CN110917525B

CN110917525B - Tilting-rotating-force deformation aircraft for high-rise rescue

Info

Publication number: CN110917525B
Application number: CN201911029548.8A
Authority: CN
Inventors: 石启鹏; 韩东; 桑玉委; 何晓萍; 张�浩; 张思敬; 叶尚卿
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2021-04-27
Anticipated expiration: 2039-10-28
Also published as: CN110917525A

Abstract

The embodiment of the invention discloses a tilting-rotating-force deformable aircraft for high-rise rescue, relates to the field of design of emergency rescue equipment, and can solve the problems that conventional rescue equipment is high in ground transportation time and cost and cannot go deep into fire scene for rescue. The invention comprises the following steps: the shell-fixed 1 and the shell-movable 5 are spliced into a spherical wave-transparent shell, and a curved groove is arranged on the shell-fixed 1; the upper support 4 is nested with the mask ball container 2 to form a framework upper layer; the auxiliary wheel 3 is connected and fixed on the upper bracket 4 through a pin shaft, and the auxiliary wheel 3 is contacted with the inner surface of the shell; the skeleton intermediate layer includes: the movable blade unit 6 and the backbone 13; the skeleton lower floor includes: a lower bracket 9, a fire extinguishing pellet container 11, a battery pack and a container 10 thereof and a sensor container 15; the 3 layers of skeletons are connected through longitudinal columns passing through the central axis of the morphing aircraft in sequence. The invention is suitable for fire scene rescue.

Description

Tilting-rotating-force deformation aircraft for high-rise rescue

Technical Field

The invention relates to the field of design of emergency rescue equipment, in particular to a tilting-rotating-force deformable aircraft for high-rise rescue.

Background

At present, more than half of the world's high-rise buildings are in china. The whole country has 34.7 ten thousand high-rise buildings with more than 8 floors and more than 24 meters, more than 6000 super-high floors with more than one hundred meters, and the number of the buildings is the first in the world. According to incomplete statistics, in nearly ten years, 3.1 thousands of high-rise building fires occur in China, 474 people die, and the direct property loss is 15.6 million yuan. And except self-distribution equipment of buildings, fire rescue equipment means of high-rise buildings with the height of more than one hundred meters in China are almost blank. At present, the fire-fighting robots in China still mainly adopt crawler-type fire trucks, are small in number, and cannot cope with high-rise fires and other conditions due to the limitation of movement and terrain. The aircraft with the externally hung water gun also has the defects of large rear force, large body size, incapability of entering fire scene for rescue and the like. Military and civil equipment such as fire extinguishing rocket projectiles also have the problems of high cost and overlarge power.

And road construction in cities develops towards a three-dimensional direction, so that the environmental complexity is greatly increased. The fire truck and the rescue workers face the problems of traffic jam, frequent emergency and the like when arriving at the site, various limitations caused by ground movement cannot be eliminated, rescue golden time is missed, and rescue efficiency is affected.

Disclosure of Invention

The embodiment of the invention provides a tilting-rotating force type deformable aircraft for high-rise rescue, which can solve the problems that conventional rescue equipment is high in ground transportation time and cost, cannot go deep into fire scene for rescue and the like.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

provided is a tilting-rotating force transformable aerial vehicle for high-rise rescue, comprising: the fire extinguishing device comprises a shell, a fixing part (1), a mask ball container (2), an auxiliary wheel (3), an upper support (4), a shell, a moving part (5), a movable paddle unit (6), a transmission gear (7), a driving wheel (8), a lower support (9), a battery pack and a container (10) thereof, a fire extinguishing pellet container (11), a rack (12), an intermediate layer support (13), a communication antenna (14) and a sensor container (15); the shell-fixing part (1) and the shell-moving part (5) are spliced into a spherical wave-transparent shell, a curved groove is arranged on the shell-fixing part (1), and the shell-moving part (5) slides along the curved groove to form the opening or closing action of the spherical wave-transparent shell; the upper support (4) is nested with the mask ball container (2) to form a framework upper layer; the bottom of the mask ball container (2) forms an included angle of 5 degrees with the horizontal plane, and a mask ball in the cavity of the mask ball container (2) is released and rolls out under the action of gravity; the auxiliary wheel (3) is connected and fixed on the upper bracket (4) through a pin shaft, and the auxiliary wheel (3) is contacted with the inner surface of the shell; the skeleton intermediate layer includes: a movable blade unit (6) and a backbone (13); the skeleton lower floor includes: a lower bracket (9), a fire extinguishing pellet container (11), a battery pack and a container (10) thereof and a sensor container (15); the framework upper layer, the framework middle layer and the framework lower layer are connected in sequence through a longitudinal cylinder passing through the central axis of the morphing aircraft.

Specifically, in the skeleton intermediate layer: the number of the movable blade units (6) is 6, the framework (13) is uniformly provided with 6 trapezoidal tracks with racks (12) and narrow lower parts and wide upper parts in the circumferential direction, each group of movable blade units (6) comprises a group of foldable blades, a motor and a telescopic shaft arm, and the blade units (6) drive the gears and the racks through the motors so as to reciprocate in the track direction. In the lower layer of the skeleton: the lower bracket (9) is nested with a fire extinguishing pellet container (11), a battery pack, a container (10) of the battery pack and a sensor container (15); the bottom of the extinguishing pellet container (11) forms an included angle of 5 degrees with the horizontal plane, and the extinguishing pellets in the cavity of the extinguishing pellet container (11) are released and rolled out under the action of gravity. The driving wheel (8) is connected and fixed on the lower bracket (9) through a pin shaft and is driven by the motor driving gear (7), and the driving wheel (8) is contacted with the inner surface of the shell. The framework upper layer, the framework middle layer and the framework lower layer are connected in a matched mode through a longitudinal hexahedral cylinder (16) passing through the center of the morphing aircraft in sequence.

Specifically, the bottom of the sliding rack (24) is provided with a trapezoidal groove with the same size as the cross section of the track of the middle layer bracket (13), wherein the trapezoidal groove is narrow at the bottom and wide at the top; the first motor support (17) is fixedly connected with the sliding rack (24) through a screw, the first motor (18) is fixedly connected with the first motor support (17), a gear attached to the first motor (18) is matched with the rack (12), and the first motor (18) operates to drive the sliding rack (24) to slide on the middle layer support (13). V-shaped grooves are formed in the two sides of the sliding rack (24), and V-shaped convex blocks matched with the V-shaped grooves in size are arranged inwards in the two sides of the second motor support (19).

Specifically, a second motor (23), a tilting mechanism (22), a foldable blade (20) and a high-power motor (21) are fixed on the second motor bracket (19); a gear attached to the second motor (23) is matched with the sliding rack (24), and the second motor (23) operates to drive the tilting mechanism (22), the foldable paddle (20) and the high-power motor (21) to slide on the sliding rack (24).

Specifically, two hinged foldable blades are arranged on a connecting joint (25), the connecting joint is fixed on a rotating shaft of a high-power motor, the motor is fixed on an end cover, and an upper end cover (30) and a lower end cover (32) are fixedly connected through 4 pairs of bolts (29) and nuts (33); cross-shaped grooves are formed in the upper end cover (30) and the lower end cover (32), and cross-shaped convex blocks (31) are embedded in the cross-shaped grooves; the cross-shaped convex block (31) is fixed on a rotating shaft of the brush motor (27), the brush motor (27) is fixed in the shaft sleeve (28), the shaft sleeve (28) is fixed in the shaft arm (26), and the shaft arm (26) is fixed on the second motor bracket (19).

The embodiment discloses a tilting-rotating-force deformable aircraft for high-rise rescue, which can effectively avoid the problems that conventional rescue equipment is large in ground transportation time cost and cannot go deep into fire scene rescue. The situation that the traditional multiple shafts can only fly in the plane of the paddle disk is overturned, and the plane of the paddle disk is three-dimensionally changed to adapt to various complex flying space environments. The six-axis aircraft and the spherical shell are integrated, so that the six-axis aircraft can be switched between two modes of flight and ground motion; flexible high-rise ground maneuvering is achieved by means of the deformable characteristic and the spherical shell, and rescue efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a three-dimensional schematic view of a morphing aircraft of the present invention;

FIG. 2 is a schematic side view of a morphing aircraft of the present invention;

fig. 3 is a schematic view of an arm telescoping mechanism in the movable blade unit;

fig. 4 is a schematic view of a disc tilting mechanism in the movable blade unit;

FIG. 5 is a schematic view of the morphing aircraft of the present invention in a spherical state (top left, ground maneuvered state), a configuration switching state (top right), and a flight state (down), respectively;

FIG. 6 is a schematic diagram of the morphing aircraft of the present invention performing an airframe attitude angle adjustment;

FIG. 7 is a schematic illustration of the airframe of the morphing aircraft of the present invention;

FIG. 8 is a schematic view of the lower bracket and the lower center of gravity;

the representations in the figure represent respectively: the device comprises a shell, a fixed part, a mask ball container, an auxiliary wheel, an upper support, a shell, a movable part, a movable paddle unit, a transmission gear, a driving wheel, a lower support, a battery pack and a container thereof, a fire extinguishing pellet container, a rack, a middle support, a communication antenna, a sensor container, a longitudinal hexahedral cylinder, a first motor support, a first motor, a second motor support, a foldable paddle, a high-power motor, a tilting mechanism, a second motor, a sliding rack, a connecting joint, a shaft arm, a brush motor, a shaft sleeve, a bolt, an upper end cover, a transverse projection, a lower end cover, a nut, a connector.

Detailed Description

In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

An embodiment of the present invention provides a tilting-rotating deformable aircraft for high-rise rescue, as shown in fig. 1, which includes:

the fire extinguishing device comprises a shell, a fixing part (1), a mask ball container (2), an auxiliary wheel (3), an upper support (4), a shell, a moving part (5), a movable paddle unit (6), a transmission gear (7), a driving wheel (8), a lower support (9), a battery pack and a container (10) thereof, a fire extinguishing pellet container (11), a rack (12), an intermediate layer support (13), a communication antenna (14) and a sensor container (15);

the shell-fixing part (1) and the shell-moving part (5) are spliced into a spherical wave-transparent shell, a curved groove is formed in the shell-fixing part (1), and the shell-moving part (5) slides along the curved groove to form opening or closing action of the spherical wave-transparent shell;

the upper support (4) is nested with the mask ball container (2) to form a framework upper layer; the bottom of the mask ball container (2) forms an included angle of 5 degrees with the horizontal plane, and a mask ball in the cavity of the mask ball container (2) is released and rolls out under the action of gravity; the auxiliary wheel (3) is connected and fixed on the upper bracket (4) through a pin shaft, and the auxiliary wheel (3) is contacted with the inner surface of the shell;

as shown in fig. 2, the skeleton intermediate layer includes: a movable blade unit (6) and a backbone (13); the skeleton lower floor includes: a lower bracket (9), a fire extinguishing pellet container (11), a battery pack and a sensor container (10); the framework upper layer, the framework middle layer and the framework lower layer are connected in sequence through a longitudinal cylinder passing through the central axis of the morphing aircraft.

In a preferred embodiment of this embodiment, as shown in fig. 1 and 7, in the skeleton intermediate layer:

the structure comprises 6 groups of movable blade units (6), wherein 6 trapezoidal tracks with racks (12) and narrow lower parts and wide upper parts are uniformly arranged on a framework (13) in the circumferential direction, each group of movable blade units (6) comprises a group of foldable blades, a motor and a telescopic shaft arm, and the blade units (6) drive the gears and the racks through the motors so as to reciprocate in the track direction;

in the lower layer of the skeleton:

the lower bracket (9) is nested with a fire extinguishing pellet container (11), a battery pack and a sensor container (10);

the bottom of the extinguishing pellet container (11) forms an included angle of 5 degrees with the horizontal plane, and the extinguishing pellets in the cavity of the extinguishing pellet container (11) are released and rolled out under the action of gravity. Therefore, the aircraft and the fire-fighting robot are combined, the adverse conditions of ground movement are eliminated, and the aircraft can timely and efficiently go deep into a fire scene to implement active rescue in coping with high-rise fire.

The driving wheel (8) is connected and fixed on the lower bracket (9) through a pin shaft and is driven by the motor driving gear (7), and the driving wheel (8) is contacted with the inner surface of the shell. The framework upper layer, the framework middle layer and the framework lower layer are connected in a matched mode through a longitudinal hexahedral cylinder (16) passing through the center of the morphing aircraft in sequence.

As shown in fig. 3, the bottom of the sliding rack (24) is provided with a trapezoidal groove with a narrow lower part and a wide upper part, which have the same size as the cross section of the track of the middle layer bracket (13); the first motor support (17) is fixedly connected with the sliding rack (24) through a screw, the first motor (18) is fixedly connected with the first motor support (17), a gear attached to the first motor (18) is matched with the rack (12), and the first motor (18) operates to drive the sliding rack (24) to slide on the middle layer support (13). V-shaped grooves are formed in the two sides of the sliding rack (24), and V-shaped convex blocks matched with the V-shaped grooves in size are arranged inwards in the two sides of the second motor support (19). So that the sliding rack (24) and the second motor bracket (19) realize sliding.

A second motor (23), a tilting mechanism (22), a foldable paddle (20) and a high-power motor (21) are fixed on the second motor bracket (19); a gear attached to the second motor (23) is matched with the sliding rack (24), and the second motor (23) operates to drive the tilting mechanism (22), the foldable paddle (20) and the high-power motor (21) to slide on the sliding rack (24).

Specifically, as shown in fig. 4, two hinged foldable blades (20) are arranged on the coupling joint (25), the coupling joint (25) is fixed on the shaft of the high-power motor (21), the motor (21) is fixed on the end covers (30,32), the upper end cover (30) and the lower end cover (32) are fixedly connected through 4 pairs of bolts (29) and nuts (33), a "+" -shaped (or cross-shaped) groove is formed in the upper end cover (30) and the lower end cover (32), a "+" -shaped (or cross-shaped) lug (31) is embedded in the "+" -shaped (or cross-shaped) lug (31) is fixed on the shaft of the brush motor (27), the brush motor (27) is fixed in the shaft sleeve (28), the shaft sleeve (28) is fixed in the shaft arm (26), and the shaft arm (26) is fixed on the second motor support (19).

As shown in fig. 5, the housing-moving unit (5) slides and opens along the groove with a predetermined curve on the housing-fixing unit (1), the movable blade unit (6) moves to the outside of the spherical area along the track through the gear and rack transmission, the brush motor (27) tilts the blades (20) to the vertical position, the foldable blades (20) are unfolded, and the motor (21) drives the upper and lower groups of blades (20) to rotate reversely.

As shown in fig. 6, shaft 1 tilts by α °, shaft 4 tilts by α °, shaft 2 tilts by β °, shaft 3 tilts by β °, shaft 6 tilts by γ °, shaft 5 tilts by γ °, and the body will generate an attitude angle of δ ° (δ < α).

Further, the present embodiment actually adopts a modular design, for example: when the face mask ball container (2) and the fire extinguishing ball container (11) are planed, different devices can be carried to serve other application scenes. By adopting the modular design, the embodiment is convenient for platform and subsequent improvement and reference.

In this embodiment, as shown in fig. 8, the lower bracket and the center of gravity are disposed downward, so that the lower half space density of the whole machine is greater than that of the upper half, and the main driving motor (21), the extinguishing ball container (11), the battery pack and its container (10), the sensor container (15), and the driving wheel (8) are all disposed downward, thereby maintaining the longitudinal stability during ground movement.

The advantages of this embodiment in practical application are as follows:

1. six-shaft independent tilting power: the six shafts can respectively generate different tilt angles, and the machine body can generate a large tilt angle posture through arrangement, so that the situation that the multi-shaft aircraft can only fly in the plane of the paddle disk is broken through;

2. foldable paddle: the radius size of the fully unfolded blade can be increased by 70%, and the flight power is greatly increased;

3. a telescopic shaft arm: and adjusting the extension of each group of blade units to generate control moments with different sizes, and performing attitude control on the machine body.

4. Form change: not only protects the internal structure of the machine body, but also enhances the adaptability of various scenes;

5. maneuvering in any direction on the ground: the shell of the whole machine can move in any direction through differential speed and reverse rotation control of the two driving wheels;

6. modularization, multipurpose: on the basis that the whole machine support does not change, different devices are carried to be applied to different use scenes.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A tiltable power deformable aircraft for high-rise rescue, comprising:

the shell-fixing part (1) and the shell-moving part (5) are spliced into a spherical wave-transparent shell, a curved groove is arranged on the shell-fixing part (1), and the shell-moving part (5) slides along the curved groove to form the opening or closing action of the spherical wave-transparent shell;

the upper support (4) is nested with the mask ball container (2) to form a framework upper layer;

the bottom of the mask ball container (2) forms an included angle of 5 degrees with the horizontal plane, and a mask ball in the cavity of the mask ball container (2) is released and rolls out under the action of gravity;

the auxiliary wheel (3) is connected and fixed on the upper bracket (4) through a pin shaft, and the auxiliary wheel (3) is contacted with the inner surface of the shell;

the skeleton intermediate layer includes: a movable blade unit (6) and a backbone (13);

the skeleton lower floor includes: a lower bracket (9), a fire extinguishing pellet container (11), a battery pack and a container (10) thereof and a sensor container (15);

the framework upper layer, the framework middle layer and the framework lower layer are connected in sequence through a longitudinal cylinder passing through the central axis of the morphing aircraft;

the bottom of the sliding rack (24) is provided with a trapezoidal groove with the same size as the cross section of the track of the middle layer bracket (13), the trapezoidal groove is narrow at the bottom and wide at the top;

the first motor support (17) is fixedly connected with the sliding rack (24) through a screw, the first motor (18) is fixedly connected with the first motor support (17), a gear attached to the first motor (18) is matched with the rack (12), and the first motor (18) operates to drive the sliding rack (24) to slide on the middle layer support (13);

v-shaped grooves are formed in the two sides of the sliding rack (24), and V-shaped convex blocks matched with the V-shaped grooves in size are inwards arranged on the two sides of the second motor support (19);

in the scaffold intermediate layer:

a second motor (23), a tilting mechanism (22), a foldable paddle (20) and a high-power motor (21) are fixed on the second motor bracket (19);

a gear attached to the second motor (23) is matched with the sliding rack (24), and the second motor (23) operates to drive the tilting mechanism (22), the foldable paddle (20) and the high-power motor (21) to slide on the sliding rack (24);

two hinged foldable blades are arranged on the connecting joint (25), the connecting joint is fixed on a rotating shaft of a high-power motor, the motor is fixed on an end cover, and an upper end cover (30) and a lower end cover (32) are fixedly connected through 4 pairs of bolts (29) and nuts (33);

cross-shaped grooves are formed in the upper end cover (30) and the lower end cover (32), and cross-shaped convex blocks (31) are embedded in the cross-shaped grooves;

the cross-shaped convex block (31) is fixed on a rotating shaft of the brush motor (27), the brush motor (27) is fixed in the shaft sleeve (28), the shaft sleeve (28) is fixed in the shaft arm (26), and the shaft arm (26) is fixed on the second motor bracket (19).

2. The tiltably-powered transformable aerial vehicle for high-rise rescue according to claim 1, characterized in that in the lower level of the skeleton:

the lower bracket (9) is nested with a fire extinguishing pellet container (11), a battery pack, a container (10) of the battery pack and a sensor container (15);

the bottom of the extinguishing pellet container (11) forms an included angle of 5 degrees with the horizontal plane, and extinguishing pellets in the cavity of the extinguishing pellet container (11) are released and rolled out under the action of gravity;

the driving wheel (8) is connected and fixed on the lower bracket (9) through a pin shaft and is driven by the motor driving gear (7), and the driving wheel (8) is contacted with the inner surface of the shell.

3. The transformable aerial vehicle of tiltable power for high-rise rescue according to claim 1 or 2, wherein the upper frame layer, the middle frame layer and the lower frame layer are cooperatively coupled in turn by a longitudinal hexahedral cylinder (16) passing through the center of the transformable aerial vehicle.