Multifunctional displacement child-mother bed capable of stably displacing and transshipping

Abstract

The invention relates to a multifunctional displacement child-mother bed capable of stably displacing and transferring, which comprises a child bed and a mother bed, the mother bed comprises a mother bed board and a mother bed frame, the child bed comprises a child bed board and a child bed frame, and a moving system is arranged at the bottom of the child bed frame. The mother bed board and the child bed board are both sectional bed boards, and the sectional bed boards are provided with a plurality of body shifting devices according to main bearing positions of the bed boards when the body of a patient lies on the bed boards. A male plug assembly is arranged on the child bed frame, a female plug assembly is arranged on the mother bed frame, and after the male plug assembly and the female plug assembly are inserted, the whole bed is integrally controlled by the child bed control system. According to the invention, all body parts at main bearing positions are displaced at different controllable speeds, so that the safety of postoperative weak and weak patients during transfer is ensured. During bed separation, the control system independently collects child bed data to control the patient to move outwards from the child bed, and during bed combination, the control system receives mother bed data to control the position of the body of the patient on the whole bed.

Description

Technical Field

[0001] The present invention belongs to the technical field of mother - child hospital beds, and particularly relates to a multifunctional shifting mother - child bed with stable shifting and transfer. Background Art

[0002] When treating patients in a hospital, it is usually necessary to transfer the patient's position to cooperate with the use of medical instruments. Especially after surgery, the patient usually needs to be transferred from a nursing hospital bed to a multifunctional shifting chair bed. Conventional hospital beds in the ward cannot be moved, so a specially designed shifting bed is required for transfer. The shifting bed occupies a large area. To move freely in the ward, an ordinary shifting bed has high requirements for the ward space. Therefore, the prior art has developed a shifting mother - child bed. When a patient needs to be transferred, it is only necessary to ensure that the patient is on the child bed, and then the child bed can be transferred separately. However, since the patient's physical function is greatly affected after surgery and the mobility is limited, the transfer process usually relies on the assistance of multiple people to complete.

[0003] The existing publicly disclosed patent document CN116549225A discloses a surgical patient transfer device and method for clinical use, which discloses that when loading a patient: fix this device to the side of the operating bed, align it along the long side, and make the upper surface of the translation plate slightly higher than the upper surface of the operating bed; then, through jog control, insert the translation plate under the patient, lift the patient, and then fix the patient with straps at different positions according to specific situations. After that, the translation plate moves horizontally back to the starting position. When unloading the patient: fix this device to the side of the hospital bed, align it along the long side, and make the upper surface of the translation plate slightly higher than the upper surface of the hospital bed; then extend the translation plate to gently place the patient on the hospital bed. After releasing the straps, the translation plate retracts.

[0004] Although this method can reduce the labor input, it cannot achieve independent segmented control of each body part. When the translation plate moves horizontally, due to the different load - bearing conditions of each body part and the speed changes caused by acceleration and deceleration at the start and end of horizontal translation, the patient's body tilts (it is estimated that the body position offset before and after shifting of existing products can reach 2 - 5°). This rapid speed change and body position change will cause discomfort to postoperative or weak patients during shifting. In addition, this technical solution is applicable to ordinary shifting beds. For a mother - child bed, not only needs to consider how to transfer the patient from the shifting bed to the board bed of the medical device, but also needs to consider how to stably place the patient in the center of the mother - child bed after the beds are combined, and when the beds are separated, the patient needs to be placed on the child bed first and then transferred. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multifunctional shifting mother-and-child bed with stable shifting and loading, which can realize bidirectional transfer when combining the mother-and-child beds on the child bed and transferring the medical instrument board bed, and at the same time, achieve tilt-free translation with different transmission speeds and weight matching based on each body part during the transfer.

[0006] The technical solution adopted by the present invention to solve its technical problems is: to provide a multifunctional shifting mother-and-child bed with stable shifting and loading, including a child bed and a mother bed. The mother bed includes a mother bed board and a mother bed frame. The child bed includes a child bed board and a child bed frame. A moving system is provided at the bottom of the child bed frame. Both the mother bed board and the child bed board are segmented bed boards. The segmented bed board is at least divided into a back area, a buttocks area, and a calf area according to the main load-bearing positions of the bed board when the patient lies flat on the bed board. A number of body shifting devices are provided on the child bed board. The body shifting devices include a back shifting device corresponding to the back area, a buttocks shifting device corresponding to the buttocks area, and a calf shifting device corresponding to the calf area, for shifting each body part at the main load-bearing position at a controllable different speed; the body shifting device further includes a child bed positioning system for obtaining the specific position of the patient on the child bed board, and at the same time for confirming the travel distance of the body shifting device; a pressure sensor array for determining the center of gravity position of each main load-bearing position when the patient lies flat on the child bed board; a control system for collecting data from the child bed positioning system and the pressure sensor array and respectively controlling the rotation speeds of different drive motors according to the data. A mother bed positioning system is provided on the mother bed board for obtaining the specific position of the patient on the mother bed board. A male plug assembly is provided on the child bed frame, electrically connected to the child bed control system. A female plug assembly is provided on the mother bed frame, mating with the male plug assembly. The female plug assembly is electrically connected to the male plug assembly and the mother bed positioning system. After the male plug assembly and the female plug assembly are plugged in, integrated control of the whole bed by the child bed control system is realized.

[0007] The body shifting device includes: a telescopic bed board for moving the patient's body out of or into the multifunctional shifting bed; a flat conveyor belt arranged around the main load-bearing position of the bed board, and the conveying direction is the width direction of the multifunctional shifting bed; a transmission mechanism including a driving wheel and a driven wheel mating with the flat conveyor belt, and the driving wheel is used to drive the flat conveyor belt to move forward or backward; a first drive motor for driving the driving wheel to rotate forward or backward.

[0008] The telescopic bed board is slidably mounted on the bed frame along the width direction of the multifunctional transfer bed through a slide rail. The telescopic bed board is driven by a second driving motor to move forward and backward. One end of the second driving motor is fixed on the bed frame, and the telescopic end is connected to the telescopic bed board through a connecting plate to control the telescopic movement of the telescopic bed board along the slide rail.

[0009] Preferably, the body transfer device includes the following working steps: obtaining the current posture and center of gravity position of the patient at each of the main load-bearing positions through the sub-bed positioning system and the pressure sensor array; obtaining the physiological parameter information of the patient, and inputting the physiological parameter information, the current body position of the patient, and the positions and speeds of the back area, hip area, and leg area at the current moment into the center of gravity prediction model to obtain the centers of gravity of the back area, hip area, and leg area at the next moment, and determining the center of gravity position of the patient at the main load-bearing positions at the next moment according to the centers of gravity of the back area, hip area, and leg area at the next moment; obtaining the output of the driving motor of the hip area by using a slow-urgent-slow three-stage acceleration curve according to the center of gravity position of the main load-bearing position at the current moment; obtaining the output of the driving motor of the back area by using a method of matching the center of gravity movement rate according to the center of gravity position of the main load-bearing position at the current moment and the center of gravity position of the main load-bearing position at the next moment; obtaining the output of the driving motor of the leg area by using a feed-forward compensation method according to the center of gravity of the leg area at the next moment; and coordinately controlling the output of the driving motor of the back area and the output of the driving motor of the leg area based on the output of the driving motor of the hip area to ensure that the patient maintains a stable state on the sub-bed board.

[0010] Preferably, the sub-bed control system is provided with a wireless module, which is wirelessly connected to a control tablet through the wireless module. A plurality of transfer modes are preset in the control tablet, including a combined-bed inward movement mode, a separated-bed outward movement mode, and a traveling mode.

[0011] Preferably, a lifting system is further provided on the sub-bed frame. The lifting system includes a nested telescopic rod. The nested telescopic rod includes a main telescopic outer rod fixed on the sub-bed frame. At least one secondary telescopic inner rod is sleeved inside the main telescopic outer rod. One end of the innermost secondary telescopic inner rod is connected to a servo motor, and the other end is connected to the bottom surface of the sub-bed board.

[0012] Preferably, the female plug assembly includes a female end base provided on one side of the mother-bed frame. A clamping groove is provided on the female end base. A first mounting plate is fixedly connected in the clamping groove. A first circuit board is provided on the first mounting plate. The lower sides of the left side wall and the right side wall of the female end base are bent outward to form a bent portion, and a guiding roller is mounted on the bent portion.

[0013] Preferably, the male plug assembly includes a male end base fixedly arranged on one side of the sub-bed frame and adapted to the female end base. An installation groove is provided on the male end base, and a second mounting plate is fixedly connected in the installation groove. A second circuit board electrically connected to the first circuit board is provided on the second mounting plate, and a plurality of current probes are inserted on the second circuit board.

[0014] Preferably, the moving system includes universal wheels provided at the four corners of the bottom of the sub-bed frame.

[0015] Preferably, the universal wheels are self-propelled casters. A path detection radar is provided at the front end of the sub-bed frame. The sub-bed control system is signal-connected to the path detection radar and the self-propelled casters. The sub-bed control system obtains the current posture and center-of-gravity position of the patient at the main load-bearing positions through the sub-bed positioning system and the pressure sensor array, obtains the physiological parameter information of the patient, inputs the physiological parameter information, the current body position of the patient, and the positions and speeds of the back area, hip area, and leg area at the current moment into the center-of-gravity prediction model to obtain the centers of gravity of the back area, hip area, and leg area at the next moment, and determines the center-of-gravity position at the main load-bearing position at the next moment according to the centers of gravity of the back area, hip area, and leg area at the next moment. When the predicted center-of-gravity position at the next moment shows a significant deviation in the traveling direction of the sub-bed or the path detection radar detects an obstacle in the traveling direction of the sub-bed, the self-propelled casters are controlled to decelerate.

[0016] The beneficial effects are as follows: By separately arranging individual body displacement devices at different main load-bearing positions of the sub-bed board when the patient lies flat on the sub-bed board, the present invention displaces each body part at the main load-bearing positions at controllable different speeds, ensuring the safety of postoperative weak and physically weak patients during transfer. When the mother bed and the sub-bed are separated, the sub-bed control system separately collects sub-bed data to control the patient to move out of the sub-bed. When the mother bed and the sub-bed are combined, the male plug assembly is plugged into the female plug assembly to realize the integrated control of the whole mother-bed and sub-bed. The sub-bed control system receives the mother-bed data to control the position of the patient's body on the whole bed.

[0017] In addition, the present invention obtains a plurality of data of the body displacement device through sensors, combines the physiological parameter information of the patient to predict the center of gravity position of the patient at each main load-bearing position at the next moment, and then uses a variable speed acceleration curve to plan the speed of the drive motor in the leg area to avoid impacts during startup and stop, ensuring the smoothness of the patient's movement. The speed of the drive motor in the back area is dynamically adjusted in a manner that matches the center of gravity movement rate, enabling the torso to move smoothly following the center of gravity. And a control strategy with feedforward compensation is adopted to prevent the legs from lagging during movement, ensuring that the legs can follow the overall movement in a timely manner. Thus, during the patient transfer process, a tilt-free translation with differential transmission speeds and weight matching based on the torso, buttocks, and legs can be achieved.

[0018] In addition, the center of mass position of the patient predicted based on the above data is combined with the data obtained by the path-finding radar, and the self-propelled casters are controlled by the sub-bed system to accelerate and decelerate, further ensuring a reduction in the possible impacts on the patient and guaranteeing the safety of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional view of the combined state of a multi-functional transfer mother and child bed for stable transfer and loading.

[0020] Figure 2 It is a bottom view of the combined state of a multi-functional transfer mother and child bed for stable transfer and loading.

[0021] Figure 3 It is a front view of the combined state of a multi-functional transfer mother and child bed for stable transfer and loading.

[0022] Figure 4 It is Figure 1 a schematic enlarged structure view of the middle back displacement device.

[0023] Figure 5 It is Figure 2 a schematic enlarged three-dimensional view of the female plug assembly of the mother bed in the middle.

[0024] Figure 6 It is Figure 2 a schematic enlarged three-dimensional view of the female plug assembly of the public bed in the middle.

[0025] Figure 7 It is Figure 2 a schematic diagram of the overlap between the female plug assembly and the male plug assembly of the sub-bed in the middle.

[0026] Figure 8 It is Figure 1 a schematic enlarged three-dimensional view of the middle back displacement device.

[0027] Among them, 1 - mother bed frame; 101 - female plug assembly; 1011 - female end base; 1012 - clamping groove; 1013 - first mounting plate; 1014 - first circuit board; 1015 - bending part; 1016 - guiding roller; 2 - mother bed board; 3 - child bed frame; 301 - male plug assembly; 3011 - male end base; 3012 - mounting groove; 3013 - second mounting plate; 3014 - second circuit board; 3015 - current probe; 3016 - guiding part; 302 - lifting system; 3021 - main telescopic outer rod; 3022 - secondary telescopic inner rod; 4 - child bed board; 401 - back shifting device; 4011 - bottom surface; 4012 - driving wheel; 4013 - driven wheel; 4014 - tensioning wheel; 4015 - flat conveyor belt; 4016 - first driving motor; 4017 - second driving motor; 4018 - slide rail; 402 - hip shifting device; 403 - calf shifting device; 5 - moving system; 501 - self-propelled caster; 502 - path detection radar; 503 - independent foot brake.

[0028] The same reference numerals in the figures represent the same components. Detailed implementation manners

[0029] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0030] Such as Figure 1 、 Figure 2 、 Figure 3As shown in the figure, the present invention provides a multifunctional shifting double-decker bed with stable shifting and transfer, including a sub-bed and a mother bed. The mother bed includes a mother bed board 2 and a mother bed frame 1. The sub-bed includes a sub-bed board 4 and a sub-bed frame 3. A moving system 5 is provided at the bottom of the sub-bed frame 3. Both the mother bed board 2 and the sub-bed board 4 are segmented bed boards. The segmented bed board is at least divided into a back area, a buttocks area, and a calf area according to the main load-bearing positions of the patient's body when lying flat on the bed board. A number of body shifting devices are provided on the sub-bed board 4. The body shifting devices include a back shifting device 401 corresponding to the back area, a buttocks shifting device 402 corresponding to the buttocks area, and a calf shifting device 403 corresponding to the calf area, which are used to shift each body part at the main load-bearing position at controllable different speeds; the body shifting device also includes a sub-bed positioning system for obtaining the specific position of the patient on the sub-bed board 4, and at the same time for confirming the travel distance of the body shifting device; a pressure sensor array for determining the center of gravity position of each main load-bearing position when the patient lies flat on the sub-bed board 4; a control system for collecting data from the sub-bed positioning system and the pressure sensor array and respectively controlling the rotation speeds of different drive motors according to the data. A mother bed positioning system is provided on the mother bed board 2 for obtaining the specific position of the patient on the mother bed board 2. A male plug assembly 301 is provided on the sub-bed frame 3, which is electrically connected to the sub-bed control system. A female plug assembly 101 is provided on the mother bed frame 1, which is matched with the male plug assembly 301. The female plug assembly 101 is electrically connected to the male plug assembly 301 and the mother bed positioning system. After the male plug assembly 301 is plugged into the female plug assembly 101, the integrated control of the whole bed by the sub-bed control system is realized.

[0031] The sub-bed board 4 is split into a number of telescopic bed boards according to the number of main load-bearing positions. Each telescopic bed board can be telescoped at different speeds. Taking the back shifting device 401 as an example, the structures of the body shifting devices at other main load-bearing positions are the same and will not be described in detail. In one Figure 4 , Figure 8 shown specific embodiment, the body shifting device includes the telescopic bed board, a flat conveyor belt 4015, a transmission mechanism, and a first drive motor 4016. The telescopic bed board is used to move the patient's body out of or into the multifunctional shifting bed; the flat conveyor belt 4015 is arranged around the main load-bearing position of the bed board, and the conveying direction is the width direction of the multifunctional shifting bed; the transmission mechanism includes a driving wheel 4012 and a driven wheel 4013 that match the flat conveyor belt 4015. The driving wheel 4012 is used to drive the flat conveyor belt 4015 to move forward or backward; the first drive motor 4016 is used to drive the driving wheel 4012 to rotate forward or backward.

[0032] The retractable bed board is slidably mounted on the bed frame along the width direction of the multifunctional transfer bed through a slide rail 4018. The retractable bed board is driven by a second driving motor 4017 to move forward and backward. One end of the second driving motor 4017 is fixed on the bed frame, and the telescopic end is connected to the retractable bed board through a connecting plate to control the retractable bed board to expand and contract along the slide rail 4018.

[0033] Taking the transfer from the transfer sub-bed to the hospital bed as an example, the use steps of the present invention are as follows: When transferring a patient from the transfer sub-bed to the hospital bed, first, the lower surface of the flat conveyor belt 4015 is lifted to the height position of the upper surface of the hospital bed through the lifting system; the retractable bed board is driven by the second driving motor 4017 to extend out to the hospital bed at a controllable speed; then, while the retractable bed board is driven by the second driving motor 4017 to retract, the first driving motor 4016 controls the flat conveyor belt 4015 to slowly and steadily place the patient's body on the hospital bed outward at a controllable speed. When transferring the patient back from the hospital bed to the transfer sub-bed, first, the lower surface of the flat conveyor belt 4015 is lifted to the height position of the upper surface of the hospital bed through the lifting system; the retractable bed board is driven by the second driving motor 4017 to extend under the patient's body, and at the same time, the first driving motor 4016 controls the flat conveyor belt 4015 to slowly and steadily retract the patient's body inward onto the flat conveyor belt 4015; finally, the retractable bed board is driven by the second driving motor 4017 to retract to the sub-bed frame 3.

[0034] In addition, the transmission mechanism further includes a tensioning wheel 4014. The tensioning wheel 4014 ensures that the flat conveyor belt 4015 always maintains an appropriate tight state during operation by adjusting the tension of the flat conveyor belt 4015. The appropriate tension can prevent the slipping phenomenon caused by the flat conveyor belt 4015 being too loose, thereby ensuring the effective transmission of power.

[0035] In a specific embodiment, the positioning system is a gyroscope + grating scale composite positioning system with an accuracy of up to ±0.5 mm, which is used to obtain the current position of the flat conveyor belt 4015 and confirm the travel distance of the flat conveyor belt 4015; the pressure sensor array is used to determine the center of gravity position of the flat conveyor belt 4015 corresponding to different main load-bearing positions when the patient lies flat; the control system is used to collect data from the positioning system and the pressure sensor array and control the rotation speeds of different driving motors according to the data.

[0036] The body displacement device includes the following working steps: obtaining the current posture and center of gravity position of the patient at each of the main load-bearing positions through the sub-bed positioning system and the pressure sensor array; obtaining the physiological parameter information of the patient, and inputting the physiological parameter information, the current body position of the patient, and the positions and speeds of the back region, hip region, and leg region at the current moment into the center of gravity prediction model to obtain the centers of gravity of the back region, hip region, and leg region at the next moment, and determining the center of gravity position of the patient at the main load-bearing positions at the next moment according to the centers of gravity of the back region, hip region, and leg region at the next moment; obtaining the output of the drive motor of the hip region in the manner of a slow-urgent-slow three-stage acceleration curve according to the center of gravity position of the main load-bearing position at the current moment; obtaining the output of the drive motor of the back region in the manner of matching the center of gravity movement rate according to the center of gravity position of the main load-bearing position at the current moment and the center of gravity position of the main load-bearing position at the next moment; obtaining the output of the drive motor of the leg region in the manner of feed-forward compensation according to the center of gravity of the leg region at the next moment; and coordinately controlling the output of the drive motor of the back region and the output of the drive motor of the leg region based on the output of the drive motor of the hip region to ensure that the patient maintains a stable state on the sub-bed board 4.

[0037] In this step, determining the center of gravity position of the transfer flat at the next moment according to the centers of gravity of the back region, hip region, and leg region at the next moment specifically includes:

[0038] Using the pressure sensor array on the transfer flat to respectively determine the pressure m1 on the torso region, the pressure m2 on the hip region, and the pressure m3 on the leg region;

[0039] According to the coordinates x1, y1, z1 of the center of gravity of the torso region at the next moment, the coordinates x2, y2, z2 of the center of gravity of the hip region, and the coordinates x3, y3, z3 of the center of gravity of the leg region, as well as the pressure m1 on the torso region, the pressure m2 on the hip region, and the pressure m3 on the leg region, calculating the center of gravity position of the transfer flat at the next moment, and the specific calculation method is: where X, Y, Z are the center of gravity positions of the transfer flat at the next moment.

[0040] Step 3, obtaining the output of the drive motor of the hip region in the manner of a variable-speed acceleration curve according to the center of gravity position of the transfer flat at the current moment. This step specifically includes:

[0041] Calculating the distance between the center of gravity position of the transfer flat at the current moment and the target position, and determining whether the distance is within half of the distance between the initial position and the target position;

[0042] If the distance is greater than half of the distance between the initial position and the target position, the drive motor of the hip area is accelerated, and the center of gravity of the transfer flat plate is at the fastest speed when it is in the middle between the initial position and the target position;

[0043] If the distance is not greater than half of the distance between the initial position and the target position, the drive motor of the hip area is decelerated, and the speed is zero when the center of gravity of the transfer flat plate coincides with the target position.

[0044] Through this control method, at the initial stage of the transfer, the drive motor of the hip area starts with a lower acceleration, so that the patient's body gradually adapts to the movement and sudden impacts are avoided. As the movement progresses, the acceleration gradually increases to the preset maximum value, so that the hip area moves at a faster speed and the transfer efficiency is improved. When approaching the target position, the acceleration of the drive motor of the hip area gradually decreases to zero, so that the hip area stops smoothly when reaching the target position, avoiding impacts caused by too high a speed.

[0045] Step 4: According to the center of gravity position of the transfer flat plate at the current moment and the center of gravity position of the transfer flat plate at the next moment, the output of the drive motor of the back area is obtained by matching the center of gravity movement rate. This step specifically includes:

[0046] According to the center of gravity position of the transfer flat plate at the current moment and the center of gravity position of the transfer flat plate at the next moment, calculate the target speed of the transfer flat plate;

[0047] Take the difference between the target speed of the transfer flat plate and the current speed of the transfer flat plate as the input of the controller, and adjust the output of the drive motor of the back area according to the speed feedback loop.

[0048] This method compares the target speed of the transfer flat plate with the current speed of the transfer flat plate, and adjusts the output of the drive motor of the back area according to the error signal between the two, ensuring that the moving speed can match the change of the center of gravity, so as to ensure the smoothness of the patient on the transfer flat plate.

[0049] Step 5: According to the centroid of the leg area at the next moment, the output of the drive motor of the leg area is obtained by means of feedforward compensation. This step specifically includes:

[0050] Generate a feedforward compensation signal according to the centroid of the leg area at the next moment;

[0051] Combine the feedforward compensation signal with closed-loop feedback control, monitor the actual movement state of the leg in real time through feedback control, correct the feedforward compensation signal, and obtain the output of the drive motor in the leg area based on the corrected feedforward compensation signal.

[0052] This method can continuously optimize the parameters of the feedforward compensation control (such as compensation coefficient, time delay, etc.) according to the actual transfer situation and the reaction of the patient's leg to improve the control effect, so that the leg can better coordinate and cooperate with the overall transfer process.

[0053] Step 6, based on the output of the drive motor in the hip area, coordinate the output of the drive motor in the back area and the output of the drive motor in the leg area to ensure that the transfer flatbed remains stable. In this step, the drive motor in the hip area is used as the main driving part, and 40%-50% of the driving force is allocated. The back area is used as the secondary priority driving part, and 30%-40% of the driving force is allocated. The drive motor in the leg area is used as the terminal coordination part, and 20%-30% of the driving force is allocated. When performing coordinated control, the transmission ratio is dynamically adjusted (for example, a reduction ratio of 1:10 is used in the hip area and a reduction ratio of 1:20 is used in the leg area) to meet the movement requirements of different parts, so as to achieve a more natural and comfortable transfer effect.

[0054] The sub-bed control system is provided with a wireless module, which is wirelessly connected to the control tablet through the wireless module. A number of transfer modes are preset in the control tablet, including the combined-bed inward movement mode, the separated-bed outward movement mode, and the traveling mode. The combined-bed inward movement mode corresponds to moving the patient's body from the sub-bed to the center of the whole bed when the beds are combined. At this time, the direction of the center-of-mass change is from the sub-bed towards the mother bed. The separated-bed outward movement mode corresponds to moving the patient from the sub-bed to the board bed of other medical equipment after the beds are separated. At this time, the direction of the center-of-mass change is from the sub-bed outward, and it is divided into two directions, left and right. The traveling mode corresponds to the separate transfer of the sub-bed in the separated-bed state. At this time, the direction of the center-of-mass change is towards the traveling direction of the sub-bed.

[0055] The sub-bed frame 3 is also provided with a lifting system 302. The lifting system 302 includes a nested telescopic rod. The nested telescopic rod includes a main telescopic outer rod 3021 fixed on the sub-bed frame 3. At least one secondary telescopic inner rod 3022 is sleeved inside the main telescopic outer rod 3021. One end of the innermost secondary telescopic inner rod 3022 is connected to the servo motor, and the other end is connected to the bottom surface 4011 of the sub-bed board 4. The lifting system 302 can control the height of the multifunctional chair bed, and the adjustable height range is about 0-100 cm, so that the segmented bed board can be raised to the same height as the in-hospital medical facilities or hospital beds, which is convenient for starting the body displacement device to transfer the patient later.

[0056] In one such as Figure 5In the specific embodiment shown, the female plug assembly 101 includes a female end base 1011 disposed on one side of the female bed frame 1. A clamping groove 1012 is provided on the female end base 1011. A first mounting plate 1013 is fixedly connected in the clamping groove 1012. A first circuit board 1014 is provided on the first mounting plate 1013. The lower portions of the left and right side walls of the female end base 1011 are bent outward to form bending portions 1015, and guide rollers 1016 are mounted on the bending portions 1015.

[0057] In an embodiment such as Figure 6 shown, the male plug assembly 301 includes a male end base 3011 fixedly disposed on one side of the sub-bed frame 3 and mating with the female end base 1011. An installation groove 3012 is provided on the male end base 3011. A second mounting plate 3013 is fixedly connected in the installation groove 3012. A second circuit board 3014 electrically connected to the first circuit board 1014 is provided on the second mounting plate 3013. A plurality of current probes 3015 are inserted on the second circuit board 3014. Inclined guiding portions 3016 are provided on both sides of the front end of the male end base 3011 and incline inward.

[0058] When in use, as Figure 7 shown, when the sub-bed and the female bed are docked, the sub-bed is pushed towards the female bed. The guiding portion 3016 of the male plug assembly 301 contacts the guide roller 1016 of the female plug assembly 101. The inclined surface design of the guiding portion 3016 enables the male plug assembly 301 to automatically align with the clamping groove 1012 of the female plug assembly 101. The guide roller 1016 rolls during the docking process, reducing friction and collision, and ensuring a smooth docking process. When the male plug assembly 301 and the female plug assembly 101 are completely docked, the current probe 3015 contacts the metal contact of the first circuit board 1014, and the first circuit board 1014 and the second circuit board 3014 are electrically connected through the current probe 3015, and the integrated control function of the whole bed is started.

[0059] Generally, the mobile system 5 includes universal wheels provided at the four corners of the bottom of the sub-bed frame 3, and each universal wheel is equipped with an independent foot brake 503 for braking and stopping at any time. The sub-bed is manually pushed by medical staff to move around in the hospital. In a specific embodiment, the mobile system 5 replaces the universal wheels with self-propelled feet. Wherein, a driving motor and a power source for driving the universal wheels are provided in the base. The specific structure of the self-propelled caster 501 is a mature prior art and not the creative point of this application. For example, the prior art CN217374021U discloses an electric universal caster, which includes a fixed bracket, a turntable rotatably connected to the fixed bracket, a roller bracket fixedly connected to the lower part of the turntable, and rollers provided on the roller bracket; a first driving motor and a second driving motor are installed on the fixed bracket; the first driving motor drives the turntable to rotate on the fixed bracket through a first transmission mechanism; the second driving motor drives the rollers to rotate through a second transmission mechanism. The electric universal caster provided by the prior art has a simple structure. The first driving motor drives the turntable to rotate on the fixed bracket through the first transmission mechanism, so that the forward direction and angle of the rollers can be adjusted; the second driving motor drives the rollers to rotate through the second transmission mechanism; thus, the caster can automatically travel to meet the needs of people transporting heavy objects, thereby increasing work efficiency. Those skilled in the art can also adopt other similar designs, which will not be elaborated here.

[0060] On this basis, a control system and a power supply module are provided in the sub-bed frame 3. A path detection radar 502 is provided at the front end of the sub-bed frame 3. The power supply module is electrically connected to the sub-bed control system, the self-propelled caster 501, and the path detection radar 502. The sub-bed control system is signal-connected to the path detection radar 502 and the self-propelled caster 501. The sub-bed control system obtains the current posture and the center of gravity position of the patient at the main load-bearing position through the sub-bed positioning system and the pressure sensor array, obtains the physiological parameter information of the patient, and inputs the physiological parameter information, the current body position of the patient, and the positions and speeds of the back area, the buttocks area, and the leg area at the current moment into the center of gravity prediction model to obtain the centers of gravity of the back area, the buttocks area, and the leg area at the next moment, and determines the center of gravity position at the main load-bearing position at the next moment according to the centers of gravity of the back area, the buttocks area, and the leg area at the next moment. The steps of the center of gravity prediction model here are the same as those of the center of gravity prediction model for controlling the body displacement device, and only the change of the center of gravity in the traveling direction of the sub-bed is predicted after switching to the traveling mode. The specific steps will not be elaborated here. Thus, when the predicted center of gravity position at the next moment shows a significant deviation in the traveling direction of the sub-bed or the path detection radar 502 detects an obstacle in the traveling direction of the sub-bed, the self-propelled caster 501 is controlled to decelerate.

Claims

1. A multifunctional shifting mother-and-child bed with stable shifting and transfer, comprising a child bed and a mother bed, wherein the mother bed comprises a mother bed bed board and a mother bed frame, and the child bed comprises a child bed board and a child bed frame, wherein a moving system is provided at the bottom of the child bed frame, characterized in that: The bed board of the mother bed and the bed board of the child bed are both segmented bed boards, and the segmented bed board is divided into at least a back area, a buttocks area and a calf area according to the main load-bearing position of the bed board when the patient lies flat on the bed board. The sub-bed bed board is provided with a plurality of body displacement devices, including a back displacement device corresponding to the back area, a hip displacement device corresponding to the hip area, and a calf displacement device corresponding to the calf area, for displacing various body parts at the main load-bearing position at different controllable speeds; The body displacement device also includes a sub-bed positioning system for obtaining the specific position of the patient on the sub-bed bed board and for confirming the travel distance of the body displacement device; a pressure sensor array for determining the center of gravity position of each main load-bearing position when the patient lies flat on the sub-bed bed board; a control system for collecting data from the sub-bed positioning system and the pressure sensor array and controlling the rotation speed of different drive motors according to the data. The mother bed bed board is provided with a mother bed positioning system for obtaining the specific position of the patient on the mother bed bed board. The child bed frame is provided with a male plug assembly, which is connected to the child bed control system by electrical signals. The mother bed frame is provided with a female plug assembly, which matches the male plug assembly. The female plug assembly is electrically connected to the male plug assembly and the mother bed positioning system. After the male plug assembly and the female plug assembly are plugged in, the integrated control of the entire bed is achieved by the child bed control system.

2. The multifunctional transfer bed with stable transfer and relocation according to claim 1 is characterized in that: The body displacement device comprises: A retractable bed board is used to move the patient's body out of or into the multifunctional transfer bed; A flat conveyor belt is arranged around the main load-bearing position of the bed board, and the conveying direction is the width direction of the multifunctional shift bed; a transmission mechanism includes a driving wheel and a driven wheel matched with the flat conveyor belt, and the driving wheel is used to drive the flat conveyor belt to move forward or reverse; The first driving motor is used to drive the driving wheel to rotate forward or reverse.

3. The multifunctional transfer bed according to claim 2, characterized in that: The retractable bed board can be slidably installed on the bed frame along the width direction of the multifunctional shift bed through a slide rail. The retractable bed board is driven forward and backward by a second drive motor. One end of the second drive motor is fixed to the bed frame, and the retractable end is connected to the retractable bed board through a connecting plate to control the retractable bed board along the slide rail.

4. The multifunctional transfer bed with stable transfer and relocation according to claim 2 is characterized in that: The body displacement device comprises the following working steps: obtaining the current posture and center of gravity position of the patient at each of the main load-bearing positions through the subbed positioning system and the pressure sensor array; Acquire the patient's physiological parameter information, input the physiological parameter information, the patient's current body position, and the positions and speeds of the back region, hip region, and leg region at the current moment into a center of mass prediction model, obtain the center of mass of the back region, hip region, and leg region at the next moment, and determine the center of gravity position of the patient at the main load-bearing position at the next moment according to the center of mass of the back region, hip region, and leg region at the next moment; According to the center of gravity position of the main load-bearing position at the current moment, the output of the driving motor of the hip area is obtained by adopting a three-stage acceleration curve of slow-fast-slow; According to the center of gravity position of the main load-bearing position at the current moment and the center of gravity position of the main load-bearing position at the next moment, the output of the driving motor of the back area is obtained by matching the center of gravity moving rate; According to the centroid of the leg area at the next moment, the output of the driving motor of the leg area is obtained by feedforward compensation; Based on the output of the driving motor in the hip area, the output of the driving motor in the back area and the output of the driving motor in the leg area are coordinated and controlled to ensure that the patient remains in a stable state on the bed board.

5. The multifunctional transfer bed with stable transfer and displacement according to claim 1 is characterized in that: The sub-bed control system is provided with a wireless module, which is wirelessly connected to the control tablet through the wireless module. The control tablet has several transfer modes preset in it, including a combined bed inward movement mode, a separate bed outward movement mode and a travel mode.

6. The multifunctional transfer bed with stable transfer and relocation according to claim 1 is characterized in that: The subbed frame is also provided with a lifting system, which includes nested telescopic rods, which include a main telescopic outer rod fixed to the subbed frame, at least one secondary telescopic inner rod being sleeved in the main telescopic outer rod, one end of the innermost secondary telescopic inner rod being connected to a servo motor, and the other end being connected to the bottom surface of the subbed bed board.

7. The multifunctional transfer bed with stable transfer function according to claim 1 is characterized in that: The female plug assembly includes a female end base arranged on one side of the mother bed frame, the female end base is provided with a clamping groove, a first mounting plate is fixedly connected in the clamping groove, a first circuit board is provided on the first mounting plate, and a bending portion is provided at the lower part of the left and right side walls of the female end base bent outward, and a guide roller is installed on the bending portion.

8. The multifunctional transfer bed with stable transfer and displacement according to claim 7 is characterized in that: The male plug assembly includes a male end base fixedly arranged on one side of the sub-bed frame and matching the female end base, the male end base is provided with a mounting groove, a second mounting plate is fixedly connected in the mounting groove, a second circuit board electrically connected to the first circuit board is provided on the second mounting plate, and a plurality of current probes are inserted on the second circuit board.

9. The multifunctional transfer bed with stable transfer and displacement according to claim 1 is characterized in that: The moving system comprises universal wheels arranged at four corners of the bottom of the sub-bed frame.

10. The multifunctional transfer bed with stable transfer and displacement according to claim 9, characterized in that: The universal wheel is a self-propelled caster, and a pathfinder radar is provided at the front end of the subbed frame. The subbed control system is connected to the pathfinder radar and the self-propelled caster signal. The subbed control system obtains the patient's current posture and center of gravity position at the main load-bearing position through the subbed positioning system and the pressure sensor array, and obtains the patient's physiological parameter information, and inputs the physiological parameter information, the patient's current body position, and the position and speed of the back area, hip area and leg area at the current moment into the center of mass prediction model to obtain the center of mass of the back area, hip area and leg area at the next moment, and determines the center of gravity position at the main load-bearing position at the next moment according to the center of mass of the back area, hip area and leg area at the next moment, and controls the self-propelled caster to slow down when the predicted center of gravity position at the next moment is significantly offset in the direction of travel of the subbed or the pathfinder radar detects an obstacle in the direction of travel of the subbed.

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