A cardiopulmonary resuscitation robot

Abstract

The present invention belongs to the field of rescue robots, specifically a cardiopulmonary resuscitation robot, wherein swing arm mechanisms are symmetrically arranged on both sides of the robot body, and the swing arm mechanisms on both sides rotate synchronously through the swing arm driving mechanism installed in the robot body; a cardiopulmonary resuscitation instrument is installed at the front end of the mechanical arm, and the rotation of the swing arm mechanism can adjust the tilt angle of the body, and the movement of the mechanical arm can hold and fix the trapped person, and then the cardiopulmonary resuscitation instrument presses the heart of the trapped person, increases the blood flow of the heart and brain of the cardiac arrest patient, and serves as a bridge for subsequent defibrillation, intravenous medication, vascular reconstruction, etc., and increases the survival probability of the trapped person. The present invention can implement cardiopulmonary resuscitation treatment for trapped people in a ruin environment, and the robot has strong environmental adaptability, can freely climb over obstacles, cross gullies, and climb steps in a non-structural environment, and has the characteristics of flexible movement, wide adaptability, and compact structure.

Description

Technical Field

[0001] The invention belongs to the field of rescue robots, in particular to a cardiopulmonary resuscitation robot. Background Art

[0002] Accidents such as earthquakes and tsunamis often cause buildings to collapse and produce ruins. People in the buildings will be trapped in the ruins. Rescuing the survivors trapped under the ruins is a very urgent task. In order to improve the efficiency of rescue, it is necessary to vigorously develop rescue technology; since the collapsed ruins belong to non-structural environments, rescuers generally cannot enter. Even if they can enter, considering the risk of secondary collapse of the ruins, rescuers will not enter rashly. The vital signs of the trapped people are extremely weak, and in severe cases, they will suffer from problems such as cardiac arrest, which endangers their lives and brings great difficulties to the rescue work.

[0003] Airports, train stations and other places are crowded with people and have complex terrain, and there are generally no rescue equipment on site. If a passenger with heart disease suffers a recurrence of heart disease while waiting for the train, the situation is relatively dangerous, and in severe cases, it is life-threatening. Summary of the invention

[0004] In order to solve the urgent need for cardiac treatment inside ruins and crowded places, improve rescue efficiency, and ensure the normal vital signs of people with recurrent heart disease, the purpose of the present invention is to provide a cardiopulmonary resuscitation robot. The cardiopulmonary resuscitation robot is used for emergency rescue tasks, can move freely in complex environments, and can perform compression treatment on the heart of trapped people through the cardiopulmonary resuscitation operation module it carries, increase the blood flow of the heart and brain of patients with cardiac arrest, and play a bridging role for subsequent defibrillation, intravenous medication, vascular reconstruction, etc., increasing the survival rate of people with recurrent heart disease.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The present invention comprises a vehicle body, a swing arm mechanism, a swing arm driving mechanism, a cardiopulmonary resuscitation operation module and a pulley driving mechanism, wherein swing arm mechanisms are arranged on both sides of the vehicle body in the direction of travel, the swing arm driving mechanism is installed inside the vehicle body, the output end of the swing arm driving mechanism is respectively connected with the swing arm mechanisms on both sides to drive the swing arm mechanisms on both sides to rotate synchronously; one end of the cardiopulmonary resuscitation operation module is installed on the vehicle body, and the other end is a cardiopulmonary resuscitation pressing execution end; pulley driving mechanisms for realizing the overall movement of the robot are arranged on both sides of the vehicle body in the direction of travel; the swing arm mechanism comprises a swing arm planetary gear, a swing arm plate, a cam mechanism, a linear motion pair and a slide rail fixing plate, the slide rail fixing plate is connected to the output end of the swing arm driving mechanism, one end of the swing arm plate is rotatably mounted with a swing arm planetary gear, and the other end is connected to the slide rail fixing plate through the linear motion pair, the swing arm planetary gear is connected to the driving crawler in the pulley driving mechanism, the linear motion pair realizes linear motion through the cam mechanism during the rotation of the swing arm mechanism, and then presses the swing arm planetary gear, and the swing arm planetary gear tightens the driving crawler.

[0007] Wherein: the linear motion pair includes a swing arm slider fastener, an upper linear bearing, a sliding shaft, a lower linear bearing and a spring; the upper linear bearing is installed on the other end of the swing arm plate through the swing arm slider fastener; one end of the sliding shaft is fixed to the slide rail fixing plate, and the other end is passed through the upper linear bearing and the swing arm slider fastener and connected to a locking nut; a lower linear bearing serving as a force-applying component of the cam mechanism is slidably connected to the sliding shaft; a spring is sleeved on the sliding shaft, and both ends of the spring are respectively connected to the upper linear bearing and the lower linear bearing.

[0008] The cam mechanism comprises a cam roller and a cam, the cam is fixed on the outer surface of the vehicle body, the linear motion pair is fixed on the cam roller, the cam roller is rollingly connected to the cam, and the cam is in a horizontal "8" shape.

[0009] The swing arm driving mechanism includes a swing arm motor, a transmission mechanism and a swing arm output shaft. The swing arm motor is installed in the vehicle body, and the swing arm output shaft is rotatably installed on the vehicle body. Both ends of the swing arm output shaft respectively pass through the vehicle body and are respectively connected to the slide rail fixing plates in the swing arm mechanisms on both sides; the output end of the swing arm motor is connected to the swing arm output shaft through the transmission mechanism, driving the swing arm output shaft to rotate, and driving the swing arm mechanisms on both sides to rotate synchronously.

[0010] The transmission mechanism includes a worm, a worm wheel, a driving pulley, a driven gear and a synchronous belt. The worm is rotatably installed in the vehicle body and is connected to the output end of the swing arm motor through a coupling. The wheel shaft of the worm wheel is rotatably installed in the vehicle body. The worm wheel is meshed with the worm for transmission. A driving pulley is connected to the wheel shaft of the worm wheel. The driving pulley rotates synchronously with the worm wheel. The driven gear is installed on the output shaft of the swing arm and is connected to the driving pulley through the synchronous belt.

[0011] The pulley drive mechanism includes a drive motor, a drive output shaft, a main drive wheel, a drive track and a driven wheel. The drive motor is installed inside the vehicle body, and the output end is connected to one end of the drive output shaft rotatably installed on the vehicle body through a coupling. The other end of the drive output shaft is connected to the main drive wheel, and the driven wheel is rotatably installed on the vehicle body. The driven wheel, the main drive wheel and the swing arm planetary wheel are connected through a drive track.

[0012] The cardiopulmonary resuscitation operation module includes a cardiopulmonary resuscitation instrument, a large swing arm, a small swing arm, an operation base, a claw motor, a claw, a root drive module, a middle drive module, a front drive module and a linear electric cylinder. The root drive module is installed on the vehicle body, and the output end of the root drive module drives the large swing arm to rotate and output the pitch freedom. The middle drive module is installed on the large swing arm, and the output end of the middle drive module drives the small swing arm to rotate and output the pitch freedom. The front drive module is installed inside the operation base, and the output end of the front drive module is connected to the small swing arm. The front drive module drives the operation base to rotate and output the pitch freedom by driving the reaction force of the small swing arm; claw motors are respectively installed on both sides of the operation base, and the output shafts of the claw motors on each side are connected to claws; the linear electric cylinder is installed on the lower surface of the operation base, located between the claws on both sides, and the cardiopulmonary resuscitation instrument is installed on the telescopic rod of the linear electric cylinder.

[0013] The root drive module, the middle drive module and the front drive module have the same structure, and all include a joint motor, a motor cavity and a tailstock, the joint motor is installed inside the motor cavity, the output shaft of the joint motor extends from one side of the motor cavity, and the tailstock is connected to the tail on the other side of the motor cavity; the large swing arm and the small swing arm are two symmetrical ones; the motor cavity in the root drive module is installed on the top of the vehicle body, the upper end of the large swing arm located on the left is fixedly connected to one side of the motor cavity in the middle drive module, and the lower end is connected to the output shaft of the joint motor in the root drive module, the upper and lower ends of the large swing arm located on the right are respectively rotatably connected to the tailstock in the middle drive module and the tailstock in the root drive module, the front end of the small swing arm located on the left is connected to the output shaft of the joint motor in the front drive module, and the rear end is connected to the output shaft of the joint motor in the middle drive module, and the front and rear ends of the small swing arm located on the right are respectively rotatably connected to the tailstock in the front drive module and the tailstock in the middle drive module.

[0014] The holding claws are arc-shaped, and the holding claws on both sides are driven by respective holding claw motors to hold the trapped person tightly and fix them.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention proposes a swing-arm retractable crawler robot body, which can change different postures of the robot to climb stairs, climb over obstacles and cross gullies through the rotation of the swing arm, thereby enhancing the robot's movement ability in complex environments.

[0017] 2. The present invention is equipped with a cardiopulmonary resuscitation operation module. The position and angle of the cardiopulmonary resuscitation device can be adjusted by the movement of the mechanical arm and the rotation of the swing arm. The adaptive claw mechanism installed at the front end of the mechanical arm can adapt to people with different chest circumferences. The claw can be used to hold and fix the trapped person in a complex environment, and compression emergency treatment can be performed on the heart position.

[0018] 3. The present invention adopts modular design, with simple and light structure, flexible movement, wide adaptability, easy installation and precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the swing arm mechanism of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the swing arm driving mechanism of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the cardiopulmonary resuscitation operation module of the present invention;

[0023] Figure 5 for Figure 4 Structural schematic diagram of the middle root drive module, the middle drive module, and the front drive module;

[0024] Figure 6 It is a structural schematic diagram of the pulley driving mechanism of the present invention;

[0025] Figure 7 It is a schematic structural diagram of the robot of the present invention in a contracted state;

[0026] Figure 8 This is a schematic diagram of the structure of the robot in the obstacle-crossing state of the present invention;

[0027] Fig. 9 It is a structural schematic diagram of the parallel cardiopulmonary resuscitation operation of the robot of the present invention;

[0028] Fig.10 It is a structural schematic diagram of the robot of the present invention performing cardiopulmonary resuscitation in a non-parallel state;

[0029] Among them: 1 is the car body, 2 is the swing arm mechanism, 201 is the swing arm planetary gear, 202 is the swing arm plate, 203 is the swing arm slider fastener, 204 is the upper linear bearing rod, 205 is the sliding shaft, 206 is the lower linear bearing, 207 is the cam roller, 208 is the slide rail fixing plate, 209 is the cam, 210 is the spring, 211 is the locking nut, 3 is the swing arm driving mechanism, 301 is the swing arm motor, 302 is the worm, 303 is the worm wheel, 304 is the driving pulley, 305 is the driven gear, 306 is the swing arm output shaft, 307 is the shaft sleeve, 4 is a cardiopulmonary resuscitation operation module, 401 is a cardiopulmonary resuscitation instrument, 402 is a large swing arm, 403 is a small swing arm, 404 is an operation base, 405 is a gripper motor, 406 is a gripper, 407 is a root drive module, 408 is a middle drive module, 409 is a front drive module, 410 is a linear electric cylinder, 417 is a joint motor, 427 is a motor cavity, 437 is a tailstock, 5 is a pulley drive mechanism, 501 is a drive motor, 502 is a drive output shaft, 503 is a main drive wheel, 504 is a drive track, and 505 is a passive wheel. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1As shown, the present invention includes a vehicle body 1, a swing arm mechanism 2, a swing arm driving mechanism 3, a cardiopulmonary resuscitation operation module 4 and a pulley driving mechanism 5, wherein the left and right sides of the vehicle body 1 in the direction of travel are provided with swing arm mechanisms 2, and the swing arm mechanisms 2 on both sides are symmetrically arranged on the left and right sides of the middle of the vehicle body 1, and the swing arm driving mechanism 3 is installed inside the vehicle body 1, and the output ends of the swing arm driving mechanism 3 are respectively connected to the swing arm mechanisms 2 on both sides to drive the swing arm mechanisms 2 on both sides to rotate synchronously; one end of the cardiopulmonary resuscitation operation module 4 is installed on the top of the vehicle body 1, and the other end is the cardiopulmonary resuscitation pressing execution end; the left and right sides of the vehicle body 1 in the direction of travel are provided with pulley driving mechanisms 5, and the pulley driving mechanisms 5 on both sides are arranged in a symmetrical form to realize the overall travel of the robot. The robot can greatly adjust the center of gravity position through the rotation of the swing arm mechanism 2 to complete the obstacle crossing function.

[0032] like Figures 1 to 3 As shown, the swing arm mechanism 2 of this embodiment includes a swing arm planetary gear 201, a swing arm plate 202, a cam mechanism, a linear motion pair and a slide rail fixing plate 208. The slide rail fixing plate 208 is connected to the output end of the swing arm driving mechanism 3. The swing arm planetary gear 201 and one end of the swing arm plate 202 are rotationally connected through a bearing and a connecting shaft. The other end of the swing arm plate 2 is connected to the slide rail fixing plate 208 through a linear motion pair. The swing arm planetary gear 201 is connected to the driving track 504 in the pulley driving mechanism 5. The linear motion pair realizes linear motion through the cam mechanism during the rotation of the swing arm mechanism 2, thereby pressing the swing arm planetary gear 201. The swing arm planetary gear 201 tensions the driving track 504.

[0033] The linear motion pair of this embodiment includes a swing arm slider fastener 203, an upper linear bearing 204, a sliding shaft 205, a lower linear bearing 206 and a spring 210. The cam mechanism of this embodiment includes a cam roller 207 and a cam 209. The other end of the swing arm plate 202 is flange-connected to the swing arm slider fastener 203, and the swing arm slider fastener 203 is fixed to the upper linear bearing 204. One end of the sliding shaft 205 is fixed to the slide rail fixing plate 208, and the other end is passed through the upper linear bearing 204 and the swing arm slider fastener 203, and is connected to a locking nut 211. The sliding shaft 205 is slidably connected with a lower linear bearing 206 as a force-applying component of the cam mechanism, that is, the lower linear bearing 206 is fixed on the cam roller 207. A spring 210 is sleeved on the sliding shaft 205, and the two ends of the spring 210 are respectively connected to the upper linear bearing 204 and the lower linear bearing 206. The cam 209 is fixed on the outer surface of the vehicle body 1 through the shaft sleeve 307. The cam 209 of this embodiment is in a horizontal "8" shape, and the cam roller 207 is always connected with the cam 209 in a rolling manner. The slide rail fixing plates 208 in the swing arm mechanisms 2 on both sides are connected to the two ends of the swing arm output shaft 306 in the swing arm driving mechanism 3 installed in the vehicle body 1. The two ends of the swing arm output shaft 306 pass through the vehicle body 1 and then pass through the shaft sleeve 307, and are connected with the cam 209 in rotation; the swing arm mechanisms 2 on both sides rotate synchronously through the swing arm driving mechanism 3.

[0034] like Figures 1 to 3 As shown, the swing arm driving mechanism 3 of this embodiment includes a swing arm motor 301, a transmission mechanism and a swing arm output shaft 306. The swing arm motor 301 is installed in the vehicle body 1, and the swing arm output shaft 306 is rotatably installed on the vehicle body 1. Both ends of the swing arm output shaft 306 respectively pass through the vehicle body 1 and are respectively connected to the slide rail fixing plates 208 in the swing arm mechanisms 2 on both sides, thereby driving the swing arm mechanisms 2 on the left and right sides to rotate synchronously; the output end of the swing arm motor 301 is connected to the swing arm output shaft 306 through a coupling and a transmission mechanism, driving the swing arm output shaft 306 to rotate, and driving the swing arm mechanisms 2 on both sides to rotate synchronously. The transmission mechanism of this embodiment includes a worm 302, a worm wheel 303, a driving pulley 304, a driven gear 305 and a synchronous belt. The worm 302 is rotatably installed in the vehicle body 1 and is connected to the output end of the swing arm motor 301 through a coupling. The wheel shaft of the worm wheel 303 is rotatably installed in the vehicle body 1. The worm wheel 303 and the worm 302 are meshed and driven to achieve a reduction transmission. The wheel shaft of the worm wheel 303 is linked with a driving pulley 304, that is, the driving pulley 304 rotates synchronously with the worm wheel 303 through the wheel shaft of the worm wheel 303. The driven gear 305 is connected to the swing arm output shaft 306 through a flange and is connected to the driving pulley 304 through a synchronous belt. The swing arm output shaft 306 rotates to drive the swing arm mechanisms 2 on the left and right sides to rotate synchronously.

[0035] like Figure 1 , Figure 4 and Figure 5 As shown, the cardiopulmonary resuscitation operation module 4 of this embodiment includes a cardiopulmonary resuscitation instrument 401, a large swing arm 402, a small swing arm 403, an operation base 404, a claw motor 405, a claw 406, a root drive module 407, a middle drive module 408, a front drive module 409 and a linear electric cylinder 410. The root drive module 407 is installed on the top of the vehicle body 1, and the output end of the root drive module 407 drives the large swing arm 402 to rotate and output the pitch freedom degree. The middle drive module 408 is installed on the large swing arm 402, and the output end of the middle drive module 408 drives the small swing arm 403 to rotate and output the pitch freedom degree. The front driving module 409 is installed inside the working base 404, and the output end of the front driving module 409 is connected to the small swing arm 403. The front driving module 409 drives the working base 404 to rotate and output the pitch freedom by driving the reaction force of the small swing arm 403; claw motors 405 are respectively installed on both sides of the working base 404, and the output shaft of the claw motor 405 on each side is connected to the claw 406; the linear electric cylinder 410 is installed in the middle of the lower surface of the working base 404, and is located between the claws 406 on both sides. The telescopic rod of the linear electric cylinder 410 is installed with a cardiopulmonary resuscitation device 401.

[0036] The root drive module 407, the middle drive module 408 and the front drive module 409 of this embodiment have the same structure, and all include a joint motor 417, a motor cavity 427 and a tailstock 437. The joint motor 417 is installed inside the motor cavity 427, and the output shaft of the joint motor 417 extends from one side of the motor cavity 427. The tailstock 437 is connected to the tail of the other side of the motor cavity 427. The large swing arm 402 and the small swing arm 403 are both symmetrical. The motor cavity 427 in the root drive module 407 is fixed on the top of the vehicle body 1, the upper end of the large swing arm 402 located on the left is fixedly connected to one side of the motor cavity 427 in the middle drive module 408, and the lower end is connected to the output shaft of the joint motor 417 in the root drive module 407, and the upper and lower ends of the large swing arm 402 located on the right are respectively rotatably connected to the tail stock 437 in the middle drive module 408 and the tail stock 437 in the root drive module 407 through bearings; the front end of the small swing arm 403 located on the left is connected to the output shaft of the joint motor 417 in the front drive module 409, and the rear end is connected to the output shaft of the joint motor 417 in the middle drive module 408, and the front and rear ends of the small swing arm 403 located on the right are respectively rotatably connected to the tail stock 437 in the front drive module 409 and the tail stock 437 in the middle drive module 408 through bearings. The working direction and angle of the claw 406 can be adjusted by the cooperation of the root drive module 407, the middle drive module 408 and the front drive module 409. The claw 406 of this embodiment is arc-shaped, and the claws 406 on both sides are driven by their own claw motors 405 to hold the trapped person tightly and fix them.

[0037] like Figure 1 , Figure 2 and Figure 6 As shown, the pulley drive mechanism 5 of this embodiment includes a drive motor 501, a drive output shaft 502, a main drive wheel 503, a drive track 504 and a driven wheel 505. The drive motor 501 is fixed inside the vehicle body 1, and the output end is connected to one end of the drive output shaft 502 rotatably mounted on the vehicle body 1 through a coupling, the other end of the drive output shaft 502 is connected to the main drive wheel 503, and the driven wheel 505 is rotatably mounted on the vehicle body 1. The driven wheel 505, the main drive wheel 503 and the swing arm planetary gear 201 are transmission connected through the drive track 504.

[0038] The cardiopulmonary resuscitation device 401 of the present invention is a commercially available product purchased from Henan Maisong Medical Equipment Manufacturing Co., Ltd., with a model number of MSCPR-1A.

[0039] The working principle of the present invention is:

[0040] The working process of the swing arm driving mechanism 3 driving the swing arm mechanism 2 is as follows: the swing arm motor 301 rotates to drive the worm 302 to rotate, the worm 302 cooperates with the worm wheel 303 to realize the reduction transmission, the rotation of the worm wheel 303 drives the driving pulley 304 to rotate, and the driven gear 305 and the swing arm output shaft 306 are driven to move synchronously through the rotation of the synchronous belt, and the swing arm output shaft 306 rotates to output the rotational motion to drive the swing arm mechanisms 2 on the left and right sides to realize synchronous rotation. In the swing arm mechanism 2, the cam roller 207 and the cam 209 form a cam mechanism, the upper linear bearing 204 and the lower linear bearing 206 are connected by the spring 210, and form a linear motion pair with the sliding shaft 205. During the rotation of the swing arm mechanism 2, the cam roller 207 rolls on the surface of the cam 209, and compresses the spring 210 through the lower linear bearing 206. The spring 210 presses the swing arm planetary gear 201 through the upper linear bearing 204, the swing arm slider fastener 203 and the swing arm plate 202, so that the driving track 504 is tensioned in real time.

[0041] The working process of the cardiopulmonary resuscitation operation module 4 is as follows: the joint motor 417 in the root driving module 407 drives the large swing arm 402 to rotate and output the pitch freedom, the joint motor 417 in the middle driving module 408 drives the small swing arm 403 to rotate and output the pitch freedom, and the joint motor 417 in the front driving module 409 drives the operation base 404 to rotate and output the pitch freedom. The three pitch freedom degrees form a three-degree-of-freedom mechanical arm, which can adjust the position angle of the cardiopulmonary resuscitation instrument 401 at the front end of the mechanical arm; the two claw motors 405 respectively drive the two claws 406 to realize the clamping and fixing of the trapped person, to prevent the reaction force during the pressing process from bouncing the cardiopulmonary resuscitation instrument 401, to ensure the pressing quality, and then aim at the heart position of the trapped person to realize pressing emergency treatment. After the operation is completed, the three-degree-of-freedom mechanical arm is folded and recovered.

[0042] like Figures 7-10 As shown, it is a schematic diagram of the structure of the present invention in three motion states when moving in a ruin environment, and the specific working process is as follows:

[0043] When the robot just enters the ruins cave entrance, due to the narrow ruins cave entrance and limited size and space, the swing arm drive mechanism 3 drives the swing arm mechanism 2 to move, so that the swing arm mechanisms 2 on both sides of the robot rotate to a position parallel to the vehicle body 1. At the same time, the root drive module 407, the middle drive module 408 and the front drive module 409 in the cardiopulmonary resuscitation operation module 4 drive the three-degree-of-freedom mechanical arm to fold and retract, so that the robot is converted into Figure 7 The contracted state shown shrinks the robot and allows it to enter the ruins.

[0044] When the robot encounters steps or higher obstacles, the swing arm drive mechanism 3 drives the swing arm mechanism 2 to move, so that the swing arm mechanisms 2 on both sides of the robot are lifted from the horizontal position and rotated to the rear of the robot. The angle between the swing arm mechanism 2 and the horizontal position is proportional to the height of the obstacle. Then the pulley drive mechanism 5 is activated, one side rotates forward and the other side reverses, so that the robot rotates 180° as a whole, and the rear of the vehicle becomes the front of the vehicle, so that the robot is transformed into Figure 8 The obstacle crossing state shown is to climb over the obstacle.

[0045] When the trapped injured person is on the horizontal ground, the robot body 1 is on the same plane as the trapped injured person, the robot moves to the vicinity of the trapped injured person, the swing arm drive mechanism 3 drives the swing arm mechanism 2 to move, so that the swing arm mechanisms 2 on both sides of the robot rotate to the position where the tail of the robot is parallel to the body 1, and at the same time, the root drive module 407, the middle drive module 408 and the front drive module 409 in the cardiopulmonary resuscitation operation module 4 drive the three-degree-of-freedom mechanical arm to extend, so that the cardiopulmonary resuscitation instrument 401 at the front end of the mechanical arm moves to the heart position of the trapped injured person, and the robot is converted into Fig. 9 The parallel cardiopulmonary resuscitation operation mode shown is to perform compression emergency treatment on the heart of the trapped injured person.

[0046] When the trapped injured person is on a non-horizontal ground, the robot moves to the vicinity of the trapped injured person, and the swing arm drive mechanism 3 drives the swing arm mechanism 2 to move, so that the swing arm mechanisms 2 on both sides of the robot rotate to the bottom of the robot body 1, and the robot body 1 is tilted at an angle, so that the robot body 1 is parallel to the trapped injured person, and then the root drive module 407, the middle drive module 408 and the front drive module 409 in the cardiopulmonary resuscitation operation module 4 drive the three-degree-of-freedom mechanical arm to extend, so that the cardiopulmonary resuscitation instrument 401 at the front end of the mechanical arm moves to the heart position of the trapped injured person, and the robot is converted into Fig.10 The non-parallel cardiopulmonary resuscitation operation mode shown is to perform compression emergency treatment on the heart of the trapped victim.

[0047] The present invention has the advantages of small modular size, flexible movement, wide adaptability, precise control, compact structure, etc. It can replace manual entry into dangerous environments and implement cardiopulmonary resuscitation treatment for the injured trapped in the collapsed ruins.

Claims

1. A cardiopulmonary resuscitation robot, characterized in that: The invention comprises a vehicle body (1), an arm swing mechanism (2), an arm swing driving mechanism (3), a cardiopulmonary resuscitation operation module (4) and a pulley driving mechanism (5), wherein the arm swing mechanisms (2) are arranged on both sides of the vehicle body (1) in the direction of travel, the arm swing driving mechanism (3) is installed inside the vehicle body (1), and the output ends of the arm swing driving mechanism (3) are respectively connected to the arm swing mechanisms (2) on both sides to drive the arm swing mechanisms (2) on both sides to rotate synchronously; one end of the cardiopulmonary resuscitation operation module (4) is installed on the vehicle body (1), and the other end is a cardiopulmonary resuscitation pressing execution end; the pulley driving mechanism (5) for realizing the overall travel of the robot is arranged on both sides of the vehicle body (1) in the direction of travel; the arm swing mechanism (2) comprises an arm swing driving mechanism (3) and an arm swing driving mechanism (5) for realizing the overall travel of the robot ... A star wheel (201), a swing arm plate (202), a cam mechanism, a linear motion pair and a slide rail fixing plate (208), wherein the slide rail fixing plate (208) is connected to the output end of the swing arm driving mechanism (3), one end of the swing arm plate (202) is rotatably mounted with a swing arm planetary wheel (201), and the other end is connected to the slide rail fixing plate (208) through the linear motion pair, the swing arm planetary wheel (201) is connected to a driving track (504) in the pulley driving mechanism (5), and the linear motion pair realizes linear motion through the cam mechanism during the rotation of the swing arm mechanism (2), thereby pressing the swing arm planetary wheel (201), and the swing arm planetary wheel (201) tensions the driving track (504); The cardiopulmonary resuscitation operation module (4) comprises a cardiopulmonary resuscitation instrument (401), a large swing arm (402), a small swing arm (403), an operation base (404), a gripping claw motor (405), a gripping claw (406), a root drive module (407), a middle drive module (408), a front drive module (409) and a linear electric cylinder (410). The root drive module (407) is mounted on the vehicle body (1). The output end of the root drive module (407) drives the large swing arm (402) to rotate and output a pitch degree of freedom. The middle drive module (408) is mounted on the large swing arm (402). The output end of the middle drive module (408) drives the small swing arm (403) to rotate and output a pitch degree of freedom. The front drive module (409) is installed inside the working base (404), and the output end of the front drive module (409) is connected to the small swing arm (403). The front drive module (409) drives the working base (404) to rotate and output the pitch freedom by driving the reaction force of the small swing arm (403); claw motors (405) are respectively installed on both sides of the working base (404), and the output shaft of the claw motor (405) on each side is connected to a claw (406); the linear electric cylinder (410) is installed on the lower surface of the working base (404) and is located between the claws (406) on both sides, and the cardiopulmonary resuscitation device (401) is installed on the telescopic rod of the linear electric cylinder (410); The linear motion pair comprises a swing arm slider fastener (203), an upper linear bearing (204), a sliding shaft (205), a lower linear bearing (206) and a spring (210). The upper linear bearing (204) is installed on the other end of the swing arm plate (202) through the swing arm slider fastener (203). One end of the sliding shaft (205) is fixed to the slide rail fixing plate (208), and the other end passes through the upper linear bearing (204) and the swing arm slider fastener (203) and is connected to a locking nut (211). The sliding shaft (205) is slidably connected with a lower linear bearing (206) as a force-applying component of the cam mechanism. The sliding shaft (205) is sleeved with a spring (210), and the two ends of the spring (210) are respectively connected to the upper linear bearing (204) and the lower linear bearing (206).

2. The cardiopulmonary resuscitation robot according to claim 1, characterized in that: The cam mechanism comprises a cam roller (207) and a cam (209); the cam (209) is fixed on the outer surface of the vehicle body (1); the linear motion pair is fixed on the cam roller (207); and the cam roller (207) is rollingly connected to the cam (209).

3. The cardiopulmonary resuscitation robot according to claim 2, characterized in that: The cam (209) is in a horizontal "8" shape.

4. The cardiopulmonary resuscitation robot according to claim 1, characterized in that: The swing arm driving mechanism (3) comprises a swing arm motor (301), a transmission mechanism and a swing arm output shaft (306); the swing arm motor (301) is installed in the vehicle body (1); the swing arm output shaft (306) is rotatably installed on the vehicle body (1); two ends of the swing arm output shaft (306) respectively pass through the vehicle body (1) and are respectively connected to the slide rail fixing plates (208) in the swing arm mechanisms (2) on both sides; the output end of the swing arm motor (301) is connected to the swing arm output shaft (306) through the transmission mechanism, driving the swing arm output shaft (306) to rotate, and driving the swing arm mechanisms (2) on both sides to rotate synchronously.

5. The cardiopulmonary resuscitation robot according to claim 4, characterized in that: The transmission mechanism comprises a worm (302), a worm wheel (303), a driving pulley (304), a driven gear (305) and a synchronous belt. The worm (302) is rotatably mounted in the vehicle body (1) and is connected to the output end of the swing arm motor (301) through a coupling. The wheel shaft of the worm wheel (303) is rotatably mounted in the vehicle body (1). The worm wheel (303) and the worm (302) are meshed for transmission. A driving pulley (304) is connected to the wheel shaft of the worm wheel (303). The driving pulley (304) rotates synchronously with the worm wheel (303). The driven gear (305) is mounted on the swing arm output shaft (306) and is connected to the driving pulley (304) through the synchronous belt.

6. The cardiopulmonary resuscitation robot according to claim 1, characterized in that: The pulley drive mechanism (5) comprises a drive motor (501), a drive output shaft (502), a main drive wheel (503), a drive crawler (504) and a driven wheel (505); the drive motor (501) is mounted inside the vehicle body (1); the output end is connected to one end of a drive output shaft (502) rotatably mounted on the vehicle body (1) through a coupling; the other end of the drive output shaft (502) is connected to the main drive wheel (503); the driven wheel (505) is rotatably mounted on the vehicle body (1); the driven wheel (505), the main drive wheel (503) and the swing arm planetary wheel (201) are connected through a drive crawler (504).

7. The cardiopulmonary resuscitation robot according to claim 1, characterized in that: The root drive module (407), the middle drive module (408) and the front drive module (409) have the same structure, and all include a joint motor (417), a motor cavity (427) and a tailstock (437); the joint motor (417) is installed inside the motor cavity (427); the output shaft of the joint motor (417) extends from one side of the motor cavity (427); the tailstock (437) is connected to the tail of the other side of the motor cavity (427); the large swing arm (402) and the small swing arm (403) are both symmetrical; the motor cavity (427) in the root drive module (407) is installed on the top of the vehicle body (1); the upper end of the large swing arm (402) on the left side is connected to the motor cavity (427) in the middle drive module (408); One side is fixedly connected, and the lower end is connected to the output shaft of the joint motor (417) in the root driving module (407); the upper and lower ends of the large swing arm (402) located on the right side are respectively rotatably connected to the tail stock (437) in the middle driving module (408) and the tail stock (437) in the root driving module (407); the front end of the small swing arm (403) located on the left side is connected to the output shaft of the joint motor (417) in the front driving module (409), and the rear end is connected to the output shaft of the joint motor (417) in the middle driving module (408); the front and rear ends of the small swing arm (403) located on the right side are respectively rotatably connected to the tail stock (437) in the front driving module (409) and the tail stock (437) in the middle driving module (408).

8. The cardiopulmonary resuscitation robot according to claim 1, characterized in that: The holding claws (406) are arc-shaped, and the holding claws (406) on both sides are driven by respective holding claw motors (405) to hold and fix the trapped person.

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