CN114714832A - Amphibious emergency rescue robot - Google Patents
Amphibious emergency rescue robot Download PDFInfo
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- CN114714832A CN114714832A CN202210498894.6A CN202210498894A CN114714832A CN 114714832 A CN114714832 A CN 114714832A CN 202210498894 A CN202210498894 A CN 202210498894A CN 114714832 A CN114714832 A CN 114714832A
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- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/001—Vehicles provided with medical equipment to perform operations or examinations
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/02—Loading or unloading personal conveyances; Facilitating access of patients or disabled persons to, or exit from, vehicles
- A61G3/06—Transfer using ramps, lifts or the like
- A61G3/062—Transfer using ramps, lifts or the like using lifts connected to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
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- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63H2011/004—Marine propulsion by water jets using the eductor or injector pump principle, e.g. jets with by-pass fluid paths
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H2011/006—Marine propulsion by water jets with propulsive medium supplied from sources external to propelled vessel, e.g. water from public water supply
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses an amphibious emergency rescue robot which comprises a medical system, a damping system, a power system and a communication and control system. The medical system comprises a lifesaving capsule body, a lifting and conveying mechanism, a containing and fixing mechanism, a wound condition detection mechanism and a mechanical arm group; the damping system comprises a base frame, a roller and a roller groove; the power system comprises a storage battery pack, a motor transmission mechanism, a double-rocker-arm crawler travel mechanism, an inflatable air bag, a buoyancy tank, a double-turbocharging cabin water-spraying propulsion power system and a soft body life detection mechanism; the control and communication system comprises a Beidou navigation and positioning mechanism, a radio communication mechanism and a damage monitoring mechanism. Systematic innovation is carried out from multiple shock attenuation design, comprehensive medical diagnosis and rescue, wounded's detection and storage, several aspects of information-based all-terrain walking, can freely walk in the complicated topography behind the calamity, in time searches for and rescues and emergency treatment and transportation to wounded.
Description
Technical Field
The invention belongs to the field of rescue robots, and particularly relates to an amphibious emergency rescue robot.
Background
In recent years, with the frequent occurrence of natural disasters and human accidents which suddenly occur in the world, the life and property safety of people is seriously threatened, and timely and effective post-disaster rescue gradually draws wide attention of society. The scene situation is obtained at the first time after a disaster, the position of a survivor is found out, and the method has important significance for implementing rescue work and reducing casualties, however, for rescue scenes with complex post-disaster terrain such as earthquakes, mine disasters and the like, China mainly relies on manpower, search dogs and the like to enter the scene for life detection and data acquisition at present, but the search speed is slow, the space range is small, the method can not meet the requirement of large-scale rapid search and rescue of trapped persons in the ruins after the disaster, and the method is easily influenced by severe environment, so that additional rescue casualties are caused in the rescue work. Therefore, the development of the rescue and survey robot for replacing or partially replacing rescue workers has extremely important significance in timely and quickly carrying out environment detection and search and rescue work in a disaster area with complex terrains.
The traditional wheeled mobile robot is simple in structural design, strong in flexibility and high in moving efficiency, but is not suitable for running on complex terrains such as muddy and gravel lands. Traditional wheeled mobile robot takes place the drive wheel easily and skids on this kind of complicated topography, unsettled scheduling problem to because drive wheel and ground frictional force are little, lead to climbing performance relatively poor, drop or receive great impact and easily cause the transmission shaft fracture to damage from the eminence, consequently simple traditional wheeled mobile robot is difficult to realize advancing at complicated topography fast and stably. The existing rescue robot has limited obstacle avoidance capability and rescue capability, cannot adapt to various road condition requirements, cannot well test the rescue environment, realizes accurate positioning of wounded, only stops the function of transferring or detecting rescue of the wounded, and cannot meet timely rescue of the wounded under severe environment conditions, so that an intelligent emergency rescue robot capable of meeting the requirements is necessary to be designed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an amphibious emergency rescue robot which is systematically innovated from multiple damping design, comprehensive medical diagnosis and rescue, detection and storage of ruins and wounded persons and informatization all-terrain walking, can walk freely in a complex terrain after a disaster, and is particularly suitable for complex environments where traditional rescue vehicles and medical care personnel are difficult to enter.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an amphibious emergency rescue robot comprising: the medical system, the shock attenuation system, driving system, communication and control system. The medical system comprises a lifesaving cabin body, a lifting and conveying mechanism, a storage and fixing mechanism, a wound condition detection mechanism and a mechanical arm group; the damping system comprises a base frame, a roller and a roller groove; the power system comprises a storage battery pack, a motor transmission mechanism, a double-rocker-arm crawler travel mechanism, an inflatable air bag, a buoyancy tank, a double-turbocharging cabin water-spraying propulsion power system and a soft body life detection mechanism; the control and communication system comprises a Beidou navigation positioning mechanism, radio communication, a wound sharing platform and a control computer.
Further, the lifesaving capsule body comprises a first capsule body and a second capsule body, the first capsule body is positioned on the base frame, and the base frame is ship-shaped and can prevent water and provide buoyancy. The second cabin body is connected with the roller groove on the inner surface of the first cabin body through rollers at the bottom, and the angle of the second cabin body is adjusted by rolling in the moving process of the robot, so that the second cabin body is always kept in a horizontal state.
Furthermore, the lifting conveying mechanism is positioned at the front end of the lifesaving cabin body and consists of a support frame, an adjusting roller, a second linkage gear, a damping conveying belt, a motor, a spring and a connecting rod mechanism, wherein the support frame is symmetrically distributed and connected with the edge of the cabin door of the first cabin body, the rear end of the motor is fixed on the support frame, the front end of the motor is connected and connected with a storage battery pack through a lead, and the adjusting roller is provided with the spring to prevent the conveying belt from skidding or jamming. The motor and the roller are meshed through the second linkage gear to drive the damping conveying belt to work, the damping conveying belt is integrally driven by the connecting rod mechanism, the connecting rod mechanism comprises a long rod and a short rod, the long rod rotates to drive the short rod through the long rod, the relative static technology of a contact point is utilized, and two parts of relative motion of the conveying belt device are installed from top to bottom, so that the spatial position of a patient is converted, and secondary damage is avoided when the wounded is transported.
Furthermore, the accommodating and fixing mechanism is positioned at the bottom of the inner wall of the second cabin and comprises a detachable stretcher, a buffer base, an elastic protection pad, a telescopic hasp and a telescopic spring. The bottom of the buffering base is welded with the inner wall of the second cabin body, the upper wall is clamped with the detachable stretcher, two pairs of expansion springs are uniformly and symmetrically distributed on the two sides of the detachable stretcher, and can be automatically clamped in the clamping groove rings with the same height on the inner surface of the second cabin body, so that the stretcher can be further offset to move leftwards and rightwards, and the stretcher is more stable. Two pairs of X-shaped cross telescopic hasps are uniformly distributed on two sides of the inner wall of the stretcher and used for fixing wounded persons.
Further, wounded's condition detection mechanism is located second cabin body inner wall top platform, connects through movable slide rail, can the back-and-forth movement, including X-ray scanner, infrared body temperature detection instrument, respiratory rate sensor, heart rate sensor, data collection conveyer, wherein, data collection conveyer links to each other with radio communication system, can transmit wounded's information in real time. The mechanical arm group is positioned behind the injury detection mechanism and fixed on the top sliding platform, and comprises a disinfection hemostasis mechanical arm, a medicament spraying mechanical arm, an oxygen mask and a cardio-pulmonary resuscitation mechanical arm, and after the injury detection mechanism scans, analyzes and ranks the injury of the wounded, the wounded is treated according to the injury rank.
Further, the crawler chassis is connected with the base frame and used for building a shafting structure so as to connect the crawler wheels, the connecting shaft and the front and rear pairs of crawler arms. The track of track arm is transmitted the action wheel by the power of motor output and is driven, and the rocking arm track is driven after the motor passes through reduction gear set speed reduction to can angle regulation, adapt to multiple topography. The buffering ribs are arranged outside the crawler body, so that the impact in the crawler walking process can be relieved, the walking stability of the crawler is improved, and the service life of the crawler can be prolonged. The underwater propulsion mechanism comprises a power unit, a gearbox, a double-turbine supercharger, a water inlet pipe, a water spraying steel pipe, a pressurizing cabin, a water inlet and a water spraying opening. The power unit front end is connected with the transmission case group, and the rear end passes through the wire and links to each other with storage battery, the gearbox links to each other with two turbo charger, and two turbo charger pass through the inlet tube and link to each other with outside water inlet, two turbo charger are linked together through inside water inlet and pressure boost cabin, pressure boost cabin is spherical, links to each other with the water jet through the water spray steel pipe, the water jet includes left water jet, right water jet, the water jet that advances, retreats the water jet, and left water jet, right water jet, the water jet that advances, the water jet that retreats can be left respectively, right, back, preceding water spray. The two pairs of buoyancy tanks are uniformly arranged at the middle lower part of the first cabin body.
Furthermore, the inflatable air bag consists of a high-strength fabric framework and a thermoplastic elastic adhesive tape, when the inflatable air bag is not inflated, the inflatable air bag is positioned in two symmetrically-distributed storage cabins at the bottom of the crawler chassis, the upper end of the inflatable air bag is connected with steel cylinders placed in the interlayer of the bottom plate of the escape capsule through pipelines, and the joint of the inflatable air bag and the steel cylinders is provided with a quick release valve which is connected with a control system through a lead.
Furthermore, the soft body life detection mechanism is located at a cabin door of the second cabin body, is connected with the storage battery pack through a wire and is used for being matched with the conveying device to accurately position the wounded, and comprises an electromagnetic ejection type bionic tongue, a biological radar sensor and a rubber thin sleeve, wherein the biological radar sensor is located at the top end of the electromagnetic ejection type bionic tongue, can collect vital sign signals of the wounded in a certain sensing range, transmits the collected vital sign signals to the control module, and wraps the rubber thin sleeve outside. The first main control module is configured to convert the vital sign signals into digital signals and obtain vital sign data of the target wounded person.
Furthermore, the communication and control system is positioned at the rear half part of the bottom of the second cabin body and at the rear lower part of the containing and fixing mechanism, a control computer is arranged in the communication and control system, and the control computer is connected with the storage battery pack and other systems through wires. Beidou navigation positioning mechanism next-door neighbour control computer provides accurate positional information for the robot, radio communication is located can dismantle stretcher right side edge, and the wounded of being convenient for communicates in time with medical staff through it, the wounded's share platform is fixed in can dismantle stretcher left side edge, links to each other with wounded's detection mechanism through the data line, can in time transmit wounded's all kinds of vital sign data.
Compared with the prior art, the invention has the advantages that:
(1) the combined design of the front and rear double-rocker-arm crawler and the double-turbocharging-cabin water-spraying type propulsion power system realizes amphibious running of the crawler. Compared with the traditional four-wheel drive type amphibious vehicle, the obstacle crossing capability and the terrain adaptability are stronger when the vehicle runs on the land. Compared with the traditional propeller propulsion, the double-turbocharging cabin water-jet propulsion power system has higher flexibility, can realize left-right driving and retreating, does not need to be provided with a high-power driving motor, not only lightens the buoyancy burden of the robot, but also saves more energy.
(2) The omnibearing damping design of the invention greatly reduces the secondary damage to the wounded during transportation. On the basis of the traditional rocker-arm crawler vehicle, the invention designs the front and rear double rocker-arm crawler belts, the front double rocker arms are used for obstacle crossing, the rear double rocker arms are used for supporting and adjusting the angle of the vehicle body, under the condition that the obstacle crossing capability is not changed, the stability is greatly improved, and the secondary damage to the wounded in the transferring process is reduced. The structural design of the double-deck cabin body ensures that the cabin body where the wounded is located can keep level and stable no matter the cabin body is on an uphill slope or a downhill slope in the traveling process.
(3) The systematic medical system can carry out preliminary diagnosis and treatment, and win more rescue time for the wounded. The injury detection mechanism can grade the injury of the wounded according to the injury condition of the wounded, shares data in real time, is convenient for medical staff to reasonably integrate first-aid resources, and carries out targeted emergency treatment according to the injury of the wounded.
(4) The soft life detection mechanism designed by referencing the insect antenna and the chameleon has the advantages of good telescopic storage performance, high sensitivity and convenience in control, can detect the life signs of the wounded in front of the robot, and realizes accurate positioning during storage and transportation. The adopted electromagnetic ejection type bionic tongue structure has excellent ductility, and can penetrate into the ruin gap for search and rescue, so that the success probability of search and rescue is greatly increased.
(5) The invention adopts systems of Beidou navigation real-time positioning, radio real-time communication, injury data real-time sharing and the like to construct an intelligent information platform for interconnection and intercommunication of wounded persons, rescue robots and medical care rescue points. Besides feeding back data to medical staff in real time, the cabin is also provided with a radio real-time communication function, so that doctors and patients can communicate in real time, doctors can further know injuries, and the tension of the injuries can be relieved. The Beidou navigation real-time positioning can provide an optimal safe route for the central control system, and the wounded person can be quickly and safely sent to a medical care rescue point to complete rescue along the water route, the land route or the combined route of the water route, the land route and the combined route.
Drawings
FIG. 1 is a schematic structural diagram of an amphibious emergency rescue robot of the invention;
wherein, 1 the lifesaving cabin body, 2 the lifting and conveying mechanism, 3 take in the fixed establishment, 4 the injury detection mechanisms, 5 mechanical arm groups, 6 base frames, 7 gyro wheels, 8 gyro wheel grooves, 9 storage battery, 11 double rocker arm crawler travel mechanisms, 12 inflatable air bags, 14 double turbo-charging cabins water-jet propulsion power systems, 15 soft body life detection mechanisms.
FIG. 2 is a schematic structural view of a dual rocker arm track-running mechanism of the present invention;
wherein, 10 motor drive mechanisms, 111 crawler chassis, 112 crawler arms, 113 crawler wheels, 114 buffer ribs, 115 driving wheels, 116 reduction gear sets and 13 buoyancy tanks.
FIG. 3 is a schematic diagram of a twin-turbocharged cabin water jet propulsion system of the present invention;
wherein, 141 power unit, 142 gearbox, 143 double turbo charger, 144 inlet tube, 145 water spray steel pipe, 146 pressurized cabin, 147 water inlet, 148 water jet.
FIG. 4 is a schematic structural diagram of the robot arm assembly of the present invention;
wherein, 51 disinfect hemostasis arm, 52 medicament spraying arm, 54 cardiopulmonary resuscitation arm.
FIG. 5 is a side view of the elevating conveyor of the present invention;
wherein, 21 support frames, 22 adjusting rollers, 23 rollers, 24 second linkage gears, 25 damping conveyer belts, 26 motors, 27 springs and 28 link mechanisms.
FIG. 6 is a schematic view of the receiving and securing mechanism of the present invention;
wherein, 131 comprises a detachable stretcher, a 132 buffer base, a 133 elastic protection pad, a 134 telescopic hasp and a 135 buffer telescopic spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-2, the amphibious emergency rescue robot of the present invention comprises a medical system, a damping system, a power system, and a communication and control system. The medical system comprises a lifesaving capsule body 1, a lifting and conveying mechanism 2, a containing and fixing mechanism 3, an injury detection mechanism 4 and a mechanical arm group 5; the damping system comprises a base frame 6, a roller 7 and a roller groove 8; the power system comprises a storage battery pack 9, a motor transmission mechanism 10, a double-rocker-arm crawler walking mechanism 11, an inflatable air bag 12, a buoyancy tank 13, a double-turbocharging cabin water-spraying type propulsion power system 14 and a soft body life detection mechanism 15; the communication and control system comprises a Beidou navigation and positioning mechanism, a radio communication, a wound condition sharing platform and a control computer.
The lifesaving capsule body 1 comprises a first capsule body and a second capsule body, wherein the first capsule body is positioned on a base frame 6, and the base frame 6 is ship-shaped and can prevent water and provide certain buoyancy. The second cabin body is connected with a roller groove 8 on the inner surface of the first cabin body through a roller 7 at the bottom, and the angle of the second cabin body is adjusted by rolling in the moving process of the robot, so that the second cabin body is always kept in a horizontal state.
As shown in fig. 5, the lifting and conveying mechanism 2 is located at the front end of the rescue capsule body 1 and is composed of a support frame 21, an adjusting roller 22, a roller 23, a second linkage gear 24, a damping conveyer belt 25, a motor 26, a spring 27 and a link mechanism 28, wherein the support frame 21 is symmetrically distributed and connected with the edge of the first capsule body, the rear end of the motor 26 is fixed on the support frame 21, the front end of the motor is connected with the storage battery pack 9 through a wire, and the adjusting roller 22 is provided with the spring to prevent the conveyer belt from slipping or jamming. Motor 26 and cylinder 23 drive damping conveyer belt 25 work through the meshing of second linkage gear 24, and damping conveyer belt 25 is whole to be driven by link mechanism 28, and link mechanism 28 includes stock and quarter butt, and is rotatory through the stock, drives the quarter butt through the stock, utilizes the relative static technique of contact point, through two part relative motion that are equipped with damping conveyer belt 25 from top to bottom, realizes wounded's spatial position's conversion, avoids appearing secondary damage when transporting wounded.
As shown in fig. 6, the storage fixing mechanism 3 is located at the bottom of the inner wall of the second cabin, and includes a detachable stretcher 131, a buffer base 132, an elastic pad 133, a retractable buckle 134, and a buffer retractable spring 135. The bottom of the buffer base 132 is welded with the inner wall of the cabin body, the upper wall is clamped with the detachable stretcher 131, two pairs of buffer expansion springs 135 are symmetrically distributed on two sides of the detachable stretcher 131, can be automatically clamped in the clamping groove rings with the same height on the inner surface of the second cabin body, and can further offset the left and right shaking in the advancing process, so that the stretcher is more stable. Two pairs of X-shaped cross telescopic hasps 134 are uniformly distributed on two sides of the inner wall of the stretcher and used for fixing wounded persons.
The injury detection mechanism 4 is located the second cabin body inner wall top platform, through movable sliding rail connection, can the back-and-forth movement, including X-ray scanner, infrared body temperature detection instrument, respiratory rate sensor, heart rate sensor, data collection conveyer, wherein, data collection conveyer links to each other with radio communication, can transmit wounded's information in real time.
As shown in fig. 4, the arm set 5 is located behind the injury detection mechanism 4, is fixed on the top sliding platform, and includes a disinfection hemostasis arm 51, a drug spraying arm 52, an oxygen mask, and a cardiopulmonary resuscitation arm 54, and after the injury detection mechanism 4 scans, analyzes and ranks the injury of the injured person, the injured person is treated according to the injury rank.
As shown in fig. 2, the dual-swing-arm crawler travel mechanism 11 is located on both sides of the base frame 6, and includes a crawler chassis 111, a crawler arm 112, a crawler wheel 113, a buffer rib 114, a driving wheel 115, and a reduction gear 116. The crawler chassis 111 is connected with the base frame 6 and used for building a shafting structure so as to connect the crawler wheels 113, the connecting shaft and the front and rear pairs of crawler arms 112. The track of the track arm 112 is driven by the driving wheel 115 through the power transmission of the motor output, and the rocker track is driven by the motor after the speed reduction of the reduction gear 116, and the angle can be adjusted to adapt to various terrains. The buffering ribs 114 are arranged outside the crawler body, so that the impact in the crawler walking process can be relieved, the walking stability of the crawler is improved, and the service life of the crawler can be prolonged.
As shown in fig. 3, the twin-turbo pressurized cabin water jet propulsion power system 14 includes a power unit 141, a transmission 142, a twin-turbo pressurized cabin 143, a water inlet pipe 144, a water jet steel pipe 145, a pressurized cabin 146, a water inlet 147, and a water jet 148, the front end of the power unit 141 is connected to the transmission, the rear end is connected to the battery pack 9 through a wire, the transmission 142 is connected to the twin-turbo pressurized cabin 143, the twin-turbo pressurized cabin 143 is connected to the external water inlet through the water inlet pipe 144, the twin-turbo pressurized cabin 143 is connected to the pressurized cabin 146 through the internal water inlet, the pressurized cabin 146 is spherical and is connected to the water jet 148 through a water jet pipe, and the water jet 148 includes a left water jet, a right water jet, an advancing water jet, and a retreating water jet, and can respectively spray water left, right, back, and front. The two pairs of buoyancy tanks 13 are uniformly arranged at the middle lower part of the first cabin body. The inflatable air bag 12 consists of a high-strength fabric framework and thermoplastic elastic adhesive tapes, when the inflatable air bag is not inflated, the inflatable air bag is positioned in two symmetrically-distributed storage cabins at the bottom of the crawler chassis 111, the upper ends of the inflatable air bag are connected with steel cylinders placed in an interlayer of a bottom plate of the escape capsule through pipelines, and a quick release valve is arranged at the joint and connected with a control system through a lead. The soft body life detection mechanism 15 is positioned at a cabin door of the second cabin body, is connected with the storage battery pack 9 through a lead, is used for being matched with a conveying device to accurately position the wounded, and comprises an electromagnetic ejection type bionic tongue, a biological radar sensor and a rubber thin sleeve. The biological radar sensor is configured to emit asymmetric wide-beam signals, when a target wounded person breathes, echo signals generated by the chest cavity reflecting the emitted signals during breathing are collected, and the collected echo signals are amplified and filtered to obtain ideal vital sign signals of the target wounded person; the bionic tongue is positioned at the top end of an electromagnetic ejection type bionic tongue, can collect vital sign signals of a wounded person within a certain sensing range, transmits the collected vital sign signals to a control computer, and is wrapped by a rubber thin sleeve. The first main control module is located in an empty cabin at the tail end of the rescue capsule body 1 and is configured to convert the vital sign signals into digital signals to obtain vital sign data of the target wounded person.
The communication and control system is positioned at the rear half part of the bottom of the second cabin body and at the rear lower part of the containing and fixing mechanism 3, a control computer is arranged in the communication and control system, and the control computer is connected with the storage battery pack 9 and other systems through wires. Beidou navigation positioning mechanism next-door neighbour control computer provides accurate positional information for the robot, radio communication is located can dismantle stretcher right side edge, and the wounded of being convenient for communicates in time with medical staff through it, the wounded's share platform is fixed in can dismantle stretcher left side edge, links to each other with wounded's detection mechanism 4 through the data line, can in time transmit wounded's all kinds of vital sign data.
The above description of the embodiments is only intended to assist those skilled in the art in understanding the present invention and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Parts not described in detail herein are well known in the art. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An amphibious emergency rescue robot is characterized in that: comprises a medical system, a damping system, a power system and a communication and control system; the medical system comprises a lifesaving cabin body (1), a lifting and conveying mechanism (2), a containing and fixing mechanism (3), a wound condition detection mechanism (4) and a mechanical arm group (5); the damping system comprises a base frame (6), a roller (7) and a roller groove (8); the power system comprises a storage battery (9), a motor transmission mechanism (10), a double-rocker crawler walking mechanism (11), an inflatable air bag (12), a buoyancy tank (13), a double-turbocharging cabin water-spraying type propulsion power system (14) and a soft body life detection mechanism (15); the control and communication system comprises a Beidou navigation positioning mechanism, radio communication, a wound sharing platform and a control computer.
2. An amphibious emergency rescue robot as defined in claim 1, wherein: the lifesaving capsule body (1) comprises a first capsule body and a second capsule body, the first capsule body is positioned on a base frame (6), and the base frame (6) is ship-shaped and can prevent water and provide buoyancy; the second cabin body is connected with a roller groove (8) on the inner surface of the first cabin body through a roller (7) at the bottom, and the angle of the second cabin body is adjusted by rolling the roller (7) on the roller groove (8) in the moving process of the robot, so that the second cabin body is always kept in a horizontal state.
3. An amphibious emergency rescue robot as defined in claim 2, wherein: the lifting transmission mechanism (2) is positioned at the front end of the lifesaving cabin body (1) and consists of a support frame (21), an adjusting roller (22), a roller (23), a second linkage gear (24), a damping conveying belt (25), a motor (26), a spring (27) and a connecting rod mechanism (28); the supporting frame (21) is symmetrically distributed and connected with the edge of the cabin door of the first cabin body, the rear end of the motor (26) is fixed on the supporting frame (21), the front end of the motor is connected with the connecting rod mechanism (28) and is connected with the storage battery pack (9) through a conducting wire, and the adjusting roller (22) is provided with a spring (27) to prevent the damping conveying belt (25) from slipping or jamming; motor (26) and cylinder (23) drive damping conveyer belt (25) work through second linkage gear (24) meshing, and the conveyer belt is whole to be driven by link mechanism (28), and link mechanism (28) include stock and quarter butt, and it is rotatory through the stock, drives the quarter butt through the stock, through two part relative motion that are equipped with damping conveyer belt (25) from top to bottom, realize wounded's spatial position's conversion, avoid appearing secondary damage when transporting wounded.
4. An amphibious emergency rescue robot as defined in claim 2, wherein: the accommodating and fixing mechanism (3) is positioned at the bottom of the inner wall of the second cabin body and comprises a detachable stretcher (131), a buffer base (132), an elastic protection pad (133), a telescopic hasp (134) and a buffer telescopic spring (135); the bottom of the buffer base (132) is welded with the inner wall of the cabin body, the upper wall is clamped with the detachable stretcher (131), two pairs of buffer telescopic springs (135) are uniformly and symmetrically distributed on the outer two sides of the detachable stretcher (131) and are automatically clamped in clamping groove rings with the same height on the inner surface of the second cabin body, and the left-right shaking in the advancing process is further counteracted, so that the detachable stretcher (131) is more stable; two pairs of X-shaped cross telescopic hasps (134) are uniformly distributed on two sides of the inner wall of the detachable stretcher (131) and used for fixing wounded persons.
5. An amphibious emergency rescue robot as defined in claim 2, wherein: the injury detection mechanism (4) is positioned on a platform at the top of the inner wall of the second cabin body, is connected with the platform through a movable sliding rail, can move back and forth, and comprises an X-ray scanner, an infrared body temperature detector, a respiratory rate sensor, a heart rate sensor and a data collection and transmission device, wherein the data collection and transmission device is connected with a radio communication system and transmits the information of the injured person in real time; the mechanical arm group (5) is positioned behind the injury detection mechanism (4), is fixed on a top sliding platform and comprises a disinfection hemostasis mechanical arm (51), a medicament spraying mechanical arm (52), an oxygen mask and a cardio-pulmonary resuscitation mechanical arm (54), and after the injury detection mechanism (4) scans, analyzes and levels the injury of the wounded, the wounded are treated according to the injury level.
6. An amphibious emergency rescue robot as defined in claim 1, wherein: the double-rocker crawler traveling mechanism (11) is positioned on two sides of the base frame (6) and comprises a crawler chassis (111), crawler arms (112), crawler wheels (113), buffer ribs (114), a driving wheel (115) and a reduction gear set (116); the crawler chassis (111) is connected with the base frame (6) and is used for building a shafting structure so as to connect the crawler wheels (113), the connecting shaft and the front and rear pairs of crawler arms (112); the crawler of the crawler arm (112) is driven by the driving wheel (115) through the power transmission output by the motor, and is driven by the motor after being decelerated by the deceleration gear set (116), and the angle can be adjusted to adapt to various terrains; the outer part is provided with a buffer rib (114); the double-turbocharging cabin water-spraying type propulsion power system (14) comprises a power unit (141), a gearbox (142), a double turbocharger (143), a water inlet pipe (144), a water spraying steel pipe (145), a supercharging cabin (146), a water inlet (147) and a water spraying port (148); the front end of the power system is connected with a transmission box group, the rear end of the power system is connected with a storage battery pack (9) through a lead, the transmission box (142) is connected with a double-turbocharger (143), the double-turbocharger (143) is connected with an external water inlet (147) through a water inlet pipe (144), the double-turbocharger (143) is communicated with a pressurizing cabin (146) through an internal water inlet (147), the pressurizing cabin (146) is spherical and is connected with a water spray nozzle (148) through a water spray steel pipe (145), and the water spray nozzle (148) comprises a left water spray nozzle, a right water spray nozzle, an advancing water spray nozzle, a retreating water spray nozzle, a left water spray nozzle, a right water spray nozzle, an advancing water spray nozzle and a retreating water spray nozzle which spray water leftwards, rightwards, backwards and forwards; the two pairs of buoyancy tanks (13) are uniformly arranged at the middle lower part of the first cabin body (12).
7. An amphibious emergency rescue robot as defined in claim 6, wherein: the inflatable air bag (12) consists of a high-strength fabric framework and a thermoplastic elastic adhesive tape, when the inflatable air bag is not inflated, the inflatable air bag is positioned in two symmetrically-distributed storage cabins at the bottom of the crawler chassis (111), the upper end of the inflatable air bag is connected with steel cylinders placed in an interlayer of a bottom plate of the escape capsule through pipelines, and a quick release valve is arranged at the joint and connected with a control system through a lead.
8. An amphibious emergency rescue robot as defined in claim 1, wherein: the soft body life detection mechanism (15) is positioned at a cabin door of the second cabin body, is connected with the storage battery pack (9) through a lead and is used for being matched with the conveying device to accurately position the wounded, and comprises an electromagnetic ejection type bionic tongue, a biological radar sensor and a rubber thin sleeve, wherein the biological radar sensor is positioned at the top end of the electromagnetic ejection type bionic tongue, collects vital sign signals of the wounded in a certain sensing range, transmits the collected vital sign signals to the control computer, and is wrapped by the rubber thin sleeve; the first main control module is configured to convert the vital sign signals into digital signals and obtain vital sign data of the target wounded person.
9. An amphibious emergency rescue robot as defined in claim 1, wherein: the communication and control system is positioned at the rear half part of the bottom of the second cabin body and behind and below the containing and fixing mechanism, a control computer is arranged in the communication and control system, and the control computer is connected with a storage battery pack (9) and other systems through wires; beidou navigation positioning mechanism next-door neighbour control computer provides accurate positional information for the robot, radio communication is located can dismantle stretcher (131) right side edge, and the wounded of being convenient for communicates in time with medical staff through it, the sharing platform of the feelings of injury is fixed in can dismantle stretcher (131) left side edge, links to each other with wounded's detection mechanism (4) through the data line, in time transmits wounded's all kinds of vital sign data.
10. An amphibious emergency rescue robot as defined in claim 1, wherein: the biological radar sensor is configured to emit asymmetric wide-beam signals, when a target wounded person breathes, echo signals generated by the chest cavity reflecting the emitted signals during breathing are collected, and the collected echo signals are amplified and filtered to obtain ideal vital sign signals of the target wounded person.
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