CN103110482A - Rescue robot executing mechanism for person with fracture - Google Patents
Rescue robot executing mechanism for person with fracture Download PDFInfo
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- CN103110482A CN103110482A CN2013100444436A CN201310044443A CN103110482A CN 103110482 A CN103110482 A CN 103110482A CN 2013100444436 A CN2013100444436 A CN 2013100444436A CN 201310044443 A CN201310044443 A CN 201310044443A CN 103110482 A CN103110482 A CN 103110482A
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- stretcher
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- stretchable
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- vehicle body
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Abstract
The invention discloses a rescue robot executing mechanism for a person with fracture. The executing mechanism comprises a lifting mechanism, a sliding stretcher and two operation arms with six degrees of freedom. The sliding stretcher is divided into an upper layer and a lower layer, the lower layer is a protective cover shell, and the upper layer is a belt type transmission device. The lifting mechanism is composed of a vehicle body stretchable connection rod fixed with a vehicle body, a stretcher connection rod fixed with a lower layer movable stretcher and a stretchable rod. One end of the vehicle body stretchable connection rod is movably connected with one end of the stretchable rod, and two ends of the stretchable rod are respectively connected with the lower layer movable stretcher and the vehicle body. The vehicle body stretchable connection rod and the stretchable rod are respectively driven by a worm and a gear, and the two operation arms with six degrees of freedom are symmetrically arranged on the front portion of the sliding stretcher. Each operation arm with six degrees of freedom is of a separation movement decoupling structure composed of six rotational joints. According to the rescue robot executing mechanism for the person, human body structure and particularity of damage are taken into full consideration, operation procedures are in accordance with human body rescue operation specifications, and damage to a human body in an operation process is greatly reduced.
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 end effector mechanism used 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 actuator of the rescue robot in hazardous area.
The actuator of a kind of fracture of the present invention wounded rescue robot, be achieved by following technical proposals, described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, and 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 the actuator front view;
Fig. 2 is actuator contraction state figure;
Fig. 3 is the actuator working state figure;
Fig. 4 is six degree of freedom motion arm structural representation;
Fig. 5 is six degree of freedom motion arm motion schematic diagram.
The specific embodiment
The present invention is described in further detail below in conjunction with diagram.
As shown in Figure 1, actuator is installed on car body 1, mainly comprises elevating mechanism 2, slip stretcher upper strata tape drive mechanism 3, and 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. fracture wounded rescue robot actuator is characterized in that described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, and 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 actuator 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 |
|---|---|---|---|
| CN2013100444436A CN103110482A (en) | 2013-02-05 | 2013-02-05 | Rescue robot executing mechanism for person with fracture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100444436A CN103110482A (en) | 2013-02-05 | 2013-02-05 | Rescue robot executing mechanism for person with fracture |
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| Publication Number | Publication Date |
|---|---|
| CN103110482A true CN103110482A (en) | 2013-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100444436A Pending CN103110482A (en) | 2013-02-05 | 2013-02-05 | Rescue robot executing mechanism for person with fracture |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386505A (en) * | 2014-10-17 | 2015-03-04 | 中国人民解放军军事医学科学院卫生装备研究所 | Rescue robot accommodating system |
| CN108068119A (en) * | 2016-11-14 | 2018-05-25 | 喻天宝 | Rescue of battlefield robot |
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
| CN108858243A (en) * | 2018-08-14 | 2018-11-23 | 吕家环 | A kind of automatic stretcher robot |
| CN110202588A (en) * | 2019-06-03 | 2019-09-06 | 昆明理工大学 | A kind of rescue robot |
| CN112353569A (en) * | 2020-09-16 | 2021-02-12 | 燕山大学 | Shovel type rescue actuating mechanism |
| CN113697003A (en) * | 2021-09-08 | 2021-11-26 | 江苏三铭智达科技有限公司 | Carrying rescue robot |
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| CN1058336A (en) * | 1990-05-04 | 1992-02-05 | 罗伯特·F·布兰特曼 | Sliding transfer device |
| CN2164817Y (en) * | 1993-10-12 | 1994-05-18 | 马晔楠 | Medical handling vehicle for patient |
| JPH08131481A (en) * | 1994-11-07 | 1996-05-28 | Hiramatsu:Kk | Patient transfer carriage |
| CN2512414Y (en) * | 2001-12-31 | 2002-09-25 | 陈和平 | Translation lifting type medical patient transport cart |
| JP2003270384A (en) * | 2002-03-13 | 2003-09-25 | Hitachi Ltd | Rescue robot system |
| CN102579212A (en) * | 2012-03-14 | 2012-07-18 | 李长杰 | Medical electric patient-transferring bed |
| 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 |
| CN203183169U (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 | Actuator of rescue robot for fracture patient |
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2013
- 2013-02-05 CN CN2013100444436A patent/CN103110482A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1058336A (en) * | 1990-05-04 | 1992-02-05 | 罗伯特·F·布兰特曼 | Sliding transfer device |
| CN2164817Y (en) * | 1993-10-12 | 1994-05-18 | 马晔楠 | Medical handling vehicle for patient |
| JPH08131481A (en) * | 1994-11-07 | 1996-05-28 | Hiramatsu:Kk | Patient transfer carriage |
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| JP2003270384A (en) * | 2002-03-13 | 2003-09-25 | Hitachi Ltd | Rescue robot system |
| 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 |
| CN102579212A (en) * | 2012-03-14 | 2012-07-18 | 李长杰 | Medical electric patient-transferring bed |
| CN203183169U (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 | Actuator of rescue robot for fracture patient |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386505A (en) * | 2014-10-17 | 2015-03-04 | 中国人民解放军军事医学科学院卫生装备研究所 | Rescue robot accommodating system |
| CN108068119A (en) * | 2016-11-14 | 2018-05-25 | 喻天宝 | Rescue of battlefield robot |
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
| CN108858243A (en) * | 2018-08-14 | 2018-11-23 | 吕家环 | A kind of automatic stretcher robot |
| CN110202588A (en) * | 2019-06-03 | 2019-09-06 | 昆明理工大学 | A kind of rescue robot |
| CN110202588B (en) * | 2019-06-03 | 2024-04-19 | 昆明理工大学 | Rescue robot |
| CN112353569A (en) * | 2020-09-16 | 2021-02-12 | 燕山大学 | Shovel type rescue actuating mechanism |
| CN113697003A (en) * | 2021-09-08 | 2021-11-26 | 江苏三铭智达科技有限公司 | Carrying rescue robot |
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Application publication date: 20130522 |