A multi-degree-of-freedom combined motion robot for medical beds

Abstract

This invention provides a multi-degree-of-freedom combined motion robot for a medical bed, comprising: a base mechanism, a lifting mechanism, a support mechanism, a tilting mechanism, and a main bed surface. Two base mechanisms are provided, fixedly connected to the lower parts of the left and right sides of the lifting mechanisms respectively. The lower part of the support mechanism is fixedly connected to the upper part of the lifting mechanism, and the main bed surface is hinged to the upper part of the support mechanism. The lower end of the tilting mechanism is hinged to the upper part of the lifting mechanism, and the upper end of the tilting mechanism is fixedly connected to the main bed surface. The base mechanism, the tilting mechanism, and the lifting mechanism each realize multiple degrees of freedom control. This invention solves the problems of inconvenience and safety in changing patient positions during existing ultrasound examinations, improving the convenience and safety of patient position changes during ultrasound examinations.

Description

Technical Field

[0001] This invention relates to the field of medical examination auxiliary equipment, and in particular to a multi-degree-of-freedom combined motion robot for a medical bed. Background Technology

[0002] Ultrasound examination is a medical imaging diagnostic technology based on ultrasound waves. It uses ultrasound equipment to scan the human body and is a relatively safe examination method. In practice, a single ultrasound machine equipped with multiple probes can scan most organs of the patient's body, making the examination more convenient. With increasing health awareness, the demand for ultrasound examinations has also grown. However, the efficiency of ultrasound examinations in medical institutions has not improved substantially, leading to long queues in ultrasound examination rooms. The main reasons are as follows: First, each ultrasound examination for a single patient involves a large number of procedures, with each procedure requiring cumbersome and time-consuming repositioning. Second, ultrasound examinations require patients to cooperate with a series of movements, but some patients often find it difficult to cooperate due to pain or decreased comprehension. Third, prolonged repositioning by physicians can easily cause arm fatigue, injury, or even disease. While various types of repositioning beds exist and are used in intensive care units, they are rarely used for ultrasound examinations. This is mainly because ultrasound examinations require numerous repositioning changes at large angles, especially the almost vertical side-turning angle. Therefore, it is important to find a convenient way to achieve large-angle side-turning and multi-angle flipping of the changing bed to improve the convenience and safety of the patients being examined. Summary of the Invention

[0003] This invention provides a multi-degree-of-freedom combined motion robot for medical beds, which solves the problem of difficulty in changing the patient's position during existing ultrasound examinations, such as large-angle side-turning and multi-angle flipping movements. It can realize multi-degree-of-freedom linkage and large-angle side-turning for changing the position, improving the convenience and safety of changing the patient's position during ultrasound examinations.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A multi-degree-of-freedom combined motion robot for a medical bed includes: a base mechanism 1, a lifting mechanism 2, a support mechanism 3, a flipping mechanism 4, and a main bed surface 5;

[0006] The lifting mechanism 2 is slidably mounted on the base mechanism 1, and the upper part of the lifting mechanism is connected to the support mechanism 3. The main bed surface 5 is hinged above the support mechanism 3.

[0007] When the lifting mechanism 2 moves up and down, it drives the support mechanism 3 and the main bed surface 5 to move up and down, so as to realize the degree of freedom control of the main bed surface 5 in the vertical direction.

[0008] The lower part of the flipping mechanism 4 is hinged to the upper part of the lifting mechanism 2, and the upper end of the flipping mechanism 4 is fixedly connected to the main bed surface 5. When the flipping mechanism 4 flips, it drives the main bed surface 5 to flip to the left or right, so as to realize the degree of freedom control of the main bed surface 5 to flip to the left or right.

[0009] When the base mechanism 1 rotates in a straight line, it drives the lifting mechanism 2 and the main bed surface 5 to move back and forth, so as to realize the forward or backward degree of freedom control of the main bed surface 5.

[0010] Preferably, the lifting mechanism 2 includes: a bottom frame 21, a inclined beam unit 22, a secondary inclined beam unit 23, an upper frame 24, and a lifting push rod 25;

[0011] The bottom frame 21 is slidably mounted on the base mechanism 1. The four corners of the bottom frame 21 are hinged to the lower ends of the four inclined beam units 22 via four bearing seats 211. The upper ends of the four inclined beam units 22 are rolledly connected to the lower part of the upper frame 24 via four inclined beam pulleys 221. The middle parts of the left and right sets of inclined beam units 22 are respectively hinged to the lower ends of the two secondary inclined beam units 23. The four corners of the upper frame 24 are fixedly connected to four pulley tracks 241. The two secondary inclined beam units 23 are slidably connected to the corresponding pulley tracks 241. One end of the lifting push rod 25 is hinged to the secondary inclined beam unit 23, and the other end is hinged to the middle part of the upper frame 24.

[0012] Preferably, the secondary inclined beam unit 23 includes: a secondary inclined beam 231, a connecting pipe 232, a rotating plate 233, a rotating shaft 234, and the secondary inclined beam pulley 235;

[0013] The middle parts of the two secondary inclined beams 231 are fixedly connected by the connecting pipe 232, and the secondary inclined beams 231 and the connecting pipe 232 are arranged perpendicular to each other;

[0014] The upper end of the secondary inclined beam 231 is provided with a secondary inclined beam pulley 235, which is slidably connected to the pulley track 241. The secondary inclined beam is slidably connected to the pulley track 241 through the secondary inclined beam pulley 235.

[0015] The rotating plate 233 is fixedly connected to the middle part of the connecting pipe 232, and the rotating shaft 234 is fixedly connected to the lower part of the rotating plate 233. The rotating shaft 234 is hinged to one end of the lifting push rod 25.

[0016] Preferably, the base mechanism 1 includes: casters 11, connecting plate 12, load-bearing material 13, lead screw slide 14 and slider 141;

[0017] The universal wheel 11 is fixedly connected to the lower end of the load-bearing member 13 via the connecting plate 12, and the upper part of the load-bearing member 13 is fixedly connected to the lead screw slide 14.

[0018] Both ends of the load-bearing member 13 are provided with a universal wheel 11, the lead screw slide 14 is arranged along the axial direction of the load-bearing member 13, and at least one slider 141 is slidably arranged on the lead screw of the lead screw slide 14.

[0019] Preferably, a base mechanism is provided at each of the two ends of the bottom frame 21, and the lead screw slide 14 is arranged radially along the ends of the bottom frame 21 so that each of the four corners of the bottom frame 21 corresponds to a universal wheel.

[0020] Preferably, the bottom frame 21 is fixedly connected to the slider 141 disposed on the lead screw slide 14. When the lead screw of the lead screw slide 14 rotates, the slider 141 is driven to slide along the lead screw, thereby driving the bottom frame 21 to move forward or backward.

[0021] Preferably, the main bed surface 5 includes: a bed body 51, an optical axis seat 52 fixedly connected to the bed body 51, and a rotating shaft 53 fixedly connected to the optical axis seat 52;

[0022] The main bed surface 5 is hinged to the support mechanism 3 via a rotating shaft 53.

[0023] Preferably, the flipping mechanism 4 includes: a structural frame 41, a left-flipping electric push rod 42, a left-flipping trapezoidal lead screw slide 43, a left-flipping slider 431, a right-flipping electric push rod 44, a right-flipping trapezoidal lead screw slide 45, and a right-flipping slider 451;

[0024] The structural frame 41 is fixedly connected to the bed 51, and the left-flipping trapezoidal lead screw slide 43 and the right-flipping trapezoidal lead screw slide 45 are respectively disposed on the bottom surface of the structural frame 41.

[0025] The left-flipping slider 431 is slidably mounted on the lead screw of the left-flipping trapezoidal lead screw slide 43, and the right-flipping slider 451 is slidably mounted on the lead screw of the right-flipping trapezoidal lead screw slide 45.

[0026] The upper end of the left-flipping electric push rod 42 is fixedly connected to the left-flipping slider 431, and the lower end of the left-flipping electric push rod 42 is hinged to the upper frame 24.

[0027] The upper end of the right-flipping electric push rod 44 is fixedly connected to the right-flipping slider 451, and the lower end of the right-flipping electric push rod 44 is hinged to the upper frame 24.

[0028] When the left-flipping electric actuator 42 and / or the right-flipping electric actuator 44 are in operation, they drive the structural frame 41 to flip to the left or right, thereby causing the bed 51 to flip according to the set requirements.

[0029] Preferably, the support mechanism 3 includes: a base and a support frame 31 with a bearing 32 on the upper part;

[0030] Multiple support frames 31 are disposed on the lower bottom surface of the main bed surface 5, the lower end of the support frame 31 is fixedly connected to the base, and the base is fixedly connected to the upper frame 24.

[0031] Preferably, the flipping mechanism 4 is disposed at the end of the main bed surface 5, such that the left flipping trapezoidal lead screw slide 43 and the right flipping trapezoidal lead screw slide 45 are respectively radially disposed on the left and right sides of the lower bottom surface of the main bed surface;

[0032] When the left-tilting electric actuator 42 extends, the left-tilting slider 431 moves to the right, and the right-tilting electric actuator 44 shortens, the right-tilting slider 451 moves to the right, driving the bed 51 to tilt to the left.

[0033] When the right-flipping electric actuator 44 extends, the right-flipping slider 451 moves to the left, and the left-flipping electric actuator 42 shortens, the left-flipping slider 431 moves to the left, driving the bed 51 to flip to the right.

[0034] This invention provides a multi-degree-of-freedom coordinated motion robot for a medical bed, comprising a base mechanism, a lifting mechanism, a support mechanism, a tilting mechanism, and a main bed surface. This enables coordinated linkage of the various degrees of freedom of the main bed surface. This multi-degree-of-freedom linkage ensures that during tilting, the trajectory of the center of gravity of the main bed surface and the patient as a whole is no longer a curve, but a shortest possible straight line, or even theoretically maintaining a constant center of gravity, thereby improving patient comfort. This invention solves the problem of difficulty in large-angle tilting and multi-angle rotation during patient repositioning in existing ultrasound examinations. It enables multi-degree-of-freedom linkage and large-angle tilting for repositioning, improving the convenience and safety of patient repositioning during ultrasound examinations. Attached Figure Description

[0035] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below.

[0036] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom combined motion robot for a medical bed provided by the present invention.

[0037] Figure 2 This is an exploded view of the base mechanism according to an embodiment of the present invention.

[0038] Figure 3 This is a structural schematic diagram of the lifting mechanism according to an embodiment of the present invention.

[0039] Figure 4 This is a schematic diagram of the secondary inclined beam unit of the lifting mechanism in an embodiment of the present invention.

[0040] Figure 5 This is a schematic diagram of the flipping mechanism according to an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram of an embodiment of the present invention in a horizontal state.

[0042] Figure 7 This is a schematic diagram of an embodiment of the present invention in the state of the left-turning limit angle.

[0043] Figure Labels

[0044] 1. Base mechanism; 2. Lifting mechanism; 3. Support mechanism; 4. Tilting mechanism; 5. Main bed surface; 11. Casters; 12. Connecting plate; 13. Load-bearing structure; 14. Lead screw slide; 141. Slider; 21. Bottom frame; 211. Bearing seat; 22. Inclined beam unit; 221. Inclined beam pulley; 23. Secondary inclined beam unit; 231. Secondary inclined beam; 232. Connecting pipe; 233. Rotary plate; 234 1. Rotary shaft; 235. Secondary inclined beam pulley; 24. Upper frame; 241. Pulley track; 25. Lifting push rod; 31. Support frame; 32. Bearing; 41. Structural frame; 42. Left-flipping electric push rod; 43. Left-flipping trapezoidal screw slide; 431. Left-flipping slider; 44. Right-flipping electric push rod; 45. Right-flipping trapezoidal screw slide; 451. Right-flipping slider; 51. Bed; 52. Optical shaft seat; 53. Rotary shaft. Detailed Implementation

[0045] To enable those skilled in the art to better understand the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and implementation methods.

[0046] To address the inconvenience and safety concerns associated with changing patient positions during current ultrasound examinations, this invention provides a multi-degree-of-freedom combined motion robot for medical beds. This robot solves the problems of large-angle side-turning and multi-angle flipping difficulties in changing patient positions during existing ultrasound examinations. It enables multi-degree-of-freedom linkage and large-angle side-turning for position changes, improving the convenience and safety of changing patient positions during ultrasound examinations.

[0047] like Figures 1 to 7As shown, a multi-degree-of-freedom combined motion robot for a medical bed includes: a base mechanism 1, a lifting mechanism 2, a support mechanism 3, a flipping mechanism 4, and a main bed surface 5. The lifting mechanism 2 is slidably mounted on the base mechanism 1, with the support mechanism 3 connected to its upper part. The main bed surface 5 is hinged to the upper part of the support mechanism 3. When the lifting mechanism 2 moves up and down, it drives the support mechanism 3 and the main bed surface 5 to move up and down, thereby achieving vertical freedom control of the main bed surface 5. The lower part of the flipping mechanism 4 is hinged to the upper part of the lifting mechanism 2, and the upper end of the flipping mechanism 4 is fixedly connected to the main bed surface 5. When the flipping mechanism 4 flips, it drives the main bed surface 5 to flip left or right, thereby achieving horizontal freedom control of the main bed surface 5. When the base mechanism 1 rotates in a straight line, it drives the lifting mechanism 2 and the main bed surface 5 to move back and forth, thereby achieving horizontal freedom control of the main bed surface 5.

[0048] Specifically, the base mechanism 1 has two parts, fixedly connected to the lower parts of the left and right sides of the lifting mechanism 2 respectively. The lower part of the support mechanism 3 is fixedly connected to the upper part of the lifting mechanism 2, and the main bed surface 5 is hinged to the upper part of the support mechanism 3. The lower end of the flipping mechanism 4 is hinged to the upper part of the lifting mechanism 2, and the upper end of the flipping mechanism 4 is fixedly connected to the main bed surface 5. Through the linkage and coordination between various degrees of freedom, the patient's center of gravity trajectory is prevented from being too long or discontinuous when the bed surface moves, shortening the length of the center of gravity trajectory during bed surface movement and improving patient comfort. The multi-degree-of-freedom linkage ensures that during the side-turning process, the center of gravity movement trajectory of the main bed surface and the patient as a whole is no longer a curve, but a straight line that is as short as possible, or even theoretically keeps the center of gravity unchanged, thereby improving patient comfort. This solves the problems of inconvenience and safety in changing patient positions during existing ultrasound examinations, and improves the convenience and safety of changing patient positions during ultrasound examinations.

[0049] like Figure 3 As shown, the lifting mechanism 2 includes: a bottom frame 21, a inclined beam unit 22, a secondary inclined beam unit 23, an upper frame 24, and a lifting push rod 25.

[0050] The bottom frame 21 is slidably mounted on the base mechanism 1. The four corners of the bottom frame 21 are hinged to the lower ends of the four inclined beam units 22 via four bearing seats 211. The upper ends of the four inclined beam units 22 are rolledly connected to the lower part of the upper frame 24 via four inclined beam pulleys 221. The middle parts of the left and right sets of inclined beam units 22 are respectively hinged to the lower ends of the two secondary inclined beam units 23. The four corners of the upper frame 24 are fixedly connected to four pulley tracks 241. The two secondary inclined beam units 23 are slidably connected to the corresponding pulley tracks 241. One end of the lifting push rod 25 is hinged to the secondary inclined beam unit 23, and the other end is hinged to the middle part of the upper frame 24.

[0051] like Figure 4 As shown, the secondary inclined beam unit 23 includes: a secondary inclined beam 231, a connecting pipe 232, a rotating plate 233, a rotating shaft 234, and a secondary inclined beam pulley 235. The middle portions of the two secondary inclined beams 231 are fixedly connected via the connecting pipe 232, and the secondary inclined beams 231 and the connecting pipe 232 are arranged perpendicularly to each other. The upper end of the secondary inclined beam 231 is provided with a secondary inclined beam pulley 235, which is slidably connected to the pulley track 241. The secondary inclined beam is slidably connected to the pulley track 241 via the secondary inclined beam pulley 235. The rotating plate 233 is fixedly connected to the middle portion of the connecting pipe 232, and the rotating shaft 234 is fixedly connected to the lower portion of the rotating plate 233. The rotating shaft 234 is hinged to one end of the lifting push rod 25.

[0052] like Figure 2 As shown, the base mechanism 1 includes: casters 11, a connecting plate 12, a load-bearing member 13, a lead screw slide 14, and a slider 141. The casters 11 are fixedly connected to the lower end of the load-bearing member 13 via the connecting plate 12, and the lead screw slide 14 is fixedly connected to the upper part of the load-bearing member 13. Each end of the load-bearing member 13 has a caster 11, the lead screw slide 14 is arranged along the axial direction of the load-bearing member 13, and at least one slider 141 is slidably mounted on the lead screw of the lead screw slide 14.

[0053] Furthermore, a base mechanism is provided at each of the two ends of the bottom frame 21, and the lead screw slide 14 is arranged radially along the ends of the bottom frame 21 so that each of the four corners of the bottom frame 21 corresponds to a universal wheel.

[0054] Furthermore, the bottom frame 21 is fixedly connected to the slider 141 disposed on the lead screw slide 14. When the lead screw of the lead screw slide 14 rotates, it drives the slider 141 to slide along the lead screw, thereby causing the bottom frame 21 to move forward or backward.

[0055] like Figure 1 As shown, the main bed surface 5 includes: a bed body 51, an optical axis seat 52 fixedly connected to the bed body 51, and a rotating shaft 53 fixedly connected to the optical axis seat 52. The main bed surface 5 is hinged to the support mechanism 3 via the rotating shaft 53.

[0056] like Figures 5-7 As shown, the flipping mechanism 4 includes: a structural frame 41, a left-flipping electric actuator 42, a left-flipping trapezoidal lead screw slide 43, a left-flipping slider 431, a right-flipping electric actuator 44, a right-flipping trapezoidal lead screw slide 45, and a right-flipping slider 451. The structural frame 41 is fixedly connected to the bed 51. The left-flipping trapezoidal lead screw slide 43 and the right-flipping trapezoidal lead screw slide 45 are respectively disposed on the lower bottom surface of the structural frame 41. The left-flipping slider 431 is slidably disposed on the lead screw of the left-flipping trapezoidal lead screw slide 43, and the right-flipping slider 451 is slidably disposed on the lead screw of the right-flipping trapezoidal lead screw slide 45. The upper end of the left-flipping electric actuator 42 is fixedly connected to the left-flipping slider 431, and the lower end of the left-flipping electric actuator 42 is hinged to the upper frame 24. The upper end of the right-flipping electric actuator 44 is fixedly connected to the right-flipping slider 451, and the lower end of the right-flipping electric actuator 44 is hinged to the upper frame 24. When the left-flipping electric actuator 42 and / or the right-flipping electric actuator 44 are in operation, they drive the structural frame 41 to flip to the left or right, thereby causing the bed 51 to flip according to the set requirements.

[0057] like Figure 1 As shown, the support mechanism 3 includes a base and a support frame 31 with a bearing 32 on its upper part. Multiple support frames 31 are disposed on the lower surface of the main bed surface 5. The lower end of each support frame 31 is fixedly connected to the base, and the base is fixedly connected to the upper frame 24.

[0058] In practical applications, by altering the hinge position of the electric actuator head using a trapezoidal lead screw slide, the lever arm of the electric actuator during the lateral tilting process can be effectively increased, reducing the driving force required by the electric actuator. This allows for variable transmission ratio rotation of the main bed surface, improving patient safety. If only electric actuators are used for large-angle lateral tilting, both actuators need to be close to the main bed surface's rotation axis, resulting in a smaller lever arm. This necessitates a larger driving force from the electric actuators, and the greater the tilting angle, the greater the force required, leading to higher costs and reduced overall structural reliability. Furthermore, by changing the overall spatial position of the electric actuators using the trapezoidal lead screw slide, interference between the main bed surface and the electric actuators at extreme angles can be avoided, improving the feasibility of large-angle tilting of the main bed surface. Additionally, by utilizing the self-locking function of the electric actuators and the trapezoidal lead screw, the main bed surface can be safely stopped at any position during the lateral tilting process, further enhancing patient safety.

[0059] Furthermore, the flipping mechanism 4 is disposed at the end of the main bed surface 5, such that the left-flipping trapezoidal lead screw slide 43 and the right-flipping trapezoidal lead screw slide 45 are respectively radially disposed on the left and right sides of the lower bottom surface of the main bed surface. When the left-flipping electric actuator 42 extends, the left-flipping slider 431 moves to the right, and the right-flipping electric actuator 44 shortens, and the right-flipping slider 451 moves to the right, the bed body 51 is driven to flip to the left. When the right-flipping electric actuator 44 extends, the right-flipping slider 451 moves to the left, and the left-flipping electric actuator 42 shortens, and the left-flipping slider 431 moves to the left, the bed body 51 is driven to flip to the right.

[0060] In practical applications, when this robot is used to achieve the four degrees of freedom of the main bed surface 5, the lead screw slide 14 operates, thereby the slider 141 drives the other mechanisms above it to move in a straight line, realizing the degree of freedom of the bed 51 to move back and forth; the left and right lifting push rods 25 extend or retract simultaneously, and the thrust is transmitted through the four inclined beam units 22 and the two secondary inclined beam units 23 to the inclined beam pulleys 221 and 235, which then transmit the force to the upper frame 24, thereby driving the upper frame 24 to move. The other mechanisms on its upper part can be raised and lowered to achieve the degree of freedom of the bed body 51 to rise and fall; when the two lifting push rods 25 on the left and right extend and retract respectively, the rotational degree of freedom of the bed body 51 to rise and fall on one side can be achieved; when the left-flipping electric push rod 42 extends and the left-flipping slider 431 moves to the right, the right-flipping electric push rod 44 shortens and the right-flipping slider 451 moves to the right, the left-flipping electric push rod 44 extends and the right-flipping slider 451 moves to the left, the left-flipping electric push rod 42 shortens and the left-flipping slider 431 moves to the left, the right ... right-flipping electric push rod 42 shortens and the left-flipping slider 431 moves to the left, the right-flipping electric push rod 51 moves to the right.

[0061] When using this robot to coordinate and link the various degrees of freedom of the main bed surface 5, for example, while the main bed surface 5 is tilting to the left from a horizontal position, the lifting mechanism 2 can move upward according to a certain pattern, and the base mechanism 1 can move to the right according to a certain pattern. This multi-degree-of-freedom linkage ensures that during the tilting process, the trajectory of the center of gravity of the main bed surface 5 and the patient as a whole is no longer a curve, but a straight line that is as short as possible, or even theoretically maintains a constant center of gravity, thereby improving patient comfort.

[0062] As can be seen, this invention provides a multi-degree-of-freedom coordinated motion robot for a medical bed, including a base mechanism, a lifting mechanism, a support mechanism, a flipping mechanism, and a main bed surface. This enables coordinated linkage of the various degrees of freedom of the main bed surface. This multi-degree-of-freedom linkage ensures that during the side-turning process, the trajectory of the center of gravity of the main bed surface and the patient as a whole is no longer a curve, but a shortest possible straight line, or even theoretically maintaining a constant center of gravity, thereby improving patient comfort. This invention solves the problem of difficulty in large-angle side-turning and multi-angle flipping movements when changing patient positions during existing ultrasound examinations. It enables multi-degree-of-freedom linkage and large-angle side-turning for position changes, improving the convenience and safety of patient position changes during ultrasound examinations.

[0063] The structure, features, and effects of the present invention have been described in detail above with reference to the embodiments shown in the figures. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, shall be within the protection scope of the present invention as long as they do not exceed the spirit covered by the specification and figures.

Claims

1. A multi-degree-of-freedom combined motion robot for a medical bed, characterized in that, include: The base mechanism (1), lifting mechanism (2), support mechanism (3), flipping mechanism (4) and main bed surface (5); The lifting mechanism (2) is slidably mounted on the base mechanism (1), and the upper part of the lifting mechanism is connected to the support mechanism (3). The main bed surface (5) is hinged above the support mechanism (3). When the lifting mechanism (2) moves up and down, it drives the support mechanism (3) and the main bed surface (5) to move up and down, so as to realize the degree of freedom control of the main bed surface (5) in the up and down direction; The lower part of the flipping mechanism (4) is hinged to the upper part of the lifting mechanism (2), and the upper end of the flipping mechanism (4) is fixedly connected to the main bed surface (5). When the flipping mechanism (4) flips, it drives the main bed surface (5) to flip to the left or to the right, so as to realize the degree of freedom control of the main bed surface (5) to flip to the left or to the right. When the base mechanism (1) moves in a straight line, it drives the lifting mechanism (2) and the main bed surface (5) to move back and forth, so as to realize the freedom control of the main bed surface (5) to move forward or backward; The flipping mechanism (4) includes: a structural frame (41), a left flipping electric push rod (42), a left flipping trapezoidal screw slide (43), a left flipping slider (431), a right flipping electric push rod (44), a right flipping trapezoidal screw slide (45), and a right flipping slider (451). The structural frame (41) is fixedly connected to the bed body (51) of the main bed surface, and the left-folding trapezoidal screw slide (43) and the right-folding trapezoidal screw slide (45) are respectively set on the bottom surface of the structural frame (41); The left-flipping slider (431) is slidably mounted on the screw of the left-flipping trapezoidal screw slide (43), and the right-flipping slider (451) is slidably mounted on the screw of the right-flipping trapezoidal screw slide (45). The upper end of the left-flipping electric push rod (42) is fixedly connected to the left-flipping slider (431), and the lower end of the left-flipping electric push rod (42) is hinged to the upper frame (24). The upper end of the right-flipping electric push rod (44) is fixedly connected to the right-flipping slider (451), and the lower end of the right-flipping electric push rod (44) is hinged to the upper frame (24). When the left-flipping electric actuator (42) and / or the right-flipping electric actuator (44) are in operation, the structural frame (41) is driven to flip to the left or right, so as to drive the bed (51) to flip according to the set requirements; By changing the positions of the left-flipping slider and the right-flipping slider at the upper end of the corresponding left-flipping electric actuator and right-flipping electric actuator, the lever arm of the left-flipping electric actuator and right-flipping electric actuator during the side-flipping process can be effectively increased, and the driving force required by the left-flipping electric actuator and right-flipping electric actuator can be reduced, thereby realizing the variable transmission ratio rotation of the main bed surface. Meanwhile, by changing the overall spatial position of the corresponding left-flipping electric actuator and right-flipping electric actuator through the left-flipping trapezoidal lead screw slide and the right-flipping trapezoidal lead screw slide, interference between the main bed surface and the left-flipping electric actuator and the right-flipping electric actuator can be avoided at extreme angles, thus improving the feasibility of large-angle flipping of the main bed surface. The lifting mechanism (2) includes: a bottom frame (21), a inclined beam unit (22), a secondary inclined beam unit (23), an upper frame (24), and a lifting push rod (25). The bottom frame (21) is slidably mounted on the base mechanism (1). The four corners of the bottom frame (21) are respectively hinged to the lower ends of the four inclined beam units (22) through four bearing seats (211). The upper ends of the four inclined beam units (22) are respectively rolledly connected to the lower part of the upper frame (24) through four inclined beam pulleys (221). The middle parts of the left and right sets of inclined beam units (22) are respectively hinged to the lower ends of the two secondary inclined beam units (23). The four corners of the upper frame (24) are respectively fixedly connected to four pulley tracks (241). The two secondary inclined beam units (23) are slidably connected to the corresponding pulley tracks (241). One end of the lifting push rod (25) is hinged to the secondary inclined beam unit (23), and the other end is hinged to the middle part of the upper frame (24).

2. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 1, characterized in that, The secondary inclined beam unit (23) includes: a secondary inclined beam (231), a connecting pipe (232), a rotating plate (233), a rotating shaft (234), and the secondary inclined beam pulley (235); The middle parts of the two secondary inclined beams (231) are fixedly connected by the connecting pipe (232), and the secondary inclined beams (231) and the connecting pipe (232) are arranged perpendicular to each other; The upper end of the secondary inclined beam (231) is provided with a secondary inclined beam pulley (235), the secondary inclined beam pulley (235) is slidably connected to the pulley rail (241), and the secondary inclined beam is slidably connected to the pulley rail (241) through the secondary inclined beam pulley (235); The rotary plate (233) is fixedly connected to the middle part of the connecting pipe (232), and the rotary shaft (234) is fixedly connected to the lower part of the rotary plate (233). The rotary shaft (234) is hinged to one end of the lifting push rod (25).

3. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 2, characterized in that, The base mechanism (1) includes: caster wheel (11), connecting plate (12), load-bearing material (13), lead screw slide (14) and slider (141). The universal wheel (11) is fixedly connected to the lower end of the load-bearing material (13) through the connecting plate (12), and the upper part of the load-bearing material (13) is fixedly connected to the lead screw slide (14). Both ends of the load-bearing material (13) are provided with a universal wheel (11), the lead screw slide (14) is arranged along the axial direction of the load-bearing material (13), and at least one slider (141) is slidably arranged on the lead screw of the lead screw slide (14).

4. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 3, characterized in that, The bottom frame (21) is provided with a base mechanism at each of its two ends, and the lead screw slide (14) is arranged radially along the end of the bottom frame (21) so that each of the four corners of the bottom frame (21) has a universal wheel (11).

5. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 4, characterized in that, The bottom frame (21) is fixedly connected to the slider (141) set on the lead screw slide (14). When the lead screw of the lead screw slide (14) rotates, it drives the slider (141) to slide along the lead screw, thereby driving the bottom frame (21) to move forward or backward.

6. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 5, characterized in that, The main bed surface (5) includes: an optical axis seat (52) fixedly connected to the bed body (51), and a rotating shaft (53) fixedly connected to the optical axis seat (52); The main bed surface (5) is hinged to the support mechanism (3) via a rotating shaft (53).

7. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 6, characterized in that, The support mechanism (3) includes: a base and a support frame (31) with a bearing (32) on the upper part; Multiple support frames (31) are disposed on the lower bottom surface of the main bed surface (5), the lower end of the support frame (31) is fixedly connected to the base, and the base is fixedly connected to the upper frame (24).

8. The multi-degree-of-freedom combined motion robot for a medical bed according to claim 7, characterized in that, The flipping mechanism (4) is located at the end of the main bed surface (5), so that the left flipping trapezoidal screw slide (43) and the right flipping trapezoidal screw slide (45) are respectively radially arranged on the left and right sides of the bottom surface of the main bed surface; When the left-flipping electric actuator (42) extends, the left-flipping slider (431) moves to the right, and the right-flipping electric actuator (44) shortens, the right-flipping slider (451) moves to the right, the bed body (51) is driven to flip to the left. When the right-flipping electric actuator (44) extends, the right-flipping slider (451) moves to the left, and the left-flipping electric actuator (42) shortens, the left-flipping slider (431) moves to the left, driving the bed (51) to flip to the right.

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