Rescue executing mechanism

Abstract

The invention provides a rescue executing mechanism, and relates to the technical field of rescue equipment. The rescue executing mechanism comprises an under-actuated mechanism and an enveloping mechanism, the enveloping mechanism comprises a horizontal plate, an air extracting pump motor set and two shells, the air extracting pump motor set is installed on the horizontal plate, the two shells are installed at the two ends of the horizontal plate in the length direction respectively, the horizontal plate is used for being attached to the trunk, and the outer shell is used for being attached to the trunk. Each shell comprises a cavity, the under-actuated mechanism is used for driving the two shells to bend towards the trunk in the opposite directions, and the air extracting pump motor set is used for extracting air in the cavity so that the shells can envelope the trunk in a compressed state after being bent. In the rescue process, the stability of the wounded person in the rescue process can be guaranteed, the rescue executing mechanism can adapt to different wounded persons, the adaptability of the rescue executing mechanism is improved, and the rescue efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue equipment, and in particular to a rescue execution mechanism. Background Art

[0002] At present, the incidence of various disasters and accidents is increasing, such as earthquakes, floods, fires, chemical leaks, etc. These disasters not only pose a serious threat to people's lives and safety, but also put forward higher requirements for the timeliness and effectiveness of rescue work. Traditional rescue methods mainly rely on manpower. Faced with complex and changeable disaster scenes, existing rescue execution agencies are difficult to adapt to the wounded of different sizes and postures, resulting in low rescue efficiency. Summary of the invention

[0003] The problem solved by the present invention is: how to improve the adaptability of the rescue execution mechanism to improve the rescue efficiency.

[0004] In order to solve the above problems, the present invention provides a rescue actuator, including an under-actuated mechanism and an envelope mechanism, the envelope mechanism including a horizontal plate, an air pump motor group and two outer shells, the air pump motor group is installed on the horizontal plate, the two outer shells are respectively installed at both ends of the horizontal plate in the length direction, the horizontal plate is used to fit the torso, the outer shell includes a cavity, the under-actuated mechanism is used to drive the two outer shells to bend toward the torso, and the air pump motor group is used to extract air from the cavity so that the outer shells envelope the torso in a compressed state after bending.

[0005] Optionally, the envelope mechanism further includes fiber rods, the fiber rods extending along the width direction of the horizontal plate, the cavities of the two shells are respectively filled with a plurality of the fiber rods, and the shells squeeze the plurality of fiber rods in the compressed state.

[0006] Optionally, the under-actuated mechanism includes a hinge, a tendon and a draw-rope motor, the hinge includes a plurality of joints connected in sequence, two adjacent joints are rotatably connected, one joint of the hinge is connected to the horizontal plate, and the remaining joints are connected to the ends of the outer shell in the width direction of the horizontal plate, the draw-rope motor is installed on the horizontal plate, and the draw-rope motor is used to pull the tendon so that the plurality of joints connected to the outer shell drive the outer shell to bend toward the torso.

[0007] Optionally, the under-actuated mechanism further includes a connecting rod, and the hinges are respectively provided at both ends of each group of the shells along the width direction of the horizontal plate, and the connecting rod extends along the width direction of the horizontal plate, and the connecting rod is connected between two hinges.

[0008] Optionally, a reset limit position and a deflection limit position are provided on the rotation path of the joint, and any one of the joints reciprocates between the reset limit position and the deflection limit position.

[0009] Optionally, the under-actuated mechanism further comprises a torsion spring, and two adjacent joints are rotationally connected via the torsion spring, and the torsion spring is used to prevent the plurality of joints from deflecting toward the torso.

[0010] Optionally, the rescue execution mechanism also includes a fixed base and two mechanical arm mechanisms, the fixed base is located above the envelope mechanism, the two mechanical arm mechanisms are distributed at both ends of the horizontal plate in the length direction and are respectively connected to the fixed base, each group of the mechanical arm mechanisms includes an end push rod, the two outer shells are located between the two mechanical arm mechanisms, and the ends of the two outer shells away from the horizontal plate are respectively connected to the end push rods of the two mechanical arm mechanisms, and the fixed base is used to connect to the rescue equipment.

[0011] Optionally, the housing includes a first shell and a second shell, one end of the first shell is connected to the horizontal plate, the other end of the first shell is connected to one end of the second shell, the other end of the second shell is connected to the end push rod, and the first shell and the second shell both include the compressed state;

[0012] Alternatively, a compensation shell is further included, wherein the compensation shell is connected between the outer shell and the end push rod, and the compensation shell has the compressed state.

[0013] Optionally, the envelope mechanism further includes a telescopic component, wherein the telescopic component is connected between the fixed base and the horizontal plate to be used for manually adjusting the distance between the horizontal plate and the fixed base.

[0014] Optionally, the robotic arm mechanism includes an electric push rod and two parallel multi-link brackets, the multi-link brackets are rotatably connected to the fixed base, the end push rod includes a vertical gripping portion, the electric push rod is installed on the fixed base and is drivingly connected to the two multi-link brackets, the two multi-link brackets are connected to the end push rod, and the electric push rod is used to drive the two multi-link brackets to deflect so that the vertical gripping portion is perpendicular to the ground.

[0015] Compared with the related art, the rescue actuator of the present invention can realize the preliminary positioning of the rescue actuator by the fit between the horizontal plate and the torso, and the horizontal plate is respectively provided with shells at both ends in the length direction, and the under-actuated mechanism is used to drive the two shells to bend toward the torso, so that the two shells can embrace the torso, and the under-actuated mechanism is used to adjust the bending degree of the two shells to adapt to the torsos of different injured persons, and then the two shells include cavities, and the vacuum pump motor unit is used to extract the air in the cavity. As the air is gradually extracted, the rigidity of the shell is increased under the action of atmospheric pressure, and the shell can withstand the weight load of the injured person, so as to ensure the stability of the injured person's torso after embracing the injured person's torso. In this way, during the rescue process, not only the stability of the injured person can be guaranteed, but also the ability to adapt to different injured persons can be improved, thereby improving the adaptability of the rescue actuator and improving the rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the rescue execution mechanism in the embodiment of the invention;

[0017] Figure 2 is a schematic structural diagram of a mechanical arm mechanism in an embodiment of the invention;

[0018] Figure 3 is a schematic structural diagram of an envelope mechanism in an embodiment of the invention;

[0019] Figure 4 is a schematic structural diagram of an under-actuated mechanism in an embodiment of the invention;

[0020] Figure 5 It is a schematic structural diagram of a housing in an embodiment of the invention;

[0021] Figure 6 It is a schematic diagram of the internal structure of the housing in an embodiment of the invention;

[0022] Figure 7 It is a structural schematic diagram of a fixed joint in an embodiment of the invention;

[0023] Figure 8 It is a schematic structural diagram of the middle joint in the embodiment of the invention;

[0024] Fig. 9 It is a schematic structural diagram of the end joint in an embodiment of the invention.

[0025] Description of reference numerals:

[0026] 100-underactuated mechanism; 110-hinge; 111-fixed joint; 1111-first pulley; 1112-first pulley mounting slot; 112-intermediate joint; 1121-second pulley mounting slot; 113-end joint; 1131-third pulley mounting slot; 120-tendon rope; 130-rope drawing motor; 140-connecting rod; 150-torsion spring; 160-boss; 170-slideway;

[0027] 200-envelope mechanism; 210-horizontal plate; 220-air pump motor unit; 230-housing; 231-cavity; 240-fiber rod; 250-telescopic assembly; 260-compensation housing;

[0028] 300-Fixed base;

[0029] 400-mechanical arm mechanism; 410-end push rod; 411-straight grip; 420-electric push rod; 430-multi-link bracket; 431-first rod; 432-second rod; 433-third rod; 434-fourth rod; 435-fifth rod; 436-sixth rod. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In the accompanying drawings, the X-axis represents the horizontal position, and the positive direction of the X-axis (that is, the direction in which the arrow of the X-axis points) represents the right side, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the left side; in the accompanying drawings, the Y-axis represents the front-back position, and the positive direction of the Y-axis (that is, the direction in which the arrow of the X-axis points) represents the front side, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents the rear side; in the accompanying drawings, the Z-axis represents the vertical position, and the positive direction of the Z-axis (that is, the direction in which the arrow of the Z-axis points) represents the upper side, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents the lower side. It should also be noted that the aforementioned Z-axis, Y-axis, and X-axis are only for the convenience of describing the invention 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 cannot be understood as a limitation to the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0033] At present, the incidence of various disasters and accidents is increasing, such as earthquakes, floods, fires, chemical leaks, etc. These disasters not only pose a serious threat to people's lives and safety, but also put forward higher requirements on the timeliness and effectiveness of rescue work. Traditional rescue methods mainly rely on manpower. Faced with complex and changeable disaster scenes, existing rescue execution agencies are difficult to adapt to the wounded of different body shapes and postures, resulting in low rescue efficiency. The present inventor provides a rescue execution agency in an embodiment to solve the problem that the existing rescue execution agencies are difficult to adapt to the wounded of different body shapes and postures, resulting in low rescue efficiency.

[0034] Combination Figure 1 and Figure 3 As shown, the present invention provides a rescue actuator, including an under-actuated mechanism 100 and an envelope mechanism 200, the envelope mechanism 200 includes a horizontal plate 210, an air pump motor group 220 and two shells 230, the air pump motor group 220 is installed on the horizontal plate 210, the two shells 230 are respectively installed at both ends of the horizontal plate 210 in the length direction, the horizontal plate 210 is used to fit the torso, the shell 230 includes a cavity 231, the under-actuated mechanism 100 is used to drive the two shells 230 to bend towards the torso, and the air pump motor group 220 is used to extract air in the cavity 231, so that the shell 230 envelopes the torso in a compressed state after bending.

[0035] Specifically, the two ends of the horizontal plate 210 in the length direction are the two ends of the horizontal plate 210 in the X-axis direction, that is, the left end and the right end of the horizontal plate 210. The horizontal plate 210 can be used as a fixed structure attached to the human body trunk. For example, the lower end surface of the horizontal plate 210 is attached to the chest of a lying injured person. The number of shells 230 is set to two, and the two shells 230 are respectively installed at the left end and the right end of the horizontal plate 210. The interior of each group of shells 230 is hollow and forms a cavity 231. The number of air pump motor groups 220 can also be set to two, and one air pump motor group 220 corresponds to one group of shells 230. The air pump motor group 220 is connected to the cavity 231 through the air extraction pipeline. When the air pump motor group 220 is started, the air inside the cavity 231 can be extracted. The number of under-actuated mechanisms 100 can also be set to two, and one under-actuated mechanism 100 drives one shell 230 to bend and deform. Taking the wounded who needs rescue in a lying state as an example, the horizontal plate 210 is first fitted to the chest of the wounded, and the two under-actuated mechanisms 100 respectively drive the shells 230 at the left and right ends of the horizontal plate 210 to bend toward each other until they are fully fitted with the chest. The two shells 230 can envelop the chest from the left and right sides of the chest of the wounded, and the two shells 230 can limit the left and right displacement of the chest. At the same time, the two bent shells 230 can also cooperate with the horizontal plate 210 to limit the up and down displacement of the chest. The two shells 230 and the horizontal plate 210 finally achieve an embracing effect on the chest. The two bent shells 230 can refer to Figure 3In the state shown, at the same time, after the two shells 230 are fully fitted with the chest cavity, the vacuum pump motor group 220 is started, and the vacuum pump motor group 220 extracts the air in the cavity 231 of the corresponding shell 230. As the air is gradually extracted, the shell 230 is compressed (squeezed) under atmospheric pressure, and the left and right side walls of the shell 230 (the side walls of the shell 230 located in the X-axis direction) are close to each other. The smaller the displacement allowed by the left and right side walls of the shell 230, the smaller the deformation of the shell 230, and the higher the rigidity of the shell 230. The limit state is that the left and right side walls of the shell 230 are fitted together, so that the shell 230 can adapt to the wounded with different weights and different torso sizes, ensuring the rescue efficiency of the rescue actuator. Based on the above embodiments, the rescue actuator in the implementation of the present invention is also applicable to at least the following rescue situations:

[0036] Case 1:

[0037] The injured person lies flat with the horizontal plate 210 close to the chest of the injured person. If there is trauma on the left side of the chest, the vacuum pump motor group 220 relatively reduces the suction volume of the left shell 230. While ensuring the strength of the left shell 230, the left shell 230 is allowed to have a slight deformation to avoid the left shell 230 being close to the trauma and causing secondary trauma.

[0038] Case 2:

[0039] The injured person lies flat with trauma on the front of the chest. A certain distance is left between the horizontal plate 210 and the chest. The two outer shells 230 are bent toward each other to increase rigidity and then embrace the chest, thereby preventing the horizontal plate 210 from causing secondary trauma.

[0040] Case 3:

[0041] The under-actuated mechanism 100 adjusts the bending degree of the shell 230 to adapt to the chest cavity of different injured persons.

[0042] Therefore, in this embodiment, the fit between the horizontal plate 210 and the torso can achieve the initial positioning of the rescue actuator, and the shells 230 are respectively installed at both ends of the horizontal plate 210 in the length direction, and the under-actuated mechanism 100 is used to drive the two shells 230 to bend toward the torso, the two shells 230 can realize the embrace of the torso, and the under-actuated mechanism 100 is used to adjust the bending degree of the two shells 230 to adapt to the torsos of different injured persons, and then the two shells 230 both include a cavity 231, and the vacuum pump motor group 220 is used to extract the air in the cavity 231. As the air is gradually extracted, under the action of atmospheric pressure, the rigidity of the shell 230 is increased, and the shell 230 can withstand the weight load of the injured person, so as to ensure the stability of the injured person's torso after embracing the injured person's torso. In this way, during the rescue process, not only can the stability of the injured person be guaranteed during the rescue process, but also the ability to adapt to different injured persons and improve the adaptability of the rescue actuator to improve the rescue efficiency.

[0043] Optionally, combined Figure 1 and Figure 6 As shown, the envelope mechanism 200 further includes fiber rods 240, which extend along the width direction of the horizontal plate 210. The cavities 231 of the two shells 230 are respectively filled with a plurality of fiber rods 240, and the shells 230 squeeze the plurality of fiber rods 240 in a compressed state.

[0044] Specifically, the internal structure of the housing 230 is as follows: Figure 6 As shown, the fiber rod 240 extends along the width direction of the horizontal plate 210, that is, the length direction of the fiber rod 240 is the Y-axis direction, and the cavities 231 of the two shells 230 are respectively filled with multiple fiber rods 240. When the gas is pumped, the side walls of the shells 230 approach each other and squeeze the fiber rods 240. Adjacent fiber rods 240 rub against each other. Multiple fiber rods 240 support the shell 230 from the inside of the shell 230 to ensure the structural strength of the shell 230 in a compressed state.

[0045] In this way, the fiber rods 240 extend along the width direction of the horizontal plate 210, and the cavities 231 of the two shells 230 are respectively filled with multiple fiber rods 240. The shells 230 squeeze the multiple fiber rods 240 in a compressed state. In this way, the fiber rods 240 in each group of shells 230 can support the shell 230 from the inside of the shell 230 when the shell 230 is in a compressed state, thereby improving the structural strength of the shell 230 in a compressed state. In addition, since the multiple fiber rods 240 occupy the space of the cavity 231 of the shell 230, the amount of air inside the cavity 231 can also be reduced, and the working time of the vacuum pump motor assembly 220 can be shortened to improve the air extraction efficiency, thereby improving the rescue efficiency.

[0046] Optionally, combined Figure 1 , Figure 3 , Figure 4 , Figure 7 , Figure 8 and Fig. 9 As shown, the under-actuated mechanism 100 includes a hinge 110, a tendon 120 and a draw-rope motor 130. The hinge 110 includes a plurality of joints connected in sequence, and two adjacent joints are rotatably connected. One joint of the hinge 110 is connected to the horizontal plate 210, and the remaining joints are connected to the ends of the shell 230 along the width direction of the horizontal plate 210. The draw-rope motor 130 is installed on the horizontal plate 210. The draw-rope motor 130 is used to pull the tendon 120 so that the plurality of joints connected to the shell 230 drive the shell 230 to bend toward the torso.

[0047] Specifically, the plurality of joints include a fixed joint 111 connected to the horizontal plate 210, a plurality of intermediate joints 112, and an end joint 113, wherein the plurality of intermediate joints 112 are sequentially connected between the fixed joint 111 and the end joint 113, wherein two adjacent intermediate joints 112 are rotationally connected, the fixed joint 111 is rotationally connected to the adjacent intermediate joint 112, and the end joint 113 is rotationally connected to the adjacent intermediate joint 112, such as Figure 7 As shown, the fixed joint 111 is provided with a first pulley mounting groove 1112, and the first pulley 1111 is mounted in the first pulley mounting groove 1112. Figure 8 As shown, the middle joint 112 is provided with a second pulley mounting groove 1121, and a second pulley is mounted in the second pulley mounting groove 1121. Fig. 9 The third pulley is locked, and a third pulley mounting groove 1131 is provided on the terminal joint 113, in which the third pulley is mounted, and the axes of the first pulley 1111, the second pulley and the third pulley are parallel, one end of the tendon rope 120 is connected to the first pulley 1111, and the other end is connected to the rope-drawing motor 130 after passing through multiple second pulleys and the third pulley in sequence. When the rope-drawing motor 130 is started, the rope-drawing motor 130 pulls the tendon rope 120, and the tendon rope 120 applies a downward pulling force to the terminal joint 113. Under the action of the pulling force, the terminal joint 113 and multiple intermediate joints 112 are bent downward in sequence to realize the downward bending of the hinge 110. After the multiple intermediate joints 112 and the terminal joint 113 are respectively connected to the side ends of the shell 230, the bending of the hinge 110 can drive the shell 230 to bend, thereby realizing the bending of the shell 230 toward the torso. There is no specific requirement for the winding method of the tendon rope 120, as long as the hinge 110 can be bent downward.

[0048] In this way, the drawstring motor 130 realizes the rotation of multiple joints through the tendon 120. The rotation of multiple joints can realize the bending deformation of the hinge 110, and then realize the bending of the shell 230 toward the torso, thereby simplifying the bending structure of the shell 230, that is, the bending of the shell 230 is converted into the bending of the hinge 110, which can improve the bending deformation efficiency of the shell 230.

[0049] Optionally, combined Figure 3 and Figure 4 As shown, the under-actuated mechanism 100 further includes a connecting rod 140 , and each housing group 230 is provided with hinges 110 at both ends in the width direction of the horizontal plate 210 , and the connecting rod 140 extends along the width direction of the horizontal plate 210 , and the connecting rod 140 is connected between the two hinges 110 .

[0050] Specifically, the connecting rod 140 is located on the side of the shell 230 away from the torso, and the connecting rod 140 extends along the Y-axis direction. The hinges 110, tendon ropes 120 and rope-drawing motors 130 correspond one to one, and the two middle joints 112 at the same position in the two hinges 110 are connected by the connecting rod 140.

[0051] In this way, hinges 110 are respectively provided at both ends of each group of outer shells 230 in the width direction of the horizontal plate 210. The reliability of bending can be ensured by the two hinges 110. The connecting rod 140 extends along the width direction of the horizontal plate 210. The connecting rod 140 is connected between the two hinges 110. The connecting rod 140 improves the bending consistency of the two hinges 110, thereby improving the bending efficiency of the outer shell 230 while ensuring the use reliability of the two hinges 110, thereby improving the rescue efficiency.

[0052] Optionally, combined Figure 7 , Figure 8 and Fig. 9 As shown, a reset limit position and a deflection limit position are provided on the rotation path of the joint, and any joint reciprocates between the reset limit position and the deflection limit position.

[0053] Specifically, the reset limit position refers to the position of the joint when the housing 230 is in the unfolded state when no rescue is required, and the deflection limit position refers to the maximum position of the joint deflection angle allowed when the housing 230 is bent to the maximum extent during rescue. Figure 7 and Figure 8 As shown, a boss 160 is provided on the fixed joint 111, and a slide groove 170 is provided on the intermediate joint 112 adjacent to the fixed joint 111. The extension direction of the slide groove 170 is consistent with the rotation direction of the intermediate joint 111. The uppermost end of the slide groove 170 is the reset limit position, and the lowermost end of the slide groove 170 is the deflection limit position, that is, when the boss 160 rotates to abut against the side wall of the upper end of the slide groove 170, the fixed joint 111 and the adjacent intermediate joint 112 rotate relative to each other to reach the reset limit position, and when the boss 160 rotates to abut against the side wall of the lower end of the slide groove 170, the fixed joint 111 and the adjacent intermediate joint 112 rotate relative to each other to reach the deflection limit position; as shown in FIG. Fig. 9 As shown, a slide groove 170 is provided on the end joint 113 , a boss 160 is provided on the middle joint 112 adjacent to the end joint 113 , and similar bosses 160 and slide grooves 170 are also provided on the two adjacent middle joints 112 .

[0054] During rescue, the end joint 113 is deflected relative to the intermediate joint 112 adjacent to the end joint 113, and the lowest end of the slide groove 170 on the end joint 113 abuts against the boss 160 of the adjacent intermediate joint 112, so that the end joint 113 and the adjacent intermediate joint 112 form a "whole body", and the intermediate joint 112 of the end joint 113 is deflected relative to the next intermediate joint 112, and the lowest end of the slide groove 170 of the intermediate joint 112 of the end joint 113 abuts against the boss 160 of the next intermediate joint 112, and the end joint 113 and the intermediate joint 112 are The middle joint 112 of the section 113 and the next middle joint 112 of the middle joint 112 of the end joint 113 form a "whole", and so on, and finally the lower end of the slide groove 170 of the middle joint 112 adjacent to the fixed joint 111 can be abutted against the boss 160 of the fixed joint 111. When the lower end of each slide groove 170 is abutted against the corresponding boss 160, the bending angle of the hinge 110 is maximum, and the bending angle range of the hinge 110 can be preset by the extended length of the slide groove 170, thereby expanding the scope of use of the hinge 110.

[0055] When rescue is not needed, the rope-drawing motor 130 releases the rope, the shell 230 is inflated, the uppermost end of each slide groove 170 abuts against the corresponding boss 160, and each joint is in the reset limit position, so that the reset position of the hinge 110 can be preset by the extended length of the slide groove 170, so that the reset stroke of the hinge 110 can be adjusted to improve the reset efficiency of the hinge 110.

[0056] In this way, a reset limit position and a deflection limit position are set on the rotation path of the joint, and any joint rotates back and forth between the reset limit position and the deflection limit position. The distance length between the reset limit position and the deflection limit position can realize the adjustment of the bending range of the hinge 110, thereby improving the flexibility of use of the hinge 110, and then improving the flexibility of use of the shell 230, thereby improving the rescue efficiency.

[0057] Optionally, combined Figure 4 As shown, the under-actuated mechanism 100 further includes a torsion spring 150 , and two adjacent joints are rotationally connected via the torsion spring 150 , and the torsion spring 150 is used to prevent the multiple joints from deflecting toward the trunk.

[0058] Specifically, when two adjacent middle joints 112 rotate relative to each other, the elastic force of the torsion spring 150 increases. During resetting, the elastic force of the torsion spring 150 can drive the middle joint 112 to quickly reset, thereby improving the joint resetting efficiency and thus improving the resetting efficiency of the housing 230 .

[0059] In this way, by rotationally connecting two adjacent joints through the torsion spring 150, the torsion spring 150 is used to prevent multiple joints from deflecting toward the torso. The torsion spring 150 can achieve rapid resetting of the joints, thereby achieving the resetting efficiency of the shell 230, so as to reduce the resetting time of the shell 230, thereby improving the rescue efficiency.

[0060] Optionally, combined Figure 1 As shown, the rescue actuator also includes a fixed base 300 and two robotic arm mechanisms 400. The fixed base 300 is located above the envelope mechanism 200. The two robotic arm mechanisms 400 are distributed at both ends of the horizontal plate 210 along the length direction and are respectively connected to the fixed base 300. Each robotic arm mechanism 400 includes an end push rod 410. The two outer shells 230 are located between the two robotic arm mechanisms 400, and the ends of the two outer shells 230 away from the horizontal plate 210 are respectively connected to the end push rods 410 of the two robotic arm mechanisms 400. The fixed base 300 is used to connect to the rescue equipment.

[0061] Specifically, the fixed base 300 is located above the envelope mechanism 200 , and the envelope mechanism 200 is located between two robotic arm mechanisms 400 . The lowest end of each group of robotic arm mechanisms 400 is an end push rod 410 , and the end push rods 410 of the two robotic arm mechanisms 400 are connected to the housing 230 .

[0062] In this way, the fixed base 300 is used to connect with the rescue equipment. The fixed base 300 can be installed on the rescue equipment and is located between the two robotic arm mechanisms 400 through the two shells 230. The two robotic arm mechanisms 400 are distributed on both sides of the length direction of the horizontal plate 210, and the ends of the two shells 230 away from the horizontal plate 210 are respectively connected to the end push rods 410 of the two robotic arm mechanisms 400. The two robotic arm mechanisms 400 can carry the envelope mechanism 200 through the connection with the fixed base 300, thereby realizing an indirect connection between the envelope mechanism 200 and the rescue equipment, so as to improve the flexibility of use of the envelope mechanism 200.

[0063] Optionally, combined Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the housing 230 includes a first shell and a second shell, one end of the first shell is connected to the horizontal plate 210, the other end of the first shell is connected to one end of the second shell, the other end of the second shell is connected to the end push rod 410, and the first shell and the second shell both include a compressed state;

[0064] Alternatively, a compensation shell 260 is further included, and the compensation shell 260 is connected between the housing 230 and the end push rod 410, and the compensation shell 260 is in a compressed state.

[0065] Specifically, case one: the outer shell 230 includes two parts, a first shell and a second shell, the first shell and the second shell are relatively independent, and the first shell and the second shell are respectively equipped with an air pump motor group 220. When the stiffness of the first shell after bending and compression cannot meet the requirements for use, the second shell is bent and compressed again to compensate for the stiffness of the first shell after compression, thereby realizing segmented deformation of the outer shell 230 to improve the stability of the outer shell 230.

[0066] Case 2: The compensation shell 260 is connected between the outer shell 230 and the end push rod 410 . The use principle of the compensation shell 260 is consistent with that of the outer shell 230 . The stiffness of the compensation shell 260 can be adjusted by the amount of air extracted from the compensation shell 260 .

[0067] In this way, the shell 230 includes a first shell and a second shell, one end of the first shell is connected to the horizontal plate 210, the other end of the first shell is connected to one end of the second shell, the other end of the second shell is connected to the end push rod 410, and the first shell and the second shell both include a compression state; or, it also includes a compensation shell 260, the compensation shell 260 is connected between the shell 230 and the end push rod 410, and the compensation shell 260 has a compression state, so that the stiffness of the shell 230 in the compression state can be compensated, thereby improving the stability of the shell 230 in use.

[0068] Optionally, combined Figure 1 and Figure 3 As shown, the envelope mechanism 200 further includes a telescopic assembly 250 , which is connected between the fixed base 300 and the horizontal plate 210 to manually adjust the distance between the horizontal plate 210 and the fixed base 300 .

[0069] Specifically, the telescopic assembly 250 is configured as a slide bar and sleeve structure with a self-locking structure. In combination with the above-mentioned situation 2, the distance between the horizontal plate 210 and the fixed base 300 can be manually adjusted through the telescopic assembly 250. During rescue, the vertical height of the fixed base 300 is constant, and the enveloping mechanism 200 is located below the fixed base 300. When the injured person lies flat on the ground, the telescopic assembly 250 is manually driven to extend and retract in the vertical direction to adjust the distance between the horizontal plate 210 of the enveloping mechanism 200 and the torso of the injured person, ensuring that the vertical height of the horizontal plate 210 can be adjusted adaptively. After the vertical height of the horizontal plate 210 is adjusted to a suitable position, the two shells 230 are bent and deformed to envelop the torso of the injured person. For example, when the injured person has a wound on the chest, the telescopic length of the telescopic assembly 250 can be manually adjusted so that the horizontal plate 210 does not fit tightly against the chest of the injured person, thereby avoiding secondary trauma caused by the close fit between the horizontal plate 210 and the wound.

[0070] In this way, by connecting the telescopic component 250 between the fixed base 300 and the horizontal plate 210 for manually adjusting the distance between the horizontal plate 210 and the fixed base 300, the position of the horizontal plate 210 in the vertical direction can be adjusted, ensuring that the actual use position of the horizontal plate 210 during the rescue process can be flexibly adjusted, thereby increasing the use range of the horizontal plate 210 and improving the comfort of use of the rescue actuator.

[0071] Optionally, combined Figure 1 and Figure 2 As shown, the robotic arm mechanism 400 includes an electric push rod 420 and two parallel multi-link brackets 430. The multi-link bracket 430 is rotatably connected to the fixed base 300. The end push rod 410 includes a vertical gripping portion 411. The electric push rod 420 is installed on the fixed base 300 and is drivingly connected to the two multi-link brackets 430. The two multi-link brackets 430 are connected to the end push rod 410. The electric push rod 420 is used to drive the two multi-link brackets 430 to deflect so that the vertical gripping portion 411 is perpendicular to the ground.

[0072] Specifically, each robot arm mechanism 400 includes an electric push rod 420 and two parallel multi-link brackets 430, and the two multi-link brackets 430 are arranged in parallel along the Y-axis direction. Figure 1 and Figure 2As shown, the electric push rod 420 is located between the two multi-link brackets 430, and is used to drive the two multi-link brackets 430 to move synchronously. The two multi-link brackets 430 can be located at the front end and the rear end of the fixed base 300 (the two ends of the fixed base 300 along the Y-axis direction), respectively, and the two multi-link brackets 430 can be connected by a connecting shaft to ensure synchronous movement. Each multi-link bracket 430 may include a first rod 431, a second rod 432, a third rod 433, a fourth rod 434, a fifth rod 435 and a sixth rod 436, the electric push rod 420 is located above the fixed base 300, the fixed end of the electric push rod 420 is hinged on the bracket on the fixed base 300, the output end of the electric push rod 420 is drivingly connected to the upper end of the first rod 431, the lower end of the first rod 431 is rotatably connected to the fixed base 300, the upper end of the second rod 432 is hinged to the upper end of the first rod 431, the lower end of the second rod 432 extends to the bottom of the fixed base 300 and is connected to the end push rod 410, the third rod 433 and the fourth rod 434 are located on the side of the second rod 432 facing the positive direction of the X-axis (that is, the third rod 433 and the fourth rod 434 are closer to the center of the fixed base 300 than the second rod 432), and the upper ends of the third rod 433 and the fourth rod 434 are connected to the fixed base 300. They are respectively hinged to the fixed base 300, the lower ends of the third rod 433 and the fourth rod 434 are inclined toward the second rod 432, the sixth rod 436 is horizontally arranged along the X-axis, and the end of the sixth rod 436 located in the negative direction of the X-axis is hinged at the middle part of the second rod 432, the lower ends of the third rod 433 and the fourth rod 434 are hinged on the sixth rod 436, the fifth rod 435 is parallel to the second rod 432 and is located on the side of the second rod 432 facing the negative direction of the X-axis, the upper end of the fifth rod 435 is hinged to the connecting platform in the middle part of the second rod 432, the lower end of the fifth rod 435 is hinged to the end push rod 410, the first rod 431 supports the upper end of the second rod 432, the third rod 433 and the fourth rod 434 support the middle part of the second rod 432 through the sixth rod 436, the middle part of the second rod 432 supports the upper end of the fifth rod 435, and the lower ends of the second rod 432 and the fifth rod 435 jointly support the end push rod 410. The end push rod 410 is in a triangular structure as a whole. Figure 2 As shown, it includes a bottom wall parallel to the ground (the side wall of the end push rod 410 facing the negative direction of the Z axis) and a gripping portion 411 perpendicular to the ground. When the electric push rod 420 is extended or retracted, the upper end of the first rod 431 swings relative to the lower end of the first rod 431, and the upper end of the first rod 431 drives the second rod 432 to swing. The swing of the second rod 432 drives the third rod 433, the fourth rod 434, and the fifth rod 435 connected to the second rod 432 to swing. The second rod 432 and the fifth rod 435 drive the end push rod 410 to swing at the same time, so as to achieve the adjustable position of the end push rod 410 and ensure that the gripping portion 411 can always be perpendicular to the ground.

[0073] As attached Figure 1As shown, the fixed base 300 of the rescue actuator is installed on the corresponding rescue equipment, and the rescue equipment carries the rescue actuator. During rescue, the rescue equipment lowers the rescue actuator toward the injured person, and a certain gap is left between the bottom of the end push rod 410 and the ground where the injured person is located. The two shells 230 are bent to envelop the injured person, and in the process of enveloping the two shells 230, the attached Figure 2 , the electric push rod 420 extends, and the electric push rod 420 pushes the upper end of the first rod 431 to deflect toward the negative direction of the X-axis, so that the upper end of the second rod 432 also deflects toward the negative direction of the X-axis, and at the same time, the lower end of the second rod 432 can move toward the injured person (positive direction of the X-axis). At the same time, the shell 230 is connected to the end push rod 410, and the bending of the shell 230 toward the injured person can also make the end push rod 410 move toward the injured person. The end push rod 410 drives the lower end of the second rod 432 to move toward the injured person. When the shell 230 is in contact with the injured person, the electric push rod 420 stops extending, and the second rod 432 supports the lower end of the shell 230 through the end push rod 410 to avoid the two shells 230 from moving away from each other due to the weight of the injured person when lifting the injured person, so as to improve the structural stiffness of the two shells 230 when enveloping, so as to ensure the stability of the two shells 230 when surrounding the injured person and lifting the injured person. In addition, the end push rod 410 as a whole has a right-angled triangle frame structure and includes a gripping portion 411 in the vertical direction. Since the second rod 432 and the fifth rod 435 are respectively hinged to the end push rod 410, the movement of the end push rod 410 toward the injured person can be approximated as a horizontal movement, that is, the gripping portion 411 is perpendicular to the ground, and the direction of the force exerted by the end push rod 410 on the shell 230 is horizontal, ensuring that the shell 230 is subjected to even force and avoiding unbalanced loading of the shell 230, thereby further ensuring the envelope stability of the shell 230 during the subsequent transfer of the injured person.

[0074] In this way, the electric push rod 420 is installed on the fixed base 300 and is driven and connected to the two multi-link brackets 430. The two multi-link brackets 430 are connected to the end push rod 410. The two multi-link brackets 430 can improve the carrying capacity of each group of robotic arm mechanisms 400 to improve the use range of each group of robotic arm mechanisms 400, and the electric push rod 420 is used to drive the two multi-link brackets 430 to deflect so that the vertical gripping portion 411 is perpendicular to the ground, so that the end push rod 410 can always be parallel to the ground during the rescue process, thereby avoiding the change of the straight-line distance between the two robotic arm mechanisms 400, so as to ensure the stability of the two robotic arm mechanisms 400 during the rescue process, so as to improve the safety of the wounded during the rescue process.

[0075] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A rescue execution mechanism, characterized in that: The invention comprises an under-actuated mechanism (100) and an envelope mechanism (200), wherein the envelope mechanism (200) comprises a horizontal plate (210), an air pump motor group (220) and two shells (230), wherein the air pump motor group (220) is mounted on the horizontal plate (210), and the two shells (230) are respectively mounted on two ends of the horizontal plate (210) in the length direction, wherein the horizontal plate (210) is used to fit the trunk, and the shell (230) comprises a cavity (231), wherein the under-actuated mechanism (100) is used to drive the two shells (230) to bend towards the trunk, and the air pump motor group (220) is used to extract air from the cavity (231), so that the shell (230) envelopes the trunk in a compressed state after bending.

2. The rescue execution mechanism according to claim 1, characterized in that: The envelope mechanism (200) further comprises a fiber rod (240), wherein the fiber rod (240) extends along the width direction of the horizontal plate (210), and the cavities (231) of the two shells (230) are respectively filled with a plurality of the fiber rods (240), and the shells (230) squeeze the plurality of the fiber rods (240) in the compressed state.

3. The rescue execution mechanism according to claim 1, characterized in that: The under-actuated mechanism (100) includes a hinge (110), a tendon (120) and a draw-rope motor (130), wherein the hinge (110) includes a plurality of joints connected in series, and two adjacent joints are rotatably connected, one of the joints of the hinge (110) is connected to the horizontal plate (210), and the remaining joints are connected to the ends of the shell (230) in the width direction of the horizontal plate (210), and the draw-rope motor (130) is installed on the horizontal plate (210), and the draw-rope motor (130) is used to pull the tendon (120) so that the plurality of joints connected to the shell (230) drive the shell (230) to bend toward the torso.

4. The rescue execution mechanism according to claim 3, characterized in that: The under-actuated mechanism (100) further comprises a connecting rod (140), and the hinges (110) are respectively arranged at both ends of each group of the housings (230) along the width direction of the horizontal plate (210), and the connecting rod (140) extends along the width direction of the horizontal plate (210), and the connecting rod (140) is connected between the two hinges (110).

5. The rescue execution mechanism according to claim 3, characterized in that: A reset limit position and a deflection limit position are provided on the rotation path of the joint, and any of the joints reciprocates between the reset limit position and the deflection limit position.

6. The rescue execution mechanism according to claim 3, characterized in that: The underactuated mechanism (100) further comprises a torsion spring (150), two adjacent joints being rotationally connected via the torsion spring (150), and the torsion spring (150) being used to prevent the plurality of joints from deflecting toward the trunk.

7. The rescue execution mechanism according to any one of claims 1 to 6, characterized in that: It also includes a fixed base (300) and two mechanical arm mechanisms (400), wherein the fixed base (300) is located above the envelope mechanism (200), the two mechanical arm mechanisms (400) are distributed at both ends of the horizontal plate (210) in the length direction and are respectively connected to the fixed base (300), each group of the mechanical arm mechanisms (400) includes an end push rod (410), the two outer shells (230) are located between the two mechanical arm mechanisms (400), and the ends of the two outer shells (230) away from the horizontal plate (210) are respectively connected to the end push rods (410) of the two mechanical arm mechanisms (400), and the fixed base (300) is used to connect to rescue equipment.

8. The rescue execution mechanism according to claim 7, characterized in that: The housing (230) comprises a first shell and a second shell, one end of the first shell is connected to the horizontal plate (210), the other end of the first shell is connected to one end of the second shell, the other end of the second shell is connected to the end push rod (410), and the first shell and the second shell both comprise the compressed state; Alternatively, it further comprises a compensation shell (260), wherein the compensation shell (260) is connected between the housing (230) and the end push rod (410), and the compensation shell (260) has the compressed state.

9. The rescue execution mechanism according to claim 7, characterized in that: The envelope mechanism (200) further comprises a telescopic assembly (250), wherein the telescopic assembly (250) is connected between the fixed base (300) and the horizontal plate (210) and is used for manually adjusting the distance between the horizontal plate (210) and the fixed base (300).

10. The rescue execution mechanism according to claim 7, characterized in that: The robotic arm mechanism (400) includes an electric push rod (420) and two parallel multi-link brackets (430), wherein the multi-link bracket (430) is rotatably connected to the fixed base (300), and the end push rod (410) includes a vertical gripping portion (411). The electric push rod (420) is installed on the fixed base (300) and is drivingly connected to the two multi-link brackets (430), and the two multi-link brackets (430) are connected to the end push rod (410). The electric push rod (420) is used to drive the two multi-link brackets (430) to deflect so that the vertical gripping portion (411) is perpendicular to the ground.

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