CN203183170U - Rescue robot for fracture patient - Google Patents
Rescue robot for fracture patient Download PDFInfo
- Publication number
- CN203183170U CN203183170U CN 201320064479 CN201320064479U CN203183170U CN 203183170 U CN203183170 U CN 203183170U CN 201320064479 CN201320064479 CN 201320064479 CN 201320064479 U CN201320064479 U CN 201320064479U CN 203183170 U CN203183170 U CN 203183170U
- Authority
- CN
- China
- Prior art keywords
- stretcher
- car body
- retractable
- degree
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 0 CCC(C1C)C(*)C1(CC)C1CCC(C)CC1 Chemical compound CCC(C1C)C(*)C1(CC)C1CCC(C)CC1 0.000 description 4
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a rescue robot for a fracture patient. The rescue robot is composed of a car body and an actuator. The actuator comprises a lifting mechanism, a sliding stretcher and two six-degree-of-freedom motion arms. The sliding stretcher is divided into an upper layer and a lower layer. The lower layer is a protective cover shell, and the upper layer is a belt transmission. The lifting mechanism is composed of car body retractable connecting rods, stretcher connecting rods and retractable rods, wherein the car body retractable connecting rods are fixed with the car body, and the stretcher connecting rods and the retractable rods are fixed with the lower layer movable stretcher. One end of each car body retractable connecting rod is movably connected with one end of each stretcher connecting rod. The two ends of each retractable rod are connected with the lower layer movable stretcher and the car body respectively. The car body retractable connecting rods and the retractable rods are driven by worm gears and worms respectively. The two six-degree-of-freedom motion arms are symmetrically installed in front of the sliding stretcher. According to the actuator of the rescue robot, the particularity of a human body structure and damage is fully considered, operation procedures of the actuator meet the operating norms of human body first aid, and moreover damage to the human body in the process of operation is reduced to the maximum extent.
Description
Technical field
This utility model relates to public health emergency rescue and robotics field, more specifically, is a kind of for the wounded of hazardous area is implemented to withdraw the robot of task.
Background technology
At present, technology types such as the normal jaw type that adopts of similar industrial end effector of robot, folder formula are adopted in the rescue robot actuator more, and this type of actuator is simple in structure, can realize the loading or unloading operation to relief goods fast.Yet, since the particularity of organization of human body itself and be not suitable for carrying operation to human body, during particularly to fracture or spinal column wounded implementation and operation, very easily cause catastrophic effect even cause wounded's permanent disability or death.
The utility model content
Technical problem to be solved in the utility model is, provides a kind of be used to entering dangerous region, satisfies fracture or the spinal column wounded are implemented to rescue and it is withdrawn the rescue robot in hazardous area.
A kind of fracture of this utility model wounded rescue robot, be achieved by following technical proposals, formed by car body and actuator, described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, described slip stretcher divides two-layer up and down, lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod of car body, form with fixing stretcher connecting rod and the expansion link of lower floor movable stretcher, one end of car body shrinking connecting-rod and an end of stretcher connecting rod flexibly connect, the expansion link two ends connect the movable stretcher of lower floor and car body respectively, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; Described two six degree of freedom motion arm symmetries are installed on slip stretcher front portion, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is made up of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
Described slip stretcher upper strata tape drive mechanism is by driven by servomotor.
The utlity model has following technique effect:
This utility model actuator mainly is made up of falling type slip stretcher and dual operation arm supplementary structure; main effect is to utilize the dual operation arm that people's incidence is lifted simultaneously; reach the purpose of effective protection wounded's head and cervical region; the stretcher upper strata (belt layer) of thereupon sliding moves forward to the operating position and utilizes the frictional force between conveyer belt and the human body that human body is transported on the slip stretcher; make handling process avoid fracture or the spinal column wounded are caused the secondary injury; by the optimization to the human body carrying capacity; for the fracture or the spinal column wounded optimum stress condition is provided, thereby can realize painless rescue.
This utility model has realized that by the layout to slip stretcher, double six degree-of-freedom motion arm the folding volume of motion arm minimizes with launching volume ratio, has dwindled the volume of car body to greatest extent, thereby has improved the region adaptability of robot moving body.Two six degree of freedom motion arms are bracket isolated movement decoupling-structure, it has three translation freedoms and three rotational freedoms, when packing up, be affixed on mobile vehicle wallboard inboard fully, it is minimum this moment that it draws volume in, be threaded to the operating position outside first joint during expansion, this moment, the working place reached maximum.
Rescue robot actuator described in the utility model has taken into full account the particularity of organization of human body and damage, and its operating process meets human body first aid working specification, and has farthest reduced the damage that operating process causes human body.
Description of drawings
Fig. 1 is actuator front view of the present utility model;
Fig. 2 is actuator contraction state figure of the present utility model;
Fig. 3 is actuator working state figure of the present utility model;
Fig. 4 is six degree of freedom motion arm structural representation of the present utility model;
Fig. 5 is six degree of freedom motion arm motion sketch map of the present utility model.
The specific embodiment
The utility model is described in further detail below in conjunction with diagram.
As shown in Figure 1, fracture wounded rescue robot is made up of car body and actuator, and actuator is installed on car body 1; mainly comprise elevating mechanism 2; slip stretcher upper strata tape drive mechanism 3, slip stretcher lower floor protection case 4, six degree of freedom motion arm 5 critical pieces such as grade are formed.Described slip stretcher divides two-layer up and down, and lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod 6 of car body, form with fixing stretcher connecting rod 8 and the expansion link 9 of lower floor movable stretcher, one end of car body shrinking connecting-rod and an end of stretcher connecting rod flexibly connect, the expansion link two ends connect the movable stretcher of lower floor and car body respectively, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; Described two six degree of freedom motion arm symmetries are installed on slip stretcher front portion, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is made up of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
Fig. 2 is the situation of slip stretcher in car, and two six degree of freedom motion arms are affixed on mobile vehicle wallboard inboard fully when packing up, and it is minimum this moment that it draws volume in.
Fig. 3 is the situation that slip stretcher and motion arm launch fully.Described slip stretcher near human body after, levels moves forward simultaneously, the upper strata tape drive mechanism for human body is created smooth friction free movement environment, thereby makes human body move on the slip stretcher so that minimum is stressed with running in the other direction.
As shown in Figure 3, after robot arrives the rescue position, slip stretcher upper strata tape drive mechanism 3, slip stretcher lower floor protection case 4, under the effect of elevating mechanism 2, extend the operating position together with six degree of freedom motion arm 5, six degree of freedom motion arm 5 rotary expansions, its end effector is apery type curved surface, inserted by the human body head front end, lift certain angle simultaneously together with cervical region, slip stretcher upper strata belt drive unit 3 moves forward until contacting with human body back together with protection case 4, and six degree of freedom motion arm 5 is withdrawn human body and is back to the folding position afterwards; Slip stretcher upper strata belt drive unit 3 continues to move forward together with protection case 4, and upper strata belt dressing 3 beginning opposite spins simultaneously are until human body being transported to slip stretcher top.
As shown in Figure 4, the six degree of freedom motion arm is made up of six cradle heads, is respectively first cradle head
, second cradle head
, the 3rd cradle head
, the 4th cradle head 4
, the 5th cradle head
, the 6th cradle head
With end effector 7, its motion spinor satisfies relation
(form of presentation is theory of mechanisms spinor expression way), namely the 3rd joint is folding joint, each joint motions spinor of folding back is coplanar, makes it have best gathering volume.
As shown in Figure 5; when the six degree of freedom motion arm is organized work; executor tail end inserts the human body below by the human body shoulder; terminal and human body is fitted; human body head and shoulder are lifted simultaneously; " whipping effect " of having avoided neck in handling process, to produce, the secondary damage of farthest having protected neck to cause.
The above only is practical application example of the present utility model, is not should be used as structure and pro forma restriction to of the present utility model.Every according to this utility model technical spirit to any simple modification, equivalent variations and modification that above embodiment does, all still belong in the scope of the technical solution of the utility model.
Claims (2)
1. a fracture wounded rescue robot is characterized in that, is made up of car body and actuator, described actuator comprises elevating mechanism, slip stretcher and two six degree of freedom motion arms, described slip stretcher divides two-layer up and down, and lower floor is the protection case, and the upper strata is tape drive mechanism; Described elevating mechanism is by with the fixing car body shrinking connecting-rod of car body, form with fixing stretcher connecting rod and the expansion link of lower floor movable stretcher, one end of car body shrinking connecting-rod and an end of stretcher connecting rod flexibly connect, the expansion link two ends connect the movable stretcher of lower floor and car body respectively, and described car body shrinking connecting-rod and expansion link are driven by turbine and worm respectively; Described two six degree of freedom motion arms are arranged and are installed on slip stretcher front portion, the six degree of freedom motion arm is that bracket isolated movement decoupling-structure is made up of six cradle heads, it has three translation freedoms and three rotational freedoms, and each joint is respectively by driven by servomotor.
2. fracture wounded rescue robot according to claim 1 is characterized in that, described slip stretcher upper strata tape drive mechanism is by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320064479 CN203183170U (en) | 2013-02-05 | 2013-02-05 | Rescue robot for fracture patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320064479 CN203183170U (en) | 2013-02-05 | 2013-02-05 | Rescue robot for fracture patient |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203183170U true CN203183170U (en) | 2013-09-11 |
Family
ID=49100076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320064479 Expired - Lifetime CN203183170U (en) | 2013-02-05 | 2013-02-05 | Rescue robot for fracture patient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203183170U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083142A (en) * | 2013-02-05 | 2013-05-08 | 中国人民解放军军事医学科学院卫生装备研究所 | Fracture patient rescue robot |
-
2013
- 2013-02-05 CN CN 201320064479 patent/CN203183170U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083142A (en) * | 2013-02-05 | 2013-05-08 | 中国人民解放军军事医学科学院卫生装备研究所 | Fracture patient rescue robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103110482A (en) | Rescue robot executing mechanism for person with fracture | |
| CN103083142A (en) | Fracture patient rescue robot | |
| EP2386486A3 (en) | Electric-powered transfer cylinder for landing gear system | |
| CN104145614A (en) | Hydraulic fruit picking manipulator | |
| WO2015108607A3 (en) | Cargo airship | |
| EP2179921A3 (en) | Shrinking shock strut system for retractable landing gear | |
| CN203183170U (en) | Rescue robot for fracture patient | |
| CN203183169U (en) | Actuator of rescue robot for fracture patient | |
| CN109677905A (en) | A kind of manipulator and method for carrying of intelligent material conveying | |
| CN204643234U (en) | A kind of dolly being convenient to cargo handing | |
| CN101947983A (en) | Omnidirectional quadruped walking mobile device based on hybrid connected mechanism | |
| US10676177B1 (en) | Robotic landing gear for rotorcraft | |
| CN204274872U (en) | Patient bed-changing crane | |
| CN107521708B (en) | Retractable air inlet channel mechanism | |
| KR101710926B1 (en) | Autonomous rescue robot with folder stretcher | |
| CN103448068A (en) | Automatic overturning type grip device | |
| CN105775111B (en) | The buffer structure of airplane wheel | |
| CN206033043U (en) | Light weight wallboard fast -assembling anchor clamps | |
| CN206978814U (en) | It is easy to the Dispoable medical protective face mask of storage | |
| CN103693565A (en) | Transportation device capable of grasping objects to go across obstacles | |
| CN204932019U (en) | The multifunctional mattress of transhipment patient | |
| CN106826924B (en) | Concealed handle device convenient for robot carrying | |
| CN102528814A (en) | Deflector rod chute-type indirect under-driven robot finger device | |
| CN203511732U (en) | Charging flat car for slitting machine | |
| CN104306124A (en) | Bed changing crane for patients |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130911 |