CN205286732U - From walking rescue apparatus - Google Patents
From walking rescue apparatus Download PDFInfo
- Publication number
- CN205286732U CN205286732U CN201620025950.4U CN201620025950U CN205286732U CN 205286732 U CN205286732 U CN 205286732U CN 201620025950 U CN201620025950 U CN 201620025950U CN 205286732 U CN205286732 U CN 205286732U
- Authority
- CN
- China
- Prior art keywords
- stretcher
- walking
- safety apparatus
- anterior
- supporting plate
- 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 - Fee Related
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a from walking rescue apparatus, including crawler -type running gear and self -balancing stretcher, self -balancing stretcher includes front and back balance mechanism, controls balance mechanism and stretcher, stretcher around through balance mechanism about with balance mechanism install in crawler -type running gear make stretcher around the inclination about with the inclination adjustable, the utility model discloses a from walking rescue apparatus can be under the rescue environment of complicacy steady carries out transporting of the wounded, ensures the quilt that the wounded are timely, safe to carry out the disaster area, avoids the wounded in the rescue work with transport the in -process and receive secondary damage.
Description
Technical field
This utility model relates to stretcher, particularly relates to a kind of from walking safety apparatus.
Background technology
After there is geological disaster, road and building are subject to serious destruction, ambulance cannot arrive the place that the wounded are injured, people need, with stretcher, the wounded are lifted to ambulance location and could implement give first aid on the spot or send rescue to hospital, and when using easy stretcher to give first aid to the wounded, all need two people's cooperations just can lift the wounded, human cost is high, and travelling speed is slow, the wounded are made not treated timely and effectively, additionally, because road is uneven, people are in the process transporting the wounded with stretcher, stretcher can jolt back and forth or left and right, so can aggravate the misery of the wounded, even the wounded are caused secondary injury, follow-up treatment is unfavorable.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of from walking safety apparatus, it is adaptable in the rescue work after geological disaster, can carry out the transport of the wounded smoothly, it is ensured that what the wounded were timely, safe is conveyed out disaster area under complicated rescue environment.
Of the present utility model from walking safety apparatus, including crawler type walking mechanism and Self-balancing stretcher bed; Described Self-balancing stretcher bed includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher; Described stretcher is installed on crawler type walking mechanism by anterior-posterior balance mechanism and left-right balance mechanism and makes inclination angle, front and back and the left and right tilt adjustable of stretcher.
Further, described anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support; Described arc guide rail is vertically arranged; The front end of described anterior-posterior balance support is articulated with the transmission band of synchronous belt drive mechanism, and rear end is slidably connected to arc guide rail.
Further, described left-right balance mechanism includes left-right balance support, spline motor and supporting plate; Described left-right balance support and spline motor are fixed on anterior-posterior balance support; The output shaft of spline motor being longitudinally arranged and being undertaken radially supporting location by left-right balance support along crawler type walking mechanism; Described supporting plate is fixed on the output shaft of spline motor.
Further, described stretcher is slidably connected along the longitudinal direction of supporting plate with supporting plate single-degree-of-freedom, and the rear end of supporting plate is fixed with for stretcher carries out the spacing fixed dam that slides.
Further, described supporting plate is provided with multiple pulley to make to be slidably matched by pulley between supporting plate and stretcher.
Further, described crawler type walking mechanism includes vehicle frame, driving device, drivewheel, inducer, bogie wheel and crawler belt;Described crawler belt is installed on vehicle frame by drivewheel, inducer and bogie wheel; The cylindrical of drivewheel, inducer and bogie wheel and the inner side of crawler belt are provided with the tooth matched.
Further, the material of described crawler belt is rubber.
Further, on described vehicle frame, corresponding drivewheel, inducer and bogie wheel are provided with inner side installing plate and outboard mounting plates; Described drivewheel is installed on the outside of inner side installing plate by driving device, and drivewheel is fixed on the power output shaft of driving device; Described inducer and bogie wheel are installed between inner side installing plate and outboard mounting plates respectively through respective wheel shaft; It is further fixed on covering in the cover plate on bogie wheel top between inner side installing plate and outboard mounting plates.
Further, described crawler type walking mechanism also includes the storage bin that is fixed on vehicle frame.
The beneficial effects of the utility model are: of the present utility model from walking safety apparatus, the transport of the wounded can be carried out smoothly under complicated rescue environment, guarantee the wounded timely, safe be conveyed out disaster area, it is to avoid the wounded are subject to secondary injury in rescue work and transport process.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the A-A sectional view of Fig. 1.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model; Fig. 2 is the top view of Fig. 1; Fig. 3 is the A-A sectional view of Fig. 1, as shown in the figure: the safety apparatus of certainly walking of the present embodiment, including crawler type walking mechanism and Self-balancing stretcher bed; Described Self-balancing stretcher bed includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher 1; Described stretcher 1 is installed on crawler type walking mechanism by anterior-posterior balance mechanism and left-right balance mechanism and makes inclination angle, front and back and the left and right tilt adjustable of stretcher 1, before and after inclination angle refer to the inclination angle that stretcher 1 rotates along the axle of its transverse direction, inclination angle, left and right refers to the inclination angle that stretcher 1 rotates along the axle of its longitudinal direction; Crawler type walking mechanism is installed automatic control system, sends control signal keep stretcher 1 steady by detecting pavement behavior balanced controls forwards, backwards and left-right balance mechanism; The transport of the wounded can be carried out smoothly, it is ensured that what the wounded were timely, safe is conveyed out disaster area, it is to avoid the wounded are subject to secondary injury in rescue work and transport process under complicated rescue environment.
In the present embodiment, described anterior-posterior balance mechanism includes synchronous belt drive mechanism 2, arc guide rail 3 and anterior-posterior balance support 4, described arc guide rail 3 is vertically arranged, the front end of described anterior-posterior balance support 4 is articulated with the transmission band of synchronous belt drive mechanism 2, and rear end is slidably connected to arc guide rail 3, the vertically arranged circle referring to arc guide rail 3 place of arc guide rail 3 is positioned at a perpendicular, it is specially along a certain perpendicular of crawler type walking mechanism longitudinal direction, synchronous belt drive mechanism 2 is by driven by servomotor, synchronous belt drive mechanism 2 can be arranged along the direct of travel of walking mechanism, can also be obliquely installed or erect setting, as shown in Figure 1, before synchronous belt drive mechanism 2 in the present embodiment, after height, low mode is obliquely installed, anterior-posterior balance support 4 can be made to slide between synchronous belt drive mechanism 2 and arc guide rail 3 by the action of gravity of the motion of Timing Belt and anterior-posterior balance support 4 itself, and then inclination angle before and after adjusting, keep balance, anterior-posterior balance support 4 rear end correspondence arc guide rail 3 is provided with roller, makes anterior-posterior balance support 4 be connected to arc guide rail 3 by roller-coaster, reduces friction,The anterior-posterior balance mechanism bearing capacity of the present embodiment is strong, is suitable to disaster area rescue, and the rear end of synchronous belt drive mechanism 2 is articulated with crawler type walking mechanism, and the front end of synchronous belt drive mechanism 2 is installed on crawler type walking mechanism by pillar; All it is articulated and connected between two ends and synchronous belt drive mechanism 2 and the crawler type walking mechanism of described pillar, described pillar is by the double acting hydraulic cylinder of automatic controlling system, automatic control system controls pillar according to pavement behavior and elongates or shortens, to adjust the gradient of synchronous belt drive mechanism 2, increase the adjusting range at inclination angle before and after anterior-posterior balance support 4, strong adaptability, ensures that under travelling on slope road situation anterior-posterior balance support 4 is steady.
In the present embodiment, described left-right balance mechanism includes left-right balance support 5, spline motor and supporting plate 6; Described left-right balance support 5 and spline motor are fixed on anterior-posterior balance support 4; The output shaft of spline motor being longitudinally arranged and being undertaken radially supporting location by left-right balance support 5 along crawler type walking mechanism; Described supporting plate 6 is fixed on the output shaft of spline motor, and spline motor includes the motor and the decelerator that become one, the output shaft using the output shaft of decelerator as spline motor, is controlled the inclination angle, left and right of supporting plate 6 by the rotating and corner controlling motor; Compound by synchronous belt drive mechanism 2 with left-right balance mechanism so that superposed stretcher 1 is within the specific limits, it is possible to be automatically adjusted equilbrium position, it is to avoid due to the impact of extraneous factor in rescue work, cause the secondary injury to the wounded;
From the operation principle of walking safety apparatus it is: be scanned analyzing to the landform from safety apparatus front of walking by the three-dimensional omnidirectional laser radar of crawler type walking mechanism front end, when there is no barrier, keep the leading dimension position of synchronous belt drive mechanism 2, make anterior-posterior balance support 4 keep balance in the longitudinal direction, move on;
When barrier occurs in front, first pass through single-chip computer control system generation pulse signal and drive the servomotor of crawler type walking mechanism to make progressively to slow down from walking safety apparatus; Single-chip microcomputer is analyzed by the signal that photoelectric sensor is passed back;
Without departing from adjustable extent (in order to prevent whole mobile platform from turning on one's side, ensure the range of activity of center of gravity, anterior-posterior balance safe adjustment range is each 10 �� of front and back) a. is when there is barrier to front in three-dimensional omnidirectional Laser Radar Scanning, feed back to control system, start slowly to reduce the speed of crawler belt; B. start blocking surfaces grade information is scanned by three-dimensional omnidirectional laser radar, and feed back to control system; C. the millimetre-wave radar the being positioned at crawler body front end feedback to preceding object thing distance is passed through, when controlling to move to barrier certain distance from walking safety apparatus, start to start closed-loop synchronous belt drive mechanism 2, and the grade information according to the blocking surfaces of feedback regulates slowly; D., when starting throwing over barrier from walking safety apparatus, controller, by the detection to crawler track speeds, adjusts Timing Belt and the speed of service of spline motor, it is ensured that stretcher is horizontal all the time on position, all around; E., while adjusting horizontal level, the speed of service of Timing Belt and spline motor is corrected processing by the stent location information of the gyroscope feedback by being positioned on anterior-posterior balance support 4, strengthens the accuracy adjusted;
If exceed the adjustable extent of synchronous belt drive mechanism 2, by the front terrain information that three-dimensional omnidirectional laser radar is passed back, planning action path again.If during energy avoiding obstacles, then detouring; If there is other barriers, then proceed step a.
In the present embodiment, described stretcher 1 is slidably connected along the longitudinal direction of supporting plate 6 with supporting plate 6 single-degree-of-freedom, the rear end of supporting plate 6 is fixed with for stretcher 1 carries out the spacing fixed dam 7 that slides, with one end of the corresponding wounded's head of stretcher 1 for front end, one end of corresponding foot is rear end, as shown in Figure 1, namely the rear end of supporting plate 6 is the right-hand member of supporting plate 6 shown in Fig. 1, the front end of supporting plate 6 is higher than rear end, therefore stretcher 1 is close to fixed dam 7 under himself action of gravity, and positioned by fixed dam 7, stretcher 1 can be pulled out, it is easy to escorting of the wounded, the sliding part matched with supporting plate 6 can be installed on existing Simple stretcher and realize the assembling from safety apparatus of walking, make full use of existing resource, reduce cost.
In the present embodiment, described supporting plate 6 is provided with multiple pulley 8 and makes to be slidably matched by pulley 8 between supporting plate 6 and stretcher 1, it is simple to pushing and pull-out of stretcher 1.
In the present embodiment, described crawler type walking mechanism includes vehicle frame 9, driving device 10, drivewheel 11, inducer 12, bogie wheel and crawler belt 13; Described crawler belt 13 is installed on vehicle frame 9 by drivewheel 11, inducer 12 and bogie wheel; The cylindrical of drivewheel 11, inducer 12 and bogie wheel and the inner side of crawler belt 13 are provided with the tooth matched; Drivewheel 11 is located at the front portion of vehicle frame 9 and is driven rotation by driving device 10, inducer 12 is located at the rear portion of vehicle frame 9, bogie wheel is located between drivewheel 11 and inducer 12, crawler belt 13 is installed on drivewheel 11, inducer 12 and bogie wheel, the rotating speed of driving device 10 is controlled by control system with turning to, and then controls gait of march and the direction of crawler type walking mechanism; Crawler type walking mechanism adhesive force is strong, good by property, is suitable to the complex road surfaces such as disaster area and travels.
In the present embodiment, the material of described crawler belt 13 is rubber; Play the strong point of rubber to greatest extent, make to reduce from the overall pressure to ground of walking safety apparatus, vibrate minimizing, turn to flexibly, do not damage road surface, speed is fast, overall weight is light, enhance the adaptability from safety apparatus of walking, make on complex road surface, possess more flexible performance from walking safety apparatus, improve obstacle climbing ability and climbing capacity.
In the present embodiment, on described vehicle frame 9, corresponding drivewheel 11, inducer 12 and bogie wheel are provided with inner side installing plate 14 and outboard mounting plates 15; Described drivewheel 11 is installed on the outside of inner side installing plate 14 by driving device 10, and drivewheel 11 is fixed on the power output shaft of driving device 10; Described inducer 12 and bogie wheel are installed between inner side installing plate 14 and outboard mounting plates 15 respectively through respective wheel shaft; It is further fixed on covering in the cover plate on bogie wheel top between inner side installing plate 14 and outboard mounting plates 15, reliable and stable mounting structure is provided for drivewheel 11, inducer 12 and bogie wheel, can carry out inducer 12 and bogie wheel effectively covering and protection simultaneously, be suitable to the complex road surfaces such as disaster area travel, attractive in appearance, it is hardly damaged.
In the present embodiment, described crawler type walking mechanism also includes the storage bin being fixed on vehicle frame 9; The effect to medicine and food delivery can be played.
What finally illustrate is, above example is only in order to illustrate the technical solution of the utility model and unrestricted, although this utility model being described in detail with reference to preferred embodiment, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent replacement, without deviating from objective and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (9)
1. a safety apparatus of certainly walking, it is characterised in that: include crawler type walking mechanism and Self-balancing stretcher bed;Described Self-balancing stretcher bed includes anterior-posterior balance mechanism, left-right balance mechanism and stretcher; Described stretcher is installed on crawler type walking mechanism by anterior-posterior balance mechanism and left-right balance mechanism and makes inclination angle, front and back and the left and right tilt adjustable of stretcher.
2. according to claim 1 from walking safety apparatus, it is characterised in that: described anterior-posterior balance mechanism includes synchronous belt drive mechanism, arc guide rail and anterior-posterior balance support; Described arc guide rail is vertically arranged; The front end of described anterior-posterior balance support is articulated with the transmission band of synchronous belt drive mechanism, and rear end is slidably connected to arc guide rail.
3. according to claim 2 from walking safety apparatus, it is characterised in that: described left-right balance mechanism includes left-right balance support, spline motor and supporting plate; Described left-right balance support and spline motor are fixed on anterior-posterior balance support; The output shaft of spline motor being longitudinally arranged and being undertaken radially supporting location by left-right balance support along crawler type walking mechanism; Described supporting plate is fixed on the output shaft of spline motor.
4. according to claim 3 from walking safety apparatus, it is characterised in that: described stretcher is slidably connected along the longitudinal direction of supporting plate with supporting plate single-degree-of-freedom, and the rear end of supporting plate is fixed with for stretcher carries out the spacing fixed dam that slides.
5. according to claim 4 from walking safety apparatus, it is characterised in that: described supporting plate is provided with multiple pulley and makes to be slidably matched by pulley between supporting plate and stretcher.
6. according to claim 1 from walking safety apparatus, it is characterised in that: described crawler type walking mechanism includes vehicle frame, driving device, drivewheel, inducer, bogie wheel and crawler belt; Described crawler belt is installed on vehicle frame by drivewheel, inducer and bogie wheel; The cylindrical of drivewheel, inducer and bogie wheel and the inner side of crawler belt are provided with the tooth matched.
7. according to claim 6 from walking safety apparatus, it is characterised in that: the material of described crawler belt is rubber.
8. according to claim 6 from walking safety apparatus, it is characterised in that: on described vehicle frame, corresponding drivewheel, inducer and bogie wheel are provided with inner side installing plate and outboard mounting plates; Described drivewheel is installed on the outside of inner side installing plate by driving device, and drivewheel is fixed on the power output shaft of driving device; Described inducer and bogie wheel are installed between inner side installing plate and outboard mounting plates respectively through respective wheel shaft; It is further fixed on covering in the cover plate on bogie wheel top between inner side installing plate and outboard mounting plates.
9. according to claim 6 from walking safety apparatus, it is characterised in that: described crawler type walking mechanism also includes the storage bin being fixed on vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620025950.4U CN205286732U (en) | 2016-01-12 | 2016-01-12 | From walking rescue apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620025950.4U CN205286732U (en) | 2016-01-12 | 2016-01-12 | From walking rescue apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205286732U true CN205286732U (en) | 2016-06-08 |
Family
ID=56474808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620025950.4U Expired - Fee Related CN205286732U (en) | 2016-01-12 | 2016-01-12 | From walking rescue apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205286732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297575A (en) * | 2019-12-30 | 2020-06-19 | 南京晨光集团有限责任公司 | Multifunctional unmanned rescue device |
-
2016
- 2016-01-12 CN CN201620025950.4U patent/CN205286732U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297575A (en) * | 2019-12-30 | 2020-06-19 | 南京晨光集团有限责任公司 | Multifunctional unmanned rescue device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108556938B (en) | All-terrain robot | |
| KR101526334B1 (en) | Mower robot | |
| CN105411761B (en) | Self-balancing stretcher car | |
| CN104443093A (en) | Unmanned ladder climbing robot | |
| CN108454718A (en) | A kind of passive adaptive robot of crawler type | |
| CN105460091B (en) | Crawler body assembly | |
| CN109938933A (en) | A kind of mobile transferring platform of self-balancing | |
| JP4021907B2 (en) | Traveling device | |
| CN105599818A (en) | Obstacle-surmounting robot | |
| KR100871447B1 (en) | Moving apparatus with caterpillar of transformable type | |
| KR20110072535A (en) | Wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for a special service robot | |
| CN103895728A (en) | Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method | |
| CN105835618A (en) | Four-wheeler mechanism with adjustable eccentric distance | |
| US8960352B2 (en) | Wheelchair transportation system | |
| CN105411757B (en) | Self-balancing stretcher | |
| CN205286732U (en) | From walking rescue apparatus | |
| CN205286731U (en) | Rescue apparatus | |
| CN110978000B (en) | Connecting rod type multi-arm rescue robot | |
| CN205469350U (en) | Crawler -type is from running gear | |
| CN206315205U (en) | A kind of seat can keep the crawler self wheeled chair of level automatically | |
| CN104434431B (en) | A kind of portable Stair climbing device | |
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| CN106184446A (en) | There is the stair climbing robot turning to and dodging function | |
| CN103287517B (en) | A kind of deformed caterpillar formula small-sized movable system | |
| CN208760749U (en) | A kind of wheel-track combined walking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160608 Termination date: 20170112 |