CN110978000B - A link-type multi-arm rescue robot - Google Patents

Abstract

The invention relates to a link type multi-arm rescue robot, which comprises a car shell, a walking device, a lifting device and a working arm, the walking device includes a load-bearing frame and a crawler moving unit, and the lifting device can move in a vertical direction relative to the walking device , The vertical movement of the lifting device is driven by the first electric push rod, and three groups of working arms are installed on the lower side of the lifting device. The working arms include a fixed arm, a push rod seat, a second electric push rod, a movable arm, an electric drum, an idler, Tension the idler and the conveyor belt. During the rescue mission, the first electric push rod, the second electric push rod and the electric drum work together to complete the lifting of the wounded, and then the walking device transports the wounded to a safe position and lowers them safely. to complete the rescue mission. The invention can quickly and safely move the wounded, does not directly expose the wounded to the environment when transporting the wounded, can avoid possible secondary injuries when the wounded is lifted, and at the same time provides protection for the wounded during transportation.

Description

A link-type multi-arm rescue robot

technical field

The invention relates to the field of rescue robots, in particular to a link-type multi-arm rescue robot.

Background technique

In real life, natural disasters such as fires, earthquakes, and landslides can easily endanger the safety of human life and property. When a disaster occurs, it is necessary to rescue the wounded as soon as possible. However, due to the complexity of the disaster site, during manual rescue, the wounded and rescuers may suffer secondary injuries from landslides, aftershocks, gravel or various burning objects. Therefore, there is a need for a rescue robot that can transport and protect the wounded at the disaster site and bring the wounded to a safe area for rescue.

Most of the existing rescue robots use lifting or dragging to move the wounded to the machine and transport them. Due to the rigid drive, it may cause secondary injury to the wounded during the lifting and dragging process. Moreover, most rescue robots directly expose the wounded to the outside of the environment when transporting the wounded, which may also cause the wounded to suffer secondary injuries such as high temperature and falling rocks.

SUMMARY OF THE INVENTION

In view of the above specific problems, the purpose of the present invention is to provide a link-type multi-arm rescue robot. The present invention can avoid secondary injuries that may be received by the wounded when they are lifted, and at the same time provide protection for the wounded during transportation.

In order to achieve the above object, in particular, the present invention provides a link-type multi-arm rescue robot, which includes a controller, a body, a vehicle shell, a walking device, a lifting device and a plurality of working arms, and the controller is respectively connected with the walking device. , the lifting device is connected to a plurality of working arms in communication, the car shell is covered on the outside of the body, the walking device, the lifting device and the working arm are respectively connected with the body, and the working arms are symmetrically arranged on the body. below the lift,

The walking device includes a bearing bracket, two roller frames, two sets of drive assemblies and two tracks, the two roller frames are respectively a first roller frame and a second roller frame, the bearing bracket, the third roller frame, and the A support wheel frame and a second support wheel frame are respectively fixedly connected to the body, the first support wheel frame and the second support wheel frame are respectively arranged on both sides of the bearing bracket, and the first support wheel frame is The wheel frame and the second support wheel frame are arranged vertically with the bearing bracket, and the first support wheel frame and the second support wheel frame are respectively provided with a set of driving components,

The drive assembly includes a drive motor, a drive wheel, a plurality of rollers, a tensioner and a carrier wheel, the drive motor is installed on the rear side of the roller frame, the drive wheel and the motor of the drive motor The rotating shaft is fixedly connected, the plurality of supporting wheels are installed on the lower side of the supporting wheel frame, the supporting sprocket is installed on the upper side of the supporting wheel frame, and the tensioning wheel is installed on the front side of the supporting wheel frame, so The outer side of the drive wheel, roller, tensioner and carrier wheel is wrapped with crawler;

The lifting device includes a movable frame, a first electric push rod, a plurality of sliding blocks and a plurality of guide rails, and two sliding block supporting plates and two first electric push rod connecting rod seats are respectively provided on both sides of the lifting device , the slider support plate is fixedly connected with the slider, the guide rail is fixedly connected with the bearing bracket, the multiple guide rails are matched with multiple sliders, and the multiple guide rails are symmetrically arranged on both sides of the bearing bracket, the first electric push rod is fixedly connected with the bearing bracket, and the push rod sleeve of the first electric push rod is fixedly connected with the first electric push rod connecting rod seat;

The working arm includes a fixed arm, a second electric push rod connecting rod seat, a second electric push rod, a movable arm, an electric drum, a plurality of idlers, a tension idler and a transmission belt. The second electric push rod connecting rod seat and the second electric push rod are provided with two groups, and the two groups of fixed arms, the second electric push rod connecting rod seat and the second electric push rod are symmetrically arranged on both sides of the movable arm. The upper ends of the fixed arm and the second electric push rod connecting rod seat are fixed below the movable frame, and the electric push rod sleeve of the second electric push rod is rotatably connected to the push rod seat through a pin shaft;

The outer sides of the first side plate and the second side plate are provided with tension bolts and tension nuts, and the two sides of the electric drum are respectively fixed and installed on the first side plate and the second side plate, and are connected with the first side plate and the second side plate. The plate is slidingly connected, and the configuration of the tension bolt and the tension nut is used to adjust the lateral displacement of the electric drum;

The movable arm includes a support beam, a first side plate and a second side plate, the first side plate and the second side plate are symmetrically arranged on both sides of the support beam, and one side of the movable arm and the first side plate are symmetrically arranged on both sides of the support beam. The end of one side plate is connected to the second electric push rod link seat on the side through a pin, and the other side of the movable arm and the end of the second side plate are respectively connected to the second electric push rod on the side through a pin. The connecting rod seat of the electric push rod, the first side plate and the second side plate are connected to the fixed arm on the same side through the rotation of the pin shaft, and a plurality of idlers are installed on the movable arm, and the plurality of idlers are respectively connected with the first side plate. The side plate and the second side plate are rotatably connected to the electric drum and a plurality of idler rollers. The outer side wraps the conveyor belt. A tensioning idler roller is installed on the outer side of the conveyor belt near the electric drum, and the tensioning idler is rotatably connected to the movable arm. .

Preferably, the plurality of idler rollers are rotatably connected to the first side plate and the second side plate through pin shafts, respectively.

Preferably, the shafts on both sides of the tensioning roller are respectively fixed on the first side plate and the second side plate by means of the tensioning roller cover.

Preferably, both the first side plate and the second side plate are vertically arranged with the support beam.

Preferably, the slider support plate is provided with a plurality of bolt holes, the slider support plate is fixedly connected to the slider through bolts, and the guide rail is fixedly connected to the bearing bracket through bolts.

Preferably, multiple groups of hole arrays for installing working arms are distributed above the lifting device.

Preferably, the fixed arm and the second electric push rod connecting rod seat are fixedly connected to the movable frame through bolts.

Preferably, a plurality of first hollow beams are arranged above the bearing bracket, and a plurality of second hollow beams are arranged above the movable frame, and the first hollow beams and the second hollow beams together constitute the frame structure of the body.

Preferably, an anti-skid layer is provided on the outer side of the conveyor belt.

Preferably, the present invention also provides a rescue method for a link-type multi-arm rescue robot, comprising the following steps:

S1. Drive the motor to run, move the rescue robot, and make the robot move directly above the wounded;

S2. The first electric push rod is energized and operated, and the movable frame drives the working arm to move down, so that the conveyor belt in front of the working arm contacts the ground;

S3. The electric drum is energized to drive the conveyor belt to rotate inward, and the first electric push rod and the second electric push rod run synchronously, so that the working arm lifts the wounded;

S4. When the first electric push rod and the second electric push rod are extended to the maximum extent, the movable arms of the two symmetrical working arms on both sides are horizontally closed, and the electric drum stops running at the same time, completing the lifting and overall embracing of the wounded;

S5. Drive the motor to run, move the rescue robot, and transport the wounded to a safe location for treatment;

S6, the first electric push rod and the second electric push rod are reset, drive the motor to run, move the rescue robot to the designated position, and wait for the next rescue.

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

The invention has a reasonable structure, and a plurality of load-bearing wheels are installed at the bottom of the first roller frame and the second roller frame, which can reasonably distribute the gravity of the device, improve the service life of the walking device, and can quickly move the wounded safely and safely. The wounded will not be directly exposed to the environment, which can avoid secondary injuries that may be suffered when the wounded is lifted, and at the same time provide protection for the wounded during transportation.

Description of drawings

1 is a schematic diagram of the overall structure of a crawler-type dobby rescue robot of the present invention;

Fig. 2 is the structure schematic diagram of the walking device of the present invention;

3 is a schematic structural diagram of the lifting device of the present invention;

4 is a schematic structural diagram of a guide rail slider of the present invention;

5 is a schematic diagram of the installation structure of the working arm of the present invention;

Fig. 6 is the working arm structure schematic diagram of the present invention;

7 is an overall cross-sectional view of the working arm of the present invention;

FIG. 8 is a working schematic diagram of the present invention.

Among them, some reference signs are as follows:

Walking device 1, carrying bracket 11, first roller frame 12, second roller frame 13, driving motor 101, driving wheel 102, carrier wheel 103, tensioning wheel 104, bearing wheel 105, track 106, lifting and lowering Device 2, movable frame 21, slider support plate 22, hole array 23, first electric push rod link seat 24, slider 201, guide rail 202, first electric push rod 203, working arm 3, fixed arm 301, first electric push rod 203 Two electric push rod connecting rod seat 302 , second electric push rod 303 , movable arm 304 , electric drum 305 , idler 306 , tension idler 307 , and conveyor belt 308 .

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The present invention provides a link-type multi-arm rescue robot, as shown in Figs. The vehicle shell 4 is arranged outside the body, and the running device 1 is arranged on both sides of the body. There are a plurality of working arms 3 , and the plurality of working arms 3 are symmetrically arranged in pairs below the lifting device 2 . The two opposite working arms 3 on both sides move synchronously to grasp the wounded.

The traveling device 1 includes a bearing bracket 11 , a first roller frame 12 , a second roller frame 13 and a drive assembly. The first roller frame 12 and the second roller frame 13 are arranged on both sides of the bearing bracket 11 , The first support wheel frame 12 and the second support wheel frame 13 are respectively provided with a set of driving components, the driving components include a driving motor 101 , a driving wheel 102 , a carrier wheel 103 , a tensioning wheel 104 and a bearing wheel 105 , the driving wheel 102 , the outer side of the carrier wheel 103 , the tension wheel 104 and the bearing wheel 105 wrap the track 106 .

A plurality of first hollow beams 14 are arranged above the bearing bracket 11, and the plurality of first hollow beams 14 can improve the strength of the bearing bracket 11, ensure the safety of the structure, reduce the weight of the bracket, improve the mobility of the walking device 1, and further Improve rescue efficiency.

A pair of electric push rod connecting rod seats 15 are symmetrically arranged on the lower left and right sides of the bearing bracket 11, respectively, and the first roller frame 12 and the second roller frame 13 are respectively installed with respective driving motors 101 and driving wheels. 102. The carrier wheel 103, the tensioning wheel 104 and a plurality of bearing wheels 105, the bottom of the bearing wheel frame is installed with a plurality of bearing wheels 105 by means of the installation shaft 107, which can reasonably distribute the gravity of the device and improve the service life of the traveling device 1.

The lifting device 2 includes a movable frame 21, a slider 201, a guide rail 202 and a first electric push rod 203. A plurality of second hollow beams 25 are arranged above the movable frame 21. The plurality of second hollow beams 25 can improve the strength of the mechanism and reduce the Improve the overall quality of the organization and improve work efficiency.

A pair of slider support plates 22 and a first electric push rod connecting rod seat 24 are symmetrically arranged on the left and right sides of the movable frame 21, respectively. A plurality of bolt holes are distributed on the slider support plate 22. The block 201 is fixedly connected to the outer side of the slider support plate 22, and a plurality of bolt holes are distributed above the guide rail 202. The guide rail 202 is fixedly connected to the inner side of the bearing frame 11 through the bolts passing through the bolt holes, and the guide rail 202 and the slider 201 cooperate to form sliding connection, the first electric push rod link seat 24 is fixedly connected with the push rod sleeve of the first electric push rod 203, and the push rod of the first electric push rod 203 is fixedly connected with the electric push rod link seat 15 on the bearing bracket 11 .

The working arm 3 includes a fixed arm 301, a second electric push rod link seat 302, a movable arm 304, an electric drum 305, a plurality of idlers 306, a tension idler 307 and a conveyor belt 308, a fixed arm 301, a second electric push rod 303 and the second electric push rod connecting rod seat 302 are respectively provided with two and are respectively arranged on both sides of the movable arm 304, the fixed arm 301 and the second electric push rod connecting rod seat 302 are respectively connected to the lower part of the movable frame by bolts, The second electric push rod connecting rod seat 302 is rotatably connected with the push rod sleeve of the second electric push rod 303 through a pin shaft.

The movable arm 304 includes a plurality of beams 3043, a first side plate 3041 and a second side plate 3042. The first side plate 3041 and the second side plate 3042 are respectively disposed on both sides of the beam 3043. The first side plate 3041 of the movable arm 304 Symmetrically arranged with the second side plate 3042, a plurality of beams 3043 are arranged between the first side plate 3041 and the second side plate 3042. The beams 3043 can improve the strength of the movable arm 304 and prolong the service life.

The first side plate 3041 and the second side plate 3042 are provided with shaft holes at corresponding positions. The first side plate 3041 and the second side plate 3042 are respectively connected to the fixed arm 301 through a pin shaft. The rear ends of the two side plates 3042 are respectively connected with the push rod of a second electric push rod 303 through a pin shaft to form a rotational connection. A tension nut 3044 is provided on the outside of the first side plate 3041 and the second side plate 3042. The side is fixedly installed at the middle position of the first side plate 3041 and the second side plate 3042, and is slidably connected with the first side plate 3041 and the second side plate 3042, and is determined by the cooperation of the tension bolt 310 and the tension nut 3044. As for the lateral position of the electric drum 305 , the tension bolt 310 can cooperate to adjust the lateral position of the electric drum 305 , so as to facilitate the installation of the conveyor belt 308 .

A plurality of idler rollers 306 are installed above the movable arm 304. Both sides of the idler rollers 306 are mounted on the first side plate 3041 and the second side plate 3042. An idler roller cover is installed on the shaft of the idler roller 306, relying on the idler roller cover. 309 fixes the shafts on both sides of the idler 306, and the idler forms a rotational connection with the two side plates. The outer side of the electric drum 305 and the plurality of idlers 306 wraps the conveyor belt 308. When the working arm lifts the wounded, the movable arm rotates inwards. At the same time, the conveyor belt starts to rotate inward, which can transport the wounded to the movable arm, so as to avoid secondary injury to the wounded during lifting. A tensioning roller 307 is installed on the outside of the conveyor belt 308 near the electric drum, and the shafts on both sides of the tensioning roller 307 are The tensioning roller cover 309 is fixed at the middle position of the first side plate 3041 and the second side plate 3042, and the tensioning roller 307 is rotatably connected with the movable arm 304. Adding a tensioning roller can increase the size of the conveyor belt 308 on the electric drum In order to avoid slippage during the transmission process and improve the working quality, the car shell 4 is fixedly connected with the load-bearing bracket to cover the upper part of the load-bearing frame.

The specific implementation process of the present invention is as follows:

In the initial state, the first electric push rod and the second electric push rod in the present invention are in the state of not being pushed out. When the robot performs rescue work, the driving motor 101 is started, and the walking device 1 is adjusted through the driving motor 101 to drive the robot to move to the waiting position. Right above the rescuer, after the robot runs to a suitable position, the controller controls the first electric push rod 203 to energize, which drives the lifting device 2 and the working arm 3 to move vertically downward, and the front end of the movable arm 304 touches the injured person to lie down. After the plane, the controller controls the first electric push rod 203, the second electric push rod 303 and the electric drum 305 to run at the same time, the first electric push rod 203 drives the lifting device 2 to continue to move downward, and at the same time the second electric push rod 303 pushes forward , drive the movable arm 304 to fold inward, so that the movable arms 304 on both sides touch the injured person to be rescued from below the injured person to be rescued, and at the same time the electric drum 305 runs to drive the conveyor belt 308 to run inward. The movable arm moves behind and lifts the injured.

During the lifting process, it is necessary to control the first electric push rod, and the second electric push rod and the electric drum run at the same speed in a certain proportional relationship. When the first electric push rod 203 drives the lifting device to descend, the front end of the working arm 3 contacts the body of the wounded. At the same time, the electric drum 305 drives the transmission belt 308 to move. When the working arm 3 descends to a certain position, the second electric push rod 303 moves, so that the link mechanism of the working arm 3 is folded inward to complete a grabbing action. When the working arm 3 is folded, it is necessary to ensure that the lifting device descends at a certain speed to ensure the safety and continuity of the working arm 3 entering the body of the wounded. The specific speeds of the first electric push rod, the second electric push rod and the electric drum are specifically determined by their dimensions.

After that, keep the lower part of the movable arm 304 in contact with the ground continuously, and while the two symmetrical movable arms 304 are closed inward, the conveyor belt to drag the injured person is completed. When the two symmetrical movable arms reach the level at the same time, the controller is turned off The operation of the second electric push rod and the electric drum completes the lifting of the injured person. After the lifting is completed, the controller controls the first electric push rod 203 to push back, driving the lifting device 2, the working arm 3, and the injured person 5 upward. move.

After the rescue work is completed, the controller controls the driving motor 101 to drive the walking device 1 to move the robot and the wounded to a safe position, and then perform medical treatment for the wounded. It is always under the mechanism, and after the lift is completed, the injured person to be rescued is kept away from the ground, so as to ensure that the injured person to be rescued will not be injured by the lift, various subsequent splashes, and the high temperature of the ground during the entire transportation process, which is safe and efficient. to complete the entire rescue operation.

After bringing the injured to a safe position, the controller controls the operation of the first electric push rod 203, the second electric push rod 303, and the electric drum 305, and the first electric push rod 203 is pushed out to drive the lifting device 2 and the working arm 3 to be vertical. Move down, after the lifting device 2 and the working arm 3 are moved down to a suitable height, the second electric push rod 303 pushes inward to control the movable arm 304 to turn outward, and at the same time, the electric drum 305 runs in reverse, driving the conveyor belt 308 to run outward. . Drive the injured person to be rescued to the designated position. After the lowering is completed, the first electric push rod 203 is pushed inward to drive the lifting device 2 and the working arm 3 to reset, and finally the robot is withdrawn to wait for the next rescue operation.

The above embodiments are only to describe the preferred embodiments of the present invention, but do not limit the scope of the present invention. On the premise of not departing from the design spirit of the present invention, various modifications made by those of ordinary skill in the art to the technical solutions of the present invention and improvements, all should fall within the protection scope determined by the claims of the present invention.

Claims (10)

1. The utility model provides a connecting rod formula multi-arm rescue robot which characterized in that: the automatic lifting device comprises a controller, a machine body, a vehicle shell, a traveling device, a lifting device and a plurality of working arms, wherein the controller is respectively in communication connection with the traveling device, the lifting device and the working arms, the vehicle shell is coated outside the machine body, the traveling device, the lifting device and the working arms are respectively connected with the machine body, the working arms are symmetrically arranged below the lifting device,

the walking device comprises a bearing bracket, two supporting wheel frames, two groups of driving components and two tracks, wherein the two supporting wheel frames are respectively a first supporting wheel frame and a second supporting wheel frame which are fixedly connected with the machine body respectively, the first supporting wheel frame and the second supporting wheel frame are respectively arranged at two sides of the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are vertically arranged with the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are respectively provided with a set of driving components,

the driving assembly comprises a driving motor, a driving wheel, a plurality of supporting wheels, a tensioning wheel and a chain supporting wheel, the driving motor is installed on the rear side of a supporting wheel frame, the driving wheel is fixedly connected with a motor rotating shaft of the driving motor, the supporting wheels are installed on the lower side of the supporting wheel frame, the chain supporting wheel is installed on the upper side of the supporting wheel frame, the tensioning wheel is installed on the front side of the bearing frame, and the outer sides of the driving wheel, the supporting wheels, the tensioning wheel and the chain supporting wheel are wrapped with a track;

the lifting device comprises a movable frame, a first electric push rod, a plurality of sliders and a plurality of guide rails, two slider supporting plates and two first electric push rod connecting rod seats are respectively arranged on two sides of the lifting device, the slider supporting plates are fixedly connected with the sliders, the guide rails are fixedly connected with a bearing support, the guide rails are matched with the sliders, the guide rails are symmetrically arranged on two sides of the bearing support, the first electric push rod is fixedly connected with the bearing support, and a push rod sleeve of the first electric push rod is fixedly connected with the first electric push rod connecting rod seats;

the working arm comprises a fixed arm, a second electric push rod connecting rod seat, a second electric push rod, a movable arm, an electric roller, a plurality of carrier rollers, tensioning carrier rollers and a conveying belt, the fixed arm, the second electric push rod connecting rod seat and the second electric push rod are respectively provided with two groups, the two groups of fixed arm, the second electric push rod connecting rod seat and the second electric push rod are symmetrically arranged at two sides of the movable arm, the upper ends of the fixed arm and the second electric push rod connecting rod seat are fixed below the movable frame, and an electric push rod sleeve of the second electric push rod is rotatably connected with the push rod seat through a pin shaft;

the tensioning bolt and the tensioning nut are arranged on the outer sides of the first side plate and the second side plate, two sides of the electric roller are fixedly mounted on the first side plate and the second side plate respectively and are in sliding connection with the first side plate and the second side plate, and the tensioning bolt and the tensioning nut are configured to adjust the transverse displacement of the electric roller;

the digging arm includes supporting beam, first curb plate and second curb plate symmetry set up supporting beam's both sides, the push rod of the second electric putter of this side of round pin hub connection is respectively passed through to the tip of a lateral part of digging arm and first curb plate, the push rod of the second electric putter of this side of round pin hub connection is respectively passed through to the tip of another lateral part of digging arm and second curb plate, first curb plate and second curb plate all rotate the fixed arm of connecting the homonymy through the round pin axle, install a plurality of bearing rollers on the digging arm, a plurality of bearing rollers rotate with first curb plate and second curb plate respectively and are connected, electric drum and a plurality of bearing roller outside parcel conveyer belt, the conveyer belt outside is close to the electric drum position and installs the tensioning bearing roller, the tensioning bearing roller rotates with the digging arm to be connected.

2. The linked multi-arm rescue robot of claim 1, wherein: the multiple carrier rollers are rotatably connected with the first side plate and the second side plate through pin shafts.

3. The linked multi-arm rescue robot of claim 2, wherein: shafts on two sides of the tensioning carrier roller are respectively fixed on the first side plate and the second side plate through tensioning carrier roller covers.

4. The linked multi-arm rescue robot of claim 1, wherein: the first side plate and the second side plate are both perpendicular to the supporting beam.

5. The linked multi-arm rescue robot of claim 1, wherein: a plurality of bolt holes are formed in the slider supporting plate, the slider supporting plate is fixedly connected with the slider through bolts, and the guide rail is fixedly connected with the bearing support through bolts.

6. The linked multi-arm rescue robot of claim 1, wherein: and a plurality of groups of hole arrays for mounting the working arm are distributed above the lifting device.

7. The linked multi-arm rescue robot of claim 1, wherein: and the fixed arm and the second electric push rod connecting rod seat are fixedly connected with the movable frame through bolts.

8. The linked multi-arm rescue robot of claim 1, wherein: a plurality of first hollow beams are arranged above the bearing support, a plurality of second hollow beams are arranged above the movable frame, and the first hollow beams and the second hollow beams jointly form a frame structure of the machine body.

9. The linked multi-arm rescue robot of claim 1, wherein: and an anti-slip layer is arranged on the outer side of the conveying belt.

10. A rescue method using the link-type multi-arm rescue robot of claim 1, characterized in that: the method comprises the following steps:

s1, driving a motor to operate, and moving the rescue robot to enable the robot to move right above the wounded;

s2, the first electric push rod is electrified to operate, the movable frame drives the working arm to move downwards, and the conveyor belt in front of the working arm is in contact with the ground;

s3, the electric roller is electrified to operate to drive the conveyor belt to rotate inwards, and meanwhile, the first electric push rod and the second electric push rod synchronously operate to lift the wounded on the working arm;

s4, when the first electric push rod and the second electric push rod extend to the maximum degree, the movable arms of the two opposite working arms are horizontally closed, and meanwhile, the electric roller stops running, so that the wounded are lifted and wholly encircled;

s5, driving a motor to operate, moving the rescue robot, and transporting the wounded to a safe position for treatment;

s6, the first electric push rod and the second electric push rod reset, the driving motor operates, the rescue robot is moved to a designated position, and the next rescue is waited.

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