Carrying rescue robot executing mechanism and control method thereof

Abstract

The carrying rescue robot executing mechanism comprises a bottom plate, a winch, a folding stretcher and a U-shaped rotary guide frame, the rotary guide frame and the winch are arranged at the front end and the rear end of the bottom plate respectively, the bottom of the rotary guide frame is hinged to the bottom plate, and a second telescopic device is hinged between the rear side of the rotary guide frame and the bottom plate. The folding stretcher is slidably mounted on the rotary guide frame, and the winch is used for pulling the folding stretcher to slide; and a telescopic driving mechanism for driving the folding stretcher to move telescopically is also arranged on the rotary guide frame. The method further comprises the steps of the control method from S1 to S13. The rescue robot can be matched with different rescue robot bodies so as to be suitable for rescue operation under different road conditions. A folding stretcher structure is adopted, a multi-telescopic-connecting-rod structure is decoupled into two three-connecting-rod mechanisms, the structure is simple and compact, the needed space range during working is small, meanwhile, rescue operation is conducted by controlling the length of the connecting rods, and the control difficulty is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of rescue robots, and in particular to an actuator of a transport rescue robot and a control method thereof. Background Art

[0002] With globalization and climate change becoming increasingly serious, natural disasters and war conflicts may occur at any time, which will have a huge impact on human society and the environment, causing a large number of casualties and serious consequences of infrastructure damage. In order to rescue and transfer the wounded in a timely and safe manner from dangerous environments, new requirements have been put forward for the transportation and rescue methods. The manual rescue method is inefficient and there is a risk of personal injury. The traditional transportation and rescue robot uses a tiltable conveyor belt stretcher for rescue, and there is a risk of the wounded slipping from the tilted stretcher and causing secondary injuries. The horizontal stretcher method can smoothly rescue the wounded. Patent CN103083142A "A robot for rescuing fractured patients" discloses a robot for rescuing fractured patients, which consists of a body and an actuator, wherein the actuator includes a lifting mechanism, a sliding stretcher and two six-degree-of-freedom operating arms, wherein the sliding stretcher is divided into an upper and a lower layer, wherein the lower layer is a protective cover shell and the upper layer is a belt transmission device; the lifting mechanism consists of a telescopic link fixed to the body, a stretcher link fixed to the lower movable stretcher and a telescopic rod, wherein one end of the body telescopic link is movably connected to one end of the stretcher link, and the two ends of the telescopic rod are respectively connected to the lower movable stretcher and the body; the actuator of the rescue robot fully considers the particularity of the human body structure and injuries, and greatly reduces the damage to the human body caused by the operation process, but the lifting mechanism is a multi-link mechanism, which has a relatively complex structure and high difficulty in operation, and is tightly coupled to the body, and cannot be split into independent modules, and has poor interchangeability. In patent CN117503499A, the "unmanned rescue vehicle" includes an unmanned vehicle body, a mobile mechanism and a transfer mechanism. Its mobile mechanism includes a driving component and a rack. The driving component is arranged on the unmanned vehicle body, and the rack is connected to the driving component. The driving component drives the rack to switch between a transport state and a transfer state. In the transport state, the rack is located on the unmanned vehicle body, and in the transfer state, the rack is located on one side of the unmanned vehicle body; the transfer mechanism is arranged on the unmanned vehicle body, and is used to move the objects to be rescued to the rack. The invention switches the rack from a transport state to a transfer state through a driving component, moves the objects to be rescued in a dangerous area to the rack through a transfer mechanism, and then switches the rack from a transfer state to a transport state through a driving component, so that the objects to be rescued are placed on the unmanned vehicle body, and the unmanned vehicle body drives the objects to be rescued away from the dangerous area, without the need for search and rescue personnel to enter the dangerous area, thereby ensuring the safety of the search and rescue personnel themselves. However, the space required for the operation of its mobile mechanism is large, and rescue cannot be carried out in a small space. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a transport and rescue robot actuator and a control method thereof to solve the problems that the existing rescue robot actuator adopts a multi-link structure, the actuator structure is complex and the control difficulty is high, and the actuator and the robot body have a high degree of coupling and poor interchangeability.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0005] Provided is a transport and rescue robot actuator for use in conjunction with a rescue robot body, comprising a base plate, a winch, a foldable stretcher and a U-shaped rotating guide frame, the rotating guide frame and the winch are respectively arranged at the front and rear ends of the base plate, the bottom of the rotating guide frame is hinged to the base plate, a second telescopic device is hinged between the rear side of the rotating guide frame and the base plate, the foldable stretcher is slidably mounted on the rotating guide frame, the winch is used to pull the foldable stretcher to slide; the rotating guide frame is also provided with a telescopic driving mechanism for driving the foldable stretcher to telescopically move.

[0006] Furthermore, the foldable stretcher includes a guide part and a receiving part, the guide part and the receiving part are hinged, a conveyor belt is arranged on the receiving part, two first telescopic devices are hinged on the upper sides of the guide part and the receiving part, and two guide grooves cooperating with the guide part and the receiving part are arranged on the rotating guide frame.

[0007] Furthermore, a conveyor belt groove for installing the conveyor belt is arranged on the accommodating portion, and a conveyor belt motor for driving the conveyor belt is arranged in the conveyor belt groove.

[0008] Furthermore, the first telescopic device and the second telescopic device are hydraulic cylinders, pneumatic cylinders or electric telescopic rods.

[0009] Furthermore, the cross section of the guide groove is U-shaped.

[0010] Furthermore, the telescopic drive mechanism includes a stretcher drive motor and a rubber-coated roller, the rubber-coated roller is fixed to the output end of the stretcher drive motor, and the rubber-coated roller drives the guide part and the accommodating part to move through static friction; the stretcher drive motor is fixed to the rotating guide frame through the stretcher drive motor bracket.

[0011] Furthermore, a steel rope guide cylinder is provided on the rotating guide frame, and the steel rope guide cylinder is installed on the rotating guide frame through two steel rope guide cylinder brackets.

[0012] Furthermore, a plurality of stretcher support arms cooperating with the foldable stretcher are arranged on the bottom plate, and a guide roller is arranged on each stretcher support arm.

[0013] Furthermore, the winch is fixedly connected to the foldable stretcher through a steel rope, and a steel rope traction point is provided on the foldable stretcher.

[0014] A method for controlling an actuator of a transport and rescue robot comprises the following steps:

[0015] S1: Set the speed and stroke of the folding stretcher extending and retracting, the stroke of the second telescopic device extending and retracting, and the speed of the conveyor belt rotation during each rescue process;

[0016] S2: Calculate the speed and number of revolutions of the stretcher driving motor according to the speed and stroke of the foldable stretcher extended set in step S1 and the diameter of the rubber-coated roller; Calculate the speed and number of revolutions of the capstan according to the speed and stroke of the foldable stretcher extended set in step S1 and the diameter of the capstan;

[0017] S3: controlling the extension of the foldable stretcher by using the speed and number of revolutions of the stretcher drive motor and the speed and number of revolutions of the winch calculated in step S2;

[0018] S4: Calculating the retracted stroke of the first telescopic device and the number of rotations of the winch when the foldable stretcher is in a horizontal position according to the extended stroke of the second telescopic device set in step S1;

[0019] S5: controlling the foldable stretcher to be lowered in a horizontal posture by using the retracted stroke of the first telescopic device and the number of rotations of the winch calculated in step S4;

[0020] S6: Calculate the rotation speed of the conveyor belt motor 621 according to the conveyor belt rotation speed set in step S1 and the diameter of the conveyor belt roller;

[0021] S7: Controlling the rotation of the conveyor belt using the speed of the conveyor belt motor calculated in step S6;

[0022] S8: Control the rescue robot body to move toward the injured person until the injured person is transferred to the accommodation part, and then control the conveyor belt motor to stop working and the conveyor belt to stop rotating;

[0023] S9: executing step S4, using the calculated extension stroke of the first telescopic device and the number of rotations of the winch, controlling the foldable stretcher and the injured person to rise in a horizontal posture;

[0024] S10: After that, step S2 is executed again, and the foldable stretcher and the injured person are retracted by using the calculated speed and number of revolutions of the stretcher drive motor and the speed and number of revolutions of the winch;

[0025] S11: The rescue robot carries the wounded away and the rescue work is completed.

[0026] The beneficial effects of the present invention are:

[0027] The winch of the present invention cooperates with the telescopic driving mechanism to pull and drive the foldable stretcher to slide on the rotating guide frame, thereby realizing the horizontal movement of the foldable stretcher; the rotation of the rotating guide frame can be controlled by the telescopic means of the second telescopic device, thereby driving the rotation of the foldable stretcher; the foldable stretcher adopts a hinged design of the guide part and the accommodating part, and cooperates with the first telescopic device between the guide part and the accommodating part to adjust the inclination state of the accommodating part, so that the injured person can be conveniently adjusted to be in a horizontal position during the process of lifting or lowering the injured person on the accommodating part; the accommodating part cooperates with the conveyor belt to conveniently move the injured person to the accommodating part, thereby realizing the transfer and transportation of the injured person.

[0028] During rescue, the present invention first transports the foldable stretcher to a far horizontal position through the cooperation of a winch and a telescopic drive mechanism, and then drives the rotating guide frame to rotate through the cooperation of a first telescopic device and a second telescopic device, while adjusting the angle between the guide portion and the accommodating portion, so that the accommodating portion is always in a horizontal position until the accommodating portion is placed flat on the ground, and then cooperates with the conveyor belt on the accommodating portion to move the injured person to the accommodating portion. After the injured person is moved to the accommodating portion, the cooperation of the first telescopic device and the second telescopic device is used to lift the accommodating portion and the injured person to a horizontal state. After lifting to a certain height, the winch cooperates with the telescopic drive mechanism to move the foldable stretcher and the injured person horizontally to above the bottom plate, thereby transferring the injured person to the rescue robot body, which is convenient for transferring the injured person.

[0029] The present invention integrates the transport and rescue robot actuator into an independent module, which can be matched with different rescue robots, so that the transport and rescue robot actuator can be applicable to rescue operations in various road conditions.

[0030] The present invention adopts a foldable stretcher structure, decouples a multi-telescopic connecting rod structure into two three-link mechanisms, has a simple and compact structure, requires a small space range during operation, and performs rescue operations by controlling the length of the connecting rod, greatly reducing the control difficulty.

[0031] The present invention adopts a foldable stretcher, decouples a multi-telescopic connecting rod structure into two three-link mechanisms, and controls the stretcher by controlling the lengths of the connecting rods respectively.

[0032] The present invention adopts a winch mechanism as an auxiliary power source, which mainly works in the stretcher retraction stage, and assists in driving the rotating guide frame and the folding stretcher to rotate in the opposite direction through the steel rope guide cylinder, and assists in driving the folding stretcher to be retracted through the steel rope traction point. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 Schematic diagram of the actuator structure Figure 1 ;

[0035] Figure 3 Schematic diagram of the actuator structure Figure 1 ;

[0036] Figure 4 is a structural schematic diagram of a rotating guide frame;

[0037] Figure 5 The working principle of the present invention is shown in FIG. Figure 1 ;

[0038] Figure 6 The working principle of the present invention is shown in FIG. Figure 2 ;

[0039] Figure 7 It is a structural diagram of the present invention;

[0040] The main components in the figure are described as follows:

[0041] 1. Actuator; 2. Rescue robot body; 3. Bottom plate; 31. Stretcher support arm; 4. Winch; 41. Steel rope; 411. First section of steel rope; 412. Second section of steel rope; 5. First telescopic device; 6. Folding stretcher; 61. Guide part; 611. Steel rope traction point; 621. Conveyor belt motor; 62. Accommodating part; 622. Conveyor belt groove; 623. Conveyor belt; 7. Rotating guide frame; 71. Steel rope guide cylinder bracket; 72. Steel rope guide cylinder; 73. Guide groove; 74. Stretcher drive motor; 75. Stretcher drive motor bracket; 76. Rubber-coated roller; 8. Second telescopic device. DETAILED DESCRIPTION

[0042] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0043] like Figure 1 and 2As shown, the transport and rescue robot actuator is used in conjunction with the rescue robot body 2, and the transport and rescue robot actuator includes a base plate 3, a winch 4, a foldable stretcher 6 and a U-shaped rotating guide frame 7. The rotating guide frame 7 and the winch 4 are respectively arranged at the front and rear ends of the base plate 3, the bottom of the rotating guide frame 7 is hinged to the base plate 3, and a second telescopic device 8 is hinged between the rear side of the rotating guide frame 7 and the base plate 3. The foldable stretcher 6 is slidably installed on the rotating guide frame 7, and the winch 4 is used to pull the foldable stretcher 6 to slide. The winch 4 is fixedly connected to the foldable stretcher 6 through a steel rope 41, and a steel rope traction point 611 is arranged on the foldable stretcher 6. The steel rope 41 between the winch 4 and the steel rope guide cylinder 72 is the first section 411 of the steel rope, and the steel rope 41 between the steel rope guide cylinder 72 and the steel rope traction point 611 is the second section 412 of the steel rope. The rotating guide frame 7 is also provided with a telescopic driving mechanism for driving the foldable stretcher 6 to telescope. The telescopic driving mechanism is arranged at the bottom of the foldable stretcher 6 and drives the foldable stretcher 6 to telescope through static friction. The rescue robot body 2, the bottom plate 3, the winch 4, the foldable stretcher 6 and the rotating guide frame 7 constitute an actuator 1.

[0044] like Figure 3 As shown, the foldable stretcher 6 includes a guide portion 61 and a receiving portion 62, the guide portion 61 and the receiving portion 62 are hinged, a conveyor belt 623 is arranged on the receiving portion 62, and two first telescopic devices 5 are hinged on the upper sides of the guide portion 61 and the receiving portion 62. The first telescopic device 5 and the second telescopic device 8 can adopt hydraulic cylinders, air cylinders or electric telescopic rods. A conveyor belt groove 622 for installing the conveyor belt 623 is arranged on the receiving portion 62, and the conveyor belt 623 is installed in the conveyor belt 623. The conveyor belt 623 adopts an existing conveyor belt structure, specifically including a main power roller, a driven power roller, a conveyor belt and a plurality of supporting rollers. A conveyor belt motor 621 for driving the conveyor belt 623 is arranged in the conveyor belt groove 622, and the conveyor belt motor 621 drives the main power roller to rotate. The conveyor belt motor 621 and the main power roller are connected and driven by a synchronous belt or a synchronous wheel.

[0045] like Figure 4 As shown, two guide grooves 73 cooperating with the guide part 61 and the receiving part 62 are provided on the rotating guide frame 7, and the ends of the guide part 61 and the receiving part 62 can slide in the guide groove 73, and the cross section of the guide groove 73 is U-shaped. The telescopic drive mechanism includes a stretcher drive motor 74 and a rubber-coated roller 76, and the rubber-coated roller 76 is fixed to the output end of the stretcher drive motor 74, and the rubber-coated roller 76 drives the guide part 61 and the receiving part 62 to move through static friction. The stretcher drive motor 74 is fixed to the rotating guide frame 7 through the stretcher drive motor bracket 75. A steel rope guide cylinder 72 is provided on the rotating guide frame 7, and the steel rope guide cylinder 72 is installed on the rotating guide frame 7 through two steel rope guide cylinder brackets 71, and the steel rope guide cylinder 72 can be used to guide the steel rope 41.

[0046] The bottom plate 3 is provided with a plurality of stretcher support arms 31 cooperating with the foldable stretcher 6, and a guide roller is provided on each stretcher support arm 31. The guide rollers are evenly arranged at two locations for guiding the foldable stretcher 6.

[0047] Working process and principle: Figure 5 and 6 As shown, specifically, A1, the rescue robot moves to the front of the head of the injured person, and the carrying and rescue actuator works; A2, the stretcher drive motor 74 and the rubber-coated roller 76 rotate forwardly, generating friction, driving the folding stretcher 6 to extend, and at the same time the winch 4 rotates forwardly, and the steel rope 41 extends; A3, the second telescopic device 8 extends, driving the rotating guide frame 7 and the folding stretcher 6 to rotate forwardly; the first telescopic device 5 is retracted accordingly, and the accommodating portion 62 rotates reversely relative to the guide portion 61, so that the accommodating portion 62 falls to the ground in a horizontal state; the winch 4 rotates forwardly, and the steel rope 41 continues to extend and falls on the steel rope guide cylinder 72; A4, the conveyor belt motor 621 starts to work, the conveyor belt 623 rotates reversely, the rescue robot body 2 carrying the actuator 1 slowly moves forward, the injured person contacts the conveyor belt 623, and is transferred to the accommodating portion 62 under the action of friction, and the conveyor belt 62 is moved forward. The belt feeding motor 621 stops working and the conveyor belt 623 stops rotating; A5, the second telescopic device 8 is retracted, driving the rotating guide frame 7 and the folding stretcher 6 to rotate in the opposite direction; the first telescopic device 5 is extended accordingly, and the accommodating portion 62 rotates forward relative to the guide portion 61, so that the accommodating portion 62 rises to the initial height in a horizontal state; the winch 4 rotates in the opposite direction, the steel rope 41 is retracted, and the first section 411 of the steel rope and the first section 412 of the steel rope are tightened, which produces pressure on the steel rope guide cylinder 72, and assists in driving the rotating guide frame 7 and the folding stretcher 6 to rotate in the opposite direction; A6, the stretcher drive motor 74 and the rubber-coated roller 76 rotate in the opposite direction, generating friction, driving the folding stretcher 6 to retract, and at the same time the winch 4 rotates in the opposite direction, and the steel rope 41 continues to retract, assisting in driving the folding stretcher 6 to retract; A7, the wounded is successfully transported to the rescue robot 1, the rescue actuator 2 completes its work, and the rescue robot 1 evacuates.

[0048] A method for controlling an actuator of a transport and rescue robot comprises the following steps:

[0049] S1: setting the speed and stroke of the foldable stretcher 6 extending and retracting, the stroke of the second telescopic device 8 extending and retracting, and the speed of the conveyor belt 623 rotating during each rescue process;

[0050] S2: Calculate the rotation speed and number of revolutions of the stretcher driving motor 74 according to the extension speed and stroke of the foldable stretcher 6 set in step S1 and the diameter of the rubber-coated roller 76;

[0051] According to the extension speed and stroke of the foldable stretcher 6 set in step S1, the rotation speed and number of turns of the capstan 4 are calculated in combination with the diameter of the capstan 4;

[0052] S3: Using the speed and number of revolutions of the stretcher drive motor 74 and the speed and number of revolutions of the winch 4 calculated in step S2 to control the extension of the foldable stretcher 6;

[0053] S4: Calculate the retracted stroke of the first telescopic device 5 and the number of rotations of the winch 4 when the foldable stretcher accommodating portion 62 is in a horizontal position according to the extended stroke of the second telescopic device 8 set in step S1;

[0054] S5: using the retracted stroke of the first telescopic device 5 and the number of rotations of the winch 4 calculated in step S4 to control the foldable stretcher accommodating portion 62 to be lowered in a horizontal posture;

[0055] S6: Calculate the rotation speed of the conveyor belt motor 621 according to the rotation speed of the conveyor belt 623 set in step S1 and the diameter of the conveyor belt roller;

[0056] S7: Control the rotation of the conveyor belt 623 using the rotation speed of the conveyor belt motor 621 calculated in step S6;

[0057] S8: Control the rescue robot body 2 to move toward the injured person until the injured person is transferred to the accommodation portion 62, and then control the conveyor belt motor 621 to stop working and the conveyor belt 623 to stop rotating;

[0058] S9: executing step S4, using the calculated extension stroke of the first telescopic device 5 and the number of rotations of the winch 4, controlling the foldable stretcher accommodating portion 62 and the injured person to rise in a horizontal posture;

[0059] S10: After that, step S2 is executed again, and the foldable stretcher 6 and the injured person are retracted by using the calculated rotation speed and number of revolutions of the stretcher drive motor 74 and the rotation speed and number of revolutions of the winch 4;

[0060] S11: The rescue robot body 2 carries the wounded away, and the rescue work is completed.

[0061] The specific steps of the method for calculating the retraction stroke of the first telescopic device 5 in step S4 are as follows:

[0062] S411: Taking the connection point between the second telescopic device 8 and the bottom plate 3 as the coordinate origin, establish a three-link coordinate system of the second telescopic device; the positive direction of the X axis of the three-link coordinate system of the second telescopic device is the direction in which the foldable stretcher 6 extends, and the positive direction of the Y axis is perpendicular to the upper side of the actuator bottom plate 3;

[0063] S412: Obtain the included angle of the second telescopic device 8 at time t in the triangle formed by the connection point between the second telescopic device 8 and the base plate 3, the connection point between the rotating guide frame 7 and the base plate 3, and the connection point between the second telescopic device 8 and the rotating guide frame 7 through the three-link coordinate system of the second telescopic device. Specifically, the angle calculation formula is as follows:

[0064]

[0065] Among them, α t is the angle corresponding to the second telescopic device 8 at time t in the triangle formed by the connection point of the second telescopic device 8 and the base plate 3, the connection point of the rotating guide frame 7 and the base plate 3, and the connection point of the second telescopic device 8 and the rotating guide frame 7, a is the length of the straight line formed by the connection point of the second telescopic device 8 and the base plate 3 and the connection point of the rotating guide frame 7 and the base plate 3, b is the length of the straight line formed by the connection point of the rotating guide frame 7 and the base plate 3 and the connection point of the second telescopic device 8 and the rotating guide frame 7, l t is the stroke of the second telescopic device 8 at time t, which is given by the setting, such as Figure 7 It is a structural diagram of the present invention;

[0066] S413: Taking the hinge point between the guide portion 61 and the receiving portion 62 as the coordinate origin, a three-link coordinate system of the first telescopic device is established; the positive direction of the X axis of the three-link coordinate system of the first telescopic device is the extension direction of the foldable stretcher 6, and the positive direction of the Y axis is perpendicular to the upper side of the receiving portion 62;

[0067] S414: According to the geometric relationship of the actuator, the receiving portion 62 is kept in a horizontal posture, and the angle corresponding to the first telescopic device 5 at time t in the triangle formed by the connection point of the first telescopic device 5 and the guide portion 61, the connection point of the guide portion 61 and the receiving portion 62, and the connection point of the first telescopic device 5 and the receiving portion 62 can be obtained. The specific angle calculation formula is as follows:

[0068] β t =π-α t

[0069] Among them, β t is the angle corresponding to the first telescopic device 5 at time t in the triangle formed by the connection point between the first telescopic device 5 and the guide portion 61, the connection point between the guide portion 61 and the receiving portion 62, and the connection point between the first telescopic device 5 and the receiving portion 62;

[0070] S415: The stroke of the first telescopic device 5 at time t can be obtained through the three-link coordinate system of the first telescopic device. The specific stroke calculation formula is as follows:

[0071]

[0072] Among them, L t is the stroke of the first telescopic device 5 at time t, c is the length of the straight line formed by the connection point between the first telescopic device 5 and the receiving portion 62 and the connection point between the guide portion 61 and the receiving portion 62, d is the length of the straight line formed by the connection point between the first telescopic device 5 and the guide portion 61 and the connection point between the guide portion 61 and the receiving portion 62, β t is the angle corresponding to the first telescopic device 5 at time t in the triangle formed by the connection point between the first telescopic device 5 and the guide portion 61, the connection point between the guide portion 61 and the accommodation portion 62, and the connection point between the first telescopic device 5 and the accommodation portion 62.

[0073] The method for calculating the number of rotations of the winch 4 in step S4 comprises the following steps:

[0074] S421: Taking the center point of the winch 4 as the coordinate origin, establish a winch coordinate system; the positive direction of the X axis of the winch coordinate system is the direction in which the foldable stretcher 6 extends, and the positive direction of the Y axis is the direction perpendicular to the upper side of the bottom plate 3;

[0075] S422: Assume that the steel rope between the winch 4 and the steel rope guide cylinder 72 is the first section 411 of the steel rope, and calculate the length of the first section 411 of the steel rope at time t through the winch coordinate system. The specific calculation formula is as follows:

[0076]

[0077] Among them, s t is the length of the first section 411 of the steel rope at time t, e is the length of the straight line formed by the center point of the steel rope guide cylinder 72 and the connection point between the bottom plate 3 and the rotating guide frame 7, and f is the length of the bottom plate 3;

[0078] S423: Calculate the number of turns of the winch at time t. The specific calculation formula is as follows:

[0079]

[0080] Among them, n t is the number of turns of the winch at time t, s0 is the length of the first section 411 of the steel rope at the initial moment, and r is the radius of the winch.

Claims

1. A transport and rescue robot actuator, used in conjunction with a rescue robot body (2), characterized in that: The invention comprises a bottom plate (3), a winch (4), a foldable stretcher (6) and a U-shaped rotating guide frame (7), wherein the bottom of the rotating guide frame (7) is hinged to the bottom plate (3), a second telescopic device (8) is hinged between the rear side of the rotating guide frame (7) and the bottom plate (3), the foldable stretcher (6) is slidably mounted on the rotating guide frame (7), and the winch (4) is used to pull the foldable stretcher (6) to slide; The rotating guide frame (7) is also provided with a telescopic driving mechanism for driving the foldable stretcher (6) to telescopically move.

2. The transport and rescue robot actuator according to claim 1, characterized in that: The foldable stretcher (6) comprises a guide portion (61) and a receiving portion (62), the guide portion (61) and the receiving portion (62) are hinged, a conveyor belt (623) is arranged on the receiving portion (62), two first telescopic devices (5) are hinged on the upper sides of the guide portion (61) and the receiving portion (62), and two guide grooves (73) cooperating with the guide portion (61) and the receiving portion (62) are arranged on the rotating guide frame (7).

3. The transport and rescue robot actuator according to claim 2, characterized in that: The accommodating portion (62) is provided with a conveyor belt groove (622) for installing a conveyor belt (623), and a conveyor belt motor (621) for driving the conveyor belt (623) is provided in the conveyor belt groove (622).

4. The transport and rescue robot actuator according to claim 2, characterized in that: The first telescopic device (5) and the second telescopic device (8) are hydraulic cylinders, pneumatic cylinders or electric telescopic rods.

5. The transport and rescue robot actuator according to claim 2, characterized in that: The cross section of the guide groove (73) is U-shaped.

6. The transport and rescue robot actuator according to claim 1, characterized in that: The telescopic driving mechanism comprises a stretcher driving motor (74) and a rubber-coated roller (76); the rubber-coated roller (76) is fixed to the output end of the stretcher driving motor (74); and the rubber-coated roller (76) drives the guide portion (61) and the accommodating portion (62) to move through static friction.

7. The transport and rescue robot actuator according to claim 1, characterized in that: The rotating guide frame (7) is provided with a steel rope guide cylinder (72), and the steel rope guide cylinder (72) is mounted on the rotating guide frame (7) via two steel rope guide cylinder brackets (71).

8. The transport and rescue robot actuator according to claim 1, characterized in that: A plurality of stretcher support arms (31) cooperating with the foldable stretcher (6) are arranged on the bottom plate (3), and a guide roller is arranged on each of the stretcher support arms (31).

9. The transport and rescue robot actuator according to claim 1, characterized in that: The winch (4) is fixedly connected to the foldable stretcher (6) via a steel rope (41), and a steel rope traction point (611) is provided on the foldable stretcher (6).

10. A control method for the actuator of the transport and rescue robot according to any one of claims 1 to 9, characterized in that: The steps include: S1: setting the speed and stroke of extending and retracting the foldable stretcher (6), the stroke of extending and retracting the second telescopic device (8), and the rotation speed of the conveyor belt (623) during each rescue process; S2: Calculate the rotation speed and number of revolutions of the stretcher drive motor (74) according to the extension speed and stroke of the foldable stretcher (6) set in step S1 and the diameter of the rubber-coated roller (76); According to the speed and stroke of the foldable stretcher (6) extended in step S1, the speed and number of revolutions of the winch (4) are calculated in combination with the diameter of the winch (4); S3: Using the rotation speed and number of revolutions of the stretcher drive motor (74) and the rotation speed and number of revolutions of the winch (4) calculated in step S2 to control the extension of the foldable stretcher (6); S4: Calculating the retracted stroke of the first telescopic device (5) and the number of rotations of the winch (4) when the foldable stretcher accommodating portion (62) is in a horizontal position according to the extended stroke of the second telescopic device (8) set in step S1; S5: using the retracted stroke of the first telescopic device (5) and the number of rotations of the winch (4) calculated in step S4 to control the foldable stretcher accommodating portion (62) to be lowered in a horizontal posture; S6: Calculate the rotation speed of the conveyor belt motor (621) according to the rotation speed of the conveyor belt (623) set in step S1 and in combination with the diameter of the conveyor belt roller; S7: Controlling the rotation of the conveyor belt (623) using the rotation speed of the conveyor belt motor (621) calculated in step S6; S8: Controlling the rescue robot body (2) to move toward the injured person until the injured person is transferred to the receiving portion (62), and then controlling the conveyor belt motor (621) to stop working and the conveyor belt (623) to stop rotating; S9: executing step S4, using the calculated extension stroke of the first telescopic device (5) and the number of rotations of the winch (4), controlling the foldable stretcher accommodating portion (62) and the injured person to rise in a horizontal posture; S10: After that, step S2 is executed again, and the foldable stretcher (6) and the injured person are retracted by using the calculated rotation speed and number of revolutions of the stretcher drive motor (74) and the rotation speed and number of revolutions of the winch (4); S11: The rescue robot body (2) carries the injured person away, and the rescue work is completed.

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