阅读说明：本技术 一种自平衡担架床及车辆 (Self-balancing stretcher and vehicle ) 是由 杨慧新 胡景晨 于 2021-09-29 设计创作，主要内容包括：本发明涉及医疗器械技术领域,公开了一种自平衡担架床及车辆。该自平衡担架床包括：底座,用于安装在车辆上；传感器,设置在所述底座上,用于检测所述底座的运动状态信息；伸缩机构,设置在所述底座上,并与所述底座转动连接；担架床体,设置在所述伸缩机构的上方,并与所述伸缩机构的伸缩端转动连接；控制器,分别与所述传感器和所述伸缩机构连接,所述控制器根据所述运动状态信息控制所述伸缩机构调整所述担架床体与所述底座的角度信息,使所述担架床体保持平衡。本发明的自平衡担架床及车辆,通过主动控制伸缩机构能对低频高幅的振动起到有效减振,保持担架床体处于平衡状态,避免伤员在运送过程中受到二次伤害。(The invention relates to the technical field of medical instruments and discloses a self-balancing stretcher and a vehicle. This self-balancing stretcher includes: a base for mounting on a vehicle; the sensor is arranged on the base and used for detecting the motion state information of the base; the telescopic mechanism is arranged on the base and is rotationally connected with the base; the stretcher bed body is arranged above the telescopic mechanism and is rotationally connected with the telescopic end of the telescopic mechanism; the controller is respectively connected with the sensor and the telescopic mechanism, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher body and the base according to the motion state information so that the stretcher body is kept balanced. According to the self-balancing stretcher and the vehicle, the active control telescoping mechanism can effectively reduce vibration of low-frequency and high-amplitude vibration, so that the stretcher body is kept in a balanced state, and the wounded is prevented from being secondarily injured in the conveying process.)

1. A self-balancing cot, comprising:

a base for mounting on a vehicle;

the sensor is arranged on the base and used for detecting the motion state information of the base;

the telescopic mechanism is arranged on the base and is rotationally connected with the base;

the stretcher bed body is arranged above the telescopic mechanism and is rotationally connected with the telescopic end of the telescopic mechanism;

the controller is respectively connected with the sensor and the telescopic mechanism, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher body and the base according to the motion state information so that the stretcher body is kept balanced.

2. The self-balancing cot of claim 1, wherein the telescoping mechanism comprises:

the first telescopic member is arranged on the base through a hook hinge joint, and the telescopic end of the first telescopic member is connected with the stretcher bed body through a spherical hinge;

the second telescopic member is arranged at an interval with the first telescopic member, the second telescopic member is installed on the base through a revolute pair joint, and the telescopic end of the second telescopic member is connected with the stretcher body through a spherical hinge.

3. The self-balancing cot of claim 2, wherein:

the first telescopic component comprises two first servo electric cylinders, the two first servo electric cylinders are arranged at intervals along the length direction of the base, and the two first servo electric cylinders are arranged at an angle;

the second telescopic component comprises two second servo electric cylinders, the two second servo electric cylinders are arranged along the length direction of the base at intervals, and the two second servo electric cylinders are arranged at an angle.

4. The self-balancing cot of claim 3, wherein:

the straight line where the two first servo electric cylinders are located is parallel to the straight line where the two second servo electric cylinders are located, and the two first servo electric cylinders and the two second servo electric cylinders are arranged in a staggered mode.

5. The self-balancing cot of claim 3 or 4, wherein:

the hook joint comprises a hook joint mounting seat and a hook joint rotating shaft, and the hook joint rotating shaft is rotatably connected with the hook joint mounting seat;

the hook hinge mounting seat is provided with a plurality of mounting holes for fixedly connecting with the base through bolts;

the servo electric cylinder is connected with the hook hinge rotating shaft in a rotating mode through the shaft hole.

6. The self-balancing cot of claim 3 or 4, wherein:

the revolute pair joint comprises a revolute pair mounting seat, a revolute pair rotating shaft and a revolute pair output shaft, the revolute pair mounting seat is connected with the base, the revolute pair rotating shaft is rotatably arranged on the revolute pair mounting seat, the revolute pair rotating shaft is connected with the revolute pair output shaft, and the revolute pair output shaft is connected with the servo electric cylinder.

7. The self-balancing cot of claim 1, wherein:

the stretcher bed body includes first bed, support and second bed, first bed with telescopic machanism's flexible end rotates to be connected, the support is fixed on the first bed, the second bed sets up on the support, and with first bed interval sets up.

8. The self-balancing cot of claim 7, wherein:

the support is provided with two parallel slide rails, two ends of the second bed layer are respectively provided with a slide block, and the slide blocks are in adaptive connection with the slide rails, so that the second bed layer can reciprocate along the length direction of the slide rails.

9. The self-balancing cot of claim 7 or 8, wherein:

when the telescopic mechanism is in an initial state, the base, the first bed layer and the second bed layer are parallel to each other.

10. A vehicle comprising a self-balancing cot as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a self-balancing stretcher and a vehicle.

Background

In the prior ambulance or military rescue vehicle, the used stretcher has no vibration reduction effect or only slight vibration reduction effect, has buffer performance and also belongs to passive vibration reduction, the passive vibration reduction stretcher has poor vibration reduction or buffer performance, can play a certain vibration reduction effect on the vibration with higher frequency, but has almost no vibration reduction effect on the vibration with lower vibration frequency and larger fluctuation amplitude, and can seriously influence the treatment of patients or wounded persons. For example, in the situations such as battlefield, the ground is uneven, and the life safety of the wounded even can be affected if the vibration reduction of the stretcher in the rescue vehicle is not performed.

Therefore, it is urgently needed to design a vibration-damping stretcher capable of realizing self-balance to solve the above problems.

Disclosure of Invention

In order to solve the technical problems, the invention provides a self-balancing stretcher and a vehicle, which can effectively reduce the vibration of low frequency and high amplitude by actively controlling a telescopic mechanism, keep the stretcher body in a balanced state and avoid the wounded from being secondarily injured in the conveying process.

The technical scheme provided by the invention is as follows:

a self-balancing cot, comprising:

a base for mounting on a vehicle;

the sensor is arranged on the base and used for detecting the motion state information of the base;

the telescopic mechanism is arranged on the base and is rotationally connected with the base;

the stretcher bed body is arranged above the telescopic mechanism and is rotationally connected with the telescopic end of the telescopic mechanism;

the controller is respectively connected with the sensor and the telescopic mechanism, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher body and the base according to the motion state information so that the stretcher body is kept balanced.

According to the stretcher bed, the sensor detects the motion state information of the base in real time, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher bed body and the base according to the motion state information, so that the stretcher bed body is kept balanced, and the safety of wounded persons can be guaranteed under the condition that the ground is uneven; avoids the wounded from being damaged secondarily in the conveying process, and enlarges the application range of the wounded in the environments of battlefields, rescue, detection, exploration and the like.

Further preferably, the telescopic mechanism includes:

the first telescopic member is arranged on the base through a hook hinge joint, and the telescopic end of the first telescopic member is connected with the stretcher bed body through a spherical hinge;

the second telescopic member is arranged at an interval with the first telescopic member, the second telescopic member is installed on the base through a revolute pair joint, and the telescopic end of the second telescopic member is connected with the stretcher body through a spherical hinge.

Further preferably, the first telescopic member comprises two first servo electric cylinders, the two first servo electric cylinders are arranged at intervals along the length direction of the base, and the two first servo electric cylinders are arranged at an angle;

the second telescopic component comprises two second servo electric cylinders, the two second servo electric cylinders are arranged along the length direction of the base at intervals, and the two second servo electric cylinders are arranged at an angle.

Further preferably, a straight line where the two first servo electric cylinders are located is parallel to a straight line where the two second servo electric cylinders are located, and the two first servo electric cylinders and the two second servo electric cylinders are arranged in a staggered manner.

Further preferably, the hook joint comprises a hook joint mounting seat and a hook joint rotating shaft, and the hook joint rotating shaft is rotatably connected with the hook joint mounting seat;

the hook hinge mounting seat is provided with a plurality of mounting holes for fixedly connecting with the base through bolts;

the servo electric cylinder is connected with the hook hinge rotating shaft in a rotating mode through the shaft hole.

Further preferably, the revolute pair joint comprises a revolute pair mounting seat, a revolute pair rotating shaft and a revolute pair output shaft, the revolute pair mounting seat is connected with the base, the revolute pair rotating shaft is rotatably arranged on the revolute pair mounting seat, the revolute pair rotating shaft is connected with the revolute pair output shaft, and the revolute pair output shaft is connected with the servo electric cylinder.

Further preferably, the stretcher bed body includes first bed, support and second bed, first bed with telescopic machanism's flexible end rotates to be connected, the support is fixed on the first bed, the second bed sets up on the support, and with first bed interval sets up.

Among this technical scheme, set up to bilayer structure through the stretcher bed body for can sit quadbit light wounded or put a heavy wounded stretcher on the first bed, put a heavy wounded stretcher on the second bed, the double-deck stretcher of this scheme can realize rescuing two heavy wounded or four light wounded and add a heavy wounded promptly, improves rescue efficiency.

Further preferably, the support is provided with two parallel slide rails, two ends of the second bed layer are respectively provided with a slide block, and the slide blocks are connected with the slide rails in an adaptive manner, so that the second bed layer can reciprocate along the length direction of the slide rails.

Further preferably, when the telescopic mechanism is in an initial state, the base, the first bed layer and the second bed layer are parallel to each other.

The other technical scheme provided by the invention is as follows:

a vehicle comprising a self-balancing cot as claimed in any one of the preceding claims.

In the technical scheme, a self-balancing stretcher is arranged on a vehicle, and the self-balancing stretcher and a vehicle suspension system jointly form a vibration damping system based on active and passive vibration damping; the vehicle suspension system is used as a passive vibration damping system, is equivalent to a vibration damping spring and can effectively damp high-frequency low-amplitude vibration, and the active vibration damping system in series connection is an actively controlled telescopic mechanism and can effectively damp low-frequency high-amplitude vibration through active control; the active shock absorption and the passive shock absorption are matched, so that the bed body of the stretcher is kept balanced, and the safety of the wounded can be guaranteed under the condition that the ground is uneven; avoids the wounded from being damaged secondarily in the conveying process, and enlarges the application range of the wounded in the environments of battlefields, rescue, detection, exploration and the like.

Compared with the prior art, the self-balancing stretcher and the vehicle have the beneficial effects that:

according to the stretcher bed, the sensor detects the motion state information of the base in real time, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher bed body and the base according to the motion state information, so that the stretcher bed body is kept balanced, and the safety of wounded persons can be guaranteed under the condition that the ground is uneven; the self-balancing stretcher bed is arranged on the vehicle, and the self-balancing stretcher bed and a vehicle suspension system jointly form a vibration damping system based on active and passive vibration damping; the vehicle suspension system is used as a passive vibration damping system, is equivalent to a vibration damping spring and can effectively damp high-frequency low-amplitude vibration, and the active vibration damping system in series connection is an actively controlled telescopic mechanism and can effectively damp low-frequency high-amplitude vibration through active control; the active shock absorption and the passive shock absorption are matched, so that the bed body of the stretcher is kept balanced, and the safety of the wounded can be guaranteed under the condition that the ground is uneven; avoids the wounded from being damaged secondarily in the conveying process, and enlarges the application range of the wounded in the environments of battlefields, rescue, detection, exploration and the like.

Drawings

The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.

Fig. 1 is a schematic view of a shock-absorbing structure of a prior art stretcher;

fig. 2 is a schematic structural view of a self-balancing stretcher according to an embodiment of the invention;

fig. 3 is a side view of a self-balancing cot according to an embodiment of the present invention;

fig. 4 is a schematic view of a self-balancing cot according to an embodiment of the present invention in a left-leaning state;

fig. 5 is a schematic diagram of a right-leaning state of a self-balancing cot according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a forward tilting state of a self-balancing stretcher according to an embodiment of the invention;

fig. 7 is a schematic diagram of a self-balancing cot according to an embodiment of the present invention in a reclined state;

FIG. 8 is a schematic structural diagram of a servo cylinder according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a hook joint according to an embodiment of the present invention;

FIG. 10 is a schematic view of a revolute joint according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a self-balancing cot according to another embodiment of the present invention;

fig. 12 is a schematic view of an application scenario of a self-balancing cot according to another embodiment of the present invention;

fig. 13 is a schematic view of an application scenario of a self-balancing cot according to another embodiment of the present invention;

FIG. 14 is a schematic structural view of a vehicle according to another embodiment of the present invention;

FIG. 15 is a schematic view of a shock absorbing system for a vehicle according to another embodiment of the present invention.

The reference numbers illustrate:

100. the automatic control device comprises a base, 101 elastic parts, 200 servo electric cylinders, 201 servo electric cylinder bodies, 202 ball heads, 203 servo electric cylinder bases, 300 stretcher bed bodies, 301 first bed layers, 302 second bed layers, 303 supports, 304 sliding rails, 400 Hooke's joint, 401 Hooke's joint mounting seats, 402 Hooke's joint rotating shafts, 403 bolts, 404 shaft holes, 500 revolute pair joints, 501 revolute pair mounting seats, 502 revolute pair rotating shafts, 503 revolute pair output shafts, 600 spherical joints, 700 sensors, 800 vehicles, 801 wheels, 802 vehicle box bottom plates, 803 vehicle damping systems and 900 wounded persons.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In the embodiments shown in the drawings, the directions such as up, down, left, right, front, and rear are used to explain the structure and movement of various components of the present invention not absolutely but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

In the prior art, a stretcher used in an ambulance or a military rescue vehicle has no damping effect or only slight damping effect, has buffering performance and also belongs to passive damping, as shown in fig. 1, an elastic part 101 is arranged on a base 100, and a stretcher bed body 300 is arranged on the elastic part 101, so that the stretcher has poor damping or buffering performance, can play a certain damping effect on vibration with higher frequency, but hardly has damping effect on vibration with lower vibration frequency and larger fluctuation amplitude, and can seriously affect the treatment of a patient or a wounded person. For example, in the situations such as battlefield, the ground is uneven, and the life safety of the wounded even can be affected if the vibration reduction of the stretcher in the rescue vehicle is not performed.

In order to solve the above technical problem, as shown in fig. 2 to 7, the present embodiment provides a self-balancing stretcher, including: the bed comprises a base 100, a sensor 700, a telescopic mechanism, a stretcher bed body 300 and a controller. Wherein the base 100 is for mounting on a vehicle. The sensor 700 is disposed on the base 100 to detect motion state information of the base 100. The telescoping mechanism is disposed on the base 100 and is rotatably connected to the base 100. The stretcher bed body 300 is arranged above the telescopic mechanism and is rotatably connected with the telescopic end of the telescopic mechanism. The controller is respectively connected with the sensor 700 and the telescopic mechanism, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher bed body 300 and the base 100 according to the motion state information, so that the stretcher bed body 300 keeps balance.

In this embodiment, the sensor 700 detects the motion state information of the base 100 in real time, and the controller controls the telescopic mechanism to adjust the angle information of the stretcher bed body 300 and the base 100 according to the motion state information, so that the stretcher bed body 300 is kept balanced, and the safety of the wounded can be guaranteed under the condition that the ground is uneven; avoids the wounded from being damaged secondarily in the conveying process, and enlarges the application range of the wounded in the environments of battlefields, rescue, detection, exploration and the like.

Specifically, the telescopic mechanism includes: the stretcher comprises a first telescopic member and a second telescopic member, wherein the first telescopic member is arranged on the base 100 through a Hooke hinge joint 400, and the telescopic end of the first telescopic member is connected with the stretcher body 300 through a spherical hinge 600. The second telescopic member and the first telescopic member are arranged at intervals, the second telescopic member is installed on the base 100 through a revolute pair joint 500, and the telescopic end of the second telescopic member is connected with the stretcher bed body 300 through a spherical hinge 600.

Preferably, as shown in fig. 2, the first telescopic member includes two servo cylinders 200, the two servo cylinders 200 of the first telescopic member are arranged at intervals along the length direction of the base 100, and the two servo cylinders 200 of the first telescopic member are arranged at an angle. For example: the included angle formed by the output ends of the two servo electric cylinders 200 is 45-120 degrees. The second telescopic member also comprises two servo electric cylinders 200, the two servo electric cylinders 200 of the second telescopic member are arranged at intervals along the length direction of the base 100, and the two servo electric cylinders 200 of the second telescopic member are arranged at an angle. For example: the included angle formed by the base ends of the two servo electric cylinders 200 is 45-120 degrees. The straight line of the two servo electric cylinders 200 of the first telescopic member is parallel to the straight line of the two servo electric cylinders 200 of the second telescopic member, and the two servo electric cylinders 200 of the first telescopic member and the two servo electric cylinders 200 of the second telescopic member are arranged in a staggered mode.

It should be noted that the telescopic mechanism may be constituted by a plurality of telescopic devices such as an air cylinder, an electric push rod, and an oil cylinder, and any device or structure may be used as long as the telescopic mechanism can be controlled by the controller to be telescopic. In the embodiment, a servo electric cylinder is selected and used, the servo electric cylinder is a modularized product which integrates a servo motor and a lead screw, the rotary motion of the servo motor is converted into linear motion, and meanwhile, the optimal advantages of the servo motor, namely accurate rotating speed control, accurate rotating speed control and accurate torque control, are converted into accurate speed control, accurate position control and accurate thrust control; the method has the advantages of more energy conservation and cleanness, and can be easily connected with control systems such as a PLC (programmable logic controller) and the like to realize high-precision motion control.

As shown in fig. 8, the servo electric cylinder 200 includes a servo electric cylinder body 201, a ball head 202 and a servo electric cylinder base 203, an output end of the servo electric cylinder body 201 is fixedly connected with the ball head 202, the ball head 202 is connected with the ball joint 600 in a matching manner, and the ball joint 600 is fixed at the bottom of the cot body 300, so as to realize the rotational connection between the output end of the servo electric cylinder 200 and the cot body 300.

As shown in fig. 9, the hooke joint 400 includes a hooke joint mounting seat 401 and a hooke joint rotating shaft 402, the hooke joint mounting seat 401 is provided with a mounting cavity in the horizontal direction, and the hooke joint rotating shaft 402 is adapted to be mounted in the mounting cavity of the hooke joint mounting seat 401, so that the hooke joint rotating shaft 402 is rotatably connected with the hooke joint mounting seat 401. A plurality of mounting holes are formed in two sides of the lower portion of the hook hinge mounting seat 401, and a plurality of bolts 403 respectively penetrate through the corresponding mounting holes to be in threaded connection with the base 100, so that the hook hinge mounting seat 401 and the base 100 are fixedly connected. The right end of the hook hinge rotating shaft 402 extends out of the outer side of the hook hinge mounting seat 401, a shaft hole 404 is formed in the right end of the hook hinge rotating shaft 402, and the servo electric cylinder base 203 is rotatably connected with the hook hinge rotating shaft 402 through the shaft hole 404. I.e., hooke joint 400 has two rotational degrees of freedom.

As shown in fig. 10, the revolute pair joint 500 includes a revolute pair mounting base 501, a revolute pair rotation shaft 502, and a revolute pair output shaft 503, the revolute pair mounting base 501 is connected to the base 100, the revolute pair rotation shaft 502 is rotatably provided on the revolute pair mounting base 501, the revolute pair rotation shaft 502 is connected to the revolute pair output shaft 503, and the revolute pair output shaft 503 is connected to the servo electric cylinder base 203. I.e., the revolute joint 500 has one degree of rotational freedom.

As shown in fig. 4 to 7, when encountering an uneven road surface, the sensor 700 mounted on the base 100 measures the attitude and the acceleration change amount of the base 100 in a relatively balanced state; in order to keep the stretcher bed 300 balanced, that is, the posture of the stretcher bed 300 does not change with the change of the posture of the base 100; the controller calculates parameters such as speed, displacement, acceleration and the like required by the servo electric cylinder 200 to keep the balance of the stretcher body 300, and the servo electric cylinder 200 acts according to the instruction of the controller, so that the balance of the stretcher body 300 is realized; the servo electric cylinder 200 acts according to the instruction of the controller, which occurs according to the uneven condition of the road surface, and the bed body 300 of the stretcher can realize pitching motion, rolling motion and up-and-down motion relative to the base 100, thereby realizing the balance of the bed body 300 of the stretcher.

Specifically, the sensor 700 may be an angle sensor, an acceleration sensor, a speed sensor, a distance sensor, etc., and the controller may be a PLC controller. When encountering uneven road surface, the distance sensor detects the distance between each position of the base 100 and the ground, firstly, a coarse adjustment mode is adopted, and the PLC controller controls the corresponding servo electric cylinder 200 to extend or contract according to the uneven road surface, so that the stretcher bed body 300 keeps preliminary balance; then, a fine adjustment mode is adopted, the angular signals in the X-axis direction and the Y-axis direction fed back by the angular sensor are utilized, the vibration frequency is detected by the acceleration sensor and the speed sensor, and the PLC calculates the parameters such as speed, displacement, acceleration and the like required by the servo electric cylinder 200 to keep the balance of the stretcher body 300. The PLC controller controls the work of each servo electric cylinder 200 in sequence, and finally the leveling of the stretcher body is realized, the leveling precision is high, the speed is high, and the stretcher body 300 can be ensured to be in a horizontal posture all the time.

In another embodiment, as shown in fig. 11 to 13, on the basis of the above embodiment, the cot body 300 of this embodiment includes a first bed layer 301, a support 303, and a second bed layer 302, the first bed layer 301 is rotatably connected to a telescopic end of a telescopic mechanism, the support 303 is fixed on the first bed layer 301, and the second bed layer 302 is disposed on the support 303 and spaced from the first bed layer 301. Through setting up the stretcher bed body 300 into bilayer structure for can sit the quadbit light wounded person or put a heavy wounded person stretcher on the first bed 301, put a heavy wounded person stretcher on the second bed 302, the double-deck stretcher of this scheme can realize two heavy wounded persons of rescue or the quadbit light wounded person of rescue adds a heavy wounded person promptly, improves rescue efficiency.

Preferably, the support 303 is provided with two parallel slide rails 304, two ends of the second bed layer 302 are respectively provided with a slide block, and the slide blocks are connected with the slide rails 304 in an adaptive manner, so that the second bed layer 302 can reciprocate along the length direction of the slide rails 304. When the telescopic mechanism is in an initial state, the base 100, the first bed layer 301 and the second bed layer 302 are parallel to each other. When the wounded 900 is transported, the bed 300 is lowered from the initial equilibrium position to the lowest position, the second bed 302 is pulled out, the wounded 900 is placed on the second bed 302, the second bed 302 is reset, and then the bed 300 is moved to the initial equilibrium position.

In another embodiment, as shown in fig. 14 to 15, on the basis of the above embodiments, the present embodiment provides a vehicle 800, which includes wheels 801, a vehicle box bottom plate 802, a vehicle shock absorption system 803, and a self-balancing stretcher. Wheels 801 are disposed at the bottom of the vehicle box floor 802, and a self-balancing stretcher is disposed above the vehicle box floor 802. The vehicle 800 is an ambulance vehicle, and a self-balancing stretcher bed is arranged on the vehicle 800, and the self-balancing stretcher bed and the vehicle damping system 803 jointly form a damping system based on active and passive damping; the vehicle damping system 803 is a passive damping system, equivalent to a damping spring, and can effectively damp high-frequency low-amplitude vibration, while the series active damping system is an actively controlled telescopic mechanism, and can effectively damp low-frequency high-amplitude vibration through active control; the active shock absorption and the passive shock absorption are matched, so that the bed body of the stretcher is kept balanced, and the safety of the wounded can be guaranteed under the condition that the ground is uneven; avoids the wounded from being damaged secondarily in the conveying process, and enlarges the application range of the wounded in the environments of battlefields, rescue, detection, exploration and the like.

In this embodiment, when the vehicle 800 runs on an uneven road surface, the wheels 801 will generate corresponding displacement along with the uneven road surface; high-frequency vibration caused by uneven ground is buffered through the wheels 801 and the vehicle damping system 803, and the low-frequency vibration is acted on the base 100 of the stretcher bed body 300 through the vehicle body; after the base 100 is vibrated, the sensor 700 mounted on the base 100 measures the attitude and the acceleration variation of the base 100 in a relatively balanced state; in order to keep the stretcher bed 300 balanced, that is, the posture of the stretcher bed 300 does not change with the change of the posture of the base 100; the PLC calculates parameters such as speed, displacement, acceleration and the like required by the servo electric cylinder 200 for keeping the balance of the stretcher body 300 through a self-balancing algorithm, and the servo electric cylinder 200 acts according to the instruction of the PLC, so that the balance of the stretcher body 300 is realized; the servo electric cylinder 200 acts according to the instruction of the PLC controller, and occurs according to the uneven condition of the road surface, and the bed body 300 of the stretcher can realize pitching motion, rolling motion, and up-and-down motion with respect to the base 100, thereby realizing the balance of the bed body 300 of the stretcher.

In another embodiment, the embodiment provides a rescue AGV trolley, wherein a self-balancing stretcher is mounted on the AGV trolley, and a vehicle damping system is arranged on the AGV trolley, and the self-balancing stretcher and the vehicle damping system together form a damping system based on active and passive damping. The AGV trolley is matched with the self-balancing stretcher bed, so that wounded persons can be stably conveyed in a complex rescue environment, timely and safe conveying of the wounded persons to a safe position is guaranteed, and the wounded persons are prevented from being secondarily injured in the rescue work and conveying process; moreover, the rescue AGV trolley is small in size, can conveniently enter a standard elevator, can also be suitable for automatic transportation of patients in hospitals, and enlarges the application range of the self-balancing stretcher.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.