CN104386505B - Rescue robot storage system - Google Patents
Rescue robot storage system Download PDFInfo
- Publication number
- CN104386505B CN104386505B CN201410555324.1A CN201410555324A CN104386505B CN 104386505 B CN104386505 B CN 104386505B CN 201410555324 A CN201410555324 A CN 201410555324A CN 104386505 B CN104386505 B CN 104386505B
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- Prior art keywords
- electric pushrod
- class
- personnel
- articulated
- middle transition
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/02—Loading or unloading personal conveyances; Facilitating access of patients or disabled persons to, or exit from, vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Emergency Lowering Means (AREA)
- Framework For Endless Conveyors (AREA)
Abstract
The present invention relates to a kind of rescue robot storage system, including the personnel's placing device (8) being placed on robot vehicle frame (2), middle transition conveyer device (6) and class spade pick device (4)；Wherein, the shape of class spade pick device (4) presents spade, by being hingedly connected to and the front end of middle transition conveyer device (6), the rear end of short distance electric pushrod (5,5 ') is articulated with on middle transition conveyer device (6), and front end is articulated with on the short distance electric pushrod undersetting being arranged in class spade pick device (4).Personnel's placing device (8), middle transition conveyer device (6) and class spade pick device (4) are provided with and can be used for carrying and moving the wounded with the conveyer belt (11) of bidirectional-movement by what motorized pulleys drove.The present invention can be in order to complete the carrying to the wounded stranded, critical and mobile working.
Description
Technical field
The invention belongs to rescue robot field, be specifically related to a kind of robot storage system carrying out wounded's rescue.
Background technology
In recent years, the natural disaster of burst and the generation of particularly serious social safety accident, about natural, artificial environment have high complexity,
Arbitrariness, its time of origin has sudden, and wounded's in jured kind that it causes has multiformity.At present, the extensive disaster field wounded
Rescue and carrying are main by based on manually, and the mode that machinery is auxiliary completes.It is typically medical personnel and does not possess medical expertise
Society rescue strength jointly complete trapped personnel, severely injured people, the carrying of the postoperative wounded and mobile working.
, in the rescue, treatment link of the wounded, there is following problem: (1) rescues people in the rescue work carried out in tradition manpower mode
Member is in the action due to needs, and life security can not get fully ensureing；(2) traditional mode of transport easily causes the wounded and produces secondary damage；
(3) traditional rescue mode causes wounded's rescue work efficiency low.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency in existing wounded's rescue work, design a kind of storage system picking up the wounded for rescue robot
System, in order to complete the carrying to the wounded stranded, critical and mobile working.To this end, the technical solution used in the present invention is as follows:
A kind of rescue robot storage system, including the personnel's placing device (8) being placed on robot vehicle frame (2), middle transition conveying dress
Put (6) and class spade pick device (4)；
Wherein, the shape of class spade pick device (4) presents spade, and its front end presents wedge angle, and rear end presents generous right angle, its closed angle end
The convenient gap inserted between the wounded and ground.
Class spade pick device (4) is passed through to be hingedly connected to and the front end of middle transition conveyer device (6), short distance electric pushrod (5,5 ')
Rear end be articulated with on middle transition conveyer device (6), front end is articulated with the short distance electric pushrod being arranged in class spade pick device (4)
On undersetting, by adjusting the collapsing length of short distance electric pushrod (5,5 '), regulation class spade pick device (4) is defeated with middle transition
Send the angle between device (6)；
The rear end of middle transition conveyer device (6) and personnel's placing device (8) pass through to be articulated and connected, long-range electric pushrod (7,7 ')
Rear end is articulated with on the long-range electric pushrod upper bracket being arranged on personnel's placing device (8), and front end is articulated with and is arranged on middle transition conveying
In long-range electric pushrod undersetting (32) on device (6), by adjusting the collapsing length of long-range electric pushrod (7,7 '), adjust
Angle between middle transition conveyer device (6) and personnel's placing device (8)；
One end of intermediate range electric pushrod (9) is articulated with on robot vehicle frame (2), and the other end is articulated with the bottom of personnel's placing device (8),
The stretching, extension change of intermediate range electric pushrod, make personnel's placing device (8) around the solid System of Rotating about Fixed Axis of its front end motorized pulleys (46) so that people
The afterbody of member's placing device (8) is raised；
Personnel's placing device (8), middle transition conveyer device (6) and class spade pick device (4) are provided with and are driven by motorized pulleys
Dynamic can be used for carrying and moving the wounded with the conveyer belt (11) of bidirectional-movement.
Preferably, the ring of equal kiss-coating inside and outside conveyer belt (11) closed loop of described class spade pick device (4)
Shape band, conveyer belt (11) sequentially passes through the motorized pulleys (16) being positioned at rear end, the most advanced and sophisticated carrying roller (21) that is positioned at front end, be positioned at middle subordinate
After the middle carrying roller (23) of side, then constitute circulation through overregulating cylinder (12), fixing passive cylinder (18) and rear portion carrying roller (17).
Regulation cylinder (12) is positioned at chute (14), and its one end is connected with preloading spring (13), and under the effect of preloading spring (13),
Move in chute (14), remain conveyer belt (11) and motorized pulleys (16) reliable contacts.
The technique effect using the present invention is as follows:
(1) utilize the storage system of the present invention, in its class spade pick device, middle transition conveyer device, personnel's placing device, pass
Send the power of band from motorized pulleys and the frictional force of conveyer belt, use the structure design of motorized pulleys not only to meet power transmission requirement, and
And ensure that the compact conformation of storage system, weight are light；
(2) shape of class spade pick device presents spade, and its one end presents wedge angle, and one end presents generous right angle, and its closed angle end is convenient to be inserted
Enter the gap between the wounded and ground, make wounded's health be easier to enter storage system under the effect of belt；
(3) by being articulated and connected between class spade pick device and middle transition conveyer device front end, short distance electric pushrod two ends are respectively articulated with
On the two device, by adjusting the collapsing length of short distance electric pushrod, regulation class spade pick device and ground or middle transition conveying dress
Angle between putting；
(4) middle transition conveyer device rear end and personnel's placing device are by being articulated and connected, and the two ends of long-range electric pushrod are hingedly connected to this
On two devices, by adjusting the collapsing length of long-range electric pushrod, adjust middle transition conveyer device and class spade pick device or personnel's peace
Put the angle between device；
(5) intermediate range electric pushrod one end is articulated with on fixing vehicle frame, and one end is articulated with in movable carriage, the stretching, extension change of intermediate range electric pushrod,
Personnel's placing device is made to rotate around its front end jointed shaft so that it is afterbody is raised to the conveyer belt almost copline with middle transition conveyer device, when
When the personnel that are rescued are transported to personnel's placing device by front stream oriented device, it is possible to wounded's health does not cause distortion steadily enter in compartment.
In a word, the rescue robot storage system of the present invention, the position of storage system can be entered according to human body, adjust the pickup of class spade in good time
Angle between device, middle transition conveyer device and personnel's placing device is to adapt to human body attitude, it is to avoid cause human body distortion to produce two
Secondary damage, it is adaptable to relief and transhipment work to the wounded in complicated, hazardous environment.
Accompanying drawing explanation
Fig. 1 rescue robot front view；
Fig. 2 rescue robot storage system duty one；
Fig. 3 rescue robot storage system duty two；
Fig. 4 rescue robot storage system duty three；
Fig. 5 rescue robot storage system class spade pick device front view；
Fig. 6 rescue robot storage system middle transition conveyer device front view；
Fig. 7 rescue robot storage system personnel's placing device front view；
In Fig. 1 to Fig. 7: 1 robot ambulation chassis, 2 vehicle frames, 3 robot shells, 4 class spade pick devices, 5,5 ' short distances are electronic
Push rod, 6 middle transition devices, 7,7 ' long-range electric pushrods, 8 personnel's placing devices, 9 intermediate range electric pushrods, 10 obliquity sensors,
11 conveyer belts, 12 regulation cylinders, 13 preloading springs, 14 chutes, 15 jointed shafts, 16 motorized pulleys, 17 rear portion carrying rollers, 18 fix quilt
Dynamic cylinder, 19 short distance electric pushrod undersettings, 20 cover plates, 21 most advanced and sophisticated carrying rollers, 22 base plates, 23 middle carrying rollers, 24 conveyer belts, 25 adjust
Joint cylinder, 26 preloading springs, 27 chutes, 28 motorized pulleys, 29 hinge hole seats, 30 carrying rollers, 31 fix passive cylinder, 32 long-range electricity
Dynamic push rod undersetting, 33 short distance electric pushrod upper brackets, 34 hinge hole seats, 35 passive cylinders, 36 carrying rollers, 37 conveyer belts, 38 carrying rollers,
39 regulation cylinders, 40 preloading springs, 41 chutes, 42 motorized pulleys, 43 carrying rollers, 44 fix passive cylinder, on 45 long-range electric pushrods
Bearing, 46 motorized pulleys, 47 jointed shafts.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
From Fig. 1 Fig. 7, rescue robot storage system includes, personnel's placing device (Fig. 7) and angular adjustment system (5,5 ',
7、7’、9)。
Long-range electric pushrod 7,7 ' one end is articulated with long-range electric pushrod upper bracket 45, and the other end stretches with when it receives control signal.
Therefore it is articulated with long-range electric pushrod 7, the 7 ' other end jointed shaft 47 on personnel's placing device 8 hinged with middle transition device 6 to rotate.
Meanwhile, short distance electric pushrod 5,5 ' one end is articulated with short distance electric pushrod upper bracket 33, stretches when it receives control signal.Therefore
The class spade pick device 4 being articulated with short distance electric pushrod 5, the 5 ' other end rotates around the jointed shaft 15 on middle transition device 6.Work as class
After spade pick device 4 completely attaches to ground level, rescue robot storage system reaches duty shown in Fig. 2, long-range electric pushrod 7,
7 ' quit work with short distance electric pushrod 5,5 '.
Under automatically controlled signal effect, motorized pulleys 16,28,42,47 start to rotate, and drive conveyer belt 11,24,37 to revolve by frictional force
Change a job work.Rescue robot travels forward, and causes the most advanced and sophisticated gap entering human body head and ground of class spade pick device 4, so that people
Body and above ground portion depart from entrance rescue robot storage system.Robot moves on, simultaneously under the effect of frictional force, human body with ground
Relative motion is produced with robot, when the most advanced and sophisticated breast arriving trunk of class spade pick device 4 under conditions of the horizontal level geo-stationary of face
During position, portion, the first stage has worked.
After completing first stage work, motorized pulleys 16 quit work, and long-range electric pushrod 7,7 ' shrinks under control signal effect, short
Journey electric pushrod 5,5 ' continues to stretch, and robot entirety retreats and carries out pose adjustment simultaneously, when middle transition device 6 and class spade pick up dress
Putting the conveyer belt work surface of 4 when being co-planar state the most as shown in Figure 3, robot second stage pose adjusts and terminates.Motorized pulleys 16
Being again started up, robot entirety is again started up advancing simultaneously, the wounded and robot generation relative motion, when wounded's head arrives middle transition dress
When putting the high end position of 6, second stage has worked.
When second stage is carried out, intermediate range electric pushrod 9 starts, the stretching, extension change of intermediate range electric pushrod 9, makes personnel's placing device 8 before it
The solid System of Rotating about Fixed Axis of end motorized pulleys 46 so that it is afterbody is raised to the conveyer belt almost copline with middle transition device 6, and this process exists
Second stage completes before having worked.When the wounded are transported to personnel's placing device 8 by front stream oriented device, the wounded can steadily enter in compartment,
Health does not bends, it is to avoid the wounded are caused secondary damage.After wounded foot enters into personnel's placing device 8, the phase III has worked
Become.
After the phase III has worked, motorized pulleys 16,28,42,47 quit work.Meanwhile, long-range electric pushrod 7,7 ', intermediate range
Electric pushrod 9 and short distance electric pushrod 5,5 ' shrink, and make rescue robot storage system recover pose as shown in Figure 1, now rescue machine
The storage work of people's storage system completes.
In like manner, when rescue robot the wounded are transported to safety area give treatment to time, storage expands into shape shown in Fig. 2 from state shown in Fig. 1
State, class spade pick device 4 is not to contact with ground, but contacts with the bed surface of the treatment device such as stretcher or first aid trammer, remaining step
Contrary with step during rescue, under conveyer belt 11,24,37 effect jointly, the wounded are transported on treatment equipment.
The endless belt of equal kiss-coating inside and outside 11 1 closed loops of conveyer belt described in class spade pick device 4, conveyer belt 11 is through overregulating
Cylinder 12, fixing passive cylinder 18 carrying roller 17, motorized pulleys 16, most advanced and sophisticated carrying roller 21, carrying roller 23 constitute circulation.At preloading spring 13
Effect under, regulation cylinder 12 move chute 14 in, remain that conveyer belt 11 contacts with motorized pulleys 16, it is to avoid skidding,
To good power transmission effect.Cover plate 20 is positioned at the main load-supporting part on conveyer belt 11 as upper work surface, and the carrying wounded enter receipts
Receive system time load.Base plate 22 is positioned at the bottom of class spade pick device 4, is used for closing package unit to avoid environment foreign body, such as stone
Block, weeds, sandy soil etc. enter inside device, affect the normal work of device.
Claims (2)
1. a rescue robot storage system, including the personnel's placing device (8) being placed on robot vehicle frame (2), middle transition conveying dress
Put (6) and class spade pick device (4)；Wherein,
The shape of class spade pick device (4) presents spade, and its front end presents wedge angle, and rear end presents generous right angle, and its closed angle end is convenient to be inserted
Enter the gap between the wounded and ground；
Class spade pick device (4) is by being hingedly connected to the front end of middle transition conveyer device (6), after short distance electric pushrod (5,5 ')
End is articulated with on middle transition conveyer device (6), and front end is articulated with lower of the short distance electric pushrod being arranged in class spade pick device (4)
On seat, by adjusting the collapsing length of short distance electric pushrod (5,5 '), regulation class spade pick device (4) and middle transition conveying dress
Put the angle between (6)；
The rear end of middle transition conveyer device (6) and personnel's placing device (8) pass through to be articulated and connected, the rear end of long-range electric pushrod (7,7 ')
Being articulated with on the long-range electric pushrod upper bracket being arranged on personnel's placing device (8), front end is articulated with and is arranged on middle transition conveyer device
(6) in long-range electric pushrod undersetting (32) on, by adjusting the collapsing length of long-range electric pushrod (7,7 '), adjust middle
Angle between transition conveyer device (6) and personnel's placing device (8)；
One end of intermediate range electric pushrod (9) is articulated with on robot vehicle frame (2), and the other end is articulated with the bottom of personnel's placing device (8), in
The stretching, extension change of journey electric pushrod, make personnel's placing device (8) around the solid System of Rotating about Fixed Axis of its front end motorized pulleys (46) so that personnel
The afterbody of placing device (8) is raised；
Personnel's placing device (8), middle transition conveyer device (6) and class spade pick device (4) are provided with and are driven by motorized pulleys
Can be used for carrying and moving the wounded with the conveyer belt of bidirectional-movement.
Storage system the most according to claim 1, equal kiss-coating inside and outside the conveyer belt closed loop of described class spade pick device (4)
Endless belt, conveyer belt sequentially passes through the motorized pulleys (16) being positioned at rear end, the most advanced and sophisticated carrying roller (21) that is positioned at front end, be positioned at below middle part
Middle carrying roller (23) after, then constitute circulation through overregulating cylinder (12), fixing passive cylinder (18) and rear portion carrying roller (17)；
Regulation cylinder (12) is positioned at chute (14), and its one end is connected with preloading spring (13), and under the effect of preloading spring (13),
Move in chute (14), remain conveyer belt and motorized pulleys (16) reliable contacts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555324.1A CN104386505B (en) | 2014-10-17 | 2014-10-17 | Rescue robot storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555324.1A CN104386505B (en) | 2014-10-17 | 2014-10-17 | Rescue robot storage system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104386505A CN104386505A (en) | 2015-03-04 |
| CN104386505B true CN104386505B (en) | 2016-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410555324.1A Active CN104386505B (en) | 2014-10-17 | 2014-10-17 | Rescue robot storage system |
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| Country | Link |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017182799A1 (en) * | 2016-04-22 | 2017-10-26 | Bae Systems Plc | Occupant recovery system |
| EP3235483A1 (en) * | 2016-04-22 | 2017-10-25 | BAE Systems PLC | Occupant recovery system |
| CN110978000B (en) * | 2019-11-25 | 2020-12-29 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN113288604A (en) * | 2021-05-21 | 2021-08-24 | 中国人民解放军陆军军医大学 | Operation car lift switching platform |
| CN113697003A (en) * | 2021-09-08 | 2021-11-26 | 江苏三铭智达科技有限公司 | Carrying rescue robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4251270B2 (en) * | 2003-01-28 | 2009-04-08 | 株式会社石井鐵工所 | Linked cart for disabled people |
| KR100814684B1 (en) * | 2007-07-11 | 2008-03-18 | 주식회사 오텍 | Welfare vehicle with a slope |
| US8807619B2 (en) * | 2011-08-29 | 2014-08-19 | Michael Ray Miller | Remote controlled rescue vehicle |
| CN103110482A (en) * | 2013-02-05 | 2013-05-22 | 中国人民解放军军事医学科学院卫生装备研究所 | Rescue robot executing mechanism for person with fracture |
| CN204184947U (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 storage system |
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| Publication number | Publication date |
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| CN104386505A (en) | 2015-03-04 |
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