CN112078760A - Remote throwing device suitable for water robot, robot and working method - Google Patents

Abstract

The invention discloses a remote throwing device suitable for a water robot, a robot and a working method, wherein the device is arranged on the robot and can throw a compressed life-saving device for a plurality of near-distance drowners, and the device comprises: the robot comprises a robot body and a plurality of life-saving throwing devices arranged on the robot body. The life-saving throwing device comprises four groups of devices, wherein each group of devices comprises a mounting seat fixedly mounted in the driving cabin, a supporting device and a compressed gas storage tank fixedly mounted on the mounting seat, a launching device connected to one end of the gas storage tank and fixed on the supporting device, and an elastic body arranged at the output end of the launching device. The projectile body is a compressed life buoy. The remote throwing device of the water robot is combined with the water robot to launch and compress the life buoy when a plurality of scattered and positioned drowned persons to be rescued appear, so that life-saving equipment is provided for the drowned persons in the scattering direction, the physical consumption is reduced, and the probability of increasing the auxiliary robot is increased.

Description

Remote throwing device suitable for water robot, robot and working method

Technical Field

The invention belongs to the field of robot equipment, and particularly relates to a remote throwing device applicable to a water robot, a robot and a working method.

Background

The existing overwater lifesaving robot can quickly save drowning people, but if a plurality of scattered drowning people are in the same water area in a plurality of directions and ask for help at the same time, the robot can only save the drowning people one by one in sequence according to the optimal route calculated by the system, so that the rescue of the drowning people at the back is always ineffective, and the rescue result fails.

Through set up the throwing device that is used for the first aid on the robot of saving people on water, increase life-saving equipment in order to prolong the rescue time limit to a plurality of drowned people, but current throwing device adopts the compressed high-pressure gas of release to pop out the compression life buoy, and the range precision of this throwing device is not high, and in the in-service use process each person of asking for help between with the distance of throwing device alternate not together, so need throw distance and the direction of throwing of the nimble quick adjustment throwing device in accordance with the person's of asking for help position of difference.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a long-range throwing device, robot and working method suitable for robot on water to solve the above-mentioned problem that prior art exists.

Technical scheme one kind is applicable to long-range jettison device of robot on water, and the device sets up on the robot for a plurality of near-range drowners put in compression life saving equipment.

In a further embodiment, the life-saving throwing device is four groups and comprises a mounting seat fixedly arranged in the driving cabin, a supporting device and a compressed gas storage tank fixedly arranged on the mounting seat, a launching device connected to one end of the compressed gas storage tank and fixed on the supporting device, and a projectile body arranged at the output end of the launching device;

the transmitting device includes: the trigger is arranged on the air pipe, the connecting rod is arranged on the trigger, and the servo motor is hinged to the other end of the connecting rod;

the output end of the launching device is a throwing pipe integrally connected to the air outlet end of the air pipe, and the projectile body is a compressed life buoy embedded in the throwing pipe and a traction rope fixedly connected to the bottom of the throwing pipe and connected with the compressed life buoy; and one end of the compressed life buoy is provided with an inflation trigger device, and the inflation trigger device is inserted into the compressed life buoy.

In a further embodiment, the life-saving throwing device further comprises: the electromagnetic launching device is fixedly arranged on the rotating seat;

the electromagnetic emission device includes: the launching tube is fixedly connected to the rotating seat, the sliding assembly is arranged in the launching tube, the traction assembly is fixedly arranged at one end of the launching tube, and the second driving motor is in transmission connection with the traction assembly;

the device comprises a transmission tube, a rotating seat, a transmission pipe, a hydraulic lifting rod, a transmission pipe and a control device, wherein one end of the transmission pipe, which is far away from the rotating seat, is provided with a transmission port, the transmission pipe is hinged with the rotating seat at a certain included angle, the rotating seat is provided with the hydraulic lifting rod, and the power output end of the hydraulic lifting rod is connected with the transmission pipe so as to control the included angle of the transmission pipe rotating around the rotating; the sliding assembly sets up in the one end that is close to the transmission mouth, sliding assembly includes: the device comprises a sliding chute, spring assemblies, a magnetic propulsion seat, an electromagnetic coil and a power supply control lead, wherein the sliding chute is integrally arranged on the inner wall side of the launching tube and extends to a launching port; then the electromagnetic coil is electrified to drive the magnetic propulsion seat to slide in the chute, and then the projectile body on the propulsion magnetic propulsion seat is ejected from the ejection opening;

the tow assembly includes: the transmission traction steel wire is fixedly arranged on one side of the magnetic propulsion seat, and the tensioning wheel assembly is wound on the other end of the traction steel wire; the second driving motor is in transmission connection with the tensioning rotating wheel component, so that the traction steel wire is controlled to be wound or loosened on the rotating wheel, and the popped magnetic propulsion seat is driven by the traction steel wire to be recovered and slide to the electromagnetic coil;

the bottom of the rotating seat is provided with a gear ring, and the gear ring is in transmission connection with a gear in a transmission manner of the rotating motor, so that the rotating seat drives the launching tube to realize angle change.

In a further embodiment, the robot body and a control system in communication with a robot body controller;

the robot body includes: the device comprises a driving cabin, balance wings symmetrically arranged on two sides of the driving cabin, a power device arranged in the driving cabin, and buoyancy detection control devices fixedly arranged on the periphery of the driving cabin; and a waterproof shell is arranged outside the driving cabin.

In a further embodiment, the control system further comprises: the user bracelet is equipped with locator and controller in, be equipped with the first aid button on the user bracelet.

In a further embodiment, the power device is fixedly arranged on a first driving motor in the driving cabin, the propelling paddles are symmetrically inserted at the bottom of the driving cabin and are in transmission connection with the first driving motor, and the transmission device is in transmission connection with the propelling paddles and the output end of the first driving motor; the outside of the propulsion paddle is provided with a water inlet pressurizing cylinder, and the propulsion paddle comprises a rotating shaft sleeved in the water inlet pressurizing cylinder and a rotating paddle fixedly connected to the rotating shaft; the transmission device includes: the robot comprises a waterproof cover fixedly arranged at the bottom of the robot, transmission shafts which are sleeved in the waterproof cover and symmetrically arranged at two sides of an output shaft of a first driving motor, a first conical wheel fixedly arranged at the output shaft end of the first driving motor, a second conical wheel and a third conical wheel fixedly arranged at two ends of the transmission shafts, and a fourth conical wheel and a fifth conical wheel fixedly connected at the other end of the transmission shafts; the waterproof cover and the two groups of transmission shafts are respectively inserted into the water inlet pressurizing cylinder, one end of each of the two groups of rotating shafts is respectively provided with a sixth conical wheel and a seventh conical wheel, one end of each of the two groups of rotating shafts provided with the conical wheels is inserted into the waterproof cover and is matched with a fourth conical wheel and a fifth conical wheel which are arranged at the other end of each of the transmission shafts, so that the power of the first driving motor drives the two groups of propelling paddles at the bottom of the robot to rotate through the conical wheels on the transmission shafts, when the propelling paddles rotate in the water inlet pressurizing cylinder, water in the water inlet pressurizing cylinder is discharged outwards at high speed, and the water flow discharged out of the water inlet pressurizing cylinder reacts on the robot to push the robot to advance on water; the water inlet of the water inlet pressurizing cylinder is provided with a filter screen, so that garbage or other impurities floating on the water surface are prevented from entering the water inlet pressurizing cylinder to influence the normal operation of the rotary paddle.

In a further embodiment, the robot body controller is electrically connected with a positioning system and a communication device, and jacking devices and rotor wing mechanisms fixedly installed on one sides of the jacking devices are symmetrically arranged on two sides of the top of the drive cabin; the below of rotor mechanism is equipped with accomodates the groove, jacking device installs and accomodates the groove, jacking device is miniature hydraulic lifting rod, rotor mechanism is a plurality of and with the quantity adaptation of accomodating the groove, rotor mechanism fixed mounting is at the output of miniature hydraulic lifting rod, rotor mechanism includes: the driving motor is in transmission connection with a rotating shaft at the output end of the driving motor, and the rotating blade is connected to one end of the rotating shaft; the output end of the hydraulic lifting rod is provided with a bearing device which is inserted with the rotating shaft, the miniature hydraulic lifting rod and the driving motor are electrically connected with the controller, so that under the instruction of the control system, the robot controller controls the miniature hydraulic lifting rod to lift out the rotating blade in the accommodating groove, the driving motor drives the rotating shaft to rotate, and the rotating blade is driven to rotate to drive the robot body to fly to a drowning point;

and the driving cabin is also internally provided with a storage battery pack corresponding to the driving motor, and the driving motor is electrically connected with each distributed storage battery pack.

In a further embodiment, the buoyancy detection control device comprises: the buoyancy sensor is arranged at the bottom of the robot, and the buoyancy increasing air bag device is fixedly arranged on the robot;

the floating air bag device comprises an inflation trigger device arranged above the balance wings, and when the tops of the balance wings are submerged by water, inflation is triggered; the flotation air bag device comprises: the air bag containing device comprises four buckling pieces fixedly arranged at the bottom of a balance wing, a binding belt, a plurality of trigger device installing ports, an air bag containing groove and an air bag, wherein the two ends of the binding belt are fixedly connected with a clamping hook and clamped on the buckling pieces; the binding belt is made of elastic materials and is arranged in an X-shaped structure in a crossed mode, and the air bag is sleeved outside the inflation trigger device.

In a further embodiment, the inflation trigger device is inserted into a sleeve on the installation openings of the compressed life buoy and the balance wing trigger device, a solid salt bin fixedly installed in the sleeve, a compression spring arranged at the top of the solid salt bin, and a compressed gas tank connected to the other end of the compression spring, and a top plug matched with the inner wall of the sleeve is arranged at the connecting end of the compression spring and the solid salt bin; the sleeve extends out of the balance wing and is of a contracted cone structure at the top, and then the sleeve is melted when meeting water in the solid salt bin, so that the compression spring drives the top plug to advance towards the sleeve extension end, the compression spring drives the compressed gas tank at the other end to be opened in the advancing process, and the compressed gas is full of the air bag and the compressed life buoy instantly.

In a further embodiment, the following working steps are included:

s1, the area and direction of the water installation area of the water robot are set to be a plurality of, a special parking platform with relay function is arranged in a swimming pool or a water pool with larger area, a user bracelet is distributed to a customer entering the swimming pool, and when the customer finds that the customer has drowning condition or mistakenly enters the deep water area, the customer presses an emergency button;

s2, sending the distress signal to a control system, determining the position information of the drowner by the control system according to a locator in a user bracelet, and controlling the robot nearest to the drowner to go to a generation point;

s3, the driving motor drives the rotating blade to rotate according to the command of the controller, so as to drive a remote throwing device suitable for the water robot to fly to the position near a drowner, and the corresponding lifesaving throwing device is controlled to be opened according to the direction of the drowner to throw a lifesaving air bag to the drowner;

s4, driving a rotating motor to drive a rotating seat to move by a control system according to the relative position of a user bracelet and the robot body, moving the launching tube to an extension line positioned with the user bracelet, setting the lifting height of a hydraulic lifting rod on the launching tube according to the distance, and adjusting the firing range of the launching tube;

s5, when a plurality of persons to be rescued exist, after all the life-saving throwing devices on a single robot are started, the buoyancy sensor detects the buoyancy borne by the robot and sends the buoyancy to the control system, and the control system is communicated with the robots through a network;

s6, when rescuing a plurality of drowners or physically handicapped people, the robot is inclined towards the over-stressed side when the stress magnitude exceeds the buoyancy, and then the inflation trigger device on the balance wing is triggered to release compressed gas by water, so that the airbag at the bottom of the balance wing is inflated, the buoyancy of the robot is increased, when the airbags of the balance wings on the two sides are all released, the buoyancy magnitude of the robot detected by the buoyancy sensor is smaller than the stress, the control system searches for the waiting robot closest to the water area in the network according to a broadcasting mode to rescue, and the load of the current robot is reduced.

Has the advantages that: the remote throwing device of the water robot is combined with the water robot, when a plurality of scattered and positioned drowned rescue workers appear, the compressed life buoy is launched and inflated when meeting water, so that life-saving equipment is provided for the drowned people in the scattering direction, the physical consumption is reduced, and the probability of increasing the auxiliary robot is increased.

Drawings

Fig. 1 is a schematic structural view of the robot of the present invention.

Fig. 2 is a schematic structural diagram of the buoyancy restraint device suitable for the water robot.

Fig. 3 is a schematic structural diagram of the life-saving throwing device.

Fig. 4 is a schematic diagram of the structure of the projectile of the present invention.

Fig. 5 is a schematic structural diagram of an electromagnetic transmitting device of the present invention.

Fig. 6 is a top view of an electromagnetic emitting device of the present invention.

Fig. 7 is a schematic view of the construction of a restraining strip according to the present invention.

FIG. 8 is a schematic structural diagram of the flotation air bag device of the invention.

Fig. 9 is a schematic structural diagram of the power plant of the present invention.

Fig. 10 is a schematic structural diagram of a user bracelet according to the present invention.

Figure 11 is a schematic structural view of a rotor mechanism of the present invention.

FIG. 12 is a schematic view of the structure of the inflation trigger assembly of the present invention.

The reference signs are: the robot comprises a robot body 1, a driving cabin 10, a waterproof shell 100, a balance wing 11, a fastener 110, a restraining belt 111, a trigger device mounting opening 112, a power device 12, a driving motor 120, a propelling paddle 121, a rotating shaft 1210, a rotating paddle 1211, a transmission device 122, a waterproof cover 1220, a transmission shaft 1221, a first conical wheel 1222, a second conical wheel 1223, a third conical wheel 1224, a fourth conical wheel 1225, a fifth conical wheel 1226, a sixth conical wheel 1227, a seventh conical wheel 1228, a driving motor output shaft 1229, a mounting seat 13, a rotor mechanism 14, a driving motor 140, a rotating shaft 141, a rotating blade 142, a jacking device 15, a receiving groove 16, a supporting device 17, a launching device 170, an air pipe 1701, a trigger 1702, a connecting rod 1703, a servo motor 1704, an elastomer 171, a throwing pipe 1710, a compressed life ring 1711, a traction rope 1712, a compressed air storage tank 18, a user ring 2, a first-aid button 20, an airbag-increasing device 3, The device comprises an air bag accommodating groove 30, an air bag 31, an inflation trigger device 4, a sleeve 40, a solid salt bin 41, a compression spring 42, a compressed air tank 43, a top plug 44, a rotating seat 5, a rotating motor 50, a gear ring 51, a gear 52, an electromagnetic launching device 6, a launching tube 60, a launching port 600, a second driving motor 61, a hydraulic lifting rod 62, a sliding groove 63, a spring assembly 64, a magnetic propulsion seat 65, an electromagnetic coil 66, a traction steel wire 67 and a tensioning rotating wheel assembly 68.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

The applicant finds that the existing overwater rescuing robot can rapidly rescue drowners, but if a plurality of scattered drowners are in a plurality of directions in the same water area and ask for help at the same time, the robot can only sequentially rescue one by one according to the optimal route calculated by the system, so that the rescue of the next drowners is always ineffective, and the rescue result fails. Therefore, the invention discloses an emergency device with a multi-parallel mode, so as to prolong the optimal rescue time of the robot, and has a very positive significance on the rescue success rate. Through set up the throwing device that is used for the first aid on the robot of saving people on water, increase life-saving equipment in order to prolong the rescue time limit to a plurality of drowned people, but current throwing device adopts the compressed high-pressure gas of release to pop out the compression life buoy, and the range precision of this throwing device is not high, and in the in-service use process each person of asking for help between with the distance of throwing device alternate not together, so need throw distance and the direction of throwing of the nimble quick adjustment throwing device in accordance with the person's of asking for help position of difference.

A device suitable for use in the remote throwing of a water robot as illustrated in figures 1 to 12, comprising: the device comprises a supporting device 17, a launching device 170, an air pipe 1701, a trigger 1702, a connecting rod 1703, a servo motor 1704, an projectile body 171, a throwing pipe 1710, a compressed life buoy 1711, a traction rope 1712 and a compressed air storage tank 18. The device is arranged on a robot, and the robot comprises: the robot comprises a robot body 1, a driving cabin 10, a waterproof shell 100, a balance wing 11, a fastener 110, a restraining belt 111, a trigger device mounting opening 112, a power device 12, a driving motor 120, a propelling paddle 121, a rotating shaft 1210, a rotating paddle 1211, a transmission device 122, a waterproof cover 1220, a transmission shaft 1221, a first cone wheel 1222, a second cone wheel 1223, a third cone wheel 1224, a fourth cone wheel 1225, a fifth cone wheel 1226, a sixth cone wheel 1227, a seventh cone wheel 1228, a driving motor output shaft 1229, a mounting seat 13, a rotor mechanism 14, a driving motor 140, a rotating shaft 141, a rotating blade 142, a jacking device 15, a receiving groove 16, a user bracelet 2, an emergency button 20, a floating air bag device 3, an air bag receiving groove 30, an air bag 31, an inflating trigger device 4, a sleeve 40, a solid salt bin 41, a compression spring 42, a compressed air tank 43 and a top plug 44.

The device is arranged on the robot body and can put a compressed life-saving device on a plurality of near-distance drowners;

meanwhile, further, in the embodiment, the remote throwing device is replaced by an electromagnetic emission device; the device includes: the device comprises a rotating seat 5, a rotating motor 50, a gear ring 51, a gear 52, an electromagnetic launching device 6, a launching tube 60, a launching port 600, a second driving motor 61, a hydraulic lifting rod 62, a sliding groove 63, a spring assembly 64, a magnetic propulsion seat 65, an electromagnetic coil 66, a traction steel wire 67 and a tensioning rotating wheel assembly 68

The robot is suitable for an outdoor swimming pool or a water entertainment place and assists a safer to carry out water rescue, wherein a control system is communicated with a controller of a robot body 1 and a user bracelet 2, a positioner and a controller are arranged in the user bracelet 2, and a first-aid button 20 is arranged on the user bracelet 2; be equipped with 20 signal receiving arrangement of user bracelet 2 first aid button among the control system, will change and fix a position the signal of receiving, the robot in the appointed nearest waters of control system starts to go to drowning the point and rescues after the signal conversion is accomplished. Adopt user bracelet 2 and control system interdynamic at the rescue in-process, the swimmer adopts the mode of initiatively calling for help will drown signal and location to send to control system, and control system in time controls the robot after receiving the signal and goes to the condition emergence of waiting to help people drowned point and preventing a plurality of drowned person safety personnel can't take care of, and the condition that causes the drowned person to miss the rescue chance when avoiding the lifeguard to break away from the post or neglect simultaneously takes place.

Considering the situation that a plurality of drowners appear in one water area, the rescue robot realizes water-air amphibious movement in a mode of combining the rotor wing mechanism 14 with the water power device 12, and the rescue time is shortened; the working areas are divided by the robots according to the water areas, so that buoyancy can be efficiently and quickly increased for drowning people, and meanwhile, the life preservers are assisted to reduce physical consumption; the robot body 1 includes: the device comprises a driving cabin 10, balance wings 11 symmetrically arranged at two sides of the driving cabin 10, a power device 12 arranged in the driving cabin 10, a buoyancy detection control device fixedly arranged at the periphery of the driving cabin 10, and a lifesaving throwing device fixedly arranged at the top of the driving cabin 10 in multiple directions. 1 controller electricity federation positioning system of robot and communication device, when control system control robot 1 starts, rotor mechanism 14 is at first opened to the controller, and then drives robot 1 and go to drowned point from the control, shortens the departure time, and rotor mechanism 14 sets up the both sides at the top of drive cabin 10, rotor mechanism 14 is equipped with jacking device 15 for a plurality of and bottom, rotor mechanism 14's below is equipped with accomodates groove 16, jacking device 15 is installed in accomodating groove 16, jacking device 15 is miniature hydraulic lifting rod, rotor mechanism 14 is a plurality of and with accomodate the quantity adaptation of groove 16, 14 fixed mounting of rotor mechanism are at the output of miniature hydraulic lifting rod, rotor mechanism 14 includes: a driving motor 140, a rotating shaft 141, which is drivingly connected to an output end of the driving motor 140, and a rotating blade 142, which is connected to one end of the rotating shaft 141; the output of hydraulic lifting rod is equipped with bearing device and pegs graft with axis of rotation 141, miniature hydraulic lifting rod and actuating motor 140 and controller electricity federation, and then under control system's instruction, the rotatory leaf 142 in the miniature hydraulic lifting rod of robot controller control rises ejecting storage tank 16, and actuating motor 140 drives and then axis of rotation 141 rotates, and then drives rotatory leaf 142 and rotates and drive robot body 1 and fly to drowned point. After reaching the drowning point, the robot controller controls the miniature hydraulic lifting rod to descend to contract the rotating blade 142 into the accommodating groove 16, so that the acting force generated when the rotating blade 142 rotates is prevented from causing the deviation of the robot moving on water, and the moving precision of the power device 12 is accurate.

The driving cabin 10 is externally provided with a waterproof shell 100, internal water entering of the robot is caused to damage internal electronic components in the struggling process of a drowner, the power device 12 is fixedly arranged on a first driving motor 120 in the driving cabin 10, the propelling paddle 121 symmetrically penetrates through the bottom of the driving cabin 10 and is in transmission connection with the first driving motor 120, and a transmission device 122 is in transmission connection with the propelling paddle 121 and the output end of the first driving motor 120; the outside of the propulsion paddle 121 is provided with a water inlet pressurizing cylinder 1212, and the propulsion paddle 121 comprises a rotating shaft 1210 sleeved in the water inlet pressurizing cylinder 1212 and a rotating paddle 1211 fixedly connected to the rotating shaft 1210; the transmission 122 includes: the robot comprises a waterproof cover 1220 fixedly installed at the bottom of the robot, transmission shafts 1221 sleeved in the waterproof cover 1220 and symmetrically arranged on two sides of an output shaft of a first driving motor 120, a first conical wheel 1222 fixedly installed at the output shaft end of the first driving motor 120, a second conical wheel 1223 and a third conical wheel 1224 fixedly installed at two ends of the transmission shafts 1221, and a fourth conical wheel 1225 and a fifth conical wheel 1226 fixedly connected to the other end of the transmission shafts 1221; in buckler 1220 and two sets of transmission shaft 1221 alternate respectively in the pressure boost section of thick bamboo 1212 that intakes, pivot 1210 is two sets of the one end of pivot 1210 is equipped with sixth cone pulley 1227 and seventh cone pulley 1228 respectively, the one end that pivot 1210 was equipped with the cone pulley alternates buckler 1220 and with the fourth cone pulley 1225 and the fifth cone pulley 1226 adaptation of setting at the transmission shaft 1221 other end, and then the power of first driving motor 120 passes through the cone pulley on the transmission shaft 1221 and drives two sets of propulsion oars 121 rotation of robot bottom, impels the oar 121 and makes the water in the pressure boost section of thick bamboo 1212 that intakes outwards discharge at a high speed when rotating in the pressure boost section of thick bamboo 1212 that intakes, and the rivers of the pressure boost section of thick bamboo 1212 that intakes of discharge carry out the reaction force to the robot and advance on water. The drive cabin 10 is further provided with a storage battery pack corresponding to the drive motor 140, and the drive motor 140 is electrically connected with each allocated storage battery pack to provide electric power for the rotation of the drive motor 140; the water inlet of the water inlet pressurizing cylinder is provided with a filter screen, so that garbage or other impurities floating on the water surface are prevented from entering the water inlet pressurizing cylinder to influence the normal operation of the rotary paddle.

When the robot rescues a plurality of drowning people, the buoyancy of the robot needs to be detected, when the buoyancy is insufficient, the controller sends a support signal to the control system again to deal with the rescue conditions of the plurality of drowning people, besides the buoyancy detection device, the robot body 1 is also provided with a device for increasing the buoyancy, so that the number of rescue personnel is increased, and the robot is prevented from being dragged into water by the drowning people to cause the malfunction caused by the water inlet of the robot; the buoyancy detection control device includes: a buoyancy sensor and a floating air bag device 3 fixedly arranged at the bottom of the balance wing 11; the floating airbag device 3 comprises an inflation trigger device 4 arranged above the balance wings 11, and the inflation is triggered when the tops of the balance wings 11 are submerged by water.

This buoyancy restraint device sets up on the robot, triggers aerating device when the robot load surpasss self and bears the scope slope and sink, and then increases the buoyancy at the surface of water for the robot, finally realizes increaseing the robot at the load limit, alleviates life preserver and drowned person's physical demands.

The buoyancy increasing airbag 31 device 3 includes: four fastening pieces 110 fixedly arranged at the bottom of the balance wing 11, a restraining belt 111 with two ends fixedly connected with fastening hooks and fastened on the fastening pieces 110, a plurality of trigger device mounting ports 112 arranged at the top of the balance wing 11, an air bag 31 accommodating groove 16 fixedly arranged at the bottom of the trigger device, and an air bag 31 fastened in the air bag 31 accommodating groove 16; the binding belt 111 is made of elastic materials and is arranged in an X-shaped structure in a crossed mode, and the air bag 31 is connected to the outside of the inflating and triggering device in a sleeved mode. The elastic binding bands 111 can perform the integral air equalizing function on the air bag 31 in inflation, and when the released air impacts one side, the impact force is further dispersed to the external binding bands 111, so that the impact force is transmitted to the periphery through the crossed binding bands 111, and the effect of equalizing force is achieved.

The inflatable trigger device comprises a sleeve, a solid salt bin, a compression spring and a compressed gas tank, wherein the sleeve is inserted into a trigger device mounting opening 112 of the balance wing 11, the solid salt bin is fixedly mounted in the sleeve, the compression spring is arranged at the top of the solid salt bin, the compressed gas tank is connected to the other end of the compression spring, and a top plug matched with the inner wall of the sleeve is arranged at the connecting end of the compression spring and the solid salt bin; compression spring fixed connection is in the department of sealing of compressed gas cylinder, and the department of sealing is equipped with the pull ring of being connected with compression spring, the sleeve extends the cone structure that 11 outsides of balance wing and top are the shrink, and then meets water in the solid salt storehouse and melt to make compression spring drive the top stopper and extend the end to advance to the sleeve, compression spring and then drive the compressed gas jar seal mouth of the other end and open advancing, compressed gas is full of gasbag 31 in the twinkling of an eye, compressed gas at this place adopts the compressed carbon dioxide solid, after opening sealing and salt water reaction after melting forms carbon dioxide gas, is full of gasbag 31 rapidly. The design of top stopper cone structure melts the back at solid salt, and the solid salt in the salt storehouse diminishes to make top stopper upward movement, during top stopper upward movement, to the deposit water extrusion in the salt storehouse, speed that the deposit water was let down with higher speed, salt solution can reduce the freezing point of water when reacting with the dry ice, increases the melting point of dry ice, finally realizes salt solution acceleration dry ice and rises, and then to the quick aerated process of gasbag 31. The top plug and the salt bin are matched to seal the air bag 31 after the solid salt in the salt bin completely disappears.

Drowned people hold the rescue people tightly in the rescue process, so that the rescue people can not carry out rescue when consuming too much physical power and further increase the self danger, a compressed life buoy 1711 is provided for long-distance throwing of a plurality of drowned people, the rescue work of the lifeguard can be greatly assisted, and the life-saving throwing devices are four groups and comprise a mounting seat 13 fixedly arranged in a driving cabin 10, a supporting device 17 and a compressed gas storage tank 18 fixedly arranged on the mounting seat 13, a launching device 170 connected to one end of the compressed gas storage tank and fixed on the supporting device 17, and an elastomer 171 arranged at the output end of the launching device 170;

the transmitting device 170 includes: an air pipe 1701 connected with an air outlet of the air storage tank, a trigger 1702 arranged on the air pipe 1701, a connecting rod 1703 arranged on the trigger 1702, and a servo motor 1704 hinged at the other end of the connecting rod 1703; the servo motor 1704 rotates to drive the connecting rod 1703 connected to the output of the servo motor 1704, and the power drives the trigger 1702 at the other end of the connecting rod 1703 to rotate through the connecting rod 1703, so that the compressed gas in the gas pipe 1701 is released and closed.

The output end of the launching device 170 is a throwing pipe 1710 integrally connected to the air outlet end of an air pipe 1701, and the projectile body 171 is a compressed life buoy 1711 embedded in the throwing pipe 1710 and a traction rope 1712 fixedly connected to the bottom of the throwing pipe 1710 and connected with the compressed life buoy 1711; and one end of the compressed life buoy 1711 is provided with an inflation trigger device 4. The body 171 range passes through servo motor 1704 and drives trigger 1702 pivoted power size control, still relies on the haulage rope 1712 control of connection in the bottom of throwing pipe 1710, and compressed life buoy 1711 pops out through the compressed gas of release and throws pipe 1710, is connected with robot 1 through haulage rope 1712 simultaneously, and then drives compressed life buoy 1711 and remove together, prevents losing of later stage compressed life buoy 1711 and reduces drowned person and life preserver's physical demands.

The compressed life buoy 1711 moves in a parabolic manner after being ejected, the compressed life buoy 1711 is folded into a cylindrical shape and is compressed in the throwing pipe 1710, a traction rope 1712 is fixed at the top of the cylinder, the bottom of the cylinder faces the water surface when falling into the water, the inflation trigger device 4 is inserted into the sleeve 40 on the compressed life buoy 1711, the solid salt bin 41 fixedly installed in the sleeve 40, the compression spring 42 arranged at the top of the solid salt bin 41, and the compressed gas tank 43 connected to the other end of the compression spring 42, and the connecting end of the compression spring 42 and the solid salt bin 41 is provided with a top plug 44 matched with the inner wall of the sleeve 40; the sleeve 40 extends out the compression life buoy 1711 and the balance wing 11 outside and the top is the cone structure of shrink, and then meets water and melts at the solid salt storehouse 41 to make compression spring 42 drive the top plug 44 to sleeve 40 extension end gos forward, compression spring 42 is at the in-process that gos forward and then drive the compressed gas jar 43 of the other end and open, and compressed gas is full of the compression life buoy 1711 in the twinkling of an eye, can increase buoyancy for throwing at near the compression life buoy 1711 of drowning person.

Meanwhile, in consideration of the throwing precision and the weight problem of a robot for standing a compressed gas storage bottle, the remote throwing device is replaced by an electromagnetic transmitting device; thereby improve the scheme that emitter occupy the robot load, the device includes: the device comprises a rotating seat 5, a rotating motor 50, a gear ring 51, a gear 52, an electromagnetic launching device 6, a launching tube 60, a launching port 600, a second driving motor 61, a hydraulic lifting rod 62, a sliding groove 63, a spring assembly 64, a magnetic propulsion seat 65, an electromagnetic coil 66, a traction steel wire 67 and a tensioning rotating wheel assembly 68.

The rotating seat is fixedly arranged at the top of the driving cabin, and the electromagnetic transmitting device 6 is fixedly arranged on the rotating seat;

the electromagnetic emission device 6 comprises: the launching tube 60 is fixedly connected to the rotating seat, the sliding assembly is arranged in the launching tube 60, the traction assembly is fixedly arranged at one end of the launching tube 60, and the second driving motor 61 is in transmission connection with the traction assembly;

a launching port 600 is formed in one end, far away from the rotating seat, of the launching tube 60, the launching tube 60 is hinged to the rotating seat at a certain included angle, a hydraulic lifting rod 62 is arranged on the rotating seat, and a power output end of the hydraulic lifting rod 62 is connected with the launching tube 60, so that the included angle of the launching tube 60 rotating around the rotating seat is controlled; the sliding assembly is disposed at one end close to the transmitting opening 600, and the sliding assembly includes: the electromagnetic launching device comprises a sliding chute 63 integrally arranged on the inner wall side of the launching tube 60 and extending to the launching port 600, spring assemblies 64 symmetrically arranged on two sides of the sliding chute 63, a magnetic propelling seat 65 clamped in the sliding chute 63, an electromagnetic coil 66 arranged at one end of the magnetic propelling seat 65, and a power supply control lead electrically connected with the electromagnetic coil 66; the electromagnetic coil 66 is electrified to drive the magnetic propulsion seat 65 to slide in the chute 63, and the projectile body 171 on the magnetic propulsion seat 65 is further propelled and ejected from the launching port 600; the popped up body 171 is the life buoy of compression for cylindric structure, and the parabola motion is made to rescuer position power supply control wire from the transmission mouth and can be according to drowned person's distance control solenoid 66's current strength, and then the adjustment of the rate of movement of control magnetism propulsion seat 65 for emitter can be according to the precision of apart from the accurate transmission of size, improves rescue efficiency.

The tow assembly includes: a transmission traction steel wire 67 fixedly arranged at one side of the magnetic propulsion seat 65, and a tensioning wheel assembly 68 wound at the other end of the traction steel wire 67; the second driving motor 61 is in transmission connection with a tensioning rotating wheel assembly 68, so that the traction steel wire 67 is controlled to wind or loosen on the rotating wheel, the ejected magnetic propulsion seat 65 is recovered and slides to the electromagnetic coil 66 under the driving of the traction steel wire 67, the next launching preparation is carried out, a stopping member is further arranged at the launching port, and the spring assembly 64 is fixedly connected to the stopping member, so that the magnetic propulsion seat 65 is prevented from sliding out of the launching tube.

The bottom of rotating the seat is equipped with the ring gear, the gear that the ring gear is connected with the rotating electrical machines transmission connects the transmission soon, and then makes to rotate the seat and drive the change that launch tube 60 realized the angle for launch opening and drowned person's position keep same axis.

The working principle is as follows: the water installation area and direction of the water robot are set to be a plurality of, a special parking platform with a relay function is arranged in a swimming pool or a water pool with a larger area, a user bracelet 2 is issued to a customer entering the swimming pool, and when the customer finds that the customer is drowned or mistakenly enters the deep water area, the first-aid button 20 is pressed; the distress signal is sent to a control system, the control system determines the position information of the drowning person according to a locator in the user bracelet 2 and controls the robot nearest to the drowning person to go to a generation point; the driving motor 140 drives the rotating blade 142 to rotate according to the command of the controller, so as to drive a remote throwing device suitable for the water robot to fly to the vicinity of a drowner, control the corresponding lifesaving throwing device to be opened according to the direction of the drowner, and throw and compress the lifebuoy 1711 to the drowner; the control system drives the rotating motor to drive the rotating seat to move according to the relative position of the user bracelet and the robot body, the transmitting tube 60 is moved to the extension line positioned with the user bracelet, the lifting height of the hydraulic lifting rod 62 to the transmitting tube 60 is set according to the distance, and the range of the transmitting tube 60 is adjusted; when the number of the rescue seekers is too many, all the lifesaving throwing devices on a single robot are started, the buoyancy sensor detects the buoyancy borne by the robot and sends the buoyancy to the control system, and the control system is communicated with the robots through a network; when rescuing a plurality of drowned people or the personnel that the physical strength is not sufficient, balanced wing 11 inclines toward the too big party of atress when the robot atress size surmounts buoyancy, and then make the trigger device that aerifys on the balanced wing 11 meet the water and arouse compressed gas release, thereby make the gasbag 31 of balanced wing 11 bottom aerify, robot buoyancy increases, when the balanced wing 11 gasbag 31 of both sides all releases, the robot buoyancy size that the buoyancy sensor detected is less than when the atress, control system looks for the robot of treating that is closest to this piece of waters in the network according to the broadcast mode and goes to the rescue, reduce the load of current robot.

The buoyancy restraint device is arranged on the robot, when the inflation trigger device is not triggered, the device is in a compressed state, the resistance of the robot in flying on the water surface is not increased, the flying power consumption is reduced, the cruising ability is improved, the buoyancy restraint device is light in weight, the device can be placed on a small ship and a water unmanned aerial vehicle to realize the quick impact of the air bag 31, the buoyancy is increased to meet the requirement of increasing the loading weight limit of the small robot applied to the water surface, a solid salt bin is adopted in the inflation trigger device as a trigger medium and is installed and exposed on the surface of the balance wing 11, when the buoyancy of the balance wing 11 is insufficient and inclined, the solid salt is dissolved in the water to trigger the release of compressed gas, the impact force is smaller than that of the traditional gunpowder released compressed gas, and the deviation.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims (10)

1. The utility model provides a be applicable to long-range jettison device of robot on water, its characterized in that, the device sets up on the robot for a plurality of near-range drowners throw in compression life saving equipment.

2. The remote throwing device suitable for the water robot as claimed in claim 1, wherein the life-saving throwing device is four groups, comprising a mounting seat fixedly mounted in the driving cabin, a supporting device and a compressed gas storage tank fixedly mounted on the mounting seat, a launching device connected to one end of the compressed gas storage tank and fixed on the supporting device, and a projectile body arranged at the output end of the launching device;

the transmitting device includes: the trigger is arranged on the air pipe, the connecting rod is arranged on the trigger, and the servo motor is hinged to the other end of the connecting rod;

the output end of the launching device is a throwing pipe integrally connected to the air outlet end of the air pipe, and the projectile body is a compressed life buoy embedded in the throwing pipe and a traction rope fixedly connected to the bottom of the throwing pipe and connected with the compressed life buoy; and one end of the compressed life buoy is provided with an inflation trigger device, and the inflation trigger device is inserted into the compressed life buoy.

3. A device adapted for robotic remote throwing on water as claimed in claim 1 wherein said life-saving throwing device further comprises: the electromagnetic launching device is fixedly arranged on the rotating seat;

the electromagnetic emission device includes: the launching tube is fixedly connected to the rotating seat, the sliding assembly is arranged in the launching tube, the traction assembly is fixedly arranged at one end of the launching tube, and the second driving motor is in transmission connection with the traction assembly;

the device comprises a transmission tube, a rotating seat, a transmission pipe, a hydraulic lifting rod, a transmission pipe and a control device, wherein one end of the transmission pipe, which is far away from the rotating seat, is provided with a transmission port, the transmission pipe is hinged with the rotating seat at a certain included angle, the rotating seat is provided with the hydraulic lifting rod, and the power output end of the hydraulic lifting rod is connected with the transmission pipe so as to control the included angle of the transmission pipe rotating around the rotating; the sliding assembly sets up in the one end that is close to the transmission mouth, sliding assembly includes: the device comprises a sliding chute, spring assemblies, a magnetic propulsion seat, an electromagnetic coil and a power supply control lead, wherein the sliding chute is integrally arranged on the inner wall side of the launching tube and extends to a launching port; then the electromagnetic coil is electrified to drive the magnetic propulsion seat to slide in the chute, and then the projectile body on the propulsion magnetic propulsion seat is ejected from the ejection opening;

the tow assembly includes: the transmission traction steel wire is fixedly arranged on one side of the magnetic propulsion seat, and the tensioning wheel assembly is wound on the other end of the traction steel wire; the second driving motor is in transmission connection with the tensioning rotating wheel component, so that the traction steel wire is controlled to be wound or loosened on the rotating wheel, and the popped magnetic propulsion seat is driven by the traction steel wire to be recovered and slide to the electromagnetic coil;

the bottom of the rotating seat is provided with a gear ring, and the gear ring is in transmission connection with a gear in a transmission manner of the rotating motor, so that the rotating seat drives the launching tube to realize angle change.

4. A water-borne robot comprising a telethrowing device according to any one of claims 1 to 3.

5. The water robot of claim 4, comprising a robot body and a control system in communication with a robot body controller;

the robot body includes: the device comprises a driving cabin, balance wings symmetrically arranged on two sides of the driving cabin, a power device arranged in the driving cabin, and buoyancy detection control devices fixedly arranged on the periphery of the driving cabin; a waterproof shell is arranged outside the driving cabin;

the control system further comprises: the user bracelet is equipped with locator and controller in, be equipped with the first aid button on the user bracelet.

6. The water robot as claimed in claim 5, wherein the power device is a first driving motor fixedly installed in the driving cabin, and the propelling paddles are symmetrically inserted into the bottom of the driving cabin and are in transmission connection with the first driving motor, and the transmission device is in transmission connection with the propelling paddles and the output end of the first driving motor; the outside of the propulsion paddle is provided with a water inlet pressurizing cylinder, and the propulsion paddle comprises a rotating shaft sleeved in the water inlet pressurizing cylinder and a rotating paddle fixedly connected to the rotating shaft; the transmission device includes: the robot comprises a waterproof cover fixedly arranged at the bottom of the robot, transmission shafts which are sleeved in the waterproof cover and symmetrically arranged at two sides of an output shaft of a first driving motor, a first conical wheel fixedly arranged at the output shaft end of the first driving motor, a second conical wheel and a third conical wheel fixedly arranged at two ends of the transmission shafts, and a fourth conical wheel and a fifth conical wheel fixedly connected at the other end of the transmission shafts; the waterproof cover and the two groups of transmission shafts are respectively inserted into the water inlet pressurizing cylinder, one end of each of the two groups of rotating shafts is respectively provided with a sixth conical wheel and a seventh conical wheel, one end of each of the two groups of rotating shafts provided with the conical wheels is inserted into the waterproof cover and is matched with a fourth conical wheel and a fifth conical wheel which are arranged at the other end of each of the transmission shafts, so that the power of the first driving motor drives the two groups of propelling paddles at the bottom of the robot to rotate through the conical wheels on the transmission shafts, when the propelling paddles rotate in the water inlet pressurizing cylinder, water in the water inlet pressurizing cylinder is discharged outwards at high speed, and the water flow discharged out of the water inlet pressurizing cylinder reacts on the robot to push the robot to advance on water; the water inlet of the water inlet pressurizing cylinder is provided with a filter screen, so that garbage or other impurities floating on the water surface are prevented from entering the water inlet pressurizing cylinder to influence the normal operation of the rotary paddle.

7. The water robot as claimed in claim 5, wherein the robot body controller is electrically connected with a positioning system and a communication device, and the top of the drive cabin is symmetrically provided with jacking devices and rotor wing mechanisms fixedly arranged on one side of the jacking devices; the below of rotor mechanism is equipped with accomodates the groove, jacking device installs and accomodates the groove, jacking device is miniature hydraulic lifting rod, rotor mechanism is a plurality of and with the quantity adaptation of accomodating the groove, rotor mechanism fixed mounting is at the output of miniature hydraulic lifting rod, rotor mechanism includes: the driving motor is in transmission connection with a rotating shaft at the output end of the driving motor, and the rotating blade is connected to one end of the rotating shaft; the output end of the hydraulic lifting rod is provided with a bearing device which is inserted with the rotating shaft, the miniature hydraulic lifting rod and the driving motor are electrically connected with the controller, so that under the instruction of the control system, the robot controller controls the miniature hydraulic lifting rod to lift out the rotating blades in the accommodating groove, the driving motor drives the rotating shaft to rotate, and then the rotating blades are driven to rotate so as to drive the robot body to fly to a drowning point;

and the driving cabin is also internally provided with a storage battery pack corresponding to the driving motor, and the driving motor is electrically connected with each distributed storage battery pack.

8. A water robot as claimed in claim 5, wherein the buoyancy detection control means comprises: the buoyancy sensor is arranged at the bottom of the robot, and the buoyancy increasing air bag device is fixedly arranged on the robot;

the floating air bag device comprises an inflation trigger device arranged above the balance wings, and when the tops of the balance wings are submerged by water, inflation is triggered; the flotation air bag device comprises: the air bag containing device comprises four buckling pieces fixedly arranged at the bottom of a balance wing, a binding belt, a plurality of trigger device installing ports, an air bag containing groove and an air bag, wherein the two ends of the binding belt are fixedly connected with a clamping hook and clamped on the buckling pieces; the binding belt is made of elastic materials and is arranged in an X-shaped structure in a crossed mode, and the air bag is sleeved outside the inflation trigger device.

9. The water robot as claimed in claim 5, wherein the inflatable trigger device is inserted into the sleeve on the installation ports of the compressed life buoy and the balance wing trigger device, the solid salt bin is fixedly installed in the sleeve, the compression spring is arranged at the top of the solid salt bin, and the compressed gas tank is connected to the other end of the compression spring; the sleeve extends out of the balance wing and is of a contracted cone structure at the top, and then the sleeve is melted when meeting water in the solid salt bin, so that the compression spring drives the top plug to advance towards the sleeve extension end, the compression spring drives the compressed gas tank at the other end to be opened in the advancing process, and the compressed gas is full of the air bag and the compressed life buoy instantly.

10. The working method suitable for the water robot is characterized by comprising the following working steps of:

s1, the area and direction of the water installation area of the water robot are set to be a plurality of, a special parking platform with relay function is arranged in a swimming pool or a water pool with larger area, a user bracelet is distributed to a customer entering the swimming pool, and when the customer finds that the customer has drowning condition or mistakenly enters the deep water area, the customer presses an emergency button;

s2, sending the distress signal to a control system, determining the position information of the drowner by the control system according to a locator in a user bracelet, and controlling the robot nearest to the drowner to go to a generation point;

s3, the driving motor drives the rotating blade to rotate according to the command of the controller, so as to drive a remote throwing device suitable for the water robot to fly to the position near a drowner, and the corresponding lifesaving throwing device is controlled to be opened according to the direction of the drowner to throw a lifesaving air bag to the drowner;

s4, driving a rotating motor to drive a rotating seat to move by a control system according to the relative position of a user bracelet and the robot body, moving the launching tube to an extension line positioned with the user bracelet, setting the lifting height of a hydraulic lifting rod on the launching tube according to the distance, and adjusting the firing range of the launching tube;

s5, when a plurality of persons to be rescued exist, after all the life-saving throwing devices on a single robot are started, the buoyancy sensor detects the buoyancy borne by the robot and sends the buoyancy to the control system, and the control system is communicated with the robots through a network;

s6, when rescuing a plurality of drowners or physically handicapped people, the robot is inclined towards the over-stressed side when the stress magnitude exceeds the buoyancy, and then the inflation trigger device on the balance wing is triggered to release compressed gas by water, so that the airbag at the bottom of the balance wing is inflated, the buoyancy of the robot is increased, when the airbags of the balance wings on the two sides are all released, the buoyancy magnitude of the robot detected by the buoyancy sensor is smaller than the stress, the control system searches for the waiting robot closest to the water area in the network according to a broadcasting mode to rescue, and the load of the current robot is reduced.

Images