CN110861064A

CN110861064A - Automatic rescue robot

Info

Publication number: CN110861064A
Application number: CN201911196280.7A
Authority: CN
Inventors: 梁忠伟; 范立维; 邓武; 练景峰; 刘晓初; 吴俊�; 吴子轩
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-03-06

Abstract

The invention discloses an automatic rescue robot, which comprises a frame, an actuating mechanism, a remote control system, an observation system and a crawler-type travelling mechanism, wherein the actuating mechanism is arranged on the frame; the frame comprises a vehicle body and a multifunctional hydraulic tail plate; the multifunctional hydraulic tail plate comprises a vehicle door, a conveying mechanism and a vehicle door hydraulic driving mechanism; the lower end of the vehicle door is hinged with the lower end of the vehicle body; the actuating mechanism comprises a swing arm, a power mechanism, a clamping assembly and a clamping driving mechanism; the clamping driving mechanism comprises a clamping hydraulic cylinder; the clamping assembly comprises two claws and two overload spring shock absorbers; one end of the overload spring shock absorber is hinged with the paw, and the other end of the overload spring shock absorber is hinged with the driving rod of the clamping hydraulic cylinder. The robot can be suitable for rescuing the wounded in severe environments such as natural disasters, fires, wars and the like; in addition, the robot can quickly align and clamp wounded persons, and the rescue efficiency and effect of the battlefield rescue robot are guaranteed.

Description

Automatic rescue robot

Technical Field

The invention relates to the technical field of rescue robots, in particular to an automatic rescue robot.

Background

With the continuous development of economy, the application field of the robot is wider and wider, and the robot is expanded from industrial application to non-industrial application, such as operation, fruit picking, pruning, tunneling and the like. Due to the superior performance of the robot, the robot is applied to the military field in many countries, and at present, the robot is a rescue robot, a detection robot, an explosion-elimination robot, a transportation robot and the like. If natural disasters (such as earthquakes), fires, wars and the like occur, the rescue environment is quite dangerous, rescue personnel are difficult to rescue due to bad terrain, natural disasters and rescue environment, and the rescue personnel face quite dangerous situations if dangerous rescue is carried out. Therefore, the aid robot is used for transferring the wounded person, so that the rescue personnel can be effectively prevented from being injured, and the wounded person can be quickly transferred.

Patent application publication No. CN108068119A discloses a battlefield rescue robot, the robot has the functions of satellite or unmanned aerial vehicle navigation and television remote control, can search electric signals sent by wounded persons on a battlefield or automatically find the wounded persons by a circuit set by the unmanned aerial vehicle, automatically adjusts the posture according to the body positions of the wounded persons by the induction device, falls down the body, inserts from two sides of the body of the wounded persons into the body of the wounded persons by five robot arms (1) and then lifts the body, so that the body of the wounded persons lies flat and leaves the ground only 18CM, and the two wounded persons are hung with light armors to further ensure the safety of the wounded persons, during transportation, the robot is provided with the mercury switch, so that the wounded can be in a state that the road surface is uneven (the transverse direction of the robot body is 13 degrees, the longitudinal direction is 8 degrees, the robot body is kept in a horizontal state, the robot can cross 35CM vertical obstacles, although the rescue robot is used for replacing rescue workers, the robot has the greatest advantage that secondary injury to the wounded can be reduced to a certain extent.

However, the battlefield rescue robot has the following disadvantages:

1. eight groups of full-disc motor traveling wheels are adopted by the robot traveling device, and the chassis above the ground is lower, so that the robot traveling device cannot be applied to field battlefields with complex terrain (such as marshlands, wetlands, sand lands, mud roads, mountains, ruin cities and the like), the application range is limited, and great difficulty is brought to rescue of wounded people.

2. The robot does not have the function of obstacle clearing, and when a road is blocked by an obstacle or a wounded person is buried in the ruins, rescue is difficult to rescue; in the transportation process of the robot, no protective device is arranged, so that secondary injury can be caused to the wounded in severe environment.

3. When the robot is used for rescue, the vehicle body is required to be just above the wounded and is approximately in the same straight line with the wounded, and the vehicle body is required to have a good alignment position for the wounded, so that the operation difficulty of the control personnel is increased, and the rescue difficulty is also increased along with the change of the environment of a battlefield.

Disclosure of Invention

The invention aims to overcome the existing problems and provides an automatic rescue robot which can be suitable for rescuing the wounded in severe environments such as natural disasters, fires, wars and the like, can walk on complex terrains and clear obstacles on roads, and can ensure that the wounded in ruins can be rescued; in addition, the robot can quickly align and clamp wounded persons, and the rescue efficiency and effect of the battlefield rescue robot are guaranteed.

The purpose of the invention is realized by the following technical scheme:

an automatic rescue robot comprises a frame, an actuating mechanism arranged at the rear end of the frame, a remote control system, an observation system arranged on the actuating mechanism and a crawler-type travelling mechanism for driving the frame to move; it is characterized in that the preparation method is characterized in that,

the frame comprises a vehicle body for placing the wounded and a multifunctional hydraulic tail plate arranged at the front end of the vehicle body; the multifunctional hydraulic tail board comprises a vehicle door, a conveying mechanism arranged on the vehicle door and used for conveying the wounded person into the vehicle body, and a vehicle door hydraulic driving mechanism for driving the vehicle door to open and close; the lower end of the vehicle door is hinged with the lower end of the vehicle body, and the vehicle door hydraulic driving mechanism drives the vehicle door to swing around a hinged point so that the vehicle door is obliquely abutted between the ground and the vehicle body;

the actuating mechanism comprises a swinging arm arranged at the rear end of the car body, a power mechanism arranged between the car body and the swinging arm and used for driving the swinging arm to move in space, a clamping component arranged at the front end of the swinging arm and used for clamping a wounded person, and a clamping driving mechanism used for driving the clamping component to close or separate; the clamping driving mechanism comprises a clamping hydraulic cylinder arranged at the front end of the swing arm; the clamping assembly comprises two claws hinged to the front end of the swing arm and two overload spring shock absorbers arranged between the clamping hydraulic cylinder and the two claws; one end of the overload spring shock absorber is hinged with the paw, and the other end of the overload spring shock absorber is hinged with the driving rod of the clamping hydraulic cylinder.

The working principle of the automatic rescue robot is as follows:

when an injured person is rescued under severe environments such as natural disasters, fire disasters, war and the like, the robot is driven to walk by the remote control system, the observation system searches for the injured person, after the injured person is found, a barrier positioned in the middle of the vehicle door is arched by the aid of the claws, then the vehicle door is driven by the vehicle door hydraulic driving mechanism to rotate downwards around the lower end of the vehicle door, the vehicle door is opened until the upper end of the vehicle door is tightly propped against the ground, the vehicle door is obliquely arranged between the ground and the vehicle body and plays a role of supporting legs, the stability of the vehicle frame is improved, and the danger that the vehicle body tilts forwards or turns over due to the gravity of the injured person during rescue is; then the power mechanism drives the swing arm to reach a proper position, the clamping hydraulic cylinder drives the driving rod to move forwards in a linear mode, the overload spring shock absorber pushes the two claws to respectively rotate around the hinged points of the two claws and the swing arm under the pushing action of the driving rod, the two claws are loosened, then the two claws clamp the armpit of the wounded, the clamping hydraulic cylinder drives the driving rod to move backwards, the two claws clamp the wounded, under the buffering action of the overload spring shock absorber, the two claws automatically retreat, and the wounded are prevented from being injured due to overlarge clamping force in the clamping process; secondly, the swing arm, the power mechanism and the vehicle body work cooperatively to drag the wounded person to the vehicle door, the two claws are loosened, the conveying mechanism conveys the wounded person upwards along the vehicle door to the vehicle body under the driving of the conveying mechanism, and then the wounded person is dragged to the vehicle body through the claws; the door hydraulic drive mechanism drives the door to rotate upwards around the lower end of the door, the door is closed, and finally the wounded person is transferred to a safe place to rescue the wounded person.

In a preferable aspect of the present invention, the conveying mechanism includes a driving roller disposed at a lower end of the door, a driven roller disposed at a middle portion of the door, a conveying belt disposed between the driving roller and the driven roller, and a conveying motor connected to the driving roller; one end of the conveying belt is connected with the driving roller in a matched mode, and the other end of the conveying belt is connected with the driven roller in a matched mode. By arranging the conveying mechanism, the conveying motor drives the driving roller to rotate, so that the conveying belt is driven to move between the driving roller and the driven roller, a wounded person can be conveyed into the vehicle body more quickly, and rescue time is saved; the structure also has the characteristics of simple design, convenient transportation and the like.

Preferably, a rotating turntable for rotating the swing arm in the horizontal direction is arranged between the swing arm and the vehicle body. The advantage is that the swing arm can be realized rotating along the rotating turntable, and the rotating stability is improved.

In a preferred aspect of the present invention, the swing arm is a two-stage swing arm, and includes a swing arm hinged to the rotary turret and a claw rod hinged to the swing arm; the power mechanism comprises a movable arm hydraulic cylinder and a claw rod hydraulic cylinder, the movable arm hydraulic cylinder drives the movable arm to move around a hinge point of the rotating turntable in a space mode, and the claw rod hydraulic cylinder is arranged between the movable arm and the claw rod and drives the claw rod to swing around the hinge point; the two movable arm hydraulic cylinders are respectively arranged on two sides of the movable arm in an inclined mode, one end of each movable arm hydraulic cylinder is hinged to the middle of the movable arm, and the other end of each movable arm hydraulic cylinder is hinged to the vehicle body; one end of the claw rod hydraulic cylinder is hinged with the middle part of the movable arm, and the other end of the claw rod hydraulic cylinder is hinged with the rear end of the claw rod; the front end of the claw rod is hinged with the paw. By adopting the structure, the multi-stage movement of the paw can be realized, the swing of the movable arm is realized by the differential expansion of the two movable arm hydraulic cylinders, and the movable arm rotates around the rotating turntable, so that the movable arm does spatial movement around the hinge point of the rotating turntable; through the drive claw pole pneumatic cylinder, can realize the claw pole round swing back and forth of swing arm front end pin joint, improve the flexibility of hand claw at the centre gripping wounded's in-process.

Preferably, the movable arm hydraulic cylinder is connected with the vehicle body through a cross universal hinge; the swing arm mechanism has the advantages that the swing arm can be twisted on a single plane, the swing arm can be rotated in a large space angle, the swing arm can rotate around the rotating turntable, and space motion is achieved on the rotating turntable.

In a preferable aspect of the present invention, the door hydraulic drive mechanism includes swing levers provided on both sides of the door and a door hydraulic cylinder provided between the swing levers and the vehicle body; the swing rod and the vehicle door are arranged at an angle and fixedly connected to the middle part of the vehicle door; one end of the vehicle door hydraulic cylinder is hinged with the upper end of the swing rod, and the other end of the vehicle door hydraulic cylinder is hinged with the upper end of the vehicle body. The swing rod is driven by the vehicle door hydraulic cylinder to enable the vehicle door to swing around the lower end of the vehicle body, so that the vehicle door is opened and closed; through door and swing arm angulation setting, can increase the rotation range of door, realize that the door opens the back, the door upper end supports tight ground, when providing supporting role for the automobile body, can also carry the wounded to the automobile body in through conveying mechanism.

Preferably, the swinging rod is provided with a push plate for pushing the obstacles away, and the push plate extends obliquely outwards along the rear end of the vehicle body; the robot has the advantages that the robot is favorable for pushing the obstacles in front of the crawler away through the push plate in the walking process, so that the robot is favorable for walking.

Preferably, the paw is curved and protrudes outwards relative to the centre of grip; the device has the effects of increasing the stress area and better clamping and dragging the wounded.

Furthermore, rubber is embedded on the outer surface of the paw, so that friction force can be increased in the clamping process, the paw plays a role in buffering the wounded, and the stress on the armpits of the wounded is reduced in the dragging process.

In a preferred embodiment of the present invention, the observation system includes an observation camera provided on the swing arm, a rescue operation camera provided on an upper portion of the gripper, illuminating lamps provided at a front end and a rear end of the vehicle body, and a life detector provided on the vehicle frame. Through setting up above-mentioned structure, can realize the accurate positioning to the wounded, also make the control personnel obtain comparatively clear image when the tight wounded of clamp is aimed at to the control personnel through setting up observation camera and rescue operation camera.

In a preferred embodiment of the present invention, the robot further comprises an auxiliary rescue device, wherein the auxiliary rescue device comprises a voice screen conversation device disposed inside the vehicle body and rescue medicines disposed inside the vehicle body. By adopting the structure, the injury condition of the wounded can be known through the voice and video screen conversation device, and the wounded treatment part can be guided to automatically carry out the injury condition of treatment.

Compared with the prior art, the invention has the following beneficial effects:

1. the robot is provided with the frame, the crawler-type travelling mechanism and the clamping assembly, can be suitable for rescuing the wounded in severe environments such as natural disasters, fires, wars and the like, can walk in complex terrains to carry out transportation and rescue on the wounded, can realize accurate rescue of the gripper of the clamping assembly through the observation system, drags the wounded into the vehicle body, and can also clear obstacles on roads through the gripper, thereby improving the efficiency and effect of the rescue process.

2. The robot of the invention drags the wounded into the vehicle body, and can effectively prevent the wounded from secondary damage in the transportation process through the protection of the vehicle body.

3. The overload spring shock absorber is arranged on the clamping assembly, so that in the process of clamping the wounded, under the buffering of the overload spring shock absorber, the two claws automatically retreat, the wounded can be prevented from being injured due to overlarge clamping force in the clamping process, and the rescue safety is improved.

4. The vehicle frame is internally provided with a vehicle door and a vehicle door hydraulic driving mechanism, the vehicle door is driven by the vehicle door hydraulic driving mechanism to rotate downwards around the lower end of the vehicle door, and the vehicle door is opened until the upper end of the vehicle door is tightly propped against the ground and is obliquely arranged on the ground and the vehicle body; the vehicle door plays a role of supporting legs, improves the stability of the vehicle frame, and prevents the danger that the vehicle body tilts forward or turns over due to the gravity of an injured person during rescue; set up conveying mechanism on the door, can be faster carry the wounded along the door to the automobile body in, improve the efficiency of rescue, strive for the rescue time for the wounded.

Drawings

FIGS. 1-3 are schematic views of an embodiment of an automatic rescue robot according to the present invention; fig. 1 is a front view, fig. 2 is a left view, and fig. 3 is a plan view.

FIGS. 4-5 are schematic views of the clamping assembly of the present invention; fig. 4 is a schematic view of the internal structure, and fig. 5 is a left side view.

Fig. 6 is a schematic perspective view of the multifunctional hydraulic tailgate of the present invention.

Detailed Description

In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to fig. 1 to 6, an automatic rescue robot comprises a frame, an actuating mechanism arranged at the rear end of the frame, a remote control system, an observation system arranged on the actuating mechanism and a crawler-type travelling mechanism 1 for driving the frame to move; the frame comprises a vehicle body 2 for placing a wounded person and a multifunctional hydraulic tail plate arranged at the front end of the vehicle body 2; the multifunctional hydraulic tail board comprises a vehicle door 3, a conveying mechanism arranged on the vehicle door 3 and used for conveying the wounded person into the vehicle body 2, and a vehicle door hydraulic driving mechanism 4 for driving the vehicle door 3 to open and close; the lower end of the vehicle door 3 is hinged with the lower end of the vehicle body 2, and the vehicle door hydraulic driving mechanism 4 drives the vehicle door 3 to swing around a hinged point so that the vehicle door 3 inclines and tightly abuts between the ground and the vehicle body 2; the actuating mechanism comprises a swing arm 5 arranged at the rear end of the car body 2, a power mechanism arranged between the car body 2 and the swing arm 5 and used for driving the swing arm 5 to move in space, a clamping assembly 6 arranged at the front end of the swing arm 5 and used for clamping a wounded person, and a clamping driving mechanism 7 used for driving the clamping assembly 6 to close or separate; wherein, the clamping driving mechanism 7 comprises a clamping hydraulic cylinder 7-1 arranged at the front end of the swing arm 5; the clamping assembly 6 comprises two claws 6-1 hinged at the front end of the swing arm 5 and two overload spring dampers 6-2 arranged between the clamping hydraulic cylinder 7-1 and the two claws 6-1; one end of the overload spring shock absorber 6-2 is hinged with the paw 6-1, and the other end is hinged with a driving rod of the clamping hydraulic cylinder 7-1.

Referring to fig. 1 to 6, the conveying mechanism includes a driving roller 8 disposed at a lower end of the door 3, a driven roller 9 disposed at a middle portion of the door 3, a conveying belt 10 disposed between the driving roller 8 and the driven roller 9, and a conveying motor 11 connected to the driving roller 8; one end of the conveying belt 10 is connected with the driving roller 8 in a matching mode, and the other end of the conveying belt is connected with the driven roller 9 in a matching mode. By arranging the conveying mechanism, the conveying motor 11 drives the driving roller 8 to rotate, so that the conveying belt 10 is driven to move between the driving roller 8 and the driven roller 9, a wounded person can be conveyed into the vehicle body 2 more quickly, and rescue time is saved; the structure also has the characteristics of simple design, convenient transportation and the like.

Referring to fig. 1 to 6, a rotary table 13 for horizontally rotating the swing arm 5 is provided between the swing arm 5 and the vehicle body 2. This has the advantage that the swing arm 5 can be pivoted along the turntable 13, which improves the stability of the pivoting.

Referring to fig. 1-6, the swing arm 5 is a two-stage swing arm, and includes a swing arm 5-1 hinged to the rotary turntable 13 and a claw rod 5-2 hinged to the swing arm 5-1; the power mechanism comprises a movable arm hydraulic cylinder 14 for driving the movable arm 5-1 to spatially move around a hinge point of the rotating turntable 13 and a claw rod hydraulic cylinder 15 which is arranged between the movable arm 5-1 and the claw rod 5-2 and is used for driving the claw rod 5-2 to swing around the hinge point; two movable arm hydraulic cylinders 14 are obliquely arranged on two sides of the movable arm 5-1 respectively, one end of each movable arm hydraulic cylinder 14 is hinged to the middle of the movable arm 5-1, and the other end of each movable arm hydraulic cylinder is hinged to the vehicle body 2; one end of the claw rod hydraulic cylinder 15 is hinged with the middle part of the movable arm 5-1, and the other end of the claw rod hydraulic cylinder is hinged with the rear end of the claw rod 5-2; the front end of the claw rod 5-2 is hinged with the claw 6-1. By adopting the structure, the multi-stage movement of the paw 6-1 can be realized, the swing of the movable arm 5-1 is realized by the differential expansion of the two movable arm hydraulic cylinders 14, the movable arm 5-1 rotates around the rotating turntable 13, and the spatial movement of the movable arm 5-1 around the hinge point of the rotating turntable 13 is realized; the claw rod 5-2 can swing back and forth around a hinged point at the front end of the movable arm 5-1 by driving the claw rod hydraulic cylinder 15, so that the flexibility of the claw 6-1 in the process of clamping the wounded is improved.

Referring to fig. 1 to 6, the boom cylinder 14 is connected to the vehicle body 2 through a cross universal joint 16; the swing arm 5-1 can be twisted not only on a single plane, but also can be rotated in a large space angle by the swing arm 5-1, so that the swing arm 5-1 can rotate around the rotating turntable 13, and space movement is realized on the rotating turntable 13.

Referring to fig. 1 to 6, the door hydraulic drive mechanism 4 includes a swing lever 4-1 provided on both sides of the door 3 and a door hydraulic cylinder 4-2 provided between the swing lever 4-1 and the vehicle body 2; the swing rod 4-1 and the vehicle door 3 are arranged at an angle and fixedly connected to the middle part of the vehicle door 3; one end of the vehicle door hydraulic cylinder 4-2 is hinged with the upper end of the swinging rod 4-1, and the other end is hinged with the upper end of the vehicle body 2. The swing rod 4-1 is driven by the vehicle door hydraulic cylinder 4-2 so as to lead the vehicle door 3 to swing around the lower end of the vehicle body 2, thus realizing the opening and closing of the vehicle door 3; through door 3 and 4-1 angled settings of swinging arms, can increase the rotation range of door 3, realize that door 3 opens the back, 3 upper ends of door support tightly ground, when providing supporting role for automobile body 2, can also carry the wounded to in the automobile body 2 through conveying mechanism.

Referring to fig. 1 to 6, the swinging rod 4-1 is provided with a push plate 17 for pushing obstacles away, and the push plate 17 extends obliquely outwards along the rear end of the vehicle body 2; the robot has the advantages that the robot is favorable for pushing the obstacles in front of the crawler belt outwards through the push plate 17 in the walking process, so that the robot is favorable for walking.

Referring to fig. 1 to 6, the gripper 6-1 has a curved shape, protruding outward with respect to the gripping center; the device has the effects of increasing the stress area and better clamping and dragging the wounded.

Referring to fig. 1-6, the outer surface of the paw 6-1 is inlaid with rubber, so that friction force can be increased during clamping, the buffer effect is achieved for the wounded, and the stress on the armpits of the wounded is reduced during dragging.

Referring to fig. 1-6, the observation system comprises an observation camera 18 arranged on the claw rod 5-2, a rescue operation camera 19 arranged on the upper part of the claw 6-1, illuminating lamps arranged at the front end and the rear end of the vehicle body 2 and a life detector arranged on the vehicle frame. Through setting up above-mentioned structure, can realize the accurate positioning to the wounded, also make the control personnel obtain comparatively clear image when the tight wounded of alignment clamp through setting up observation camera 18 and rescue operation camera 19.

The automatic rescue robot further comprises an auxiliary rescue device, wherein the auxiliary rescue device comprises a voice screen conversation device arranged inside the vehicle body 2 and rescue medicines placed inside the vehicle body 2. By adopting the structure, the injury condition of the wounded can be known through the voice and video screen conversation device, and the wounded treatment part can be guided to automatically carry out the injury condition of treatment.

A damping mechanism is arranged between the vehicle body 2 and the crawler type travelling mechanism 1, and comprises a torsion bar spring arranged on the vehicle frame, a suspension connected with the torsion bar spring and a swing arm connected to the suspension; the swing arm of suspension one end with crawler-type running gear 1 is connected, one end swing arm with the torsion bar spring is connected. The height of the vehicle body 2 can be automatically adjusted by adjusting the installation angle of the fixed end of the torsion bar spring; when the wheel is run out on a complex road surface, the swing arm swings around the axis of the torsion bar to enable the torsion bar to generate torsional elastic deformation, so that the elastic connection between the wheel and the frame is ensured.

The crawler type traveling mechanism 1 is characterized in that a hydraulic tensioning mechanism is arranged on a crawler and is a spring tensioning device with an auxiliary oil cylinder. After the crawler-type traveling mechanism 1 travels for a certain time, the caterpillar track pin shaft increases the pitch due to abrasion, so that the whole crawler track extends, and the conditions of friction of a crawler track frame, derailment or chain drop and the like occur; the hydraulic tensioning mechanism on each track is operated to maintain a certain tension on the tracks.

The automatic rescue robot also comprises a power system and a transmission system; wherein the power system is an internal combustion engine driving system. The internal combustion engine driving system reduces the internal volume of the vehicle body 2 occupied by the power system and ensures the durability of driving force and driving.

The transmission system adopts a hydraulic transmission system; the system is consistent with the power source of the actuating mechanism, has small volume, small mass and compact structure, simplifies the structure, reduces easily damaged parts and lightens the weight.

The specific structure of the crawler-type traveling mechanism 1 is described in the prior art.

Referring to fig. 1 to 6, the working principle of the robot for rescuing patients is as follows:

when an injured person is rescued under severe environments such as natural disasters, fire disasters, war and the like, the robot is driven to walk through the remote control system, the observation system searches for the injured person, after the injured person is found, an obstacle in the middle of the vehicle door 3 is arched by the paw 6-1, then the vehicle door hydraulic driving mechanism 4 drives the vehicle door 3 to rotate downwards around the lower end of the vehicle door 3, the vehicle door 3 is opened until the upper end of the vehicle door 3 is tightly propped against the ground, so that the vehicle door 3 is obliquely arranged between the ground and the vehicle body 2 and plays a role of a supporting leg, the stability of the vehicle frame is improved, and the danger that the vehicle body 2 tilts forwards or turns over due to the gravity of the injured person during rescue is prevented; then the power mechanism drives the swing arm 5 to reach a proper position, the clamping hydraulic cylinder 7-1 drives the driving rod to move forwards in a linear mode, the overload spring shock absorber 6-2 pushes the two claws 6-1 to respectively rotate around the hinge points of the two claws 6-1 and the swing arm 5, the two claws 6-1 are loosened, then the two claws 6-1 clamp the armpit of the wounded, the clamping hydraulic cylinder 7-1 drives the driving rod to move backwards, the two claws 6-1 clamp the wounded, and the two claws 6-1 automatically retreat under the buffer of the overload spring shock absorber 6-2, so that the wounded can be prevented from being injured due to overlarge clamping force in the clamping process; then, the swing arm 5, the power mechanism and the vehicle body 2 work cooperatively to drag the wounded to the vehicle door 3, the two claws 6-1 are loosened, the conveying mechanism conveys the wounded upwards along the vehicle door 3 to the vehicle body 2 under the driving of the conveying mechanism, and then the wounded is dragged to the vehicle body 2 through the claws 6-1; the door hydraulic drive mechanism 4 drives the door 3 to rotate upwards around the lower end of the door 3, the door 3 is closed, and finally the wounded person is transferred to a safe place to rescue the wounded person.

The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.

Claims

1. An automatic rescue robot comprises a frame, an actuating mechanism arranged at the rear end of the frame, a remote control system, an observation system arranged on the actuating mechanism and a crawler-type travelling mechanism for driving the frame to move; it is characterized in that the preparation method is characterized in that,

2. The robot of claim 1, wherein the conveying mechanism comprises a driving roller disposed at a lower end of the door, a driven roller disposed at a middle portion of the door, a conveying belt disposed between the driving roller and the driven roller, and a conveying motor connected to the driving roller; one end of the conveying belt is connected with the driving roller in a matched mode, and the other end of the conveying belt is connected with the driven roller in a matched mode.

3. The robot as claimed in claim 2, wherein a rotary table for horizontally rotating the swing arm is provided between the swing arm and the body.

4. The robot of claim 3, wherein the swing arm is a two-stage swing arm comprising a swing arm hinged to the rotary turret and a claw lever hinged to the swing arm; the power mechanism comprises a movable arm hydraulic cylinder and a claw rod hydraulic cylinder, the movable arm hydraulic cylinder drives the movable arm to move around a hinge point of the rotating turntable in a space mode, and the claw rod hydraulic cylinder is arranged between the movable arm and the claw rod and drives the claw rod to swing around the hinge point; the two movable arm hydraulic cylinders are respectively arranged on two sides of the movable arm in an inclined mode, one end of each movable arm hydraulic cylinder is hinged to the middle of the movable arm, and the other end of each movable arm hydraulic cylinder is hinged to the vehicle body; one end of the claw rod hydraulic cylinder is hinged with the middle part of the movable arm, and the other end of the claw rod hydraulic cylinder is hinged with the rear end of the claw rod; the front end of the claw rod is hinged with the paw.

5. The robot as claimed in claim 4, wherein the door hydraulic driving mechanism includes a swing lever provided at both sides of the door and a door hydraulic cylinder provided between the swing lever and the vehicle body; the swing rod and the vehicle door are arranged at an angle and fixedly connected to the middle part of the vehicle door; one end of the vehicle door hydraulic cylinder is hinged with the upper end of the swing rod, and the other end of the vehicle door hydraulic cylinder is hinged with the upper end of the vehicle body.

6. The robot as claimed in claim 5, wherein the swing lever is provided with a push plate for pushing the obstacle away, and the push plate is extended obliquely outward along the rear end of the vehicle body.

7. The robot of claim 6, wherein the finger is curved and protrudes outward from the center of the grip.

8. The robot of claim 7, wherein the outer surface of the paw is rubberized.

9. The robot of claim 1 or 8, wherein the observation system comprises an observation camera provided on the swing arm, a rescue operation camera mounted on the upper portion of the paw, illumination lamps mounted on the front and rear ends of the vehicle body, and a life detector provided on the vehicle frame.

10. The robot of claim 9, further comprising an auxiliary rescue device comprising a voice-video dialog device disposed within the vehicle body and a rescue medication disposed within the vehicle body.