CN115300295B - A kind of tilt-up conversion treatment bed - Google Patents

Abstract

The invention relates to the technical field of medical devices, in particular to a treatment bed with a tilt-up conversion. The conversion treatment bed includes a robot, a bed body, a bed board and a patient supporting part. The robot, the bed board and the patient supporting part are arranged on the bed body; the robot includes a body, a power part, a connection variable part and a telescopic device; Connecting distance and connecting angle; telescopic device is set on the machine body, which can control the attitude and position of the bed board and/or patient supporting part; through the movement of the robot on the bed body and the telescopic device, the abutting bed board and/or patient supporting part The control of lifting, moving, rotating and placing of the support part can realize the adjustment and control of the conversion of the patient's position in the patient support part. Compared with the prior art, the treatment method of switching the patient's supine posture and bed board by manpower has the advantages of convenience, quickness and no damage to the patient.

Description

A kind of tilt-up conversion treatment bed

technical field

The invention relates to the technical field of medical equipment, in particular to a treatment bed with a tilt-up conversion.

Background technique

Prone treatment is a treatment method that needs to be adopted for many diseases, especially for emergency treatment of respiratory diseases. It has become a treatment method commonly used by medical staff around the world to treat critically ill patients with respiratory distress, and the treatment effect is obvious. For example, the General Office of the National Health Commission issued the "Diagnosis and Treatment Plan for Novel Coronavirus Pneumonia (Trial Version 7)". For the treatment of severe and critical patients, especially patients with severe ARDS (Acute Respiratory Distress Syndrome), human resources are sufficient. In some cases, prone position ventilation should be performed for more than 12 hours a day. However, to turn the patient from supine to prone, there is no intelligent special equipment in the existing technology, which requires manual handling, which has become a heavy "manual labor" for medical staff in various countries, and it is also a professional course for nursing staff. This has invested a lot of people, money and material resources.

However, since the patient lies prone on various pillows or the bed board of an ordinary hospital bed, the opening and closing of the legs and the opening of the arms are greatly restricted, and the neck needs to be twisted at a large angle to expose the side of the mouth and nose. It needs to be treated again to meet the interventional treatment conditions of ventilator, blood pump and other equipment, and the cost of manpower, material resources and time is very heavy.

Contents of the invention

The first object of the present invention is to provide a treatment bed with a tilt-up conversion, which can solve the problems in the prior art that it takes time, labor and manpower to change the patient's tilt-up posture.

The invention provides a treatment bed with tilt-up conversion, which includes a robot, a bed body, a bed board and a patient supporting part;

The robot, the bed board and the patient supporting part are arranged on the bed body;

The robot includes a body, a power part, a connecting variable part and a telescopic device;

The power part is arranged on the outside of the body, and the power part can make the robot move on the bed body and park at any position, so as to drive the bed board and/or the patient supporting part to move;

The connection variable part is arranged between the body and the power part, and is used to connect the body and the power part, and can change the connection distance and the connection angle between the body and the power part when the robot moves;

The telescopic device is arranged on the body, can extend or retract from the body, and can be connected or separated from the bed board and/or patient supporting part by stretching, and can control the bed board and/or patient supporting part. The lifting, rotating, shifting and changing of the placement posture of the support part on the bed body achieves the effect of changing the patient from supine to prone and moving the bed board away to facilitate treatment.

Preferably, the body includes a plurality of plate-shaped structural parts, a frame-type structure formed by abutting the ends of adjacent plate-shaped structural parts, and the body is integrally formed by casting or stamping process, or several main structures are formed, and then It is processed into a complete structural part by welding technology.

Preferably, the power part includes a power board, a power motor, a power wheel and a driven wheel;

The power motor, power wheel and driven wheel are arranged on the power plate, the power wheel rotates under the drive of the power motor, the driven wheel rotates or stops with the power wheel, and the power plate is hinged to the connecting variable part.

Preferably, the engagement variable portion includes an outer sleeve, an inner sleeve and a spring;

The inner sleeve is inserted between the outer sleeve and the spring, and the inner sleeve and the outer sleeve can move relatively under the action of elastic force and/or external force;

One of the inner sleeve and the outer sleeve is hinged with the power plate, and the connection angle between the power plate and the body can be changed by rotation, and the other is connected with the body, and the axes of the inner sleeve, the outer sleeve and the spring coincide, Moreover, a spring positioning rod is arranged on the body where the axes coincide, which can prevent the displacement of the spring during the expansion and contraction process.

Preferably, the telescopic device includes a telescopic structure and a rotating device;

The telescopic structure includes a telescopic plate, a telescopic drive device and a sliding assembly;

The telescopic plate is arranged on the body through a sliding assembly, and the telescopic driving device drives the telescopic plate to reciprocate on the body;

The telescopic driving device includes screw and nut meshing structure, hydraulic telescopic device, pneumatic telescopic device, electric telescopic device, gear chain device, folding cross device, etc., which can mesh with each other, drive, pressure adjust or fold and telescopic structure, The expansion plate can be moved on the body; obviously, the above-mentioned expansion parts have two connecting ends or two or more components, one end with two connecting ends is connected to the body, the other end is connected to the expansion plate, two and two One of the more than three components is installed on the body, and the other needs to be installed on the expansion plate for use together. More than two structural parts or the body, or multiple parts are installed on the expansion plate, or used as the middle of the body and the mounting parts on the expansion plate. The use of follow-up files will not be described in detail here;

The sliding assembly can make the telescopic plate move stably on the body along the preset fixed direction at the preset position. The sliding assembly includes more than one optical axis and linear bearings or copper sleeves, sliding rails and sliding blocks that are slidingly connected. The combined structural parts can control the stable movement of the telescopic plate on the body driven by the telescopic parts through the combined use of several sliding components separately arranged on the telescopic plate and the body;

The rotating device is arranged on the expansion plate, and the rotating device includes a rotating motor, a rotating shaft and a linkage assembly;

One end of the rotating shaft is connected to the rotating motor, and the other end is installed with the linkage assembly. Through the movement of the telescopic plate, the rotating shaft protrudes from the body and connects with the linkage assembly on the bed board or the patient supporting part, and the rotating motor By driving the rotation of the rotating shaft, the bed board connected to the rotating shaft, the patient supporting part or the combination of the bed board and the patient supporting part are driven to rotate;

The linkage assembly includes child and mother combined structural parts;

The child and mother combined structural parts include a mother part and multiple child parts. The mother part is arranged on the rotating shaft, and the multiple child parts are respectively arranged on the bed board and the patient supporting part, and can be rotated through the movement of the telescopic plate on the body. The main part of the shaft abuts or separates from the child parts on the bed board or the patient supporting part, and can control the rotation angle and direction of the bed board and/or the patient supporting part under the drive of the rotating shaft.

Preferably, the rotating shaft is connected to the bed board, the patient supporting part or the combination of the bed board and the patient supporting part through a linkage assembly;

The rotating shaft is a hollow shaft;

The linkage assembly includes a locking drive device, a child and a female combined structure and an axial positioning assembly;

The locking driving device includes an annular rack, a locking motor, a gear and a telescopic rod;

The locking motor is arranged on the telescopic plate and has a locking function. The motor shaft of the locking motor is provided with a gear, and the outer teeth of the gear on the motor shaft mesh with the ring rack. The forward or reverse rotation of the motor can make the ring rack move back and forth;

The telescopic rod is installed in the hollow shaft, one end is connected to the ring rack, and the other end is connected to the axial positioning component, and driven by the ring rack, the axial positioning component can be driven to expand and contract;

The sub-parts and the parent part of the sub-female combined structural part are connected by locking, snapping or teething, the parent part is arranged on the rotating shaft, and a plurality of sub-parts are respectively arranged on the bed board and the patient supporting part, Subparts and parent parts are connected by locking, snapping or toothing.

The axial positioning assembly includes a positioning assembly and a rotating device;

The positioning assembly includes two first and second connecting rods each equipped with two connecting ends, the first connecting rod and the second connecting rod are hinged to each other through one connecting end respectively, and the other connecting rod of the first connecting rod The connecting end is hinged to the rotating shaft, and the other connecting end of the second connecting rod is hinged to the rotating device;

The rotating device includes a rotating member and a hinged ear. The rotating member includes a bearing and can be rotatably connected to the telescopic rod. The hinged ear and the positioning assembly are hinged, and can realize relative sub-parts or parent parts through the expansion and contraction of the telescopic rod. Move closer or farther away, and control the mutual hinged ends of the first link and the second link to fold and protrude or straightly expand, a plurality of first links and second links are arranged around the telescopic link, the first link and the When the second connecting rod is straightly unfolded, the radial value of the circle formed by the mutual hinged ends is smaller than the diameter of the linkage assembly, so that the connection or disengagement of the child part and the parent part is not affected, and the circular shape formed by the mutual hinged ends is raised. The radial value is greater than the diameter of the linkage assembly, and can be clamped on the sub-part and the parent part, so that the sub-part and the parent part cannot be separated, and the position of the bed board on the bed body is limited.

Preferably, the bed body includes two headboards, a bed frame, a placement frame and a limiting structure;

The two headboards are arranged symmetrically;

The bed frame and the placement frame are layered and arranged between the two headboards;

The bed board and/or the patient supporting portion are arranged on the bed frame and/or the placement frame;

The head of the bed includes an inner bedside frame and an outer bedside frame, the inner bedside frame is arranged on the inner side of the outer bedside frame, and the inner side is the side connected with the bed frame;

The position-limiting structures are correspondingly arranged on the inner bedside frame and the outer bedside frame, and a robot is set and operated in each position-limiting structure;

The bed board and/or patient supporting part can place the bed board or the patient supporting part or the combined structure of the bed board and the patient supporting part on the bed frame or the placement frame through the movement of the robot in the limiting structure, and can realize Change of position on the bed frame and on the shelf;

preferred,

The position-limiting structure includes a track frame and a track;

The outer bedside frame includes two first outer ring support frames and a first inner ring support frame that are nested in each other, and the inner bedside frame includes two second outer ring support frames and a first inner ring support frame that are nested in each other. Second inner ring support frame;

The first outer ring support frame and the second outer ring support frame are symmetrically arranged, and the first inner ring support frame and the second inner ring support frame are symmetrically arranged;

The track frame includes an inner ring track frame and an outer ring track frame;

Both the first outer ring support frame and the second outer ring support frame are provided with an outer ring track frame, and the two outer ring track frames form an outer track ring;

Both the first inner ring support frame and the second inner ring support frame are provided with an inner ring track frame, and the two inner ring track frames form an inner track ring;

The inner track ring and the outer track ring form a relatively closed track frame;

The cross-section of the track frame is an L-shaped structure, including two ends and two inner planes, the two inner planes are respectively the first inner plane and the second inner plane, and the two ends are respectively the first end and the second inner plane. Ends;

The first inner plane is connected to the second plane, the first end is located at the end of the first inner plane, the second end is located at the end of the second plane, and the track is arranged on the first inner plane;

The first ends of the two L-shaped outer ring track frames or the inner ring track frames are arranged oppositely, and the second inner planes are oppositely arranged;

In the same bedside frame, the second ends of the two outer ring track frames and the inner ring track frame are arranged oppositely, and the first inner plane is arranged oppositely;

A robot is installed in the track frame of the two bedsides, and the track frame and the robot on the two bedsides are symmetrical;

The power parts on both sides of the robot run on the inner track ring and the outer track ring respectively, and a plurality of power wheels and driven wheels on both sides of the robot are connected with the first inner plane on the inner ring track frame and the outer ring track frame respectively. track connection;

The positioning wheels are arranged on both sides of the robot, and a plurality of positioning wheels abut against the second inner plane on the inner ring track frame and the outer ring track frame respectively to control the lateral position of the robot;

The speeds of the power wheels running on the two bedside outer ring track frames are the same, and the speeds of the power wheels running on the two bedside inner ring track frames are the same;

The power wheels running on the two bedside inner ring track frames and the outer ring track frames can run at constant or differential speeds.

Preferably, the patient supporting part includes a human body ecological treatment cover, a mounting frame and a fixing frame;

The human body ecological treatment cover is a structural part set according to the principle of human body ecology, which can be formed by molding, casting, stamping and other processes, including arm ecological cover, torso ecological cover, leg ecological cover and head ecological cover. The connection structure is installed on the mounting frame according to the ecological distribution state of the human body, which can separate and restrain the various parts of the human body according to the ecological structure of the human body, avoiding the gap between the various parts of the patient's body during the conversion of the tilting posture. Possibility of injury due to mutual crushing and collision;

The installation frame is connected to the fixed frame;

The fixing frame has a rectangular structure, and the fixing frame includes a fixing device, and the fixing device can combine the patient support part and the bed board into a whole, or fix the patient support part on the bed frame or the placement frame. The fixing device includes a variety of structural parts, such as: bolt type, screw type, electric suction type, clamping and screwing type. An insertion hole is arranged on the top, and an insertion block is arranged at a position corresponding to the insertion hole on the fixed frame. After the insertion block is inserted into the jack, the latch is inserted into the insertion block, so that the bed board and the patient supporting part are integrally connected.

Preferably, the arm ecological cover has a groove-like structure, and the arm ecological cover includes a large arm and a small arm;

The large arm is hinged with the shoulder of the ecological cover of the trunk, and the small arm is slidingly connected with the abdomen of the ecological cover of the trunk;

The ecological cover of the torso is in a U-shaped structure as a whole, including inner and outer sides, a connection structure, two ports up and down, a neck bracket, a double-arm connection port, a double-arm hinge device, a double-arm chute, and a chest in a concave arc shape. Abdominal ecological structure;

The inner side of the trunk ecological cover is the inside of the groove of the U-shaped structure, and the outer side is the outside of the U-shaped structure;

The connecting structure is arranged on the outside of the trunk ecological cover for connecting the mounting frame;

The upper port is in a semicircular structure, corresponding to the position of the neck of the human body, and used for the extension of the neck of the human body; the lower port is an open port, corresponding to the position of the lower abdomen and the crotch of the human body, and used for the lower abdomen and the crotch of the human body. The part protrudes, and a concave arc is set in the middle of the lower port;

The neck bracket has an arc-shaped structure and is symmetrically arranged on the semicircular structure of the neck, and the double-arm connection port is used for extending the arms of the human body into the arm ecological cover;

The double-arm hinged device is arranged on the outside of the shoulder of the ecological cover of the trunk part, and is used to hinge the ecological cover of the arm part; ;

The concave arc-shaped chest ecological structure includes two bowl-shaped structures on the left and right, which can support the chest of male patients and wrap the breasts of female patients to avoid oppression;

The concave arc shape structure of the abdomen is set at the abdomen position of the torso ecological cover corresponding to the human body, which is used to support the patient's abdomen and reduce the prone pressure;

Preferably, the leg ecological cover includes a left leg ecological cover, a right leg ecological cover and a leg mounting frame;

The left and right leg ecological covers include a tapered U-groove structure and a connecting structure;

The tapered U-groove structure includes two ends, the open end of the thigh and the open end of the calf. The length, width and height of the open end of the thigh are greater than the length, width and height of the open end of the calf, which conforms to the shape of human legs. The ecological structure of the thigh is larger than the calf, and the open ends of the thigh and calf are respectively used for extending the patient's thigh and calf;

The connection structure includes a left leg connection structure and a right leg connection structure, and both the left leg connection structure and the right leg connection structure are used to connect with the leg mounting frame.

Preferably, the head ecological cover includes a head and face ecological cover, a mandibular ecological cover, a support structure and a head mounting frame;

The head and face ecological mask has a concave arc structure, and the eyes, mouth and nose of the human body are set as transparent structures, and a connecting structure is provided on the outside for connecting with the supporting structure;

The mandible ecological cover includes a mandible supporting part, a connecting piece and a rotating part;

The mandibular supporting part has a concave arc structure, including a bottom plate at the lower end and an opening at the upper end;

The lower bottom plate is an arc-shaped structure, and the front and rear sides, and the left and right ends are provided with side plates that go upward along the lower end plate and extend obliquely outward;

The lower bottom plate, the front and rear sides, and the left and right side plates form an arc-shaped upper opening;

The length of the side panels on the front and rear sides is greater than the length of the side panels at the left and right ends;

The continuous control piece includes an arc-shaped piece, and the two ends of the mandible supporting part are respectively connected to an arc-shaped piece, and the arc-shaped piece is inclined in a direction away from the mandibular supporting part, and the direction of inclination is the same as that of the mandible and the jaw of the human body. The direction of bone inclination is the same;

One end of the arc-shaped piece is connected to the lower jaw supporting part, and the other end is connected to the support structure through the rotating part.

The rotating part is installed on the support structure for connecting with the control piece, and can drive the mandibular ecological cover to rotate through the control piece under the drive of external force, and the external force includes manpower and electric power.

Preferably, the bed board includes a bed board frame, a fixing device, a beam and a supporting board;

The bed frame is composed of a plurality of U-shaped groove structural parts arranged horizontally and vertically, and has a rectangular structure;

The cross beam is arranged in the rectangular space of the bed frame, and the end of the cross beam is connected with the transverse or longitudinal U-shaped groove structure, and the supporting plate is arranged on the upper part of the bed frame and the cross beam;

The fixing device is arranged on the bed board frame and is used for fixedly connecting the bed body and the patient supporting part.

Preferably, it also includes a control system;

The control system includes a display screen installed on the bed body, a PLC control module, a motor driver and a sensor;

The display screen, motor driver and sensor are all electrically connected to the PLC control module;

The display screen can control the operation of the treatment couch and display the current status of the treatment couch or various systems by inputting control instructions through the control buttons;

The motor driver includes a power motor driver, a telescopic drive motor driver, a rotating motor driver and a locking motor driver;

The sensor includes a pulse sensor, and the pulse sensor can transmit the running and parking position of the robot, the state of telescopic linkage and rotation angle, and the stuck state of the linkage assembly to the PLC control module through electric pulse signals.

Preferably, the PLC control module includes a main control module and a sub-control module, the main control module is used to issue operation and stop instructions to each sub-control module, and can receive the operation status signal of each sub-control module, and can timely Start the cooperative operation of each sub-control module and decide to stop the operation of several sub-control modules;

The sub-control module includes a power motor control module, a telescopic motor control module, a rotating motor control module, a locking motor control module and an oral cavity control module;

The power motor control module includes two sets of power control modules A and B, and the two sets of power control modules A and B are respectively used to control the four power motors on the two robots in groups, and the two sets of power motors running along the outer ring track frame The two motors of the power part are the first group of motors, and the two motors of the power part running along the inner ring track frame are the second group of motors. A set of power control modules is used to control the first group of motors, and to the first group of motors Input the same control signal to the two motors of the second group of motors to make them run or stop synchronously. The B set of power control modules is used to control the second group of motors, and input the same control signal to the two motors of the second group of motors to make them run synchronously or stop, and can realize constant speed or differential speed operation control for the two groups of motors;

The telescopic motor control module is used to control the telescopic motor, the rotating motor control module is used to control the rotating motor, the locking motor control module is used to control the locking motor, and the oral cavity control module is used to control the rotation of the mandibular motor Or stop, and control the opening and closing of the patient's mouth through the rotation or stop of the lower jaw motor.

Beneficial effect:

Through the movement of the robot along the set track and the structure of the robot itself, the position and pitch state of the connected bed board or patient supporting part on the bed can be changed according to the set track, thereby realizing the pitching of the patient in the ecological cover. Posture adjustments. Compared with the prior art, changing the patient's pitch posture manually has the advantages of convenience, quickness, time saving and labor saving, and less impact on the patient.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic structural view of a tilt conversion treatment bed provided by a specific embodiment of the present invention;

Figure 2a is a schematic structural diagram of a robot provided by a specific embodiment of the present invention;

Fig. 2b is a structural schematic diagram of another structural form of the robot provided by the specific embodiment of the present invention

Fig. 3 is the top view of the robot provided by the specific embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a power unit provided by a specific embodiment of the present invention;

Fig. 5 is a cross-sectional view of the power part provided by the specific embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a rotating shaft and a telescopic shaft provided by a specific embodiment of the present invention;

Fig. 7 is a schematic structural view of a patient supporting part provided by a specific embodiment of the present invention;

Fig. 8 is a schematic structural view of the head and face ecological cover provided by the specific embodiment of the present invention;

Fig. 9 is a structural schematic diagram of another angle of the head and face ecological mask provided by the specific embodiment of the present invention;

Fig. 10 to Fig. 18 are structural schematic diagrams of different states of the conversion treatment bed.

Explanation of reference signs:

100: robot; 200: bed body; 300: bed board; 400: patient supporting part;

110: body;

120: power department;

121: power board; 122: power motor; 123: transmission shaft; 124: power wheel; 125: positioning wheel; 126: driven wheel;

130: connect the variable part;

131: outer sleeve; 132: inner sleeve; 133: spring; 134: spring positioning rod

140: telescopic device;

141: rotating motor; 142: rotating shaft; 143: telescopic drive motor; 144: guide optical axis; 145: telescopic plate; 146: ring rack; 147: locking motor; 148: gear, 149: telescopic rod;

210: bedside; 220: bed frame;

211: inner bedside frame; 212: outer bedside frame; 213: track frame; 214: track; 215: power distribution cabinet space; 216: console space;

2121: the first outer ring support frame; 2122: the first inner ring support frame; 2111: the second outer ring support frame; 2112: the second inner ring support frame;

2131: inner ring track frame; 2132: outer ring track frame;

410: arm ecological cover;

420: trunk ecological cover; 421: trunk installation frame;

430: ecological cover for legs; 431: mounting frame for legs;

440: head and face ecological cover;

450: mandibular ecological cover; 451: mandibular supporting part; 452: continuous control piece; 453: rotating part;

460: fixed frame; 470: connecting structure; 480: supporting structure; 490: head mounting frame.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In describing the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", etc. or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. In addition, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be It can be directly connected, or indirectly connected through an intermediary, and can be internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

As shown in FIG. 1 to FIG. 9 , this embodiment provides a treatment bed with a tilt-up conversion, which includes a robot 100 , a bed body 200 , a bed board 300 and a patient supporting part 400 .

The robot 100 , the bed board 300 and the patient supporting part 400 are arranged on the bed body 200 .

The robot 100 includes a body 110 , a power part 120 , a connecting variable part 130 and a telescopic device 140 .

The power part 120 is arranged outside the machine body 110 , and the power part 120 can drive the robot 100 to move on the bed body 200 and stop at any position, so as to drive the bed board 300 and/or the patient support part 400 to move.

The connection variable part 130 is provided between the body 110 and the power part 120 for connecting the body 110 and the power part 120 , and can change the connection distance and the connection angle between the body 110 and the power part 120 when the robot 100 moves.

The retractable device 140 is arranged on the body 110, and can be extended or retracted from the body 110. When extended, it can be connected with the bed board 300 and/or the patient supporting portion 400, and when retracted, it can be connected with the bed board 300 and/or the patient supporting portion 400. Separate; and can control the bed board 300, the patient supporting part 400 and the combination of the bed board 300 and the patient supporting part 400, the transformation of the lifting, rotating, moving and placing state on the bed body 200.

It should be noted that: the bed board 300 and the patient supporting part 400 include at least the following three usage states, the bed board 300 and the patient supporting part 400 are used alone, and the bed board 300 and the patient supporting part 400 are used in combination.

When the bed board 300 and the patient supporting part 400 are used alone, the robot 100 is respectively connected to the bed board 300 or the patient supporting part 400 and moved to a proper position.

When the two are used in combination, the robot 100 can move one of the bed board 300 and the patient supporting part 400 to the other upper part, and make the two contact, and then connect the bed board 300 and the patient supporting part 400 through the fixing device, so that The two form a composite. Of course, by releasing the connection of the fixing device, the robot can also move the bed board 300 or the patient supporting part 400 to separate the combination. Specifically, the above moving process can refer to the use method of the treatment bed.

Specifically, in this embodiment, the robot 100 is set on a set track and can run along the track.

The telescopic device 140 is located on the body 110 , and the telescopic device 140 can be combined with the bed board 300 or the patient supporting part 400 and can drive the bed board 300 or the patient supporting part 400 to rotate. During the use of the treatment bed, the robot 100 moves to a position corresponding to the bed board 300 or the patient supporting part 400 , and docks with the bed board 300 or the patient supporting part 400 to be connected through the movement of the telescopic device 140 . After the docking is completed, the telescopic device 140 drives the bed board 300 or the patient supporting part 400 to rotate. At this time, the angle of the bed board 300 or the patient supporting part 400 on the bed body 200 is changed. At the same time, the robot 100 can also change the bed board 300 by moving. Or the position of the patient supporting part 400 on the bed body 200 . That is to say, through the movement of the robot 100 along the set track, and the structure of the robot 100 itself, the position and pitch state of the connected bed board 300 or patient supporting part 400 on the bed body can be changed according to the set track, and then realized. Adjustment of the pitch attitude of the patient located in the eco-hood. Compared with the prior art, changing the patient's pitch posture manually has the advantages of convenience, quickness, time saving and labor saving, and less impact on the patient.

In order to further explain the above-mentioned tilt conversion treatment bed, in this embodiment, a detailed description of each component of the tilt conversion treatment bed is also provided, specifically, as follows:

robot 100

Referring to Fig. 2a and Fig. 2b, the robot 100 includes a body 110, a power part 120, a connection variable part 130 and a telescopic device 140, and the specific structure of each component of the robot 100 is as follows.

Body 110

The machine body 110 includes a plurality of plate-shaped structural parts, and the ends of adjacent plate-shaped structural parts are abutted to form a frame structure.

It should be noted that: the structure of the body 110 can be integrally formed by casting, stamping and other processes or several main components can be formed in stages, and then obtained by welding.

For example, the machine body 110 is composed of four guard plates, and the four guard plates are respectively a front guard plate and a rear guard plate oppositely arranged, and a left guard plate and a right guard plate oppositely arranged. The front fender, the right fender, the rear fender and the left fender are sequentially connected to form a frame structure.

It should be noted that in this embodiment, the body 110 adopts a frame structure composed of guard plates, the purpose of which is to form a space for installing structures such as the telescopic device 140 inside the guard plate, which has the advantages of simple structure and convenient installation. Of course, the structural form of the machine body 110 can also be appropriately deformed according to actual needs, as long as it can provide a space or position for installing the power unit 120 and the telescopic device 140 .

Power Unit 120

Referring to FIG. 2 a , the power part 120 includes a power board 121 , a power motor 122 , a transmission shaft 123 , a power wheel 124 , a driven wheel 126 , a positioning wheel 125 and an installation ear plate.

The power plate 121 includes an inner mounting surface, an outer mounting surface and a motor mounting groove. The inner mounting surface is a surface facing the body 110 , the outer mounting surface is a surface facing away from the body 110 , and the motor mounting groove is arranged on the power plate 121 .

The power motor 122 is arranged in the motor installation groove, and the power shaft of the power motor 122 is connected with the transmission shaft 123 .

The driven wheel 126 is arranged on the power plate 121 through a driven shaft.

Both the transmission shaft 123 and the driven shaft are arranged on the outer mounting surface of the power plate 121 , and are rotatably connected to the power plate 121 through a bearing seat.

Transmission shaft 123 is arranged on the upper end of power plate 121, and two ends of transmission shaft 123 are respectively provided with a power wheel 124, and both sides of power plate 121 lower end are respectively provided with a driven shaft, and each driven shaft is provided with a driven wheel 126, The driven shaft is installed on the power plate 121 through a bearing seat. Two power wheels 124 and two driven wheels 126 are evenly distributed on the power plate 121 .

The robot 100 includes two power boards 121 , and the two power boards 121 are respectively arranged on two opposite mounting surfaces of the machine body 110 through connecting variable parts 130 .

The connection between the power plate 121 and the joint variable part 130 is as follows: the installation lugs are arranged on the inner mounting surface of the power board 121 and hinged to the joint variable part 130 through the rotating shaft.

In this embodiment, both the power wheel 124 and the driven wheel 126 are gears, and the motor power shaft and the transmission shaft 123 are connected through a matching worm gear, and it is a preferred solution to use the worm gear as a transmission relay. But it does not exclude the use of other transmission relays. For example, the supporting 90-degree angle bevel gear, reducer, reduction box, reduction gear set and other intermediate parts are connected.

The positioning wheels 125 are arranged at the corners of the power board 121 , specifically, a positioning wheel 125 is provided at the four corners of the power board 121 through bearing seats and shafts.

The specific moving mode of the robot 100 is: the power motor 122 drives the power wheel 124 to rotate on the rack-shaped track, the driven wheel 126 follows, and the role of the positioning wheel 125 is to abut the robot 100 after it enters the track frame and runs. 1. Running on the second inner plane of the outer ring track frame, it should be pointed out that the wheel surface of the positioning wheel 125 is made of elastic material or the running surface adopts an elastic surface, which can ensure stable operation under the effect of certain damping. In order to realize the positioning of the power part 120 and prevent the power part 120 from moving sideways or coming out of the track frame.

It should be noted that power boards 121 are arranged on both sides of the machine body 110 (it can be understood that power motors 122, worm gear assemblies, power wheels 124, driven wheels 126 and positioning wheels 125 are symmetrically arranged on the two power boards 121) Of course, according to actual needs, the power board 121 may also be provided only on one side of the power part 120 . That is, according to the track situation, the quantity, position and type of the power plate 121 can be selectively set. When only one track is set, a power plate 121 is selected to be set on the power part 120, and other sides of the body 110 can be maintained by setting other structures. Body balance, when two oppositely arranged rails are set, two power plates 121 are selected to be set on the power part 120 .

It should be noted that: the power part 120 and the rack track structure described later are set according to the actual purpose of the robot to connect, rotate, move, place the bed board and/or the patient supporting part, and it can be determined under this purpose What’s more, there are other devices that can realize the robot’s movement along the set trajectory, such as chain and gear meshing conduction mode, arc-shaped slide rail with several sliders and driving equipment, etc. There are still unknown designs to achieve the actual purpose of this case. A certain new structure or device is within the protection of the idea of the present invention.

Cohesion variable section 130

Referring to FIG. 5 , the connection variable part 130 can change the connection distance and connection angle between the machine body 110 and the power part 120 . To facilitate the movement of the robot 100 . Specifically, when the robot 100 moves along the set track, it will involve running along the arc track. At this time, there are numerical variables in the running distance of the gears (power wheel and driven wheel) on the inner and outer ring rack tracks. That is: the distance of the outer track is lengthened, and the distance and angle between the body 110 and the power unit 120 can be changed by connecting the variable part 130 to meet the requirements of the numerical variable difference between the inner and outer tracks.

Specifically, the engagement variable portion 130 includes an outer sleeve 131, an inner sleeve 132 and a spring 133, the inner sleeve 132 is inserted between the outer sleeve 131 and the spring 133, and the inner sleeve 132 and the outer sleeve 131 are elastically and / Or can move relatively under the action of external force.

The outer sleeve 131 is arranged on the body 110, the inner diameter of the outer sleeve 131 is larger than the outer diameter of the inner sleeve 132, the inner sleeve 132 can be inserted into the outer sleeve 131, the inner sleeve 132 and the outer sleeve 131 are slidably connected, and the inner sleeve Under the action of elastic force and/or external force, the sleeve and the outer sleeve can realize the movement of relative insertion or extraction. The extraction movement is preset with a threshold, and the threshold is greater than that of the inner and outer orbital rings (this The structure refers to the variable value generated between the following), which can ensure that the inner and outer sleeves are not separated and the stability of the robot operation.

The connecting variable part 130 also includes a spring positioning rod 134, the spring positioning rod 134 is arranged in the outer sleeve 131, the spring 133 is sleeved on the spring positioning rod 134, and the axes of the spring positioning rod 134, the outer sleeve 131 and the spring 133 coincide . The spring positioning rod 134 is used for positioning the spring to prevent the spring 133 from being displaced during the stretching process. An ear plate is provided on the outer side of the inner sleeve 132 , and the ear plate is hinged to the installation ear plate on the power unit 120 through a rotating shaft.

The four corners of the power plate 121 are respectively provided with a joint variable part 130, during the movement of the robot 100 along the set trajectory, through the expansion and contraction between the outer sleeve 131 and the inner sleeve 132, and the inner sleeve 132 relative to the power plate The rotation between 121 can change the distance and angle between the body 110 and the power part 120. The adjustment of the angle is controlled by the elastic force of the spring 133 and the variable control of the inner and outer orbit rings of the robot running on the arc track, that is: when When the robot drives into the arc track, the inner and outer track rings produce length and angle variables, and when the spring bounces up or is compressed, the lug plate of the power plate 121 and the lug plate of the connecting variable part 130 pass the rotation of the rotating shaft, thereby changing the power part. The connection angle between 120 and the body 110, the change of the angle satisfies the variable requirement of the length value.

It should be noted that the connection variable part is to meet the requirement that when the robot runs in an arc-shaped orbital ring, due to the difference in the length of the inner and outer orbital rings, the design value of the robot needs to change when turning, and it needs to maintain stable operation. Designed, there are also multiple structures that can meet the needs of the present invention, such as: known hydraulic devices, pneumatic devices, etc., including certain new structures or devices that may appear in the future in order to meet the purpose of the present invention, all in the present invention within the scope of conservation purposes.

Telescoping device 140

Referring to FIG. 3 , the telescopic device 140 includes a telescopic structure, a rotating device and a linkage assembly.

The telescopic structure includes a telescopic plate 145 , a telescopic drive device and a sliding assembly. The telescopic plate 145 is arranged on the body 110 through the sliding assembly. The telescopic drive device drives the telescopic plate 145 to reciprocate relative to the body 110 .

The telescopic driving device includes a telescopic driving motor 143, a telescopic leading screw and a leading screw nut. The lead screw nut is arranged on the telescopic plate 145 . The telescopic drive motor 143 is fixed on the right guard plate, and the telescopic screw mandrel is the drive shaft of the telescopic drive motor 143, and the telescopic screw mandrel is threadedly connected with the leading screw nut. After the end of the telescopic lead screw passes through the lead screw nut, it extends to the front guard plate. The telescopic drive motor 143 drives the forward and reverse rotation of the telescopic lead screw, thereby realizing the axial movement of the screw nut along the telescopic screw rod, and the telescopic plate 145 is driven to reciprocate along the guide optical axis 144 of the sliding assembly by the lead screw nut.

The sliding assembly includes an optical guide shaft 144 fixed on the body 110 , and a telescopic plate 145 is slidably connected to the optical guide shaft 144 .

Specifically, the sliding assembly includes four guiding optical axes 144 , and the four guiding optical axes 144 are evenly distributed in the frame space of the body 110 . And the two ends of the guiding optical axis 144 are respectively fixedly connected with the front fender and the rear fender. The telescopic plate 145 is provided with an optical axis hole, and the telescopic plate 145 is sleeved on the guide optical axis 144 through the optical axis hole. In order to reduce the resistance when the telescopic plate 145 slides relative to the guide optical axis 144, a linear bearing is arranged in the optical axis hole , the optical axis is set in the linear bearing.

The rotating device is arranged on the expansion plate 145 , and the rotating device includes a rotating motor 141 and a rotating shaft 142 .

One end of the rotating shaft 142 is connected to the rotating motor 141 through a relay, and the other end is installed with a linkage assembly.

Through the movement of the telescopic plate 145, the rotating shaft 142 is connected with the bed board, the patient supporting part or the combination of the bed board and the patient supporting part. The rotating motor 141 drives the rotation of the rotating shaft 142 to drive the bed board connected to the rotating shaft 142, the patient supporting part or the combination of the bed board and the patient supporting part to rotate.

Specifically, the rotating shaft 142 includes a rotating end and a linkage end, the rotating end is connected to the rotating motor 141 through a relay, and the linkage end is connected to the bed board or the patient supporting part or the combination of the bed board and the patient supporting part through a linkage assembly.

The linkage assembly includes child and mother type combined structural parts, the mother part is arranged at the linkage end of the rotating shaft 142, and a plurality of child parts are respectively arranged on the bed board and the patient supporting part. The master part and the child part are only for distinguishing the two parts of the child and mother combined structural parts, and do not limit the structure and position of the two parts. The setting positions of the mother part and the child part can also be interchanged according to actual needs.

It should be noted that both the bed board and the patient supporting part are provided with linkage components. That is to say, the linkage assembly includes two parts that can be abutted and separated, one of which is arranged at the linkage end of the rotating shaft 142, and the other part is arranged on both the bed board and the patient supporting part. The function of the linkage assembly is to lock the rotating shaft 142 and the bed board and the patient supporting part, so that the rotating shaft 142 can drive the bed board and/or the patient supporting part to rotate synchronously.

The relay includes the connection structure between the shaft and the shaft such as the worm gear, the bevel gear set and the reducer, and is used for the connection between the rotating motor and the rotating shaft.

In this embodiment, the intermediate element is a worm gear, and the rotating motor 141 drives the rotation of the rotating shaft 142 through the worm gear transmission.

Specifically, the rotating motor 141 is fixed on the telescopic plate 145 , and further, the rotating motor 141 is located on the inner side of the telescopic plate 145 (the side away from the front fender). The rotating shaft 142 passes through the telescopic plate 145, the front fender, and extends to the outside of the front fender. In order to effectively support the rotating shaft 142 and facilitate the rotation of the rotating shaft 142, the rotating shaft 142 is connected with the telescopic plate 145 through a rotating bearing, and connected with the front guard plate through a linear bearing.

Referring to FIG. 6 , as an implementation manner, the rotating shaft 142 is a hollow shaft.

The linkage assembly includes a locking drive device, a child and a female combined structure and an axial positioning assembly.

The locking driving device includes an annular rack 146 , a locking motor 147 and a telescopic rod 149 .

The locking motor 147 is arranged on the telescopic plate 145 through the mounting plate, and the locking motor 147 has a locking function. The motor shaft of the locking motor 147 is provided with a gear, and the outer teeth of the gear mesh with the ring rack 146 , and the ring rack 146 can be stretched out or retracted by forward or reverse rotation of the lock motor 147 .

The ring rack 146 specifically means that the rack includes a plurality of independent ring teeth arranged in sequence.

The sub-parts and the parent part of the sub-female combined structural part are connected by locking, snapping or toothing, that is to say, the sub-part and the parent part are matched in such a way that the structure is tight after the two are combined, and the sub-part and the parent part The position is relatively fixed, and after the two are separated, the child part and the parent part do not interfere with each other. When one sub-part or parent part is arranged on the rotating shaft 142, the bed board 300 and the patient support part 400 are respectively provided with a plurality of matching sub-parts or parent parts. At the same time, you can choose to connect with the bed board 300 or the patient supporting part 400 or the combination of the bed board 300 and the patient supporting part 400, and realize the connection of the bed board 300 through the connection of the matching sub-parts and the parent part or locking, or snapping, or teething. And/or the control of lifting, rotating and moving of the patient supporting part 400.

In this embodiment, a specific structural form of a child part and a parent part is provided:

The child part is the gear 148 arranged on the rotating shaft 142, and the mother part is the ring teeth arranged on the bed board 300 or the patient supporting part 400. Through the movement of the rotating shaft 142, the gear 148 enters into the ring teeth, and the two interact with each other. Engagement, the rotating shaft 142 and the bed board 300 or the patient supporting part 400 are circumferentially fixed, and the rotating shaft 142 can drive the bed board 300 and/or the patient supporting part 400 to rotate.

The axial positioning assembly includes a positioning assembly and a rotating device.

The positioning assembly includes a first connecting rod and a second connecting rod that are hinged to each other. The first connecting rod is hinged to the gear 148, and the other end is hinged to the rotating device. The angle of the connecting rod will change, and the hinge ends of the first connecting rod and the second connecting rod will protrude. When the hole is located at the inner side of the ring teeth), the circular diameter formed by a plurality of raised points is larger than the diameter of the gear 148, and can be stuck on the inner side of the ring teeth on the gear 148 and the bed board or the patient's supporting part, and the rotating shaft 142 The axial position between the bed body 200 or the patient supporting part 400 is realized.

The telescoping rod 149 is installed in the hollow shaft, one end is connected with the ring rack 146, and the other end is rotatably connected with the rotating device, and can drive the rotating device to move telescopically and synchronously.

Specifically, the rotating device includes a rotating member and hinged ears.

The rotating part is a sleeve, a rotating ring or a bearing etc. sleeved on the end of the telescopic rod 149, which rotates in the circumferential direction relative to the telescopic rod 149 and is fixed in the axial direction.

Specifically, the gear 148 (female part) is arranged at the end of the rotating shaft 142, the first connecting rod is hinged to the gear 148, and the second connecting rod is hinged to the hinge ear on the rotating member.

It should be noted that the function of the telescopic rod 149 is only to control the angle between the first connecting rod and the second connecting rod, and to control the folding of the two rods or straight expansion.

When the rotating device is working, the telescopic rod 149 is installed in the rotating shaft 142, and the rotating shaft 142 rotates, and the first connecting rod, the second connecting rod and the rotating device rotate synchronously with the rotating shaft 142, and the telescopic rod 149 does not rotate. The assembly is connected with the telescopic rod 149 through the rotating device, which can prevent the positioning assembly from affecting the rotation of the rotating shaft 142, and the rotating shaft 142 can rotate smoothly.

The positioning assembly includes a plurality of first connecting rods and a plurality of second connecting rods, and the plurality of first connecting rods and the plurality of second connecting rods are hinged to each other through respective one ends to form a plurality of assemblies, and the plurality of assemblies are all along The axial setting of telescoping rod 149.

The other ends of the plurality of first connecting rods are hinged to the gear 148, and the other ends of the plurality of second connecting rods are hinged to the rotating device. The telescopic rod 149 drives the rotating device to move, and the movement of the rotating device drives the second connecting rod relative to the first connecting rod. The change in angle between a link.

Specifically, when the telescopic rod 149 is stretched and retracted relative to the rotating shaft 142, the hinges of the multiple first links and the multiple second links can be relatively It protrudes toward the direction away from the telescopic rod 149, or expands toward the direction close to the telescopic rod 149.

In actual use, the gear 148 first enters the ring teeth, and when the first connecting rod and the second connecting rod cross the ring teeth, when the telescopic rod 149 retracts, the hinge ends of the first connecting rod and the second connecting rod protrude The diameter of the protruding structure is larger than the inner diameter of the ring teeth, and the protruding structure is clamped on the inner side of the ring teeth to form an axial limit between the rotating shaft 142 and the bed body 200 or the patient supporting part 400 .

The fixed movement of the bed board 300 and/or the patient supporting part 400 on the bed body 200 can be limited by the gear 148 synchronously piercing the annular teeth on both sides of the bed board 300 and the patient supporting part 400 and synchronously clamping the positioning components Position, that is: when the robot 100 drives the bed board 300 and/or the patient supporting part 400 to lift, rotate, and move in the space on the bed body 200, no displacement will occur, and the bed board 300 and/or the patient supporting part 400 will not be displaced. 400 may collide with the bed body 200.

To sum up, in one embodiment, the sub-part is the gear 148 on the rotating shaft 142, and the mother part is the ring teeth arranged on the bed board 300 or the patient supporting part 400, through the gear 148 and the ring teeth Mesh to realize the circumferential fixation between the rotating shaft 142 and the bed body 200 and the patient supporting part 400, and realize the rotation shaft 142 and the bed body 200 through the cooperation of the first connecting rod and the second connecting rod with the positioning hole in the parent part. 1. The axial direction (rotation axis) between the patient supporting parts 400 is fixed. Realize the connection between the rotating shaft 142 and the bed body 200 and the patient supporting part 400, the rotating shaft 142 can drive the bed body 200 and the patient supporting part 400 to rotate, and the bed body 200 and the patient supporting part 400 can move together with the power part 120 .

In the above-mentioned embodiments, the connection between the rotating shaft 142 and the bed board 300 and/or the patient supporting part 400 is achieved through the combined use of two structures, one is the circumferential positioning realized by the combined structure of the child and the mother, The other is an axial positioning component to achieve axial positioning. This is only an implementation form provided by this embodiment, and the connection form between the rotating shaft 142 and the bed board 300 and/or the patient supporting part 400 can also be improved according to actual needs.

As shown in Figure 2b, it should be noted that the hollow shaft used for the rotating shaft 142 is used in conjunction with the above-mentioned axial positioning assembly. Of course, the rotating shaft 142 can also use a solid shaft. When the rotating shaft adopts a solid shaft, a pair of The structural form of the female connector is changed, such as the use of locking, or snapping, or a female-female connector with a toothing function to realize the connection between the rotating shaft and the bed board 300 and/or the patient supporting part 400, that is to say, what kind of The structural form of the rotating shaft or the mother-in-law connector, as long as it can realize the connection and separation of the rotating shaft bed board 300 and/or the patient supporting part 400, and after the rotating shaft is connected with the bed board 300 and/or the patient supporting part 400, it can drive The bed board 300 and/or the patient supporting part 400 can move and rotate, and only need to define a fixed space on the bed body.

Bed 200

The bed body 200 includes two headboards 210, a bed frame 220, a placement frame and a limiting structure.

The two headboards 210 are arranged symmetrically.

The bed frame 220 and the placement frame are arranged in layers between the two headboards 210 , and the bed board 300 and/or the patient supporting part 400 are arranged on the bed frame 220 and/or the placement frame.

The bed frame 220 and the placement frame are frame-type structures, or support structures arranged at the end of the head of the bed. Specifically, the bed frame 220 adopts a frame structure, the placing frame adopts a support board, and the bed frame 220 is arranged on the upper side of the support board at intervals.

For example, during the use of the treatment bed, only one of the bed board 300 and the patient supporting portion 400 is used, one of the bed frame 220 and the placing frame is used to place the bed board 300 , and the other is used to place the patient supporting portion 400 .

Both headboards 210 include an inner bedside frame 211 and an outer bedside frame 212 , and the inner bedside frame 211 is arranged inside the outer bedside frame 212 .

The limit structures are correspondingly arranged on the inner bedside frame 211 and the outer bedside frame 212 , and one robot 100 runs in each limit structure.

A rotating shaft is arranged in the middle of each bedside 210, and the two ends of the rotating shaft are respectively connected to the inner bedside frame 211 and the outer layer headboard frame 212.

The rotating shaft is used to install the drag chain, one end of the drag chain is connected to the rotating shaft, the other end of the drag chain is connected to the robot 100, and various cables on the robot 100 pass through the drag chain along the inner bed head frame 211 or the outer bed head frame. 212 is laid, and connected to the motor driver and PLC module in the power distribution cabinet, and then connected to the display screen. When the robot 100 is running in the bedside 210, one end of the drag chain rotates around the shaft, and the other end moves with the robot 100, and in Driven by the robot 100 , various cables move synchronously with the robot 100 , which meets the requirement that the power supply of the robot 100 during operation and that the cables do not interfere with the operation of the robot 100 .

The bed board 300 and/or the patient supporting part 400 can place the bed board 300, the patient supporting part 400 or the combined structure of the bed board 300 and the patient supporting part 400 on the bed frame 220 or place On the frame, and then can realize the position change on the bed frame 220 and on the placement frame.

It should be noted that in order to improve the stability of the connection between the bed board 300, the patient supporting part 400 and the bed frame 220, the bed board 300, the patient supporting part 400 and the bed frame are connected by a fixing device, and the fixing device is a positioning protrusion and a positioning The structure of groove matching, or the structure of positioning pin and positioning hole matching. That is, as long as the fixing device is a structure that can realize connection and disconnection between the bed board 300 or the patient supporting part 400 and the bed frame 220 , the bed board 300 and the patient supporting part 400 .

The limiting structure includes a track frame 213 and a track 214 .

The outer bedside frame 212 includes two first outer ring support frames 2121 and a first inner ring support frame 2122 that are nested in each other. The inner bedside frame 211 includes two second outer ring support frames 2111 and a second inner ring support frame 2112 which are nested in each other. The first outer ring support frame 2121 and the second outer ring support frame 2111 are symmetrically arranged, and the first inner ring support frame 2122 and the second inner ring support frame 2112 are symmetrically arranged.

The track frame 213 includes an inner ring track frame 2131 and an outer ring track frame 2132 .

Both the first outer ring support frame 2121 and the second outer ring support frame 2111 are provided with an outer ring track frame 2132, and the two outer ring track frames 2132 form an outer track ring.

Both the first inner ring support frame 2122 and the second inner ring support frame 2112 are provided with an inner ring track frame 2131, and the two inner ring track frames 2131 form an inner track ring.

The inner track ring and the outer track ring form a relatively closed track frame.

The section of the track frame is an L-shaped structure, including two ends and two inner planes, the two inner planes are respectively the first inner plane and the second inner plane, and the two ends are respectively the first end and the second end .

The first inner plane is connected to the second plane, the first end is located at the end of the first inner plane, the second end is located at the end of the second plane, and the track is arranged on the first inner plane in a rack shape.

The first ends of the two L-shaped outer ring track frames 2132 or inner ring track frames 2131 are oppositely arranged, and the second inner planes are oppositely arranged.

In the same bedside frame (the inner bedside frame 211 or the outer bedside frame 212 ), the second ends of the two outer ring track frames 2132 and the inner ring track frame 2131 are oppositely arranged, and the first inner planes are oppositely arranged.

A robot 100 is respectively arranged in the track frames of the two bedsides, and the track frames and the robot 100 on the two bedsides are symmetrical.

The power part 120 on both sides of the robot 100 runs on the inner orbital ring and the outer orbital ring respectively, and a plurality of power wheels 124 and driven wheels 126 on both sides of the robot 100 are connected to the inner ring track frame 2131 and the outer ring track frame 2132 respectively. A track connection on an inner plane.

Positioning wheels 125 are arranged on both sides of the robot 100, and a plurality of positioning wheels 125 abut against the second inner plane on the inner ring track frame 2131 and the outer ring track frame 2132 respectively, for controlling the lateral position of the robot .

The speed of the power wheels 124 running on the two bedside outer ring track frames 2132 is the same, and the speed of the power wheels 124 running on the two bedside inner ring track frames 2131 is the same.

The power wheels running on the two bedside inner ring track frames 2131 and the outer ring track frame 2132 can run at constant speed or differential speed. This ensures that the two robots run synchronously.

Specifically, the power wheels 124 running on the inner ring track frame 2131 and the outer ring track frame 2132 of the same robot run at equal or differential speeds. For example, when the inner ring track frame 2131 and the outer ring track frame 2132 have an arc segment and a straight line segment, the same robot 100 along the inner ring track frame 2131 and the outer ring track frame 2132 in the straight line segment have the same speed. . When in the arc section, the same robot 100 runs at a differential speed along the power wheels 124 running on the inner inner ring track frame 2131 and the outer ring track frame 2132 to realize turning.

In actual use, the track frame 213 and the track 214 both include a straight line segment and an arc segment, and the arc track frame and the track 214 are arranged in groups according to the size of the arc R value. The outer ring track frame 2132 and the outer ring track frame The R value of the track on 2132 is greater than the inner ring track frame 2131, and the R value of the track on the inner ring track frame 2131. The R values of the outer ring track frame 2132 and the track 214 located at the same position of the outer bed head frame 212 are equal, and the R values of the inner ring track frame 2131 and the track 214 located at the same position of the inner bed head frame 211 are equal.

The track frame is G type, specifically, it includes a lower straight track, an upper straight track, a left straight track, a right straight track and an arc track.

The lower straight track and the upper straight track are arranged at intervals and oppositely, and the left straight track and the right straight track are arranged at intervals and oppositely.

The lower straight track, the right straight track, the left straight track and the right straight track are arranged in sequence, and the ends of two adjacent tracks are connected by an arc track.

In addition, the specific dimensions of the lower straight track, the upper straight track, the left straight track, the right straight track and the arc track are set according to actual needs. Ultimately, it needs to be ensured that the robot 100 can drive the bed board 300 and/or the patient supporting part 400 to complete the rotation of the movement. That is to say, the final size of each guide rail needs to provide enough space for the movement and rotation of the bed board 300 and/or the patient supporting part 400 , and complementarily interfere during the movement.

One side of the track of the robot 100 is provided with equipment such as a power distribution cabinet, an operating table and a locker. A space 215 for placing a power distribution cabinet and a space 216 for an operation table are arranged on the head of the bed 210 .

Patient support 400

Referring to FIG. 7 to FIG. 9 , the patient supporting part 400 includes a human body ecological treatment cover, a mounting frame and a fixing frame 460 (refer to FIG. 1 ).

The human body ecological treatment cover is set as a structural part conforming to the principle of human body ecology, including arm ecological cover 410, torso ecological cover 420, leg ecological cover 430, head ecological cover and mandible ecological cover 450, according to the human body through the connection structure. The ecological form of the patient is installed on the mounting frame, which can separate and restrain the various parts of the patient in the human body ecological treatment cover according to the human body ecological structure, avoiding the extrusion and collision between the various parts of the patient's body during the conversion of the pitching posture .

The human body ecological treatment cover is installed on the installation frame through the connecting structure, and the installation frame is connected with the fixed frame 460 .

The mounting frame is a structure composed of support pipes or support rods, and the connecting structure includes connecting pieces such as connecting plates, screws, and bolts.

The fixing frame 460 has a rectangular structure, and both ends of the fixing frame 460 are provided with sub-parts or parent parts of the linkage assembly. In this embodiment, the sub-parts are arranged on the fixing frame.

The upper and lower sides of the fixing frame 460 are provided with fixing structures, and the fixing device can combine the fixing frame 460 and the bed board 300 as a whole, or make the patient supporting part be fixed on the bed frame 220 or the placement frame. The fixing device is a positioning protrusion, a positioning hole, or a pin, a pin hole and the like that can realize combination and separation.

The human body ecological cover can separate the patient's head, jaw, arms, legs and torso according to the ecological structure of the human body through the fixed combination of the fixed frame 460 and the bed board 300 when the patient is lying on his back on the bed board 300. At this time, the arms are not in contact with the trunk, left leg and right leg, and the patient does not touch during and after turning over 180 degrees from supine to prone.

Arm Eco Cover 410

The arm ecological cover 410 is a groove-shaped structure, and the arm ecological cover 410 includes a large arm and a small arm. The large arm is hinged with the shoulder position of the trunk ecological cover 420, and the small arm is connected with the trunk ecological cover 420 abdomen. Swipe to connect.

The arm ecological cover 410 also includes a hinge structure and a sliding part.

The hinged structure can be structures such as hinges and rotating shafts. The shoulder of the trunk ecological cover 420 is connected with the upper end of the upper arm of the arm ecological cover 410 through a hinge structure, so that the arm ecological cover 410 is hinged on the trunk ecological cover 420. and can perform activities.

The sliding part includes a chute and a slider.

The chute is arranged on the torso ecological cover, the slider is arranged on the forearm, and the slider is slidably connected with the chute. When the big arm rotates relative to the torso ecological cover, the small arm swings together with the big arm. Simultaneously, the forearm slides relative to the torso ecological cover. The sliding part plays a role of limiting the swing of the forearm.

The torso ecological cover 420 is a U-shaped structure as a whole, and the torso ecological cover 420 includes a connection structure, two ports up and down, a neck bracket, a double arm connection port, a double arm hinge device, a double arm chute and a chest in a concave arc shape. and abdominal ecological structure.

The inner side of the trunk ecological cover 420 is the inside of the groove of the U-shaped structure, and the outer side is the outside of the U-shaped structure. The bottom surface of the U-shaped structure is a concave curved surface. Specifically, the ecological structure of the chest and abdomen is provided with a concave curved surface according to the ecological state of the abdomen and chest after the human body is prone, which can provide support for the abdomen and chest of the patient after prone. And can reduce pressure and increase breathing rate.

The connecting structure is arranged on the outside of the trunk ecological cover 420 and is used for connecting the trunk mounting frame 421 . The trunk mounting frame 421 is a tubular or rod-shaped structure, and the trunk mounting frame 421 is fixedly connected with the fixing frame 460 . The connecting structure 470 includes arc-shaped mounting plates and other structures used to connect two parts. One side of the arc-shaped mounting plate is fixedly connected with the trunk ecological cover 420, and the other side of the arc-shaped mounting plate is attached to the trunk portion mounting frame 421. Then fix it with bolts.

The upper port has a semi-circular structure and is set at the neck position corresponding to the human body. The lower port is an open port and is set at the lower abdomen and crotch position of the corresponding human body. A concave arc is arranged in the middle of the lower port.

The neck bracket is in an arc-shaped structure, symmetrically arranged on the semicircular structure of the neck, and the double-arm connection port is used for the double arms of the human body to extend into the arm ecological cover.

The double-arm articulation device is arranged on the outside of the shoulder of the trunk part ecological cover, and is used to hinge the arm part ecological cover.

The leg ecological cover 430 includes a left leg ecological cover, a right leg ecological cover and a leg installation frame 431 .

Both the left leg ecological cover and the right leg ecological cover include a U-groove structure and a connecting structure 470, the U-groove structure includes an open end at the upper end, and an open end of the thigh and a calf at both ends of the left leg ecological cover and the right leg ecological cover open end.

The size of the left leg ecological cover and the right leg ecological cover are gradually reduced from the open end of the thigh to the open end of the calf, which conforms to the ecological structure principle of human ecological structure that the radial value of the thigh is greater than the radial value of the calf, and can completely Butt wraps the patient's leg without causing compression.

The connection structure of the legs includes a left leg connection structure and a right leg connection structure. The connecting structure of the left leg and the connecting structure of the right leg are mounting plates. Both the ecological cover for the left leg and the ecological cover for the right leg are provided with mounting plates. The leg mounting frame 431 is a tubular structure, and the mounting plate is bonded to the tubular structure and then fixed by bolts. The leg mounting bracket 431 is installed on the fixing bracket 460, and the fixing bracket 460 can be fixedly connected with the bed board 300 or the bed frame 220.

The head ecological cover includes a head and face ecological cover 440 , a mandibular ecological cover 450 , a support structure 480 and a head mounting frame 490 .

The head and face ecological mask 440 has a concave arc structure, which is set as a transparent structure corresponding to the eyes, mouth and nose of the human body, which can expose the patient's eyes, mouth and nose. The abutment support and wrapping can realize the immobilization and control of the patient's head.

The head and face ecological cover 440 is provided with a connecting structure 470 on the outside, which is used for connecting with the supporting structure 480 .

The mandible ecological cover 450 includes a mandible supporting part 451 , a control piece 452 and a rotating part 453 .

The mandible supporting part 451 is configured to conform to the shape of the human mandible, and is used to wrap the patient's mandible and support the patient's mandible.

The mandibular supporting part 451 has a concave arc structure, including a lower base plate and an upper end opening.

The side plates at the front and rear sides and the left and right ends form an upper opening of an arc structure, and the length of the side plates at the front and rear sides is greater than the length of the side plates at the left and right ends.

The bottom plate at the lower end and the side plate surround and form an accommodating groove with an upper port at the upper end. The accommodating groove can allow the patient's mandible to enter, and the circumference of the lower end base plate is smaller than the circumference of the upper port. The lower end base plate can abut and support the bottom of the patient's mandible, and wrap and support the bottom of the mandible; when the patient's mandible After the bottom is in contact with the bottom plate of the mandibular ecological cover 450, the upper port can wrap and fix the corresponding part of the extension height of the patient's mandible to the jaw joint. It produces the beneficial effect that the patient's head can be fully fixed without causing harm to the patient.

The continuous control piece 452 includes two arc-shaped pieces, and the two ends of the mandibular supporting part 451 are respectively connected to an arc-shaped piece, and the arc-shaped pieces are inclined in a direction away from the mandibular supporting part, and the direction of inclination is the same as that of the mandible and the jaw of the human body. The direction of bone inclination is the same. The longer the arc-shaped piece is, the larger the distance between the two arc-shaped pieces is, which conforms to the inclination angle of the mandible in the state of human ecological engineering mandible and jaw joint connection.

One end of the arc-shaped piece is connected to the lower jaw supporting part, and the other end is connected to the support structure 480 through a rotating piece.

The support structure includes rods or tubes of circular, square, and flat strip structures. The support structure is arranged along the edge of the head and face ecological cover. The support structure 480 is connected with the head mounting frame 490, and the head mounting frame 490 is connected with the fixing frame 460. .

Specifically, the support structure 480 is made of round rods;

The support structure 480 includes a semicircular structure bent from a circular rod, and vertical rods arranged at both ends of the semicircular structure, and the vertical rods are hinged to the head mount 490 .

Both the head and face ecological cover 440 and the continuous control sheet 452 are connected to the semicircular structure, and the continuous control sheet 452 is arranged near the end of the semicircular structure.

The control piece 452 is connected to the support structure 480 through the rotating member 453 . The rotating part can rotate under the drive of the driving device, and drive the mandibular supporting part 451 to rotate relative to the head and face ecological cover 440 through the connecting control piece 452, so as to realize the movement of approaching or moving away.

The driving device includes a manual rotation mechanism and an electric rotation mechanism. Both the manual rotation mechanism and the electric rotation mechanism can drive the continuous control piece 452 to rotate, and can be fixed at any position of its rotation track. The manual rotation mechanism includes a knob, and the electric rotation mechanism includes a motor. .

Bed board 300

The bed board 300 includes a bed board frame, a fixing device, a beam and a supporting board.

The bed board frame is composed of a plurality of U-shaped groove structural members (such as channel steel) arranged horizontally and vertically, and the bed board 300 has a rectangular structure as a whole.

The U-shaped groove components are connected by connecting devices, which include arc-shaped corner connectors and straight-line connectors, which are used to connect the U-shaped groove structures into a rectangular structure, and can be disassembled and assembled for convenient transportation.

Specifically, the bed board 300 includes a frame structure composed of horizontal and vertical U-shaped grooves. The horizontal U-shaped grooves and the longitudinal U-shaped grooves are connected by angle connectors. Due to the long length of the longitudinal U-shaped grooves, they are divided into multiple sections. Straight line connectors are used between segments to facilitate disassembly and assembly. The angled connector is an angled plate structure, and the straight connector is a strip plate structure, and both the angled connector and the straight connector are connected to the U-shaped groove by bolts.

The fixing device includes a variety of structures such as a plug structure, a clamping structure, and an electromagnetic adsorption structure, and is used for the fixed connection between the bed board 300 and the patient supporting part 400, the bed frame 220 or the placement frame.

The U-shaped groove structure is provided with a connection port, and the fixing device is arranged in the U-shaped groove structure. The fixing device can be stretched relative to the connection port, and after being stretched out, it is connected with the bed body (bed frame 220 or placing frame) or the patient supporting part. After being retracted, the connection with the bed body or the patient supporting part is released. Multiple fixtures are controlled synchronously through linkages.

For example, the fixing device is a pin-type structure. Specifically, the fixing device includes a plug-in protrusion, and a plurality of plug-in protrusions are arranged on the same linkage rod. The linkage rod can move up and down under the drive of the driving device. When the rod moves up and down, the plurality of protrusions are driven to expand and contract relative to the connection port.

The drive structure includes an electric device and a manual device, which can control the up and down movement of the linkage rod.

The beam is arranged in the rectangular space of the bed frame, and the end of the beam is connected with the transverse or longitudinal U-shaped groove structure, and the supporting plate is arranged on the upper part of the bed frame and the beam.

Control System

The tilt conversion treatment table also includes a control system.

The control system includes a display screen installed on the bed body, a PLC control module, a motor driver and sensors.

The display screen, the motor driver and the sensor are all electrically connected with the PLC control module.

The display screen can input control instructions through the control keys, control the operation of the treatment bed and display the operation status of the treatment bed.

Motor drivers include power motor drivers, telescopic drive motor drivers, rotation motor drivers, and lock motor drivers.

The sensor includes a pulse sensor, and the pulse sensor can transmit the running and parking position of the robot, the state of telescopic linkage and rotation angle, and the stuck state of the linkage component to the PLC control module through the electric pulse signal.

The PLC control module includes a main control module and a sub-control module. The main control module is used to issue operation and stop instructions to each sub-control module, and can receive the operation status signal of each sub-control module, and can start the cooperation of each sub-control module in due course. Running and deciding to stop the running of several sub-control modules.

The sub-control modules include a power motor control module, a retractable motor control module, a rotating motor control module, a locking motor control module and an oral cavity control module.

The power control module includes two sets of power control modules A and B. Two sets of power control modules A and B are used to control the four power motors on the two robots respectively for group control. Part of the motor is divided into the first group of motors, and the two motors of the power part running along the inner ring track frame 2131 are divided into the second group of motors, and the A set of power control modules is used to control the first group of motors and send The external motors input the same control signal to make them run or stop synchronously. The B set of power control module is used to control the second group of motors and input the same control signal to the two motors of the second group of motors to make them run or stop synchronously, and can realize constant or differential speed for the two groups of motors speed control.

The telescopic motor control module is used to control the telescopic motor, the rotating motor control module is used to control the rotating motor, the locking motor control module is used to control the locking motor, the oral cavity control module is used to control the lower jaw motor, and the lower jaw motor (that is, the electric rotation The mechanism drives the continuous control sheet 452 to rotate, and the electric rotating mechanism is the lower jaw motor) to rotate or stop to control the opening and closing of the patient's oral cavity.

Referring to FIG. 10 to FIG. 18 , in order to describe the working process of the above-mentioned medical bed in detail, this embodiment also provides a specific control method for the above-mentioned medical bed.

When the patient lying supine on the bed board 300 performs prone treatment.

First, the robot 100 moves the patient supporting part 400 above the patient, and engages the patient supporting part 400 with the bed board 300. During the movement, the patient supporting part 400 is driven to rotate by the rotating shaft to realize the patient supporting part. The posture adjustment of the patient support part 400 needs to be completed before the patient support part 400 is clamped with the bed board 300 , that is, the posture adjustment is completed before the patient support part 400 approaches the human body. That is to say, the opening of the patient supporting part 400 needs to be arranged downwards. When the patient supporting part 400 is docked with the bed board 300, the human body is covered in the human body ecological treatment cover.

Specifically, when a patient lies on the bed board 300 , in order to save space, the patient supporting part 400 is generally located on the lower side of the bed board 300 . The specific process of docking the patient supporting part 400 with the bed board 300 is that the robot 100 drives the patient supporting part 400 through the lower straight guide rail, the arc guide rail, the right straight guide rail, the arc guide rail, the upper straight guide rail, the arc straight guide rail and Left straight rail. Before entering the left straight rail, the robot 100 needs to drive the patient supporting part 400 to rotate in addition to driving the patient supporting part 400 to change the posture of the patient supporting part 400 .

After the patient supporting part 400 is docked with the bed board 300, the robot 100 is separated from the patient supporting part 400, and then docked with the bed board 300. The robot 100 drives the bed board 300, the patient and the patient supporting part 400 to move together. At this time, the bed board 300 is detached from the bed frame. When the robot 100 drives the three to move to the upper straight guide rail, they stop moving, and then drive the three to turn over, so that the patient supporting part 400 is located at the lower side, and the bed board 300 is located at the upper side. At this time, the patient lies prone on the human body ecological treatment cover.

It should be noted that the timing when the robot 100, the bed board 300, the patient and the patient supporting part 400 are turned over together is determined according to the size of the track frame, provided that there is enough space for the three to turn over. When the robot 100 drives the patient supporting part 400 to dock with the bed board 300, it can directly drive the bed board 300 and the patient to rise without detaching from the patient supporting part; It is enough to control the speed ratio of lifting and rotating and avoid the interference of the bed frame on the turning, which can relatively save working time and improve work efficiency.

After the bed board 300, the patient and the patient supporting part are overturned, the robot 100 drives the three to return to the bed frame 220, so that the patient supporting part is docked with the bed frame.

After the docking of the patient supporting part and the bed frame is completed, the lock between the patient supporting part 400 and the bed board 300 is released, and the robot 100 drives the bed board 300 to move to the lower straight track along the track frame, and the bed board 300 is placed on the placement frame. It should be noted that when the robot 100 drives the bed board 300 to move to the lower straight track, the attitude of the bed board 300 will be adjusted synchronously.

It should be noted that: the patient supporting part and the placing frame or the bed frame, the patient supporting part and the bed board 300, and the bed board 300 and the placing frame or the bed frame are all locked and unlocked by the fixing device. A firm connection between the above structures can be achieved, and separation can also be performed as required.

To sum up, the robot 100 can not only drive the patient supporting part to move above the patient's body, but also drive the bed board 300, the patient, and the patient supporting part to lift and rotate after the patient supporting part is firmly connected with the bed board 300. Complete the need for the patient to lie prone. After the patient supporting part is fixedly connected with the bed frame, the patient supporting part is separated from the bed board 300. At this time, the robot 100 drives the bed board 300 to move and controls the angle between the bed board 300 and the medical bed to realize the storage of the bed board 300. The bed board 300 is placed on the shelf below the bed frame. At this time, the patient lies prone in the patient supporting part above the bed board 300. The bed board 300 can facilitate the placement and arrangement of various treatment equipment, and greatly reduces the burden on the medical staff. The working intensity enables the bed board 300 with a large area to be optimally placed, optimizes the use of ward space, saves manpower, time and space costs, and this process does not require too much participation of medical staff, which solves the problem in the prior art. Existing problems.

Further, through the movement of the robot along the set track and the structure of the robot itself, the bed board and the patient supporting part or the combination of the bed board and the patient supporting part can be selectively connected and controlled, thereby changing the position of the bed board and the patient supporting part. The posture and position of the bed body, through the human body ecological cover, can carry out separate and overall restraint on the patient's body according to the specific principles of human body ecology, avoiding mutual extrusion and collision of various parts of the patient's body during the conversion process of pitching and pitching, and realizing In order to safely switch the supine posture of the patient in the ecological cover, after the patient lies prone, the bed board is moved and stored, which not only reduces the work of the medical staff, but also improves the therapeutic effect of the patient after lying prone. Compared with the prior art, changing the patient's pitch posture and treating the bed board manually has the advantages of convenience, quickness, time saving and labor saving, making the patient safer and more comfortable, and improving the treatment effect.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (15)

1. A treatment bed with pitch-down conversion, characterized in that it comprises a robot, a bed body, a bed board and a patient supporting portion; The robot, the bed board and the patient supporting part are arranged on the bed body; The robot includes a body, a power part, a connecting variable part and a telescopic device; The power part is arranged on the outside of the body, and the power part can make the robot move on the bed body and park at any position, so as to drive the bed board and/or the patient supporting part to move; The connection variable part is arranged between the body and the power part, and is used to connect the body and the power part, and can change the connection distance and the connection angle between the body and the power part when the robot moves; The telescopic device is arranged on the body, can extend or retract from the body, and can be connected or separated from the bed board and/or patient supporting part by stretching, and can control the bed board and/or patient supporting part. Support part, lifting, rotating, shifting and changing of placement posture on the bed body; The telescopic device includes a telescopic structure and a rotating device; The rotating device includes a rotating motor, a rotating shaft and a linkage assembly, one end of the rotating shaft is connected to the rotating motor, and the linkage assembly is installed at the other end; The linkage assembly includes child and female combined structural parts and an axial positioning assembly; The connection between the rotating shaft and the bed board and/or the patient supporting part is achieved through the combined use of two structures, one is the circumferential positioning realized by the child and female combined structural parts, and the other is the axial positioning Components achieve axial positioning; The child and mother type combined structural parts include a mother part and a plurality of child parts. The main part and the female part are connected by locking, snapping or toothing; and the movement of the telescopic plate on the body can realize the abutment or separation of the female part of the rotating shaft and the child part on the bed board or the patient supporting part, and in Driven by the rotating shaft, the rotation angle and direction of the bed board and/or the patient supporting part can be controlled. 2 . The treatment bed with tilt conversion according to claim 1 , wherein the machine body comprises a plurality of plate-shaped structural members, and the ends of adjacent plate-shaped structural members are abutted to form a frame structure. 3 . 3. The conversion treatment bed according to claim 1, characterized in that, the power part comprises a power board, a power motor, a power wheel and a driven wheel; The power motor, power wheel and driven wheel are arranged on the power plate, the power wheel rotates under the drive of the power motor, the driven wheel rotates or stops with the power wheel, and the power plate is hinged to the connecting variable part. 4. The conversion treatment bed according to claim 1, characterized in that, the engaging variable part comprises an outer sleeve, an inner sleeve and a spring; The inner sleeve is inserted between the outer sleeve and the spring, and the inner sleeve and the outer sleeve can move relatively under the action of elastic force and/or external force; One of the inner sleeve and the outer sleeve is hinged with the power plate, and the other is connected with the machine body. 5. The elevation conversion treatment bed according to claim 1, characterized in that, The telescopic structure includes a telescopic plate, a telescopic drive device and a sliding assembly; The telescopic plate is arranged on the body through a sliding assembly, and the telescopic driving device drives the telescopic plate to reciprocate on the body; The sliding assembly can make the telescopic plate move stably along the preset direction on the body; The rotating device is arranged on the telescopic plate, Through the movement of the telescopic plate, the rotating shaft protrudes from the body and connects with the linkage assembly on the bed board or the patient supporting part, and the rotating motor drives the rotation of the rotating shaft to drive the bed board and the patient supporting part connected to the rotating shaft part or the combination of the bed board and the patient support part rotates. 6. The conversion treatment bed according to claim 5, characterized in that, the rotating shaft is a hollow shaft; The linkage assembly includes a locking drive device; The locking driving device includes an annular rack, a locking motor and a telescopic rod; The locking motor is arranged on the telescopic plate and has a locking function. The motor shaft of the locking motor is provided with a gear, and the outer teeth of the gear on the motor shaft mesh with the ring rack. The forward or reverse rotation of the motor can make the ring rack move back and forth; The telescopic rod is installed in the hollow shaft, one end is connected to the ring rack, and the other end is connected to the axial positioning component, and driven by the ring rack, the axial positioning component can be driven to expand and contract; The axial positioning assembly includes a positioning assembly and a rotating device; The positioning assembly includes two first and second connecting rods each equipped with two connecting ends, the first connecting rod and the second connecting rod are hinged to each other through one connecting end respectively, and the other connecting rod of the first connecting rod The connecting end is hinged to the parent part on the rotating shaft, and the other connecting end of the second connecting rod is hinged to the rotating device; The rotating device includes a rotating part and a hinged ear. The rotating part can be rotatably connected to the telescopic rod. The hinged ear is hinged to the positioning assembly, and can realize the approaching or closing of the relative child part or parent part through the expansion and contraction of the telescopic rod. Move away, and control the mutually hinged ends of the first link and the second link to fold convexly or straightly unfold. 7. The conversion treatment bed according to claim 1, wherein the bed body comprises two headboards, a bed frame, a placement frame and a limiting structure; The two headboards have the same structure and are arranged symmetrically; The bed frame and the placement frame are layered and arranged between the two headboards; The bed board and/or the patient supporting portion are arranged on the bed frame and/or the placement frame; The head of the bed includes an inner bedside frame and an outer bedside frame, and the inner bedside frame is arranged on the inner side of the outer bedside frame; The position-limiting structures are correspondingly arranged on the inner bedside frame and the outer bedside frame, and one robot runs in each position-limiting structure; The bed board and/or patient supporting part can place the bed board or the patient supporting part or the combined structure of the bed board and the patient supporting part on the bed frame or the placement frame through the movement of the robot in the limiting structure, and can realize Position change on bed frame and shelf. 8. The conversion treatment bed according to claim 7, wherein the position-limiting structure comprises a track frame and a track; The outer bedside frame includes two mutually nested first outer ring support frames and a first inner ring support frame, and the inner layer bedside frame includes two mutually nested second outer ring support frames and a first inner ring support frame. Second inner ring support frame; The first outer ring support frame and the second outer ring support frame are symmetrically arranged, and the first inner ring support frame and the second inner ring support frame are symmetrically arranged; The track frame includes an inner ring track frame and an outer ring track frame; Both the first outer ring support frame and the second outer ring support frame are provided with an outer ring track frame, and the two outer ring track frames form an outer track ring; Both the first inner ring support frame and the second inner ring support frame are provided with an inner ring track frame, and the two inner ring track frames form an inner track ring; The inner track ring and the outer track ring form a relatively closed track frame; The cross-section of the track frame is an L-shaped structure, including two ends and two inner planes, the two inner planes are respectively the first inner plane and the second inner plane, and the two ends are respectively the first end and the second inner plane. Ends; The first inner plane is connected to the second inner plane, the first end is located at the end of the first inner plane, the second end is located at the end of the second inner plane, and the track is arranged on the first inner plane; The first ends of the two L-shaped outer ring track frames or the inner ring track frames are arranged oppositely, and the second inner planes are oppositely arranged; In the same bedside frame, the second ends of the two outer ring track frames and the two inner ring track frames are oppositely arranged, and the first inner planes are oppositely arranged; A robot is installed in the track frame of the two bedsides, and the track frame and the robot on the two bedsides are symmetrical; The power parts on both sides of the robot run on the inner track ring and the outer track ring respectively, and a plurality of power wheels and driven wheels on both sides of the robot are connected with the first inner plane on the inner ring track frame and the outer ring track frame respectively. track connection; Both sides of the robot are provided with positioning wheels, and a plurality of positioning wheels abut against the second inner plane on the inner ring track frame and the outer ring track frame respectively to control the lateral position of the robot; The speeds of the power wheels running on the two bedside outer ring track frames are the same, and the speeds of the power wheels running on the two bedside inner ring track frames are the same; The power wheels running on the two bedside inner ring track frames and the outer ring track frames can run at constant or differential speeds. 9. The conversion treatment bed according to claim 7, characterized in that, the patient supporting part comprises a human body ecological treatment cover, a mounting frame and a fixed frame; The human body ecological treatment cover includes an arm ecological cover, a torso ecological cover, a leg ecological cover and a head ecological cover. The human body ecological treatment cover is installed on the mounting frame through a connecting structure, and can separate various parts of the patient according to the human body ecological structure within the constraints of the formula; The installation frame is connected to the fixed frame; The fixing frame has a rectangular structure, and the fixing frame includes a fixing device, which can combine the patient supporting part and the bed board as a whole, or fix the patient supporting part on the bed frame or the placing frame. 10. The conversion treatment bed according to claim 9, characterized in that, the arm ecological cover is in a groove-like structure, and the arm ecological cover includes a large arm and a small arm; The large arm is hinged with the shoulder of the ecological cover of the trunk, and the small arm is slidingly connected with the abdomen of the ecological cover of the trunk; The ecological cover of the torso has a U-shaped structure as a whole, including a connecting structure, an upper port, a lower port, a neck bracket, a double-arm connection port, a double-arm hinge device, a double-arm chute, and a concave arc-shaped chest and abdomen ecological cover. structure; The inner side of the trunk ecological cover is the inside of the groove of the U-shaped structure, and the outer side is the outside of the U-shaped structure; The connecting structure is arranged on the outside of the trunk ecological cover, and is used for connecting the trunk mounting frame; The upper port has a semicircular structure and is arranged at the neck position corresponding to the human body; the lower port is an open port and is arranged at the lower abdomen and crotch position of the corresponding human body, and a concave arc is arranged in the middle of the lower port; The neck bracket has an arc-shaped structure and is symmetrically arranged on the semicircular structure of the neck, and the double-arm connection port is used for extending the arms of the human body into the arm ecological cover; The double-arm hinged device is arranged on the outside of the shoulder of the ecological cover of the trunk part, and is used to hinge the ecological cover of the arm part; ; The concave arc-shaped chest ecological structure includes two concave spherical structures on the left and right, which are used to support the patient's chest; The concave arc-shaped abdomen ecological structure is arranged on the abdomen position of the human body corresponding to the trunk ecological cover. 11. The conversion treatment bed according to claim 9, wherein the leg ecological cover comprises a left leg ecological cover, a right leg ecological cover and a leg mounting frame; Both the left leg ecological cover and the right leg ecological cover include a U groove structure and a connecting structure; The U-groove structure includes two ends, the open end of the thigh and the open end of the calf; The connection structure of the left leg ecological cover and the right leg ecological cover includes a left leg connection structure and a right leg connection structure, and the left leg connection structure and the right leg connection structure are both used to connect with the leg mounting frame. 12. The conversion treatment bed according to claim 9, wherein the head ecological cover comprises a head and face ecological cover, a mandibular ecological cover, a support structure and a head mounting frame; The head and face ecological mask has a concave arc structure, and the eyes, mouth and nose of the human body are set as transparent structures, and a connecting structure is provided on the outside for connecting with the supporting structure; The mandible ecological cover includes a mandible supporting part, a connecting piece and a rotating part; The mandibular supporting part has a concave arc structure, including a bottom plate at the lower end and an opening at the upper end; The lower bottom plate is an arc-shaped structure, and the front and rear sides, and the left and right ends are provided with side plates that go upward along the lower bottom plate and extend obliquely outward; The upper end openings of the arc-shaped structure are formed by the side plates at the front and rear sides and the left and right ends, and the length of the side plates on the front and rear sides is greater than the length of the side plates at the left and right ends; The continuous control piece includes an arc-shaped piece, and the two ends of the mandible supporting part are respectively connected to an arc-shaped piece, and the arc-shaped piece is inclined in a direction away from the mandibular supporting part, and the direction of inclination is the same as that of the mandible and the jaw of the human body. The direction of bone inclination is the same; One end of the arc-shaped sheet is connected to the lower jaw supporting part, and the other end is connected to the support structure through a rotating piece; The rotating part is installed on the supporting structure for connecting with the control piece, and driven by external force, the ecological cover of the lower jaw can be driven to rotate through the control piece. 13. The conversion treatment bed according to claim 1, wherein the bed board comprises a bed board frame, a fixing device, a beam and a supporting board; The bed board frame is composed of a plurality of U-shaped groove structural parts arranged horizontally and vertically, and the bed board has a rectangular structure as a whole; The cross beam is arranged in the rectangular space of the bed frame, and the end of the cross beam is connected with the transverse or longitudinal U-shaped groove structure, and the supporting plate is arranged on the upper part of the bed frame and the cross beam; The fixing device is arranged on the bed board frame and is used for fixedly connecting the bed body and the patient supporting part. 14. The conversion treatment bed according to claim 1, further comprising a control system; The control system includes a display screen installed on the bed body, a PLC control module, a motor driver and a sensor; The display screen, motor driver and sensor are all electrically connected to the PLC control module; The display screen can input control commands through the control buttons, control the operation of the treatment couch and display the current status of the treatment couch or various systems; The motor driver includes a power motor driver, a telescopic drive motor driver, a rotating motor driver and a locking motor driver; The sensor includes a pulse sensor, and the pulse sensor can transmit the running and parking position of the robot, the state of telescopic linkage and rotation angle, and the stuck state of the linkage assembly to the PLC control module through electric pulse signals. 15. The conversion treatment bed according to claim 14, characterized in that, the PLC control module includes a main control module and a sub-control module, and the main control module is used to issue operation and stop instructions to each sub-control module , and be able to receive the operation status signal of each sub-control module, and be able to start the cooperative operation of each sub-control module in time and decide to stop the operation of several sub-control modules; The sub-control module includes a power motor control module, a telescopic motor control module, a rotating motor control module, a locking motor control module and an oral cavity control module; The power motor control module includes two sets of power control modules A and B, and the two sets of power control modules A and B are respectively used to control the four power motors on the two robots in groups, and the two sets of power motors running along the outer ring track frame The two motors of the power part are the first group of motors, and the two motors of the power part running along the inner ring track frame are the second group of motors. A set of power control modules is used to control the first group of motors, and to the first group of motors Input the same control signal to the two motors of the second group of motors to make them run or stop synchronously. The B set of power control modules is used to control the second group of motors, and input the same control signal to the two motors of the second group of motors to make them run synchronously or stop, and can realize constant speed or differential speed operation control for the two groups of motors; The telescopic motor control module is used to control the telescopic motor, the rotating motor control module is used to control the rotating motor, the locking motor control module is used to control the locking motor, the oral cavity control module is used to control the mandibular motor, and The opening and closing of the patient's mouth is controlled by the rotation or stop of the jaw motor.

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