Research On The Structure Design Of Stretcher For Wounded Rescue Robot

With the rapid progress of robot technology,robots appear in various applications.In the face of the battlefield,disaster scene,nuclear and biochemical pollution and other dangerous environment of special occasions,the rescue and transfer work environment of the sick and wounded,most of the current work is still the on-site work of medical staff.Therefore,a robot suitable for rescuing and rescuing the wounded in dangerous environment is designed to replace the rescue workers’ work of "transporting the wounded",create a safe rescue and transportation environment for the wounded and medical staff,and reduce the secondary injury to the rescue workers and the wounded.At present,the storage and transfer mechanism for rescue robot mainly includes lifting type,transmission belt type and stretcher type.Among them,the lifting type is a way to simulate the manual double arm picking up the wounded,but the structure and control method are more complex,and the storage method is easy to cause secondary damage to the wounded;The plane structure of conveyor belt can transfer the wounded from the inclined plane to the plane of carrier platform,but the structure is complex and heavy,so it is not easy to be applied on the mobile platform;The stretcher type storage mechanism has the advantages of simple structure,light movement,strong environmental adaptability and easy control,so it is more suitable for the mobile platform casualty storage and transportation.This paper presents a storage and transfer mechanism suitable for rescue robot,and designs a folding storage stretcher.The main contents of this paper include:1(1)Research background and significance.This paper first introduces the current research status at home and abroad,and compares the working principle,working mode and structural characteristics of the existing wounded storage and transfer mechanism.This paper summarizes the advantages and disadvantages of the existing storage and transfer mechanism,and introduces the significance of this research.(2)Theoretical analysis of storage and transportation system.Compared with the current characteristics of lifting,conveyor belt and stretcher,combined with the stress change characteristics of the body structure when the wounded is picked up and stored,the theoretical basis of using stretcher storage mode is put forward,and the preliminary design scheme is put forward according to the overall design requirements and several design indexes of the storage and transfer mechanism listed(3)Mechanical structure design of storage and transfer mechanism.The telescopic stretcher is proposed to reduce the distance between the rescue robot and the wounded to be rescued,that is,to reduce the length of the mechanical arm needed for picking up the wounded,so as to minimize the weight of the whole mechanism;The minimum length and folding position of the stretcher can be obtained by calculation and analysis;Complete the scheme determination and mechanism design of stretcher folding mechanism;The scroll spring is used as the power device of stretcher contraction and expansion,and the gear transmission is used as the transmission scheme of stretcher contraction and expansion;The L-type force closed guide rail is used as the guiding device of the mechanism,and the guide rail power transmission mechanism is designed according to the needs of the retraction and expansion of the stretcher at different times and different positions.(4)The kinematics and dynamics of the storage and transfer mechanism are analyzed.The kinematic analysis of each stage of the mechanism is carried out,and the motion equation of each stage is obtained.Through the dynamic analysis,the acceleration equation of each stage is obtained,and the friction force of the wounded is analyzed.The simulation analysis is carried out for the wounded with different shapes and different postures,and the friction force curve is obtained,which provides a theoretical basis for further research and design.(5)This paper introduces the experiment and analysis of the storage and transportation of the wounded.Experiments were carried out on the physical prototype.The simulated wounded and real people were used to complete the storage and transfer action respectively.The designed mechanism was verified to meet the expected requirements.The problems encountered in the experiment were analyzed and the solutions were put forward.