An airborne patient transfer device

Abstract

The present application belongs to the technical field of aerial medical evacuation equipment, and particularly relates to an airborne wounded and sick patient transfer device, which comprises a hanging belt unit, a central support unit, a side support unit, a horizontal support unit and a pre-tightness control mechanism; the upper end of the central support unit is fixedly connected to the middle of the horizontal support unit, and the lower end is fixedly connected to the cabin bottom plate; the upper end of the side support unit is fixed to one end of the horizontal support unit close to the cabin side wall, and the lower end is fixedly connected to the cabin bottom plate; one end of the horizontal support unit is fixedly connected to the cabin side wall; the hanging belt unit is vertically arranged on both sides of the central support unit and one side of the side support unit away from the cabin side wall; and the pre-tightness control mechanism is used for adjusting the pre-tightness of the support ring according to the acceleration of the airplane. The present application can make full use of the valuable space on the airplane, so as to provide more transfer seats, and can meet the current requirements of aerial medical evacuation in stability, light weight, convenient disassembly and assembly, impact reduction and the like.

Description

Technical Field

[0001] This invention belongs to the field of aviation medical evacuation equipment technology, and particularly relates to an airborne patient transport device. Background Technology

[0002] Currently, large transport aircraft are often used for air medical evacuation of multiple casualties. This requires the installation of multi-layered transport structures on the aircraft to carry stretchers. However, the setup and dismantling of these multi-layered transport structures are complex, consuming significant manpower, resources, and time, thus hindering the rescue process and preventing timely switching between transporting casualties and supplies. Furthermore, these multi-layered transport structures utilize rigid supports, which can easily cause secondary injuries to the casualties and fatigue damage to various support components during the transport of casualties due to turbulence, takeoff, and landing.

[0003] Therefore, there is an urgent need for an airborne transport device that can solve the above problems; it should be improved in terms of convenience, lightweight, flexibility and automatic control, so as to meet the current needs of air medical evacuation. Summary of the Invention

[0004] This invention provides an airborne patient transport device with a multi-layered stretcher support structure. While meeting the stability and robustness requirements of air medical evacuation, it makes full use of onboard space and features lightweight design, convenience, and automatic control. Details are as follows:

[0005] An airborne patient transport device includes a sling unit, and a central support unit, a side support unit, a horizontal support unit, and a pretension adjustment mechanism arranged in pairs and opposite to each other.

[0006] The central support unit is vertically arranged inside the cabin. Its upper end is fixedly connected to the middle of the horizontal support unit, and its lower end is fixedly connected to the cabin floor. Several bidirectional supports are arranged in the middle from top to bottom.

[0007] The side support unit is vertically arranged in the cabin. Its upper end is fixed to the end of the horizontal support unit near the side wall of the cabin, and its lower end is fixedly connected to the cabin floor. The middle part is provided with the same number of unidirectional supports as the bidirectional supports from top to bottom.

[0008] One end of the horizontal support unit is fixedly connected to the side wall of the cabin;

[0009] The sling unit is vertically arranged on both sides of the central support unit and on the side of the side support unit away from the cabin sidewall. Its upper end is detachably connected to the horizontal support unit, and its lower end is detachably connected to the cabin floor. The middle section has the same number of slings and support rings as the bidirectional supports, all of which are telescopically adjustable. Each support ring corresponds to a stretcher handle and provides upward support to the handle. Each sling passes through the stretcher's support rod and provides upward, inclined support to the stretcher. The support rings are made of flexible, elastic material.

[0010] The pretension adjustment mechanism includes a control unit, an adjustment drive unit, an accelerometer, and a gravity sensor disposed on the support ring, for adjusting the pretension of the support ring according to the acceleration value measured by the accelerometer and the total weight value of the stretcher and the patient measured by the gravity sensor.

[0011] Furthermore, the horizontal support unit includes a horizontal connecting rod; the horizontal connecting rod is provided with a first interface, a second interface, a third interface, a fourth interface and a fifth interface in sequence from one end to the other.

[0012] The central support unit includes a central support rod; the central support rod has a seventh interface at its upper end that mates with the fourth interface, and a first connecting part at its lower end that mates with the original interface of the cabin floor; the bidirectional bracket is arranged from top to bottom in the middle of the central support rod.

[0013] The side support unit includes a side support rod; the side support rod has a sixth interface at its upper end that mates with the first interface, and a second connecting part at its lower end that mates with the original interface of the cabin floor; the unidirectional bracket is arranged from top to bottom in the middle of the side support rod;

[0014] The sling unit includes several load-bearing slings; each load-bearing sling has an eighth interface at its upper end that can be detachably connected to the second interface, the third interface, or the fifth interface, and a third connecting part at its lower end that can be detachably connected to the original interface of the cabin floor; the support ring and the sling are arranged from top to bottom in the middle of each load-bearing sling;

[0015] Each of the bidirectional brackets, unidirectional brackets, and support rings has the same installation height; each of the hanging straps is installed above each of the support rings.

[0016] Furthermore, each of the central support rods and the side support rods is provided with a stretcher lock for locking the stretcher, and the stretcher lock is provided on both sides of each of the bidirectional supports and on one side of each of the unidirectional supports.

[0017] Furthermore, the stretcher lock includes a stretcher locking mechanism connected to the central support rod or the side support rod; the stretcher locking mechanism includes a pivot pin; the main body of the stretcher lock is movably mounted on the pivot pin; the pivot pin is fixedly connected to the central support rod or the side support rod at both ends, has an elastic pressing part fitted in the middle, and a positioning seat fixedly connected to the lower end; the lower end face of the stretcher lock at the connection position with the pivot pin is provided with an elastic positioning part that can elastically retract in the vertical direction; the elastic pressing part presses the main body of the stretcher lock and the elastic positioning part onto the positioning seat; the upper end face of the positioning seat has several grooves along the circumferential direction; the elastic positioning part falls into the grooves under the pressure of the elastic pressing part, so as to position the main body of the stretcher lock in the circumferential direction.

[0018] Furthermore, the stretcher lock also includes a locking ring and a locking handle for locking the stretcher; the locking ring has an arc-shaped structure, with one end hinged to the main body of the stretcher lock and the other end having a first locking part; the locking handle is hinged to the main body of the stretcher lock in the middle, with one end extending out of the main body of the stretcher lock to form a handle shape, and the other end having a second locking part that cooperates with the first locking part; an elastic tensioning part is provided between the locking ring and the locking handle; when the first locking part and the second locking part are in a mutually cooperating connection state, the elastic tensioning part pulls the locking ring and the locking handle tight and positions them.

[0019] Furthermore, the bidirectional support includes a movable support and a main support frame connected to the central support rod; the movable support is installed on both sides of the main support frame through a support positioning mechanism.

[0020] The unidirectional support includes the movable support and the main support frame connected to the side support rod; the movable support is installed on one side of the main support frame through the support positioning mechanism.

[0021] Furthermore, the patient transport device also includes an inclined support rod; the inclined support rod is a double-link structure, including a first link and a second link; one end of the first link and one end of the second link are hinged together, and the hinged connection point is provided with a fourth connecting part that cooperates with the original interface of the cabin floor; the other end of the first link and the other end of the second link are respectively hinged to the middle of the two oppositely arranged central support rods.

[0022] Furthermore, the transfer device is also equipped with an alarm light and an alarm light trigger.

[0023] Further, the transfer device further includes a thrust stop device; the thrust stop device is detachably and staggeredly arranged on the opposite central support rod or side support rod, both located below the two-way bracket or one-way bracket, and a thrust stop block is made at one end far from the central support rod or side support rod;

[0024] The thrust stop block is of a C-shaped structure and is semi-surrounded in front of and behind the stretcher leg, and the gap between the front end face and the rear end face of the stretcher leg can be adjusted by an adjustment mechanism.

[0025] Further, the horizontal connecting rod, the central support rod, the side support rod, the two-way bracket and the one-way bracket are all made of alloy structural steel materials; the horizontal connecting rod, the central support rod and the side support rod are all rod-shaped structures with a cross-sectional shape of a Chinese character 'Ri' formed by the two sides of a long strip of alloy structural steel plate turning 90° towards the middle three times, and the two sides are fixedly connected at the place where they approach each other;

[0026] The load-bearing sling and the hanging strap are both made of flexible fabric materials. The beneficial effects of the present invention are:

[0027] 1. There are provided a hanging strap unit, a central support unit, a side support unit and a horizontal support unit. By combining and building the wounded and sick transfer device with the above various rods, lightweight and convenient disassembly and assembly can be achieved;

[0028] 2. The hanging strap unit, the central support unit and the side support unit can all be connected in cooperation with the original interfaces on the aircraft, which can make full use of the existing conditions, make the structure simpler and more convenient for disassembly and assembly;

[0029] 3. There are provided a one-way bracket, a two-way bracket, a hanging strap and a support ring, which can fix the stretcher from multiple angles, making the process of carrying the stretcher more convenient and fast, and at the same time, providing better stability to adapt to various complex situations during air transportation;

[0030] 4. Both the upper end and the lower end of the hanging strap unit adopt a detachable structure. When it is not necessary to transfer the wounded and sick, the hanging strap unit can be conveniently disassembled to release the space in the cabin, so as to realize the rapid switching between the state of transferring the wounded and sick and the state of transferring materials;

[0031] 5. There is provided a pre-tightening degree control mechanism, which can use an automatic control device to reduce the secondary injury to the wounded and sick and the fatigue damage of the support components when the aircraft is bumping in the air, taking off and landing and being impacted. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0033] Figure 1 A schematic diagram of the overall structure of an airborne patient transport device;

[0034] Figure 2 A schematic diagram of the hidden stretcher and sling unit structure for an airborne patient transport device;

[0035] Figure 3 A schematic diagram of the horizontal support unit structure for an airborne patient transport device;

[0036] Figure 4 A schematic diagram of the central support unit structure of an airborne patient transport device;

[0037] Figure 5 A schematic diagram of the side support unit structure of an airborne patient transport device;

[0038] Figure 6 A schematic diagram of the sling unit structure of an airborne patient transport device;

[0039] Figure 7 A schematic diagram of the sling unit structure equipped with a motor for an airborne patient transport device;

[0040] Figure 8 A schematic diagram of the internal structure of a stretcher lock in an airborne patient transport device.

[0041] Figure 9 A schematic diagram of the bidirectional support structure of an airborne patient transport device;

[0042] Figure 10 A schematic diagram of a one-way support structure for an airborne patient transport device;

[0043] Figure 11 A schematic diagram of the inclined support rod structure of an airborne patient transport device;

[0044] Figure 12 A schematic diagram of the cross-sectional shapes of the horizontal connecting rod, central support rod, and side support rod of the airborne patient transport device;

[0045] In the diagram: 1. Lifting strap unit; 101. Load-bearing lifting strap; 102. Eighth interface; 103. Third connecting part; 104. Hanging strap; 105. Support ring; 106. Buckle loop; 107. Adjustment drive part; 2. Central support unit; 201. Central support rod; 202. Seventh interface; 203. First connecting part; 204. Two-way bracket; 205. Movable bracket; 206. Main support frame; 207. Bracket positioning mechanism; 3. Side support unit; 301. Side support rod; 302. Sixth interface; 303. Second connecting part; 304. One-way bracket; 4. Horizontal support unit; 401. Horizontal connecting rod; 402. First interface; 403. Second interface; 404. Third interface; 405. Fourth interface; 406. Fifth interface; 5. Stretcher lock; 501. Stretcher locking mechanism; 502. Shaft pin; 503. Main body of stretcher lock; 504. Elastic pressing part; 505. Positioning seat; 506. Elastic positioning part; 507. Locking ring; 508. Locking handle; 509. First locking part; 510. Second locking part; 511. Elastic tensioning part; 512. Limiting block; 6. Diagonal support rod; 601. First connecting rod; 602. Second connecting rod; 603. Fourth connecting part; 7. Warning light; 8. Warning light trigger; 9. Thrust device; 901. Thrust block; 902. Adjustment mechanism; 10. Stretcher support leg. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] It should be noted that when a component is referred to as "fixed to," "placed," "equipped with," "provided with," "arranged on," or "connected to" another component, it can be directly on the other component or may have an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or may have an intervening component present.

[0049] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] Please refer to the attached diagram in the instruction manual. Figures 1-12 To better understand the specific embodiments of the present invention, an airborne patient transport device, such as... Figure 1 , Figure 2 As shown, it includes a suspension belt unit 1, and a central support unit 2, a side support unit 3, a horizontal support unit 4, and a pretension adjustment mechanism arranged in pairs and opposite to each other.

[0051] The central support unit 2 is vertically arranged in the cabin, with its upper end fixedly connected to the middle of the horizontal support unit 4 and its lower end fixedly connected to the cabin floor. Several bidirectional supports 204 are arranged in the middle from top to bottom.

[0052] The side support unit 3 is vertically arranged in the cabin. Its upper end is fixed to one end of the horizontal support unit 4 near the side wall of the cabin, and its lower end is fixedly connected to the cabin floor. The middle part is provided with the same number of unidirectional supports 304 as the bidirectional supports 204 from top to bottom.

[0053] One end of the horizontal support unit 4 is fixedly connected to the side wall of the cabin;

[0054] The sling unit 1 is vertically arranged on both sides of the central support unit 2 and on the side of the side support unit 3 away from the cabin sidewall. The upper end is detachably connected to the horizontal support unit 4, and the lower end is detachably connected to the cabin floor. The middle part is provided with slings 104 and support rings 105, which are the same number as the bidirectional brackets 204 and whose lengths are telescopically adjustable, from top to bottom. Each support ring 105 corresponds to a stretcher handle and provides upward support to the stretcher handle. Each sling 104 passes through the stretcher support rod and provides inclined upward support to the stretcher. The support rings 105 are made of flexible elastic material.

[0055] The pretension adjustment mechanism includes a control unit, an adjustment drive unit 107, an accelerometer, and a gravity sensor disposed on the support ring 105, for adjusting the pretension of the support ring 105 according to the acceleration value measured by the accelerometer and the total weight value of the stretcher and the patient measured by the gravity sensor.

[0056] It should be noted that the end of the horizontal support unit 4 closest to the cabin side wall is fixedly connected to the original connection interface on the cabin side wall, preferably by screws.

[0057] It should be noted that both the support ring 105 and the strap 104 are equipped with a buckle 106 structure similar to that on a backpack strap, which can adjust their length; the support ring 105 and the strap 104 are telescopic structures, which can make the stretcher more secure and stable.

[0058] It should be noted that the support ring 105 is made of a flexible elastic material, preferably TPR (Thermo-Plastic-Rubber material). TPR is a high-molecular alloy material made by blending and modifying thermoplastic styrene-butadiene rubber (SBS, SEBS) as the base raw material with added resins (such as PP, PS), fillers, plasticizers, and other functional additives. It belongs to thermoplastic elastomers, possessing the elasticity of rubber, and can be directly processed and molded without vulcanization, such as through injection molding, extrusion, and blow molding. TPR material has the following characteristics:

[0059] Good elasticity: TPR material has excellent elasticity, can withstand large deformation and quickly return to its original shape after the external force is removed;

[0060] High strength: Although TPR material is an elastomer, its strength is still sufficient to meet the needs of many applications;

[0061] Easy to process: Since TPR material is thermoplastic, it can be processed by thermoplastic molding processes such as injection molding and extrusion, resulting in high production efficiency;

[0062] Environmentally friendly and safe: TPR materials do not contain halogens, phthalic plasticizers, polycyclic aromatic hydrocarbons and other harmful substances, and meet a variety of environmental testing standards, such as the EU toy industry EN71-3, and the FDA and LFGB testing standards for food contact materials.

[0063] Wide range of applications: TPR materials have a wide range of applications in many fields, such as daily necessities (handle covers, toothbrush handles, soft toys, etc.), medical devices (catheters, saline bottle stoppers, etc.), sports equipment (anti-slip handles, foot pads, etc.), and luggage wheels.

[0064] It should be noted that the control unit is preferably a PLC (Programmable Logic Controller), but it can also be a circuit including at least one processor, a circuit including at least one microcontroller, or a combination of multiple circuits or chips, as long as it can achieve the corresponding function. It is understood that for those skilled in the art, the control circuit can also be a common circuit composed of amplifiers, comparators, transistors, MOSFETs, etc., to achieve the corresponding function in a purely hardware manner.

[0065] It should be noted that the control drive unit 107 is preferably in the form of a stepper motor, which is electrically connected to the onboard power supply and control unit. Its power output shaft is wound and connected to the head of the support ring 105. When rotated, the support ring 105 can be tightened or loosened so as to secure or loosen the stretcher handle.

[0066] It should be noted that the accelerometer is preferably a triaxial accelerometer, which is electrically connected to the control unit to measure the acceleration of the stretcher; the gravity sensor is preferably a piezoelectric gravity sensor, which is used to measure the total weight of the patient and the stretcher, and is electrically connected to the control unit.

[0067] It should be noted that the working principle of the pretension control mechanism is as follows: when the aircraft is impacted (affected by airflow, takeoff, landing, etc.), the accelerometer collects the acceleration value of the stretcher and transmits it to the control unit. After analysis and processing, the control unit controls the operation of the control drive unit 107 to tighten or loosen the support ring 105 to secure or loosen the stretcher handle. When the acceleration value is greater than the set threshold, it indicates that the impact is too great and may cause secondary injury to the patient and damage to the support components. In this case, the support ring 105 needs to be loosened, i.e., its length needs to be extended. Since the support ring 105 is made of high-strength elastic material TRP, the longer the length, the better the elasticity, which can provide sufficient cushioning for the stretcher and prevent the above problems. When the acceleration value is less than the set threshold, the PLC controls the control drive unit 107 to tighten the support ring 105 and secure the stretcher handle to prevent the stretcher from bouncing up and down.

[0068] In its implementation, the system comprises a sling unit 1, a central support unit 2, a side support unit 3, and a horizontal support unit 4. These components are combined to construct a patient transport device, achieving lightweight construction and easy assembly / disassembly. The sling unit 1, central support unit 2, and side support unit 3 can all be connected to existing aircraft interfaces, fully utilizing existing resources and resulting in a simpler, more convenient structure. A one-way bracket 304, a two-way bracket 204, a sling 104, and a support ring 105 are included, enabling the stretcher to be secured from multiple angles. This facilitates the stretcher loading process, provides better stability, and adapts to various complex situations during air transport. The sling unit 1 has detachable upper and lower ends, allowing for easy disassembly when patient transport is not required, freeing up cabin space and facilitating rapid switching between patient and material transport. A pre-tensioning control mechanism is included, using automatic control equipment to reduce secondary injuries to patients and fatigue damage to support components during turbulence, takeoff, and landing.

[0069] In one embodiment, the control unit acquires the acceleration value collected by the accelerometer, processes it using an automatic preload adjustment model, and obtains a target function; the control unit processes the target function to obtain output power, and controls the adjustment drive unit 107 to operate according to the output power, so as to tighten or loosen the support ring 105; the automatic adjustment model expression is:

[0070]

[0071] Where: t is time; U T (t) is the objective function, and the output power P is... m The relational expression for (t) is: P m (0) represents the initial output power; ξ(t) represents the acceleration error, ξ(t) = a target -a(t), a target To set the acceleration threshold, a(t) is the acceleration value of the stretcher at time t; L, M, and N are the second-order gain coefficient, the first-order gain coefficient, and the constant gain coefficient, respectively.

[0072] It should be noted that P m (0) Initial value, preferably set to 0; a target Set to -2g or 2g, twice the gravitational acceleration upwards or downwards. If the aircraft is ascending or taking off, the upward acceleration can be defined as positive. target The value is 2. If the aircraft is descending or landing, the downward acceleration can be defined as the reverse direction, then a targetThe value is -2; a(t) can be measured in real time by an accelerometer; L, M, and N are determined through simulation experiments, and the preferred values ​​in this system are 2.0, 1.2, and 0.3 respectively; In the above control process, the accelerometer continuously measures the acceleration of the stretcher, and the output power is calculated by cyclically using the pretension automatic adjustment model, continuously controlling the operation of the control drive unit 107; until the acceleration value measured by the accelerometer converges to the set acceleration threshold, that is, the absolute value of the acceleration value in the vertical direction of the stretcher is ≤ the absolute value of the set acceleration threshold, then the control process ends; Since the aircraft will generate large acceleration during takeoff, landing, or air turbulence, especially the vertical acceleration, which will cause a large impact on the injured, the PLC uses the pretension automatic adjustment The control model can adjust the output power of the control drive unit 107 in real time to adjust the length of the support ring 105. The elasticity of the support ring 105 itself can be used to buffer and protect the stretcher, thereby reducing the impact on the injured. For example, when the aircraft generates a large upward acceleration, the accelerometer measures that the acceleration of the stretcher is greater than the set acceleration threshold. The PLC uses the pretension automatic control model to control the control drive unit 107 to loosen the support ring 105, increasing its length and generating an elastic force to reduce the impact. When the absolute value of the stretcher acceleration is less than the absolute value of the set acceleration threshold, the PLC uses the pretension automatic control model to control the control drive unit 107 to rotate in the opposite direction to tighten the support ring 105, fixing the stretcher handle and preventing it from bouncing up and down.

[0073] In practical implementation, this invention utilizes an automatic pretension adjustment model to control the adjustment drive unit 107, enabling rapid loosening or tightening of the support ring 105 within a very short time, thus avoiding the risk of secondary injury to the injured. The pretension adjustment mechanism employing this invention has a simple structure, low cost, and achieves relatively precise control effects. The automatic control using the pretension adjustment model employs a simple algorithm, requiring only the control of a combination of three parameters: L, M, and N. It eliminates the need for complex model derivations or large computational resources, making it suitable for real-time operation in embedded systems (such as STM32). It exhibits good hardware compatibility, seamlessly integrating with the adjustment drive unit 107 and sensor interfaces (such as PWM and encoders), achieving closed-loop control through a simple feedback loop. For example, when the platform encounters sudden external interference, the automatic pretension adjustment model uses the current error term... Cumulative error term (Nδ(t)) and trend term The system rapidly generates control inputs to drive the control unit 107 to adjust the output power; it exhibits strong robustness, adapting to nonlinearity and disturbances. The automatic preload control model gradually eliminates steady-state errors through accumulated error terms, suppresses overshoot through trend term changes, and significantly enhances robustness through synchronous compensation; it boasts high precision and rapid response, with the first-order gain coefficient directly amplifying the current error to ensure rapid system response to changes; the predictive nature of the trend term allows for prediction of future error trends through changes in acceleration values, suppressing overshoot and oscillations and ensuring smooth convergence; the accumulated error term eliminates steady-state errors by continuously accumulating small errors, avoiding long-term deviations and improving static accuracy; this automatic preload control model, with its simple structure, strong robustness, high precision, and flexible parameter tuning, becomes an ideal control choice in the system.

[0074] In one embodiment, the control unit acquires the total weight value and the output power, processes them using a dynamic balance model, and obtains the predicted acceleration value of the stretcher; the expression of the dynamic balance model is:

[0075]

[0076] Where: Δa is the predicted acceleration value of the stretcher at the next moment; m is the total weight value; g is the gravitational acceleration; Δt is the time increment; k is the elastic coefficient of the support ring 105;

[0077] The control unit acquires the predicted acceleration value and uses the error correction formula to obtain the corrected acceleration error at time t+1. The expression for the error correction formula is as follows:

[0078] ξ total (t+1)=a target -a(t+1)+λ(a target -Δa)

[0079] Where: ξ total (t+1) represents the corrected acceleration error at time t+1; a(t+1) represents the acceleration value of the stretcher at time t+1; λ is the weighting coefficient;

[0080] The control module obtains the corrected acceleration error at time t+1, uses the pretension automatic adjustment model to replace the acceleration error with the corrected acceleration error at time t+1, obtains the corrected objective function, uses the objective function and the output power relationship expression to obtain the output power, and controls the adjustment drive unit 107 to operate according to the output power, so as to adjust the absolute value of the stretcher's acceleration to ≤ the absolute value of the set acceleration threshold.

[0081] It should be noted that Δt is the time increment, which is set to 0.01s in this system; λ is the weighting coefficient, which can be selected according to the specific situation, and the preferred value in this system is 0.7; a(t+1) is the acceleration value at time t+1, which is measured by the accelerometer.

[0082] It should be noted that at the initial moment of acceleration control, the acceleration values ​​are all measured by the accelerometer. Therefore, the acceleration error value in the automatic pretension control model at this time only needs to consider the set acceleration threshold and the measured acceleration value to obtain the initial output torque. Then, the predicted acceleration value at time t+1 is obtained using the dynamic balance model. At this time, the predicted acceleration value at time t+1 is substituted into the error correction formula and the automatic pretension control model to obtain the output power at time t+1. This calculation is repeated until the absolute value of the stretcher's acceleration is adjusted to be ≤ the absolute value of the set acceleration threshold.

[0083] In practice, the output power calculated by combining the dynamic balance model with the pretensioning automatic control model ensures that the current stretcher acceleration value can converge stably towards the set acceleration threshold by incorporating the weighted acceleration error correction at time t+1 (which includes the predicted acceleration value at time t+1). This avoids overshoot caused by excessively rapid changes in stretcher acceleration or slow acceleration value adjustment. Especially in the onboard environment, external interference such as aircraft turbulence, ascent, and descent can easily reduce the accuracy of accelerometer measurements. If adjustments are made solely based on the current acceleration value measured by the accelerometer, it can easily lead to overshoot caused by excessively rapid changes in stretcher acceleration or slow changes in stretcher acceleration that fail to quickly reach the target. By predicting the acceleration value at the next moment using the dynamic balance model, the acceleration error correction at time t+1 can be weighted and processed, allowing for precise adjustment of the output power using the pretensioning automatic control model, thus reducing the probability of the above situations occurring.

[0084] In the embodiments provided by the present invention, the horizontal support unit 4, as shown in the example below... Figure 3 As shown, it includes a horizontal connecting rod 401; the horizontal connecting rod 401 is provided with a first interface 402, a second interface 403, a third interface 404, a fourth interface 405 and a fifth interface 406 in sequence from one end to the other.

[0085] like Figure 4 As shown, the central support unit 2 includes a central support rod 201; the central support rod 201 has a seventh interface 202 at its upper end that is connected to the fourth interface 405, and a first connecting part 203 at its lower end that is connected to the original interface of the cabin floor; the bidirectional bracket 204 is arranged from top to bottom in the middle of the central support rod 201.

[0086] like Figure 5 As shown, the side support unit 3 includes a side support rod 301; the side support rod 301 has a sixth interface 302 at its upper end that is connected to the first interface 402, and a second connecting part 303 at its lower end that is connected to the original interface of the cabin floor; the one-way bracket 304 is arranged from top to bottom in the middle of the side support rod 301.

[0087] like Figure 6 As shown, the sling unit 1 includes several load-bearing slings 101; each load-bearing sling 101 has an eighth interface 102 at its upper end that can be detachably connected to the second interface 403, the third interface 404, or the fifth interface 406, and a third connecting part 103 at its lower end that can be detachably connected to the original interface of the cabin floor; the support ring 105 and the sling 104 are arranged from top to bottom in the middle of each load-bearing sling 101;

[0088] like Figure 6 As shown, each of the bidirectional brackets 204, unidirectional brackets 304 and support rings 105 has the same installation height; each of the hanging straps 104 is installed above each of the support rings 105.

[0089] It should be noted that there are two central support units 2, two side support units 3, and two horizontal support units 4 arranged opposite each other; the two opposite central support units 2 cooperate with the four hanging strap units 1 on both sides to carry two rows of stretchers; the two opposite side support units 3 cooperate with the two hanging strap units 1 on one side to carry one row of stretchers.

[0090] It should be noted that the first interface 402, the second interface 403, the third interface 404, the fourth interface 405, and the fifth interface 406 are preferably fixed to the horizontal connecting rod 401 by welding. The first interface 402 and the fourth interface 405 have the same structure, both being connecting blocks with through holes, and are respectively hinged to the seventh interface 202 and the sixth interface 302 at the upper end of the central support rod 201 and the side support rod 301 by pins. The seventh interface 202 and the sixth interface 302 have the same structure, both being triangular connecting blocks with through holes, and can be respectively hinged to the first interface 402 and the fourth interface 405 by pins, and are preferably fixed to the upper end of the central support rod 201 and the side support rod 301 by welding.

[0091] It should be noted that the second interface 403, the third interface 404, and the fifth interface 406 have the same structural form, all of which are triangular connecting block structures with through holes. Preferably, a pin passes through the through hole and then through the eighth interface 102 at the upper end of each load-bearing sling 101 for hinged connection. The eighth interface 102 of the load-bearing sling 101 is preferably formed by bending the flexible fabric sling and fixing it with the buckle 106, forming a through hole structure at the upper end. It can be hinged to the second interface 403, the third interface 404, or the fifth interface 406 by using a pin. When disassembly or assembly is required, the buckle 106 can be loosened to bypass the pin, which is convenient.

[0092] It should be noted that the first connecting part 203 preferably adopts a screw structure and is fixed to the threaded hole (i.e. the original interface) at the corresponding position of the cabin floor plate. Moreover, the screw structure is hinged to the lower end of the central support rod 201, which allows for fine adjustment of the central support rod 201.

[0093] It should be noted that the central support rod 201 is provided with several bidirectional supports 204 from top to bottom, preferably four bidirectional supports 204.

[0094] It should be noted that the second connecting part 303 preferably adopts a hinge structure (which allows for fine adjustment of the side support rod 301), and the second connecting part 303 of the side support rod 301 is fixed to the screw hole (i.e., the original interface) at the corresponding position on the cabin floor plate by screws.

[0095] It should be noted that the side support rod 301 is provided with several one-way brackets 304 from top to bottom, preferably four one-way brackets 304.

[0096] It should be noted that the third connecting part 103 preferably adopts a hook-shaped structure. The upper end of the third connecting part 103 is provided with an elongated through hole, through which the lower end of the load-bearing sling 101 is fixed. The hook-shaped structure at the lower end of the third connecting part 103 cooperates with the fixing ring (i.e. the original interface) at the corresponding position of the cabin floor plate to fix the lower end of the load-bearing sling 101 and facilitate disassembly and assembly. Furthermore, a section of the lower end of the load-bearing sling 101 is provided as an adjustable telescopic structure to facilitate adjustment of the tension of the load-bearing sling 101.

[0097] It should be noted that the hanging strap 104 is preferably fixed by sewing it onto the load-bearing sling 101;

[0098] It should be noted that the support ring 105 is preferably fixed to the corresponding position of the load-bearing sling 101 by sewing.

[0099] It should be noted that the bidirectional support 204, unidirectional support 304 and support ring 105 arranged from top to bottom are all installed in the same position; that is, the first bidirectional support 204 from top to bottom is installed in the same position as the first unidirectional support 304 and the first support ring 105, and has the same height, and so on.

[0100] In its specific implementation, the system includes a sling unit 1, a central support unit 2, a side support unit 3, and a horizontal support unit 4. These components are combined to construct a patient transport device, achieving lightweight construction and easy assembly / disassembly. The sling unit 1, central support unit 2, and side support unit 3 can all be connected to existing interfaces on the aircraft, making full use of existing conditions and resulting in a simpler structure that is easier to assemble and disassemble. The system includes a one-way bracket 304, a two-way bracket 204, and the sling unit 1, which can secure the stretcher from multiple angles, making the stretcher loading process more convenient and faster while providing better stability to adapt to various complex situations during air transport. The sling 104 provides support for the stretcher, but due to the complex turbulence conditions on the aircraft during transport, the stretcher is prone to bouncing upwards. Therefore, a support ring 105 is installed to fix the other side of the stretcher to the load-bearing sling 101, preventing the stretcher from bouncing upwards and providing a more reliable safety guarantee for transporting patients.

[0101] In one embodiment provided by the present invention, such as Figure 7 As shown, instead of using the buckle 106 tightening structure, one end of the support ring 105 is fixed to one side of the load-bearing sling 101 (fixed end), and the other end extends through the through hole provided on the load-bearing sling 101 to the other side of the load-bearing sling 101, and is bound to the output shaft of the miniature tightening stepper motor (i.e., the control drive unit 107) fixed (preferably fixed by riveting) on ​​that side (tightening end); a touch-type stepper motor switch (connected to the motor via a cable) is provided on the side of the load-bearing sling 101 away from the miniature stepper motor and at the fixed end of the support ring 105. After the handle end is inserted into the support ring 105, the stepper motor switch can be activated to enable the stepper motor to run in the forward direction. The tightening end of the support ring 105 can be wrapped around the output shaft to tighten the stretcher handle. The stepper motor has a self-locking function. When the stepper motor encounters a certain resistance while winding around the support ring 105 (i.e., after the support ring 105 tightens the stretcher handle), it will automatically stop rotating and lock in the tightened state without loosening. The stepper motor is equipped with an unlocking button. By pressing the unlocking button, the motor can be allowed to rotate in the reverse direction. At this time, the support ring 105 can be pulled to loosen the stretcher handle, and the stretcher can be removed.

[0102] In practice, by setting up a tightening stepper motor, the stretcher can be automatically tightened at one end, making it easier for staff to secure the stretcher more quickly; especially when the stretcher is carrying a patient, it can reduce the physical exertion of the staff.

[0103] In the embodiments provided by the present invention, such as Figure 8 As shown, each of the central support rod 201 and the side support rod 301 is provided with a stretcher lock 5 for locking the stretcher, and the stretcher lock 5 is provided on both sides of each of the bidirectional supports 204 and on one side of each of the unidirectional supports 304; the stretcher lock 5 includes a stretcher locking mechanism 501 connected to the central support rod 201 or the side support rod 301; the stretcher locking mechanism 501 includes a pivot pin 502; the main body 503 of the stretcher lock is movably fitted onto the pivot pin 502; the pivot pin 502 is fixedly connected to the central support rod 201 or the side support rod 301 at its upper and lower ends, and the middle part... The stretcher lock is fitted with an elastic clamping part 504, and a positioning seat 505 is fixedly connected to its lower end. An elastic positioning part 506, which can elastically retract in the vertical direction, is provided on the lower end face of the connection position between the main body 503 of the stretcher lock and the shaft pin 502. The elastic clamping part 504 presses the main body 503 of the stretcher lock and the elastic positioning part 506 onto the positioning seat 505. Several grooves are formed on the upper end face of the positioning seat 505 along the circumferential direction. Under the pressure of the elastic clamping part 504, the elastic positioning part 506 falls into the grooves to position the main body 503 of the stretcher lock circumferentially. The stretcher lock 5 further includes a locking ring 507 and a locking handle 508 for locking the stretcher. The locking ring 507 has an arc-shaped structure, with one end hinged to the main body 503 of the stretcher lock and the other end having a first locking part 509. The locking handle 508 is hinged to the main body 503 of the stretcher lock in the middle, with one end extending out of the main body 503 of the stretcher lock to form a handle shape, and the other end having a second locking part 510 that cooperates with the first locking part 509. An elastic tensioning part 511 is provided between the locking ring 507 and the locking handle 508. When the first locking part 509 and the second locking part 510 are in a cooperative connection state, the elastic tensioning part 511 tightens and positions the locking ring 507 and the locking handle 508.

[0104] It should be noted that the stretcher lock 5 is located on both sides of the central support rod 201 and on one side of the side support rod 301, and at the same height as each bidirectional support 204 or unidirectional support 304.

[0105] It should be noted that the upper end of the shaft pin 502 passes through the connecting block welded and fixed to the central support rod 201 or the side support rod 301 and is fixed to the central support rod 201 or the side support rod 301; the lower end passes through the positioning seat 505 welded and fixed to the central support rod 201 or the side support rod 301 and is fixed to the central support rod 201 or the side support rod 301.

[0106] It should be noted that the main body 503 of the stretcher lock has upper and lower through holes, which can be fitted onto the axle pin 502; an elastic pressing part 504 is fitted onto the axle pin 502 between the upper and lower through holes, preferably a columnar helical spring structure. The upper end of the elastic pressing part 504 has a limiting piece fixed to the axle pin 502, so that the elastic pressing part 504 has a downward pressing force; the lower end of the elastic pressing part 504 presses against the upper end face of the lower through hole of the main body 503 of the stretcher lock; an elastic positioning part 506 is formed on the lower end face of the lower through hole, preferably a spring plate that can be compressed up and down, with one end of the spring plate welded to the lower through hole. On the lower end face, the elastic pressing part 504 presses the main body 503 of the stretcher lock and the elastic positioning part 506 together onto the positioning seat 505; the upper end face of the positioning seat 505 has a groove, and the elastic positioning part 506 is pressed into the groove to realize the positioning of the stretcher lock 5. Preferably, three grooves are set at 90° intervals, so that the stretcher lock 5 can be positioned in three different positions; when it is necessary to change the positioning position, simply push the stretcher lock 5 manually so that the elastic positioning part 506 passes over the restriction of the groove, and the stretcher lock 5 can be rotated. When the elastic positioning part 506 falls into another groove, the stretcher lock 5 is repositioned.

[0107] In an embodiment different from the above structure, the elastic positioning part 506 structure can be removed, the lower end face of the lower through hole can be set as a wavy curved surface structure, and the upper end face of the positioning seat 505 can be set as a wavy curved surface structure that matches the lower end face of the lower through hole. The two curved surfaces mesh with each other and can play a positioning role.

[0108] It should be noted that the first locking part 509 is a hook-shaped component with two notches, which can achieve two-stage locking of the locking ring 507; the second locking part 510 is a hook-shaped component, which can be hooked to the two notches of the first locking part 509 to achieve two-stage locking of the locking ring 507, so as to adapt to stretcher handles of different thicknesses.

[0109] It should be noted that the elastic tensioning part 511 is preferably a tension spring structure, with one end hooked on the end of the locking ring 507 away from the first locking part 509, and the other end hooked on the end of the locking handle 508 away from the second locking part 510. Through the lever principle, the locking ring 507 and the locking handle 508 can be tightened together.

[0110] It should be noted that when the stretcher handle needs to be locked, first move the locking handle 508 away from the main body of the stretcher lock 5 so that the second locking part 510 is separated from the first locking part 509; second, lift the locking ring 507 and insert the stretcher handle into the stretcher lock 5; finally, press down the locking ring 507 so that the second locking part 510 is hooked with the first locking part 509; the steps for disassembling the stretcher are the reverse.

[0111] It should be noted that a limit stop 512 is provided on the main body 503 of the stretcher lock near the second locking part 510 to prevent the locking handle 508 from rotating too much.

[0112] In practice, a stretcher lock 5 is installed to fix one side of the stretcher handle, restricting the stretcher's movement up, down, left, and right, thus providing further protection for the transfer of the wounded and sick; a stretcher locking mechanism 501 is installed so that the stretcher lock 5 can be folded up when the stretcher is not in use, saving space.

[0113] In one implementation, such as Figure 9 As shown, the bidirectional support 204 includes a movable support 205 and a main support frame 206 connected to the central support rod 201; the movable support 205 is installed on both sides of the main support frame 206 through a support positioning mechanism 207.

[0114] The unidirectional bracket 304, such as Figure 10 As shown, it includes the movable bracket 205 and the main support frame 206 connected to the side support rod 301; the movable bracket 205 is installed on one side of the main support frame 206 through the bracket positioning mechanism 207.

[0115] It should be noted that the main support frame 206 is preferably fixed to the central support rod 201 or the side support rod 301 by welding; the bracket positioning mechanism 207 is basically the same as the stretcher locking mechanism 501 mentioned above, except that it is provided with two grooves spaced 90° apart, which can realize the positioning of the movable bracket 205 in two positions when it is unfolded and when it is retracted; during installation, the stretcher handle is placed on the unfolded movable bracket 205.

[0116] In practice, the bidirectional support 204 and the unidirectional support 304 provide stable support for one end of the stretcher, which is conducive to the safety of the patient during the transfer process; the unfolding and retracting function of the movable support 205 can be retracted to a position parallel to the main support frame 206 when the stretcher is not loaded, saving space.

[0117] In the embodiments provided by the present invention, such as Figure 11As shown, the patient transport device also includes an inclined support rod 6; the inclined support rod 6 is a double-link structure, including a first link 601 and a second link 602; one end of the first link 601 and one end of the second link 602 are hinged together, and the hinged connection point is provided with a fourth connecting part 603 that cooperates with the original interface of the cabin floor; the other end of the first link 601 and the other end of the second link 602 are respectively hinged to the middle of the two central support rods 201 arranged opposite to each other.

[0118] It should be noted that all connection points of the inclined support rod 6 are connected by a welded and fixed triangular hinge structure; the structure of the fourth connection part 603 is the same as that of the first connection part 203.

[0119] In practice, the diagonal support rod 6 is connected between two central support rods 201 arranged opposite to each other, playing a lateral support role and providing better safety for the transfer of the wounded and sick.

[0120] In one implementation, such as Figure 1 As shown, the hanging belt 104 is equipped with an alarm light 7 and an alarm light trigger 8.

[0121] It should be noted that the alarm light 7 and the alarm light trigger 8 are connected by a cable and are also connected to the power interface on the machine via a cable. The motor mentioned above is also connected to the power interface on the machine via a cable.

[0122] In practice, when a patient encounters an emergency, the patient can trigger the alarm light 7 through the alarm light trigger 8 to call for medical personnel, thus providing a reliable transfer environment for the patient.

[0123] In one implementation, such as Figure 2 As shown, the transfer device also includes a thrust device 9; the thrust device 9 is detachably and alternately arranged on the opposite central support rod 201 or side support rod 301, and is located below the bidirectional bracket 204 or unidirectional bracket 304, with a thrust block 901 at one end away from the central support rod 201 or side support rod 301.

[0124] The thrust block 901 has a C-shaped structure and is arranged in a semi-enclosed manner around the front and rear of the stretcher leg 10. The gap between the thrust block 901 and the front and rear faces of the stretcher leg 10 can be adjusted by the adjustment mechanism 902.

[0125] It should be noted that the installation position of the thrust device 9 is as follows: Figure 2As shown in the figure, a thrust device 9 is installed below the 1st and 3rd two-way brackets 204 of the central support rod 201 on the left from top to bottom; correspondingly, a thrust device 9 is installed below the 2nd and 4th two-way brackets 204 of the central support rod 201 on the right (the installation position of the side support rod 301 is similar); in this installation method, the left legs of the stretchers on the 1st and 3rd floors are restricted by the thrust device 9, and the right legs of the stretchers on the 2nd and 4th floors are restricted by the thrust device 9; if the thrust device 9 is not provided, when the aircraft accelerates for takeoff ( Figure 2 the right side in the figure is the forward direction), a forward (rightward) acceleration is generated. Due to inertia, the 4 stretchers and 4 wounded and sick persons all generate a leftward thrust on the left central support rod 201, while the right central support rod 201 bears little or no tensile force, which will cause the left central support rod 201 to be stressed greatly and prone to fatigue damage; when the aircraft decelerates for landing, the situation is opposite, and the right central support rod 201 will bear a large thrust and cause fatigue damage; the staggeringly arranged thrust devices 9 can, when the aircraft takes off, push against the left legs of the stretchers through the 1st and 3rd thrust devices 9 on the left, transfer the thrust generated by the 1st and 3rd floors of stretchers and the wounded and sick persons to the left central support rod 201, and pull the right legs of the stretchers through the 2nd and 4th thrust devices 9 on the right, transfer the leftward tensile force generated by the 2nd and 4th floors of stretchers and the wounded and sick persons to the right central support rod 201, so that both the left and right central support rods 201 bear half of the resultant force, reducing their respective burdens and extending their service life; the force-bearing situation during the landing of the aircraft and that of the side support rod 301 is similar to the above and will not be elaborated.

[0126] It should be noted that the adjustment mechanism 902 of the thrust block 901 preferably adopts a screw adjustment method, which can finely adjust the gap with the stretcher leg 10 and lock and fix the stretcher leg 10; the thrust device 9 and the central support rod 201 and the side support rod 301 are preferably detachably connected through a snap structure.

[0127] In specific implementation, setting the thrust device 9 can evenly distribute the acting force generated by inertia and prevent the acting force from being concentrated on a certain support member and causing fatigue damage to the member.

[0128] In the embodiment provided by the present invention, as Figure 12 shown, the horizontal connecting rod 401, the central support rod 201, the side support rod 301, the two-way bracket 204 and the one-way bracket 304 are all made of alloy structural steel materials; the horizontal connecting rod 401, the central support rod 201 and the side support rod 301 are all rod-shaped structures with a cross-sectional shape of a Chinese character "ri" formed by the two sides of a long strip-shaped alloy structural steel plate turning 90° towards the middle three times, and the two sides are fixedly connected at the place where they approach each other; the load-bearing sling 101 and the hanging strap 104 are both made of flexible fabric materials.

[0129] It should be noted that the horizontal connecting rod 401, the central support rod 201, and the side support rod 301 are all made of 30CrMnSiA alloy structural steel plates using the above-mentioned method. This type of structural member, while maintaining the same strength and toughness as common square tube structures, can have its wall thickness reduced by 1.5mm, thus significantly reducing the weight of the member. 30CrMnSiA alloy structural steel has the following characteristics:

[0130] High strength and high toughness: 30CrMnSiA is a high-strength quenched and tempered alloy structural steel. After quenching and tempering, it has high strength and sufficient toughness. Its tensile strength can reach more than 1080MPa and its yield strength can reach more than 835MPa, which enables it to withstand large loads and vibrations. At the same time, the elongation and impact toughness of this material are also excellent.

[0131] Good hardenability: 30CrMnSiA material has good hardenability, which can achieve uniform mechanical properties over a large cross-sectional area; this characteristic gives it a significant advantage when manufacturing large or complex shaped parts.

[0132] Excellent machinability: This material has good machinability and minimal deformation during processing, making it suitable for various precision machining operations. Whether it is cutting, welding, or heat treatment, 30CrMnSiA exhibits good processability. In addition, it has good weldability, but it should be noted that when the material thickness is greater than 3mm, it should be preheated to 150℃ first, and heat treatment is required after welding to ensure weld quality.

[0133] Excellent fatigue resistance: 30CrMnSiA material has excellent fatigue resistance and can maintain stable performance under long-term alternating loads; this characteristic makes it a significant advantage when manufacturing parts that need to withstand long-term cyclic loads.

[0134] Wide range of applications: Due to the above advantages, 30CrMnSiA material is widely used in many important fields. For example, it can be used to manufacture various high-strength parts, such as gears, shafts, and bearing housings, and performs particularly well in environments subjected to huge pressure and vibration. In addition, it is also widely used in the manufacture of various special wear-resistant parts for automobiles, aircraft and other equipment, as well as in the fields of military, aerospace, shipbuilding and energy.

[0135] It should be noted that canvas tape is the preferred material for flexible fabrics.

[0136] In practice, the 30CrMnSiA alloy structural steel and flexible fabric are lightweight yet structurally robust, making the overall weight of this patient transport device lighter and easier to transport and carry.

[0137] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0138] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An airborne patient transport device, characterized in that, It includes a suspension belt unit, as well as a pair of central support units, side support units, horizontal support units and pretension adjustment mechanisms arranged opposite to each other; The central support unit is vertically arranged inside the cabin. Its upper end is fixedly connected to the middle of the horizontal support unit, and its lower end is fixedly connected to the cabin floor. Several bidirectional supports are arranged in the middle from top to bottom. The side support unit is vertically arranged in the cabin. Its upper end is fixed to the end of the horizontal support unit near the side wall of the cabin, and its lower end is fixedly connected to the cabin floor. The middle part is provided with the same number of unidirectional supports as the bidirectional supports from top to bottom. One end of the horizontal support unit is fixedly connected to the side wall of the cabin; The sling unit is vertically arranged on both sides of the central support unit and on the side of the side support unit away from the cabin sidewall. Its upper end is detachably connected to the horizontal support unit, and its lower end is detachably connected to the cabin floor. The middle section has the same number of slings and support rings as the bidirectional supports, all of which are telescopically adjustable. Each support ring corresponds to a stretcher handle and provides upward support to the handle. Each sling passes through the stretcher's support rod and provides upward, inclined support to the stretcher. The support rings are made of flexible, elastic material. The pretension adjustment mechanism includes a control unit, an adjustment drive unit, an accelerometer, and a gravity sensor disposed on the support ring, for adjusting the pretension of the support ring according to the acceleration value measured by the accelerometer and the total weight value of the stretcher and the patient measured by the gravity sensor; The control unit acquires the acceleration value collected by the accelerometer, processes it using an automatic preload adjustment model, and obtains a target function. The control unit then processes the target function to obtain output power and controls the adjustment drive unit to operate according to the output power, thereby tightening or loosening the support ring. The automatic adjustment model expression is: Where: t is time; U T (t) is the objective function, and the output power P is... m The relational expression for (t) is: P m (0) represents the initial output power; ξ(t) represents the acceleration error, ξ(t) = a target -a(t), a target To set the acceleration threshold, a(t) is the acceleration value of the stretcher at time t; L, M, and N are the second-order gain coefficient, the first-order gain coefficient, and the constant gain coefficient, respectively.

2. The airborne patient transport device according to claim 1, characterized in that, The horizontal support unit includes a horizontal connecting rod; the horizontal connecting rod is provided with a first interface, a second interface, a third interface, a fourth interface and a fifth interface in sequence from one end to the other. The central support unit includes a central support rod; the central support rod has a seventh interface at its upper end that mates with the fourth interface, and a first connecting part at its lower end that mates with the original interface of the cabin floor; the bidirectional bracket is arranged from top to bottom in the middle of the central support rod. The side support unit includes a side support rod; the side support rod has a sixth interface at its upper end that mates with the first interface, and a second connecting part at its lower end that mates with the original interface of the cabin floor; the unidirectional bracket is arranged from top to bottom in the middle of the side support rod; The sling unit includes several load-bearing slings; each load-bearing sling has an eighth interface at its upper end that can be detachably connected to the second interface, the third interface, or the fifth interface, and a third connecting part at its lower end that can be detachably connected to the original interface of the cabin floor; the support ring and the sling are arranged from top to bottom in the middle of each load-bearing sling; Each of the bidirectional brackets, unidirectional brackets, and support rings has the same installation height; each of the hanging straps is installed above each of the support rings.

3. The airborne patient transport device according to claim 2, characterized in that, Each of the central support rods and the side support rods is provided with a stretcher lock for locking the stretcher, and the stretcher lock is provided on both sides of each of the two-way supports and on one side of each of the one-way supports.

4. The airborne patient transport device according to claim 3, characterized in that, The stretcher lock includes a stretcher locking mechanism connected to the central support rod or the side support rod; the stretcher locking mechanism includes a pivot pin; the main body of the stretcher lock is movably mounted on the pivot pin; the pivot pin is fixedly connected to the central support rod or the side support rod at both ends, has an elastic pressing part fitted in the middle, and a positioning seat fixedly connected to the lower end; the lower end face of the stretcher lock at the connection position with the pivot pin is provided with an elastic positioning part that can elastically retract in the vertical direction; the elastic pressing part presses the main body of the stretcher lock and the elastic positioning part onto the positioning seat; the upper end face of the positioning seat has several grooves along the circumferential direction; under the pressure of the elastic pressing part, the elastic positioning part falls into the grooves to position the main body of the stretcher lock in the circumferential direction.

5. The airborne patient transport device according to claim 4, characterized in that, The stretcher lock further includes a locking ring and a locking handle for locking the stretcher; the locking ring has an arc-shaped structure, with one end hinged to the main body of the stretcher lock and the other end having a first locking part; the locking handle is hinged to the main body of the stretcher lock in the middle, with one end extending out of the main body of the stretcher lock to form a handle shape, and the other end having a second locking part that cooperates with the first locking part; an elastic tensioning part is provided between the locking ring and the locking handle; when the first locking part and the second locking part are in a mutually engaged state, the elastic tensioning part tightens and positions the locking ring and the locking handle.

6. The airborne patient transport device according to claim 2, characterized in that, The bidirectional support includes a movable support and a main support frame connected to the central support rod; the movable support is installed on both sides of the main support frame through a support positioning mechanism. The unidirectional support includes the movable support and the main support frame connected to the side support rod; the movable support is installed on one side of the main support frame through the support positioning mechanism.

7. The airborne patient transport device according to claim 2, characterized in that, The patient transport device also includes an inclined support rod; the inclined support rod is a double-link structure, including a first link and a second link; one end of the first link and one end of the second link are hinged together, and the hinged connection point is provided with a fourth connecting part that cooperates with the original interface of the cabin floor; the other end of the first link and the other end of the second link are respectively hinged together with the middle of the two central support rods arranged opposite each other.

8. The airborne patient transport device according to claim 2, characterized in that, The transfer device is also equipped with an alarm light and an alarm light trigger.

9. The airborne patient transport device according to claim 2, characterized in that, The transfer device also includes a thrust device; the thrust device is detachably and staggeredly arranged on the opposite central support rod or side support rod, all located below the bidirectional bracket or unidirectional bracket, and a thrust block is provided at the end away from the central support rod or side support rod. The thrust block has a C-shaped structure and is semi-surroundingly arranged in front of and behind the stretcher leg. The gap between the thrust block and the front and rear end faces of the stretcher leg can be adjusted by an adjusting mechanism.

10. The airborne patient transport device according to claim 2, characterized in that, The horizontal connecting rod, the central support rod, the side support rod, the bidirectional bracket and the unidirectional bracket are all made of alloy structural steel. The horizontal connecting rod, the central support rod and the side support rod are all rod-shaped structures with a cross-sectional shape of a Chinese character "ri" formed by the two sides of a long strip-shaped alloy structural steel plate being turned 90° towards the middle three times, and the two sides are fixedly connected at the place where they approach each other. The bearing sling and the hanging strap are both made of flexible fabric materials.

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