In order to ensure the stability of the injured during ambulance requirements, the principle of connecting rod mechanism, the stretcher has the function of adjusting the tilt angle, the agency should take the initiative to compensate for changes in the angle stretcher. In addition, in order to improve the stability of the cot bed, the symmetry of the size and mass distribution of the mechanism should be ensured as much as possible, including the geometric symmetry and mass uniformity of the mechanism in the direction of the rocking axis and the direction of the vertical rocking axis.

Based on this idea, the following basic principles have been established in the construction of the cot bed mechanical structure: the principle of uniform quality; the principle of minimum size; the principle of optimal organization. Using the principle of closed-loop feedback control, based on the principle of "detecting deviation and correcting deviation", the control system is designed as closed-loop feedback control system. Compared with the open-loop control system, closed-loop control system, although the structure is relatively complex, but its anti-interference ability, the same input calibration accuracy, you can use less precise components and devices to form a more accurate control system, reasonable Designing the controller allows the system to meet the requirements of a wide range of performance specifications.

Aiming at the secondary injury and the transportation stability caused by bumpy and rough terrain in the wounded rescue, a disassembly method is proposed and designed to rescue the sick and wounded in the wild, corridors and other uneven terrain The white balance stretcher bed, through the system planning, the mechanical structure design, the control system design and the experimental research, verified the effectiveness of the technical method. Through the research, the advantages of this cot are as follows: the linkage mechanism including the electric push rod is adopted to realize the simplification of the mechanism, the detachable overall structure and the carrying case are designed so as to make the cot be easy to carry and improve the rescue effectiveness. Using closed-loop feedback control principle, a self-balancing control system is designed. The tilt angle of the stretcher bed is detected in real time by using a high-precision tilt sensor. The high-performance ARM controller controls the movement of the electric push rod to meet the requirements of the wounded and sick Sexual requirements. Experiments carried on the stairs proved that the balance of the cot was functional.