阅读说明：本技术 多功能推床 (Multifunctional push bed ) 是由 吕鸿钧 林尚雷 黄乐军 吕鸿雁 黄勇军 于 2019-12-06 设计创作，主要内容包括：本发明涉及一种多功能推床,其包括床架、动力装置、主控电路和电池,床架包括上床架和下床架,上床架与下床架之间通过升降装置连接,动力装置、主控电路和电池设置在下床架上,下床架底部设有脚轮,动力装置包括两套行走驱动机构,行走驱动机构包括驱动轮和行走驱动电机,两套行走驱动机构的驱动轮位于床架底部、并左右分布,驱动轮与行走驱动电机传动连接,行走驱动电机与主控电路电性连接。此款多功能推床同时具有电动助力、上床架升降控制功能,而且电动助力的两个驱动轮分别通过一个行走驱动电机控制,因此,两个驱动轮可以独立控制,当两个驱动轮同步时,则可以实现直线驱动推床；当两个驱动轮差速运行时,则可以实现推床转向行走。(The invention relates to a multifunctional push bed, which comprises a bed frame, a power device, a main control circuit and a battery, wherein the bed frame comprises an upper bed frame and a lower bed frame, the upper bed frame is connected with the lower bed frame through a lifting device, the power device, the main control circuit and the battery are arranged on the lower bed frame, the bottom of the lower bed frame is provided with casters, the power device comprises two sets of walking driving mechanisms, each walking driving mechanism comprises driving wheels and walking driving motors, the driving wheels of the two sets of walking driving mechanisms are positioned at the bottom of the bed frame and distributed left and right, the driving wheels are in transmission connection with the walking driving motors, and the walking driving motors are electrically connected with the main control circuit. The multifunctional manipulator has the functions of electric power assistance and lifting control of the upper bed frame, and the two driving wheels of the electric power assistance are respectively controlled by one walking driving motor, so that the two driving wheels can be independently controlled, and when the two driving wheels are synchronous, the manipulator can be driven linearly; when the two driving wheels run at different speeds, the manipulator can steer and walk.)

1. The utility model provides a multifunctional pushing bed, includes bedstead (100), power device (200), master control circuit and battery, bedstead (100) are including last bedstead (22) and lower bedstead (10), go up and are connected through elevating gear between bedstead (22) and lower bedstead (10), and power device (200), master control circuit and battery setting are on bedstead (10) down, and lower bedstead (10) bottom is equipped with truckle (11), its characterized in that: the power device (200) comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel (1) and a walking driving motor (2), the driving wheels (1) of the two sets of walking driving mechanisms are positioned at the bottom of the bedstead (100) and distributed from left to right, the driving wheels (1) are in transmission connection with the walking driving motors (2), and the walking driving motors (2) are electrically connected with a main control circuit;

the upper bed frame (22) is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or the remote controller is used for sending a control signal to the main control circuit and is electrically connected with the main control circuit.

2. The multi-function manipulator of claim 1, wherein: the power device (200) also comprises a wheel carrier (3), and the two sets of walking driving mechanisms are arranged at the bottom of the wheel carrier (3); the wheel carrier (3) is horizontally and rotatably arranged on the bed frame (100), a steering driving mechanism (300) used for controlling the wheel carrier (3) to rotate is arranged on the bed frame (100), the steering driving mechanism (300) comprises a steering driving motor (24), and the steering driving motor (24) is electrically connected with the main control circuit.

3. The multi-function manipulator of claim 2, wherein: the walking driving mechanism further comprises a motor base (21) and a shaft seat (17), the motor base (21) and the shaft seat (17) are arranged at the bottom of the wheel carrier (3), the walking driving motor (2) is arranged on the motor base (21), a rotating shaft (16) is arranged on the shaft seat (17) in a rotating mode, one end of the rotating shaft (16) is in transmission connection with the driving wheel (1), and the other end of the rotating shaft (16) is in transmission connection with the walking driving motor (2) through a first belt pulley transmission pair.

4. The multi-function manipulator of claim 2, wherein: the steering driving mechanism (300) comprises a steering driving motor (24), a gear pair and a gear rack (26), wherein the gear rack (26) is arranged on the bedstead (100), and the steering driving motor (24) is in transmission connection with the gear pair and is arranged on the gear rack (26); the bedstead (100) is provided with a steering wheel (4) above the corresponding wheel carrier (3), the periphery of the steering wheel (4) is provided with a steering driving tooth slot, and the steering driving tooth slot is meshed with the gear pair.

5. The multi-function manipulator of claim 4, wherein: the gear rack (26) is further provided with a reduction box (25), the gear pair comprises a pinion (27) and a gearwheel (28), the steering driving motor (24) is in transmission connection with the pinion (27) through the reduction box (25), the pinion (27) is meshed with the gearwheel (28), and the gearwheel (28) is meshed with a steering driving tooth groove of the gear rack (3).

6. The multi-function manipulator of claim 4, wherein: the lifting device comprises two groups of supporting rod mechanisms and a lifting driving mechanism (400), the two groups of supporting rod mechanisms are respectively arranged at the front end and the rear end of the bedstead (100), each supporting rod mechanism comprises an inclined supporting rod (23) and a transverse sliding seat (41), the upper end of the inclined supporting rod (23) is hinged with the upper bedstead (22), the lower end of the inclined supporting rod (23) is hinged with the transverse sliding seat (41), and the transverse sliding seat (41) is arranged on the lower bedstead (10) in a front-and-back sliding manner; the lifting driving mechanism (400) comprises a lifting driving motor (36) and a sliding seat transmission pair for pushing the transverse sliding seat (41) to move, the lifting driving motor (36) is arranged on the lower bed frame (10) and is in transmission connection with the sliding seat transmission pair, and the lifting driving motor (36) is electrically connected with the main control circuit;

or the lifting device comprises an upper foot tube (51), a lower foot tube (50), a screw rod and a threaded sleeve, the screw rod is rotatably arranged in the lower foot tube (50), the threaded sleeve is arranged in the upper foot tube (51) and is in threaded connection with the screw rod, the cross sections of the upper foot tube (51) and the lower foot tube (50) are rectangular, the upper foot tube (51) is sleeved with the lower foot tube (50) and is in linear sliding fit, the upper end of the upper foot tube (51) is connected with the upper bed frame (22), the lower end of the lower foot tube (50) is connected with the lower bed frame (10), the lifting device is at least provided with a front set and a rear set, and the screw rod of each set of lifting device is linked with the lifting driving motor (36).

7. The multi-function manipulator of claim 6, wherein: the sliding seat transmission pair comprises a synchronizing shaft (29) and two lead screw transmission pairs, the synchronizing shaft (29) is rotatably arranged on the lower bed frame (10) and points forwards and backwards, the synchronizing shaft (29) penetrates through the space between the wheel frame (3) and the steering wheel (4), the lead screw transmission pair comprises a lead screw (40) and a nut (42) which are in threaded connection, the lead screw (40) is rotatably arranged on the lower bed frame (10) and points forwards and backwards, and the nut (42) is connected with the transverse sliding seat (41); two ends of the synchronizing shaft (29) are respectively in transmission connection with the screw rods (40) of the two screw rod transmission pairs, and the synchronizing shaft (29) is also in transmission connection with the lifting driving motor (36).

8. The multi-function manipulator of claim 1, wherein: the bed is characterized in that a vertical guide telescopic rod is further arranged between the upper bed frame (22) and the lower bed frame (10), the vertical guide telescopic rod comprises a fixed rod (49) and a movable sleeve (48), the fixed rod (49) and the movable sleeve (48) are both vertically arranged, the lower end of the fixed rod (49) is connected with the lower bed frame (10), the upper end of the fixed rod (49) is sleeved with the movable sleeve (48) and is in mutually vertical sliding fit, and the upper end of the fixed rod (49) is connected with the upper bed frame (22).

9. The multi-function manipulator of claim 7, wherein: two sets of linear guide devices are arranged between the steering wheel (4) and the wheel carrier (3), are uniformly distributed around the rotating center of the steering wheel (4) and are positioned on the left side and the right side of the synchronizing shaft (29); the linear guide device comprises a longitudinal guide rod (5) and a longitudinal guide sleeve (6), the upper end of the longitudinal guide rod (5) is fixedly connected with the steering wheel (4), the lower end of the longitudinal guide rod (5) penetrates through the longitudinal guide sleeve (6), and the longitudinal guide sleeve (6) is arranged on the wheel carrier (3) and is in vertical sliding fit with the longitudinal guide rod (5).

10. The multi-function manipulator of claim 9, wherein: more than two adjusting bolts (8) are arranged beside the linear guide device, the adjusting bolts (8) penetrate through the wheel carrier (3) from bottom to top and are in threaded connection with the wheel carrier (3), and the upper ends of the adjusting bolts (8) are fixedly abutted or in rotating fit with the steering wheel (4); and a compression spring (7) is further sleeved outside the adjusting bolt (8), and the compression spring (7) is in compression joint between the steering wheel (4) and the wheel carrier (3).

Technical Field

The invention relates to a delivery vehicle, in particular to a multifunctional manipulator.

Background

Present medical care transfer bed mainly includes bedstead, last bedstead and casters down, and casters sets up bedstead top down, and last bedstead sets up. The upper bed frame is mainly used for placing a mattress and lying for a patient, and the lower bed frame can be used for placing medical instruments and equipment. Therefore, when carrying people, the medical transfer bed needs to be pushed to be strenuous, and the walking direction is not controlled well by one person. In addition, because a patient who is inconvenient to move often needs to be subjected to more examinations during hospitalization, and different examination items are located in different areas, two nursing workers (or one nursing worker and a patient family member together) are generally required to be arranged in the existing hospital to transfer the patient to different examination areas through the medical transfer bed for examination, so that more manpower is consumed, and hospitalization cost is increased.

In addition, the current medical transfer bed mainly has the function of transferring patients who are inconvenient to move on a sickroom to other departments for use, and the medical transfer bed is not necessarily close to the sickroom in height, so that the patients are difficult to pass. Moreover, the upper bed frame is higher, which is not beneficial to the patient to get on the bed.

Disclosure of Invention

The invention aims to provide a multifunctional push bed which is reasonable in structure, electrically assisted and provided with a lifting function.

The purpose of the invention is realized as follows:

the utility model provides a multifunctional pushing bed, includes bedstead, power device, master control circuit and battery, and the bedstead includes bedstead and lower bedstead, goes up the bedstead and is connected through elevating gear down between the bedstead, and power device, master control circuit and battery setting are on the bedstead down, and lower bedstead bottom is equipped with truckle, its characterized in that: the power device comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel and a walking driving motor, the driving wheels of the two sets of walking driving mechanisms are positioned at the bottom of the bedstead and distributed from left to right, the driving wheels are in transmission connection with the walking driving motors, and the walking driving motors are electrically connected with the main control circuit; the upper bed frame is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit; and/or the remote controller is used for sending a control signal to the main control circuit and is electrically connected with the main control circuit.

The aim of the invention can also be solved by the following technical measures:

as a more specific scheme, the power device further comprises a wheel carrier, and the two sets of walking driving mechanisms are arranged at the bottom of the wheel carrier; the wheel carrier is horizontally and rotatably arranged on the bedstead, a steering driving mechanism for controlling the rotation of the wheel carrier is arranged on the bedstead, the steering driving mechanism comprises a steering driving motor, and the steering driving motor is electrically connected with the main control circuit.

As a further scheme, the walking driving mechanism further comprises a motor base and a shaft seat, the motor base and the shaft seat are arranged at the bottom of the wheel carrier, the walking driving motor is arranged on the motor base, a rotating shaft is arranged on the shaft seat in a rotating mode, one end of the rotating shaft is in transmission connection with the driving wheel, and the other end of the rotating shaft is in transmission connection with the walking driving motor through a first belt pulley transmission pair.

As a further scheme, the steering driving mechanism comprises a steering driving motor, a gear pair and a gear rack, wherein the gear rack is arranged on the bed frame, and the steering driving motor is in transmission connection with the gear pair and is arranged on the gear rack; and a steering wheel is arranged above the corresponding wheel frame of the bedstead, a steering driving tooth groove is arranged on the periphery of the steering wheel, and the steering driving tooth groove is meshed with the gear pair.

As a further scheme, a reduction box is further arranged on the gear carrier, the gear pair comprises a pinion and a bull gear, the steering driving motor is in transmission connection with the pinion through the reduction box, the pinion is meshed with the bull gear, and the bull gear is meshed with a steering driving tooth groove of the gear carrier.

As a further scheme, the lifting device comprises two groups of strut mechanisms and a lifting driving mechanism, the two groups of strut mechanisms are respectively arranged at the front end and the rear end of the bedstead, each strut mechanism comprises an inclined strut and a transverse sliding seat, the upper end of the inclined strut is hinged with the upper bedstead, the lower end of the inclined strut is hinged with the transverse sliding seat, and the transverse sliding seat is arranged on the lower bedstead in a front-back sliding manner; the lifting driving mechanism comprises a lifting driving motor and a sliding seat transmission pair for pushing the transverse sliding seat to move, the lifting driving motor is arranged on the lower bed frame and is in transmission connection with the sliding seat transmission pair, and the lifting driving motor is electrically connected with the main control circuit. Or the lifting device comprises an upper foot tube, a lower foot tube, a screw rod and a screw sleeve, the screw rod is rotatably arranged in the lower foot tube, the screw sleeve is arranged in the upper foot tube and is in threaded connection with the screw rod, the cross sections of the upper foot tube and the lower foot tube are rectangular, the upper foot tube is sleeved with the lower foot tube and is in linear sliding fit with the lower foot tube, the upper end of the upper foot tube is connected with the upper bed frame, the lower end of the lower foot tube is connected with the lower bed frame, the lifting device is at least provided with a front set and a rear set, and the screw rod of each set of lifting device is linked with.

As a further scheme, the slide seat transmission pair comprises a synchronizing shaft and two sets of screw rod transmission pairs, the synchronizing shaft is rotatably arranged on the lower bed frame and points forwards and backwards, the synchronizing shaft penetrates through the space between the wheel frame and the steering wheel, the screw rod transmission pairs comprise screw rods and nuts which are in threaded connection, the screw rods are rotatably arranged on the lower bed frame and point forwards and backwards, and the nuts are connected with the transverse slide seat; two ends of the synchronizing shaft are respectively in transmission connection with the lead screws of the two lead screw transmission pairs, and the synchronizing shaft is also in transmission connection with the lifting driving motor.

As a further scheme, a vertical guiding telescopic rod is further arranged between the upper bed frame and the lower bed frame and comprises a fixed rod and a movable sleeve, the fixed rod and the movable sleeve are both vertically arranged, the lower end of the fixed rod is connected with the lower bed frame, the upper end of the fixed rod is sleeved with the movable sleeve and is in mutually vertical sliding fit, and the upper end of the fixed rod is connected with the upper bed frame.

As a further scheme, two sets of linear guide devices are arranged between the steering wheel and the wheel carrier, are uniformly distributed around the rotation center of the steering wheel and are positioned at the left side and the right side of the synchronizing shaft; the linear guide device comprises a longitudinal guide rod and a longitudinal guide sleeve, the upper end of the longitudinal guide rod is fixedly connected with the steering wheel, the lower end of the longitudinal guide rod penetrates through the longitudinal guide sleeve, and the longitudinal guide sleeve is arranged on the wheel carrier and is in vertical sliding fit with the longitudinal guide rod.

As a further scheme, more than two adjusting bolts are arranged beside the linear guide device, the adjusting bolts penetrate through the wheel frame from bottom to top and are in threaded connection with the wheel frame, and the upper ends of the adjusting bolts are fixedly abutted against or in rotating fit with the steering wheel; and a compression spring is sleeved outside the adjusting bolt and is in compression joint between the steering wheel and the wheel carrier.

The invention has the following beneficial effects:

(1) the multifunctional manipulator has the functions of electric power assistance and lifting control of the upper bed frame, and the two driving wheels of the electric power assistance are respectively controlled by one walking driving motor, so that the two driving wheels can be independently controlled, and when the two driving wheels are synchronous, the manipulator can be driven linearly; when the two driving wheels run at different speeds, the manipulator can steer and walk.

(2) The multifunctional manipulator can directly control the power device to turn through the steering driving mechanism, namely, the turning of the bedstead is realized, the operation is convenient, and even if the bedstead is in a loading state, a single person can easily steer.

(3) The steering driving mechanism of the multifunctional manipulator adopts electric drive, so that the operation is more convenient.

(4) The steering driving mechanism of the multifunctional manipulator and the steering wheel above the power device are in matched transmission through the tooth grooves, so that the power device can rotate by 90 degrees, and the power device is started at the moment, so that the transverse movement of the bed frame can be realized.

(5) The upper bed frame of the multifunctional manipulator is supported by the front and the rear sets of supporting rod mechanisms, and the two sets of supporting rod mechanisms are controlled by one set of lifting driving mechanism, so that the two sets of supporting rod mechanisms move synchronously, support the two ends of the upper bed frame, and lift the upper bed frame more stably and reliably.

(6) The vertical guide telescopic rod is arranged between the upper bed frame and the lower bed frame of the multifunctional pushing bed, so that the upper bed frame cannot swing due to the matched virtual position.

(7) The multifunctional push bed is provided with the elastic piece between the wheel frame and the bed frame, the elastic piece enables the wheel frame to have the trend of moving downwards, and the driving wheel is better contacted with the ground.

Drawings

Fig. 1 is a schematic structural diagram according to an embodiment of the present invention.

Fig. 2 is another angle structure diagram of fig. 1.

Fig. 3 is a schematic front view of the present invention.

FIG. 4 is a schematic sectional view A-A of FIG. 3.

FIG. 5 is a left side view of the present invention.

FIG. 6 is a schematic sectional view of the structure of FIG. 5B-B.

FIG. 7 is a schematic cross-sectional view of the structure of FIG. 5C-C.

Fig. 8 is a schematic sectional view of fig. 5 taken along line D-D.

FIG. 9 is a schematic cross-sectional view of E-E of FIG. 5.

Fig. 10 is a schematic view of the connection structure of the lower frame and the power unit after turning 90 degrees.

Fig. 11 is a schematic structural view of a steering driving mechanism according to the present invention.

Fig. 12 is another angle structure diagram of fig. 11.

FIG. 13 is a schematic view of the power unit, the steering wheel and the gantry of the present invention in a top view.

FIG. 14 is a schematic sectional view of the structure of FIG. 13G-G.

FIG. 15 is a schematic cross-sectional view of the structure of FIG. 13 taken at H-H.

Fig. 16 is a schematic view of a power unit and a steering wheel connecting structure according to the present invention.

Fig. 17 is another angle structure diagram of fig. 16.

Fig. 18 is a front view schematically illustrating the structure of the upper frame of the present invention after it is lowered.

Fig. 19 is a schematic structural diagram of another embodiment of the present invention.

Fig. 20 is a schematic structural view of the upper frame of fig. 19 after lowering.

Detailed Description

The invention is further described with reference to the following figures and examples.

Referring to fig. 1 to 17, a multifunctional pushing bed comprises a bed frame 100, a power device 200, a main control circuit and a battery, wherein the bed frame 100 comprises an upper bed frame 22 and a lower bed frame 10, the upper bed frame 22 is connected with the lower bed frame 10 through a lifting device, the power device 200, the main control circuit and the battery are arranged on the lower bed frame 10, casters 11 are arranged at the bottom of the lower bed frame 10, the power device 200 comprises two sets of walking driving mechanisms, each walking driving mechanism comprises a driving wheel 1 and a walking driving motor 2, the driving wheels 1 of the two sets of walking driving mechanisms are positioned at the bottom of the bed frame 100 and distributed on the left and right, the driving wheels 1 are in transmission connection with the walking driving motors 2, and the walking driving motors 2 are electrically connected with the main control circuit; the upper bed frame 22 is provided with a handrail, the handrail is provided with a controller for controlling signals of the main control circuit, and the controller is electrically connected with the main control circuit, which is not shown in the figure.

The power device 200 further comprises a wheel carrier 3, and the two sets of walking driving mechanisms are arranged at the bottom of the wheel carrier 3; the wheel frame 3 is horizontally and rotatably arranged on the bedstead 100, the bedstead 100 is provided with a steering driving mechanism 300 for controlling the rotation of the wheel frame 3, the steering driving mechanism 300 comprises a steering driving motor 24, and the steering driving motor 24 is electrically connected with the main control circuit.

The walking driving mechanism further comprises a motor seat 21 and a shaft seat 17, the motor seat 21 and the shaft seat 17 are arranged at the bottom of the wheel carrier 3, the walking driving motor 2 is arranged on the motor seat 21, a rotating shaft 16 is arranged on the shaft seat 17 in a rotating mode, one end of the rotating shaft 16 is in transmission connection with the driving wheel 1, and the other end of the rotating shaft 16 is in transmission connection with the walking driving motor 2 through a first belt pulley transmission pair. The first belt pulley transmission pair comprises a first walking driving gear 20, a first synchronous belt pulley 18 and a first synchronous belt 19, the first walking driving gear 20 is arranged on a motor shaft of the walking driving motor 2, the first synchronous belt pulley 18 is arranged at the other end of the rotating shaft 16, and the first synchronous belt 19 is wound outside the first walking driving gear 20 and the first synchronous belt pulley 18.

The steering driving mechanism 300 comprises a steering driving motor 24, a gear pair and a gear rack 26, wherein the gear rack 26 is arranged on the bedstead 100, and the steering driving motor 24 is in transmission connection with the gear pair and is arranged on the gear rack 26; the bedstead 100 is provided with a steering wheel 4 above the corresponding wheel frame 3, the periphery of the steering wheel 4 is provided with a steering driving tooth slot, and the steering driving tooth slot is meshed with the gear pair.

The gear rack 26 is also provided with a reduction box 25, the gear pair comprises a pinion 27 and a gearwheel 28, the steering driving motor 24 is in transmission connection with the pinion 27 through the reduction box 25, the pinion 27 is meshed with the gearwheel 28, and the gearwheel 28 is meshed with a steering driving tooth groove of the gear rack 3.

Two sets of linear guide devices are arranged between the steering wheel 4 and the wheel carrier 3, are uniformly distributed around the rotating center of the steering wheel 4 and are positioned at the left side and the right side of the synchronizing shaft 29; the linear guide device comprises a longitudinal guide rod 5 and a longitudinal guide sleeve 6, the upper end of the longitudinal guide rod 5 is fixedly connected with the steering wheel 4, the lower end of the longitudinal guide rod 5 penetrates through the longitudinal guide sleeve 6, and the longitudinal guide sleeve 6 is arranged on the wheel carrier 3 and is in vertical sliding fit with the longitudinal guide rod 5.

More than two adjusting bolts 8 are arranged beside the linear guide device, the adjusting bolts 8 penetrate through the wheel frame 3 from bottom to top and are in threaded connection with the wheel frame 3, and the upper ends of the adjusting bolts 8 are fixedly abutted or in rotating fit with the steering wheel 4; and a compression spring 7 is sleeved outside the adjusting bolt 8, and the compression spring 7 is in compression joint between the steering wheel 4 and the wheel carrier 3. The distance between the wheel frame and the steering wheel is changed through the adjusting bolt, so that the elastic force of the elastic piece is adjusted. Four caster wheels 11 are distributed on the bottom of the bedstead 100 in a rectangular shape; the bed frame 100 is rectangular, the four casters 11 are respectively disposed at four corners of the bottom of the bed frame 100, and the power device 200 is located at the middle of the bottom of the bed frame. The power unit is located at the center of the bottom of the bed frame 100, so that the center of the carrying device is more centered, the center of gravity is lower, and the use is more stable. The bedstead is supported by four truckles, and power device is located the middle part, and when there is the angular difference in the position of preceding back both ends truckle and ground contact, the distance between bedstead middle part and the ground changes, and at this moment, compression spring 7 makes the wheel carrier have the trend of downstream, ensures that drive wheel and ground well contact.

The bedstead 100 is provided with a portal frame 9, the inner top surface of the portal frame 9 is provided with a vertical shaft 13, and the steering wheel 4 is connected with the vertical shaft 13 through a bearing 15. The steering wheel 4 is provided with a central hole, a fixed sleeve 14 is arranged on the central hole, the bearing 15 comprises an outer ring and an inner ring which are mutually matched in a rotating way, the outer ring is connected with the fixed sleeve 14, and the inner ring is connected with the periphery of the vertical shaft 13.

The walking driving mechanism further comprises a motor seat 21 and a shaft seat 17, the motor seat 21 and the shaft seat 17 are arranged at the bottom of the wheel carrier 3, the walking driving motor 2 is arranged on the motor seat 21, a rotating shaft 16 is arranged on the shaft seat 17 in a rotating mode, one end of the rotating shaft 16 is in transmission connection with the driving wheel 1, and the other end of the rotating shaft 16 is in transmission connection with the walking driving motor 2 through a first belt pulley transmission pair. The first belt pulley transmission pair comprises a first walking driving gear 20, a first synchronous belt pulley 18 and a first synchronous belt 19, the first walking driving gear 20 is arranged on a motor shaft of the walking driving motor 2, the first synchronous belt pulley 18 is arranged at the other end of the rotating shaft 16, and the first synchronous belt 19 is wound outside the first walking driving gear 20 and the first synchronous belt pulley 18.

The wheel frame 3 is plate-shaped, the motor bases 21 are arranged on the left and right bisectors of the wheel frame 3, and the two motor bases 21 are distributed in the front and back direction.

The lifting device comprises two groups of supporting rod mechanisms and a lifting driving mechanism 400, the two groups of supporting rod mechanisms are respectively arranged at the front end and the rear end of the bedstead 100, each supporting rod mechanism comprises an inclined supporting rod 23 and a transverse sliding seat 41, the upper end of the inclined supporting rod 23 is hinged with the upper bedstead 22, the lower end of the inclined supporting rod 23 is hinged with the transverse sliding seat 41, and the transverse sliding seat 41 is arranged on the lower bedstead 10 in a front-back sliding manner; the lifting driving mechanism 400 comprises a lifting driving motor 36 and a sliding seat transmission pair for pushing the transverse sliding seat 41 to move, the lifting driving motor 36 is arranged on the lower bed frame 10 and is in transmission connection with the sliding seat transmission pair, and the lifting driving motor 36 is electrically connected with the main control circuit.

The slide seat transmission pair comprises a synchronizing shaft 29 and two screw transmission pairs, the synchronizing shaft 29 is rotatably arranged on the lower bed frame 10 and points forwards and backwards, the synchronizing shaft 29 penetrates between the wheel frame 3 and the steering wheel 4, the screw transmission pair comprises a screw rod 40 and a nut 42 which are in threaded connection, the screw rod 40 is rotatably arranged on the lower bed frame 10 and points forwards and backwards, and the nut 42 is connected with the transverse slide seat 41; two ends of the synchronizing shaft 29 are respectively in transmission connection with the screw rods 40 of the two screw rod transmission pairs, and the synchronizing shaft 29 is also in transmission connection with the lifting driving motor 36.

The lifting driving motor 36 is located at one end of the synchronizing shaft 29, the lifting driving motor 36 is in transmission connection with the synchronizing shaft 29 through a driving belt pulley transmission pair, and two ends of the synchronizing shaft 29 are in transmission connection with the screw rod 40 through driven belt pulley transmission pairs respectively.

The driving pulley transmission pair comprises a driving belt 35, a first driving pulley 34 and a second driving pulley 30; the driven pulley transmission pair is provided with two pairs, namely a first driven pulley transmission pair and a second driven pulley transmission pair, wherein the first driven pulley transmission pair comprises a first driven belt 31, a first upper driven pulley 33 and a first lower driven pulley 32; the second driven pulley drive pair includes a second driven belt 44, a second upper driven pulley 45 and a second lower driven pulley 43. The first driven pulley transmission pair and the second driven pulley transmission pair are respectively positioned at two ends of the synchronizing shaft 29, the first driving pulley 34 is in transmission connection with the lifting driving motor 36, the second driving pulley 30 and the first upper driven pulley 33 are coaxially arranged and are jointly arranged at one end of the synchronizing shaft 29, and the driving belt 35 is wound outside the first driving pulley 34 and the second driving pulley 30; the first lower driven pulley 32 is arranged on a screw rod 40 of a screw rod transmission pair below the first upper driven pulley 33, and the first driven belt 31 is wound outside the first upper driven pulley 33 and the first lower driven pulley 32. A second upper driven pulley 45 is arranged at the other end of the synchronizing shaft 29, a second lower driven pulley 43 is arranged on the screw rod 40 of the other screw transmission pair below the second upper driven pulley 45, and a second driven belt 44 is wound outside the second upper driven pulley 45 and the second lower driven pulley 43.

The lower bed frame 10 is provided with a front limit detection frame 37 and a rear limit detection frame 39 corresponding to the front and rear ends of the screw rod 40. The front limit detection frame 37 and the rear limit detection frame 39 are provided with a rising detection switch and a falling detection switch, respectively, which are not shown in the figure. When the nut 42 is moved to the rising and falling detection switches, signals of the rising and falling detection switches are changed to judge whether the upper frame 22 is lifted and lowered in place.

Each group of the stay bar mechanisms comprises two inclined stay bars 23, and the two inclined stay bars 23 are distributed in parallel from left to right.

The left end and the right end of the lower bed frame 10 corresponding to the transverse sliding base 41 are provided with transverse guide rods 47, the transverse guide rods 47 point forwards and backwards, sliding blocks 46 are arranged on the transverse guide rods 47, and the transverse sliding base 41 is connected with the sliding blocks 46.

The lateral guide bar 47 is provided at the bottom of the lower frame 10, and the lateral slider 41 is provided at the bottom of the slider 46.

A vertical guiding telescopic rod is further arranged between the upper bedstead 22 and the lower bedstead 10 and comprises a fixed rod 49 and a movable sleeve 48, the fixed rod 49 and the movable sleeve 48 are both vertically arranged, the lower end of the fixed rod 49 is connected with the lower bedstead 10, the upper end of the fixed rod 49 is sleeved with the movable sleeve 48 and is in mutually vertical sliding fit, and the upper end of the fixed rod 49 is connected with the upper bedstead 22.

The upper bed frame 22 and the lower bed frame 10 are made of steel materials, the total weight of the whole push bed is more than 250KG, the push bed can be matched with a transfer bed, and the patient on the transfer bed extends out to one side of the push bed together, so that the push bed cannot be easily turned over.

The working principle is as follows: with the power plant 200 in the state of fig. 1: when the two driving wheels 1 are synchronous in the same direction, the bedstead can walk linearly; when the two driving wheels 1 run in the same direction and at different speeds, the bedstead can be turned towards the outer side of the driving wheels 1 which walk slowly. When one driving wheel 1 is locked and the other driving wheel 1 rotates, the bedstead 100 turns around the locked driving wheel 1. When the two driving wheels 1 travel in a normal rotation and reverse rotation manner, the frame 100 rotates about the center between the two driving wheels 1.

With the power plant 200 in the state of fig. 10: the main control circuit only allows the two sets of walking driving mechanisms to jog, and the two driving wheels 1 move synchronously to realize the transverse movement of the bedstead 100, and the bed frame is particularly suitable for being parked along the side of the bedstead.

When the steering drive mechanism 300 controls the power unit 200 to steer, the two sets of travel drive mechanisms of the power unit 200 are stopped, and the power unit 200 is steered with respect to the frame 100 (the frame 100 is not moved with respect to the floor).

When the lifting driving mechanism 400 controls the front and rear transverse sliding seats 41 to move back to back, the upper bed frame 22 rises; when the lifting driving mechanism 400 controls the front and rear transverse sliding seats 41 to move relatively, the upper bed 22 descends, as shown in fig. 18, which is a schematic structural diagram of the upper bed 22 after descending.