A fabric machine snake for rescue

Abstract

The utility model discloses a fabric machine snake for rescue, including snake head guide terminal, fabric lumen and pneumatic device, snake head guide terminal is streamline, and the front end of snake head guide terminal is equipped with sensor, and snake head guide terminal can turn to the motion, and the front end of fabric lumen is connected snake head guide terminal, and the tail end is connected pneumatic device, and fabric lumen is the soft belt or the thin tubular when not inflation, can fold and store, and pneumatic device can produce compressed gas, and from the tail part to the inflation in fabric lumen, and fabric lumen gradually expands and forms the stiff round pipe type under the action of air pressure, and fabric lumen extends forward while expanding into the round pipe shape, and the fabric lumen that extends forward drives snake head guide terminal to advance, under the guidance of snake head guide terminal, and the elongated fabric lumen can also turn or bend naturally with the location of environment, adopt fabric as the body of mechanical snake, convenient transportation material, will not collide the fragile surface of the scene, makes the personnel exempt from secondary injury.

Description

Technical Field

[0001] This utility model belongs to the field of textile fabric technology, specifically relating to a fabric-based robotic snake for rescue purposes. Background Technology

[0002] When buildings collapse during an earthquake, search and rescue operations are typically conducted by firefighters and police dogs, which poses a significant safety risk. While some rescue robots are now involved due to advancements in technology, their large size makes them difficult to enter confined spaces, requiring clearing operations before entry and impacting crucial rescue time. Improper clearing procedures can also cause secondary collapses, increasing the risk of further damage. Against this backdrop, to improve rescue efficiency, snake-like robotic snakes have been developed. These snakes can navigate through narrow spaces and interact with living organisms, preventing secondary harm to survivors during search and rescue. However, existing robotic snakes are mostly metal structures, composed of a series of rigid links connected by active or passive joints, enabling bending and twisting movements. Their primary function is to use cameras and sensors for pre-rescue detection to determine the presence of life within the rubble. However, articulated metal snakes are difficult to carry and transport items, and their lack of flexibility, especially in very narrow or irregular spaces, limits their agility. Furthermore, metal snakes are manufactured with high-precision mechanical parts, making them expensive and prone to damage in harsh search and rescue environments, resulting in substantial economic losses. Utility Model Content

[0003] To address the aforementioned problems and technical needs, this utility model provides a fabric robotic snake for rescue. The snake's "body" is made of fabric, while its "head" is equipped with high-precision detection equipment. The snake's body is constructed as a retractable cylindrical shape, allowing it to flexibly navigate confined spaces, monitor internal conditions, and provide trapped individuals with emergency supplies such as water, food, and medicine. Furthermore, the fabric used to make the snake's body is characterized by high strength, wear resistance, and excellent sealing and waterproofing properties.

[0004] The technical solution of this utility model is as follows: A rescue fabric robotic snake includes a snake head guide terminal, a fabric cavity, and a pneumatic device. The snake head guide terminal is streamlined and has a sensor at its front end. The snake head guide terminal can rotate. The front end of the fabric cavity is connected to the snake head guide terminal, and the tail end is connected to the pneumatic device. When not inflated, the fabric cavity is a flat, soft strip or thin tube that can be folded and stored. The pneumatic device can generate compressed gas and inflate the fabric cavity from the tail end. Under the action of air pressure, the fabric cavity gradually expands to form a rigid cylindrical shape. As the fabric cavity expands into a cylindrical shape, it extends forward. The forward-extending fabric cavity drives the snake head guide terminal forward. Under the guidance of the snake head guide terminal, the elongated fabric cavity can also naturally turn or bend according to the limitations of the environment. Using fabric as the body of the robotic snake makes it more suitable for material delivery in search and rescue scenarios. The fabric tube can hold emergency supplies such as food and medicine, and the fabric tube extends forward with the power provided by the pneumatic device at the tail. Guided by the guide terminal at the snake head, it reaches the rescue location. Because the fabric tube is soft, it will be automatically squeezed inward when it touches a hard object during inflation, without damaging the fragile environment, causing secondary damage or collapse. It is very safe, relatively inexpensive, and easier to repair and replace if the fabric tube is damaged, thus reducing rescue costs.

[0005] Furthermore, a flat plate is fixedly mounted on the bottom of the snake-head guide terminal, and a steering pulley is provided on the bottom of the flat plate. Under the action of an external control mechanism, the snake-head guide terminal can actively turn via the steering pulley; a pulley is also provided on the bottom of the pneumatic device. The snake-head guide terminal itself is relatively light and can be guided by the environment, achieving non-active drive. In a preferred embodiment, an active steering pulley can be added to the bottom of the snake-head guide terminal, so that the snake-head guide terminal can be independently driven to deflect. In this way, when the snake-head guide terminal enters a dead angle and is unable to turn and continue advancing, the active deflection direction can explore more possible rescue routes, resulting in better flexibility.

[0006] Furthermore, a sealing zipper is provided at the front of the fabric tube, and the sealing zipper is set along the length of the fabric tube. The fabric tube can be opened freely through the zipper, allowing trapped personnel to easily access the items transported inside.

[0007] Furthermore, a row of material securing straps is provided inside the fabric tube cavity. These straps secure the transported materials and are located at the front of the fabric tube cavity, corresponding to the sealing zipper position. By securing emergency supplies such as food and medicine to the front of the fabric tube cavity using these straps, they can reach the rescue location first, allowing trapped personnel to access the supplies immediately. Moreover, because their position within the tube cavity is fixed, there is no need to search inside; they can be retrieved simply by opening the zipper.

[0008] Furthermore, a row of axially arranged annular or spiral elastic skeletons are sewn or bonded inside the fabric cavity. When not inflated, the elastic skeletons fold and contract, and when inflated, the elastic skeletons are stretched open, guiding the fabric cavity to extend axially into a cylindrical shape, providing axial support.

[0009] Furthermore, the fabric used to construct the fabric tube includes an outer layer, a middle layer, and an inner layer. The outer and inner layers are both nylon fabrics coated with a silicone coating on one side. The middle layer is made of polyurethane or polyester film. The uncoated sides of the outer and inner layers are respectively bonded to both sides of the middle layer using hot melt adhesive. The three-layer composite fabric is bonded using hot melt adhesive, which avoids air leakage points caused by needle holes in the sewing, improves airtightness, and prevents compressed gas leakage. The middle layer has high flexibility and airtightness / waterproofness, and is insensitive to temperature changes, maintaining stable performance in both high and low temperature environments and is not prone to aging. The silicone coating on both the inner and outer layers protects the fabric itself while reducing the coefficient of friction, making the fabric tube slide more smoothly with less resistance and more flexible operation.

[0010] The beneficial effects of this utility model are as follows: Unlike traditional rescue robots made of rigid metal, this utility model's robotic snake uses composite fabric as its main body. The fabric cavity is made of three layers of composite fabric. The middle layer is made of polyurethane or polyester film, which has good tear resistance, flexibility, and tensile strength, and can be used in low-temperature environments. At the same time, the film also has sealing properties, which can prevent leakage of compressed gas during inflation. This allows the fabric cavity to expand under the action of gas and be supported into a cylinder with a certain degree of rigidity, making it easy to push the fabric cavity forward and protect the items carried inside. The inner and outer layers of the fabric are coated with silicone coating, which can reduce the coefficient of friction and allow the fabric cavity to move flexibly through narrow gaps. Compared with the hard metal robotic snake, the soft body can adapt to the limitations of the surrounding environment and will not scratch people or fragile surfaces at the scene, avoiding the risk of secondary injury. Attached Figure Description

[0011] Figure 1 This is a schematic diagram illustrating the fully expanded use of the rescue fabric robotic snake of this utility model. Figure 2 This is a schematic diagram of the unexpanded portion of a fabric machine snake for rescue purposes according to this utility model; Figure 3 This is a diagram showing the interlayer structure of the fabric cavity of a rescue fabric robotic snake according to this utility model; The components are marked as follows: snake head guide terminal 1, sensor 11, plate 12, steerable pulley 13, fabric cavity 2, sealing zipper 21, material fixing strap 22, elastic skeleton 23, pneumatic device 3, pulley 31, outer fabric 4, middle fabric 5, inner fabric 6. Detailed Implementation

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] like Figure 1-3 The image shows a fabric robotic snake for rescue purposes, comprising a snakehead guide terminal 1, a fabric cavity 2, and a pneumatic device 3. The snakehead guide terminal 1 is streamlined and has a sensor 11 at its front end. The snakehead guide terminal 1 can rotate. The front end of the fabric cavity 2 is connected to the snakehead guide terminal 1, and the tail end is connected to the pneumatic device 3. When not inflated, the fabric cavity 2 is a flat, soft strip or thin tube that can be folded and stored. The pneumatic device 3 generates compressed gas and inflates the fabric cavity 2 from the tail end. Under the action of air pressure, the fabric cavity 2 gradually expands to form a rigid cylindrical shape. As the fabric cavity 2 expands into a cylindrical shape, it extends forward, driving the snakehead guide terminal 1 forward. Under the guidance of the snakehead guide terminal 1, the elongated fabric cavity 2 can also naturally turn or bend according to the limitations of the environment.

[0014] The front section of the fabric tube 2 is equipped with a sealing zipper 21, which extends along the length of the fabric tube 2. The zipper allows the fabric tube 2 to be opened freely, enabling trapped personnel to easily access the items transported inside. Inside the fabric tube is a row of material securing straps, which secure the transported materials. These straps are located at the front of the fabric tube, corresponding to the sealing zipper. By securing emergency supplies such as food and medicine to the front of the fabric tube using these straps, these items can reach the rescue location first, allowing trapped personnel to access the supplies immediately. Furthermore, because their position within the tube is fixed, there is no need to search inside the tube; they can be retrieved simply by opening the zipper.

[0015] The bottom of the snake-head guide terminal 1 is fixedly provided with a flat plate 12, and the bottom of the flat plate 12 is provided with a steering pulley 13. Under the action of an external control mechanism, the snake-head guide terminal 1 can actively turn through the steering pulley 13; the bottom of the pneumatic device 3 is also provided with a pulley 31. The snake-head guide terminal 1 itself is relatively light and can be guided by the environment to achieve non-active drive; in a preferred embodiment, an active steering pulley can be added to the bottom of the snake-head guide terminal 1 so that the snake-head guide terminal 1 can be independently driven to deflect. In this way, when the snake-head guide terminal 1 enters a dead angle and is difficult to turn and continue to advance, the active deflection direction can explore more possible rescue routes, and the flexibility is better.

[0016] The fabric cavity 2 is sewn or bonded with a row of axially arranged annular or spiral elastic skeletons 23. When not inflated, the elastic skeletons 23 are folded and contracted. When inflated, the elastic skeletons 23 are stretched open, guiding the fabric cavity 2 to extend axially into a cylindrical shape, providing axial support.

[0017] The fabric used to make the fabric cavity 2 includes an outer fabric 4, a middle fabric 5, and an inner fabric 6. The outer fabric 4 and the inner fabric 6 are both nylon fabrics with a silicone coating on one side. The middle fabric 5 is a polyurethane or polyester film. The uncoated sides of the outer fabric 4 and the inner fabric 6 are respectively bonded to both sides of the middle fabric 5 by hot melt adhesive.

[0018] The fabric raw material for making the fabric cavity includes the following steps: Step 1: Both the outer and inner layers are made of 70D / 24F SD FDY plain weave nylon fabric with a density of 44*30 / cm and a weight of 55 g / m². The plain weave nylon fabric is coated with silicone on one side. 100 parts of hydroxyl-terminated polydimethylsiloxane FS-950B are prepared and a homogeneous solution is made with an appropriate amount of toluene. 0.8 parts of catalyst are added and stirred evenly. Then, 2 parts of crosslinking agent are added to adjust the viscosity of the coating solution to 20000CPS+ / -1000CPS. Step 2: Apply the coating solution evenly to one side of the plain nylon fabric. After coating, dry the fabric. The drying process is divided into two stages: first, pre-dry the fabric in the front oven at 85℃, and then bake it in the back oven at four different temperatures: 100℃, 110℃, 130℃, and 140℃. The fabric will gain 4-5g / m² after drying. Step 3: The middle layer fabric is a 20-micron mist-colored, highly permeable polyurethane film with a weight of 22g / m². The uncoated side of the outer layer fabric is laminated to one side of the middle layer fabric. A carving roller is used to carve circular dots with a depth of 60 microns, a coverage of 34%, and a diameter of 500 microns. The hot melt adhesive is heated and melted to 95-100℃ and poured into the adhesive tank. The machine speed is 15m / min, the pressure of the glue roller is 3.5kg, the bonding pressure is 3kg, and the second pressure is 3kg. Step 3: After the bonded composite double-layer fabric is rolled up, it is moved into the curing room at 25°C and 60% humidity for 48 hours. Step 4: Spot-bond the composite double-layer fabric and the inner layer fabric. The uncoated side of the inner layer fabric is bonded to the other side of the middle layer fabric. Use the same carving roller to work. Heat the hot melt adhesive to 95-100℃ and pour it into the glue tank. The speed is 15m / min, the pressure of the glue roller is 4kg, the bonding pressure is 3kg, and the second pressure is 3kg. Step 5: After the three-layer composite fabric has been bonded, roll it up and move it into the curing room at a temperature of 25℃ and a humidity of 60% for 48 hours. Then, inspect the finished product and roll it up and put it into storage.

[0019] The above descriptions are merely several preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any variations and substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the scope of the claims.

Claims

1. A fabric robotic snake for rescue purposes, characterized in that: The device includes a snake-head guide terminal, a fabric tube, and a pneumatic device. The snake-head guide terminal is streamlined and has a sensor at its front end. The snake-head guide terminal can rotate. The front end of the fabric tube is connected to the snake-head guide terminal, and the rear end is connected to the pneumatic device. When not inflated, the fabric tube is a flat, soft strip or thin tube that can be folded and stored. The pneumatic device generates compressed gas and inflates the fabric tube from the rear end. Under the action of air pressure, the fabric tube gradually expands to form a rigid cylindrical shape. As the fabric tube expands into a cylindrical shape, it extends forward, driving the snake-head guide terminal forward. Under the guidance of the snake-head guide terminal, the elongated fabric tube can also naturally turn or bend according to environmental constraints.

2. The rescue fabric robotic snake according to claim 1, characterized in that: The bottom of the snake-head guide terminal is fixedly provided with a flat plate, and the bottom of the flat plate is provided with a steering pulley. Under the action of an external control mechanism, the snake-head guide terminal can actively turn through the steering pulley; the bottom of the pneumatic device is also provided with a pulley.

3. The rescue fabric robotic snake according to claim 2, characterized in that: The front section of the fabric tube is provided with a sealing zipper, which is set along the length of the fabric tube.

4. The rescue fabric robotic snake according to claim 3, characterized in that: The fabric tube cavity is equipped with a row of material fixing straps, which can fix the transported material. The material fixing straps are located at the front of the fabric tube cavity, corresponding to the sealing zipper position.

5. The rescue fabric robotic snake according to claim 4, characterized in that: The fabric cavity is sewn or bonded with a row of axially arranged ring or spiral elastic skeletons. When not inflated, the elastic skeletons are folded and contracted. When inflated, the elastic skeletons are stretched open, guiding the fabric cavity to extend axially into a cylindrical shape, providing axial support.

6. The rescue fabric robotic snake according to claim 5, characterized in that: The fabric used to make the fabric cavity includes an outer layer, a middle layer, and an inner layer. The outer and inner layers are both nylon fabrics coated with silicone on one side, and the middle layer is a polyurethane or polyester film. The uncoated sides of the outer and inner layers are respectively bonded to both sides of the middle layer by hot melt adhesive.

Images