Intelligent multi-scene sickbed carrying and transferring vehicle

Abstract

The invention relates to an intelligent multi-scene sickbed carrying and transferring vehicle which is characterized in that a placement platform for placing a stretcher is supported on a vehicle frame, and a shifting mechanism for moving the stretcher is arranged on the vehicle frame above the placement platform; the stretcher is connected to the shifting mechanism through the positioning belt, the shifting mechanism drives the stretcher to move and position in the horizontal direction and the vertical direction, and in the moving process of the stretcher, the gravity center supporting structure on the frame is matched to adjust the gravity center of the whole vehicle. A platform lifting structure used for adjusting the height of the placement platform and a control system are further installed on the portion, below the placement platform, of the vehicle frame, the control system conducts real-time SLAM map construction and dynamic obstacle avoidance on the whole vehicle movement by collecting two-dimensional point cloud data and sends a movement signal to the roller driving device, the roller driving device drives the rollers to run, and the roller driving device drives the placement platform to move. The moving modes of any angle such as translation and in-situ turning of the moving vehicle in the moving process are achieved, and the trafficability in a narrow space and the flexibility in multiple scenes are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and specifically to an intelligent multi-scene bed transport and transfer vehicle. Background Art

[0002] Critically ill and immobile patients often require various examinations or surgeries, requiring them to travel between operating rooms, wards, CT scan rooms, and other locations, requiring multiple patient transfers. Bed transfer machines are designed to transfer immobile or critically ill patients between various medical platforms, such as from a hospital bed to an operating table or a CT scan table, reducing the need for nursing staff.

[0003] Currently, the most commonly used patient transport equipment in my country is a single-person stretcher with universal casters or a lightweight, portable hospital bed. However, during the patient transfer process, medical staff or family members must manually move the patient onto the stretcher, often requiring the cooperation of at least two medical staff. Heavier patients require more medical staff, which can easily cause secondary injuries to the patient during the process. Furthermore, in hospitals with more limited bed resources, the involvement of more medical staff can lead to overcrowding in wards, hindering mobility and making it difficult to maintain work order.

[0004] Invention patent CN113952140B discloses an "intelligent medical robot for transporting patients", which includes a frame, a first hydraulic cylinder connected to the top of the frame, a telescopic end of the first hydraulic cylinder connected to a bracket, a second hydraulic cylinder slidably connected to the bracket, and a telescopic end of the second hydraulic cylinder connected to a lifting part. The lifting part includes a shell, a folding part and an air pump connected to the folding part. An airbag is provided in the shell, a tube connected to the airbag is provided at one end of the shell, an air hole is provided at the bottom end of the folding part, and a regulating valve is provided at the air hole. The invention inflates the airbag and the inside of the folding part through the air pump. After the volume of the airbag expands, the folding part can be pushed out of the shell. After the folding part is inflated, it stretches out as a whole and gradually forms a plate shape. When the regulating valve is opened, the gas ejected from the air hole can make the lifting part suspended, thereby improving the efficiency of transporting patients.

[0005] Invention patent CN215132180U discloses an electric multifunctional device for carrying and transferring bedridden patients. This solution, by setting universal wheels at the bottom of the carrying mechanism, can enable the carrying and transferring equipment to move flexibly. By using the driving component and the lifting component in conjunction with each other, the suspension component can be raised and lowered and moved left and right, thereby achieving the purpose of adjusting the suspension component. By setting four hanging ropes at the bottom of the suspension component, the hooks at the bottom of the hanging ropes can be hooked onto the hanging rings to lift and carry the mattress. By setting the side push component, bedridden patients can be assisted when they roll over. The soft and hard pads can be inserted into the slots through the threaded columns and then fastened with nuts to achieve the fixing and removal of the soft and hard pads. At the same time, an interface, cuff and finger cuff can be set on the first part of the hard pad to facilitate monitoring of the patient during the patient's transportation.

[0006] There are some key problems in the actual application of existing technologies. First, the mechanical structure design for transporting patients is too complicated, resulting in an overly large overall size of the equipment, which often causes interference in actual use and affects the smooth progress of the transport process, especially in a narrow medical environment, and cannot effectively adapt to the transfer needs of different scenarios. In addition, the existing equipment does not fully take into account the differences between different hospitals and different types of beds, making it difficult to adapt to a variety of bed equipment. It has low versatility and poor compatibility, resulting in a large amount of medical resources still needing to be invested in coordinating the use of the equipment, increasing the cost of use and the difficulty of operation. Moreover, existing equipment usually requires a lot of manual operation, and transporting patients depends on the active cooperation of medical staff, which increases the difficulty of operation and labor intensity, and also makes it impossible to fully optimize the investment and utilization efficiency of medical resources. Therefore, it is necessary to design a bed moving machine that is compatible with the transport of patients in multiple scenarios, hereinafter referred to as a bed moving machine, to solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to avoid the shortcomings of the existing technology and provide an intelligent multi-scene bed transport and transfer vehicle.

[0008] To achieve the above-mentioned object, the technical solution adopted by the present invention is as follows: an intelligent multi-scenario bed transport and transfer vehicle, comprising a vehicle frame, a placement platform for placing a stretcher supported on the vehicle frame, and a shifting mechanism for moving the stretcher provided on the vehicle frame above the placement platform; The positioning belt connects the stretcher to the traction handle on the shifting mechanism. The shifting mechanism drives the stretcher to move and position in the horizontal and vertical directions through the positioning belt. During the movement and positioning of the stretcher, the center of gravity of the entire vehicle is adjusted through the center of gravity support structure provided on the frame. A control system, a platform lifting structure for adjusting the height of the placement platform, and a control system control panel are also installed on the frame below the placement platform. The control system collects two-dimensional point cloud data to perform real-time SLAM map construction and dynamic obstacle avoidance for the entire vehicle's movement, and sends the movement signal to the roller drive device. The roller drive device drives the roller to move, allowing the shifting vehicle to move to the target position along the multi-scenario planned path.

[0009] Furthermore, a sunken mounting frame is provided below the middle portion of the frame; the frame is fixedly connected into a rectangular frame by a pair of transverse long tubes and a pair of longitudinal short tubes, one of the pair of long tubes being a supporting tube and the other being a non-supporting tube; The shifting mechanism includes a lifting structure and a telescopic structure; The lifting structure includes a lifting electric push rod fixed in the middle of the support tube and a pair of lifting sleeves at both ends. A pull tube is fixed between the upper parts of the pair of lifting sleeves, and the working end of the lifting electric push rod is fixed to the pull tube. The movement of the lifting electric push rod is used to realize the vertical displacement of the shifting mechanism. The telescopic structure includes a pair of first sleeves fixed to the top ends of a pair of lifting sleeves, a pair of second sleeves fixed to the inner sides of the pull tubes, and a telescopic electric push rod; a first connecting rod is provided between the pair of first sleeves, a second connecting rod is provided between the pair of second sleeves, and the first connecting rod and the second connecting rod are fixedly connected to form a whole through an elastic pad; the working end of the telescopic electric push rod is fixed to the elastic pad by a connecting sleeve, and the telescopic electric push rod drives the first sleeve and the second sleeve to synchronously extend and retract, thereby realizing the horizontal displacement of the shifting mechanism; The platform lifting structure includes a scissor base plate fixed on a sunken mounting plate, a scissor arm is provided on the scissor base plate, a scissor top plate is fixed on the scissor arm, and the scissor top plate is lifted and lowered by the contraction of the scissor arm; The placement platform includes a weighing frame fixed on the scissor top plate, and the platform frame is fixed to the four corners of the weighing frame through mounting pads, and a placement plate is provided on the platform frame; a weighing sensor is also cantilevered on the mounting pad, and the data line of the weighing sensor is connected to the weight transmitter for real-time error compensation and output display of the patient's weight data. The weight transmitter is arranged on one side of the weighing frame.

[0010] Furthermore, the lifting sleeve includes a lifting fixed tube, the top end of the lifting fixed tube is slidably sleeved with the lifting tube through a damping member, the bottom end of the lifting fixed tube is provided with a foot column, the foot column is fixed to the support tube through a foot column bottom plate, and the support tube is provided with a groove matching the foot column bottom plate; The first sleeve includes a first fixed tube, the first fixed tube is slidably sleeved with a first telescopic tube, and a first connecting rod connects the pair of first telescopic tubes into one body; The second sleeve includes a second fixed tube, the second fixed tube is slidably sleeved with a second telescopic tube, and a second connecting rod connects the pair of second telescopic tubes into one body; The two ends of the traction handle are respectively connected and fixed to the first connecting rod and the second connecting rod.

[0011] Furthermore, a roller frame is provided on the inner wall of the end of the first telescopic tube that is inserted into the first fixed tube, an inner roller is mounted on the roller frame, and the working surface of the inner roller is in rolling connection with the inner wall of the first fixed tube; an outer roller is mounted below the tube opening of the first fixed tube through the roller frame, and the working surface of the outer roller is in rolling connection with the outer wall of the first telescopic tube; The connection structure between the second telescopic tube and the second fixed tube is the same as the connection structure between the first telescopic tube and the first fixed tube; The friction when the first telescopic tube is extended and retracted in the first fixed tube and the second telescopic tube is extended and retracted in the second fixed tube is converted from sliding friction to rolling friction, thereby reducing the friction resistance of the traction handle under load during the extension and retraction process.

[0012] Furthermore, the working end of the lifting electric push rod is fixed to the pull tube through an L-shaped support structure; the lifting tube and the first fixed tube are fixedly connected in the middle to form an oblique support tube for improving the connection strength; A pair of second sleeves are fixed on the inner side of the pull tube and are located in the same plane as the first sleeve. The telescopic electric push rod is fixedly arranged on the lower inner side of the pull tube and is located in the middle of the pair of second sleeves. A reinforcement plate for improving the overall strength of the displacement structure is also fixed on the pair of first sleeves and the second sleeves.

[0013] Furthermore, the height of the top plate is greater than the height of the mounting frame, which is used to limit the load when the cantilever is damaged. The heavy sensor is displaced or interfered with by other components.

[0014] Furthermore, a battery box assembly is provided at the bottom of the frame for lowering the overall center of gravity of the shift vehicle. The battery box assembly includes a base plate fixed on a pair of battery racks, a frame is provided on the base plate, the lead-acid battery is arranged on the base plate and fixed to the frame by fixing clips; the pair of battery racks are fixed on both sides below the frame.

[0015] Furthermore, the center of gravity support structure is installed on a sunken mounting frame; The center of gravity support structure includes a pair of guide rails arranged below the sunken mounting frame, a slide plate (63) is provided on the guide rails, and support wheels are provided below the slide plate; The skateboard is driven by a skateboard motor to move on the guide rail. The skateboard motor is arranged on the frame. The output shaft of the skateboard motor is connected to a screw. The skateboard is fixed on a nut connected to the screw. The skateboard motor drives the screw to rotate, so that the nut moves horizontally and drives the skateboard to move on the guide rail at the same time. The diameter frame of the support wheel is fixed to the slide plate through an elastic mounting member, which is used to provide additional support for the shifting mechanism and provide elastic compensation for the overturning direction during the patient transportation process.

[0016] Furthermore, the roller drive device includes a pair of driving wheels installed at the front end of the frame and a pair of universal wheels installed at the rear end of the frame; the pair of driving wheels are installed under the front end of the frame through a connecting plate, and the pair of universal wheels are installed under the rear end of the frame through connecting blocks.

[0017] Furthermore, the control system includes a laser radar for collecting two-dimensional point cloud data, a visual sensor for realizing real-time SLAM map construction during transportation, a visual sensor for real-time dynamic obstacle avoidance during transportation, an ultrasonic sensor for real-time obstacle detection and supplementary detection of blind spots of the laser radar and visual sensor, and a ranging visual sensor for real-time measurement and control of the movement data of the shifting mechanism; The frame is a rectangular frame formed by a pair of transverse long tubes and a pair of longitudinal short tubes fixedly connected, wherein one of the pair of long tubes is a supporting tube and the other is a non-supporting tube; The visual sensor is installed at the central axis of the short tube. There are five ultrasonic sensors, which are respectively arranged below the center of the non-support tube and at the two corners of the bottom end of a pair of battery racks; the laser radar is arranged at one end of the short tube close to the lifting sleeve; the ranging visual sensor is arranged on the connecting sleeve at the working end of the telescopic electric push rod.

[0018] The beneficial effects of the present invention are: 1. The frame adopts a frame structure, which can support the installation of various functional structures. The frame drive part adopts a double driving wheel and double driven wheel structure, which enables the shifting vehicle to achieve any angle movement mode such as translation and turning on the spot during the movement process, thereby improving the passability of the bed shifter in narrow spaces and the flexibility in multiple scenarios.

[0019] 2. The frame also features a height-reducing design, with lead-acid batteries installed on the front and rear sides for counterweight, minimizing the overall center of gravity of the frame. The center of the frame is bolted to a sunken mounting frame, allowing the placement platform to be retracted and completely hidden under the frame and moved to the bottom of the bed, reducing the workload of transporting patients.

[0020] 3. By installing lidar, visual sensors and ultrasonic sensors on the frame, automatic control of patient transportation, automatic navigation and dynamic obstacle avoidance can be achieved.

[0021] 4. The weighing sensor equipped on the placement platform can collect the patient's weight information in real time, and calculate the center of gravity of the placement platform in real time through multi-sensor data, which can transport patients more smoothly and safely.

[0022] 5. The center of gravity support structure under the frame can provide center of gravity support after the center of gravity of the frame deviates significantly during the maximum transport stroke, thereby improving the safety and stability of patient transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a schematic diagram of the present invention; Figure 2 It is a left side view of the present invention; Figure 3 It is a bottom view of the connection structure between the first sleeve and the second sleeve in the shifting mechanism of the present invention; Figure 4 This is a schematic diagram of the first sleeve structure of the present invention; Figure 5 This is a schematic diagram of the shift mechanism (with the telescopic electric push rod hidden) of the present invention in a stretched state; Figure 6 This is a schematic diagram of the shift mechanism of the present invention in a contracted state; Figure 7 This is a bottom view of the center of gravity support structure of the present invention; Figure 8 A side view of the placement platform and platform lifting structure of the present invention; Figure 9 Schematic diagram of the battery box assembly of the present invention; Figure 10 This is a schematic diagram of the control system mode of the present invention; Figure 11 This is a schematic diagram of the present invention.

[0024] In the figure: 1 - shift mechanism, 101 - lifting fixed tube, 102 - lifting tube, 103 - foot, 104 - foot bottom plate, 105 - lifting electric push rod, 106 - pull tube, 107 - first fixed tube, 108 - first telescopic tube, 109 - first connecting rod, 110 - second fixed tube, 111 - second telescopic tube, 112 - second connecting rod, 113 - telescopic electric push rod, 114 - elastic pad, 115 - roller frame, 116a - inner roller, 116b - outer roller, 117 - reinforcement plate, 118 - inclined support tube, 119 - traction handle, 120 - L-shaped support structure; Frame, 21a-support tube, 21b-non-support tube, 22-short tube, 23-battery rack, 24-sunk mounting frame, 25-connecting plate, 26-connecting block; Control system, 31-LiDAR, 32-Ultrasonic sensor, 33-Visual sensing Device, 34- ranging visual sensor; 4-battery box assembly, 41-lead-acid battery, 42-frame, 43-fixing clip, 44-base plate; 5- roller drive device, 51- driving wheel, 52- universal wheel; 6-center of gravity support structure, 61-support wheel, 62-guide rail, 63-slide, 64-drive motor, 65-elastic support member; 7- platform lifting structure, 71- bottom plate, 72- scissor arm, 73- top plate; 8-placement platform, 81-placement plate, 82-platform frame, 83-weight transmitter, 84-mounting pad, 85-weighing sensor, 86-mounting frame, 87-mounting parts. DETAILED DESCRIPTION

[0025] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0026] In order to achieve the above object, the present invention provides the following specific implementation methods: Example 1: Figure 1 As shown, an intelligent multi-scenario bed transport and transfer vehicle is characterized in that it includes a frame 2, a placement platform 8 for placing a stretcher supported on the frame 2, and a shifting mechanism 1 for moving the stretcher is provided on the frame 2 above the placement platform 8; The positioning belt connects the stretcher to the traction handle 119 on the shifting mechanism 1. The shifting mechanism 1 drives the stretcher to move and position in the horizontal and vertical directions through the positioning belt. During the movement and positioning of the stretcher, the center of gravity support structure 6 provided on the frame 2 is used to adjust the center of gravity of the vehicle (see Figure 11 ); A control system 3 and a platform lifting structure 7 for adjusting the height of the placement platform 8, as well as a control panel of the control system 3 are also installed on the vehicle frame 2 below the placement platform 8. The control system 3 collects two-dimensional point cloud data to perform real-time SLAM map construction and dynamic obstacle avoidance for the entire vehicle movement, and sends movement signals to the roller drive device 5, which drives the rollers to move, so that the shifting vehicle can move to the target position along the multi-scenario planned path (see Figure 10 ).

[0027] like Figure 1 As shown, a sunken mounting frame 24 is provided at the lower middle portion of the frame 2; the frame 2 is fixedly connected into a rectangular frame by a pair of transverse long tubes and a pair of longitudinal short tubes 22, one of the pair of long tubes being a supporting tube 21a and the other being a non-supporting tube 21b; like Figure 5 、 Figure 6 As shown, the shifting mechanism 1 includes a lifting structure and a telescopic structure; The lifting structure includes a lifting electric push rod 105 fixed in the middle of the support tube 21a and a pair of lifting sleeves at both ends. A pull tube 106 is fixed between the upper parts of the pair of lifting sleeves. The working end of the lifting electric push rod 105 is fixed to the pull tube 106. The movement of the lifting electric push rod 105 is used to achieve the vertical displacement of the shifting mechanism 1. The telescopic structure includes a pair of first sleeves fixed to the top ends of a pair of lifting sleeves, a pair of second sleeves fixed to the inner sides of the pull tube 106, and a telescopic electric push rod 113; a first connecting rod 109 is provided between the pair of first sleeves, and a second connecting rod 112 is provided between the pair of second sleeves. The first connecting rod 109 and the second connecting rod 112 are fixedly connected to form a whole by an elastic pad 114 in the middle; the working end of the telescopic electric push rod 113 is fixed to the elastic pad 114 by a connecting sleeve, and the telescopic electric push rod 113 drives the first sleeve and the second sleeve to extend and retract synchronously, thereby realizing the horizontal displacement of the shifting mechanism 1; like Figure 8 As shown, the platform lifting structure 7 includes a scissor base plate 71 fixed on the sunken mounting plate 24, a scissor arm 72 is provided on the scissor base plate 71, a scissor top plate 73 is fixed on the scissor arm 72, and the scissor top plate 73 is lifted and lowered when the scissor arm 72 contracts; like Figure 6 、 Figure 8 As shown, the placement platform 8 includes a weighing frame 86 fixed on the scissor top plate 73, and the four corners of the weighing frame 86 are fixed with a mounting platform frame 82 through mounting pads 84, and a placement plate 81 is provided on the platform frame 82; a weighing sensor 85 is also cantilevered on the mounting pad 84, and the data line of the weighing sensor 85 is connected to the weight transmitter 83 for real-time error compensation and output display of the patient's weight data. The weight transmitter 83 is set on one side of the weighing frame 86.

[0028] like Figure 5 As shown, the lifting sleeve includes a lifting fixed tube 101, the top of the lifting fixed tube 101 is slidably sleeved with the lifting tube 102 through a damping member, and the bottom of the lifting fixed tube 101 is provided with a foot 103, which is fixed to the support tube 21a through a foot base 104, and the support tube 21a is provided with a groove matching the foot base 104; like Figure 3 As shown, the first sleeve includes a first fixed tube 107, a first telescopic tube 108 is slidably sleeved in the first fixed tube 107, and a first connecting rod 109 connects the pair of first telescopic tubes 108 into one body; The second sleeve includes a second fixed tube 110, a second telescopic tube 111 is slidably sleeved in the second fixed tube 110, and a second connecting rod 112 connects the pair of second telescopic tubes 111 into one body; The two ends of the traction handle 119 are respectively connected and fixed to the first connecting rod 109 and the second connecting rod 112.

[0029] like Figure 3 、 Figure 4As shown, a roller frame 115 is provided on the inner wall of the end of the first telescopic tube 108 that is inserted into the first fixed tube 107. An inner roller 116a is mounted on the roller frame 115. The working surface of the inner roller 116a is in rolling connection with the inner wall of the first fixed tube 107. An outer roller 116b is mounted below the tube opening of the first fixed tube 107 through the roller frame 115. The working surface of the outer roller 116b is in rolling connection with the outer wall of the first telescopic tube 108. The connection structure between the second telescopic tube 111 and the second fixed tube 110 is the same as the connection structure between the first telescopic tube 108 and the first fixed tube 107; The friction when the first telescopic tube 108 is extended and retracted in the first fixed tube 107 and the second telescopic tube 111 is extended and retracted in the second fixed tube 110 is converted from sliding friction to rolling friction, thereby reducing the friction resistance of the traction handle 119 under load during the extension and retraction process.

[0030] like Figure 5 As shown, the working end of the lifting electric push rod 105 is fixed to the pull tube 106 through the L-shaped support structure 120; the lifting tube 102 and the first fixed tube 107 are fixedly connected in the middle with an inclined support tube 118 for improving the connection strength; A pair of second sleeves are fixed on the inner side of the pull tube 106 and are located in the same plane as the first sleeve. The telescopic electric push rod 113 is fixedly arranged on the lower inner side of the pull tube 106 and is located in the middle of the pair of second sleeves. A reinforcement plate 117 is also fixed on the pair of first sleeves and the second sleeve to improve the overall strength of the displacement structure 1.

[0031] like Figure 8 As shown, the height of the top plate 73 is greater than the height of the mounting bracket 86, and is used to limit the displacement of the weighing sensor 85 or interference with other components when the cantilever is damaged.

[0032] like Figure 9 As shown, a battery box assembly 4 for lowering the overall center of gravity of the shift vehicle is also provided at the bottom of the frame 2. The battery box assembly 4 includes a base plate 44 fixed on a pair of battery racks 23. A frame 42 is provided on the base plate 44. A lead-acid battery 41 is provided on the base plate 44 and fixed to the frame 42 by a fixing clip 43. A pair of battery racks 23 are fixed on both sides below the frame 2.

[0033] like Figure 7 As shown, the center of gravity support structure 6 is mounted on a sunken mounting frame 24; The center of gravity support structure 6 includes a pair of guide rails 62 provided below the sunken mounting frame 24, a slide plate 63 provided on the guide rails 62, and support wheels 61 provided below the slide plate 63; The slide 63 is driven by a slide motor 64 to move on the guide rail 62. The slide motor 64 is arranged on the vehicle frame 2. The output shaft of the slide motor 64 is connected to a screw. The slide 63 is fixed on a nut connected to the screw. The slide motor 64 drives the screw to rotate, so that the nut moves horizontally and drives the slide 63 to move on the guide rail 62. like Figure 2 As shown, the diameter frame of the support wheel 61 is fixed to the slide plate 63 through an elastic mounting member 65, which is used to provide additional support for the displacement mechanism 1 and provide elastic compensation for the overturning direction during the process of transporting the patient.

[0034] like Figure 2 As shown, the roller drive device 5 includes a pair of driving wheels 51 installed at the front end of the frame 2 and a pair of universal wheels 52 installed at the rear end of the frame 2; the pair of driving wheels 51 are installed under the front end of the frame 2 through the connecting plate 25, and the pair of universal wheels 52 are installed under the rear end of the frame 2 through the connecting blocks 26 respectively.

[0035] The control system 3 includes a laser radar 31 for collecting two-dimensional point cloud data, a visual sensor 33 for real-time SLAM map construction during transportation and real-time dynamic obstacle avoidance during transportation, an ultrasonic sensor 32 for real-time obstacle detection and supplementary detection of blind spots of the laser radar 31 and the visual sensor 33, and a ranging visual sensor 34 for real-time measurement and control of the movement data of the shifting mechanism 1; The frame 2 is formed by a pair of transverse long tubes and a pair of longitudinal short tubes 22 fixedly connected to form a rectangular frame, wherein one of the pair of long tubes is a support tube 21a and the other is a non-support tube 21b; like Figure 6 、 Figure 9 As shown, the visual sensor 33 is installed at the central axis position of the short tube 22. There are five ultrasonic sensors 32, which are respectively arranged below the center of the non-support tube 21b and at the two corners of the bottom end of a pair of battery racks 23; the laser radar 31 is arranged at one end of the short tube 22 close to the lifting sleeve; the ranging visual sensor 34 is arranged on the connecting sleeve at the working end of the telescopic electric push rod 113.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent multi-scenario bed transport and transfer vehicle, characterized in that: The vehicle comprises a frame (2), a placement platform (8) for placing a stretcher supported on the frame (2), and a shifting mechanism (1) for moving the stretcher provided on the frame (2) above the placement platform (8); The positioning belt connects the stretcher to the traction handle (119) on the shifting mechanism (1). The shifting mechanism (1) drives the stretcher to move and position in the horizontal and vertical directions through the positioning belt. During the movement and positioning of the stretcher, the center of gravity of the entire vehicle is adjusted in coordination with the center of gravity support structure (6) provided on the vehicle frame (2); A control system (3), a platform lifting structure (7) for adjusting the height of the placement platform (8), and a control panel of the control system (3) are also installed on the vehicle frame (2) below the placement platform (8). The control system (3) collects two-dimensional point cloud data to perform real-time SLAM map construction and dynamic obstacle avoidance on the movement of the entire vehicle, and sends a movement signal to the roller drive device (5). The roller drive device (5) drives the roller to move, so that the shifting vehicle can move to the target position along the multi-scenario planned path.

2. The intelligent multi-scenario bed transport and transfer vehicle according to claim 1, characterized in that: A sunken mounting frame (24) is provided below the middle of the vehicle frame (2); the vehicle frame (2) is fixedly connected to form a rectangular frame by a pair of transverse long tubes and a pair of longitudinal short tubes (22), one of the pair of long tubes being a supporting tube (21a) and the other being a non-supporting tube (21b); The shifting mechanism (1) comprises a lifting structure and a telescopic structure; The lifting structure comprises a lifting electric push rod (105) fixed in the middle of the support tube (21a) and a pair of lifting sleeves at both ends; a pull tube (106) is fixedly connected between the upper parts of the pair of lifting sleeves; the working end of the lifting electric push rod (105) is fixed to the pull tube (106); the movement of the lifting electric push rod (105) is used to realize the displacement of the displacement mechanism (1) in the vertical direction; The telescopic structure comprises a pair of first sleeves fixed on the top ends of a pair of lifting sleeves, a pair of second sleeves fixed on the inner sides of the pull tube (106), and a telescopic electric push rod (113); a first connecting rod (109) is provided between the pair of first sleeves, a second connecting rod (112) is provided between the pair of second sleeves, and the first connecting rod (109) and the second connecting rod (112) are fixedly connected to form a whole via an elastic pad (114) in the middle; the working end of the telescopic electric push rod (113) is fixed to the elastic pad (114) by a connecting sleeve, and the telescopic electric push rod (113) drives the first sleeve and the second sleeve to extend and retract synchronously, thereby realizing the horizontal displacement of the displacement mechanism (1); The platform lifting structure (7) includes a scissor base plate (71) fixed on the sunken mounting plate (24), a scissor arm (72) is provided on the scissor base plate (71), a scissor top plate (73) is fixed on the scissor arm (72), and the scissor top plate (73) is driven to rise and fall when the scissor arm (72) contracts; The placement platform (8) includes a weighing frame (86) fixed on the scissor top plate (73), and the four corners of the weighing frame (86) are fixed with a mounting platform frame (82) through mounting pads (84), and a placement plate (81) is provided on the platform frame (82); a weighing sensor (85) is also cantilevered on the mounting pad (84), and a data line of the weighing sensor (85) is connected to a weight transmitter (83) for real-time error compensation and output display of patient weight data. The weight transmitter (83) is arranged on one side of the weighing frame (86).

3. The intelligent multi-scenario bed transport and transfer vehicle according to claim 2, characterized in that: The lifting sleeve comprises a lifting fixed tube (101), the top end of the lifting fixed tube (101) is slidably sleeved on the lifting tube (102) via a damping member, the bottom end of the lifting fixed tube (101) is provided with a foot column (103), the foot column (103) is fixed to the support tube (21a) via a foot column base plate (104), and the support tube (21a) is provided with a groove matching the foot column base plate (104); The first sleeve comprises a first fixed tube (107), a first telescopic tube (108) is slidably sleeved in the first fixed tube (107), and a first connecting rod (109) connects the pair of first telescopic tubes (108) into one body; The second sleeve comprises a second fixed tube (110), a second telescopic tube (111) is slidably sleeved inside the second fixed tube (110), and a second connecting rod (112) connects the pair of second telescopic tubes (111) into one body; The two ends of the traction handle (119) are respectively connected and fixed to the first connecting rod (109) and the second connecting rod (112).

4. The intelligent multi-scenario bed transport and transfer vehicle according to claim 3, characterized in that: The first telescopic tube (108) is inserted into the first fixed tube (107), and a roller frame (115) is provided on the inner wall of the end thereof. An inner roller (116a) is mounted on the roller frame (115), and the working surface of the inner roller (116a) is in rolling connection with the inner wall of the first fixed tube (107); an outer roller (116b) is mounted below the tube opening of the first fixed tube (107) through the roller frame (115), and the working surface of the outer roller (116b) is in rolling connection with the outer wall of the first telescopic tube (108); The connection structure between the second telescopic tube (111) and the second fixed tube (110) is the same as the connection structure between the first telescopic tube (108) and the first fixed tube (107); The friction when the first telescopic tube (108) is extended and retracted in the first fixed tube (107) and the second telescopic tube (111) is extended and retracted in the second fixed tube (110) is converted from sliding friction to rolling friction, thereby reducing the friction resistance of the traction handle (119) under load during the extension and retraction process.

5. The intelligent multi-scenario bed transport and transfer vehicle according to claim 2, characterized in that: The working end of the lifting electric push rod (105) is fixed to the pull tube (106) via an L-shaped support structure (120); the lifting tube (102) and the first fixed tube (107) are fixedly connected in the middle by an inclined support tube (118) for improving the connection strength; A pair of second sleeves are fixed on the inner side of the pull tube (106) and are located in the same plane as the first sleeve. A telescopic electric push rod (113) is fixedly arranged below the inner side of the pull tube (106) and is located between the pair of second sleeves. A reinforcing plate (117) for improving the overall strength of the displacement structure (1) is also fixed on the pair of first sleeves and the second sleeves.

6. The intelligent multi-scenario bed transport and transfer vehicle according to claim 2, characterized in that: The height of the top plate (73) is greater than the height of the mounting frame (86), and is used to limit the displacement of the weighing sensor (85) or interference with other components when the cantilever is damaged.

7. The intelligent multi-scenario bed transport and transfer vehicle according to claim 1, characterized in that: A battery box assembly (4) for lowering the overall center of gravity of the shift vehicle is also provided at the bottom of the vehicle frame (2). The battery box assembly (4) includes a base plate (44) fixed on a pair of battery racks (23), a frame (42) is provided on the base plate (44), and a lead-acid battery (41) is provided on the base plate (44) and fixed to the frame (42) via a fixing clip (43); the pair of battery racks (23) are fixed on both sides below the vehicle frame (2).

8. The intelligent multi-scenario bed transport and transfer vehicle according to claim 1, characterized in that: The center of gravity support structure (6) is mounted on a sunken mounting frame (24); The center-of-gravity support structure (6) includes a pair of guide rails (62) arranged below the sunken mounting frame (24), a slide plate (63) being provided on the guide rails (62), and a support wheel (61) being provided below the slide plate (63); The slide plate (63) is driven by a slide plate motor (64) to move on the guide rail (62). The slide plate motor (64) is arranged on the vehicle frame (2). The output shaft of the slide plate motor (64) is connected to a screw rod. The slide plate (63) is fixed on a nut connected to the screw rod. The slide plate motor (64) drives the screw rod to rotate, so that the nut moves horizontally and drives the slide plate (63) to move on the guide rail (62). The diameter frame of the support wheel (61) is fixed to the slide plate (63) via an elastic mounting member (65), and is used to provide additional support for the displacement mechanism (1) and elastic compensation for the overturning direction during the process of transporting the patient.

9. The intelligent multi-scenario bed transport and transfer vehicle according to claim 1, characterized in that: The roller drive device (5) comprises a pair of driving wheels (51) mounted on the front end of the vehicle frame (2) and a pair of universal wheels (52) mounted on the rear end of the vehicle frame (2); the pair of driving wheels (51) are mounted below the front end of the vehicle frame (2) via a connecting plate (25), and the pair of universal wheels (52) are mounted below the rear end of the vehicle frame (2) via connecting blocks (26).

10. The intelligent multi-scenario bed transport and transfer vehicle according to any one of claims 1 to 9, characterized in that: The control system (3) includes a laser radar (31) for collecting two-dimensional point cloud data, a visual sensor (33) for realizing real-time SLAM map construction during transportation, a real-time dynamic obstacle avoidance system (33), an ultrasonic sensor (32) for detecting obstacles in real time and supplementing the detection blind spots of the laser radar (31) and the visual sensor (33), and a ranging visual sensor (34) for real-time measurement and control of movement data of the shifting mechanism (1); The vehicle frame (2) is a rectangular frame formed by a pair of transverse long tubes and a pair of longitudinal short tubes (22) fixedly connected, wherein one of the pair of long tubes is a supporting tube (21a) and the other is a non-supporting tube (21b); The visual sensor (33) is installed at the central axis of the short tube (22). There are five ultrasonic sensors (32), which are respectively arranged below the center of the non-support tube (21b) and at two corners of the bottom end of a pair of battery racks (23); the laser radar (31) is arranged at one end of the short tube (22) close to the lifting sleeve; and the ranging visual sensor (34) is arranged on the connecting sleeve at the working end of the telescopic electric push rod (113).

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