Electric transfer vehicle capable of automatically leveling

Abstract

The invention relates to the technical field of medical transportation devices, in particular to an automatic leveling electric transfer trolley which comprises a transfer table, a bottom frame, a first lifting structure, a second lifting structure, a third lifting structure, a sensor and a main controller, and the upper ends and the lower ends of the three lifting structures are connected with the transfer table and the bottom frame correspondingly; the first lifting structure is located at the front end of the transfer table, the second lifting structure and the third lifting structure are located on different sides of the rear end of the transfer table and arranged side by side, and the sensor is in signal connection with the main controller and used for detecting the angle between the transfer table and the horizontal plane and transmitting angle data to the main controller. The main controller controls the first lifting structure, the second lifting structure and the third lifting structure to ascend and descend. Therefore, the electric transfer vehicle can be automatically adjusted to enable the patient to be kept in a horizontal state, the comfort degree in the pushing and transferring process is improved, and the electric transfer vehicle can be located in the special body positions of the Tore position and the anti-Tore position in real time.

Description

Technical Field

[0001] The invention relates to the technical field of medical transport vehicles, and in particular to an electric transfer vehicle capable of automatically leveling. Background Art

[0002] The electric transfer carts currently on the market cannot adjust the left / right / front / back level of the transfer platform when the patient is being pushed and transferred and encounters a left / right tilted road surface / up / down slopes. The patient can only be forced to tilt left / right / head high and feet low or head low and feet high, causing physical discomfort, sliding due to tilting, or lack of security. If the patient needs to be in a special position of the Teutonic position or reverse Teutonic position after surgery, the existing electric transfer carts cannot meet this requirement.

[0003] It should be noted that the information disclosed in this background technology section is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes prior art already known to a person skilled in the art. Summary of the invention

[0004] The invention provides an electric transfer vehicle capable of automatic leveling. The electric transfer vehicle comprises a transfer platform, a base frame, a first lifting structure, a second lifting structure, a third lifting structure, a sensor and a main controller.

[0005] The upper and lower ends of the first lifting structure are respectively connected to the transfer platform and the base frame, the upper and lower ends of the second lifting structure are respectively connected to the transfer platform and the base frame, and the upper and lower ends of the third lifting structure are respectively connected to the transfer platform and the base frame. The transfer platform has a relative front end and rear end, the first lifting structure is located at the front end, the second lifting structure and the third lifting structure are located on different sides of the rear end, the second lifting structure and the third lifting structure are arranged side by side, the sensor signal is connected to the main controller, the sensor is used to detect the angle between the transfer platform and the horizontal plane, and transmit the angle data to the main controller, and the main controller controls the first lifting structure, the second lifting structure and the third lifting structure to lift and lower.

[0006] When the pitch angle α is greater than 0°, it is judged to be an uphill state, and the main controller drives the first lifting structure to descend, and the descent amount of the first lifting structure is l1=d1tanα, where d1 is the horizontal distance between the first lifting structure and the second lifting structure. When the pitch angle α is less than 0°, it is judged to be a downhill state, and the main controller drives the first lifting structure to rise, and the descent amount of the first lifting structure is l1=d1tanα. When the roll angle β is greater than 0°, it is judged to be a left-high-right-low state, and the main controller drives the first lifting structure and the second lifting structure to descend in linkage, and the descent amount of the second lifting structure is l2=d2tanβ, where d2 is the distance between the center of the second lifting structure and the center of the third lifting structure, and the descent amount of the first lifting structure is half of the descent amount of the second lifting structure. When the roll angle β is less than 0°, it is judged to be a left-low-right-high state, and the main controller drives the first lifting structure and the third lifting structure to descend in linkage, and the descent amount of the third lifting structure is l2=d2tanβ, where d2 is the distance between the center of the second lifting structure and the center of the third lifting structure, and the descent amount of the first lifting structure is half of the descent amount of the second lifting structure.

[0007] Furthermore, the first lifting structure is hinged to the transfer platform, the second lifting structure is hinged to the transfer platform, and the third lifting structure is hinged to the transfer platform.

[0008] Furthermore, the electric transfer vehicle also includes an electric push rod and a power-assisted wheel. One end of the electric push rod is fixed to the base frame, and the other end of the electric push rod is connected to the power-assisted wheel. The lifting and lowering of the power-assisted wheel is controlled by the extension and retraction of the electric push rod.

[0009] Furthermore, the electric transfer vehicle also includes a hand controller, and a signal line of the hand controller is connected to the main controller.

[0010] Furthermore, the electric transfer vehicle also includes a battery, and the battery is connected to the main controller.

[0011] Furthermore, the electric transfer vehicle also includes a control handle and a handle, and the control handle and the handle are connected to the rear end of the transfer platform.

[0012] Furthermore, pressure sensors are arranged in the control handle and the handle.

[0013] Furthermore, the sensor is a gyroscope sensor.

[0014] Furthermore, the electric transfer vehicle also includes casters, and the casters are connected to the base frame.

[0015] Furthermore, the main controller is arranged on the transfer platform.

[0016] The present invention provides an automatically leveled electric transfer vehicle, which, through the matching arrangement of a first lifting structure, a second lifting structure, a third lifting structure, a sensor and a main controller, can identify the current level of the road surface during the patient transfer process, automatically adjust the patient to maintain a horizontal state, improve the comfort of the patient during the transfer process, prevent the patient from sliding down, and realize the special body positions of the Newcastle position and the reverse Newcastle position in real time.

[0017] Other features and beneficial effects of the present invention will be described in the following description, and some of the technical features and beneficial effects can be obviously derived from the description or understood by implementing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, some of the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic structural diagram of an electric transfer vehicle capable of automatic leveling provided by one embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the electric transfer vehicle in an uphill state; Figure 3 yes Figure 1 Schematic diagram of the electric transfer vehicle in a tilted state.

[0020] Reference numerals: 10-transfer platform; 12-base frame; 14-first lifting structure; 16-second lifting structure; 18-third lifting structure; 20-main controller; 21-hand controller; 22-handle; 24-control handle; 26-castor; 28-electric push rod; 30-power-assisting wheel. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; the technical features designed in different implementation modes of the present invention described below can be combined with each other as long as they do not conflict with each other; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "lateral", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In addition, the term "including" and any variation thereof all mean "at least including".

[0023] See also Figures 1 to 3 , Figure 1 is a schematic structural diagram of an electric transfer vehicle capable of automatic leveling provided by an embodiment of the present invention. Figure 2 yes Figure 1 Schematic diagram of the electric transfer vehicle in the uphill state, Figure 3 yes Figure 1 Schematic diagram of the electric transfer vehicle in a tilted state. It should be noted that for clarity Figure 2 and Figure 3 The dimensions and angles in Figure 2 and Figure 3 The reference numerals of the structures are omitted.

[0024] To achieve at least one of the above advantages or other advantages, an embodiment of the present invention provides an electric transfer vehicle capable of automatic leveling. As shown in the figure, the electric transfer vehicle may include a transfer platform 10, a base frame 12, a first lifting structure 14, a second lifting structure 16, a third lifting structure 18, a sensor and a main controller 20.

[0025] The transfer platform 10 is used to support the patient and has a translation mechanism and a transfer mechanism to realize the patient's transportation function. The transfer platform 10 has a front end and a rear end relative to each other. Figure 1 For example, the right side of the transfer platform 10 is the front end, and the left side is the rear end. The chassis 12 is used as the base support of the electric transfer vehicle and can also be used to install other structures.

[0026] The upper and lower ends of the first lifting structure 14 are respectively connected to the transfer platform 10 and the base frame 12, the upper and lower ends of the second lifting structure 16 are respectively connected to the transfer platform 10 and the base frame 12, and the upper and lower ends of the third lifting structure 18 are respectively connected to the transfer platform 10 and the base frame 12. The first lifting structure 14 is located at the front end. The second lifting structure 16 and the third lifting structure 18 are located on different sides of the rear end, that is, on the left and right sides of the rear end. The second lifting structure 16 and the third lifting structure 18 are arranged side by side. The first lifting structure 14, the second lifting structure 16 and the third lifting structure 18 can adopt lifting columns.

[0027] The sensor signal is connected to the main controller 20. The sensor is used to detect the angle between the transfer platform 10 and the horizontal plane (such as the pitch angle α and the roll angle β), and transmit the angle data to the main controller 20. Optionally, the sensor is a gyroscope sensor. The main controller 20 controls the first lifting structure 14, the second lifting structure 16 and the third lifting structure 18 to lift. The main controller 20 realizes the control integration of the entire electric transfer vehicle.

[0028] When the pitch angle α is greater than 0°, it is judged as an uphill state, and the main controller 20 drives the first lifting structure 14 to descend (the descent means that the first lifting structure 14 is in a descending state compared with the second lifting structure 16 and the third lifting structure 18, that is, when the first lifting structure 14 cannot descend, the second lifting structure 16 and the third lifting structure 18 rise), and the descent amount of the first lifting structure 14 is l1=d1tanα, d1 is the horizontal distance between the first lifting structure 14 and the second lifting structure 16, so as to achieve a pitch angle α of 0° and a horizontal pitch direction. At the same time, the main controller 20 adjusts the power-assisted wheel 30 to increase the torque to improve the climbing ability.

[0029] When the pitch angle α is less than 0°, it is judged to be in a downhill state, and the main controller 20 drives the first lifting structure 14 to rise, and the rise amount of the first lifting structure 14 is l1=d1tanα, so as to achieve a pitch angle α of 0° and a horizontal pitch direction. At the same time, the main controller 20 limits the acceleration and locking of the power-assisted wheel 30, and then extends the electric push rod 28 to increase the friction between the power-assisted wheel 30 and the downhill ground, so as to achieve the downhill deceleration of the electric transfer vehicle. Similarly, the rise of the first lifting structure 14 means that the first lifting structure 14 is in an ascending state compared with the second lifting structure 16 and the third lifting structure 18, that is, when the first lifting structure 14 cannot rise, the second lifting structure 16 and the third lifting structure 18 will fall.

[0030] When the roll angle β is greater than 0°, it is judged to be in the left-high and right-low state, and the main controller 20 drives the first lifting structure 14 and the second lifting structure to descend in linkage, and the descent amount of the second lifting structure 16 is l2=d2tanβ, d2 is the distance between the center of the second lifting structure 16 and the center of the third lifting structure 18, and the descent amount of the first lifting structure 14 is half of the descent amount of the second lifting structure 16, so as to achieve a roll angle β of 0° and a horizontal roll direction. Similarly, the linkage descent of the first lifting structure 14 and the second lifting structure 16 is also a relative descent. When the first lifting structure 14 and the second lifting structure 16 cannot descend, the first lifting structure 14 and the third lifting structure 18 rise in linkage.

[0031] When the roll angle β is less than 0°, it is judged to be in the left-low and right-high state, and the main controller 20 drives the first lifting structure 14 and the third lifting structure to descend in linkage, and the descent amount of the third lifting structure 18 is l2=d2tanβ, d2 is the distance between the center of the second lifting structure 16 and the center of the third lifting structure 18, and the descent amount of the first lifting structure 14 is half of the descent amount of the second lifting structure 16, so as to achieve a roll angle β of 0° and a horizontal roll direction. Similarly, the linkage descent of the first lifting structure 14 and the third lifting structure 18 is also a relative descent. When the first lifting structure 14 and the third lifting structure 18 cannot descend, the first lifting structure 14 and the second lifting structure 16 rise in linkage.

[0032] When the first lifting structure 14 rises, the second lifting structure 16 and the third lifting structure 18 fall synchronously, so that the transfer platform 10 can be tilted back to achieve the special position of the special position. When the first lifting structure 14 falls, the second lifting structure 16 and the third lifting structure 18 rise synchronously, so that the transfer platform 10 can be tilted forward to achieve the special position of the reverse special position.

[0033] In some embodiments, the first lifting structure 14 is hinged to the transfer platform 10, the second lifting structure 16 is hinged to the transfer platform 10, and the third lifting structure 18 is hinged to the transfer platform 10, so as to facilitate relative rotation between the lifting structure and the transfer platform 10 in left and right, front and back directions, etc.

[0034] In some embodiments, the electric transfer vehicle further includes an electric push rod 28 and a power-assisted wheel 30. One end of the electric push rod 28 is fixed to the base frame 12, and the other end of the electric push rod 28 is connected to the power-assisted wheel 30, and the lifting and lowering of the power-assisted wheel 30 is controlled by the extension and retraction of the electric push rod 28. The power-assisted wheel 30 is used for auxiliary pushing, electric pushing, and auxiliary braking of the power-assisted wheel 30.

[0035] In some embodiments, the electric transfer vehicle further comprises a hand controller 21, and a signal line of the hand controller 21 is connected to the main controller 20. The hand controller 21 can be used for patient transportation, lifting, forward and backward tilting, and left and right tilting operations.

[0036] In some embodiments, the electric transfer vehicle further comprises a battery, which is connected to the main controller 20. The battery provides operating power for the electric transfer vehicle.

[0037] In some embodiments, the electric transfer vehicle further comprises a control handle 24 and a handle 22, and the control handle 24 and the handle 22 are connected to the rear end of the transfer platform 10. The caregiver can operate the control handle 24 to operate the power-assisted wheel 30 and brake. The caregiver holds the control handle 24 and the handle 22 to push the electric transfer vehicle.

[0038] In some embodiments, a pressure sensor is provided in each of the control handle 24 and the handle 22. When both pressure sensors do not receive a pressure signal, it is considered that there is no nursing staff operating at this time, and the main controller 20 will control the power-assisted wheel 30 to lock, and extend the electric push rod 28, so that the electric transfer vehicle is in a braking state through the power-assisted wheel 30. Prevent slipping due to human error. When any pressure sensor does not receive a pressure signal, it is considered that the nursing staff is operating with one hand at this time, and the buzzer in the main controller 20 will give a warning prompt.

[0039] In some embodiments, the electric transfer vehicle further comprises casters 26. The casters 26 are connected to the chassis 12. In this embodiment, the number of casters 26 is 4, and the 4 casters 26 are in contact with the ground and roll, which facilitates the movement of the electric transfer vehicle.

[0040] In some embodiments, the main controller 20 is disposed on the transfer platform 10 , but the present invention is not limited thereto, and the main controller 20 may also be placed in other places where its functions can be realized according to actual needs.

[0041] In summary, the present invention provides an automatically leveled electric transfer vehicle, which, through the combination of the first lifting structure 14, the second lifting structure 16, the third lifting structure 18, the sensor and the main controller 20, can identify the current level of the road surface during the patient transfer process, automatically adjust the patient to maintain a horizontal state, improve the comfort during the transfer process, prevent the patient from sliding down, and realize the special body positions of the Newcastle position and the reverse Newcastle position in real time.

[0042] In addition, those skilled in the art should understand that, although there are many problems in the prior art, each embodiment or technical solution of the present invention can be improved in only one or several aspects, without having to solve all the technical problems listed in the prior art or background technology at the same time. Those skilled in the art should understand that the content not mentioned in a claim should not be used as a limitation on the claim.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric transfer vehicle capable of automatic leveling, characterized in that: The electric transfer vehicle comprises a transfer platform, a base frame, a first lifting structure, a second lifting structure, a third lifting structure, a sensor and a main controller; The upper and lower ends of the first lifting structure are respectively connected to the transfer platform and the base frame, the upper and lower ends of the second lifting structure are respectively connected to the transfer platform and the base frame, and the upper and lower ends of the third lifting structure are respectively connected to the transfer platform and the base frame, the transfer platform has a relative front end and rear end, the first lifting structure is located at the front end, the second lifting structure and the third lifting structure are located on different sides of the rear end, the second lifting structure and the third lifting structure are arranged side by side, the sensor signal is connected to the main controller, the sensor is used to detect the angle between the transfer platform and the horizontal plane, and transmit the angle data to the main controller, and the main controller controls the first lifting structure, the second lifting structure and the third lifting structure to lift; When the pitch angle α is greater than 0°, it is determined to be an uphill state, and the main controller drives the first lifting structure to descend, and the descending amount of the first lifting structure is l1=d1tanα, where d1 is the horizontal distance between the first lifting structure and the second lifting structure; When the pitch angle α is less than 0°, it is determined to be a downhill state, and the main controller drives the first lifting structure to rise, and the rise amount of the first lifting structure is l1=d1tanα; When the roll angle β is greater than 0°, it is judged to be in the left-high-right-low state, and the main controller drives the first lifting structure and the second lifting structure to descend in linkage, and the descending amount of the second lifting structure is l2=d2tanβ, d2 is the distance between the center of the second lifting structure and the center of the third lifting structure, and the descending amount of the first lifting structure is half of the descending amount of the second lifting structure; When the roll angle β is less than 0°, it is judged to be in the left-low and right-high state, and the main controller drives the first lifting structure and the third lifting structure to descend in linkage. The descending amount of the third lifting structure is l2=d2tanβ, d2 is the distance between the center of the second lifting structure and the center of the third lifting structure, and the descending amount of the first lifting structure is half of the descending amount of the second lifting structure.

2. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The first lifting structure is hinged to the transfer platform, the second lifting structure is hinged to the transfer platform, and the third lifting structure is hinged to the transfer platform.

3. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The electric transfer vehicle also includes an electric push rod and a power-assisted wheel. One end of the electric push rod is fixed to the base frame, and the other end of the electric push rod is connected to the power-assisted wheel. The lifting and lowering of the power-assisted wheel is controlled by the extension and retraction of the electric push rod.

4. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The electric transfer vehicle also includes a hand controller, and a signal line of the hand controller is connected to the main controller.

5. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The electric transfer vehicle also includes a battery, which is connected to the main controller.

6. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The electric transfer vehicle further comprises a control handle and a handle, wherein the control handle and the handle are connected to the rear end of the transfer platform.

7. The electric transfer vehicle capable of automatic leveling according to claim 6, characterized in that: Pressure sensors are arranged in the control handle and the handle.

8. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The sensor is a gyroscope sensor.

9. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The electric transfer vehicle also includes casters connected to the base frame.

10. The electric transfer vehicle capable of automatic leveling according to claim 1, characterized in that: The main controller is arranged on the transfer platform.

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