A ski resort rescue transport robot with horizontal adjustment function

Abstract

This invention discloses a ski resort rescue and transport robot with leveling adjustment function, belonging to the field of rescue robot technology. The aim is to propose a ski resort rescue and transport robot with leveling adjustment function to solve the problems of low transfer efficiency, inability to adapt to sloping road conditions, insufficient shock absorption and cushioning effect, and the risk of secondary injury in existing technologies. The invention includes: a moving unit; a shock-absorbing and balancing unit disposed on the moving unit, the shock-absorbing and balancing unit including at least a stretcher tray, a shock-absorbing mechanism, and a balancing mechanism, which adjusts the forward and backward tilt of the stretcher tray and provides shock absorption; a stretcher; and a stretcher fixing unit, which drags the stretcher to the stretcher tray and fixes it in place. This invention reduces road bumps and lowers the risk of secondary injury through the shock-absorbing mechanism; and adapts to changes in terrain slope through the balancing mechanism, maintaining horizontal transport of the injured person.

Description

Technical Field

[0001] This invention belongs to the field of rescue robot technology, specifically relating to a ski resort rescue and transport robot with horizontal adjustment function. Background Technology

[0002] With the continuous development of China's ice and snow industry, the scale of ski resorts and the number of ski enthusiasts are increasing year by year. Skiing involves complex terrain, open areas, and low temperatures, making it extremely easy for falls and collisions to result in injuries such as limb fractures and dislocations, spinal cord injuries, and traumatic brain injuries. Furthermore, ski resorts often have steep slopes, ditches, and soft snow surfaces, making it difficult for conventional rescue vehicles to quickly reach the scene of an incident. For skiers with serious injuries, the timeliness of treatment is extremely important. Low temperatures can also easily cause secondary injuries such as frostbite and hypothermia. Efficient, stable, and adaptable patient transfer methods suitable for complex snow terrain are crucial for shortening rescue time, reducing the risk of disability and death, and ensuring the safe operation of ski resorts.

[0003] Currently, ski resort rescue operations mostly involve simple on-site first aid. The transfer of injured individuals generally relies on manual carrying, ordinary stretchers, or simple transport on conventional snowmobiles, lacking specialized modular transport equipment and transport mechanisms adapted to complex ski terrain. Manual carrying is not only labor-intensive and time-consuming with low efficiency, but also involves significant bumps and jolting, easily causing secondary injuries to those with fractures or spinal injuries. Conventional transport tools are unsuitable for diverse ski resort conditions such as slopes, lacking sufficient stability and shock absorption during transport. Furthermore, the lack of standardized transport supports, restraints, and stable buffer structures makes it difficult to achieve stable, smooth, fast, and reliable professional transport operations. Summary of the Invention

[0004] The purpose of this invention is to propose a ski resort rescue and transport robot with horizontal adjustment function, which solves the problems of low transfer efficiency, inability to adapt to sloping road conditions, insufficient shock absorption and cushioning effect, and easy to cause secondary injuries in the existing technology.

[0005] To achieve the above objectives, the present invention provides a ski resort rescue and transport robot with horizontal adjustment function, comprising: Mobile unit; The shock-absorbing and balancing unit installed on the mobile unit includes at least a stretcher support plate, a shock-absorbing mechanism, and a balancing mechanism. The shock-absorbing and balancing unit adjusts the forward and backward tilt of the stretcher support plate and provides cushioning and shock absorption for the stretcher support plate. stretcher; And a stretcher fixing unit, through which the stretcher is dragged to the stretcher tray and fixed.

[0006] The vibration damping and balancing unit includes: A base fixedly connected to the movable unit; A floating seat is positioned above the base; A shock-absorbing mechanism is installed between the base and the floating seat; And a balancing mechanism disposed between the floating seat and the stretcher tray, wherein the rotation angle of the stretcher tray relative to the floating seat is adjusted by the balancing mechanism.

[0007] The shock absorption mechanism includes: The connecting rods are arranged in parallel, and the connecting rods, base and floating seat form a parallel four-bar linkage; And the gas spring connecting the connecting rod and the base.

[0008] The balancing mechanism includes: A pair of trunnions are positioned on either side of the floating seat; The bearing seats are located at the middle positions on both sides of the lower surface of the stretcher tray. The bearing seats of the stretcher tray are rotatably engaged with the trunnion seats of the floating seat via a rotating shaft. An attitude adjustment link, one end of which is hinged to the first end of the stretcher support plate; A crank hinged at one end to the other end of the attitude adjustment link; And an attitude adjustment motor fixed on the floating seat, with the other end of the crank fixedly connected to the output end of the attitude adjustment motor.

[0009] The balancing mechanism also includes a folding tray connected to the end of the stretcher tray via a hinge.

[0010] The stretcher securing unit includes: A dragging mechanism is installed at the head end of the stretcher support plate to drag the stretcher; And a clamping and fixing mechanism for clamping the stretcher that is dragged onto the stretcher fixing unit.

[0011] The dragging mechanism includes: A drag motor is installed at the bottom of the stretcher tray; A speed reducer installed at the output end of the traction motor; A pair of winches are installed at the output end of the reducer; A pair of rope pulley assemblies are installed on the upper surface of the first end of the stretcher tray; A wire rope is wound around a winch, and the other end of the wire rope passes through the corresponding rope pulley assembly. A hook is installed at the other end of the wire rope; And the hose clamp installed at the end of the stretcher; the hook at the end of the wire rope and the ring buckle on the hose clamp are engaged.

[0012] The dragging mechanism also includes a limiting block, which is fixed to the upper surface of the first end of the stretcher tray. When the stretcher is completely dragged to the stretcher tray, the end of the stretcher contacts and is limited by the limiting block.

[0013] The clamping and fixing mechanism includes: A clamping motor is installed at the bottom of the stretcher support plate; Two bidirectional lead screws are arranged on both sides of the clamping motor. The two ends of the bidirectional lead screws are connected to the stretcher support plate through lead screw supports. The bidirectional lead screws are arranged perpendicular to the length direction of the stretcher support plate. The clamping motor drives the two bidirectional lead screws to rotate through a synchronous belt pulley set. Nuts are used at both ends of each bidirectional lead screw to form a lead screw-nut pair. And a clamping slider, each of which is fixedly connected to a nut, and the clamping slider and the groove on the stretcher tray slide in a sliding engagement.

[0014] The stretcher is a shovel stretcher.

[0015] The beneficial effects of this invention are as follows: The ski resort rescue and transport robot of this invention, with horizontal adjustment function, moves across the ski resort via a mobile unit. The mobile unit employs a tracked walking mechanism, adaptable to the terrain conditions of the ski resort. A shovel-type stretcher inserts two boards under the patient's body, which are then fastened and lifted, minimizing secondary injuries to the patient during transport. The stretcher fixing unit's dragging mechanism pulls the shovel-type stretcher to a designated position on the inclined stretcher support. When the shovel-type stretcher contacts the limiting block, its longitudinal position is restricted. The winch-type dragging mechanism saves the rescue personnel's energy, allowing more medical staff to participate in snow rescue work, as manual transport is much more labor-intensive. Physical strength; the stretcher tray is equipped with a folding tray at the end, which can better adapt to the height of the ground when the stretcher tray is tilted, making it easier for the scoop stretcher to be dragged onto the stretcher tray; the clamping mechanism of the stretcher fixing unit is driven by a clamping motor to drive two pairs of clamping sliders to clamp and fix the scoop stretcher; during transportation, the shock absorption mechanism in the shock absorption and balancing unit reduces the impact on the injured person caused by road bumps during robot movement, reducing the risk of secondary injury; the balancing mechanism adapts to changes in terrain slope and automatically adjusts the angle between the stretcher tray and the vehicle body, thereby maintaining the horizontal transportation of the injured person, minimizing the discomfort of the injured person, reducing the risk of secondary injury due to gravity during tilted transportation, and achieving high transfer efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a ski resort rescue and transport robot with horizontal adjustment function according to the present invention; Figure 2 This is a schematic diagram of the shock absorption and balance unit structure in a ski resort rescue and transport robot with horizontal adjustment function according to the present invention. Figure 3 This is a schematic diagram of the top structure of the stretcher fixing unit in a ski resort rescue and transport robot with horizontal adjustment function according to the present invention; Figure 4 This is a schematic diagram of the bottom structure of the stretcher fixing unit in a ski resort rescue and transport robot with horizontal adjustment function according to the present invention; Figure 5 This is a diagram illustrating the state of a ski resort rescue and transport robot with horizontal adjustment function, where an injured person is fixed in a towing vehicle. Figure 6 This is a diagram illustrating the downhill transport balance of a ski resort rescue and transport robot with horizontal adjustment function, according to the present invention. Figure 7 This is a diagram illustrating the uphill transport balance of a ski resort rescue transport robot with horizontal adjustment function, according to the present invention. The components include: 1. Shock-absorbing and balancing unit; 101. Stretcher support plate; 102. Attitude adjustment linkage; 103. Floating seat; 104. Crank; 105. Attitude adjustment motor; 106. Base; 107. Gas spring; 108. Linkage rod; 109. Folding support plate; 110. Hinge; 111. Trunnion seat; 112. Bearing seat; 2. Stretcher fixing unit; 201. Rope pulley assembly; 202. Hook; 203. Limit stop; 204. Pipe clamp; 205. Screw support; 206. Clamping slider; 207. Wire rope; 208. Traction motor; 209. Reducer; 210. Winch wheel; 211. Clamping motor; 212. Synchronous pulley set; 213. Double-acting screw; 214. Nut; 3. Scoop stretcher; 4. Moving unit. Detailed Implementation

[0017] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0018] See Figures 1-4 The present invention provides a ski resort rescue and transport robot with horizontal adjustment function, comprising: Moving unit 4; The shock-absorbing and balancing unit 1 is installed on the moving unit 4. The shock-absorbing and balancing unit 1 includes at least a stretcher support plate 101, a shock-absorbing mechanism, and a balancing mechanism. The shock-absorbing and balancing unit 1 adjusts the front and rear tilt posture of the stretcher support plate 101 and buffers and absorbs shocks on the stretcher support plate 101. stretcher; And a stretcher fixing unit 2, through which the stretcher is dragged to the stretcher support plate 101 and fixed.

[0019] The vibration damping and balancing unit 1 includes: A base 106 is fixedly connected to the movable unit 4; A floating seat 103 is disposed above the base 106; A shock-absorbing mechanism is provided between the base 106 and the floating seat 103; And a balancing mechanism disposed between the floating seat 103 and the stretcher support plate 101, wherein the rotation angle of the stretcher support plate 101 relative to the floating seat 103 is adjusted by the balancing mechanism.

[0020] The shock absorption mechanism includes: The parallel connecting rods 108, together with the base 106 and the floating seat 103, form a parallel four-bar linkage. And a gas spring 107 connecting the connecting rod 108 and the base 106.

[0021] The balancing mechanism includes: A pair of trunnion seats 111 are provided on both sides of the floating seat 103; The bearing seats 112 are located at the middle position on both sides of the lower surface of the stretcher support plate 101. The bearing seats 112 of the stretcher support plate 101 are rotatably engaged with the trunnion seat 111 of the floating seat 103 via a rotating shaft. An attitude adjustment link 102, one end of which is hinged to the first end of the stretcher support plate 101; A crank 104 hinged at one end to the other end of the attitude adjustment link 102; And an attitude adjustment motor 105 fixed on the floating seat 103, with the other end of the crank 104 fixedly connected to the output end of the attitude adjustment motor 105.

[0022] The balancing mechanism also includes a folding tray 109 connected to the end of the stretcher tray 101 via a hinge 110.

[0023] The stretcher fixing unit 2 includes: A dragging mechanism for dragging the stretcher is installed at the head end of the stretcher support plate 101; And a clamping and fixing mechanism for clamping the stretcher that is dragged onto the stretcher fixing unit 2.

[0024] The function of the shock-absorbing and balancing unit 1 is to reduce vibration during transportation, adapt to changes in terrain, and actively adjust the level of the stretcher. The entire unit is mounted on the base 106, which is connected to the moving unit 4 by bolts. Four parallel connecting rods 108 are mounted on the base 106. The base 106, connecting rods 108, and floating seat 103 constitute a parallel four-bar linkage. A gas spring 107 is installed between the connecting rods 108 and the base 106. The spring force is adjustable. Under the elastic damping of the gas spring 107, the floating seat 103 can achieve the shock absorption function. The rotation of the attitude adjustment motor 105 can control the rotation of the crank 104, which controls the rotation of the stretcher support plate 101 around the pivot through the attitude adjustment connecting rod 102, thereby controlling the horizontal tilt angle of the stretcher support plate 101. The end of the stretcher tray 101 is connected to the folding tray 109 via a pair of hinges 110, which can better adapt to the ground height when the stretcher tray 101 is tilted, making it easier for the scoop stretcher 3 to be dragged onto the stretcher tray 101.

[0025] The dragging mechanism includes: A drag motor 208 is installed at the bottom of the stretcher support plate 101; A reducer 209 is installed at the output end of the drag motor 208; A pair of winches 210 are installed at the output end of the reducer 209; A pair of sheave assembly 201 is provided on the upper surface of the first end of the stretcher support plate 101; A wire rope 207 is wound on a winch 210, and the other end of the wire rope 207 passes through the corresponding rope pulley assembly 201. A hook 202 is installed at the other end of the wire rope 207; And the pipe clamp 204 installed at the end of the stretcher; the hook 202 at the end of the wire rope 207 and the ring on the pipe clamp 204 are engaged.

[0026] The dragging mechanism also includes a limiting block 203, which is fixed to the upper surface of the first end of the stretcher support plate 101. When the stretcher is completely dragged to the stretcher support plate 101, the end of the stretcher contacts and is limited by the limiting block 203.

[0027] The clamping and fixing mechanism includes: A clamping motor 211 is installed at the bottom of the stretcher support plate 101; Two synchronous pulley sets 212 are arranged on both sides of the clamping motor 211. The two ends of the synchronous pulley sets 212 are connected to the stretcher support plate 101 through the screw support 205. The synchronous pulley sets 212 are arranged perpendicular to the length direction of the stretcher support plate 101. The clamping motor 211 drives the two synchronous pulley sets 212 to rotate through the synchronous pulley sets 212. Nut 214, each of the two ends of the timing pulley set 212 is respectively connected to a nut 214 to form a lead screw nut pair; And a clamping slider 206, each of the clamping sliders 206 being fixedly connected to a nut 214, the clamping sliders 206 being slidably engaged with a groove on the stretcher support plate 101.

[0028] The function of the stretcher fixing unit 2 is to use the inclined surface constructed by the stretcher support plate 101 to drag the scoop stretcher 3 onto the stretcher support plate 101 via a dragging mechanism, and to fix the scoop stretcher 3 onto the stretcher support plate 101 via a clamping fixing mechanism. The dragging motor 208 at the bottom of the stretcher support plate 101 is connected to the reducer 209. The reducer 209 output drives a pair of winches 210. The winches 210 have steel wire ropes 207 wound inside them. The steel wire ropes 207 pass through the rope pulley assembly 201 fixed on the stretcher support plate 101, and the rope end is connected to the hook 202. The steel pipe of the scoop stretcher 3 is fitted with a pipe clamp 204. The clamping motor 211 at the bottom of the stretcher support plate 101 transmits power to two synchronous pulley sets 212 through the synchronous pulley set 212. The synchronous pulley sets 212 drive the clamping sliders 206 on the same synchronous pulley set 212 to move and clamp or release.

[0029] When dragging is required, the stretcher support plate 101 is tilted to form a slope with the ground, and the shovel stretcher 3 is placed under the injured person's body. The dragging motor 208 reverses, and two steel wire ropes 207 are manually pulled out. The hooks 202 at the ends of the ropes are hooked into the loops of the pipe clamps 204. At this time, the dragging motor 208 rotates forward, and the winch 210 retracts the steel wire ropes 207. The shovel stretcher 3 can then be dragged to move upward along the stretcher support plate 101 until the steel pipe at the top of the shovel stretcher 3 hits the limiting block 203, thus restricting the longitudinal displacement of the shovel stretcher 3.

[0030] As the scoop stretcher 3 moves upward along the stretcher support plate 101, the clamping sliders 206 are in the open state to ensure that the longitudinal sliding of the scoop stretcher 3 is not affected. When the scoop stretcher 3 moves upward along the stretcher support plate 101 and stops at the limit stop 203, the clamping motor 211 reverses, driving the two synchronous pulley sets 212 to rotate, and at the same time driving the four clamping sliders 206 to move inward, thereby constraining the lateral displacement of the scoop stretcher 3 through the clamping sliders 206.

[0031] The mobile unit 4 is the robot's mobile carrier, and the ZDDP-ZJLG-100 tracked chassis from Zhengding Machinery is selected.

[0032] The stretcher is a scoop stretcher 3; the scoop stretcher 3 allows two boards to be inserted under the patient's body, fastened together, and then lifted. To minimize secondary injury to the patient during transport, the thickened scoop stretcher 3 from Chengyuan Fire Equipment (Shandong) Co., Ltd. was selected.

[0033] See Figure 5 After the injured person was discovered, rescuers and robots arrived at the scene. The stretcher tray 101 tilted downwards to contact the ground. The rescuers removed the scoop stretcher 3, fixed the injured person on the stretcher, and used the dragging mechanism of the stretcher fixing unit 2 to drag the injured person and the scoop stretcher 3 together onto the stretcher tray 101, and automatically clamped and fixed them.

[0034] See Figure 6 When encountering a downhill road during transport, a common situation for rescue operations in snowy areas, the balancing mechanism in the shock absorption and balancing unit 1 will calculate the road slope based on the vehicle tilt angle measured by the robot, thereby adjusting the angle of the stretcher tray 101 to keep the injured person in a horizontal position during transport.

[0035] See Figure 7 When encountering uphill roads during transport, which is uncommon in alpine skiing but occurs in cross-country skiing, the balancing mechanism in the shock absorption and balancing unit 1 will calculate the road slope based on the vehicle tilt angle measured by the robot, thereby adjusting the angle of the stretcher tray 101 to keep the injured person in a horizontal position during transport.

Claims

1. A ski resort rescue and transport robot with leveling adjustment function, comprising: Moving unit (4); stretcher; Its characteristic is that it further includes: The shock-absorbing and balancing unit (1) is installed on the moving unit (4). The shock-absorbing and balancing unit (1) includes at least a stretcher support plate (101), a shock-absorbing mechanism and a balancing mechanism. The shock-absorbing and balancing unit (1) adjusts the tilt posture of the stretcher support plate (101) before and after and buffers and absorbs the shock of the stretcher support plate (101). And a stretcher fixing unit (2), through which the stretcher is dragged to the stretcher support plate (101) and fixed.

2. The ski resort rescue and transport robot with level adjustment function according to claim 1, wherein the shock absorption and balancing unit (1) comprises: A base (106) is fixedly connected to the moving unit (4); A floating seat (103) is disposed above the base (106); A shock-absorbing mechanism is provided between the base (106) and the floating seat (103); And a balancing mechanism disposed between the floating seat (103) and the stretcher tray (101), wherein the rotation angle of the stretcher tray (101) relative to the floating seat (103) is adjusted by the balancing mechanism.

3. The ski resort rescue and transport robot with leveling function according to claim 2, wherein the shock absorption mechanism comprises: Parallel connecting rods (108) together with the base (106) and the floating seat (103) form a parallel four-bar linkage. And a gas spring (107) connecting the connecting rod (108) and the base (106).

4. The ski resort rescue and transport robot with leveling function according to claim 2, wherein the balancing mechanism comprises: A pair of trunnion seats (111) are provided on both sides of the floating seat (103); The bearing seats (112) are located at the middle position on both sides of the lower surface of the stretcher support plate (101). The bearing seats (112) of the stretcher support plate (101) are rotated and engaged with the trunnion seat (111) of the floating seat (103) through the rotating shaft. An attitude adjustment link (102) is provided, one end of which is hinged to the first end of the stretcher support plate (101); A crank (104) hinged at one end to the other end of the attitude adjustment link (102). And a posture adjustment motor (105) fixed on the floating seat (103), the other end of the crank (104) and the output end of the posture adjustment motor (105) are fixedly connected.

5. A ski resort rescue transport robot with level adjustment function according to claim 4, wherein the balancing mechanism further includes a folding tray (109) connected to the end of the stretcher tray (101) via a hinge (110).

6. A ski resort rescue transport robot with horizontal adjustment function according to claim 1, wherein the stretcher fixing unit (2) comprises: A dragging mechanism is provided at the head end of the stretcher support plate (101) to drag the stretcher; And a clamping and fixing mechanism for clamping the stretcher that is dragged onto the stretcher fixing unit (2).

7. A ski resort rescue and transport robot with leveling function according to claim 6, wherein the towing mechanism comprises: A towing motor (208) is installed at the bottom of the stretcher tray (101); A reducer (209) is installed at the output end of the drag motor (208); A pair of winches (210) are installed at the output end of the reducer (209). A pair of rope pulley assemblies (201) are provided on the upper surface of the first end of the stretcher tray (101). A wire rope (207) is wound on a winch (210), and the other end of the wire rope (207) passes through the corresponding rope pulley assembly (201). A hook (202) is set at the other end of the wire rope (207); And a clamp (204) installed at the end of the stretcher; the hook (202) at the end of the wire rope (207) and the ring on the clamp (204) are engaged.

8. A ski resort rescue transport robot with horizontal adjustment function according to claim 7, wherein the towing mechanism further includes a limiting block (203), the limiting block (203) is fixed on the upper surface of the front end of the stretcher tray (101), and when the stretcher is completely dragged to the stretcher tray (101), the end of the stretcher contacts and is limited by the limiting block (203).

9. A ski resort rescue and transport robot with leveling function according to claim 6, wherein the clamping and fixing mechanism comprises: A clamping motor (211) is installed at the bottom of the stretcher support plate (101). Two bidirectional lead screws (213) are arranged on both sides of the clamping motor (211). The two ends of the bidirectional lead screws (213) are connected to the stretcher support plate (101) through lead screw supports (205). The bidirectional lead screws (213) are arranged perpendicular to the length direction of the stretcher support plate (101). The clamping motor (211) drives the two bidirectional lead screws (213) to rotate through the synchronous pulley group (212). Nut (214), each end of the bidirectional lead screw (213) is respectively connected to a nut (214) to form a lead screw nut pair; And a clamping slider (206), each of the clamping sliders (206) being fixedly connected to a nut (214), the clamping sliders (206) being slidably engaged with a groove on the stretcher support plate (101).

10. A ski resort rescue transport robot with horizontal adjustment function according to any one of claims 1-9, wherein the stretcher is a shovel stretcher (3).

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