Passive bidirectional foldable self-adaptive blocking portable rescue vehicle

Abstract

The invention provides a passive two-way foldable self-adaptive blocking portable rescue vehicle which is characterized in that the advancing direction is the X direction, a through channel is formed in a vehicle body in the X direction, the side, facing a rescue object, of the vehicle body is a channel inlet, and the other side of the vehicle body is a channel outlet; a pair of crawler wheel assemblies, a pair of folding mechanisms and a passive rescue mechanism are arranged outside the channel; the pair of crawler wheel assemblies driven by the driving device to advance and the pair of folding mechanisms are symmetrically arranged in the Y direction, and crawler wheels on the two sides can synchronously draw close or reset in the advancing direction along with folding or unfolding of the pair of folding mechanisms. According to the passive rescue mechanism, along with the advancing of the pair of crawler wheel assemblies, the material blocking rod on the inlet side is pressed downwards, the material blocking rod on the outlet side is lifted upwards, material blocking on the inlet side of the channel is relieved through pressing downwards, and material blocking on the outlet side of the channel is kept through lifting upwards. A passive rescue structure is adopted, equipment complexity and energy consumption are reduced, the maintenance difficulty is reduced, and the vehicle body is foldable and portable.

Description

Technical Field

[0001] The invention relates to a crawler rescue vehicle, more specifically to a passive bidirectional foldable adaptive blocking portable rescue vehicle. Background Art

[0002] Tracked rescue vehicles are vehicles specially designed for performing rescue missions in complex terrain conditions. Tracks provide a larger ground contact area than tires, thus generating higher traction. They can also effectively distribute the weight of the vehicle, reduce the pressure on the ground, and provide better maneuverability and stability on uneven or soft ground such as mud, snow, mountains or disaster sites. Common application areas of tracked rescue vehicles include: rescue work after natural disasters such as earthquakes, floods, and avalanches; industrial accidents, such as rescue in mining accidents, building collapses, etc.; military applications, such as battlefield rescue, equipment or personnel transportation; polar expeditions, scientific research or rescue missions in extremely cold and ice-covered areas.

[0003] However, most of the current tracked rescue vehicles are large in size, heavy in mass, complex in structure, and high in energy consumption, making them inconvenient to carry. In addition, most of the rescue equipment is active mechanical equipment, which further increases the complexity and energy consumption of the equipment. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a passive bidirectional foldable adaptive blocking portable rescue vehicle, which adopts a passive rescue structure, which is beneficial to reducing equipment complexity and energy consumption, reducing maintenance difficulty, and the body is foldable for easy carrying.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A passive two-way foldable adaptive blocking portable rescue vehicle, the structural features of which are:

[0007] With the traveling direction as the X direction, the vehicle body forms a through passage for accommodating rescue objects along the X direction, the side facing the rescue objects is the passage entrance, and the side away from the rescue objects is the passage exit, and the passage is surrounded by a detachable top plate, a bottom plate, and a pair of side plates arranged along the Y direction;

[0008] Outside the passage, there are a pair of track wheel assemblies, a pair of folding mechanisms, and a passive rescue mechanism;

[0009] A pair of crawler wheel assemblies are symmetrically arranged along the Y direction and driven by a driving device;

[0010] A pair of folding mechanisms are symmetrically arranged along the Y direction, respectively located between the track wheel assembly and the side plate on the side, and respectively form a rotating pair with a pair of wheel shafts of the track wheel assembly on the side, and are connected by a pair of transverse main connecting rods symmetrically arranged along the X direction to move synchronously. The pair of track wheels of the track wheel assemblies on both sides can be synchronously moved together or reset along the travel direction as the pair of folding mechanisms are folded or unfolded;

[0011] The passive rescue mechanism is symmetrically arranged along the X and Y directions. Rollers parallel to the track wheel axles and rotatable around the central axis are respectively arranged at the channel inlet and the channel outlet. The force generated by the contact between the inlet side rollers and the ground as the pair of track wheel assemblies move forward drives the pair of longitudinal connecting rods on the inlet side to swing in the XZ plane. The pair of longitudinal connecting rods on the outlet side and the four groups of connecting rod assemblies are transmitted to drive the inlet side blocking rod to be pressed down and the outlet side blocking rod to be lifted up. The inlet side blocking rod and the outlet side blocking rod are parallel to the track wheel axles, respectively cantilevered outside the channel inlet and the channel outlet, and initially located above the ground for blocking material entering and exiting the channel. The blocking on the channel inlet side is released by pressing down the inlet side blocking rod, and the blocking on the channel outlet side is maintained by lifting the outlet side blocking rod.

[0012] The structural characteristics of the present invention also lie in:

[0013] The folding mechanism includes a main folding arm, a secondary folding arm, a transverse main connecting rod, and a rotation limit assembly; the main folding arm and the secondary folding arm are X-shaped folding frames arranged along the XZ plane, and a limited rotation pair is formed between them through the rotation limit assembly, which can rotate within a set angle range, and the rotation center axis is centrally arranged between a pair of track wheel axles along the travel direction and parallel to the track wheel axles. The bottom ends of the main folding arm and the secondary folding arm are respectively coaxially connected to a pair of track wheel axles of the track wheel assembly on the side to form a rotation pair, and the top ends are respectively fixedly mounted on a pair of transverse main connecting rods.

[0014] The rotation limit assembly includes a pair of rotating disks, which include a coaxial disk body and a cylinder body. The pair of rotating disks are coaxial, the disk bodies are in contact with each other, and the opposite ends of the cylinder bodies are rotatably mounted on each other, and the main folding arm and the auxiliary folding arm are respectively inserted radially through the other ends. In the pair of rotating disks, one of the disk bodies is provided with a coaxial arc-shaped limit hole around the center axis of the disk body, and the other disk body is provided with an axially protruding limit pin corresponding to the position of the arc-shaped limit hole. The limit pin can movably penetrate the arc-shaped limit hole, and the rotation limit between the main folding arm and the auxiliary folding arm is formed through the cooperation of the limit pin and the arc-shaped limit hole.

[0015] The passive rescue mechanism includes a pair of rollers, four double-tube connectors, four longitudinal connecting rods, four groups of connecting rod assemblies, a pair of material blocking rods, four suspension rods, and a pair of limit rods; between the side panels and a pair of folding mechanisms, located at the intersection of the transverse main connecting rod and the side panels, the upper parts of the four longitudinal connecting rods are respectively swingably mounted on the transverse main connecting rods around the central axis of the transverse main connecting rods through double-tube connectors, and can slide in the Z direction through the double-tube connector, and a rotatable roller is horizontally supported between the lower parts of each pair of longitudinal connecting rods aligned in the Y direction; between the longitudinal connecting rods and a pair of folding structures, a pair of limit rods are fixedly suspended by a pair of transverse main connecting rods through four suspension rods, and a pair of limit rods are horizontally suspended along the X direction, located at the height position where the lower part of the longitudinal connecting rod is located, relative to each other. One side is provided with an X-direction slide groove, and four groups of connecting rod assemblies are symmetrically arranged along the X-direction and the Y-direction, respectively, and are arranged between four longitudinal connecting rods and a pair of limit rods. Each group of connecting rod assemblies includes a push-pull rod and a main connecting rod. The lower part of the longitudinal connecting rod is provided with a connecting piece, which is slidably arranged in the X-direction slide groove along the X-direction through the connecting piece. The main connecting rod is a V-shaped rod body structure with the tip facing upward and arranged along the XZ plane. The tip is rotatably arranged on the limit rod, and the rod end facing the channel along the X-direction is hinged to the push-pull rod. The other end of the push-pull rod is hinged to the connecting piece at the lower part of the longitudinal connecting rod. A rotatable material blocking rod is horizontally supported between the rod ends of each pair of main connecting rods aligned along the Y-direction facing outside the channel along the X-direction. A pair of material blocking rods are spaced apart from the side rollers along the X-direction and cantilevered outside the channel.

[0016] The bottom plate is installed between the lower parts of the four longitudinal connecting rods through the bottom plate bracket, and the bottom plate and the bottom plate bracket are detachable.

[0017] The top plate is inserted into the pin holes reserved in a pair of transverse main connecting rods through a pin, and is detachably plugged into the pair of transverse main connecting rods.

[0018] A pair of side plates are detachably mounted on a pair of longitudinal connecting rods aligned along the X direction at the respective sides through clamps, and a pair of side plates are respectively formed with trumpet-shaped material guide ports with the large ends facing outwards along the X direction corresponding to the channel inlet and the channel outlet.

[0019] The active track wheel of the track wheel assembly is rotatable by a driving force provided by a motor, and the passive track wheel is driven to rotate synchronously through the track.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The passive rescue mechanism can be realized by utilizing the power of the whole vehicle, without the need for additional power configuration, energy-saving and environmentally friendly, and easy to maintain;

[0022] The passive rescue mechanism drives a pair of longitudinal connecting rods to swing as the rescue vehicle moves forward through the force generated by the contact between the roller on the inlet side and the ground. Through the pulling of the connecting rod assembly, the blocking rod on the inlet side is pressed down and the blocking rod on the outlet side is lifted up. The blocking on the inlet side of the channel is released by pressing down the blocking rod on the inlet side, and the blocking on the outlet side of the channel is maintained by lifting up the blocking rod on the outlet side. No additional power is required for this purpose, making the rescue vehicle lighter and the structure more simple and compact. In addition, since this part of the power is eliminated, the maintenance difficulty and cost of the passive rescue mechanism are lower.

[0023] 2. Passive rescue agencies can collect in both directions;

[0024] Since the passive rescue mechanism is symmetrically arranged along the X and Y directions, the four groups of connecting rod assemblies and the four longitudinal connecting rods move synchronously with the movement of the rescue vehicle, so that no matter which side of the channel is opened as the entrance, the connecting rod assembly and a pair of longitudinal connecting rods on that side can press down the blocking rod on the same side and lift up the blocking rod on the other side, thereby realizing the function of collecting the rescue objects in any direction;

[0025] 3. Make the rescue vehicle foldable;

[0026] A pair of track wheels of the rescue vehicle track wheel assembly can be folded by a pair of folding mechanisms, so that the rescue vehicle body can be folded and stored to a certain extent, which reduces the occupied space and facilitates the transportation and carrying of the rescue vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the present invention after removing the top plate, the bottom plate, and a pair of side plates;

[0029] Figure 3 yes Figure 2 A schematic diagram of the structure from another perspective;

[0030] Figure 4 It is a schematic diagram of the local structure of the rotation limit assembly;

[0031] Figure 5 It is a schematic diagram of the local structure of the connecting rod assembly.

[0032] In the figure:

[0033] 1 track wheel assembly;

[0034] 2 folding mechanism; 21 main folding arm; 22 secondary folding arm; 23 transverse main connecting rod; 24 rotation limiting assembly; 241 disk body; 2411 arc-shaped limiting hole; 2412 limiting pin column; 242 cylinder body;

[0035] 3 passive rescue mechanism; 31 roller; 32 double tube connector; 321 Y-direction sleeve; 322 Z-direction sleeve; 33 longitudinal connecting rod; 331 connecting piece; 34 connecting rod assembly; 341 push-pull rod; 342 main connecting rod; 35 material blocking rod; 36 suspension rod; 37 limit rod; 371 X-direction slideway;

[0036] 41 top plate; 42 bottom plate; 421 bottom plate bracket; 43 side plate; 44 passage. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Please refer to Figures 1 to 5 The passive bidirectional foldable adaptive blocking portable rescue vehicle structure of this embodiment includes:

[0039] Taking the traveling direction as the X direction, the vehicle body forms a through passage 44 for accommodating rescue objects along the X direction, the side facing the rescue objects is the entrance of the passage 44, and the side away from the rescue objects is the exit of the passage 44. The passage 44 is surrounded by a detachable top plate 41, a bottom plate 42, and a pair of side plates 43 arranged along the Y direction;

[0040] Outside the passage 44, a pair of track wheel assemblies 1, a pair of folding mechanisms 2, and a passive rescue mechanism 3 are provided;

[0041] A pair of crawler wheel assemblies 1 are symmetrically arranged along the Y direction and driven by a driving device;

[0042] A pair of folding mechanisms 2 are symmetrically arranged along the Y direction, respectively located between the track wheel assembly 1 and the side plate 43 on the side where they are located, and are respectively rotatably connected with a pair of wheel shafts of the track wheel assembly 1 on the side where they are located to form a rotating pair, and are connected by a pair of transverse main connecting rods 23 symmetrically arranged along the X direction to be able to move synchronously, and the pair of track wheels of the track wheel assembly 1 on both sides can be synchronously brought together or reset along the travel direction as the pair of folding mechanisms 2 are folded or unfolded;

[0043] The passive rescue mechanism 3 is symmetrically arranged along the X and Y directions. Rollers 31 parallel to the track wheel axles and rotatable around the central axis are respectively arranged at the inlet and outlet of the channel 44. The force generated by the inlet-side rollers 31 contacting the ground as the pair of track wheel assemblies 1 move forward drives the pair of longitudinal connecting rods 33 on the inlet side to swing in the XZ plane. The pair of longitudinal connecting rods 33 on the outlet side and the four groups of connecting rod assemblies 34 transmit the transmission, driving the inlet-side blocking rod 35 to press down and the outlet-side blocking rod 35 to lift up. The inlet-side blocking rod 35 and the outlet-side blocking rod 35 are parallel to the track wheel axles, respectively cantilevered outside the inlet and outlet of the channel 44, and are initially located above the ground for blocking material entering and exiting the channel 44. The blocking on the inlet side of the channel 44 is released by pressing down the inlet-side blocking rod 35, and the blocking on the outlet side of the channel 44 is maintained by lifting the outlet-side blocking rod 35.

[0044] In a specific implementation, the passive bidirectional foldable adaptive blocking portable rescue vehicle structure also includes:

[0045] The folding mechanism 2 includes a main folding arm 21, a secondary folding arm 22, a transverse main connecting rod 23, and a rotation limit assembly 24; the main folding arm 21 and the secondary folding arm 22 are X-shaped folding frames arranged along the XZ plane, and a limited rotation pair is formed between them through the rotation limit assembly 24, which can rotate within a set angle range, and the rotation center axis is centrally arranged between a pair of track wheel axles along the travel direction and parallel to the track wheel axles. The bottom ends of the main folding arm 21 and the secondary folding arm 22 are respectively coaxially connected to a pair of track wheel axles of the track wheel assembly 1 on the side to form a rotation pair, and the top ends are respectively fixedly mounted on a pair of transverse main connecting rods 23.

[0046] The rotation limit assembly 24 includes a pair of rotating disks, which include a coaxial disk body 241 and a cylinder body 242. The pair of rotating disks are coaxial, and the disk bodies 241 are attached to each other. The opposite ends of the cylinder body 242 are rotatably mounted on each other, and the main folding arm 21 and the auxiliary folding arm 22 are radially inserted through the other end. Among the pair of rotating disks, one of the disk bodies 241 is provided with a coaxial arc-shaped limit hole 2411 around the central axis of the disk body 241, and the other disk body 241 is provided with an axially protruding limit pin 2412 corresponding to the position of the arc-shaped limit hole 2411. The limit pin 2412 can movably penetrate the arc-shaped limit hole 2411, and the rotation limit between the main folding arm 21 and the auxiliary folding arm 22 is formed through the cooperation of the limit pin 2412 and the arc-shaped limit hole 2411.

[0047] It is further configured that the exposed column of the limiting pin 2412 has an external thread and can be locked by a locking nut to maintain the current posture between the main folding arm 21 and the auxiliary folding arm 22.

[0048] The passive rescue mechanism 3 includes a pair of rollers 31, four double-tube connectors 32, four longitudinal connecting rods 33, four groups of connecting rod assemblies 34, a pair of material blocking rods 35, four suspension rods 36, and a pair of limit rods 37; between the side plates 43 and the pair of folding mechanisms 2, located at the intersection of the transverse main connecting rod 23 and the side plates 43, the upper parts of the four longitudinal connecting rods 33 are respectively swingably mounted on the transverse main connecting rod 23 around the central axis of the transverse main connecting rod 23 through the double-tube connector 32, and can slide along the Z direction through the double-tube connector 32, and a rotatable roller 31 is horizontally supported between the lower parts of each pair of longitudinal connecting rods 33 aligned along the Y direction; between the longitudinal connecting rods 33 and the pair of folding structures, a pair of limit rods 37 are fixedly suspended by a pair of transverse main connecting rods 23 through four suspension rods 36, and the pair of limit rods 37 are horizontally suspended along the X direction, located at the height position of the lower part of the longitudinal connecting rod 33, and the opposite side has an X-direction slide groove 371, The four connecting rod assemblies 34 are symmetrically arranged along the X direction and the Y direction, and are respectively arranged between the four longitudinal connecting rods 33 and a pair of limit rods 37. Each connecting rod assembly 34 includes a push-pull rod 341 and a main connecting rod 342. The lower part of the longitudinal connecting rod 33 is provided with a connecting piece 331, which is slidably arranged in the X-direction slide groove 371 along the X direction through the connecting piece 331. The main connecting rod 342 is a V-shaped rod body structure with the tip facing upward and arranged along the XZ plane. It is arranged on the limit rod 37, and the rod end along the X direction facing the channel 44 is hinged to the push-pull rod 341, and the other end of the push-pull rod 341 is hinged to the connecting piece 331 at the lower part of the longitudinal connecting rod 33. A rotatable material blocking rod 35 is horizontally supported between the rod ends of each pair of main connecting rods 342 aligned along the Y direction and facing the outside of the channel 44 along the X direction. A spacing is maintained between the pair of material blocking rods 35 and the side roller 31 along the X direction, and initially overhangs outside the channel 44.

[0049] The double-tube connector 32 is composed of two sleeves distributed in a cross shape, and is rotatably mounted on the transverse main connecting rod 23 through a Y-direction sleeve 321 penetrating along the Y-direction, and the longitudinal connecting rod 33 is slidably inserted therein through a Z-direction sleeve 322 penetrating along the Z-direction.

[0050] Initially, the upper portion of the longitudinal connecting rod 33 is exposed above the Z-direction sleeve 322 , so that the longitudinal connecting rod 33 can swing around the transverse main connecting rod 23 through the Y-direction sleeve 321 while being able to slide along the X-direction sliding groove 371 on the limiting rod 37 .

[0051] The bottom plate 42 is installed between the connecting pieces 331 at the lower part of the four longitudinal connecting rods 33 through the bottom plate bracket. The bottom plate 42 and the bottom plate bracket 421 can be assembled and disassembled by bolts, and the bottom plate bracket 421 and the connecting piece 331 can be assembled and disassembled by bolts. The roller 31 is horizontally supported between the connecting pieces 331 of a pair of longitudinal connecting rods 33 and is in contact with the ground.

[0052] As an optional solution, the top plate 41 can be inserted into the pin holes reserved in the pair of transverse main connecting rods 23 by means of a pin, and can be detachably connected to the pair of transverse main connecting rods 23.

[0053] As an optional solution, a pair of side plates 43 are detachably mounted on a pair of longitudinal connecting rods 33 aligned along the X direction on the respective sides through clamps, and the pair of side plates 43 correspond to the inlet of the channel 44 and the outlet of the channel 44 and jointly form a trumpet-shaped material guide port with the large end facing outward along the X direction.

[0054] The active track wheel of the track wheel assembly 1 is rotatable by the driving force provided by the motor, and the passive track wheel is driven to rotate synchronously by the track, which can be selected according to the existing technology. This embodiment further embodies a foldable and passive two-way design, which is not shown in the figure.

[0055] When used for rescue, the passive rescue function of the passive bidirectional foldable adaptive blocking portable rescue vehicle (hereinafter referred to as the "rescue vehicle") of this embodiment is embodied in:

[0056] Step 1: When the rescue vehicle is deployed and moving, the side facing the moving direction is the inlet side roller, which contacts the ground. Under the interaction, the inlet side roller drives the longitudinal connecting rod to swing forward and in the opposite direction around the transverse main connecting rod through the double-tube connector;

[0057] Step 2: The roller on the inlet side will also pull the connecting piece to slide forward and backward along the X-direction slide groove of the limit rod. At this time, the push-pull rod on the inlet side of the channel will also move forward and backward, and the main connecting rod on the inlet side will swing around the hinge shaft at the tip to pull the inlet side blocking rod, so that the inlet side blocking rod will be pressed down;

[0058] Step 3: Approach the rescue object. Under the power of the crawler wheels, the rescue object moves along the inlet side blocking rod into the rescue vehicle channel until it completely enters the bottom plate in the channel;

[0059] Step 4: During the movement of the rescue vehicle, the roller on the exit side will also move in the reverse direction, driving the connector of the longitudinal connecting rod on the exit side to slide forward and reverse along the X-direction slide groove of the limit rod. At this time, the push-pull rod on the exit side also moves forward and reverse, and the main connecting rod on the exit side swings around the hinge shaft at the tip to pull the exit side material blocking rod, thereby lifting the import side material blocking rod.

[0060] After the rescue, the foldable function of the passive bidirectional foldable adaptive blocking portable rescue vehicle of this embodiment is embodied in:

[0061] Step 1: Remove the top plate, bottom plate and side plates;

[0062] Step 2: lift up a pair of transverse main connecting rods to make the crawler track in a relaxed state before disassembly;

[0063] Step three, continue to lift up the transverse main connecting rod to reach the maximum folding limit of the X-shaped folding frame to complete the folding of the rescue vehicle.

[0064] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A passive two-way foldable adaptive blocking portable rescue vehicle, characterized by: With the traveling direction as the X direction, the vehicle body forms a through passage for accommodating rescue objects along the X direction, the side facing the rescue objects is the passage entrance, and the side away from the rescue objects is the passage exit, and the passage is surrounded by a detachable top plate, a bottom plate, and a pair of side plates arranged along the Y direction; Outside the passage, there are a pair of track wheel assemblies, a pair of folding mechanisms, and a passive rescue mechanism; A pair of crawler wheel assemblies are symmetrically arranged along the Y direction and driven by a driving device; A pair of folding mechanisms are symmetrically arranged along the Y direction, respectively located between the track wheel assembly and the side plate on the side, and respectively form a rotating pair with a pair of wheel shafts of the track wheel assembly on the side, and are connected by a pair of transverse main connecting rods symmetrically arranged along the X direction to move synchronously. The pair of track wheels of the track wheel assemblies on both sides can be synchronously moved together or reset along the travel direction as the pair of folding mechanisms are folded or unfolded; The passive rescue mechanism is symmetrically arranged along the X and Y directions. Rollers parallel to the track wheel axles and rotatable around the central axis are respectively arranged at the channel inlet and the channel outlet. The force generated by the contact between the inlet side rollers and the ground as the pair of track wheel assemblies move forward drives the pair of longitudinal connecting rods on the inlet side to swing in the XZ plane. The pair of longitudinal connecting rods on the outlet side and the four groups of connecting rod assemblies are transmitted to drive the inlet side blocking rod to be pressed down and the outlet side blocking rod to be lifted up. The inlet side blocking rod and the outlet side blocking rod are parallel to the track wheel axles, respectively cantilevered outside the channel inlet and the channel outlet, and initially located above the ground for blocking material entering and exiting the channel. The blocking on the channel inlet side is released by pressing down the inlet side blocking rod, and the blocking on the channel outlet side is maintained by lifting the outlet side blocking rod.

2. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 is characterized by: The folding mechanism includes a main folding arm, a secondary folding arm, a transverse main connecting rod, and a rotation limit assembly; the main folding arm and the secondary folding arm are X-shaped folding frames arranged along the XZ plane, and a limited rotation pair is formed between them through the rotation limit assembly, which can rotate within a set angle range, and the rotation center axis is centrally arranged between a pair of track wheel axles along the travel direction and parallel to the track wheel axles. The bottom ends of the main folding arm and the secondary folding arm are respectively coaxially connected to a pair of track wheel axles of the track wheel assembly on the side to form a rotation pair, and the top ends are respectively fixedly mounted on a pair of transverse main connecting rods.

3. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 2 is characterized by: The rotation limit assembly includes a pair of rotating disks, which include a coaxial disk body and a cylinder body. The pair of rotating disks are coaxial, the disk bodies are in contact with each other, and the opposite ends of the cylinder bodies are rotatably mounted on each other, and the main folding arm and the auxiliary folding arm are respectively inserted radially through the other ends. In the pair of rotating disks, one of the disk bodies is provided with a coaxial arc-shaped limit hole around the center axis of the disk body, and the other disk body is provided with an axially protruding limit pin corresponding to the position of the arc-shaped limit hole. The limit pin can movably penetrate the arc-shaped limit hole, and the rotation limit between the main folding arm and the auxiliary folding arm is formed through the cooperation of the limit pin and the arc-shaped limit hole.

4. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 or 2, characterized in that: The passive rescue mechanism includes a pair of rollers, four double-tube connectors, four longitudinal connecting rods, four groups of connecting rod assemblies, a pair of material blocking rods, four suspension rods, and a pair of limit rods; between the side panels and a pair of folding mechanisms, located at the intersection of the transverse main connecting rod and the side panels, the upper parts of the four longitudinal connecting rods are respectively swingably mounted on the transverse main connecting rods around the central axis of the transverse main connecting rods through double-tube connectors, and can slide in the Z direction through the double-tube connector, and a rotatable roller is horizontally supported between the lower parts of each pair of longitudinal connecting rods aligned in the Y direction; between the longitudinal connecting rods and a pair of folding structures, a pair of limit rods are fixedly suspended by a pair of transverse main connecting rods through four suspension rods, and a pair of limit rods are horizontally suspended along the X direction, located at the height position where the lower part of the longitudinal connecting rod is located, relative to each other. One side is provided with an X-direction slide groove, and four groups of connecting rod assemblies are symmetrically arranged along the X-direction and the Y-direction, respectively, and are arranged between four longitudinal connecting rods and a pair of limit rods. Each group of connecting rod assemblies includes a push-pull rod and a main connecting rod. The lower part of the longitudinal connecting rod is provided with a connecting piece, which is slidably arranged in the X-direction slide groove along the X-direction through the connecting piece. The main connecting rod is a V-shaped rod body structure with the tip facing upward and arranged along the XZ plane. The tip is rotatably arranged on the limit rod, and the rod end facing the channel along the X-direction is hinged to the push-pull rod. The other end of the push-pull rod is hinged to the connecting piece at the lower part of the longitudinal connecting rod. A rotatable material blocking rod is horizontally supported between the rod ends of each pair of main connecting rods aligned along the Y-direction facing outside the channel along the X-direction. A pair of material blocking rods are spaced apart from the side rollers along the X-direction and cantilevered outside the channel.

5. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 or 4, characterized in that: The bottom plate is installed between the lower parts of the four longitudinal connecting rods through the bottom plate bracket, and the bottom plate and the bottom plate bracket are detachable.

6. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 is characterized by: The top plate is inserted into the pin holes reserved in a pair of transverse main connecting rods through a pin, and is detachably plugged into the pair of transverse main connecting rods.

7. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 is characterized by: A pair of side plates are detachably mounted on a pair of longitudinal connecting rods aligned along the X direction at the respective sides through clamps, and a pair of side plates are respectively formed with trumpet-shaped material guide ports with the large ends facing outwards along the X direction corresponding to the channel inlet and the channel outlet.

8. The passive bidirectional foldable adaptive blocking portable rescue vehicle according to claim 1 is characterized by: The active track wheel of the track wheel assembly is rotatable by a driving force provided by a motor, and the passive track wheel is driven to rotate synchronously through the track.

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