and the tilt angle of the bed can not be checked, so that the tilt angle of the bed in the baby incubator cannot be standardized, which is not conducive to clinical statistics;
  • Manual tilting should match the air duct circulation system inside the box, so that the structure inside the box is relatively complicated, and the whole cleaning process is troublesome, which is not conducive to installing an electronic sensor or an angle detecting unit.
  • a bed tilting device comprises a support base, a lifting push rod, a bed body, a main controller and an interaction module; the support base is connected with the lifting push rod; and the lifting push rod is connected with one end of the bed body For driving the tilt of the bed body;
  • a central axis is disposed at a midpoint of the bed body, and the bed body is inclined about the central axis;
  • the main controller is connected to the lifting and lowering rod; for controlling the lifting and lowering of the lifting and lowering rod and calculating an angle of inclination of the bed body according to the stroke of the lifting and lowering rod;
  • the interaction module is connected to the main controller for setting the tilt angle of the bed body.
  • the main controller includes a stroke detecting unit, a motor push rod driving unit, and a micro processing unit;
  • the stroke detecting unit is connected to the lifting and lowering rod; and is configured to detect a movement signal of the lifting and lowering rod;
  • the motor push rod driving unit is connected to the lifting and lowering rod; and is used for driving the movement of the lifting and lowering rod;
  • the micro processing unit is respectively connected to the interaction module, the stroke detecting unit, and the motor push rod driving unit; the micro processing unit controls the motor push rod driving unit to drive the motor push rod movement, and according to the stroke
  • the movement signal of the lifting and lowering rod detected by the detecting unit calculates an angle at which the bed body is inclined.
  • the stroke detecting unit is a Hall sensor, a photoelectric switch sensor, or a potentiometer.
  • the main controller further includes a storage unit for storing a one-to-one correspondence table between the moving distance of the lifting and lowering rod and the tilting angle of the bed body.
  • the corresponding relationship between the moving distance of the lifting and lowering rod and the inclination angle of the bed body satisfies a trigonometric function relationship, wherein the lifting and lowering rod moving distance is a right angle side corresponding to the inclination angle of the bed body.
  • the interaction module includes a display unit for displaying the tilt angle of the bed body and a control unit for presetting the angle of tilting of the bed body;
  • the display unit is at least one of a liquid crystal panel, a digital tube, an LED display screen, or a pointer dial;
  • the control unit is one of a button, a shuttle or a touch screen.
  • the lifter is an electric lifter or a pneumatic lifter.
  • a method of controlling the tilt of the bed including:
  • the lifting and lowering rod movement is driven such that the current height of the lifting and lowering rod is equal to the target height.
  • the method further includes: determining a size of the target angle; if the target angle is greater than zero, entering a positive angle adjustment program; if the target angle is less than zero, entering a negative angle adjustment program; if the target angle is equal to zero And the bed body is perpendicular to the lifting push rod, and the bed body is horizontally placed.
  • the positive angle adjustment procedure comprises:
  • the negative angle adjustment program includes:
  • a central axis is provided at a midpoint of the bed body in the bed tilting device, and the lifting pusher is connected to one end of the bed body, and the driving bed body is inclined about the central axis.
  • the main controller is connected with the lifting and lowering rod, controls the lifting and lowering of the lifting and pushing rod, and calculates the angle of the tilting of the bed body according to the stroke of the lifting and pushing rod; and the interaction module is connected with the main controller, and the tilt angle of the bed body can be set in real time.
  • the bed tilting device and the bed tilt control method can standardize the tilt angle of the bed body in the device, and can also reduce the workload, the structure is simple, and the maintenance and cleaning are convenient.
  • Figure 1 is a schematic view of the structure of the bed tilting device
  • Figure 2 is a schematic view of the positive angle of the bed
  • Figure 3 is a schematic view of the negative angle of the bed
  • Figure 4 is a block diagram of a bed tilting device
  • Fig. 5 is a flow chart showing a control method of bed tilt.
  • FIG. 1 is a schematic structural view of a bed tilting device, and the bed tilting device includes a support base 100, a lifting push rod 200, a bed body 300, a main controller 400, and an interaction module 500.
  • the support base 100 is connected to the lifting push rod 200;
  • the lifting push rod 200 is connected to one end of the bed body 300 for driving the tilt of the bed body 300; at the midpoint of the bed body 300, a central shaft 310 is provided, and the bed body 300 can be wound around the center
  • the shaft 310 is tilted and rotated;
  • the main controller 400 is connected to the lifting and lowering rod 200 for controlling the lifting of the lifting and lowering rod 200 and calculating the angle of inclination of the bed body 300 according to the stroke of the lifting and lowering rod 200;
  • the interaction module 500 is connected with the main controller 400. For setting the angle at which the bed body 300 is inclined.
  • the lifting and lowering rod 200 is vertically fixed on the supporting base 100, and the lifting and lowering rod 200 can be used to realize the lifting linear motion.
  • a central shaft 310 is disposed at a midpoint of the bed body 300.
  • the central shaft 310 is also coupled to the bed base and the air duct system for securing the central shaft 310 and the support bed body 300. Since the lifting and lowering lever 200 is connected to one end of the bed body 300, when the lifting and lowering lever 200 is moved up and down linearly, the bed body 300 can be driven by the central shaft 310 to realize the tilting rotation, that is, the bed body 300 can be raised to the side of the bed body 300. Tilt effect.
  • the central axis 310 is located at the center of the bed body 300, and can also be understood as a symmetric dividing axis.
  • the bed body 300 and the lifting and lowering bar 200 can be equivalent to a triangular model.
  • a sliding groove is further provided for pushing the lifting rod 200 up and down linearly to push the bed body 300, and the bed body 300 is tilted and rotated to have a buffer space.
  • the bed body 300 is inclined at a positive angle.
  • the lifter 200 is lowered, referring to FIG. 3, the bed body 300 is inclined at a negative angle.
  • the distance from the central axis 310 to the lifting and lowering lever 200 is a fixed value, which is defined as the first size.
  • the letter a indicates.
  • the first dimension a can be equivalent to the first right-angled edge a of the triangular module, and the specific parameter value can be measured by the measuring ruler.
  • the height of the lifting and lowering lever 200 is defined as a second size, indicated by the letter H, when the lifting and lowering lever 200 is raised or lowered,
  • the ascending or descending stroke is defined as the third dimension, indicated by the letter h.
  • the third dimension h can be equivalent to the second right-angled edge h of the triangular model, which can be detected by the main controller 400.
  • the main controller 400 includes a stroke detecting unit 410, a motor push rod driving unit 420, and a micro processing unit 430.
  • the stroke detecting unit 410 is connected to the lifting and lowering lever 200 for detecting the movement signal of the lifting and lowering push 200;
  • the motor push rod driving unit 420 is connected to the lifting and lowering lever 200 for driving the movement of the lifting and lower pushing 200;
  • the micro processing unit 430 respectively
  • the communication module 500, the stroke detecting unit 410, and the motor push rod driving unit 420 are communicably connected.
  • the micro processing unit 430 controls the motor push rod driving unit 420 to drive the motor push rod 200 to move, and calculates the tilt angle of the bed body 300 according to the above formula according to the movement signal of the lifting and lowering lever 200 detected by the stroke detecting unit 410.
  • the main controller 400 is built into the lifter 200. In other embodiments, the master 400 can also be placed in other suitable locations in the bed tilting device.
  • the lifter 200 is an electric lifter or a pneumatic lifter.
  • an electric lifter is used.
  • the electric push rod also known as the linear actuator, is a linear reciprocating electric drive device that converts the rotary motion of the motor into a push rod composed of a motor push rod and a control device to realize remote control, centralized control or automatic control. .
  • the lifting and lowering lever 200 is used in conjunction with the stroke detecting unit 410.
  • the stroke detecting unit 410 is a Hall sensor, a photoelectric switch sensor, an encoder or a potentiometer. When the lifter 200 is raised or lowered, there will be a corresponding pulse output or change in voltage value that is detected by the microprocessor 430 and used to calculate the travel distance.
  • the stroke detecting unit 410 is a Hall sensor, and the linear Hall sensor can be placed in the middle, and the magnetic induction intensity is zero. This point can be used as the zero point of the displacement.
  • the Hall sensor is on the Z axis, When Z is displaced, the sensor has a voltage output that is proportional to the magnitude of the displacement. Assuming that the lifter 200 moves by 1 mm, there is a voltage change of 10 mv, so that the stroke detecting unit 410 can detect the stroke movement signal of the lifter 200.
  • the stroke detecting unit 410 may be a photoelectric switch, and the optical element in the photoelectric switch is used to change the light beam in the middle of the propagation medium; if the lifting push rod 200 moves 1 mm, there is one pulse output; The light beam is used to reflect the object; the light beam is emitted after a long distance and then returned instantaneously, thereby detecting and discriminating the distance of the object. Since the Hall sensor or photoelectric switch sensor is a discontinuous signal output, it is necessary to save the current position before the last shutdown when using this type of sensor to detect the stroke.
  • the stroke detecting unit 410 may be an encoder that accurately feeds back the number of revolutions of the motor spindle by the number of pulses, thereby accurately calculating the stroke change of the electric push rod to achieve precise control; the stroke detecting unit 410 may also be a potentiometer. It is used to feedback the magnitude of the motor resistance, which reflects the stroke position of the push rod, and finally achieves the purpose of stopping the control push rod at any position in the middle of the stroke.
  • the lifting and lowering lever driving unit 420 is coupled to the lifting and lowering lever 200 for driving the lifting and lowering push rod 200 and managing the lifting and lowering control signals.
  • the micro processing unit 430 calculates the moving distance h of the current lifting and lowering lever 200 and the tilting angle ⁇ of the bed body 300 based on the detection signal of the stroke detecting unit 410.
  • the main controller 400 further includes a storage unit 440, and the storage unit 440 is a RAM (Random Access) Memory) or FLASH
  • the memory is used for storing a one-to-one correspondence relationship between the moving distance of the lifting and lowering lever 200 and the tilting angle of the bed body 300.
  • the correspondence relationship between the moving distance h of the lifting and lowering lever 200 and the inclination angle ⁇ of the bed body 300 satisfies a trigonometric function relationship, wherein the moving distance h of the lifting and lowering lever 200 is the second right-angled side h corresponding to the inclination angle ⁇ of the bed body.
  • the angle of the tilt of the bed body 300 and the tangent value are stored in the main controller 400 in a one-to-one correspondence by the relationship correspondence table, and the tangent value can pass through two right angles. The ratio of the edges is calculated. With the tangent value, the corresponding tilt angle can be found by looking up the table, which can save system resources and high efficiency.
  • the key point is that the bed body 300 and the lifting and lowering rod 200 are equivalent to a triangular model, wherein the distance from the central shaft 310 to the lifting and lowering rod 200 is a fixed value, which is defined as the first size.
  • the letter a indicates.
  • the moving distance of the ascending or descending stroke is defined as the third size, indicated by the letter h.
  • the bed body 300 When the bed body 300 is horizontal, it is also the case when the bed body 300 is inclined to 0 degrees; when the inclination angle is positive, the relationship between the second right angle side h and the inclination angle ⁇ is positive, that is, the second right angle side h is larger, the bed The inclination angle ⁇ of the body 300 is larger; when the inclination angle ⁇ is negative, the relationship between the second right angle side h and the inclination angle ⁇ is negative, that is, the higher the second right angle side h is, the smaller the inclination angle ⁇ of the bed body 300 is.
  • the horizontal position of the bed body 300 can be detected by a photoelectric switch or a Hall sensor or the like, or can be determined by factory setting and calibration without using a sensor, and the rise or fall is controlled by the main controller according to actual needs.
  • the main controller 400 controls the lifting linear motion of the lifting and lowering push rod 200 to drive the tilting rotation of the bed body 300, and the micro processing unit 430 calculates the moving distance h of the current lifting and lowering lever 200 and the bed according to the detection signal of the stroke detecting unit 410.
  • the inclination angle ⁇ of the body 300 can be detected by a photoelectric switch or a Hall sensor or the like, or can be determined by factory setting and calibration without using a sensor, and the rise or fall is controlled by the main controller according to actual needs.
  • the main controller 400 controls the lifting linear motion of the lifting and lowering push rod 200 to drive the tilting rotation of the bed body 300, and the micro processing unit 430 calculates the moving distance h of the current lifting and lowering lever 200 and the bed according to the detection signal
  • the interaction module 500 includes a display unit 510 and a control unit 520.
  • the display unit 510 is at least one of a liquid crystal panel, a digital tube, an LED display screen, or a pointer dial; and is used to display an angle at which the bed body 300 is tilted.
  • the control unit 520 is one of a button, a shuttle or a touch screen; a target angle for inputting the tilt of the bed body 300 also has a function of human-computer interaction.
  • the interaction module 500 is externally attached to the top end of the lifting and lowering rod 200.
  • the interaction module 500 can also set the inclination angle of the bed body 300 and display the inclination of the bed body 300 in real time. Corner, set in other locations.
  • a flow chart of a control method for tilting a bed body as shown in FIG. 4 includes the following steps:
  • S100 preset the target angle of the bed body tilting, and convert the target angle into a tangent value according to a trigonometric function, and calculate a target length of the bed body tilt angle ⁇ corresponding to the right angle side.
  • the inclination angle corresponds to the target length of the right angle side, that is, the target movement distance h of the elevation push rod 200.
  • the height of the lifting and lowering bar 200 is defined as a second size, indicated by the letter H, when the lifting and lowering bar 200 When rising or falling, the moving distance of the rising or falling stroke is defined as the third size, indicated by the letter h.
  • the current height of the lifting and lowering lever 200 is detected based on the stroke detecting unit 410, and then compared with the target height of the above-described calculated lifting and lowering lever 200.
  • the micro processing unit 430 determines the size of the set target angle.
  • the right angle side corresponding to the target angle is defined as the moving distance of the lifting and lowering lever 200.
  • the positive angle adjustment procedure is entered.
  • the negative angle adjustment procedure is entered.
  • the bed body 300 is perpendicular to the lifter bar 200, that is, the bed body 300 is placed horizontally without tilting.
  • the current angle and the target angle are determined according to the current height of the lifter and the target height.
  • the main controller 400 controls the lifting and lowering lever 200 to rise, and detects the current height in real time until the current height is equal to the target height, and the main controller 400 controls the lifting and lowering lever 200 to stop. Work to complete the entire rise angle adjustment process.
  • the main controller 400 controls the lifting and lowering lever 200 to descend, and detects the current height in real time until the current height is equal to the target height, and the main controller 400 controls the lifting and lowering.
  • the lever 200 stops working and completes the entire down angle adjustment process.
  • the current angle and the target angle are determined according to the current height of the lifter and the target height.
  • the main controller 400 controls the lifting and lowering lever 200 to rise, and detects the current height in real time until the current height is equal to the target height, and the main controller 400 controls the lifting and lowering lever 200 to stop. Work to complete the entire rise angle adjustment process.
  • the main controller 400 controls the lifting and lowering lever 200 to descend, and detects the current height in real time until the current height is equal to the target height, and the main controller 400 controls the lifting and lowering.
  • the lever 200 stops working and completes the entire down angle adjustment process.
  • the elevation lifter 200 is controlled to maintain the original height H.

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Abstract

一种床体倾斜装置，包括支撑底座（100）、升降推杆（200）、床本体（300）、主控器（400）和交互模块（500）；支撑底座（100）与升降推杆（200）连接；升降推杆（200）与床本体（300）的一端连接；在床本体（300）的中点设有中心轴（310），床本体（300）绕中心轴（310）倾斜；主控器（400）与升降推杆（200）连接，用于控制升降推杆（200）的升降和根据升降推杆（200）的行程计算床本体（300）倾斜的角度；交互模块（500）与主控器（400）连接，用于设置床本体（300）倾斜角度。还提供一种床体倾斜的控制方法。该床体倾斜装置和床体倾斜控制方法可以将该装置中的床本体（300）倾斜角度标准化，结构简单。

Description

床体倾斜装置及床体倾斜的控制方法
【技术领域】
本发明涉及医疗器械领域，特别是涉及床体倾斜装置和床体倾斜的控制方法。
【背景技术】
随着社会经济的不断发展，医疗设备器械也随之更新换代，现在的婴儿培养箱的样式功能多种多样。婴儿培养箱通过对箱内温度（箱温/肤温）实施调控，根据预设温度与实测温度进行比例加热控制。内部空气采用热对流原理进行调节，营造一个空气适宜、温湿度适宜、类似母体子宫的优良环境，从而对婴儿进行培养和护理。婴儿培养箱的床本体倾斜在新生儿科室里使用比较频繁，每个培养箱平均每天5次以上，同时还需要给婴儿培养箱床本体做清洁处理，至少每周一次。
但是，一般的婴儿培养箱的床体倾斜都是手动调节的，其床本倾斜角度的大小也是无法检查的，这样婴儿培养箱内的床体倾斜角度就无法标准化，不利于临床统计；另外，手动倾斜要配合箱内的风道循环系统，这样箱内的结构相对复杂一些，整个清洁过程比较麻烦，不利于安装电子传感器或角度检测单元。一个新生儿科室有上百台培养箱，每天手动调节工作量也是非常大的。
【发明内容】
基于此，有必要针对婴儿培养箱的床体倾斜需手动调节，且倾斜角度不可控的问题，提供一种床体倾斜装置及床体倾斜的控制方法。
一种床体倾斜装置，包括支撑底座、升降推杆、床本体、主控器和交互模块；所述支撑底座与所述升降推杆连接；所述升降推杆与所述床本体的一端连接，用于驱动所述床本体的倾斜；
在所述床本体的中点设有中心轴，所述床本体绕所述中心轴倾斜；
所述主控器与所述升降推杆连接；用于控制所述升降推杆的升降和根据所述升降推杆的行程计算所述床本体倾斜的角度；
所述交互模块与所述主控器连接，用于设置所述床本体倾斜角度。
在其中一个实施例中，所述主控器包括行程检测单元、电机推杆驱动单元和微处理单元；
所述行程检测单元与所述升降推杆连接；用于检测所述升降推杆的移动信号；
所述电机推杆驱动单元与所述升降推杆连接；用于驱动所述升降推杆的运动；
所述微处理单元分别与所述交互模块、行程检测单元、电机推杆驱动单元通讯连接；所述微处理单元控制所述电机推杆驱动单元驱动所述电机推杆运动，并根据所述行程检测单元检测到的所述升降推杆的移动信号计算所述床本体倾斜的角度。
在其中一个实施例中，所述行程检测单元为霍尔传感器、光电开关传感器或电位计。
在其中一个实施例中，所述主控器还包括存储单元，用于存储所述升降推杆移动距离与床本体倾斜角度一一对应关系表。
在其中一个实施例中，所述升降推杆移动距离与床本体倾斜角度的对应关系满足三角函数关系，其中，升降推杆移动距离为所述床本体倾斜角度所对应的直角边。
在其中一个实施例中，所述交互模块包括用于显示所述床本体倾斜角度的显示单元和用于预设所述床本体倾斜的角度的控制单元；
所述显示单元为液晶屏、数码管、LED显示屏或指针表盘中的至少一种；
所述控制单元为按键、飞梭或触摸屏中的一种。
在其中一个实施例中，所述升降推杆为电动升降推杆或者气动升降推杆。
此外，还提供一种床体倾斜的控制方法，包括：
预设所述床本体倾斜的目标角度，并将所述目标角度根据三角函数转换为正切值θ，并计算所述床本体倾斜角度对应直角边的目标长度；
比较所述床本体倾斜角度对应直角边的当前高度与目标高度的大小；
根据比较结果，驱动所述升降推杆运动，使所述升降推杆的当前高度与目标高度相等。
在其中一个实施例中，还包括：判断所述目标角度的大小；若为目标角度大于零，则进入正角度调节程序；若为目标角度小于零，则进入负角度调节程序；若目标角度等于零，则所述床本体与所述升降推杆垂直，所述床本体水平放置。
在其中一个实施例中，所述正角度调节程序包括：
判断所述当前角度与目标角度的大小；
若所述当前角度小于目标角度，则驱动升降推杆上升至所述目标角度对应的所述升降推杆的高度；
若所述当前角度大于目标角度，则驱动升降推杆下降至所述目标角度对应的所述升降推杆的高度；
所述负角度调节程序包括：
判断所述当前角度与目标角度的大小；
若所述当前角度小于目标角度，则驱动升降推杆下降至所述目标角度对应的所述升降推杆的高度；
若所述当前角度大于目标角度，则驱动升降推杆上升至所述目标角度对应的所述升降推杆的高度。
在上述床体倾斜装置中的床本体的中点设有中心轴，升降推杆的与床本体的一端连接，驱动床本体绕中心轴倾斜。主控器与升降推杆连接，控制升降推杆的升降和根据升降推杆的行程计算床本体倾斜的角度；且交互模块与主控器连接，可以实时设置床本体倾斜的角度。该床体倾斜装置和床体倾斜控制方法可以将该装置中的床本体倾斜角度标准化，同时还能减少工作量，结构简单，方便维护和清洁。
【附图说明】
图1为床体倾斜装置的结构示意图
图2为床体正角度倾斜示意图；
图3为床体负角度倾斜示意图；
图4为床体倾斜装置的模块框架图；
图5为床体倾斜的控制方法流程图。
【具体实施方式】
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“和／或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1所示的为床体倾斜装置结构示意图，床体倾斜装置包括支撑底座100、升降推杆200、床本体300、主控器400和交互模块500。支撑底座100与升降推杆200连接；升降推杆200与床本体300的一端连接，用于驱动床本体300的倾斜；在床本体300的中点设有中心轴310，床本体300可绕中心轴310倾斜旋转；主控器400与升降推杆200连接，用于控制升降推杆200的升降和根据升降推杆200的行程计算床本体300倾斜的角度；交互模块500与主控器400连接，用于设置床本体300倾斜的角度。
在本实施例中，升降推杆200垂直固定在支撑底座100上，升降推杆200可以用来实现升降直线运动。在床本体300的中点设有中心轴310，中心轴310还与床体底座与风道系统连接，用于固定中心轴310和支撑床本体300。由于升降推杆200与床本体300的一端连接，当升降推杆200做升降直线运动的时，可以通过中心轴310带动床本体300实现倾斜旋转，也就是可以达到床本体300一边高一边低的倾斜效果。其中，中心轴310位于床本体300的中心，也可以理解为对称分割轴，可将床本体300与升降推杆200等效为三角模型。
在床本体300与升降推杆200的连接处还设有一滑动凹槽，用于升降推杆200上下直线运动推动床本体300，其床本体300倾斜旋转具有缓存的空间。当升降推杆200上升时，参考图2，床本体300为正角度倾斜。当升降推杆200下降时，参考图3，床本体300为负角度倾斜。
参考图2和图3，当床本体300水平放置时（或者床本体300与升降推杆200相互垂直时），中心轴310到升降推杆200的距离为固定值，定义为第一尺寸，用字母a表示。第一尺寸a可以等效为三角模块的第一直角边a，可以通过测量尺测量出具体的参数值。当床本体300水平放置时（或者床本体300与升降推杆200相互垂直时），升降推杆200的高度定义为第二尺寸，用字母H表示，当升降推杆200上升或下降时，其上升或下降的行程定义为第三尺寸，用字母h表示。
第三尺寸h可以等效为三角模型的第二直角边h，可以通过主控器400检测得到。在构成的三角模型中，床本体300倾斜后的倾斜角θ所对应的直角边为第二直角边h；已经第一直角边a、第二直角边h，根据三角函数中的正切与反切公式，就可以推导出倾斜角θ的大小，即：tanθ= h/a；θ=arctan（h/a），即可实时计算出当前床本体300的倾斜角度θ。
如图4所示的为床体倾斜装置的模块框架图，图中主控器400包括行程检测单元410、电机推杆驱动单元420和微处理单元430。其中，行程检测单元410与升降推杆200连接，用于检测升降推200的移动信号；电机推杆驱动单元420与升降推杆200连接，用于驱动升降推200的运动；微处理单元430分别与交互模块500、行程检测单元410、电机推杆驱动单元420通讯连接。微处理单元430控制电机推杆驱动单元420驱动电机推杆200运动，并根据行程检测单元410检测到的升降推杆200的移动信号，根据上述公式计算床本体300倾斜的角度。参考图1，主控器400内置于升降推杆200中，在其他实施例中，主控器400还可以放置在该床体倾斜装置中的其他合适的位置。
升降推杆200为电动升降推杆或气动升降推杆。在本实施例中，使用的为电动升降推杆。电动推杆又名直线驱动器，由电机推杆和控制装置等机构组成的一种将电动机的旋转运动转变为推杆的直线往复运动的电力驱动装置，以实现远距离控制、集中控制或自动控制。
其中升降推杆200与行程检测单元410配合使用，行程检测单元410为霍尔传感器、光电开关传感器、编码器或电位计。当升降推杆200上升或下降时，会有对应的脉冲输出或电压值的变化，被微处理器430检测并用来计算移动距离。
在本实施例中，行程检测单元410为霍尔传感器，可将线性型霍尔传感器置于中间，其磁感应强度为零，这个点可作为位移的零点，当霍尔传感器在Z轴上作△Z位移时，传感器有一个电压输出，电压大小与位移大小成正比。假设升降推杆200每移动1mm，就会有10mv的电压变化，这样行程检测单元410就可以检测出升降推杆200的行程移动信号。
在其他实施例中，行程检测单元410可以为光电开关，利用光电开关中的光学元件，使光束在传播媒介中间发生变化；假设，升降推杆200每移动1mm，就会有1个脉冲输出；利用光束来反射物体；使光束发射经过长距离后瞬间返回，从而检测、判别物体的距离。由于霍尔传感器或光电开关传感器是非连续信号输出，当使用这类传感器检测行程时需要保存上一次关机前的当前位置。上述假设的信号值仅为了方便描述，实际升降推杆200移动1mm输出的脉冲数或电压变化值要根据升降推杆200的丝杆螺纹间距和行程检测单元410的个数或量程来定。
在其他实施例中，行程检测单元410可以是编码器，通过脉冲数准确反馈马达主轴转动圈数，从而精确计算电动推杆行程变化，实现精确控制的；行程检测单元410也可以为电位计，用来反馈电机电阻的大小，从而反映推杆所在的行程位置，最终达到控制推杆在行程中间任一位置停止的目的。
升降推杆驱动单元420与升降推杆200连接，用于对驱动升降推杆200，并管理升降控制信号。微处理单元430根据行程检测单元410的检测信号，计算出当前升降推杆200的移动距离h及床本体300的倾斜角度θ。
主控器400还包括存储单元440，存储单元440为RAM（Random Access Memory）存储器或FLASH 存储器；用于存储升降推杆200移动距离与床本体300倾斜角度一一对应关系表。升降推杆200移动距离h与床本体300倾斜角度θ的对应关系满足三角函数关系，其中，升降推杆200的移动距离h为床本体倾斜角度θ所对应的第二直角边h。鉴于，反正切计算在主控器400里运行起来非常耗资源，通过关系对应表将床本体300倾斜的角度和正切值一一对应的存储到主控器400里，正切值可以通过两条直角边的比值计算出来，有了正切值可以通过查表找到对应的倾斜角度，可更节省系统资源，效率高。
在上述床本体倾斜装置中，其关键点在于将床本体300与升降推杆200等效为三角模型，其中，中心轴310到升降推杆200的距离为固定值，定义为第一尺寸，用字母a表示。当升降推杆200上升或下降时，其上升或下降行程的移动距离定义为第三尺寸，用字母h表示。在构成的三角模型中，床本体300倾斜后的倾斜角θ所对应的直角边为第二直角边h；已经第一直角边a、第二直角边h，根据三角函数中的正切与反切公式，就可以推导出倾斜角θ的大小，即：tanθ= h/a；θ=arctan（h/a），即可实时计算出当前床本体300的倾斜角度θ。
当床本体300水平时，也是床本体300倾斜为0度时的情况；当倾斜角度为正时，第二直角边h与倾斜角度θ的关系为正，即第二直角边h越大，床本体300倾斜角度θ越大；当倾斜角度θ为负时，第二直角边h与倾斜角度θ的关系为负，即第二直角边h越高，床本体300倾斜角度θ越小。床本体300水平位置可通过光电开关或霍尔传感器等来检测得到，也可以不用传感器，通过出厂设置和校准来认为确定，上升或下降由主控器根据实际需要来控制。通过主控器400对控制升降推杆200的升降直线运动，带动床本体300的倾斜旋转，微处理单元430根据行程检测单元410的检测信号，计算出当前升降推杆200的移动距离h及床本体300的倾斜角度θ。
在本实施例中，交互模块500包括显示单元510和控制单元520；显示单元510为液晶屏、数码管、LED显示屏或指针表盘中的至少一种；用于显示床本体300倾斜的角度。控制单元520为按键、飞梭或触摸屏中的一种；用于输入床本体300倾斜的目标角度，也具有人机交互的功能。参考图1，在本实施例中，交互模块500外挂在升降推杆200的顶端，在其实施例中，交互模块500还可以为了方便设置床本体300的倾斜角度和实时显示床本体300的倾斜角，设置在其他位置。
如图4所示的为床本体倾斜的控制方法流程图，包括如下步骤：
S100：预设床本体倾斜的目标角度，并将目标角度根据三角函数转换为正切值，并计算床本体倾斜角度θ对应直角边的目标长度。
根据需求，在交互模块中的控制单元输入床本体300倾斜的目标角度，然后微处理单元430根据三角模型中的参数，通过三角函数的正切公式，计算出对应的正切值t=tanθ。在三角模型中，正切公式为tanθ= h/a；中心轴310到升降推杆200的距离为固定值；也就是第一直角边a为已经值，上述正切值t=tanθ也为已知量，由此就可以计算出床本体300倾斜角度对应直角边的目标长度，也就是升降推杆200的目标移动距离h。
在本实施例中，当床本体300水平放置时（或者床本体300与升降推杆200相互垂直时），升降推杆200的高度定义为第二尺寸，用字母H表示，当升降推杆200上升或下降时，其上升或下降行程的移动距离定义为第三尺寸，用字母h表示。
S200：比较升降推杆的当前高度与目标高度的大小。
首先根据行程检测单元410检测出升降推杆200的当前高度，然后与上述计算升降推杆200的目标高度进行比较。
同时微处理单元430判断所设定的目标角度的大小。定义目标角度所对应的直角边为升降推杆200的移动距离。
若为目标角度大于零，即升降推杆相对于水平床本体300向上运动（远离支撑底座）则进入正角度调节程序。
若为目标角度小于零，即升降推杆相对于水平床本体300向下运动（靠近支撑底座）则进入负角度调节程序。
若目标角度等于零，则床本体300与升降推杆200垂直，也就是床本体300水平放置，无倾斜。
S300：根据比较结果，驱动升降推杆运动，使升降推杆的当前高度与目标高度相等。
若进入正角度调节程序，则根据升降推杆的当前高度与目标高度来判断当前角度与目标角度的大小。
若当前高度小于目标高度，则当前角度小于目标角度，由主控器400控制升降推杆200上升，并实时检测当前高度，直到当前高度与目标高度相等，主控器400控制升降推杆200停止工作，完成整个上升角度调节过程。相应的，若当前高度大于目标高度，则当前角度大于目标角度，由主控器400控制升降推杆200下降，并实时检测当前高度，直到当前高度与目标高度相等，主控器400控制升降推杆200停止工作，完成整个下降角度调节过程。
若进入负角度调节程序，则根据升降推杆的当前高度与目标高度来判断当前角度与目标角度的大小。
若当前高度小于目标高度，则当前角度大于目标角度，由主控器400控制升降推杆200上升，并实时检测当前高度，直到当前高度与目标高度相等，主控器400控制升降推杆200停止工作，完成整个上升角度调节过程。相应的，若当前高度小于目标高度，则当前角度大于目标角度，由主控器400控制升降推杆200下降，并实时检测当前高度，直到当前高度与目标高度相等，主控器400控制升降推杆200停止工作，完成整个下降角度调节过程。
当设定倾斜角度为零时，表示水平状态，此时控制升降推杆200保持原有的高度H即可。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种床体倾斜装置，包括支撑底座、升降推杆、床本体、主控器和交互模块；所述支撑底座与所述升降推杆连接；所述升降推杆与所述床本体的一端连接，用于驱动所述床本体的倾斜；
    在所述床本体的中点设有中心轴，所述床本体绕所述中心轴倾斜；
    所述主控器与所述升降推杆连接；用于控制所述升降推杆的升降和根据所述升降推杆的行程计算所述床本体倾斜的角度；
    所述交互模块与所述主控器连接，用于设置所述床本体倾斜角度。
  2. 根据权利要求1所述的床体倾斜装置，其特征在于，所述主控器包括行程检测单元、电机推杆驱动单元和微处理单元；
    所述行程检测单元与所述升降推杆连接；用于检测所述升降推杆的移动信号；
    所述电机推杆驱动单元与所述升降推杆连接；用于驱动所述升降推杆的运动；
    所述微处理单元分别与所述交互模块、行程检测单元、电机推杆驱动单元通讯连接；所述微处理单元控制所述电机推杆驱动单元驱动所述电机推杆运动，并根据所述行程检测单元检测到的所述升降推杆的移动信号计算所述床本体倾斜的角度。
  3. 根据权利要求2所述的床体倾斜装置，其特征在于，所述行程检测单元为霍尔传感器、光电开关传感器或电位计。
  4. 根据权利要求2所述的床体倾斜装置，其特征在于，所述主控器还包括存储单元，用于存储所述升降推杆移动距离与床本体倾斜角度一一对应关系表。
  5. 根据权利要求4所述的床体倾斜装置，其特征在于，所述升降推杆移动距离与床本体倾斜角度的对应关系满足三角函数关系，其中，升降推杆移动距离为所述床本体倾斜角度所对应的直角边。
  6. 根据权利要求1所述的床体倾斜装置，其特征在于，所述交互模块包括用于显示所述床本体倾斜角度的显示单元和用于预设所述床本体倾斜的角度的控制单元；
    所述显示单元为液晶屏、数码管、LED显示屏或指针表盘中的至少一种；
    所述控制单元为按键、飞梭或触摸屏中的一种。
  7. 根据权利要求1所述的床体倾斜装置，其特征在于，所述升降推杆为电动升降推杆或者气动升降推杆。
  8. 一种床体倾斜的控制方法，包括：
    预设所述床本体倾斜的目标角度，并将所述目标角度根据三角函数转换为正切值θ，并计算所述床本体倾斜角度对应直角边的目标长度；
    比较所述床本体倾斜角度对应直角边的当前高度与目标高度的大小；
    根据比较结果，驱动所述升降推杆运动，使所述升降推杆的当前高度与目标高度相等。
  9. 根据权利要求8所述的床体倾斜的控制方法，其特征在于，还包括：判断所述目标角度的大小；若为目标角度大于零，则进入正角度调节程序；若为目标角度小于零，则进入负角度调节程序；若目标角度等于零，则所述床本体与所述升降推杆垂直，所述床本体水平放置。
  10. 根据权利要求9所述的床体倾斜的控制方法，其特征在于，所述正角度调节程序包括：
    判断所述当前角度与目标角度的大小；
    若所述当前角度小于目标角度，则驱动升降推杆上升至所述目标角度对应的所述升降推杆的高度；
    若所述当前角度大于目标角度，则驱动升降推杆下降至所述目标角度对应的所述升降推杆的高度；
    所述负角度调节程序包括：
    判断所述当前角度与目标角度的大小；
    若所述当前角度小于目标角度，则驱动升降推杆下降至所述目标角度对应的所述升降推杆的高度；
    若所述当前角度大于目标角度，则驱动升降推杆上升至所述目标角度对应的所述升降推杆的高度。
PCT/CN2016/084609 2016-01-08 2016-06-03 床体倾斜装置及床体倾斜的控制方法 WO2017117914A1 (zh)

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