1.1 walking organization

As the buildings after the disaster, plants will have different degrees of destruction, complex ground conditions, seriously affecting the timely rescue. For the complex situation of the ground, the role of the walking mechanism is to provide forward, backward, left turn and right turn driving force for the fully self-balancing stretcher, so that the omnidirectional self-balancing stretcher can carry out the escort and treatment of the wounded in the disaster area. The travel mechanism of the stretcher is used in the off-road vehicle drive design, in the outer ring with a grip rubber ring, increase the friction between the wheels and the ground to ensure that the car can adapt to the post-disaster ground conditions, to avoid being stoned by physical stones or Caught in the cracks, the wheel size is moderate to avoid the ground crushed stone on the chassis friction, but also to ensure that the height of the chassis will not be too high and affect the center. The support part of the stretcher is divided into two layers. The material of the supporting mechanism is a stainless steel square tube with a length of 50mm and a width of 25mm, which guarantees the rigidity of the supporting mechanism and makes the overall weight of the mechanism not too heavy. Moments. Support the link is used only argon arc welding, safe and reliable. Two-layer support frame with a large screw in the middle of the link, the screw outside the spring, constitute a simple spring shock absorber, through the initial inspection, can achieve the shock absorption distance is 1-3cm, to achieve the entire ambulance preliminary Damping function. In the steering sensor control, we use a remote wireless remote control, you can rely on the user's will to achieve the omnidirectional self-balancing stretcher forward, backward, left turn, right turn control, so that from the drive more than people Mode of relief, single control can save manpower and material resources.

1.2 omnidirectional self-balancing control bearer part:

The ground surface of the disaster area is bad, the surface is uneven, most likely to affect the balance of the stretcher, so that the stretcher produces varying degrees of swing, and thus affect the body position of the wounded, we consider the racks can accept the body swing the maximum swing angle , According to experience design, coupled with the actual experiment, the initial design of the maximum inclination of stretchers ± 40 °, angle within 40 ° angle deviation can be corrected by self-balancing control system, so that stretchers in any case remain A degree of swing within ± 1 ° to obtain the best balance. The main accessories of this part are: gyroscope (tilt module), stepper motor, coupling, gear box and single-chip and other electronic control devices. The gyroscope detects the gravitational verticality of the stretcher and generates a pulse signal to drive the two stepper motors. The stepper motor adjusts the angle to control the level of the front and rear of the ambulance support and the left and right directions so that the body of the sick and wounded Always keep level. After the microcontroller to accept the gyroscope to send the signal, and to make accurate judgments and processing, control stepper motor rotation. Due to the weight of the stepper motor, we use the appropriate power of the motor, and then on the basis of this selection with the stepper motor gear box, and strive to use the smallest stepper motor to produce the maximum torque. The addition of the gearbox also makes the whole body more complete, but also to achieve a self-locking function. In this way, through the gyroscope, single-chip, gearbox, stepper motor can help keep the wounded in the stretcher always maintain the best ambulance medical posture.

1.3 stretcher rescue medical parts:

Stretcher medical care is mainly to provide a platform for the wounded to support the lying, as well as the implementation of the necessary ambulance medical measures. On the ambulance, the stretcher part uses a separate stretcher, the handle part is made of two stainless steel, two handles in the middle of the senior medical supplies canvas connection. The stretcher and the body can be free to disassemble, easy to load, fixed the wounded, the stretcher can also be folded, easy to carry. Hanging bottle medical parts can be the first time the wounded to the necessary infusion, there are other placed in the car on the medicine box and other medical equipment, to a certain extent, improve the efficiency and success of the rescue.