CN103083142A - Fracture patient rescue robot - Google Patents
Fracture patient rescue robot Download PDFInfo
- Publication number
- CN103083142A CN103083142A CN2013100443715A CN201310044371A CN103083142A CN 103083142 A CN103083142 A CN 103083142A CN 2013100443715 A CN2013100443715 A CN 2013100443715A CN 201310044371 A CN201310044371 A CN 201310044371A CN 103083142 A CN103083142 A CN 103083142A
- Authority
- CN
- China
- Prior art keywords
- stretcher
- car body
- vehicle body
- human body
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a fracture patient rescue robot which is composed of a vehicle body and an actuating mechanism. The actuating mechanism comprises a lifting mechanism, a sliding stretcher and two operating arms of six degrees of freedom. The sliding stretcher has an upper layer and a lower layer, the lower layer is a protective shell and the upper layer is a belt drive device. The lifting mechanism is composed of a vehicle body telescopic connecting bar fixed with the vehicle body, a stretcher connecting bar fixed with a lower layer movable stretcher and a telescopic bar. One end of the vehicle body telescopic connecting bar is movably connected with one end of the stretcher connecting bar, both ends of the telescopic bar are respectively connected with the lower layer movable stretcher and the vehicle body, and the vehicle body telescopic connecting bar and the telescopic bar are respectively driven by a worm and gear. The two operating arms of six degrees of freedom are installed symmetrically at the front portion of the sliding stretcher. According to the sliding stretcher, full consideration is given to human body structure and injury particularity, the operational process of the double-position automatic registration and fusion scanning board meets standards of human body first-aid operations, and damage to the human body in an operational process is reduced to the maximum extent.
Description
Technical field
The present invention relates to public health emergency rescue and robotics field, more specifically, is a kind ofly to implement to withdraw the robot of task for the wounded to the hazardous area.
Background technology
At present, the technology types such as the normal jaw type that adopts of similar industrial end effector of robot, clip are adopted in the rescue robot actuator more, and this type of actuator is simple in structure, can realize fast the loading or unloading operation to relief goods.Yet, due to the particularity of organization of human body itself and be not suitable for carrying operation to human body, during particularly to fracture or spinal column wounded implementation and operation, very easily cause catastrophic effect even to cause wounded's permanent disability or death.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of be used to entering dangerous region, satisfies fracture or the spinal column wounded are implemented to rescue and it is withdrawn the rescue robot in hazardous area.
A kind of fracture of the present invention wounded rescue robot, be achieved by following technical proposals, formed by car body and actuator, described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, described slip stretcher divides the up and down two-layer, lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod of car body, form with fixing stretcher connecting rod and the expansion link of lower floor's movable stretcher, one end of one end of car body shrinking connecting-rod and stretcher connecting rod is flexibly connected, the expansion link two ends connect respectively lower floor's movable stretcher and car body, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; It is anterior that described two six degree of freedom motion arm symmetries are installed on the slip stretcher, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is comprised of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
Described slip stretcher upper strata tape drive mechanism is by driven by servomotor.
The present invention has following technique effect:
actuator of the present invention mainly is comprised of falling type slip stretcher and double operating arms supplementary structure, Main Function is to utilize double operating arms that people's incidence is lifted simultaneously, reach the purpose of effective protection wounded's head and cervical region, the stretcher upper strata (belt layer) of thereupon sliding moves forward to the operating position and utilizes the frictional force between conveyer belt and human body that human body is transported on the slip stretcher, make handling process avoid fracture or the spinal column wounded are caused secondary injury, by the optimization to the human body carrying capacity, for the fracture or the spinal column wounded optimum stress condition is provided, thereby can realize painless rescue.
The present invention has realized that by the layout to slip stretcher, double six degree-of-freedom motion arm the motion arm folding volume minimizes with launching volume ratio, has dwindled to greatest extent the volume of car body, thereby has improved the Local Adaptation of robot moving body.Two six degree of freedom motion arms are bracket isolated movement decoupling-structure, it has three translation freedoms and three rotational freedoms, be affixed on the mobile vehicle wallboard fully inboard when packing up, it is minimum this moment that it draws volume in, be threaded to the operating position outside the first joint during expansion, this moment, the working place reached maximum.
Rescue robot actuator of the present invention has taken into full account the particularity of organization of human body and damage, and its operating process meets human body first aid working specification, and has farthest reduced the damage that operating process causes human body.
Description of drawings
Fig. 1 is actuator front view of the present invention;
Fig. 2 is actuator contraction state figure of the present invention;
Fig. 3 is actuator working state figure of the present invention;
Fig. 4 is six degree of freedom motion arm structural representation of the present invention;
Fig. 5 is six degree of freedom motion arm motion schematic diagram of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with diagram.
As shown in Figure 1, fracture wounded rescue robot is comprised of car body and actuator, and actuator is installed on car body 1; mainly comprise elevating mechanism 2; slip stretcher upper strata tape drive mechanism 3, slip stretcher lower floor protection case 4, six degree of freedom motion arm 5 critical pieces such as grade form.Described slip stretcher divides the up and down two-layer, and lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod 6 of car body, form with fixing stretcher connecting rod 8 and the expansion link 9 of lower floor's movable stretcher, one end of one end of car body shrinking connecting-rod and stretcher connecting rod is flexibly connected, the expansion link two ends connect respectively lower floor's movable stretcher and car body, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; It is anterior that described two six degree of freedom motion arm symmetries are installed on the slip stretcher, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is comprised of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
Fig. 2 is the situation of slip stretcher in car, and two six degree of freedom motion arms are affixed on the mobile vehicle wallboard fully when packing up inboard, and it is minimum this moment that it draws volume in.
Fig. 3 is the situation that slip stretcher and motion arm launch fully.Described slip stretcher near human body after, levels moves forward simultaneously, the upper strata tape drive mechanism is that human body is created smooth friction free movement environment, thereby human body is moved on the slip stretcher so that minimum is stressed with running in the other direction.
As shown in Figure 3, after robot arrives and rescues the position, slip stretcher upper strata tape drive mechanism 3, slip stretcher lower floor protection case 4, extend the operating position together with six degree of freedom motion arm 5 under the effect of elevating mechanism 2, six degree of freedom motion arm 5 rotary expansions, its end effector is apery type curved surface, inserted by the human body head front end, lift simultaneously certain angle together with cervical region, slip stretcher upper strata belt drive unit 3 is together with protecting case 4 to move forward until contact with human body back, and six degree of freedom motion arm 5 is withdrawn human body and is back to the folding position afterwards; Slip stretcher upper strata belt drive unit 3 continues to move forward together with protection case 4, and simultaneously upper strata belt dressing 3 beginning opposite spins are until be transported to slip stretcher top with human body.
As shown in Figure 4, the six degree of freedom motion arm is comprised of six cradle heads, is respectively the first cradle head
, the second cradle head
, the 3rd cradle head
, the 4th cradle head 4
, the 5th cradle head
, the 6th cradle head
With end effector 7, its motion spinor satisfies relation
(form of presentation is theory of mechanisms spinor expression way), namely the 3rd joint is folding joint, folding rear each joint motions spinor is coplanar, makes it have best gathering volume.
As shown in Figure 5; when the six degree of freedom motion arm is organized work; executor tail end is inserted below human body by shoulders of human body; end and human body are fitted; human body head and shoulder are lifted simultaneously; " whipping effect " of having avoided neck to produce in handling process, the secondary damage of farthest having protected neck to cause.
The above is only practical application example of the present invention, is not should be used as structure and pro forma restriction to of the present invention.Every according to the technology of the present invention essence to any simple modification, equivalent variations and modification that above embodiment does, all still belong in the scope of technical scheme of the present invention.
Claims (2)
1. a fracture wounded rescue robot, is characterized in that, is comprised of car body and actuator, described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, described slip stretcher divides the up and down two-layer, and lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod of car body, form with fixing stretcher connecting rod and the expansion link of lower floor's movable stretcher, one end of one end of car body shrinking connecting-rod and stretcher connecting rod is flexibly connected, the expansion link two ends connect respectively lower floor's movable stretcher and car body, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; It is anterior that described two six degree of freedom motion arms layout is installed on the slip stretcher, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is comprised of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
2. fracture wounded rescue robot according to claim 1, is characterized in that, described slip stretcher upper strata tape drive mechanism is by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100443715A CN103083142A (en) | 2013-02-05 | 2013-02-05 | Fracture patient rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100443715A CN103083142A (en) | 2013-02-05 | 2013-02-05 | Fracture patient rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103083142A true CN103083142A (en) | 2013-05-08 |
Family
ID=48196631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100443715A Pending CN103083142A (en) | 2013-02-05 | 2013-02-05 | Fracture patient rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103083142A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354159A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Robot rescue system used in complicated environment |
| CN107595492A (en) * | 2017-10-24 | 2018-01-19 | 齐鲁工业大学 | A kind of nobody shellproof Stretcher cart for giving first aid of motor driven and application method |
| CN109877847A (en) * | 2019-03-20 | 2019-06-14 | 燕山大学 | A kind of flexible hand rescue parallel robot |
| CN110978000A (en) * | 2019-11-25 | 2020-04-10 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN112932809A (en) * | 2021-01-26 | 2021-06-11 | 中国人民解放军陆军工程大学 | Unmanned rescue car in battlefield |
| CN114903700A (en) * | 2021-12-22 | 2022-08-16 | 三河科达实业有限公司 | High-mobility field-operation emergency ambulance capable of being rapidly loaded and unloaded by stretcher |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57186543A (en) * | 1981-05-13 | 1982-11-17 | Nissan Motor Co Ltd | Wheel stopper for lifter of vehicle |
| WO2001089980A2 (en) * | 2000-05-19 | 2001-11-29 | Mark Hutchins | Lifting apparatus |
| CN2635443Y (en) * | 2003-08-12 | 2004-08-25 | 徐元明 | Goods loading and unloading device for full automatic vehicle |
| CN2753415Y (en) * | 2004-11-30 | 2006-01-25 | 公安部上海消防研究所 | Master-and-slave type robot for fire fighting |
| CN202569244U (en) * | 2012-03-09 | 2012-12-05 | 浙江理工大学 | Disaster resistant rescue robot with variable wheel tread and adjustable center height |
| CN203183170U (en) * | 2013-02-05 | 2013-09-11 | 中国人民解放军军事医学科学院卫生装备研究所 | Rescue robot for fracture patient |
-
2013
- 2013-02-05 CN CN2013100443715A patent/CN103083142A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57186543A (en) * | 1981-05-13 | 1982-11-17 | Nissan Motor Co Ltd | Wheel stopper for lifter of vehicle |
| WO2001089980A2 (en) * | 2000-05-19 | 2001-11-29 | Mark Hutchins | Lifting apparatus |
| CN2635443Y (en) * | 2003-08-12 | 2004-08-25 | 徐元明 | Goods loading and unloading device for full automatic vehicle |
| CN2753415Y (en) * | 2004-11-30 | 2006-01-25 | 公安部上海消防研究所 | Master-and-slave type robot for fire fighting |
| CN202569244U (en) * | 2012-03-09 | 2012-12-05 | 浙江理工大学 | Disaster resistant rescue robot with variable wheel tread and adjustable center height |
| CN203183170U (en) * | 2013-02-05 | 2013-09-11 | 中国人民解放军军事医学科学院卫生装备研究所 | Rescue robot for fracture patient |
Non-Patent Citations (1)
| Title |
|---|
| 李建昌等: "基于AT89C52单片机的消防救援机器人", 《消防科学与技术》, vol. 30, no. 12, 31 December 2011 (2011-12-31) * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354159A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Robot rescue system used in complicated environment |
| CN104354159B (en) * | 2014-10-17 | 2016-04-20 | 中国人民解放军军事医学科学院卫生装备研究所 | Complex environment rescuing robot system |
| CN107595492A (en) * | 2017-10-24 | 2018-01-19 | 齐鲁工业大学 | A kind of nobody shellproof Stretcher cart for giving first aid of motor driven and application method |
| CN109877847A (en) * | 2019-03-20 | 2019-06-14 | 燕山大学 | A kind of flexible hand rescue parallel robot |
| CN110978000A (en) * | 2019-11-25 | 2020-04-10 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN112932809A (en) * | 2021-01-26 | 2021-06-11 | 中国人民解放军陆军工程大学 | Unmanned rescue car in battlefield |
| CN112932809B (en) * | 2021-01-26 | 2022-07-08 | 中国人民解放军陆军工程大学 | Unmanned first aid car in battlefield |
| CN114903700A (en) * | 2021-12-22 | 2022-08-16 | 三河科达实业有限公司 | High-mobility field-operation emergency ambulance capable of being rapidly loaded and unloaded by stretcher |
| CN114903700B (en) * | 2021-12-22 | 2022-12-13 | 三河科达实业有限公司 | High maneuvering type field emergency ambulance capable of rapidly loading and unloading stretcher |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103110482A (en) | Rescue robot executing mechanism for person with fracture | |
| CN103083142A (en) | Fracture patient rescue robot | |
| CN104145614A (en) | Hydraulic fruit picking manipulator | |
| TW201738055A (en) | Humanoid robot | |
| US11926411B2 (en) | Cable-driven four-bar link leg mechanism | |
| EP2179921A3 (en) | Shrinking shock strut system for retractable landing gear | |
| US10676177B1 (en) | Robotic landing gear for rotorcraft | |
| CN101947983A (en) | Omnidirectional quadruped walking mobile device based on hybrid connected mechanism | |
| CN109677905A (en) | A kind of manipulator and method for carrying of intelligent material conveying | |
| CN204274872U (en) | Patient bed-changing crane | |
| US20160199978A1 (en) | Lower limb of an exoskeleton or a bipedal robot | |
| CN106276462A (en) | Intelligent elevator stall protection system | |
| CN203183170U (en) | Rescue robot for fracture patient | |
| CN203183169U (en) | Actuator of rescue robot for fracture patient | |
| KR101710926B1 (en) | Autonomous rescue robot with folder stretcher | |
| CN109129518A (en) | A kind of air pressure driving rigid frame carrying rescue robot | |
| CN204643234U (en) | A kind of dolly being convenient to cargo handing | |
| CN106276461A (en) | Elevator stall protector | |
| JP6556167B2 (en) | Biting prevention system for humanoid robot | |
| CN107049669A (en) | A kind of unmanned rescue delivery system | |
| CN109454645A (en) | A kind of hard and soft hybrid rescue robot | |
| GB2524826A (en) | An aircraft with a strut-braced foldable wing | |
| CN105775111B (en) | The buffer structure of airplane wheel | |
| CN103448068A (en) | Automatic overturning type grip device | |
| CN206978814U (en) | It is easy to the Dispoable medical protective face mask of storage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130508 |