Stretcher

A stretcher, which comprises:

• a support frame for supporting a patient;
• a pair of front legs rotatably coupled to the support frame around a first rotation axis, wherein each front leg supports a front wheel holder frame hinged to the respective front leg around a first oscillation axis parallel to the first rotation axis and supporting a front wheel resting on a rest plane, wherein the front wheel pivots around a respective first pivot axis orthogonal to the first oscillation axis;
• a pair of rear legs rotatably coupled to the support frame around a second rotation axis, wherein each rear leg supports a rear wheel holder frame hinged to the respective rear leg around a second oscillation axis parallel to the second rotation axis and supporting a rear wheel resting on the rest plane, wherein the rear wheel pivots around a respective second pivot axis orthogonal to the second oscillation axis;
• a handling arrangement for the front wheel holder frame and the rear wheel holder frame configured to vary, independently, an inclination of the front wheel holder frame around the first oscillation axis and of the rear wheel holder frame around the second oscillation axis;
• a control module operatively connected to the handling arrangement and configured to actuate the handling arrangement as to keep the respective first pivot axis and the respective second pivot axis always orthogonal to the rest plane,
• wherein the control module comprises or is associated with a sensor arrangement, including
• at least one first front angle sensor associated with the pair of front legs, wherein the first front angle sensor is configured to detect an angular position of the pair of front legs with respect to the support frame;
• at least one first rear angle sensor associated with the pair of rear legs, wherein the first rear angle sensor is configured to detect an angular position of the pair of rear legs with respect to the support frame;
• at least one second front angle sensor associated with at least one of the front wheel holder frame, wherein the second front angle sensor is configured to detect an angular position of the respective front wheel holder frame with respect to one of the respective front legs;
• and
• at least one second rear angle sensor associated with at least one of the rear wheel holder frame, wherein the second rear angle sensor is configured to detect an angular position of the respective rear wheel holder frame with respect to one of the respective rear legs,
• an actuation arrangement provided with a first front actuator, which moves the pair of front legs and which interconnects the support frame and the pair of front legs, and a first rear actuator which moves the pair of rear legs and which connects the support frame and the pair of rear
• wherein the handling arrangement comprises:
• a second front actuator for each front leg of the pair of front legs, wherein each second front actuator moves the front wheel holder frame and interconnects the respective front leg of the pair of front legs and the respective front wheel holder frame;
• and
• a second rear actuator for each rear leg of the pair of rear legs, wherein each second rear actuator moves the rear wheel holder frame and interconnects the respective rear leg of the pair of rear legs and the respective rear wheel holder frame;
• and wherein the control module comprises an electronic control unit operatively connected to the sensor arrangement, to the second front actuator and to the second rear actuator, wherein the electronic control unit is configured to perform the steps of:
• detecting a first front angle value by the first front angle sensor and a first rear angle value by the first rear angle sensor;
• determining a first front compensation angle value and a first rear compensation angle value on a basis of the first front angle value and of the first rear angle value detected;
• and
• commanding each second front actuator to perform a compensation rotation of the respective front wheel holder frame by the determined first front compensation angle value and/or each second rear actuator to perform a compensation rotation of the respective rear wheel holder frame by the determined first rear compensation angle value,
• wherein the determination step comprises calculating the first front compensation angle value and the second rear compensation angle value by the following formula:
• γ=90°−β−ξ;
• and a)
• θ=90°−α−ξ b)
• wherein γ is the first rear compensation angle, β is the first rear angle value, θ is the first front compensation angle, α is the first front angle value and ξ is an inclination angle of the support frame with respect to the rest plane.