Automatic carrying stretcher for rescue and use control method thereof

Abstract

The invention discloses an automatic carrying stretcher for rescue and a use control method thereof, and belongs to the field of battlefield / medical rescue equipment. The auxiliary frame can be quickly unfolded and folded, so that the carrying convenience is obviously improved; the stretcher is characterized in that a low-reflectivity invisible coating is coated outside the stretcher, optical and radar reflection signals are effectively reduced, and the risk of being detected by enemies is reduced. A protective cover and a built-in control system are arranged at one end of the auxiliary frame, four-wheel-drive wheels and a mechanical arm are arranged at the bottom of the main frame, automatic unfolding and folding of the auxiliary frame are achieved through cooperative driving of electromagnetic release and a torsional spring, and the wounded can be carried and fixed autonomously in combination with the automatic posture adjusting function of the mechanical arm. In the transportation process, a laser scanner, a camera, an IMU and an intelligent navigation system fused by multiple sensors are integrated, and path planning and obstacle avoidance of complex terrains are achieved. The system has portability, concealment and all-terrain adaptability, and an efficient solution is provided for rescue in battlefields and high-risk environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of battlefield / medical rescue equipment, and specifically relates to an automatic transport stretcher for rescue and a method for controlling its use. The invention is suitable for autonomous transport and safe delivery of wounded persons under complex terrain conditions, including but not limited to fire line areas, rear rescue points, and field rescue scenes. The present invention integrates an intelligent control system, a four-wheel drive system, a bulletproof protection device, and a mechanical arm auxiliary function to provide an automated rescue equipment that can efficiently and safely perform the task of transporting wounded persons in complex terrain and high-risk areas. Background Art

[0002] With the increasing complexity of modern warfare and disaster relief environments, the application of traditional stretchers in complex terrains and high-risk areas is greatly limited due to their reliance on manual handling. In complex terrains such as battlefields, mountains, forests, and urban ruins, or when facing high-risk environments such as unexploded ordnance, chemical pollution, and fire line intersections, it is often difficult for rescue personnel to cross the line of fire to reach the wounded to carry out rescue, and the transportation of traditional stretchers is even more difficult. Therefore, the market is in urgent need of an intelligent and automated rescue equipment that can replace manual operations, enter complex and dangerous environments to perform tasks, effectively respond to various trauma rescue needs in wars and disasters, and achieve efficient and safe fire rescue. As the first automatic transport stretcher that integrates bulletproof protection and intelligent navigation functions, the present invention not only fills the market gap, but also provides a new solution for battlefield and disaster rescue, and has important application value and social significance. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an automatic transport stretcher for rescue and a method for controlling its use. The stretcher body adopts a main frame and sub-frame assemblies at both ends, and the main frame and the sub-frame are connected by a connecting assembly. When carrying, the sub-frames at both ends can be folded upward through the connecting assembly to reduce the occupied space and facilitate carrying. The rapid unfolding and folding of the sub-frames can be achieved through an electromagnetic release device and an elastic element.

[0004] To achieve the above object, the present invention provides the following technical solution: an automatic transport stretcher for rescue comprises a main frame, two ends of the main frame are provided with auxiliary frames, a connecting assembly is provided between the main frame and the auxiliary frame, and the auxiliary frame is movably connected to the main frame through the connecting assembly;

[0005] Furthermore, a protective cover is fixedly installed at one end of the sub-frame, and a control system is arranged inside the protective cover. The control system integrates a laser scanner, a camera, an IMU inertial measurement unit, a multi-sensor fusion and a GPS module to achieve high-precision environmental perception, path planning and obstacle avoidance functions.

[0006] The bulletproof plate is inserted on both sides of the main frame and the auxiliary frame, a guide rod is fixedly installed on the outer surface of one side of the bulletproof plate, a pull plate is fixedly installed on the top of the bulletproof plate, a sliding groove matching the guide rod is opened on the inner wall of the main frame, and the guide rod is slidably connected to the main frame through the sliding groove.

[0007] Furthermore, four-wheel drive wheels are installed at the four corners of the bottom of the main frame. The four-wheel drive wheels are equipped with an adaptive suspension system and can adapt to complex terrain with a slope of more than 30°.

[0008] Furthermore, a robotic arm is installed on the outer surface of one side of the main frame, and the robotic arm realizes automated operation through a pressure sensor and a control system to assist in adjusting the posture of the injured and ensure stability during the transportation process.

[0009] Furthermore, the connection assembly includes a first connection frame and a second connection frame arranged between the main frame and the auxiliary frame, the first connection frame is fixedly connected to the outer surface of one end of the main frame, and the second connection frame is fixedly connected to the outer surface of one end of the auxiliary frame.

[0010] Furthermore, a connecting rod is fixedly installed at one end of the second connecting frame, a rotating shaft is fixedly installed at one end of the connecting rod, and the second connecting frame is rotatably connected to the first connecting frame via the rotating shaft. A torsion spring is sleeved on the outer surface of the connecting rod, and the automatic unfolding of the sub-frame (2) is achieved by the torsion spring (25).

[0011] Furthermore, a slide rod is inserted into one end of the rotating shaft, a clamping block is fixedly installed at one end of the slide rod, and a clamping groove matching one end of the clamping block is opened at one end of the inner wall of the first connecting frame, and the shape of one end of the clamping block and the clamping groove are both square.

[0012] Furthermore, a first electromagnet is sleeved on the outer surface of the slide bar, and the first electromagnet is fixedly installed inside the first connecting frame. A first return spring is sleeved on the outer surface of the slide bar on one side of the first electromagnet.

[0013] Furthermore, a limiting rod is arranged inside the guide rod, and a limiting groove matching one end of the limiting rod is opened at the top end of the inner wall of the slide groove.

[0014] Furthermore, a retaining ring is fixedly installed on the outer surface of the limit rod, a second return spring is sleeved on one side of the retaining ring on the outer surface of the limit rod, a retaining ring is sleeved on one end of the second return spring on the outer surface of the limit rod, and a second electromagnet is fixedly installed on one side of the inner wall of the guide rod.

[0015] A method for controlling the use of an automatic transport stretcher for rescue, the steps of which are as follows:

[0016] Step 1: transport the stretcher body to the destination, release the limit by starting the first electromagnet, and automatically unfold the auxiliary frames on both sides through the torsion spring, and the main frame descends as a whole and tilts one side to the side of the injured person;

[0017] Step 2: Carry the injured onto the stretcher and adjust the injured's posture with the help of the robotic arms to ensure that the injured is smoothly transferred to the stretcher and firmly fixed. The three robotic arms are located at the head, shoulder, and hip of the injured, and independently complete the transfer and fixation of the injured;

[0018] Step 3: Pull out the bulletproof plates on both sides of the main frame and the auxiliary frame upwards to protect the wounded;

[0019] Step 4: Start the four-wheel drive wheels through the control system to move and transport the wounded. The built-in intelligent navigation system integrates laser scanners, cameras, IMU inertial measurement units, multi-sensor fusion and GPS modules to achieve high-precision environmental perception, path planning and obstacle avoidance functions.

[0020] Technical effects and advantages of the present invention:

[0021] 1. The present invention provides a stretcher body with a main frame and sub-frame components at both ends, and the main frame and the sub-frame are connected by a connecting component. When carrying, the sub-frames at both ends can be folded upwards through the connecting component to reduce the occupied space and facilitate carrying. The connecting component uses an elastic element and an electromagnetic release device to cooperate, and can be quickly unfolded when in use;

[0022] 2. The present invention installs bulletproof plates on both sides of the main frame and the auxiliary frame. When in use, the bulletproof plates can be pulled out upward to provide bulletproof protection for the wounded. The exterior of the bulletproof plates is coated with a low-reflectivity invisible coating, which effectively enhances the protective performance and reduces the risk of being detected by the enemy.

[0023] Technical solution description

[0024] 1. Structure

[0025] The present invention provides an automatic transport stretcher for rescue, the structure of which includes the following main components:

[0026] Main frame: The main part of the stretcher, with sub-frames at both ends. The main frame and sub-frames are movably connected through connecting components.

[0027] Sub-frame: Located at both ends of the main frame, it is foldable and connected to the main frame through connecting components, which is easy to carry and quickly unfold.

[0028] Bulletproof plate: inserted on both sides of the main frame and the auxiliary frame to protect the wounded. A guide rod is fixedly installed on the outer surface of one side of the bulletproof plate, and a pull plate is fixedly installed on the top. A slide groove matching the guide rod is opened on the inner wall of the main frame, and the guide rod is slidably connected to the main frame through the slide groove.

[0029] Protective cover: installed at one end of the sub-frame, with a control system inside to protect the control system from external environmental influences.

[0030] Four-wheel drive wheels: installed at the four corners of the bottom of the main frame, providing all-terrain mobility.

[0031] Mechanical arm: installed on the outer surface of one side of the main frame, used to assist in adjusting the posture of the injured and ensure stability during the transportation process.

[0032] The connecting assembly includes a first connecting frame and a second connecting frame, which are fixedly connected to the main frame and the auxiliary frame respectively. A connecting rod is installed at one end of the second connecting frame, and the connecting rod is rotatably connected to the first connecting frame through a rotating shaft. A torsion spring is sleeved on the outer surface of the connecting rod to realize the automatic deployment of the auxiliary frame.

[0033] Electromagnetic release device: includes a slide bar, a card block, a first electromagnet and a first return spring. A card block is fixedly installed at one end of the slide bar, and the card block matches the card slot on the inner wall of the first connecting frame. The release of the card block is controlled by the first electromagnet to realize the rapid deployment of the sub-frame.

[0034] The bulletproof plate limiting device includes a limiting rod, a retaining ring, a second return spring, a snap ring and a second electromagnet. The limiting rod fixes the bulletproof plate through the limiting groove on the inner wall of the slide groove, and the second electromagnet is used to control the release of the limiting rod.

[0035] 2. Function

[0036] The automatic transport stretcher of the present invention has the following functions:

[0037] Portability: The sub-frame can be folded inwards to reduce the space occupied and is easy to carry and transport.

[0038] Quick deployment: Through the coordinated action of torsion springs and electromagnetic release devices, the sub-frame can be quickly deployed to meet emergency rescue needs.

[0039] Bulletproof protection: The bulletproof plate can be pulled out upwards to provide additional bulletproof protection for the wounded and reduce the risk of secondary injury. All-terrain mobility: The four-wheel drive wheels and intelligent navigation system enable the stretcher to move stably in complex terrains, including mountains, forests, urban ruins, etc.

[0040] Intelligent control: The built-in control system integrates laser scanners, cameras, IMU inertial measurement units, multi-sensor fusion and GPS modules to achieve high-precision environmental perception, path planning and obstacle avoidance functions.

[0041] Assisted transportation: The robotic arm can assist in adjusting the posture of the injured person to ensure stability and safety during transportation.

[0042] 3. Working Principle

[0043] The working principle of the automatic transport stretcher of the present invention is as follows:

[0044] 1. Unfold the stretcher:

[0045] After the stretcher is transported to the destination, the first electromagnet is started, the clamping block is attracted by the magnetic force and disengaged from the clamping slot, thereby releasing the limit on the rotating shaft.

[0046] The torsion spring releases elastic potential energy to drive the rotating shaft to rotate, and pushes the sub-frame to automatically unfold through the second connecting frame.

[0047] After the deployment is completed, the first electromagnet is turned off, and the first return spring resets the block to fix the position of the sub-frame.

[0048] 2. Carrying the injured:

[0049] The injured person is carried to the stretcher and the posture of the injured person is adjusted with the assistance of a robotic arm to ensure stable fixation.

[0050] Pull out the bulletproof plates on both sides of the main frame and the auxiliary frame, slide the bulletproof plates upward along the slide grooves, insert the limit rods into the limit grooves, fix the position of the bulletproof plates, and provide bulletproof protection for the wounded.

[0051] 3. Transport of the wounded:

[0052] Activate the control system and the four-wheel drive wheels start moving.

[0053] The intelligent navigation system uses laser scanners, cameras, IMU inertial measurement units, multi-sensor fusion and GPS modules to perceive the environment in real time and plan routes to avoid obstacles and ensure safe transportation.

[0054] 4. Retract the bulletproof plate:

[0055] When the second electromagnet is activated, the limit rod is attracted by the magnetic force and disengages from the limit groove.

[0056] Push the bulletproof plate back down into the slide to complete the retraction operation.

[0057] Technical effects and advantages

[0058] 1. Portability and quick deployment:

[0059] Through the folding design and the coordinated action of the torsion spring and electromagnetic release device, the stretcher can be quickly unfolded to adapt to emergency rescue needs while being easy to carry and transport.

[0060] 2.Ballistic protection and concealment:

[0061] The bulletproof plate provides additional protection and is coated with a low-reflectivity stealth coating on the outside to reduce the risk of enemy detection and enhance concealment.

[0062] 3.Intelligence and all-terrain adaptability:

[0063] The built-in intelligent navigation system and four-wheel drive wheels enable the stretcher to move stably in complex terrain, achieving high-precision environmental perception and path planning.

[0064] 4. Versatility and safety:

[0065] The robotic arm assists in the transportation, ensuring that the wounded are stably fixed; the bulletproof plates and intelligent control system jointly ensure the safety of the wounded during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0067] Figure 2 It is a structural schematic diagram of the main frame and auxiliary frame of the present invention in a folded state.

[0068] Figure 3 It is a cross-sectional view of the first connecting frame of the present invention.

[0069] Figure 4 It is a cross-sectional exploded view of the first connecting frame of the present invention.

[0070] Figure 5 It is a schematic diagram of the overall structure of the bulletproof plate of the present invention in an open state.

[0071] Figure 6 It is a schematic structural diagram of the bulletproof plate of the present invention.

[0072] Figure 7 It is a cross-sectional view of the slide bar of the present invention.

[0073] The accompanying drawings are marked as follows: 1. main frame; 11. mechanical arm; 12. four-wheel drive wheel; 2. sub-frame; 21. protective cover; 22. first connecting frame; 23. second connecting frame; 24. connecting rod; 25. torsion spring; 26. rotating shaft; 27. sliding rod; 271. first return spring; 28. clamping block; 281. clamping groove; 29. ​​first electromagnet; 3. bulletproof plate; 31. pull plate; 32. guide rod; 33. limit rod; 34. retaining ring; 35. second return spring; 36. clamping ring; 37. second electromagnet. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0075] according to Figure 1-4 An automatic transport stretcher for rescue and a method for controlling its use are shown, comprising a main frame 1, with auxiliary frames 2 provided at both ends of the main frame 1, a connecting assembly provided between the main frame 1 and the auxiliary frame 2, and the auxiliary frame 2 being movably connected to the main frame 1 through the connecting assembly;

[0076] A protective cover 21 is fixedly installed at one end of the sub-frame 2, and a control system is arranged inside the protective cover 21. The control system integrates a laser scanner, a camera, an IMU inertial measurement unit, a multi-sensor fusion and a GPS module to achieve high-precision environmental perception, path planning and obstacle avoidance functions.

[0077] Furthermore, the connecting assembly includes a first connecting frame 22 and a second connecting frame 23 arranged between the main frame 1 and the sub-frame 2, the first connecting frame 22 is fixedly connected to the outer surface of one end of the main frame 1, the second connecting frame 23 is fixedly connected to the outer surface of one end of the sub-frame 2, a connecting rod 24 is fixedly installed at one end of the second connecting frame 23, a rotating shaft 26 is fixedly installed at one end of the connecting rod 24, and the second connecting frame 23 is rotatably connected to the first connecting frame 22 through the rotating shaft 26, a torsion spring 25 is sleeved on the outer surface of the connecting rod 24, and the sub-frame 2 is automatically unfolded by the torsion spring 25. When carrying the stretcher, the sub-frames 2 at both ends can be folded inward to reduce the overall space occupied by the stretcher and facilitate carrying. During the folding process, the rotating shaft 26 rotates along the first connecting frame 22 to squeeze the torsion spring 25 on the surface of the connecting rod 24.

[0078] Furthermore, a slide bar 27 is inserted into one end of the rotating shaft 26, and a block 28 is fixedly installed at one end of the slide bar 27. A slot 281 matching one end of the block 28 is opened at one end of the inner wall of the first connecting frame 22, and the shape of one end of the block 28 and the slot 281 are both square. A first electromagnet 29 is sleeved on the outer surface of the slide bar 27, and the first electromagnet 29 is fixedly installed inside the first connecting frame 22. A first return spring 271 is sleeved on the outer surface of the slide bar 27 located on one side of the first electromagnet 29. When the first electromagnet 29 is started, the block 28 is attracted by the magnetic force of the first electromagnet 29, driving the slide bar 27 to slide along the rotating shaft 26, so that one end of the block 28 is disengaged from the slot 281, and the limit on the rotating shaft 26 is released. At this time, the torsion spring 25 will drive the rotating shaft 26 to rotate, and drive the sub-frame 2 to unfold through the second connecting frame 23. During the sliding process of the slide bar 32, the block 28 will squeeze the first return spring 271.

[0079] The specific implementation method is as follows: when the stretcher is carried, the sub-frames 2 at both ends can be folded inwardly to reduce the overall space occupied by the stretcher and facilitate carrying. During the folding process, the rotating shaft 26 rotates along the first connecting frame 22 to squeeze the torsion spring 25 on the surface of the connecting rod 24. When the stretcher needs to be unfolded and used, the first electromagnet 29 is started, and the block 28 is attracted by the magnetic force of the first electromagnet 29, driving the slide bar 27 to slide along the rotating shaft 26, so that one end of the block 28 is disengaged from the slot 281, and the limit on the rotating shaft 26 is released. At this time, the torsion spring 25 will drive the rotating shaft 26 to rotate, and drive the sub-frame 2 to unfold through the second connecting frame 23. During the sliding process of the slide bar 32, the block 28 will squeeze the first return spring 271. When the unfolding is completed, the first electromagnet 29 is turned off, and the first return spring 271 will push the block 28 outward to reset, so that one end of the block 28 is inserted into the slot 281 for limit fixing.

[0080] according to Figure 5-7 The bulletproof plate 3 of an automatic transport stretcher for rescue is shown, and the bulletproof plate 3 is inserted on both sides of the main frame 1 and the auxiliary frame 2. A guide rod 32 is fixedly installed on the outer surface of one side of the bulletproof plate 3, and a pull plate 31 is fixedly installed on the top of the bulletproof plate 3. The inner wall of the main frame 1 is provided with a slide groove matching the guide rod 32, and the guide rod 32 is slidably connected to the main frame 1 through the slide groove.

[0081] Furthermore, a protective cover 21 is fixedly installed at one end of the sub-frame 2, and a control system is arranged inside the protective cover 21, and the control system is protected by the protective cover 21. Four-wheel drive wheels 12 are installed at the four corners of the bottom end of the main frame 1, and the four-wheel drive wheels 12 are equipped with an adaptive suspension system, which can adapt to complex terrain with a slope of more than 30°. A mechanical arm 11 is installed on the outer surface of one side of the main frame 1, and the mechanical arm 11 realizes automated operation through a pressure sensor and a control system, and assists in adjusting the posture of the injured and ensuring stability during transportation. The injured is transported to the stretcher, and the posture of the injured is adjusted with the assistance of the mechanical arm 11 to ensure that the injured is smoothly transferred to the stretcher and firmly fixed. The four-wheel drive wheels 12 are started by the control system to move and transport the injured. A built-in intelligent navigation system is installed, which integrates a laser scanner, a camera, an IMU inertial measurement unit, a multi-sensor fusion and a GPS module to realize high-precision environmental perception, path planning and obstacle avoidance functions.

[0082] The locking ring 35 is provided on one side of the locking cam 34 and a second locking ring 36 is provided on the other side of the locking cam 34. When the locking cam 34 is in the state of being unlocked, the locking cam 36 is released and the locking cam 36 is in the state of being unlocked.

[0083] The specific implementation method is as follows: when in use, the bulletproof plates 3 on both sides need to be pulled out upward to provide bulletproof protection for the wounded. When the bulletproof plates 3 are pulled upward, the guide rods 32 will be driven to slide upward along the slide slots. When the guide rods 32 reach the top of the slide slots, one end of the limit rod 33 corresponds to the limit slot on the inner wall of the slide slot. At this time, the second return spring 35 pushes the limit rod 33 outward by pushing the retaining ring 34, so that one end of the limit rod 33 is inserted into the limit slot to limit the bulletproof plates 3. The low-reflectivity invisible coating is coated on the outside, which effectively enhances the protection performance and reduces the risk of being detected by the enemy. There is a four-wheel drive and suspension system, including four-wheel drive wheels 12, a four-wheel drive power system and an adaptive variable suspension, which can flexibly cope with different hardness and types of ground to ensure stability and comfort during travel. There are also mechanical arms 11, pressure sensors and a main frame 1, which can automatically adjust the posture to ensure that the wounded are smoothly transferred to the stretcher and firmly fixed. When the bulletproof plate 3 needs to be retracted, the second electromagnet 37 can be started, and the limit rod 33 is attracted by the magnetic force of the second electromagnet 37, and will be detached from the limit groove, releasing the limit on the bulletproof plate 3, and then the bulletproof plate 3 is pulled upward.

[0084] Working principle of the present invention:

[0085] Refer to the instruction manual Figure 1-4When the stretcher is carried, the sub-frames 2 at both ends can be folded inward to reduce the overall space occupied by the stretcher and facilitate carrying. During the folding process, the rotating shaft 26 rotates along the first connecting frame 22 to squeeze the torsion spring 25 on the surface of the connecting rod 24. When the stretcher needs to be unfolded and used, the first electromagnet 29 is started, and the clamping block 28 is attracted by the magnetic force of the first electromagnet 29, driving the sliding rod 27 to slide along the rotating shaft 26, so that one end of the clamping block 28 is disengaged from the clamping groove 281, and the limit on the rotating shaft 26 is released. At this time, the torsion spring 25 will drive the rotating shaft 26 to rotate, and drive the sub-frame 2 to unfold through the second connecting frame 23;

[0086] Refer to the instruction manual Figure 5-7 When in use, it is necessary to pull out the bulletproof plates 3 on both sides upward to provide bulletproof protection for the wounded. In the process of pulling the bulletproof plates 3 upward, the guide rod 32 will be driven to slide upward along the slide slot. When the guide rod 32 reaches the top of the slide slot, one end of the limit rod 33 corresponds to the limit slot on the inner wall of the slide slot. At this time, the second return spring 35 pushes the limit rod 33 outward by pushing the retaining ring 34, so that one end of the limit rod 33 is inserted into the limit slot to limit the bulletproof plate 3. The exterior is coated with a low-reflectivity invisible coating, which effectively enhances the protective performance and reduces the risk of being detected by the enemy. It is equipped with a four-wheel drive and suspension system, including four-wheel drive wheels 12, a four-wheel drive power system and an adaptive variable suspension, which can flexibly cope with different hardness and types of ground to ensure stability and comfort during the journey. It is also equipped with a mechanical arm 11, a pressure sensor and a main frame 1, which can automatically adjust the posture to ensure that the wounded is smoothly transferred to the stretcher and firmly fixed.

Claims

1. An automatic transport stretcher for rescue, characterized in that: include: A main frame (1), wherein sub-frames (2) are arranged at both ends of the main frame (1), a connecting component is arranged between the main frame (1) and the sub-frame (2), and the sub-frame (2) is movably connected to the main frame (1) via the connecting component; Furthermore, a protective cover (21) is fixedly mounted on one end of the sub-frame (2), and a control system is arranged inside the protective cover (21), wherein the control system integrates a laser scanner, a camera, an IMU inertial measurement unit, a multi-sensor fusion and a GPS module to achieve high-precision environmental perception, path planning and obstacle avoidance functions. A bulletproof plate (3), the bulletproof plate (3) is inserted on both sides of a main frame (1) and a sub-frame (2), a guide rod (32) is fixedly installed on the outer surface of one side of the bulletproof plate (3), a pull plate (31) is fixedly installed on the top of the bulletproof plate (3), and a sliding groove matching the guide rod (32) is opened on the inner wall of the main frame (1), and the guide rod (32) is slidably connected to the main frame (1) through the sliding groove.

2. The automatic transport stretcher for rescue according to claim 1, characterized in that: Four-wheel drive wheels (12) are installed at the four corners of the bottom end of the main frame (1), and the four-wheel drive wheels (12) are equipped with an adaptive suspension system and can adapt to complex terrain with a slope of more than 30°.

3. According to the automatic transport stretcher for rescue described in claim 1, a mechanical arm (11) is installed on the outer surface of one side of the main frame (1), and the mechanical arm (11) realizes automatic operation through a pressure sensor and a control system to assist in adjusting the posture of the injured and ensure stability during the transport process.

4. The automatic transport stretcher for rescue according to claim 1, characterized in that: The connection assembly comprises a first connection frame (22) and a second connection frame (23) which are arranged between a main frame (1) and a sub-frame (2); the first connection frame (22) is fixedly connected to an outer surface of one end of the main frame (1); and the second connection frame (23) is fixedly connected to an outer surface of one end of the sub-frame (2).

5. The automatic transport stretcher for rescue according to claim 4, characterized in that: A connecting rod (24) is fixedly mounted on one end of the second connecting frame (23), a rotating shaft (26) is fixedly mounted on one end of the connecting rod (24), and the second connecting frame (23) is rotatably connected to the first connecting frame (22) via the rotating shaft (26), a torsion spring (25) is sleeved on the outer surface of the connecting rod (24), and the automatic unfolding of the sub-frame (2) is achieved via the torsion spring (25).

6. The automatic transport stretcher for rescue according to claim 5, characterized in that: A slide bar (27) is inserted into one end of the rotating shaft (26), a clamping block (28) is fixedly installed on one end of the slide bar (27), a clamping groove (281) matching one end of the clamping block (28) is opened at one end of the inner wall of the first connecting frame (22), one end of the clamping block (28) and the clamping groove (281) are both square in shape, and the clamping block (28) is unlocked and locked by an electromagnetic release device.

7. The automatic transport stretcher for rescue according to claim 6, characterized in that: The outer surface of the slide bar (27) is sleeved with a first electromagnet (29), and the first electromagnet (29) is fixedly mounted inside the first connecting frame (22). The outer surface of the slide bar (27) is sleeved with a first return spring (271) on one side of the first electromagnet (29).

8. The automatic transport stretcher for rescue according to claim 1, characterized in that: A limiting rod (33) is arranged inside the guide rod (32), and a limiting groove matching one end of the limiting rod (33) is opened at the top end of the inner wall of the slide groove.

9. The automatic transport stretcher for rescue according to claim 8, characterized in that: A retaining ring (34) is fixedly mounted on the outer surface of the limiting rod (33); a second return spring (35) is sleeved on the outer surface of the limiting rod (33) located on one side of the retaining ring (34); a retaining ring (36) is sleeved on the outer surface of the limiting rod (33) located on one end of the second return spring (35); and a second electromagnet (37) is fixedly mounted on one side of the inner wall of the guide rod (32).

10. A method for controlling the use of an automatic transport stretcher for rescue according to any one of claims 1 to 9, characterized in that: The steps are as follows: Step 1: transport the stretcher body to the destination, release the limit by starting the first electromagnet (29), and automatically unfold the auxiliary frames (2) on both sides through the torsion spring (25), and the main frame is lowered as a whole and tilted to the side of the injured person; Step 2: The injured person is carried to the stretcher, and the posture of the injured person is adjusted with the assistance of the mechanical arm (11). The three mechanical arms are respectively located at the head, shoulder and hip of the injured person, and the carrying and fixation of the injured person are completed autonomously; Step 3: Pull out the bulletproof plates (3) on both sides of the main frame (1) and the auxiliary frame (2) upwards, and protect the wounded with the bulletproof plates (3); Step 4: The four-wheel drive wheels (12) are started to move through the control system to transport the injured. The built-in intelligent navigation system integrates a laser scanner, a camera, an IMU inertial measurement unit, a multi-sensor fusion and a GPS module to achieve high-precision environmental perception, path planning and obstacle avoidance functions.

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