CN113750396B

CN113750396B - Barrier-breaking rescue robot for biochemical environment

Info

Publication number: CN113750396B
Application number: CN202110936051.5A
Authority: CN
Inventors: 海鸥
Original assignee: Zhongguancun Military Civilian Science And Technology Collaborative Innovation Incubation Center Beijing Co ltd
Current assignee: Zhongguancun Military Civilian Science And Technology Collaborative Innovation Incubation Center Beijing Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2022-05-06
Anticipated expiration: 2041-08-16
Also published as: CN113750396A

Abstract

The invention relates to the technical field of robots, in particular to a barrier-breaking rescue robot for biochemical environments, which comprises a robot main body, wherein one end of the robot main body is provided with a hydraulic driving excavating and crushing mechanism, the other end of the robot main body is movably provided with a cabin door, a medical cabin is arranged in the robot main body, a sickbed and a first linear sliding table are arranged in the medical cabin, the first linear sliding table is positioned above the sickbed, the first linear sliding table is fixed on the inner wall of the medical cabin through a bolt, a second linear sliding table is arranged on the first linear sliding table in a sliding manner, one end of the second linear sliding table, which is far away from the first linear sliding table, is provided with a supporting beam in a sliding manner, and the outer surface of one end of the supporting beam, which is far away from the second linear sliding table, is movably provided with a first rescue bracket assembly and a second rescue bracket assembly. The multifunctional rescue robot is convenient for rescuing faint personnel, can deal with various complex environments, and can safely rescue the groggy faint personnel.

Description

Barrier-breaking rescue robot for biochemical environment

Technical Field

The invention relates to the technical field of robots, in particular to an obstacle-breaking rescue robot for a biochemical environment.

Background

The biochemical environment generally refers to a dangerous environment, such as a fire, dangerous chemical leakage, explosion and the like, in which emergency rescue needs to be carried out after casualties occur, and the obstacle-breaking rescue robot is a rescue robot designed for complex environments.

In a dangerous biochemical environment, people go to rescue and possibly help seeking personnel to cause danger, and the robot rescue does not need to worry about the problem, so that the patent publication No. CN101845832A discloses a multifunctional rescue and obstacle-breaking robot, which has the structure that: the obstacle breaking mechanism is arranged in front of the vehicle body, the bucket mechanism for breaking obstacles to move forward and carrying and transferring articles is arranged behind the vehicle body, crawler traveling mechanisms are arranged on two sides below a chassis of the vehicle body, and an electric control board control unit for controlling the robot to act is arranged on the chassis; when an obstacle is met, the obstacle breaking mechanism is used for breaking the obstacle by turning the vehicle head, and is provided with two circular saws and two conical drills which are respectively driven by a motor to break the obstacle; the bucket mechanism is provided with a bucket with lifting and overturning functions. The invention can implement the functions of barrier breaking, moving, searching and rescuing, real-time positioning, loading and rescuing materials and the like under remote control in various sudden disaster accidents and severe environments to realize quick rescuing, and has the advantages of small volume, high flexibility, multiple practical functions and the like.

The existing rescue robot has the capability of carrying objects, but the situation of people is more complicated than that of objects, and the faint people are carried by directly using the structure for carrying objects, so that secondary damage is easily caused to the faint people, and therefore an obstacle-breaking rescue robot for biochemical environment needs to be designed to solve the problems.

Disclosure of Invention

The invention aims to provide an obstacle-breaking rescue robot for biochemical environment, which solves the problem that the robot cannot conveniently and safely carry and rescue the fainting people in the coma in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a wreck rescue robot for biochemical environment, including the robot main part, hydraulic drive excavates broken mechanism is installed to the one end of robot main part, the other end movable mounting of robot main part has the hatch door, the medical treatment cabin has been seted up to the inside of robot main part, the internally mounted of medical treatment cabin has sick bed and first straight line slip table, first straight line slip table is located the side top of sick bed, and first straight line slip table passes through the bolt fastening on the inner wall of medical treatment cabin, slidable mounting has second straight line slip table on the first straight line slip table, the one end slidable mounting that the second straight line slip table deviates from first straight line slip table has a supporting beam, the one end surface movable mounting that the supporting beam deviates from the second straight line slip table has first rescue bracket assembly and second rescue bracket assembly, the quantity of first rescue bracket assembly is two sets of, two sets of first rescue bracket assembly is and distributes side by side, the second rescue bracket assembly is adjacent with first rescue bracket assembly, the second rescue bracket assembly is including linking frame and oxygen suppliment mechanism, the overall structure of first rescue bracket assembly is roughly the same with second rescue bracket assembly, and the difference lies in, oxygen suppliment mechanism is installed more than first rescue bracket assembly to the inside of second rescue bracket assembly.

Preferably, the hatch door includes main door plant, the one end of main door plant is passed through the hinge and is connected with the robot main part rotation, and the other end of main door plant is connected with vice door plant through the articulated shaft rotation, the main door plant passes through the hydraulic stem and forms the structure that opens and shuts with the robot main part, vice door plant passes through the hydraulic stem and forms beta structure with vice door plant, evenly distributed has the camera on the inner wall of main door plant, evenly be fixed with the LED light on the inner wall of vice door plant.

Preferably, the quantity of second sharp slip table is two, two the second sharp slip table is distributed side by side, first second sharp slip table and first sharp slip table fixed connection, first the second sharp slip table is close to the hatch door, and the second sharp slip table and first sharp slip table sliding connection, supporting beam and two second sharp slip tables go up and down to be connected, and supporting beam and first second sharp slip table lateral sliding connection.

Preferably, a support rod is fixed on the outer surface of the support beam, a second steel cable is uniformly fixed at the top end of the support rod, and one end of the second steel cable, which is far away from the support rod, is fixedly connected with the outer surface of the support beam.

Preferably, second rescue bracket assembly is including linking frame and first servo motor, linking frame's upper and lower both ends are all rotated and are connected with the connecting axle, first servo motor passes through bolt fixed connection in the surface of frame, and first servo motor's output passes through shaft coupling and connecting axle linkage, the sprocket has been cup jointed on the surface of connecting axle, the cover is equipped with the chain on the surface of sprocket, be fixed with personnel on the surface of chain and hold up the subassembly.

Preferably, the personnel hold up the subassembly and include fixed frame, fixed frame comprises fixed plate and crossbeam two parts, and the crossbeam passes through the bottom swing joint of articulated shaft and fixed plate, and the rear end of crossbeam is connected with the hydraulic stem through the connecting rod, and the hydraulic stem is fixed on the rear end surface of fixed plate, and the front end surface connection that the top that the rear end of fixed plate is close to the hydraulic stem passes through bolt and chain is fixed, and the crossbeam is "U" shape, and the U-shaped notch of crossbeam rotates and is connected with the stable grillage.

Preferably, it includes carriage and second servo motor to stabilize the grillage, the lower fixed surface of carriage has the gasbag, the center department both sides of carriage all are connected through the rotation of the U-shaped notch inner wall of pivot and crossbeam, the upper surface of carriage is fixed with rings, fixed frame's both sides surface all is fixed with the tractive subassembly, the tractive subassembly includes the rolling machine, the rolling machine is fixed on fixed frame, the inside swing joint of rolling machine has first cable wire, the one end that first cable wire deviates from the rolling machine is connected fixedly with rings.

Preferably, the carriage is square, four edges of the left and right sides of the stabilizing plate frame are movably provided with clamping bars, the inside of the carriage is fixed with a transmission shaft part, the transmission shaft part comprises a fixed pile and a connecting shaft, the fixed pile is fixed on the inner wall of the carriage, the connecting shaft is telescopically connected with the fixed pile, one end of the connecting shaft is in a conical tooth shape, the other end of the connecting shaft is in a cross shape, a spring is sleeved at the cross position of the connecting shaft, the spring is abutted to the inner wall of the carriage, one end of the connecting shaft departing from the fixed pile is fixedly connected with the top surface of the clamping bar, the clamping bar is rotatably connected with the carriage through the connecting shaft, the second servo motor is fixed on the inner wall of the carriage through screws, the output end of the second servo motor is sleeved with a driving conical gear, the driving conical gear is meshed with the conical tooth end of the connecting shaft, and the opposite surface of the second servo motor is provided with a clutch component, the clutch assembly comprises a first connecting pile and a first hydraulic rod, the first connecting pile is fixed on the inner wall of the supporting frame, the outer surface of the supporting frame is rotatably connected with a clutch shaft, the clutch shaft is composed of a shaft, an elliptical wheel and a disc, the shaft is rotatably connected with the first connecting pile, the elliptical wheel is fixed at one end of the shaft, the disc is fixed at the other end of the shaft, the elliptical wheel is located between two connecting shafts, the connecting shafts are abutted to the sides of the elliptical wheel, the first connecting pile is fixedly connected with the inner wall of the supporting frame, the output end of the first connecting pile is rotatably connected with the disc through a connecting rod, and a lifting connecting mechanism is fixed on the outer surface of the front end of the fixed frame through bolts.

Preferably, the lifting connection mechanism comprises a fixed sleeve, the fixed sleeve is fixedly connected with a fixed frame through screws, a lifting bracket is telescopically connected inside the fixed sleeve, a motor is fixed on the outer surface of the fixed sleeve, a gear is sleeved at the output end of the motor, a tooth groove is uniformly formed in the outer surface of the lifting bracket, the gear is meshed with the tooth groove, the bottom of the lifting bracket is L-shaped, a supporting plate is arranged on the outer surface of the lifting bracket, the upper surface of the supporting plate is arc-shaped, the lower surface of the supporting plate is flat-shaped, a clamping mechanism is installed at one end of the lifting bracket, which is far away from the supporting plate, the clamping mechanism comprises an L-shaped bracket and a clamping plate, a second connection pile and an L-shaped bracket are fixed at one end of the lifting bracket, which is far away from the supporting plate, the top end of the second connection pile is rotatably connected with the clamping plate through a hinge shaft, and the clamping plate is abutted against the upper surface of the supporting plate, and the splint deviate from the one end perk that makes progress of layer board, the top of L shape bracket is fixed with the second hydraulic stem, the output of second hydraulic stem passes through the articulated shaft and is connected with splint rotation, fixed frame's surface mounting has oxygen suppliment mechanism.

Preferably, the oxygen suppliment mechanism includes third connection stake and blast pipe, the third connection stake is fixed on fixed frame, the surface rotation of third connection stake is connected with the blast pipe, the surface mounting of third connection stake has step motor, and the step motor output is connected fixedly with the blast pipe, the one end that the blast pipe deviates from the third connection stake is fixed with the oxygen cover.

Compared with the prior art, the invention has the beneficial effects that: this a wreck-breaking rescue robot for biochemical environment is convenient for salvage syncope personnel, can deal with multiple complex environment, can be safer the rescue of the syncope personnel of lying prone.

(1) Through having seted up the medical cabin in the robot main part to sick bed and first straight line slip table are equipped with in the medical cabin, slidable mounting has the straight line slip table of second through on the first straight line slip table, and it installs a supporting beam to go up and down at the straight line slip table of second, make a supporting beam can drive first rescue bracket assembly and second rescue bracket assembly and go up and down, first rescue bracket assembly and second rescue bracket assembly can independently slide about a supporting beam, the patient that adapts to different heights rescues.

(2) Through all designing first rescue bracket assembly and second rescue bracket assembly into elevation structure, even patient and syncope posture are irregular, observe through the camera on the hatch door to and the lift adjustment of first rescue bracket assembly and second rescue bracket assembly, also can hold up the back earlier and adjust the state of lying, send into the medical cabin again, accomplish the rescue.

(3) After the patient is held up to the layer board, take on the health through putting down first servo motor, with layer board cooperation centre gripping shank or waist, rethread personnel hold up the subassembly and rise, can rise the patient and send into in the medical cabin, when the patient is lying prone when faint, the layer board lifts up the patient after, shrink through the first cable wire of rolling machine drive, can stimulate and stabilize the grillage clockwise, make and stabilize grillage and layer board holder patient and stand up, the clamping face has the gasbag to paste clothes patient health and protect, no matter overturn or rise, can not cause the secondary damage to the patient, reach the personnel that are convenient for salvage faint, can deal with multiple complex environment, can safer salvage faint personnel's that lies prone effect.

Drawings

FIG. 1 is a schematic front view of the structure of the present invention;

FIG. 2 is a side-view expanded view of the structure of the present invention;

FIG. 3 is a schematic diagram of a side view simulated rescue state of the structure of the present invention;

FIG. 4 is a schematic side elevational view of the second rescue carriage assembly of FIG. 2 in accordance with the present invention;

FIG. 5 is a schematic elevational view of the second rescue carriage assembly of FIG. 2 in accordance with the present invention;

FIG. 6 is a schematic top cross-sectional view of a portion of the structure of the stabilizing plate rack of FIG. 4 in accordance with the present invention;

fig. 7 is a schematic front view of the clutch assembly of fig. 6 according to the present invention.

In the figure: 1. a robot main body; 2. a cabin door; 201. a main door panel; 202. a sub-door panel; 3. a medical treatment cabin; 4. a hospital bed; 5. a first linear sliding table; 6. a second linear sliding table; 7. a support beam; 8. a first rescue carriage assembly; 9. a second rescue carriage assembly; 901. a connecting frame; 902. a first servo motor; 903. a connecting shaft; 904. a sprocket; 905. a chain; 906. a personnel lift assembly; 9061. a fixed frame; 9062. stabilizing the plate frame; 90621. a support frame; 90622. a clamping bar; 90623. a drive shaft member; 90624. a second servo motor; 90625. a clutch assembly; 906251, a first connecting pile; 906252, a clutch shaft; 906253, a first hydraulic lever; 90626. a hoisting ring; 90627. an air bag; 9063. a lifting connection mechanism; 90631. fixing a sleeve; 90632. a lifting bracket; 90633. a clamping mechanism; 906331, a second connecting pile; 906332, splints; 906333, L-shaped brackets; 906334, a second hydraulic lever; 9064. a pulling assembly; 90641. a winding machine; 90642. a first wire rope; 907. a support plate; 908. an oxygen supply mechanism; 9081. a third connecting pile; 9082. an air supply pipe; 9083. an oxygen mask; 10. a support bar; 11. a second steel cord.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 7, an embodiment of the barrier-breaking rescue robot for biochemical environments provided by the invention includes a robot main body 1, one end of the robot main body 1 is provided with a hydraulically-driven excavation and crushing mechanism, the hydraulically-driven excavation and crushing mechanism drives a mechanical arm or a bucket to carry or push away barriers by using hydraulic power, so that the robot main body 1 can complete better rescue, which is the prior art and will not be described herein too much

The other end movable mounting of robot main part 1 has hatch door 2, and medical cabin 3 has been seted up to the inside of robot main part 1, and the internally mounted of medical cabin 3 has sick bed 4 and first linear sliding table 5, and first linear sliding table 5 is located the side top of sick bed 4, and on first linear sliding table 5 passed through the bolt fastening in the inner wall of medical cabin 3, the patient can be put on sick bed 4, also can install urgent treatment instrument such as oxygen cylinder in the medical cabin 3.

A second linear sliding table 6 is slidably mounted on the first linear sliding table 5, a supporting beam 7 is slidably mounted at one end of the second linear sliding table 6, which is far away from the first linear sliding table 5, the supporting beam 7 can slide on the first linear sliding table 5 through the second linear sliding table 6 and can also lift on the second linear sliding table 6, a first rescue bracket assembly 8 and a second rescue bracket assembly 9 are movably mounted on the outer surface of one end of the supporting beam 7, which is far away from the second linear sliding table 6, the number of the first rescue bracket assemblies 8 is two, the two groups of the first rescue bracket assemblies 8 are distributed side by side, the second rescue bracket assembly 9 is adjacent to the first rescue bracket assembly 8, the second rescue bracket assembly 9 comprises a connecting frame 901 and an oxygen supply mechanism 908, the whole structure of the first rescue bracket assembly 8 is substantially the same as that of the second rescue bracket assembly 9, the difference is that the oxygen supply mechanism 908 is mounted more than the first rescue bracket assembly 8, the second rescue carriage assembly 9 is primarily to hold up the neck and the oxygen supply mechanism 908 can be applied to the patient.

Further, hatch door 2 includes main door plant 201, the one end of main door plant 201 is passed through the hinge and is connected with the rotation of robot main part 1, and the other end of main door plant 201 is rotated through the articulated shaft and is connected with vice door plant 202, main door plant 201 passes through the hydraulic stem and forms the structure that opens and shuts with robot main part 1, vice door plant 202 passes through the hydraulic stem and forms beta structure with vice door plant 202, make main door plant 201 and the convenient folding expansion of vice door plant 202, the aforesaid is prior art, do not do too much explanation here, evenly distributed has the camera on the inner wall of main door plant 201, evenly fixed with the LED light on the inner wall of vice door plant 202, the person of injury is conveniently observed.

Further, the quantity of second sharp slip table 6 is two, two second sharp slip tables 6 are the distribution side by side, first second sharp slip table 6 and 5 fixed connection of first sharp slip table, first second sharp slip table 6 is close to hatch door 2, second sharp slip table 6 and 5 sliding connection of first sharp slip table, a supporting beam 7 and two 6 lifting connection of second sharp slip tables, and a supporting

beam

7 and 6 horizontal sliding connection of first sharp slip table, after second sharp slip table 6 slided to 5 ends of first sharp slip table, can hold up a supporting beam 7 to the end respectively, improve the stability that a supporting beam 7 stopped in medical treatment cabin 3.

Furthermore, a support rod 10 is fixed on the outer surface of the support beam 7, a second steel cable 11 is uniformly fixed at the top end of the support rod 10, and one end of the second steel cable 11, which is away from the support rod 10, is connected and fixed with the outer surface of the support beam 7, such as a bridge structure of a bridge, so that the support strength of the support beam 7 is improved.

Further, second rescue bracket assembly 9 is including connection frame 901 and first servo motor 902, connection frame 901's upper and lower both ends all rotate and are connected with connecting axle 903, first servo motor 902 passes through bolt fixed connection in the surface of frame 901, and first servo motor 902's output passes through the shaft coupling and the linkage of connecting axle 903, the sprocket 904 has been cup jointed on the surface of connecting axle 903, the cover is equipped with chain 905 on the surface of sprocket 904, be fixed with personnel on the surface of chain 905 and hold up subassembly 906, rotate through first servo motor 902 drive connecting axle 903, connecting axle 903 can drive chain 905 and roll through sprocket 904, can drive personnel and hold up subassembly 906 and go up and down.

Further, the personnel hold up subassembly 906 and include fixed frame 9061, fixed frame 9061 comprises fixed plate and crossbeam two parts, the crossbeam passes through the articulated shaft and the bottom swing joint of fixed plate, and the rear end of crossbeam is connected with the hydraulic stem through the connecting rod, the hydraulic stem is fixed on the rear end surface of fixed plate, can promote the connecting rod through the hydraulic stem is flexible and drive the crossbeam and roll over on the fixed plate, make the crossbeam conveniently pack up when not using, the rear end of fixed plate is close to the top of hydraulic stem and passes through the bolt and the front end surface connection of chain 905 fixed, the crossbeam is "U" shape, the U-shaped notch of crossbeam rotates in and is connected with stable grillage 9062.

Further, the stabilizing plate frame 9062 comprises a supporting frame 90621 and a second servo motor 90624, an air bag 90627 is fixed to the lower surface of the supporting frame 90621, two sides of the center of the supporting frame 90621 are rotatably connected with the inner wall of a U-shaped groove of the cross beam through rotating shafts, a hanging ring 90626 is fixed to the upper surface of the supporting frame 90621, drawing components 9064 are fixed to two side surfaces of the fixed frame 9061, each drawing component 9064 comprises a winding machine 90641, the winding machine 90641 is fixed to the fixed frame 9061, a first steel cable 90642 is movably connected to the inside of the winding machine 90641, one end, away from the winding machine 90641, of the first steel cable 90642 is fixedly connected with the hanging ring 90626, the winding machine 90641 drives the first steel cable 90642, and the stabilizing plate frame can be driven to wind the winding 9062.

Furthermore, the supporting frame 90621 is square, four corners of the left and right sides of the stabilizing plate frame 9062 are movably provided with clamping rods 90622, the supporting frame 90621 is internally fixed with a transmission shaft 90623, the transmission shaft 90623 is composed of a fixed pile and a connecting shaft, the fixed pile is fixed on the inner wall of the supporting frame 90621, the connecting shaft is telescopically connected with the fixed pile, one end of the connecting shaft is in a conical tooth shape, the other end of the connecting shaft is in a cross shape, the cross-shaped part of the connecting shaft is sleeved with a spring, the spring is abutted against the inner wall of the supporting frame 90621, so that the connecting shaft can always keep the state as shown in fig. 6 when no external force is applied, one end of the connecting shaft departing from the fixed pile is fixedly connected with the top surface of the clamping rods 90622, the clamping rods 90622 are rotatably connected with the supporting frame 90621 through the connecting shaft, the second servo motor 90624 is fixed on the inner wall of the supporting frame 90621 through screws, the output end of the second servo motor 90624 is sleeved with a driving bevel gear, the driving bevel gear is meshed with the conical tooth end of the connecting shaft, the driving bevel gear is driven by a second servo motor 90624 to drive the connecting shafts to rotate, so that the clamping rod 90622 rotates to retract or unfold, a clutch component 90625 is arranged on the opposite surface of the second servo motor 90624, the clutch component 90625 comprises a first connecting pile 906251 and a first hydraulic rod 906253, the first connecting pile 906251 is fixed on the inner wall of the supporting frame 90621, the outer surface of the supporting frame 90621 is rotatably connected with a clutch shaft 906252, the clutch shaft 906252 consists of a shaft, an elliptical wheel and a disc, the shaft is rotatably connected with the first connecting pile 906251, one end of the shaft is fixed with the elliptical wheel, the disc is fixed at the other end of the shaft, the elliptical wheel is positioned between the two connecting shafts, the connecting shaft is abutted against the side edge of the elliptical wheel, the first connecting pile 906251 is fixedly connected with the inner wall of the supporting frame 90621, the output end of the first connecting pile 906251 is rotatably connected with the disc through a connecting rod, a lifting connecting mechanism 9063 is fixed on the outer surface of the front end of the fixed frame 9061 through a bolt, the disc is driven to rotate by the first hydraulic rod 906253 driving connecting rod, the disc can drive the elliptical wheel to rotate through the shaft, the elliptical wheel pushes the two sides of the connecting shaft to be separated, and the clutch of the connecting shaft and the driving gear is controlled.

Further, the lifting connection mechanism 9063 includes a fixing sleeve 90631, the fixing sleeve 90631 is fixedly connected with the fixing frame 9061 through screws, a lifting bracket 90632 is telescopically connected inside the fixing sleeve 90631, a motor is fixed on the outer surface of the fixing sleeve 90631, a gear is sleeved at the output end of the motor, tooth grooves are uniformly formed in the outer surface of the lifting bracket 90632, the gear is meshed with the tooth grooves, the bottom of the lifting bracket 90632 is in an L shape, so that the lifting bracket 90632 can be lifted and lowered on the fixing sleeve 90631 to adjust and support the supporting plate 907 or support the reversed stable plate frame 9062, the outer surface of the lifting bracket 90632 is provided with the supporting plate 907, the upper surface of the supporting plate 907 is in an arc shape, the lower surface of the supporting plate 907 is in a flat plate shape, one end, away from the supporting plate 907, of the lifting bracket 90632 is provided with the clamping mechanism 90633, the clamping mechanism 90633 includes an L-shaped bracket 906333 and a clamping plate 906332, one end, away from the lifting bracket 90632, the other end, which is fixedly provided with the second connection pile 906331 and the L-shaped bracket 906333, the top end of the second connecting pile 906331 is connected with a clamping plate 906332 through a hinge shaft in a rotating manner, the clamping plate 906332 is butted against the upper surface of the support plate 907, one end of the clamping plate 906332, which deviates from the support plate 907, tilts upwards, the top end of the L-shaped support plate 906333 is fixed with a second hydraulic rod 906334, the output end of the second hydraulic rod 906334 is connected with the clamping plate 906332 through a hinge shaft in a rotating manner, an oxygen supply mechanism 908 is installed on the outer surface of the fixed frame 9061, the second hydraulic rod 906334 pushes a connecting rod to drive the clamping plate 906332 to rotate in order to connect the circle center of the second connecting pile 906331, and the clamping plate 906332 can be controlled to clamp the support plate 907 or loosen the support plate 907.

Further, the oxygen supply mechanism 908 includes a third connecting pile 9081 and an air feed pipe 9082, the third connecting pile 9081 is fixed to the fixing frame 9061, the air feed pipe 9082 is rotatably connected to the outer surface of the third connecting pile 9081, a stepping motor is fixed to the outer surface of the third connecting pile 9081, the output end of the stepping motor is fixedly connected to the air feed pipe 9082, an oxygen hood 9083 is fixed to one end, away from the third connecting pile 9081, of the air feed pipe 9082, an electric push rod can be installed on the third connecting pile 9081, the air feed pipe 9082 and the oxygen hood 9083 are controlled to lift and adjust the distance to the face, the electric push rod can also be installed on the air feed pipe 9082, the position of the oxygen hood 9083 is controlled, the face is covered by the oxygen hood 9083, and oxygen can be supplied to the patient.

The working principle is as follows: during the use, robot main part 1 is the crawler-type structure of traveling, after touchhing the personnel that syncope, robot main part 1 can excavate broken mechanism clearance syncope personnel all around through hydraulic drive, and the side of controlling robot main part 1 again and removing to the personnel that syncope expandes from robot main part 1, camera and LED light on main door plant 201 and the vice door plant 202 can let the better observation personnel condition that syncope of personnel of remote operation robot main part 1, convenient better rescue.

A medical cabin 3 is arranged in a robot main body 1, a sickbed 4 and a first linear sliding table 5 are arranged in the medical cabin 3, a second linear sliding table 6 is arranged on the first linear sliding table 5 in a sliding mode, a supporting beam 7 is arranged on the second linear sliding table 6 in a lifting mode, the supporting beam 7 can drive a first rescue bracket assembly 8 and a second rescue bracket assembly 9 to lift, the first rescue bracket assembly 8 and the second rescue bracket assembly 9 can independently slide on the supporting beam 7 from side to adapt to patients with different heights for rescue, the first rescue bracket assembly 8 and the second rescue bracket assembly 9 are designed to be lifting structures, even if the patients and the faint postures are irregular, the supporting plate 907 is driven to lift to a proper position through the lifting bracket 90632 and then moves through the robot main body 1 to drive the supporting plate 907 to integrally move towards the direction of faint personnel, so that the supporting plate 907 is inserted under the faint patients, the height of the second rescue bracket assembly 9 can be adjusted to a lying state after the patient is lifted by the first rescue bracket assembly 8, and the second linear sliding table 6 slides in the medical cabin 3 on the first linear sliding table 5 to drive the patient to be sent into the medical cabin 3 to complete rescue.

After the patient is held up by the support plate 907, the support plate is put down by the first servo motor 902 to be put on the body, the support plate 907 is matched with the support plate 907 to clamp the legs or the waist, then the support plate 906 is lifted up by a person, the patient can be lifted up to be sent into the medical cabin 3, when the patient is prone to faint, the support plate 907 lifts up the patient, the first steel cable 90642 is driven by the winding machine 90641 to contract, the stable plate frame 9062 can be pulled to rotate clockwise, the patient with the clamp plate 9062 can be lifted up by the stable plate frame 9062, the clamping face is provided with an air bag 90627 to be attached to the body of the patient for protection, no matter the patient is overturned and lifted up, secondary injury can not be caused to the patient, and the patient can be used for dealing with various complex environments.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A wreck rescue robot for biochemical environment, including robot main part (1), its characterized in that: the hydraulic drive excavates broken mechanism is installed to the one end of robot main part (1), the other end movable mounting of robot main part (1) has hatch door (2), medical cabin (3) have been seted up to the inside of robot main part (1), the internally mounted of medical cabin (3) has sick bed (4) and first linear sliding table (5), first linear sliding table (5) are located the side top of sick bed (4), and first linear sliding table (5) are fixed in on the inner wall of medical cabin (3) through the bolt, slidable mounting has second linear sliding table (6) on first linear sliding table (5), the one end slidable mounting that deviates from first linear sliding table (5) of second linear sliding table (6) has supporting beam (7), supporting beam (7) deviate from one end surface movable mounting of second linear sliding table (6) have first rescue bracket assembly (8) and second rescue bracket assembly (9), the quantity of first rescue bracket assembly (8) is two sets of, two sets of first rescue bracket assembly (8) are the distribution side by side, second rescue bracket assembly (9) are adjacent with first rescue bracket assembly (8), second rescue bracket assembly (9) are including linking frame (901) and oxygen suppliment mechanism (908), the overall structure of first rescue bracket assembly (8) is roughly the same with second rescue bracket assembly (9), the difference lies in, oxygen suppliment mechanism (908) are installed more than first rescue bracket assembly (8) in the inside of second rescue bracket assembly (9).

2. A barrier-breaking rescue robot for biochemical environments as recited in claim 1, characterized in that: hatch door (2) are including main door plant (201), the one end of main door plant (201) is passed through the hinge and is rotated with robot main part (1) and be connected, and the other end of main door plant (201) is through articulated shaft swivelling joint with vice door plant (202), main door plant (201) are through hydraulic stem and robot main part (1) constitution structure that opens and shuts, vice door plant (202) are through hydraulic stem and vice door plant (202) constitution beta structure, evenly distributed has the camera on the inner wall of main door plant (201), evenly fixed with the LED light on the inner wall of vice door plant (202).

3. A barrier-breaking rescue robot for biochemical environments as recited in claim 1, characterized in that: the quantity of second sharp slip table (6) is two, two second sharp slip table (6) is and distributes side by side, first second sharp slip table (6) and first sharp slip table (5) fixed connection, first second sharp slip table (6) are close to hatch door (2), the second sharp slip table (6) and first sharp slip table (5) sliding connection, supporting beam (7) and two second sharp slip tables (6) go up and down to be connected, and supporting beam (7) and first second sharp slip table (6) lateral sliding connection.

4. A barrier-breaking rescue robot for biochemical environments as recited in claim 1, characterized in that: the outer surface of the supporting beam (7) is fixed with a supporting rod (10), the top end of the supporting rod (10) is uniformly fixed with a second steel cable (11), and one end, deviating from the supporting rod (10), of the second steel cable (11) is fixedly connected with the outer surface of the supporting beam (7).

5. A barrier-breaking rescue robot for biochemical environments as recited in claim 1, characterized in that: second rescue bracket assembly (9) is including connecting frame (901) and first servo motor (902), the upper and lower both ends of connecting frame (901) are all rotated and are connected with connecting axle (903), first servo motor (902) pass through bolt fixed connection in the surface of frame (901), and the output of first servo motor (902) passes through shaft coupling and connecting axle (903) linkage, sprocket (904) has been cup jointed on the surface of connecting axle (903), the cover is equipped with chain (905) on the surface of sprocket (904), be fixed with personnel on the surface of chain (905) and hold up subassembly (906).

6. A barrier-breaking rescue robot for biochemical environments as recited in claim 5, characterized in that: personnel hold up subassembly (906) including fixed frame (9061), fixed frame (9061) comprises fixed plate and crossbeam two parts, and the crossbeam passes through the bottom swing joint of articulated shaft and fixed plate, and the rear end of crossbeam is connected with the hydraulic stem through the connecting rod, and the hydraulic stem is fixed on the rear end surface of fixed plate, and the rear end of fixed plate is close to the front end surface connection of the top of hydraulic stem through bolt and chain (905) and is fixed, and the crossbeam is "U" shape, rotates in the U-shaped notch of crossbeam to be connected with and stabilizes grillage (9062).

7. A barrier-breaking rescue robot for biochemical environments as recited in claim 6, wherein: the utility model provides a stable grillage (9062) is including braced frame (90621) and second servo motor (90624), the lower surface of braced frame (90621) is fixed with gasbag (90627), the center department both sides of braced frame (90621) all are connected through the rotation of pivot and the U-shaped groove inner wall of crossbeam rotation, the last fixed surface of braced frame (90621) has rings (90626), the both sides surface of fixed frame (9061) all is fixed with tractive subassembly (9064), tractive subassembly (9064) include rolling machine (90641), rolling machine (90641) is fixed on fixed frame (9061), the inside swing joint of rolling machine (90641) has first cable wire (90642), the one end that first cable wire (90642) deviates from rolling machine (90641) is connected fixedly with rings (90626).

8. A barrier-breaking rescue robot for biochemical environments as described in claim 7, wherein: the utility model discloses a support frame (90621) is squarely, there is clamping bar (90622) at four edges of the left and right sides of stable grillage (9062) all movable mounting, the inside of support frame (90621) is fixed with transmission shaft spare (90623), transmission shaft spare (90623) comprises spud pile and axle, and the spud pile is fixed on the inner wall of support frame (90621), and axle and spud pile telescopic connection are even, and the one end of axle is the awl tooth form, and the other end of axle is the cross, and axle cross position department cover is equipped with the spring even, and the spring offsets with the inner wall of support frame (90621), and the axle is even deviated from the one end of spud pile and is connected fixedly with the top surface of clamp pole (90622), clamp pole (90622) rotate with support frame (90621) through even axle and be connected, second servo motor (90624) are fixed in on the inner wall of support frame (90621) through the screw, the output of second servo motor (90624) is initiatively cup jointed conical gear, the driving bevel gear is meshed with the bevel gear end of the connecting shaft, the opposite surface of the second servo motor (90624) is provided with a clutch component (90625), the clutch assembly (90625) comprises a first connecting stub (906251) and a first hydraulic rod (906253), the first connecting pile (906251) is fixed on the inner wall of the supporting frame (90621), the outer surface of the supporting frame (90621) is rotatably connected with a clutch shaft (906252), the clutch shaft (906252) consists of a shaft, an elliptical wheel and a disc, the shaft is rotationally connected with the first connecting pile (906251), the elliptical wheel is fixed at one end of the shaft, the disc is fixed at the other end of the shaft, the elliptical wheel is positioned between the two connecting shafts, the connecting shaft is pressed against the side edge of the elliptical wheel, the first connecting pile (906251) is fixedly connected with the inner wall of the supporting frame (90621), the output end of the first connecting pile (906251) is rotatably connected with the disc through a connecting rod, and a lifting connecting mechanism (9063) is fixed on the outer surface of the front end of the fixed frame (9061) through a bolt.

9. A barrier-breaking rescue robot for biochemical environments as recited in claim 8, wherein: the lifting connection mechanism (9063) comprises a fixing sleeve (90631), the fixing sleeve (90631) is fixedly connected with a fixing frame (9061) through screws, a lifting bracket (90632) is telescopically connected inside the fixing sleeve (90631), a motor is fixed to the outer surface of the fixing sleeve (90631), a gear is sleeved at the output end of the motor, a tooth groove is uniformly formed in the outer surface of the lifting bracket (90632), the gear is meshed with the tooth groove, the bottom of the lifting bracket (90632) is L-shaped, a supporting plate (907) is arranged on the outer surface of the lifting bracket (90632), the upper surface of the supporting plate (907) is arc-shaped, the lower surface of the supporting plate (907) is flat-shaped, a clamping mechanism (90633) is installed at one end, deviating from the supporting plate (907), of the lifting bracket (90632), the clamping mechanism (90633) comprises an L-shaped bracket (906333) and a clamping plate (906332), a second connection pile (906331) and the L-shaped bracket (90632) are fixed to one end, deviating from the supporting plate (907) (906333), the top of second connecting pile (906331) is connected with splint (906332) through the articulated shaft rotation, splint (906332) are contradicted with the upper surface of layer board (907), and splint (906332) deviate from the one end of layer board (907) and tilt up upwards, the top of L shape bracket (906333) is fixed with second hydraulic stem (906334), the output of second hydraulic stem (906334) is connected through articulated shaft and splint (906332) rotation, the surface mounting of fixed frame (9061) has oxygen suppliment mechanism (908).

10. A barrier-breaking rescue robot for biochemical environments as recited in claim 9, wherein: oxygen suppliment mechanism (908) include third connection stake (9081) and air feed pipe (9082), third connection stake (9081) is fixed on fixed frame (9061), the surface rotation of third connection stake (9081) is connected with air feed pipe (9082), the surface mounting of third connection stake (9081) has step motor, and the step motor output is connected fixedly with air feed pipe (9082), the one end that air feed pipe (9082) deviates from third connection stake (9081) is fixed with oxygen cover (9083).