CN112440858B - Outdoor carriage expansion adjusting mechanism and using method - Google Patents
Outdoor carriage expansion adjusting mechanism and using method Download PDFInfo
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- CN112440858B CN112440858B CN202011371542.1A CN202011371542A CN112440858B CN 112440858 B CN112440858 B CN 112440858B CN 202011371542 A CN202011371542 A CN 202011371542A CN 112440858 B CN112440858 B CN 112440858B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/32—Vehicles adapted to transport, to carry or to comprise special loads or objects comprising living accommodation for people, e.g. caravans, camping, or like vehicles
- B60P3/34—Vehicles adapted to transport, to carry or to comprise special loads or objects comprising living accommodation for people, e.g. caravans, camping, or like vehicles the living accommodation being expansible, collapsible or capable of rearrangement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/001—Vehicles provided with medical equipment to perform operations or examinations
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Abstract
The invention discloses a field carriage expansion adjusting mechanism and a using method thereof, wherein the carriage expansion adjusting mechanism comprises a fixed carriage, an expansion carriage and an expansion mechanism for driving the expansion carriage, the fixed carriage and the expansion carriage respectively comprise a bottom plate, a side plate and a top plate, the carriage expansion adjusting mechanism also comprises a plurality of supporting and leveling mechanisms arranged below the bottom plates of the fixed carriage and the expansion carriage, a driving mechanism connected with the supporting and leveling mechanisms and a control unit connected with the driving mechanism, and the supporting and leveling mechanisms are driven by the control unit to move so as to keep the bottom plate parallel to a horizontal plane, so that the problem that an operating table cannot be kept horizontal due to the inclination of the bottom plate and the normal operation of the operation is influenced is solved.
Description
Technical Field
The invention belongs to the technical field of field medical equipment, and particularly relates to a field carriage expansion adjusting mechanism and a using method thereof.
Background
The field operation vehicle is a mobile medical equipment for on-site operation treatment of mass sick and wounded in sudden natural disasters or major epidemic outbreaks, has the characteristics of flexibility, quick expansion and complete matching, and generally comprises a chassis transportation system, a carriage system, an environment protection system, a medical function system, a power supply and distribution system and other protection systems, wherein the carriage system is generally an expandable structure so as to expand the use space.
The current carriage extension adjustment mechanism is usually composed of a fixed carriage and extension carriages which can be unfolded and folded inside the fixed carriage and on two sides of the fixed carriage, and the extension carriages are driven to move through the extension mechanisms to realize the unfolding and folding of the extension carriages, so that the purpose of convenient use is realized. However, the prior art mostly focuses on how to improve the extension mechanism, but after the extension carriage is extended at two sides of the fixed carriage, how to maintain the horizontal of the bottom plate of the extension carriage is an important problem, and meanwhile, because the field environment is slightly harsh and the terrain is complex, how to provide a horizontal bottom plate condition for the operating table is also a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a field carriage expansion adjusting mechanism and a using method thereof, which are used for solving the problem that the normal operation of an operation is influenced because an operating table cannot be kept horizontal due to the inclination of a bottom plate of a fixed carriage and an expanded carriage.
In order to achieve the purpose, the invention provides a field carriage expansion adjusting mechanism which comprises a fixed carriage, an expansion carriage and an expansion mechanism used for driving the expansion carriage, wherein the fixed carriage and the expansion carriage respectively comprise a bottom plate, a side plate and a top plate, the carriage expansion adjusting mechanism further comprises a plurality of supporting and leveling mechanisms arranged below the bottom plates of the fixed carriage and the expansion carriage, a driving mechanism connected with the supporting and leveling mechanisms and a control unit connected with the driving mechanism. The supporting and leveling mechanism is a screw pair structure consisting of a main screw and an auxiliary screw; the driving mechanism is a servo motor with a torque control mode and a position control mode. The supporting and leveling mechanisms are used for driving the supporting and leveling mechanisms to move through the driving mechanisms under the control of the control unit so as to enable the plane where the bottom plate of the fixed carriage is located and the plane where the bottom plate of the extended carriage is located to be parallel to the horizontal plane.
Preferably, the control unit comprises acquisition units respectively arranged on the floor of the fixed carriage and the floor of the extended carriage, and a computing unit connected with the acquisition units;
the acquisition unit is used for acquiring an included angle between the bottom plate of the fixed carriage and the horizontal plane or acquiring an included angle between the bottom plate of the extended carriage and the horizontal plane;
the calculation unit is used for calculating the height difference between the highest point and the lowest point on the bottom plate of the fixed carriage according to the included angle between the bottom plate of the fixed carriage and the horizontal plane, or calculating the height difference between the highest point and the lowest point on the bottom plate of the extended carriage according to the included angle between the bottom plate of the extended carriage and the horizontal plane.
Preferably, the driving mechanism is used for driving the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending movement according to the height difference.
The invention also provides a using method of the field carriage expansion adjusting mechanism, which comprises the following steps:
s1 supporting the leveling mechanism to support the bottom plate of the fixed carriage;
s2, the supporting and leveling mechanism controls the bottom plate of the fixed carriage to be parallel to the horizontal plane;
s3, the expansion mechanism drives the expansion carriage to be unfolded to the two sides of the fixed carriage;
s4 supporting the leveling mechanism to support the bottom plate of the expanded compartment;
s5 supporting the leveling mechanism to control the bottom plate of the expanded compartment to be parallel to the horizontal plane.
Further, the step of controlling the bottom plate of the fixed carriage to be parallel to the horizontal plane by the supporting leveling mechanism comprises the following steps:
an S21 acquisition unit acquires an included angle between the bottom plate of the fixed carriage and the horizontal plane;
the S22 calculation unit calculates the height difference between the highest point and the lowest point on the bottom plate of the fixed carriage according to the included angle between the bottom plate of the fixed carriage and the horizontal plane;
and the S23 driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending movement according to the height difference.
Further, the driving mechanism is a servo motor with a torque control mode and a position control mode;
when the supporting and leveling mechanism supports the bottom plate of the fixed carriage, the servo motor works in a torque control mode;
and when the driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, the servo motor works in a position control mode.
Further, after the step of driving the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform the ascending motion by the driving mechanism according to the height difference, the method further comprises the step of judging whether the bottom plate of the fixed compartment is parallel to the horizontal plane.
The invention has the beneficial effects that: the bottom plates of the fixed carriage and the expanded carriage are respectively provided with a plurality of supporting leveling mechanisms, driving mechanisms connected with the supporting leveling mechanisms and control units connected with the driving mechanisms, and the control units drive the supporting leveling mechanisms to move to keep the bottom plates parallel to the horizontal plane, so that the problem that the normal operation of an operation is influenced because an operating table cannot be kept horizontal due to the inclination of the bottom plates is solved.
Drawings
FIG. 1 is a schematic structural view of a field car expansion adjustment mechanism of the present invention;
FIG. 2 is a control block diagram of the support leveling mechanism of the present invention;
FIG. 3 is an overall operational flow diagram of the car extension adjustment mechanism;
fig. 4 is a flow chart of the work to achieve the parallelism of the floor with the horizontal plane.
Description of reference numerals:
1-fixed carriage 2-extended carriage 3-extended mechanism 4-carriage bottom plate
5-support leveling mechanism 6-driving mechanism 7-control unit
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the field car expansion adjusting mechanism and the using method thereof will be described in further detail with reference to the accompanying drawings and the detailed description.
The embodiment provides an expansion adjusting mechanism for a field carriage, please refer to fig. 1, the expansion adjusting mechanism for a field carriage comprises a fixed carriage 1, an expansion carriage 2 and an expansion mechanism 3 for driving the expansion carriage, the fixed carriage 1 and the expansion carriage 2 are respectively composed of a bottom plate 4, a side plate and a top plate, the expansion adjusting mechanism for a carriage further comprises a plurality of supporting leveling mechanisms 5 and a driving mechanism 6 connected with the supporting leveling mechanisms 5, and a control unit 7 connected with the driving mechanism, the plurality of supporting and leveling mechanisms 5 are respectively arranged on the bottom plate 4 of the fixed carriage and the bottom plate 4 of the fixed carriage, the plurality of supporting and leveling mechanisms 5 are used for controlling the driving mechanism to drive the fixed carriage to move along the fixed carriage, the driving mechanism 6 drives the supporting leveling mechanism 5 to move so as to enable the plane where the bottom plate 4 of the fixed carriage is located and the plane where the bottom plate 4 of the extended carriage is located to be parallel to the horizontal plane. Support leveling mechanism 5 and be the screw pair structure that main lead screw and vice lead screw are constituteed, the rotation of during operation main lead screw and extension drive vice lead screw rotation and extension, this supporting mechanism's characteristics: the folding size is small, the installation is convenient, the system adopts one-key type automatic operation, and the usability and the aesthetic property of the whole vehicle are improved. The drive mechanism 6 employs a servo motor having a torque control mode and a position control mode.
Referring to fig. 1, a plurality of supporting and leveling mechanisms 5, driving mechanisms 6 connected with the supporting and leveling mechanisms 5, and control units 7 connected with the driving mechanisms are respectively arranged on the bottom plates 4 of the fixed carriage and the extended carriage, and the supporting and leveling mechanisms 5 are driven by the control units 7 to move so as to keep the bottom plates 4 parallel to the horizontal plane, thereby solving the problem that the operation table cannot be kept horizontal due to the inclination of the bottom plates 4 and the normal operation is influenced.
Fig. 2 is a control block diagram of the support leveling mechanism, and as shown in fig. 2, the control unit 7 further includes an acquisition unit 71 and a calculation unit 72, wherein the acquisition unit 71 is respectively disposed on the bottom plate 4 of the fixed car and the extended car bottom plate 4, and the calculation unit 72 is connected to the acquisition unit;
the acquisition unit 71 is used for acquiring an included angle between the bottom plate 4 of the fixed carriage and the horizontal plane or acquiring an included angle between the bottom plate 4 of the extended carriage and the horizontal plane;
the calculation unit 72 is configured to calculate a height difference between a highest point and a lowest point on the floor 4 of the fixed car according to an included angle between the floor 4 of the fixed car and the horizontal plane, or calculate a height difference between a highest point and a lowest point on the floor 4 of the extended car according to an included angle between the floor 4 of the extended car and the horizontal plane.
The bottom plate is provided with a plurality of supporting and leveling mechanisms 5, and the driving mechanism 6 drives the supporting and leveling mechanisms 5 corresponding to the highest point and the lowest point on the bottom plate 4 to move up and down, so that the included angle between the bottom plate 4 and the horizontal plane is reduced, and the bottom plate is further kept parallel to the horizontal plane.
The support leveling mechanism 5 also functions to support the vehicle cabin before the leveling floor and the horizontal surface are kept parallel. In the leveling process, if the supporting leveling mechanism 5 corresponding to the highest point of the bottom plate 4 is driven to perform descending movement, a virtual leg phenomenon may be caused, that is, the supporting leveling mechanism 5 cannot support the bottom plate 4, so that the stability of the carriage cannot be ensured. Therefore, in order to avoid this problem, preferably, during the leveling process, the supporting and leveling mechanism 5 is set to move only up and down, that is, the driving mechanism 6 drives the supporting and leveling mechanism 5 at the position corresponding to the lowest point of the bottom plate to perform an up-movement (i.e., a length elongation movement) according to the height difference, and does not drive the supporting and leveling mechanism 5 at the highest point, so as to avoid a leg-missing phenomenon, thereby ensuring both leveling and stability of the carriage.
Preferably, the acquisition unit 71 is a high-precision tilt sensor, the control unit 7 uses siemens S7-1200PLC as a core control element, and the high-precision tilt sensor, the servo motor photoelectric encoder and the proximity switch feed back system status signals in real time, so that the driving mechanism 6 performs supporting and leveling actions. And simultaneously, the working states of all the motion mechanisms are displayed in real time through a touch screen. All sensors and servo motors carry out data interaction with the PLC through the bus, hardware wiring is simplified, and system reliability and later expansibility are improved. The driving mechanism 6 adopts a servo motor with a moment control mode and a position control mode, and in the supporting process, the moment control mode is adopted to feed back a grounding signal, so that the supporting effect of the supporting and leveling mechanism 5 is ensured.
The following describes an operation method of the cabin extension adjustment mechanism in the present embodiment.
The overall work flow chart of the carriage extension adjusting mechanism is shown in fig. 3, and specifically includes the following steps:
s1 a support leveling mechanism supports the floor of the fixed car. At the moment, the driving mechanism drives the supporting and leveling mechanisms to move up and down, and each supporting and leveling mechanism is controlled to support the bottom plate, so that the stability of the bottom plate in the using process is ensured;
s2: the supporting and leveling mechanism controls the bottom plate of the fixed carriage to be parallel to the horizontal plane, so that the problem that workers cannot stand normally due to the fact that the bottom plate of the fixed carriage inclines is solved;
s3: the expansion mechanism drives the expansion carriage to expand to two sides of the fixed carriage. This step is carried out after the supporting and levelling step of fixing the carriage is completed;
s4: the supporting leveling mechanism supports the bottom plate of the expanded carriage, and the specific implementation method is similar to that of the fixed carriage;
s5: the supporting leveling mechanism controls the bottom plate of the expanded carriage to be parallel to the horizontal plane, and the specific operation method is similar to the leveling of the bottom plate of the fixed carriage.
The steps realize the quick support and leveling of the carriage extension adjusting mechanism.
Further, step S2 includes:
an S21 acquisition unit acquires an included angle between the bottom plate of the fixed carriage and the horizontal plane;
the S22 calculation unit calculates the height difference between the highest point and the lowest point on the bottom plate of the fixed carriage according to the included angle between the bottom plate of the fixed carriage and the horizontal plane;
and the S23 driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to move upwards according to the height difference, and a control method of only lifting without descending is adopted, so that the phenomenon of leg weakness is avoided.
S24, judging whether the bottom plate of the fixed carriage is parallel to the horizontal plane, if so, executing the step S3, otherwise, continuing to control the leveling. The step of determining whether the floor of the fixed car is parallel to the horizontal plane in step S24 may be: and the acquisition unit continuously acquires the included angle between the bottom plate of the fixed carriage and the horizontal plane to judge whether the included angle between the bottom plate of the fixed carriage and the horizontal plane is 0 degree, and if the included angle is 0 degree, the bottom plate of the fixed carriage is proved to be parallel to the horizontal plane.
The driving mechanism is a servo motor with a torque control mode and a position control mode; the driving mechanism drives the supporting and leveling mechanism to perform lifting movement so as to support the bottom plate of the fixed carriage on the bottom surface, namely step S1, and the servo motor works in a torque control mode;
and when the driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, the servo motor works in a position control mode.
Further, after the leveling step in step S2 is completed, the method further includes that the servo motor is used as a torque control mode to perform a micro-motion operation, so that reliable grounding of all the supporting and leveling mechanisms is realized, and the stability of the surgical treatment vehicle in the using process is further improved.
In summary, the embodiment of the present invention provides a car expansion adjusting mechanism, which includes a fixed car 1, an expanded car 2, and an expansion mechanism 3 for driving the expanded car, where the fixed car 1 and the expanded car 2 are respectively composed of a bottom plate 4, a side plate, and a top plate, the car expansion adjusting mechanism further includes a plurality of support leveling mechanisms 5, and a driving mechanism 6 connected to the plurality of support leveling mechanisms 5, and a control unit 7 connected with the driving mechanism 6, the plurality of supporting leveling mechanisms 5 are respectively arranged on the bottom plate 4 of the fixed compartment and the bottom plate 4 of the fixed compartment, the plurality of supporting leveling mechanisms 5 are used for controlling the driving mechanism 7, the driving mechanism 6 drives the supporting and leveling mechanism to move so as to enable the plane where the bottom plate 4 of the fixed carriage is located and the plane where the bottom plate 4 of the extended carriage is located to be parallel to the horizontal plane.
A plurality of supporting leveling mechanisms 5, driving mechanisms 6 connected with the supporting leveling mechanisms and control units 7 connected with the driving mechanisms are respectively arranged on the bottom plates 4 of the fixed carriage and the extended carriage, and the supporting leveling mechanisms 5 are driven by the control units 7 to move so as to keep the bottom plates parallel to the horizontal plane, so that the problem that the normal operation of an operation is influenced because an operating table cannot be kept horizontal due to the inclination of the bottom plates is solved.
It will be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (2)
1. The field compartment expansion adjusting mechanism is characterized by comprising a fixed compartment, an expansion compartment and an expansion mechanism for driving the expansion compartment, wherein the fixed compartment and the expansion compartment respectively comprise a bottom plate, a side plate and a top plate;
the supporting and leveling mechanism is a screw pair structure consisting of a main screw and an auxiliary screw;
the driving mechanism is a servo motor with a torque control mode and a position control mode;
when the supporting and leveling mechanism supports the bottom plate of the fixed carriage, the servo motor works in a torque control mode;
when the driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, the servo motor works in a position control mode;
the control unit comprises acquisition units respectively arranged on the bottom plate of the fixed carriage and the bottom plate of the extended carriage, and a calculation unit connected with the acquisition units;
the acquisition unit is used for acquiring the included angle between the bottom plate of the fixed carriage and the horizontal plane or the included angle between the bottom plate of the expanded carriage and the horizontal plane;
the calculation unit is used for calculating the height difference between the highest point and the lowest point on the bottom plate of the fixed carriage according to the included angle between the bottom plate of the fixed carriage and the horizontal plane, or calculating the height difference between the highest point and the lowest point on the bottom plate of the expanded carriage according to the included angle between the bottom plate of the expanded carriage and the horizontal plane;
the driving mechanism is used for driving the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, and the supporting and leveling mechanism at the position corresponding to the highest point is not driven.
2. A method of using the outdoor compartment extension adjustment mechanism of claim 1,
s1 supporting the leveling mechanism to support the bottom plate of the fixed carriage;
s2 supporting the leveling mechanism to control the bottom plate of the fixed carriage to be parallel to the horizontal plane;
s3, the expansion mechanism drives the expansion carriage to be unfolded to the two sides of the fixed carriage;
s4, supporting the bottom plate of the expanded carriage by the support leveling mechanism;
s5 supporting the leveling mechanism to control the bottom plate of the expanded compartment to be parallel to the horizontal plane;
the step of controlling the bottom plate of the fixed carriage to be parallel to the horizontal plane by the supporting leveling mechanism comprises the following steps:
an S21 acquisition unit acquires an included angle between the bottom plate of the fixed carriage and the horizontal plane;
the S22 calculation unit calculates the height difference between the highest point and the lowest point on the bottom plate of the fixed carriage according to the included angle between the bottom plate of the fixed carriage and the horizontal plane;
the S23 driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, and does not drive the supporting and leveling mechanism at the position corresponding to the highest point;
the driving mechanism is a servo motor with a torque control mode and a position control mode;
when the supporting and leveling mechanism supports the bottom plate of the fixed carriage, the servo motor works in a torque control mode;
when the driving mechanism drives the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion according to the height difference, the servo motor works in a position control mode;
and after the step of driving the supporting and leveling mechanism at the position corresponding to the lowest point of the bottom plate to perform ascending motion by the driving mechanism according to the height difference, judging whether the bottom plate of the fixed carriage is parallel to the horizontal plane or not.
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113899246B (en) * | 2021-07-30 | 2023-02-28 | 重庆零壹空间科技集团有限公司 | Ten-point leveling method of rocket launching platform and control system thereof |
| CN114715014A (en) * | 2022-04-27 | 2022-07-08 | 合肥同智机电控制技术有限公司 | Expansion cabin control system and method |
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