CN106473879B - A kind of control system and its control method of board plug type patient transferring cart - Google Patents

Abstract

The invention discloses a control system and a control method of a plug-in type patient transfer vehicle. The control system includes a man-machine interface, a single-chip microcomputer system, a control module and a switching power supply. The control module includes a translation control module, a flip control module and a lifting control module. The module includes a relay forward and reverse control unit and an electric push rod. The single-chip microcomputer system outputs control instructions to the motor drive unit of the translation control module, the flip control module or the relay forward and reverse control unit of the lift control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate translation mechanism or the plate tilt mechanism Or the action of the lifting device to realize the translational movement or tilting movement of the board or the lifting movement of the support frame or the tilting movement of the plate frame. The control system of the invention is easy to operate, saves time and effort, and can prevent patients from being injured again.

Description

Control system and control method of a plug-in patient transfer vehicle

technical field

The present invention relates to a control system and a control method of a transfer device for patients or disabled persons, more specifically, to a control system and a control method of a plug-in type patient transfer vehicle.

Background technique

At present, there are a large number of limb paralyzed patients and inpatients who cannot walk around in the hospital. These critically ill patients have to undergo various examinations every day, and transfer vehicles between wards, examination rooms or operating rooms must be used to transfer patients from the hospital bed. The transfer car is sent to the examination bed or operating table. This kind of transfer process requires someone to help lift it. Nurses are mostly women with poor arm strength and physical strength. In case of obese patients, lifting is more difficult and makes the patient suffer. Therefore, in this case, almost all family members are dispatched, and parents and children will suffer great pain, which not only wastes a lot of manpower, but may also cause secondary harm to patients.

Although the control system and control method of the existing transfer equipment can reduce the use of manpower during transfer, it is very inconvenient in actual operation. When the bed surface shovel is inserted under the patient, many people are required to lift the patient away. Otherwise, the patient will be injured by shoveling, causing secondary injury to the patient, and the process of lifting the patient off the bed surface by many people may also cause secondary injury to the patient and waste a lot of manpower.

Contents of the invention

In view of the above-mentioned problems in the control system and control method of the transfer device in the prior art, the present invention provides a control system and control method of a plate-type patient transfer vehicle that is convenient for patient transfer and can prevent the patient from secondary injury.

Technical scheme of the present invention is as follows:

The invention provides a control system of a plug-in type patient transfer vehicle:

The plug-in type patient transfer vehicle includes a bottom frame, a lifting device arranged on the bottom frame, a support frame installed on the lifting device, a board frame and more than two plug-in boards, and a plug-in board capable of sideways moving the plug-in board translation mechanism, a tilting mechanism capable of tilting the plugboard, and a tilting mechanism of the frame capable of tilting the frame. Below, the plate frame tilting mechanism is arranged between the support frame and the plate frame, and the plate frame is rotatably connected with the support frame;

The control system includes a man-machine interface, a single-chip microcomputer system, a control module, and a switching power supply that provides power for the man-machine interface, the single-chip microcomputer system, and the control module. The control module includes a translation control module, an overturn control module and a lifting control module. The translation The control module includes a motor drive unit and an electric push rod. The flip control module includes a motor drive unit and an electric push rod. The lifting control module includes a relay forward and reverse control unit and an electric push rod; The information outputs control instructions to the motor drive unit of the translation control module, controls the electric push rod to drive the plate translation mechanism to move, and realizes the plate translation movement; the single-chip system outputs control to the motor drive unit of the flip control module according to the information input by the man-machine interface Instructions, control the electric push rod to drive the tilting mechanism of the plug-in board to realize the tilting movement of the plug-in board; the single-chip microcomputer system outputs control commands to the relay forward and reverse control unit of the lifting control module according to the information input by the man-machine interface, and controls the electric push rod to drive the lifting The action of the device realizes the lifting movement of the support frame, or controls the electric push rod to drive the action of the plate frame tilting mechanism to realize the tilting movement of the plate frame.

Further, the translation control module also includes a limit switch for limiting the translational movement stroke of the board; the overturn control module also includes a limit switch for limiting the tilting motion stroke of the board; the lifting control The module also includes a limit switch for limiting the lifting motion stroke of the support frame.

Further, the plate translation mechanism is set on the plate frame, including a synchronous belt transmission device, a mounting plate, a splint, a guide slide mechanism and a roller rod arranged on the plate frame, and the described synchronous belt transmission device includes a The driving motor inside the frame and the timing belt arranged horizontally inside the plate frame, the installation plate is fixedly connected with the timing belt through the splint, and connected with the guide slide mechanism, and the insertion plate is connected with the installation plate in rotation.

Further, the plate tilting mechanism includes a second electric push rod, an L-shaped crank and a lifting rod set, the corner of the crank is rotatably mounted on a fixed shaft provided on the plate frame, and the first The base of the second electric push rod is hinged on the beam provided on the plate frame, and the push rod of the second electric push rod is hinged with one end of the crank, and the other end of the crank is connected with the lifting rod group, and the lifting rod group is connected with the lifting rod group. Install the roller rod seat connection for the roller rod.

Further, the pallet tilting mechanism includes a first electric push rod, a first connecting rod, a second connecting rod, a pallet tilting slider and a pallet tilting guide rail, and the base of the first electric push rod is hinged on the supporting frame , and the push rod of the first electric push rod is hinged to one end of the first connecting rod, the other end of the first connecting rod is fixedly connected to the rotating shaft on the support frame, and the tilting slider of the plate frame Slidingly matched with the inclined guide rail of the plate frame arranged on the plate frame, one end of the second connecting rod is hinged with the inclined slide block of the plate frame, and the other end is fixedly connected with the rotating shaft.

Further, the lifting device adopts an X-shaped scissor mechanism, the X-shaped scissor mechanism includes an X-shaped rod group and a first electric push rod, the top of the X-shaped rod group is connected to the support frame, and the bottom is connected to the chassis, and One side of the X-shaped rod group is slidably connected with the underframe and the support frame, and the other side is hinged with the underframe and the support frame. The base of the first electric push rod is hinged on the underframe. The push rod of the electric push rod is rotatably connected with the cross bar horizontally arranged on the X-shaped bar group.

The present invention also provides a control method for the control system of the plug-in type patient transfer vehicle, which includes the following steps:

Step 1: Input the lifting command to the man-machine interface, and the single-chip microcomputer system outputs control commands to the forward and reverse control unit of the relay of the lifting control module according to the information input by the man-machine interface, and controls the electric push rod to drive the lifting device to move, so that the support frame moves up and down. Thereby adjust the height of the plate on the support frame to be flush with the target hospital bed;

Step 2: Hold up the patient's head and input translation instructions to the man-machine interface. The single-chip microcomputer system outputs control instructions to the motor drive unit of the translation control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate translation mechanism to move. The plate moves in translation, and the first plate is inserted under the patient's head;

Step 3: Input the overturn command to the man-machine interface, and the single-chip microcomputer system outputs control commands to the motor drive unit of the overturn control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate tilting mechanism to make the first plate tilt Movement, the outside of the first board is tilted upwards, creating a gap between the patient’s body and the target bed, which facilitates the insertion of the second board, and similarly drives the other boards in sequence until all boards are inserted under the patient’s body;

Step 4: Input the overturn command to the man-machine interface, and the single-chip microcomputer system outputs control commands to the motor drive unit of the overturn control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate tilting mechanism to move all the plates at the same time. , to adjust the patient's lying angle;

Step 5: Input the tilt command to the man-machine interface, and the single-chip microcomputer system outputs control commands to the forward and reverse control unit of the relay of the lifting control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate frame tilting mechanism to make the plate frame tilt Movement to further adjust the patient's lying angle;

Step 6: Input translation commands to the man-machine interface, and the single-chip microcomputer system outputs control commands to the motor drive unit of the translation control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate translation mechanism to move all the plates at the same time , retract the insert board to the transfer vehicle at the same time;

Step 7: Input the tilt command to the man-machine interface, and the single-chip microcomputer system outputs the control command to the forward and reverse control unit of the relay of the lifting control module according to the information input by the man-machine interface, and controls the electric push rod to drive the plate frame tilting mechanism to make the plate frame tilt movement to reset the plate rack to level.

The beneficial effects of the present invention are as follows:

The control system of the plug-in type patient transfer vehicle of the present invention is easy to operate. The control system inserts the plug-in boards into the lower part of the patient's body in sequence according to the information input by the operator to the man-machine interface. After the previous plug-in board is inserted under the patient's body, it can It is tilted at a certain angle to form a gap between the patient's body and the bed surface, so as to facilitate the insertion of the next inserting board, which saves time and effort, is easy to use, and can prevent the patient from being injured again.

Description of drawings

Fig. 1 is the system block diagram of the control system of the plug-in type patient transfer vehicle of the present invention;

Fig. 2 is a structural schematic diagram of a plug-in type patient transfer vehicle of the present invention;

Fig. 3 is a structural schematic diagram of another angle of a plug-in type patient transfer vehicle of the present invention;

Fig. 4 is a structural schematic diagram of a plate translation mechanism of a plate-type patient transfer vehicle of the present invention;

Fig. 5 is a structural schematic diagram of a support frame of a plug-in type patient transfer vehicle of the present invention;

Fig. 6 is a structural schematic diagram of a tilting mechanism of a plug-in type patient transfer vehicle of the present invention;

7 is a schematic diagram of the installation of the lifting rod group of the plate tilting mechanism of the present invention;

Fig. 8 is a structural schematic diagram of a plate frame tilting mechanism of a plate-type patient transfer vehicle of the present invention;

Explanation of the labels in the schematic diagram:

1. Underframe; 11. Underframe frame; 12. Underframe guide rail mounting seat; 13. Underframe guide rail; 14. First rotating shaft seat; 15. First rotating shaft; 16. Universal casters; 17. Sliding block; 18, the second rotating shaft;

2. Lifting device; 21. X-shaped rod group; 211. Mandrel; 22. Cross bar; 23. The first electric push rod; 231. The first electric push rod mounting seat; 232. The first electric push rod connecting seat;

3. Support frame; 31. Shaft mounting seat; 32. Rotating shaft; 33. Plate frame mounting seat;

4. Plate frame; 41. Plate frame frame; 42. Beam; 43. Fixed axis; 44. Handrail; 45. Foldable guardrail;

5. Plug board;

6. Plug plate translation mechanism; 61. Synchronous belt transmission device; 611. Drive motor; 612. Synchronous belt; 62. Plywood; 621. Upper splint; 622. Lower splint; 63. Mounting plate; , slide rail; 642, slide rail seat; 643, slider; 65, limit switch; 66, hinge; 67, roller rod; 68, roller rod seat;

7. Plate tilting mechanism; 71. Second electric push rod; 72. Crank; 73. Lifting rod group; 731. Connecting rod; 732. Transmission rod;

8. Plate frame tilting mechanism; 81. The first electric push rod; 82. The first connecting rod; 83. The second connecting rod; 84. The plate frame tilting slider; 85. The plate frame tilting guide rail.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The control system of a plug-in type patient transfer vehicle of the present invention is shown in Figure 1; as a preferred embodiment, the structure of the plug-in type patient transfer vehicle in the present invention is shown in Figure 2-8.

The control system of the plug-in type patient transfer vehicle of the present invention is shown in Figure 1, comprises man-machine interface, single-chip microcomputer system, control module and the switching power supply that provides power supply for man-machine interface, single-chip microcomputer system, control module, and described control module includes translation control module, an overturn control module and a lift control module, the translation control module includes a motor drive unit, an electric push rod, the overturn control module includes a motor drive unit, an electric push rod, and the lift control module includes a relay forward and reverse control unit ,electric putter. The translation control module can also include a limit switch for limiting the translational movement stroke of the board 5; the overturn control module can also include a limit switch for limiting the tilting motion stroke of the board 5; the lifting control module can also A limit switch for limiting the lifting motion stroke of the support frame 3 is included.

As a preferred embodiment, the structure of the plate-type patient transfer vehicle in the present invention is shown in Figures 2-8. The plug-in type patient transfer vehicle includes a base frame 1, a lifting device 2 arranged on the base frame 1, a support frame 3 installed on the lifting device 2, a plate frame 4 and more than two plug-in plates 5, and the transfer vehicle also includes A board translation mechanism 6 capable of laterally moving the board 5, a board tilting mechanism 7 capable of tilting the board 5, and a board rack tilting mechanism 8 capable of tilting the board frame 4, the board 5 is installed on the board through the board translation mechanism 6 On the frame 4 , the plate tilting mechanism 7 is arranged below the plate 5 , the plate frame tilting mechanism 8 is arranged between the support frame 3 and the plate frame 4 , and the plate frame 4 is rotatably connected with the support frame 3 .

In this embodiment, the lifting device 2 adopts an X-shaped scissor mechanism, and the X-shaped scissor mechanism includes an X-shaped rod group 21 capable of rotating around a spindle 211 and a first electric push rod 23 . The underframe 1 comprises a rectangular underframe frame 11 and a universal caster 16 arranged under the underframe frame 11. The lateral side of the underframe frame 11 is provided with a first rotating shaft 15, and the first rotating shaft 15 is horizontally installed on the bottom frame 1 through the first rotating shaft seat 14, the bottom frame guide rail 13 is vertically installed on both sides of the bottom frame 1 through the bottom frame guide rail mounting seat 12, and the second rotating shaft 18 is horizontally arranged on the bottom frame through the sliding block 17. on the rack rail 13. In addition, the bottom of the support frame 3 is also provided with a first rotating shaft 15 and a second rotating shaft 18 at corresponding positions on the base frame 1 (as shown in FIG. 5 ). , and the setting method is the same as the setting method on the chassis 1, and will not be repeated here. The top of the X-shaped rod group 21 is connected to the support frame 3, and the bottom is connected to the bottom frame 1, and one side of the X-shaped rod group 21 is rotationally connected with the first rotating shaft 15 of the bottom frame 1 and the support frame 3, and the other side is connected with the bottom frame 1. The second rotating shaft 18 on the frame 1 and the support frame 3 is rotationally connected, and the base of the first electric push rod 23 is hinged with the first electric push rod mount 231 provided on the underframe 1, and the first electric push rod 23 is hinged. The push rod is rotatably connected to the cross bar 22 arranged transversely on the X-shaped rod group 21 , specifically, the push rod of the first electric push rod 23 is hinged to the first electric push rod connecting seat 232 provided on the cross bar 22 .

As shown in Figure 4, the plate translation mechanism 6 of the present embodiment is located on the plate frame 4, and includes a synchronous belt transmission device 61, a mounting plate 63, a splint 62, a sliding guide mechanism 64, and a roller bar located on the plate frame 4 67. The synchronous belt transmission device 61 includes a drive motor 611 fixed on the inner side of the plate frame 4 and a synchronous belt 612 arranged horizontally inside the plate frame 4. The transmission is stable and the efficiency is high. The mounting plate 63 is fixed to the synchronous belt 612 through the splint 62 Connection, specifically, the splint 62 includes an upper splint 621 and a lower splint 622, which are fixedly installed between the upper splint 621 and the lower splint 622 to clamp the timing belt 612; It includes a slide rail 641 horizontally arranged on the plate frame 4, a slide rail seat 642 for fixing the slide rail 641, and a slide block 643 slidingly matched with the slide rail 641; one side of the insert plate 5 rotates with the mounting plate 63 through the hinge 66 Connected, the other side of plate 5 rides on the roller bar 67.

Referring to FIG. 6 and FIG. 7 , the pallet 4 includes a rectangular pallet frame 41 , a beam 42 longitudinally arranged on the pallet frame 41 , and a fixed axis 43 parallel to the beam 42 . The plate tilting mechanism 7 is arranged on the plate frame 4 and includes a second electric push rod 71, a L-shaped crank 72 and a lifting rod group 73, and the corner of the crank 72 is mounted on a fixed axis arranged on the plate frame 4 43, the base of the second electric push rod 71 is hinged on the beam 42, and the push rod of the second electric push rod 71 is hinged with one end of the crank 72, and the other end of the crank 72 is provided with a waist-shaped hole through which the crank 72 passes. The waist-shaped hole is connected with the lifting rod group 73. Specifically, as shown in FIG. 7 , the lifting rod group 73 includes a connecting rod 731 and a transmission rod 732 vertically fixed at both ends of the connecting rod 731. The connecting rod 731 is installed in the waist-shaped hole of the crank 72, and the transmission rod 732 passes through the plate. The frame body 41 is connected with the roller rod seat 68 on which the roller rod 67 is installed.

As shown in Figure 8, one side of the shelf 4 is rotationally connected to one side of the support frame 3 through the shelf mounting seat 33, and the shelf tilting mechanism 8 includes a first electric push rod 81, a first connecting rod 82, a second connecting rod Bar 83, plate frame inclined slide block 84 and plate frame inclined guide rail 85, the base of the first electric push rod 81 is hinged on the support frame 3, and the push rod of this first electric push rod 81 and an end of the first connecting rod 82 Hinged, the other end of the first connecting rod 82 is fixedly connected with the rotating shaft 32 arranged longitudinally on the support frame 3 , further, the rotating shaft 32 is rotatably connected with the rotating shaft mounting seat 31 arranged on the support frame 3 . The plate frame inclined slider 84 is slidingly matched with the plate frame inclined guide rail 85 provided on the plate frame 4 , one end of the second connecting rod 83 is hinged with the plate frame inclined slide block 84 , and the other end is fixedly connected with the rotating shaft 32 .

In addition, as shown in FIG. 2 , the lateral sides of the support frame 3 are provided with handrails 44 which are convenient for holding and moving the transfer vehicle, and the longitudinal sides are provided with foldable guardrails 45 for protecting patients.

The control method of the control system of the plug-in type patient transfer vehicle of the present invention comprises the following steps:

Step 1: Put the protruding side of the transfer vehicle close to the side of the patient's bed, manually lower the guardrail on this side, start the control system, touch the pallet lifting button on the touch screen, and the single-chip microcomputer system will send positive and negative signals to the relay of the lifting control module The transfer control unit outputs control commands to control the electric push rod to drive the lifting device 2 to move the support frame 3 up and down, thereby adjusting the height of the insert plate 5 on the support frame 3 to be level with the target hospital bed; lock the insert plate type patient transfer vehicle swivel casters around;

Step 2: Hold up the patient's head, touch the translation button of the first board on the touch screen, the single-chip microcomputer system will output control commands to the motor drive unit of the translation control module, and control the electric push rod to drive the translation mechanism 6 of the board to move. The plate 5 moves in translation, and the first plate 5 is inserted under the patient's head;

Step 3: Touch the flip button of the first plug board on the touch screen, the single-chip microcomputer system outputs control commands to the motor drive unit of the flip control module, and controls the electric push rod to drive the plug board tilt mechanism 7 to move, so that the first plug board 5 Tilting movement, the outer side of the first board 5 is tilted upwards, creating a gap between the patient’s body and the target bed, which facilitates the insertion of the second board 5; Insert other boards 5 and tilt up until all boards 5 are inserted under the patient's body;

Step 4: Touch the overturn button of all the boards on the touch screen, the single-chip microcomputer system outputs control commands to the motor drive unit of the overturn control module, and controls the electric push rod to drive the tilting mechanism 7 of all the boards to make all the boards 5 tilt at the same time , to adjust the patient's lying angle;

Step 5: Touch the tilt button of the plate frame on the touch screen, the single-chip microcomputer system outputs control commands to the forward and reverse control unit of the relay of the lifting control module, and controls the electric push rod to drive the plate frame tilting mechanism 8 to make the plate frame 4 tilt. Further adjust the patient's lying angle;

Step 6: Touch the translation buttons of all the boards on the touch screen, the single-chip microcomputer system outputs control commands to the motor drive unit of the translation control module, and controls the electric push rod to drive the board translation mechanism 6 to move, so that all the boards 5 move in translation at the same time. Recover all the plugboards 5 to the transfer vehicle at the same time;

Step 7: Touch the tilt button of the plate frame on the touch screen, the single-chip microcomputer system outputs control commands to the forward and reverse control unit of the relay of the lifting control module, and controls the electric push rod to drive the plate frame tilting mechanism 8 to make the plate frame 4 tilt. Reset plate frame 4 to level.

Enter the jacking channel of the pallet to adjust the patient's lying angle on the car board, enter the lifting and turning channel to further adjust the patient's lying angle on the car, enter the pallet telescopic channel, and select five pallets at the same time The movement enables the patient to enter the overturning and lifting channel on the transport trolley retracted at the same time by five pallets to adjust the pallet surface on the upper part of the vehicle. Then the guardrail is raised to complete the complete action of receiving the patient into the transfer vehicle.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. a kind of control system of board plug type patient transferring cart, it is characterised in that：

The board plug type patient transferring cart includes chassis (1), the lifting gear (2) being set on chassis (1), is installed on lifting gear (2) plate (5) of supporting rack (3), grillage (4) on and two pieces or more, further includes that can translate the plate of plate (5) sidesway Mechanism (6), the plate leaning device (7) that plate (5) can be tilted and the grillage leaning device (8) that grillage (4) can be tilted, institute The plate (5) stated is mounted on by plate translation mechanism (6) on grillage (4), and the plate leaning device (7) is located at plate (5) lower section, the grillage leaning device (8) are located between supporting rack (3) and grillage (4), the grillage (4) and supporting rack (3) it is rotatablely connected；

The control system includes man-machine interface, SCM system, control module and is man-machine interface, SCM system, control Module provides the Switching Power Supply of power supply, and the control module includes translation control module, overturning control module and elevating control mould Block, the translation control module include first motor driving unit, the 4th electric pushrod, and the overturning control module includes second Electric-motor drive unit, the second electric pushrod, the elevating control module include relay positive and negative rotation control unit, first electronic push away Bar；First motor driving unit output control of the information that SCM system is inputted according to man-machine interface to translation control module refers to It enables, the 4th electric pushrod of control drives plate translation mechanism (6) to act, and realizes the translational motion of plate (5)；SCM system root Control instruction is exported to the second electric-motor drive unit of overturning control module according to the information of man-machine interface input, control second is electronic Push rod drives plate leaning device (7) to act, and realizes the banking motion of plate (5)；SCM system is inputted according to man-machine interface Information to the relay positive and negative rotation control unit of elevating control module export control instruction, control the first electric pushrod drive rise Falling unit (2) acts, and realizes that the elevating movement of supporting rack (3), or control third electric pushrod drive grillage leaning device (8) The banking motion of grillage (4) is realized in action.

2. a kind of control system of board plug type patient transferring cart according to claim 1, it is characterised in that：The translation control It further include the limit switch of the translational motion stroke for limiting plate (5) in molding block；It is also wrapped in the overturning control module Include the limit switch of the banking motion stroke for limiting plate (5)；Further include for limiting branch in the elevating control module The limit switch of the elevating movement stroke of support (3).

3. a kind of control system of board plug type patient transferring cart according to claim 1 or 2, it is characterised in that：It is described to insert Plate translation mechanism (6) is set on grillage (4), including synchronous belt transmission device (61), mounting plate (63), clamping plate (62), slide guide machine Structure (64) and the roller rod (67) on grillage (4), the synchronous belt transmission device (61) include being fixedly arranged on grillage (4) The driving motor (611) of inside and the synchronous belt (612) for being horizontally installed on grillage (4) inside, the mounting plate (63) pass through Clamping plate (62) is fixedly connected with synchronous belt (612), and is connect with guide mechanism (64), the plate (5) and mounting plate (63) Rotation connection.

4. a kind of control system of board plug type patient transferring cart according to claim 1 or 2, it is characterised in that：It is described to insert Plate leaning device (7) is L-shaped crank (72) and lifter group (73), the song including the second electric pushrod (71), structure The corner of handle (72) is rotatably installed on the dead axle (43) on grillage (4), the bottom of second electric pushrod (71) Seat is hinged on the crossbeam (42) that grillage (4) is equipped with, and the push rod of the second electric pushrod (71) and one end of crank (72) are cut with scissors It connects, the other end of the crank (72) is connect with lifter group (73), the lifter group (73) and installation roller rod (67) Idler wheel pole socket (68) connects.

5. a kind of control system of board plug type patient transferring cart according to claim 1 or 2, it is characterised in that：The plate Frame leaning device (8) includes third electric pushrod (81), first connecting rod (82), second connecting rod (83), grillage sloping slide (84) It is hinged on supporting rack (3) with the pedestal of grillage inclined guide rails (85), first electric pushrod (81), and the third is electronic The push rod of push rod (81) and one end of first connecting rod (82) are hinged, the other end of the first connecting rod (82) be set to supporting rack (3) shaft (32) on is connected, and the grillage sloping slide (84) and the grillage inclined guide rails (85) on grillage (4) are sliding One end of dynamic cooperation, the second connecting rod (83) is hinged with grillage sloping slide (84), and the other end is connected with shaft (32).

6. a kind of control system of board plug type patient transferring cart according to claim 1 or 2, it is characterised in that：The liter It includes X-shaped bar group (21) and the first electric pushrod (23) that falling unit (2), which uses X-shaped scissor mechanism, the X-shaped scissor mechanism, described X-shaped bar group (21) top connection supporting rack (3), bottom connects chassis (1), and the side of the X-shaped bar group (21) and chassis (1) it slides and can be rotatablely connected with supporting rack (3), the other side and chassis (1) and supporting rack (3) are hinged, and described first is electronic The pedestal of push rod (23) is hinged on chassis (1), the push rod of first electric pushrod (23) and is horizontally installed on X-shaped bar group (21) On cross bar (22) rotation connection.

7. a kind of control method of the control system of board plug type patient transferring cart, includes the following steps：

Step 1：Lifting instruction is inputted to man-machine interface, and the information that SCM system is inputted according to man-machine interface is to elevating control mould The relay positive and negative rotation control unit of block exports the first control instruction, and control electric pushrod drives lifting gear (2) to act, makes branch Support (3) elevating movement, to adjust the height of the plate (5) on supporting rack (3) to concordant with target sick bed；

Step 2：Patient head is held up, to man-machine interface input the first translation instruction, SCM system is inputted according to man-machine interface Information to translation control module electric-motor drive unit export the second control instruction, control electric pushrod drive plate translate machine Structure (6) acts, and plate (5) translational motion, first piece of plate (5) is made to be inserted under patient's head；

Step 3：To man-machine interface input the first overturning instruction, SCM system is controlled according to the information that man-machine interface inputs to overturning The electric-motor drive unit of molding block exports third control instruction, and control electric pushrod drives plate leaning device (7) to act, and makes the One piece of plate (5) banking motion is upturned on the outside of first piece of plate (5), generates gap, side under patient's body with target sick bed Just the insertion of second piece of plate (5) similarly drives other plates (5) successively, until plate (5) is entirely insertable under patient's body；

Step 4：To man-machine interface input the second overturning instruction, SCM system is controlled according to the information that man-machine interface inputs to overturning The electric-motor drive unit of molding block exports the 4th control instruction, and control electric pushrod drives plate leaning device (7) to act, and makes complete Portion's plate (5) while banking motion adjust the angle that lies low of patient；

Step 5：The first tilt command is inputted to man-machine interface, SCM system is controlled according to the information that man-machine interface inputs to lifting The relay positive and negative rotation control unit of molding block exports the 5th control instruction, and control electric pushrod drives grillage leaning device (8) Action, makes grillage (4) banking motion, further adjusts the angle that lies low of patient；

Step 6：To man-machine interface input the second translation instruction, SCM system is controlled according to the information that man-machine interface inputs to translation The electric-motor drive unit of molding block exports the 6th control instruction, and control electric pushrod drives plate translation mechanism (6) to act, and makes complete Portion's plate (5) while translational motion by plate (5) while being recovered on transfer car(buggy)；

Step 7：The second tilt command is inputted to man-machine interface, SCM system is controlled according to the information that man-machine interface inputs to lifting The relay positive and negative rotation control unit of molding block exports the 7th control instruction, and control electric pushrod drives grillage leaning device (8) Action, makes grillage (4) banking motion, grillage (4) is reset to level.