Rigid-flexible hybrid indirect contact rescue actuator and use method thereof

Abstract

The present invention discloses a rigid-flexible hybrid indirect contact rescue actuator and a method of using the same, and relates to the technical field of rescue robots. It includes multiple groups of rigid-flexible hybrid fixing devices that are in indirect contact with the wounded, each group of rigid-flexible hybrid fixing devices includes a symmetrically arranged variable stiffness coating mechanism, and the variable stiffness coating mechanism is connected to the corresponding telescopic mechanical arm mechanism; the variable stiffness coating mechanism includes a variable stiffness coating layer, a soft bending driver, and an insertion protection mechanism, and the soft bending driver is arranged on both sides of the variable stiffness coating layer, and the variable stiffness coating layer is bent by filling gas into the soft bending driver; the telescopic mechanical arm mechanism includes a moving pair composed of a telescopic module and a storage module, and the moving pair allows the insertion protection mechanism to gradually fit the human body. The present invention can achieve complete covering of the body of the wounded to be rescued by indirect contact, which is beneficial to reduce secondary damage to the wounded during the rescue process.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue robots, and in particular to a rigid-flexible hybrid indirect contact rescue actuator and a use method thereof. Background Art

[0002] Today's society is in an era of rapid technological development. Science and technology are changing with each passing day, new technical equipment is emerging in an endless stream, and the social industrial structure is constantly adjusting and optimizing. However, the rapid development of human society has also had a profound impact on the natural environment. The complex natural environment is experiencing various climate disasters and frequent extreme weather. These disasters are increasingly harmful to human society and the frequency of occurrence is gradually increasing. This change has caused widespread concern around the world and has brought huge potential threats to people's lives and property safety. In this context, rescue robots, as an innovative rescue method, have gradually received widespread attention.

[0003] At present, when the existing rescue robots perform rescue and holding tasks, their rescue execution mechanisms usually come into direct contact with the human body, which may cause secondary injuries to the injured during the rescue process. For example, a rescue robot disclosed in Chinese patent CN113246155A only has two working states: sweeping and clamping, and its rigid components come into direct contact with the human body. Similarly, a rescue robot for the transfer of the injured disclosed in Chinese patent CN114179052A, although it can lift and transfer the unconscious injured who have fallen to the ground to a safety cabin in a complex post-disaster environment through the cooperation of a mechanical gripper and a transmission component, and then take the injured out of the dangerous environment to achieve the transfer of the injured, but the robot cannot achieve all-round force application on the human body, and the safety of holding is relatively poor. Summary of the invention

[0004] The purpose of the present invention is to provide a rescue robot with adaptive functions that can replace manual rescue to achieve comprehensive coverage and safe rescue of the injured, and minimize the secondary damage that may be caused to the rescuers and the injured to be rescued by secondary accidents.

[0005] To achieve the above-mentioned purpose, the technical solution of the present application is: a rigid-flexible hybrid indirect contact rescue actuator, comprising a plurality of rigid-flexible hybrid fixing devices that are in indirect contact with the injured, each rigid-flexible hybrid fixing device comprising a symmetrically arranged variable stiffness covering mechanism, wherein the variable stiffness covering mechanism is connected to a corresponding retractable mechanical arm mechanism;

[0006] The variable stiffness covering mechanism comprises a variable stiffness covering layer, a soft bending driver and an insertion protection mechanism, wherein the soft bending driver is arranged on both sides of the variable stiffness covering layer, and the variable stiffness covering layer is bent by filling gas into the soft bending driver; the variable stiffness covering layer is connected to the insertion protection mechanism; the telescopic mechanical arm mechanism comprises a moving pair consisting of a telescopic module and a storage module, a steel wire rope and a driving motor, and the moving pair makes the insertion protection mechanism gradually fit the human body; the storage module comprises a storage shell, a steel wire rope transition block and a transition pulley are arranged on the side wall of the storage shell, and a steel wire rope transition opening is opened on the top of the storage shell; one end of the steel wire rope is installed on the winding wheel of the driving motor, and the other end of the steel wire rope passes through the steel wire rope transition block, the transition pulley and the steel wire rope transition opening in sequence and is fixed on the winding wheel.

[0007] As a preferred solution of the present invention, the end fixer at the head end of the variable stiffness covering layer is connected to the head end fixing piece, the head end fixing piece is fixedly connected to the pneumatic base plate, and the pneumatic base plate is connected to the frame through the aluminum profile thereon; the end fixer at the tail end of the variable stiffness covering layer is connected to the end fixer at one end of the insertion protection mechanism, and the other end of the insertion protection mechanism is connected to the end fixing piece.

[0008] As a preferred solution of the present invention, the soft bending actuator is an inverted trapezoidal cell structure, which is symmetrically fixed on both sides of the variable stiffness coating layer.

[0009] As a preferred solution of the present invention, the telescopic module includes a telescopic slider, and a plurality of drag-reducing rollers are arranged on the inner surface of the telescopic slider; sliding grooves are symmetrically distributed on both sides of the telescopic slider, and each sliding groove is provided with a roller, which contacts the inner surface of the storage shell.

[0010] As a preferred solution of the present invention, the variable stiffness coating layer uses negative pressure to squeeze particles, discrete layers, particle interference areas, and layer interference areas against each other, thereby achieving stiffness adjustment, and the particles are located on the upper and lower sides of the discrete layers.

[0011] As a preferred solution of the present invention, the insertion protection mechanism includes a three-layer material structure, wherein the side close to the human body is a sliding cloth material layer, the side close to the telescopic mechanical arm structure is a fiber material layer, and the middle layer material is a silicone layer.

[0012] As a preferred solution of the present invention, the storage shell and the telescopic slider are both in an arc shape with the centers of the circles coincident, and slideways are symmetrically provided on the inner surface of the storage shell, and the roller moves along the slideways.

[0013] A second aspect of the present invention provides a method for using a rigid-flexible hybrid indirect contact rescue actuator, which comprises the following steps:

[0014] The air source is started to fill the soft bending actuator with air, and the soft bending actuator drives the variable stiffness covering layer to bend; each soft bending actuator is connected to the air source through the airway integrator on the pneumatic bottom plate;

[0015] After the soft bending actuator drives the variable stiffness coating layer to closely fit the human body, the gas is stopped from being filled into the soft bending actuator, and the variable stiffness coating layer is evacuated to a vacuum through the gas source;

[0016] After the gas is completely exhausted, the gas source is turned off, and then the driving motor is started. The driving motor drives the steel wire rope to move through the winding wheel. Under the pulling force of the steel wire rope, the telescopic module extends from the storage module, and the end of the telescopic module contacts the surface of the insertion protection mechanism away from the human body. The insertion protection mechanism gradually fits the human body under the thrust of the telescopic module.

[0017] After the telescopic module reaches the limit position, the driving motor stops working, the rescue actuator is lifted, and the injured person to be rescued is transferred to a safe position.

[0018] The present invention adopts the above technical solution, and can achieve the following technical effects:

[0019] 1. The soft bending actuator of the present invention is an inverted trapezoidal cell structure. When the air source is started, the inverted trapezoidal cells are inflated and squeezed against each other, driving the variable stiffness coating layer to gradually contact the human body, realizing the active adaptive envelopment of the hybrid mechanism, thereby better protecting the rescued persons.

[0020] 2. The variable stiffness coating provided by the present invention realizes variable stiffness by coupling particle interference and layer interference. Through negative pressure, particles, discrete layers, particle interference areas, and layer interference areas can be squeezed against each other, thereby realizing stiffness adjustment of the hybrid variable stiffness mechanism.

[0021] 3. The telescopic module of the telescopic mechanical arm structure provided by the present invention extends along the slideway inside the storage module under the tension of the wire rope, and the end of the telescopic module and the surface close to the human body contact the insertion protection mechanism, thereby achieving an effect of indirect contact with the injured person to be rescued. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the rescue execution mechanism of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of a single set of rigid-flexible hybrid fixing device of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the telescopic module of the present invention;

[0026] Figure 4 is a side view of the telescopic module of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the storage module of the present invention;

[0028] Figure 6 Schematic diagram of the mechanism of the variable stiffness coating layer of the present invention;

[0029] Figure 7 is a schematic diagram of the insertion protection mechanism of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the pneumatic base plate of the present invention;

[0031] Fig. 9 It is a schematic diagram of the assembly of the insertion protection mechanism, the telescopic module, and the storage module of the present invention;

[0032] Fig.10 is a schematic diagram of the inner side of the storage module of the present invention;

[0033] Description of the numbers in the figure: 1. Frame; 11. Pneumatic base plate; 111. Aluminum profile; 112. Airway integrator; 2. Retractable mechanical arm structure; 211. Storage module; 2111. First wire rope transition block; 2112. Second wire rope transition block; 2113. Wire rope transition port; 2114. Slide; 2115. Weight reduction hole; 212. Telescopic module; 213. Drag reduction roller; 2131. Drag reduction roller installation position; 214. Roller; 2 141. Roller installation position; 215. Transition pulley; 221. Drive motor; 222. Winding wheel; 223. Motor bracket; 224. Bearing seat; 225. Wire rope; 3. Variable stiffness coating mechanism; 31. Head end fixing piece; 32. Soft bending driver; 33. Variable stiffness coating layer; 34. Insertion protection mechanism; 35. End fixing piece; 36. End fixer at the tail end of the variable stiffness coating layer; 37. End fixer at one end of the insertion protection mechanism. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] It should be noted that when an element is referred to as being "fixed" or "set" or "mounted" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0037] In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. Example 1

[0039] like Figure 1 As shown, this embodiment provides a rigid-flexible hybrid indirect contact rescue actuator.

[0040] It comprises a plurality of rigid-flexible hybrid fixing devices that are in indirect contact with the injured, each of which comprises a retractable mechanical arm mechanism 2 and a variable rigidity covering mechanism 3 installed on a frame 1;

[0041] like Figure 2As shown, the variable stiffness coating mechanism comprises a variable stiffness coating layer 33, a soft bending driver 32 and an insertion protection mechanism 34. The head end of the variable stiffness coating layer 33 is connected to a head end fixing member 31, and the head end fixing member 31 is connected to the frame; the end fixing member 36 at the tail end of the variable stiffness coating layer is rotatably connected to the end fixing member 37 at one end of the insertion protection mechanism, and the other end of the insertion protection mechanism 34 is fixedly connected to an end fixing member 35, and the end fixing member 35 is connected to the frame 1. The soft bending driver 32 is symmetrically fixed on both sides of the variable stiffness coating layer 33, and the entire section of the soft bending driver 32 is fixedly connected to the variable stiffness coating layer 33, and the head end of the soft bending driver 32 is fixedly connected to the head end fixing member 31.

[0042] like Figure 2-5 As shown, the telescopic robot arm mechanism 2 includes a storage module 211, a moving pair composed of a telescopic module 212, a wire rope 225 and a driving motor 221, and the storage module 211 is fixedly mounted on the frame 1 through an angle piece. The storage module includes a storage shell, on the side wall of which are provided a plurality of wire rope transition blocks (two shown in the figure are the first wire rope transition block 2111 and the second wire rope transition block 2112, and the specific number is adjusted as needed) and a transition pulley 215, and a wire rope transition opening 2113 is opened on the top of the storage shell; one end of the wire rope 225 is connected to the winding wheel 222 on the driving motor, and the other end of the wire rope 225 passes through the first wire rope transition block 2111, the second wire rope transition block 2112 and the transition pulley 215 in sequence, and the wire rope 225 passes through the transition pulley 215 and then through the wire rope transition opening 2113, and is finally fixed on the winding wheel, and the wire rope 225 forms a closed loop in space. The motor shaft end of the driving motor 221 is rotatably connected to the bearing seat 224 through a bearing, the bearing seat 224 is fixedly connected to the frame 1, the driving motor 221 is fixed on the motor bracket 223, and the motor bracket 223 is fixedly connected to the frame 1. The telescopic module 212 includes a telescopic slider, the inner surface of which is arranged with a plurality of drag reduction rollers 213 at equal intervals, and the distance between the drag reduction roller installation position 2131 and the edge of the telescopic slider close to the human body is less than the radius of the drag reduction roller; sliding grooves are symmetrically distributed on both sides of the telescopic slider, and each sliding groove is provided with a roller 214, the roller 214 is in contact with the inner surface of the storage module 211, and the distance between the roller installation position 2141 and the edge of the telescopic slider away from the human body is less than the radius of the roller.

[0043] like Figure 6As shown, the variable stiffness coating layer 33 uses negative pressure to squeeze particles, discrete layers, particle interference areas (areas between particles), and layer interference areas (areas between discrete layers) against each other, thereby achieving stiffness adjustment, wherein the particle distribution area is on both sides of the discrete layers.

[0044] like Figure 7 As shown, the insertion protection mechanism 34 is a three-layer material structure, the side close to the human body is a sliding cloth material, the side close to the telescopic mechanical arm structure 2 is a fiber material, and the middle layer material is silicone.

[0045] The storage shell and the telescopic slider are both in arc shape with the centers of the circles coincident. The inner surface of the storage shell is symmetrically provided with slideways 2114. Fig.10 As shown, the roller 214 moves along the slideway; a weight-reducing hole 2115 is also provided on the storage shell. Example 2

[0046] This embodiment provides a method for using a rigid-flexible hybrid indirect contact rescue actuator, which includes the following steps:

[0047] S1. The rescue robot moves to a designated rescue position and places the rescue actuator described in Example 1 above the injured person. The rescue actuator descends and stops descending when the pneumatic base plate contacts the chest of the person.

[0048] S2, start the air source, fill the soft bending actuator 32 with air, and the soft bending actuator 32 drives the variable stiffness coating layer 33 to bend; each soft bending actuator is connected to the air source through the airway integrator on the pneumatic bottom plate, such as Figure 8 As shown;

[0049] S3, after the soft bending actuator 32 drives the variable stiffness coating layer 33 to fit closely to the human body, stop filling the soft bending actuator 32 with gas, and start evacuating the variable stiffness coating layer 33 to a vacuum through the gas source;

[0050] S4, after the gas is completely exhausted, the gas source is turned off, and then the driving motor 221 is started. The driving motor 221 drives the steel wire rope 225 to move through the winding wheel 222. Under the pulling force of the steel wire rope 225, the telescopic module 212 extends from the storage module 211, and the end of the telescopic module 212 contacts the surface of the insertion protection mechanism 34 away from the human body. The insertion protection mechanism 34 gradually fits the human body under the thrust of the telescopic module 212;

[0051] S5. After the telescopic module 212 reaches the limit position, the driving motor 221 stops working, lifts the rescue actuator, and transfers the injured person to be rescued to a safe position through the rescue robot.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. Rigid-flexible hybrid indirect contact rescue actuator, characterized in that: It includes a plurality of sets of rigid-flexible hybrid fixation devices that are in indirect contact with the injured, each set of rigid-flexible hybrid fixation devices includes a symmetrically arranged variable stiffness covering mechanism, and the variable stiffness covering mechanism is connected to a corresponding retractable mechanical arm mechanism; The variable stiffness covering mechanism comprises a variable stiffness covering layer, a soft bending actuator and an insertion protection mechanism, wherein the soft bending actuator is arranged on both sides of the variable stiffness covering layer, and the variable stiffness covering layer is bent by filling gas into the soft bending actuator; the variable stiffness covering layer is connected to the insertion protection mechanism; The retractable mechanical arm mechanism includes a moving pair consisting of a telescopic module and a storage module, a steel wire rope and a driving motor, and the moving pair enables the insertion protection mechanism to gradually fit the human body; the storage module includes a storage shell, a steel wire rope transition block and a transition pulley are provided on the side wall of the storage shell, and a steel wire rope transition opening is opened on the top of the storage shell; One end of the steel wire rope is installed on the winding wheel of the driving motor, and the other end of the steel wire rope passes through the steel wire rope transition block, the transition pulley, and the steel wire rope transition port in sequence and is fixed on the winding wheel.

2. The rigid-flexible hybrid indirect contact rescue actuator according to claim 1, characterized in that: The end fixer at the head end of the variable stiffness covering layer is connected to the head end fixing piece, and the head end fixing piece is fixedly connected to the pneumatic base plate; the end fixer at the tail end of the variable stiffness covering layer is connected to the end fixer at one end of the insertion protection mechanism, and the other end of the insertion protection mechanism is connected to the end fixing piece.

3. The rigid-flexible hybrid indirect contact rescue actuator according to claim 1, characterized in that: The soft bending actuator is an inverted trapezoidal cell structure and is symmetrically fixed on both sides of the variable stiffness coating layer.

4. The rigid-flexible hybrid indirect contact rescue actuator according to claim 1, characterized in that: The telescopic module includes a telescopic slider, and a plurality of drag reduction rollers are arranged on the inner surface of the telescopic slider. The distance between the installation position of the drag reduction roller and the edge of the telescopic slider close to the human body is less than the radius of the drag reduction roller; sliding grooves are symmetrically distributed on both sides of the telescopic slider, and each sliding groove is provided with a roller. The distance between the installation position of the roller and the edge of the telescopic slider away from the human body is less than the radius of the roller, and the roller is in contact with the inner surface of the storage module.

5. The rigid-flexible hybrid indirect contact rescue actuator according to claim 1, characterized in that: The variable stiffness coating layer uses negative pressure to squeeze particles, discrete layers, particle interference areas, and layer interference areas against each other, thereby achieving stiffness adjustment.

6. The rigid-flexible hybrid indirect contact rescue actuator according to claim 1, characterized in that: The insertion protection mechanism comprises a three-layer material structure, wherein the side close to the human body is a sliding cloth material layer, the side close to the telescopic mechanical arm structure is a fiber material layer, and the middle layer material is a silicone layer.

7. The rigid-flexible hybrid indirect contact rescue actuator according to claim 4, characterized in that: The storage shell and the telescopic sliding block are both in arc shape with the centers of the circles coincident. Slideways are symmetrically arranged on the inner surface of the storage shell, and the roller moves along the slideways.

8. A method for using a rigid-flexible hybrid indirect contact rescue actuator, which is implemented in the mechanism described in any one of claims 1 to 7, characterized in that: The following steps are involved: The gas source is started to fill the soft bending actuator with gas, and the soft bending actuator drives the variable stiffness coating layer to bend; After the soft bending actuator drives the variable stiffness coating layer to closely fit the human body, the gas is stopped from being filled into the soft bending actuator, and the variable stiffness coating layer is evacuated to a vacuum through the gas source; After the gas is completely exhausted, the gas source is turned off, and then the driving motor is started. The driving motor drives the steel wire rope to move through the winding wheel. Under the pulling force of the steel wire rope, the telescopic module extends from the storage module, and the end of the telescopic module contacts the surface of the insertion protection mechanism away from the human body. The insertion protection mechanism gradually fits the human body under the thrust of the telescopic module. After the telescopic module reaches the limit position, the driving motor stops working, the rescue actuator is lifted, and the injured person to be rescued is transferred to a safe position.

Images