CN114228999B

CN114228999B - Unmanned aerial vehicle-based infrared inspection high-altitude robot

Info

Publication number: CN114228999B
Application number: CN202111594798.3A
Authority: CN
Inventors: 杨杰; 张猛; 叶德辉; 邓成呈
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2023-07-04
Anticipated expiration: 2041-12-24
Also published as: CN114228999A

Abstract

The invention discloses an infrared inspection high-altitude robot based on an unmanned aerial vehicle, which comprises a machine shell, two front horn assemblies and a rope winding disc, wherein the machine shell is arranged on the machine shell; two rear horn assemblies; the rear horn assembly comprises a rear horn, a rear paddle part and a rear motor; a driving column is formed on the outer wall of the output shaft of the rear motor; two extrusion inclined planes are formed on the shell; a reset spring is arranged between the rear paddle part and the rear motor; a sliding tube is connected in the shell in a sliding way; when the sliding tube is positioned at the first limit position, the driving column is in transmission connection with the rear paddle part, and the rear motor rotates to enable the rear paddle part to rotate to generate upward lifting force so as to drive the machine shell to fly; when the sliding tube is located at the second limit position, the rear motor is in transmission connection with the rope winding disc, and the rear motor rotates to enable the rope winding disc to rotate so as to drive trapped personnel to move to the safety position. The invention can fly to high level with the safety rope; the high-altitude rope drop of trapped people can be carried, and the rescue efficiency is improved; the automatic operation is mostly adopted, so that the rescue time is shortened.

Description

Unmanned aerial vehicle-based infrared inspection high-altitude robot

Technical Field

The invention belongs to the technical field of high-altitude rescue devices, and particularly relates to an infrared inspection high-altitude robot based on an unmanned aerial vehicle.

Background

The chinese patent literature with the literature number CN208031681U discloses an anchor hook, an anchor hook assembly, a jettisoner and an overhead rescue unmanned aerial vehicle for overhead rescue, wherein the anchor hook comprises: the device comprises an anchor body, a hook-shaped body and a breaking part, wherein the hook-shaped body is connected with the anchor body and is bent towards the rear side of the anchor body; the breaking part extends out of the front end of the anchor body for a section, and the breaking part at the front end of the anchor hook can be used for breaking the outer window glass of a high-altitude building under the pushing of the high-pressure air charging bottle so as to deliver lifesaving equipment indoors.

When the above-mentioned patent is in the high altitude rescue, after throwing the anchor hook to the high-rise, stranded personnel in danger area can not simply rely on life-saving equipment to live, often still need withdraw the conversion position immediately, and because the difference of personnel health status, stranded personnel often can not simply rely on self strength or rely on the life-saving equipment of delivering to flee, to a certain extent, this patent can not satisfy the actual use demand.

The Chinese patent literature with the literature number of CN110588988A discloses an infrared inspection high-altitude robot based on an unmanned aerial vehicle, which comprises the following components: rescue seat, gas tank, unmanned aerial vehicle power equipment, fixed connection board and rescue goods and materials transportation equipment, the bottom of gas tank is equipped with unmanned aerial vehicle power equipment. The device can timely send the lifesaving appliance to the vicinity of trapped people through the rescue material conveying device, and small objects such as medicines can be placed in the object placing groove arranged on the unmanned aerial vehicle, so that medicines can be provided for people with physical diseases to timely treat the people with physical diseases; the rescue seat is arranged at the top end of the equipment, trapped people can fly to a safe place along with the unmanned aerial vehicle through the rescue seat, the functions of the unmanned aerial vehicle are enriched, meanwhile, the integration of the device is realized, and the time for waiting for rescue of the trapped people is shortened; the rescue seat is provided with a plurality of groups of cylinders, so that the angle of the seat and the opening degree of the arm and the hand can be adjusted, and the trapped person can be firmly fixed on the unmanned aerial vehicle when the unmanned aerial vehicle carries the trapped person to fly, so that the personal safety is ensured.

The above-mentioned patent is when carrying out the rescue, though can carry stranded personnel together to withdraw, but because this patent structure is complicated, and weight is great, when flying to stranded personnel position, needs great take-off and landing space, and operational environment is more restricted, simultaneously because the structure is complicated, motion and power unit are more to cause the fault rate higher, when carrying out personnel rescue, cause the secondary injury to stranded personnel easily, also be unfavorable for maintenance and maintenance itself, to a certain extent, can not satisfy actual user demand.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the defects existing in the prior art, the high-altitude rescue unmanned aerial vehicle which can fly to a high floor and can be relatively fixed with trapped personnel so as to carry the trapped personnel for evacuation is provided.

The invention is realized by adopting the following technical scheme: an infrared inspection high-altitude robot based on an unmanned aerial vehicle comprises a machine shell, two front horn assemblies, and a pull rope assembly, wherein the two front horn assemblies are arranged in the front of the machine shell, can provide lifting force for the machine shell and can be used for fixing trapped personnel; the rope pulling assembly comprises a rope winding disc which is rotatably connected in the shell and is wound with a safety rope; two rear horn assemblies which can provide lifting force for the machine shell and can drive the rope winding disc to rotate are arranged in the machine shell.

The rear horn assembly comprises a rear horn, a rear paddle part and a rear motor, wherein the rear horn is in sliding connection in the shell, the rear paddle part is longitudinally and slidably connected to the rear horn, and the rear motor is fixedly connected to the rear horn, can drive the rear paddle part to circumferentially rotate and can be in transmission connection with the rope winding disc; the outer wall of the output shaft of the rear motor is formed with a driving column which is longitudinally and slidably connected with the rear paddle part and can drive the rear paddle part to circumferentially rotate; two extrusion inclined planes for driving the corresponding rear paddle parts to downwards are formed on the shell; a reset spring for enabling the rear paddle part to move upwards is arranged between the rear paddle part and the corresponding rear motor; and a sliding tube for driving the rear arm to slide is connected in a sliding manner in the shell.

When the sliding pipe is located at a first limit position, the extrusion inclined plane is not in contact with the rear propeller part, the driving column is in transmission connection with the rear propeller part, the rear motor is not in transmission connection with the rope winding disc, and the rear motor rotates to enable the rear propeller part to rotate to generate upward lifting force so as to drive the machine shell to fly.

When the sliding tube is located at the second limit position, the extrusion inclined plane abuts against the rear paddle portion, so that the driving column is not in contact with the rear paddle portion, the rear motor is in transmission connection with the rope winding disc, and the rear motor rotates to enable the rope winding disc to rotate so as to drive trapped personnel to move to a safe position.

As a preferable scheme: the front horn assembly comprises a plurality of snake bone units which are connected in turn in a rotating way, a winding shaft which is connected in the shell in a rotating way and is used for driving the snake bone units to rotate, and a front rotating sleeve which is connected in the shell in a rotating way and is connected with the winding shaft in a transmission way; one snake bone unit, which is close to the shell, in the front horn assembly is fixedly connected with the corresponding front rotating sleeve; the outer wall of the winding shaft is wound with two traction wires, and the two tail ends of each traction wire are fixedly connected with the inner wall of the corresponding snake bone unit far away from the shell; one of the two traction wires is close to the rotation direction of the snake bone unit, and the other traction wire is far away from the rotation direction of the snake bone unit; the two winding directions of the two traction wires on the corresponding winding shafts are opposite; the sliding tube can synchronously drive the front rotating sleeve to rotate.

When the winding shaft rotates positively, the traction wires close to the rotation direction of the snake bone units are tightened, the traction wires far away from the rotation direction of the snake bone units are loosened, and the snake bone units are gradually rotated to form an annular tightening ring which can be abutted against the body of a user.

As a preferable scheme: the front horn assembly further comprises a front paddle part rotatably connected to the snake bone unit far away from the shell and a front motor fixedly connected to the snake bone unit and used for driving the corresponding front paddle part to rotate; and limiting walls which can be propped against the two ends of the adjacent snake bone units to limit the rotation angles of the adjacent snake bone units are respectively formed at the two ends of the snake bone units close to the upper ends.

When the winding shaft reversely rotates, the traction wire close to the rotation direction of the snake bone unit is loosened, the traction wire far away from the rotation direction of the snake bone unit is tightened, the snake bone unit rotates to enable the adjacent limiting walls to respectively abut against, and the front paddle rotates to enable the snake bone unit to drive the machine shell to fly.

As a preferable scheme: the rear horn assembly further comprises a rear rotating sleeve which is rotationally connected in the shell and can be driven to rotate by the corresponding rear horn and a linkage rod, wherein two ends of the linkage rod are respectively rotationally connected with the rear rotating sleeve and the front rotating sleeve and can drive the front rotating sleeve to rotate; when the sliding tube slides to a first limit position, the spool reversely rotates; when the sliding tube slides to the second limit position, the winding shaft rotates positively.

As a preferable scheme: the shell is rotatably connected with a rotating tube; the rotating pipe is internally and axially connected with a stop rod which is rotationally connected with the sliding pipe and is used for driving the sliding pipe to slide in a sliding manner; and a stop spring for enabling the stop rod to move in a direction away from the rotating pipe is arranged between the stop rod and the rotating pipe.

When the stop rod and the rotating pipe are mutually perpendicular, the stop spring compresses the power; when the stop rod is not perpendicular to the sliding tube, the elastic force of the stop spring can drive the stop rod to slide, so that the sliding tube moves to a first limit position or a second limit position.

As a preferable scheme: the rope pulling assembly further comprises a worm wheel which is rotationally connected in the shell and is in transmission connection with the rope winding disc, and a worm which is rotationally connected in the shell and is in transmission connection with the worm wheel; the worm can be in transmission connection with the rear motor.

When the worm is in transmission connection with the rear motor, the rear motor works to drive the worm to rotate, so that the rope winding disc can rotate, and the safety rope is released to enable a user to drop to a safety zone.

When the worm is not contacted with the rear motor, the rope winding disc cannot drive the worm to rotate, namely, the rope winding disc cannot circumferentially rotate, so that a user is prevented from falling, the torque of an output shaft of the rear motor is reduced, and the service life of the rear motor is prolonged.

As a preferable scheme: a guide groove which is in sliding connection with the sliding tube is formed in the shell; a rope pressing groove for accommodating the safety rope is formed in the guide groove; the outer wall of the sliding tube is formed with a rope pressing convex strip which can press the safety rope into the rope pressing groove; one end of the sliding tube, which is close to the rope guiding wheel, is formed with a sliding block which is in sliding connection with the guide groove; the limiting block for limiting the sliding block to slide is formed at the front end of the guide groove.

When the sliding pipe slides to the first limit position, the rope pressing convex strips press the safety rope into the rope pressing grooves, so that the safety rope is prevented from being knotted.

When the sliding tube slides to the second limit position, the sliding block abuts against the limiting block, and the sliding tube can drive the machine shell to move.

As a preferable scheme: the rear oar part comprises a rear oar rotating plate longitudinally and slidably connected to the corresponding rear arm and two symmetrically arranged rear paddles respectively connected to two sides of the rear oar rotating plate in a rotating mode.

When flying, two back paddles move to the extreme position that keeps away from each other under centrifugal action, back paddle circumference rotates and provides the flight lift, need not manual expansion, has shortened the preparation time, provides more time for the rescue.

When rescue is carried out, the two rear paddles are positioned at limit positions close to each other, so that the rear paddles are prevented from being contacted with a user, the occupied volume is reduced, and rescue is facilitated.

Compared with the prior art, the invention has the beneficial effects that: in the initial state, the sliding pipe is positioned at a first limit position, the safety buckle is clamped in the safety buckle slot, the driving column is positioned in the driven hole, and the limiting walls of each snake bone unit are propped against the adjacent limiting walls in sequence.

When a fire disaster occurs in a high-rise building, people trapped in the high-rise building are difficult to safely evacuate through a fire area, so that the safety rope is erected at high altitude to carry out rope descending evacuation, which is the safest rescue mode at present. When the rescue is carried out, a user takes out the product and places the product on the horizontal ground and starts the machine, so that the landing gear is propped against the ground, and ground rescue personnel control the remote controller to enable the controller to control the rear motor to work. The rear motor works to enable the driving column to rotate, the driving column rotates to drive the driven hole to rotate so that the rear propeller rotating plate rotates, and the rear propeller rotating plate rotates to drive the rear propeller to rotate to generate upward lifting force. Meanwhile, the controller synchronously controls the front motor to work so that the front motor drives the front paddle rotating plate to rotate, so that the front paddle rotates to generate upward lifting force, a rescue worker controls the remote controller, the casing flies to a designated rescue position, and the process is the same as a four-rotor aircraft control method.

After reaching the assigned position, rescue personnel operate the remote controller to enable the shell to stop at the assigned position steadily, after trapped personnel obtain the product, the hand holds the shell, rotates the shell to enable the safety buckle to be located right above, clings the shell to the front chest, enables two landing gears to be located on two sides of the abdomen respectively, adjusts the position of the shell, and enables the connection position of the front horn assembly and the shell to be located under the armpit. The safety buckle is taken out of the safety buckle clamping groove, the trapped person lifts the two arms, the safety buckle is pulled out outwards by force, the safety buckle moves outwards to drive the safety rope to move outwards, and the worm wheel cannot drive the worm to rotate, namely the rope winding disc cannot rotate, the safety rope moves outwards to drive the rope guiding wheel to move, so that the sliding pipe slides outwards. The sliding tube slides outwards to drive the sliding column to synchronously move, the sliding column moves to drive the stop hole to move so as to enable the stop rod to rotate, the acute angle clamped between the stop rod and the sliding tube is gradually increased, the distance between the rotating tube and the sliding column is gradually reduced, and the stop spring compresses the power. When the stop rod rotates to be vertical to the sliding tube, the sliding tube continues to move outwards, the stop rod continues to rotate, the acute angle between the stop rod and the sliding tube is reduced, the distance between the rotating tube and the sliding column is rapidly increased by the elastic force of the stop spring, the sliding tube rapidly moves to the second limit position, the sliding tube extends outwards, and the sliding block slides to be abutted to the limiting block along the guide groove.

The sliding tube slides and synchronously drives the driving groove to move upwards, the driving groove moves upwards to drive the linkage column to move upwards so as to drive the rear arm to move upwards, the rear arm moves to drive the guide column to move synchronously, and the guide column moves upwards along the arc-shaped guide groove. The two rear horn move in opposite directions when moving upwards under the guiding action of the arc-shaped guide groove, the rear horn moves upwards to enable the rear horn to axially slide along the rear rotating sleeve, and the two rear horn moves in opposite directions to enable the rear horn to drive the rear rotating sleeve to circumferentially rotate. The rear motor is driven to move upwards by the movement of the rear horn, the rear motor is driven to move upwards by the movement of the rear paddle rotating plate, the upward movement of the rear paddle rotating plate is propped against the extrusion inclined plane, the rear paddle rotating plate moves away from the direction of the adjacent switching bevel gear under the extrusion action of the extrusion inclined plane, and the corresponding reset spring compresses the power storage. The rear oar rotating plate moves to drive the driven hole to move, when the sliding tube moves upwards to the second limit position, the driven hole moves to be separated from the driving column, in the process, the motor moves to synchronously drive the switching bevel gear to move, when the sliding tube moves upwards to the second limit position, the switching bevel gear moves to be in transmission connection with the worm bevel gear, and the rear horn moves into the machine shell.

In the process of rotating the rear rotating sleeve, the rear rotating sleeve rotates to drive the rear linkage lug to synchronously rotate, the rear linkage lug rotates to drive the linkage rod to move, and the linkage rod moves to drive the front linkage lug to rotate so that the front rotating sleeve rotates downwards. The front rotating sleeve rotates to drive the arc gears to synchronously rotate, the arc gears rotate to drive the winding gears to rotate so as to enable the winding shaft to positively rotate, the winding shaft positively rotates to drive the outer diameter winding shaft to rotate, and the traction wire wound on the periphery of the outer diameter winding shaft is gradually loosened. Meanwhile, the winding shaft rotates positively to drive the inner diameter winding shaft to rotate, so that the traction wire wound on the periphery of the inner diameter winding shaft is wound on the inner diameter winding shaft. The snake bone unit rotates in proper order to be connected, and the last pull wire end of external diameter spool is close to the inner wall fixed connection of spacing wall with keeping away from preceding rotation sheathed tube snake bone unit, and the last pull wire end of internal diameter spool is kept away from the inner wall fixed connection of spacing wall with keeping away from preceding rotation sheathed tube snake bone unit. The traction wire on the outer diameter winding shaft is loosened, the traction wire on the inner diameter winding shaft is tightened, the snake bone unit rotates towards the direction of a user, the snake bone unit gradually surrounds the periphery of the body of the user, and meanwhile the front rotating sleeve rotates downwards, and meanwhile the snake bone unit moves downwards. When the sliding tube moves to the second limit position, the snake bone unit moves downwards to the armpit of the trapped person, and the snake bone unit rotates to form an annular tightening ring which is abutted against the body of the user.

Subsequently, fix the fixed position at high-rise building with the safety knot, stranded personnel remove outside the building, the slip pipe is held to the hand for stranded personnel is hung under the safety rope, and the gravity effect of stranded personnel is pressed on annular tightening ring, presses on the casing promptly, thereby makes the slip pipe can remain at the second limit position throughout, makes annular tightening ring and stranded personnel health support tightly, prevents the rescue in-process, and annular tightening ring accidentally opens, avoids stranded personnel unexpected to fall, ensures stranded personnel's life safety. The operator who is located ground passes through behind the remote controller control motor work, and then makes two switching bevel gears rotate, and switching bevel gears rotates and drives worm bevel gear and rotate and then make the worm rotate, and the worm rotates and drives the worm wheel and rotate and then makes drive gear rotate, and drive gear rotates and drives the rope winding gear and rotate and then makes the rope winding dish rotate. The safety rope wound around the periphery of the rope winding disc is gradually loosened, so that trapped personnel gradually fall down, a controller on the ground can control the rotating speed of the switching bevel gear through the remote controller, namely, the rotating speed of the rope winding disc is controlled, the falling speed of the trapped personnel is controlled, and the trapped personnel on a high layer can be safely and rapidly moved to a ground safety zone. Then, ground rescue personnel, through pressing the sliding tube to first extreme position for snake bone unit no longer offsets with the user's health, thereby makes stranded personnel and casing separation, moves the sliding tube to the second extreme position again, rotates winding safety rope around the rope reel through remote controller control, makes the casing motion to the high-rise, rescue other stranded personnel.

After rescue is completed, the safety buckle is loosened, the pressing sliding tube moves to a second limit position, the rope winding disc rotates through the remote controller, the safety rope is wound on the periphery of the rope winding disc, and the safety rope is reserved for a specified length outside the sliding tube. Then, the sliding tube is pressed to the first limit position, the sliding tube slides inwards to drive the rope pressing raised strips to move, the rope pressing raised strips move to abut against the safety rope, and the safety rope is pressed into the rope pressing grooves along with the sliding of the rope pressing raised strips, so that the rope in the machine shell is prevented from being knotted. The sliding tube moves to drive the stop rod to rotate, and the elastic action of the stop spring enables the sliding tube to be kept at the first limit position. The sliding tube moves to drive the rear horn to move so that the rear horn moves to the original position, the rear paddle rotating plate does not prop against the extrusion inclined plane any more, the rear paddle rotating plate moves to the original position under the action of the elastic force of the reset spring, and the driven hole moves to the periphery of the driving column. Meanwhile, the rear horn movement drives the rear rotating sleeve to move to the original position, the rear rotating sleeve movement drives the linkage rod to move so as to enable the front rotating sleeve to move to the original position, the front rotating sleeve rotates to drive the winding shaft to reversely rotate, the outer diameter winding shaft tightens up the corresponding traction wire, and the inner diameter winding shaft loosens the corresponding traction wire, so that each snake bone unit rotates to be coaxial. And finally, clamping the safety buckle in the safety buckle clamping groove, closing the product, and storing the product.

According to the invention, the rear motor is arranged, when the sliding outer tube is positioned at the first limit position, the driven hole is positioned in the driving column, the rear motor works to enable the driving column to rotate, the driving column rotates to drive the driven hole to rotate, and then the rear paddle rotating plate rotates to generate upward lifting force, so that the machine shell can fly in the air; when the sliding outer tube is located at the second limit position, the rear paddle rotating plate moves to the driven hole to be separated from the driving column under the extrusion of the extrusion inclined plane, meanwhile, the bevel gear is switched to be connected with the worm bevel gear in a transmission mode, the rear motor works to enable the worm to rotate, the worm rotates to drive the rope winding disc to rotate, the shell can further longitudinally slide under the traction of the safety rope, a trapped person is transferred, a new moving mechanism is not added, the structure is simple, the control difficulty and the failure rate are reduced, and the overhaul and the maintenance are facilitated.

According to the invention, the snake bone units are arranged coaxially, when flying, the front motor works to enable the front blade to rotate to generate upward lifting force, so that the snake bone units drive the shell to fly, the limiting walls are propped against the adjacent limiting walls, the snake bone units cannot rotate upwards, so that the snake bone units are kept coaxial, the shell can fly stably, shake in the flying is reduced, the flying safety is improved, large-scale ascending equipment is not required when high-rise rescue is carried out, the device is not limited by using places, and the device is wide in compatibility; when rescue is carried out, the front rotating sleeve rotates downwards to enable the snake bone units to move downwards, meanwhile, the front rotating sleeve rotates to drive the winding shafts to rotate, the outer diameter winding shafts loosen corresponding traction wires, the inner diameter winding shafts tighten the corresponding traction wires, accordingly, each snake bone unit rotates towards the body direction of a user, the snake bone units move downwards to the armpits of trapped people, the snake bone units rotate to form annular tightening rings which are tightly abutted to the bodies of the user, and then the trapped people can be carried to move, so that trapped people can safely and rapidly move to a safe zone, rescue procedures are simplified, rescue time is shortened, and rescue efficiency of the trapped people is improved.

According to the invention, the sliding tube is arranged, when the sliding tube moves to the second limit position, the sliding tube slides outwards, so that the safety rope is pulled outwards, and meanwhile, the sliding tube drives the rear arm to move upwards, so that the switching bevel gear moves to be in transmission connection with the worm bevel gear, meanwhile, the driven hole is not propped against the driving column, the rear motor works to enable the rope winding disc to rotate, so that the safety rope is loosened or wound tightly, trapped people are rescued, a new movement mechanism and operation steps are not added, the use is simple and convenient, precious time is saved for rescue, meanwhile, the sliding tube can be held by trapped people, the user is prevented from being scratched in the movement process of the safety rope, and the rescue safety is improved; when the sliding tube moves to the first limit position, the rear arm moves to the original position in the process of moving, the sliding tube moves to drive the rope pressing raised strips to move, the sliding tube is stored in the shell, the rope pressing raised strips enable the safety rope to move to the rope pressing groove, the safety rope in the shell is prevented from being knotted, the safety rope moves smoothly, the safety rope is prevented from being clamped in the shell, and rescue is guaranteed to be carried out smoothly.

The invention can fly to a high level with the safety rope, does not need to use large-scale ascending equipment when rescue is carried out, is not limited by a use place, and has wide application range; the invention can carry trapped personnel to fall by rope at high altitude, can rapidly and safely carry the trapped personnel to move to a ground safety area, simplifies rescue procedures and improves rescue efficiency; the invention adopts automatic operation, is simple and convenient to use, does not need complex preparation work, and shortens rescue time.

Drawings

Fig. 1 is a schematic view of the structure of the present invention when flying.

Fig. 2 is a schematic cross-sectional view of the present invention.

Fig. 3 is a schematic view of an exploded structure of the present invention.

Fig. 4 and 5 are schematic cross-sectional views of the casing of the present invention.

Fig. 6 is an exploded view of the pull cord assembly of the present invention.

Fig. 7 is a schematic structural view of the sliding tube of the present invention.

Fig. 8 is a schematic view of an exploded structure of the front horn assembly of the present invention.

Fig. 9 is an exploded view of the rear horn assembly of the present invention.

Fig. 10 is a schematic structural view of the present invention.

Fig. 11 is a schematic view of the structure of the present invention when rescue is performed.

10. A housing; 101. an arc-shaped guide groove; 102. extruding the inclined plane; 1031. rope pressing grooves; 1032. a guide groove; 1033. a limiting block; 104. a guide through groove; 105. a worm rotating seat; 106. positioning columns; 107. an outer sliding port; 108. a safety buckle slot; 11. landing gear; 12. a guide pulley block; 2. a pull cord assembly; 21. a rope winding disc; 211. a rope winding gear; 22. a worm wheel; 221. a transmission gear; 23. a worm; 231. a worm bevel gear; 24. a safety rope; 3. a rear horn assembly; 31. rear rotating the sleeve; 311. a rear linkage lug; 32. a rear arm; 321. a linkage column; 322. a guide post; 33. a rear motor; 331. a drive column; 332. switching a bevel gear; 341. a rear paddle rotating plate; 3411. a driven hole; 342. rear paddles; 35. a return spring; 36. a linkage rod; 4. a front horn assembly; 41. a front rotating sleeve; 411. an arc gear; 412. front linkage lugs; 42. a snake bone unit; 421. a clamping hole; 422. a clamping joint; 423. rotating the convex strips; 424. rotating the groove; 425. a limiting wall; 43. a front motor; 441. a front paddle rotating plate; 442. front blades; 45. a spool; 451. an outer diameter spool; 452. an inner diameter spool; 453. a winding gear; 46. a traction wire; 51. a sliding tube; 511. a driving groove; 512. a sliding column; 513. pressing rope raised strips; 514. a sliding block; 515. a rope guiding wheel; 52. a stop lever; 521. a stop hole; 53. a rotary tube; 54. a stop spring; 55. and a safety buckle.

Detailed Description

According to fig. 1 to 11, the infrared inspection high-altitude robot based on the unmanned aerial vehicle according to the present embodiment includes a housing 10, two front arm assemblies 4 symmetrically disposed in front of the housing 10 and capable of providing lift for the housing 10 and capable of being used for fixing trapped personnel, and a pull rope assembly 2 disposed in the housing 10; the rope pulling assembly 2 comprises a rope winding disc 21 which is longitudinally arranged by rotating a rotating shaft connected in the shell 10 and is wound with a safety rope 24; two rear horn assemblies 3 which can provide lifting force for the casing 10 and can drive the rope reel 21 to rotate are symmetrically arranged in the casing 10.

The rear horn assembly 3 comprises a rear horn 32 which is slidably connected in the casing 10, a rear paddle part which is longitudinally slidably connected to the rear horn 32, and a rear motor 33 which is fixedly connected to the rear horn 32, can drive the rear paddle part to rotate circumferentially and can be in transmission connection with the rope winding disc 21; a driving column 331 which is longitudinally and slidably connected with the rear paddle part and can drive the rear paddle part to circumferentially rotate is formed on the outer wall of the output shaft of the rear motor 33; two extrusion inclined planes 102 for driving the corresponding rear paddles downwards are formed on the shell 10; a return spring 35 for enabling the rear paddle part to move upwards is arranged between the rear paddle part and the corresponding rear motor 33 and positioned on the periphery of an output shaft of the rear motor 33; a slide tube 51 for driving the rear arm 32 to slide is slidably connected to the housing 10.

Guide posts 322 longitudinally arranged along the radial direction are respectively formed at the upper end and the lower end of one end, far away from the corresponding rear motor 33, of the outer wall of the rear horn 32; arc-shaped guide grooves 101 which are in sliding connection with the corresponding guide posts 322 are respectively formed in the upper end and the lower end of each sliding tube 51 in the machine shell 10; one end of the rear arm 32, which is far away from the corresponding rear motor 33, is formed with a longitudinally arranged linkage post 321; two symmetrically arranged driving grooves 511 for driving the corresponding linkage post 321 to move are formed at one end of the sliding tube 51, which is close to the linkage post 321; when the sliding tube 51 slides, the driving slot 511 drives the linkage post 321 to move so as to enable the rear arm 32 to move synchronously, and the rear arm 32 is guided by the arc-shaped guiding slot 101 so that the rear motors 33 can approach each other while sliding.

A plurality of guide pulley blocks 12 are arranged in the shell 10; the guide pulley block 12 comprises two symmetrically arranged pulleys for passing the safety line 24 therethrough; the outer wall of the sliding tube 51 is rotationally connected with a rope guiding wheel 515 near the driving groove 511; the safety rope 24 passes through the guide pulley blocks 12 and the rope guide wheels 515 in sequence and passes through the sliding tube 51; a safety buckle 55 which is convenient for fixing the safety rope 24 is fixedly connected with the end of the safety rope 24, which is positioned at the end far away from the rope guiding wheel 515; an outer sliding opening 107 which is connected with the shell 10 in a sliding way and is connected with the sliding pipe 51 in a sliding way is formed on the outer wall of the shell 10; the outer wall of the casing 10 is formed with a safety buckle clamping groove 108 which is communicated with the outer sliding opening 107 and can be clamped with the safety buckle 55 for accommodating the safety buckle 55; the lower end of the shell 10 is fixedly connected with a landing gear 11.

When the sliding tube 51 is located at the first limit position, the pressing inclined surface 102 is not in contact with the rear paddle portion, the rear paddle portion is located at the upper limit position under the action of the elastic force of the return spring 35, the driving post 331 is in driving connection with the rear paddle portion, the rear motor 33 is not in driving connection with the rope winding disc 21, and the rear motor 33 rotates so that the rear paddle portion rotates to generate upward lifting force to drive the casing 10 to fly.

When the sliding tube 51 is located at the second limit position, the extrusion inclined plane 102 abuts against the rear paddle portion, so that the rear paddle portion is located at the lower limit position, the return spring 35 compresses the stored force, so that the driving post 331 is not in contact with the rear paddle portion, the rear motor 33 is in transmission connection with the rope winding disc 21, and the rear motor 33 rotates to enable the rope winding disc 21 to rotate so as to drive trapped personnel to move to a safe position.

The front horn assembly 4 comprises a plurality of snake bone units 42 which are sequentially and rotatably connected and are horizontally arranged, a winding shaft 45 which is rotatably connected in the longitudinal direction of the rotating shaft in the shell 10 and is used for driving each snake bone unit 42 to rotate, and a front rotating sleeve 41 which is rotatably connected in the longitudinal direction of the rotating shaft in the shell 10 and is in transmission connection with the winding shaft 45; one snake bone unit 42 of the front horn assembly 4, which is close to the casing 10, is fixedly connected with the corresponding front rotating sleeve 41; the outer wall of the winding shaft 45 is wound with two traction wires 46, the two ends of which are fixedly connected with the inner wall of the corresponding snake bone unit 42 far away from the machine shell 10 respectively; one of the two traction wires 46 is close to the rotation direction of the snake bone unit 42, and the other is far from the rotation direction of the snake bone unit 42; the two winding directions of the two traction wires 46 on the corresponding winding shafts 45 are opposite; the sliding tube 51 can synchronously drive the front rotating sleeve 41 to rotate.

Two symmetrically arranged positioning posts 106 which are respectively and rotationally connected with the corresponding winding shafts 45 are formed in the machine shell 10 near the front end; a winding gear 453 is fixedly connected to the middle part of the periphery of the winding shaft 45; an arc gear 411 in transmission connection with the corresponding winding gear 453 is formed on one side of the front rotating sleeve 41, which is close to the adjacent winding shaft 45; the outer wall of the spool 45 is positioned at the upper end of the winding gear 453 to form an outer diameter spool 451 around which the traction wire 46 far from the rotation direction of the snake bone unit 42 is wound; the outer wall of the winding shaft 45 is positioned at the lower end of the winding gear 453 to form an inner diameter winding shaft 452 around which the traction wire 46 close to the rotation direction of the snake bone unit 42 is wound; the snake bone unit 42 is processed and manufactured in the same way as the snake bone unit described in the document No. CN 207745111U.

When the winding shaft 45 rotates forward, the traction wires 46 close to the rotation direction of the snake bone unit 42 are tightened, the traction wires 46 far away from the rotation direction of the snake bone unit 42 are loosened, and each snake bone unit 42 rotates gradually to form an annular tightening ring which can be abutted against the body of a user, so that the front arm assembly 4 can be fixed with the body of the user, and accordingly rope-lowering rescue is carried out on the user.

The front horn assembly 4 further comprises a front paddle part which is longitudinally arranged and rotatably connected with the rotating shaft on the snake bone unit 42 far away from the shell 10, and a front motor 43 which is fixedly connected with the snake bone unit 42 and is used for driving the corresponding front paddle part to rotate; limiting walls 425 which can abut against the two ends of the adjacent snake bone units 42 to limit the rotation angle of the adjacent snake bone units 42 are respectively formed at the two ends of the snake bone units 42 near the upper ends.

The snake bone unit 42 has a tubular structure; two symmetrically arranged clamping holes 421 along the rotation axis of the snake bone unit 42 are formed at one end of the snake bone unit; two symmetrically arranged clamping connectors 422 which can be clamped with the adjacent clamping holes 421 are formed at the other end of the snake bone unit 42; one end of the snake bone unit 42 is provided with symmetrically arranged rotating grooves 424 formed on two sides of each clamping hole 421; the other end of the snake bone unit 42 is provided with symmetrically arranged rotation convex strips 423 which are arranged on two sides of each clamping joint 422 and can be rotationally connected with the corresponding rotation grooves 424; the front paddle part includes a front paddle rotating plate 441 fixedly connected to the output shaft of the front motor 43, and two symmetrically disposed front paddles 442 respectively rotatably connected to two sides of the front paddle rotating plate 441.

When the winding shaft 45 rotates reversely, the traction wire 46 close to the rotation direction of the snake bone unit 42 is loosened, the traction wire 46 far away from the rotation direction of the snake bone unit 42 is tightened, the snake bone unit 42 rotates to enable the adjacent limiting walls 425 to respectively abut against each other, so that the snake bone units 42 are coaxial, and the front paddle rotates to enable the snake bone unit 42 to drive the casing 10 to fly.

The rear horn assembly 3 further comprises a rear rotating sleeve 31 which is rotatably connected in the casing 10 and can be driven to rotate by the corresponding rear horn 32, and a linkage rod 36 which is rotatably connected with the rear rotating sleeve 31 and the front rotating sleeve 41 at two ends and can drive the front rotating sleeve 41 to rotate; the rear horn 32 is axially slidably connected in the corresponding rear rotary sleeve 31; the outer wall of the rear rotating sleeve 31 is formed with a rear linkage lug 311 which is rotationally connected with the corresponding linkage rod 36; the rotation axis of the link lever 36 near the rear rotation sleeve 31 does not coincide with the rotation axis of the rear rotation sleeve 31; the outer wall of the front rotating sleeve 41 is formed with a front linkage lug 412 which is rotationally connected with the corresponding linkage rod 36; the rotational axis of the link lever 36 near the front rotating sleeve 41 does not coincide with the rotational axis of the front rotating sleeve 41.

When the sliding tube 51 slides toward the first limit position, the spool 45 rotates reversely; when the sliding tube 51 slides toward the second limit, the spool 45 rotates in the forward direction.

Two symmetrically arranged rotating pipes 53 are connected in a rotating way in the shell 10; a stop rod 52 which is rotationally connected with the sliding tube 51 and is used for driving the sliding tube 51 to slide is respectively and slidably connected in each rotating tube 53 along the axial direction; a stopper spring 54 for moving the stopper rod 52 in a direction away from the rotary pipe 53 is provided between the stopper rod 52 and the corresponding rotary pipe 53.

A stop hole 521 which is rotationally connected with the sliding pipe 51 is formed at one end of the stop rod 52 close to the sliding pipe 51; one end of the outer wall of the sliding tube 51, which is close to the driving groove recess 511, is formed with a sliding column 512 which is longitudinally arranged and is rotatably connected with the stop hole 521; the casing 10 has a guide through groove 104 formed therein, which is slidably connected to the slide column 512 and through which the slide column 512 passes.

When the stopper rod 52 and the rotating pipe 53 are perpendicular to each other, the stopper spring 54 compresses the stored force; when the stop rod 52 is not perpendicular to the sliding tube 51, the elastic force of the stop spring 54 can drive the stop rod 52 to slide, so that the sliding tube 51 moves to the first limit position or the second limit position, and the position of the sliding tube 51 is kept relatively fixed during flight or rescue, a new stop mechanism is not required to be added, a new movement mechanism and operation steps are not required to be added, and the use is simple and convenient.

The pull rope assembly 2 further comprises a worm wheel 22 which is longitudinally arranged and in transmission connection with the rope winding disc 21 and is rotatably connected with a rotating shaft in the shell 10, and a worm 23 which is horizontally arranged and in transmission connection with the worm wheel 22 and is rotatably connected with the rotating shaft in the shell 10; the worm 23 can be connected in a drive manner to the rear motor 33.

A rope winding gear 211 in transmission connection with the worm wheel 22 is formed on the periphery of the rope winding disc 21; a transmission gear 221 in transmission connection with the rope winding gear 211 is fixedly connected to the central position of the lower end of the worm wheel 22; a switching bevel gear 332 which can be in transmission connection with the worm 23 is fixedly connected to the output shaft of the rear motor 33; two ends of the worm 23 are respectively and fixedly connected with a worm bevel gear 231 which can be in transmission connection with the corresponding switching bevel gear 332; two symmetrically arranged worm rotating seats 105 which are rotationally connected with the worm 23 are formed in the machine shell 10.

When the worm 23 is in transmission connection with the rear motor 33, the rear motor 33 works to drive the worm 23 to rotate, so that the rope winding disc 21 can rotate, and the safety rope 24 is released to enable a user to drop to a safety zone.

When the worm 23 is not in contact with the rear motor 33, the rope winding disc 21 cannot drive the worm 23 to rotate, that is, the rope winding disc 21 cannot rotate circumferentially, so that a user is prevented from falling, the torque of an output shaft of the rear motor 33 is reduced, and the service life of the rear motor 33 is prolonged.

A guide groove 1032 provided in the front-rear direction and slidably connected to the slide tube 51 is formed in the housing 10; a rope pressing groove 1031 provided in the front-rear direction for receiving the safety rope 24 is formed in the guide groove 1032; a rope pressing raised line 513 capable of pressing the safety rope into the rope pressing groove 1031 is formed on the outer wall of the sliding tube 51 along the axial direction; a sliding block 514 which is in sliding connection with the guide groove 1032 is formed at one end of the sliding tube 51 close to the rope guiding wheel 515; the guide groove 1032 is formed at a front end thereof with a stopper 1033 for restricting the sliding of the sliding block 514.

When the sliding tube 51 slides to the first limit position, the rope pressing protrusion 513 presses the safety rope 24 into the rope pressing groove 1032, thereby preventing the safety rope 24 from being knotted.

When the sliding tube 51 slides to the second limit position, the sliding block 514 abuts against the limiting block 1033, and the sliding tube 51 can drive the casing 10 to move.

The rear paddle part comprises a rear paddle rotating plate 341 longitudinally and slidably connected to the corresponding rear horn 32 and two symmetrically arranged rear paddles 342 respectively rotatably connected to two sides of the rear paddle rotating plate 341; a driven hole 3411 penetrating the rear paddle rotating plate 341 is formed at the central position of the upper end of the rear paddle rotating plate 341; the driven hole 3411 and the driving post 331 have a non-circular structure with the same cross section; the driven hole 3411 can slide on the periphery of the driving post 331, and the rotation of the driving post 331 can drive the driven hole 3411 to rotate synchronously.

When flying, the two rear paddles 32 move to the limit positions far away from each other under the centrifugal action, the rear paddles 32 rotate circumferentially to provide flying lift force, manual unfolding is not needed, the preparation time is shortened, and more time is provided for rescue.

When rescue is performed, the two rear paddles 32 are located at limit positions close to each other, so that the rear paddles 32 are prevented from being contacted with a user, occupied volume is reduced, and rescue is facilitated.

The casing 10 is further provided with various sensors and loads (such as a camera, etc.), and the content of the part is the same as the setting content of the conventional quadrotor unmanned aerial vehicle, so that the description is omitted; a controller and a storage battery are arranged in the shell 10; the controller is provided with a remote controller; the battery, the sensor, the load, the front motor 43, and the rear motor 33 are electrically connected to the controller; the remote controller is in wireless connection with the controller.

In the initial state, the sliding tube 51 is located at the first limit position, the safety buckle 55 is clamped in the safety buckle clamping groove 108, the driving post 331 is located in the driven hole 3411, and the limiting walls 425 of each snake bone unit 42 are sequentially abutted against the adjacent limiting walls 425.

When a fire disaster occurs in a high-rise building, people trapped in the high-rise building are difficult to safely evacuate through a fire area, so that the safety rope is erected at high altitude to carry out rope descending evacuation, which is the safest rescue mode at present. When the rescue is carried out, a user takes out the product, places the product on the horizontal ground and starts the machine, so that the landing gear 11 is propped against the ground, and a ground rescue person controls the remote controller to enable the controller to control the rear motor 33 to work. The rear motor 33 works to enable the driving post 331 to rotate, the driving post 331 rotates to drive the driven hole 3411 to rotate so that the rear paddle rotating plate 341 rotates, and the rear paddle rotating plate 341 rotates to drive the rear paddle 342 to rotate to generate upward lifting force. Meanwhile, the controller synchronously controls the front motor 43 to work so as to drive the front paddle rotating plate 441 to rotate, so that the front paddle 442 rotates to generate upward lifting force, and a rescue worker controls the remote controller to enable the casing 10 to fly to a designated rescue position, and the process is the same as a four-rotor aircraft control method, and the invention is not further described.

After reaching the assigned position, rescue personnel operate the remote controller to enable the shell 10 to stop at the assigned position stably, after trapped personnel obtain the product, the hands hold the shell 10, the shell 10 is rotated to enable the safety buckle 55 to be located right above, the shell 10 is tightly attached to the front chest, the two landing gears 11 are respectively located on two sides of the abdomen, the position of the shell 10 is adjusted, and the connection position of the front horn assembly 4 and the shell 10 is located under armpits. The safety buckle 55 is taken out of the safety buckle clamping groove 108, the trapped person lifts the two arms, the safety buckle 55 is pulled outwards by force, the safety buckle 55 moves outwards to drive the safety rope 24 to move outwards, and the worm wheel 22 cannot drive the worm 23 to rotate, namely the rope winding disc 21 cannot rotate, so that the safety rope 24 moves outwards to drive the rope guiding wheel 515 to move and the sliding tube 51 slides outwards. The sliding tube 51 slides outwards to drive the sliding column 512 to move synchronously, the sliding column 512 moves to drive the stop hole 521 to move so as to enable the stop rod 52 to rotate, the acute angle between the stop rod 52 and the sliding tube 51 is gradually increased, the distance between the rotating tube 53 and the sliding column 512 is gradually reduced, and the stop spring 54 compresses the power. When the stop rod 52 rotates to be perpendicular to the sliding tube 51, the sliding tube 51 continues to move outwards, so that the stop rod 52 continues to rotate, the acute angle between the stop rod 52 and the sliding tube 51 is reduced, the distance between the rotating tube 53 and the sliding column 512 is rapidly increased by the elastic force of the stop spring 54, the sliding tube 51 rapidly moves to the second limit position, the sliding tube 51 extends outwards, and the sliding block 514 slides along the guide groove 1032 to abut against the limiting block 1033.

The sliding tube 51 synchronously drives the driving groove 511 to move upwards in the sliding process, the driving groove 511 moves upwards to drive the linkage post 321 to move upwards so as to drive the rear arm 32 to move upwards, the rear arm 32 moves to drive the guide post 322 to synchronously move, and the guide post 322 moves upwards along the arc-shaped guide groove 101. The two rear arms 32 move in opposite directions while moving upwards under the guiding action of the arc-shaped guide groove 101, the rear arms 32 move upwards to enable the rear arms 32 to axially slide along the rear rotating sleeve 31, and the two rear arms 32 move in opposite directions to enable the rear arms 32 to drive the rear rotating sleeve 31 to circumferentially rotate. The rear horn 32 moves to drive the rear motor 33 to move upwards, the rear motor 33 moves to drive the rear paddle rotating plate 341 to move upwards, the rear paddle rotating plate 341 moves upwards to be propped against the extrusion inclined plane 102, the rear paddle rotating plate 341 moves away from the adjacent switching bevel gear 332 under the extrusion action of the extrusion inclined plane 102, and the corresponding reset spring 35 compresses the power. The rear paddle rotation plate 341 moves to drive the driven hole 3411 to move, when the sliding tube 51 moves up to the second limit position, the driven hole 3411 moves to be separated from the driving post 331, in the process, the motor 33 moves to synchronously drive the switching bevel gear 332 to move, when the sliding tube 51 moves up to the second limit position, the switching bevel gear 332 moves to be in transmission connection with the worm bevel gear 231, and the rear horn 32 moves into the casing 10.

In the process of rotating the rear rotating sleeve 31, the rear rotating sleeve 31 rotates to drive the rear linkage lug 311 to synchronously rotate, the rear linkage lug 311 rotates to drive the linkage rod 36 to move, and the linkage rod 36 moves to drive the front linkage lug 412 to rotate so that the front rotating sleeve 41 rotates downwards. The front rotating sleeve 41 rotates to drive the arc gear 411 to synchronously rotate, the arc gear 411 rotates to drive the winding gear 453 to rotate so that the winding shaft 45 rotates positively, and the winding shaft 45 rotates positively to drive the outer diameter winding shaft 451 to rotate, so that the traction wire 46 wound on the outer periphery of the outer diameter winding shaft 451 is loosened gradually. At the same time, the forward rotation of the spool 45 rotates the inner diameter spool 452, so that the traction wire 46 wound around the outer circumference of the inner diameter spool 452 is wound around the inner diameter spool 452. The snake bone units 42 are sequentially connected in a rotating way, the tail ends of the traction wires 46 on the outer diameter winding shafts 451 are fixedly connected with the inner wall, far away from the front rotating sleeve 41, of the snake bone units 42, close to the limiting wall 425, and the tail ends of the traction wires 46 on the inner diameter winding shafts 452 are fixedly connected with the inner wall, far away from the front rotating sleeve 41, of the snake bone units 42, far away from the limiting wall 425. The traction wire 46 on the outer diameter spool 451 is loosened, and the traction wire 46 on the inner diameter spool 452 is tightened, so that the snake bone unit 42 is rotated toward the user, the snake bone unit 42 is gradually wound around the outer circumference of the user's body, and simultaneously the snake bone unit 42 is moved downward while the front rotating sleeve 41 is rotated downward. When the sliding tube 51 moves to the second extreme position, the snake bone unit 42 moves downward to the armpit of the trapped person, and the snake bone unit 42 rotates to form an annular tightening ring which abuts against the body of the user.

Subsequently, the safety buckle 55 is fixed at a fixed position of a high-rise building, the trapped person moves outside the building, and the hand grips the sliding tube 51, so that the trapped person is hung under the safety rope 24, and the gravity action of the trapped person presses on the annular tightening ring, namely on the shell 10, so that the sliding tube 51 can be always kept at the second limit position, namely the annular tightening ring is tightly abutted against the body of the trapped person, the annular tightening ring is accidentally opened in the rescue process, the trapped person is prevented from accidentally falling, and the life safety of the trapped person is ensured. The operator on the ground controls the rear motor 33 to work through the remote controller, so that the two switching bevel gears 332 rotate, the switching bevel gears 332 rotate to drive the worm bevel gears 231 to rotate, the worm 23 rotates, the worm wheel 22 rotates, the transmission gear 22 rotates, and the transmission gear 221 rotates to drive the rope winding gear 211 to rotate, so that the rope winding disc 21 rotates. The safety rope 24 wound around the outer circumference of the rope winding disc 21 is gradually released, so that the trapped person gradually falls down, and the operator on the ground can control the rotation speed of the switching bevel gear 332, i.e., the rotation speed of the rope winding disc 21, through the remote controller, thereby controlling the falling speed of the trapped person, so that the trapped person on the high level can be safely and rapidly moved to the ground safety zone. Then, the ground rescue staff presses the sliding tube 51 to the first limit position, so that the snake bone unit 42 is not propped against the body of the user, the trapped person is separated from the casing 10, the sliding tube 51 is moved to the second limit position again, the remote controller controls the winding safety rope 24 to rotate around the rope disc 21, the casing 10 is moved to a high level, and other trapped persons are rescued.

After the rescue is completed, the safety buckle 55 is released, the pressing sliding tube 51 is moved to the second limit position, the rope winding disc 21 is rotated through the remote controller, the safety rope 24 is wound on the periphery of the rope winding disc 21, and the safety rope 24 is reserved for a specified length outside the sliding tube 51. Then, the sliding tube 51 is pressed to the first limit position, the sliding tube 51 slides inwards to drive the rope pressing raised strips 513 to move, the rope pressing raised strips 513 move to abut against the safety rope 24, and the safety rope 24 is pressed into the rope pressing grooves 1031 along with the sliding of the rope pressing raised strips 513, so that the rope in the machine shell 10 is prevented from being knotted. The sliding tube 51 moves to drive the stop lever 52 to rotate, and the elastic force of the stop spring 54 keeps the sliding tube 51 at the first limit position. The sliding tube 51 moves to drive the rear arm 32 to move so that the rear arm 32 moves to the original position, the rear paddle rotating plate 341 no longer abuts against the extrusion inclined plane 102, the rear paddle rotating plate 341 moves to the original position under the elastic force of the return spring 35, and the driven hole 3411 moves to the periphery of the driving post 331. At the same time, the rear horn 32 moves to drive the rear rotating sleeve 31 to move to the original position, the rear rotating sleeve 31 moves to drive the linkage rod 36 to move so as to drive the front rotating sleeve 41 to move to the original position, the front rotating sleeve 41 rotates to drive the winding shaft 45 to rotate reversely, the outer diameter winding shaft 451 tightens the corresponding traction wire 46, and the inner diameter winding shaft 452 loosens the corresponding traction wire 46, so that each snake bone unit 42 rotates to be coaxial. Finally, the safety buckle 55 is clamped in the safety buckle clamping groove 108, the product is closed, and the product is stored.

According to the invention, the rear motor 33 is arranged, when the sliding outer tube 51 is positioned at the first limit position, the driven hole 3411 is positioned in the driving column 331, the rear motor 33 works to enable the driving column 331 to rotate, the driving column 331 rotates to drive the driven hole 3411 to rotate, and then the rear paddle rotating plate 341 rotates to generate upward lifting force, so that the machine shell 10 can fly in the air; when the sliding outer tube 51 is located at the second limit position, the rear paddle rotating plate 341 moves to the driven hole 3411 to be separated from the driving column 331 under the extrusion of the extrusion inclined plane 102, meanwhile, the switching bevel gear 332 is in transmission connection with the worm bevel gear 231, the rear motor 33 works to enable the worm 23 to rotate, the worm 23 rotates to drive the rope winding disc 21 to rotate, the machine shell 10 can further longitudinally slide under the traction of the safety rope 24, trapped personnel are transferred, a new moving mechanism is not added, the structure is simple, the control difficulty and the failure rate are reduced, and the overhaul and the maintenance are facilitated.

According to the invention, the snake bone units 42 are arranged, when flying, the snake bone units 42 are coaxially arranged, the front motor 43 works to enable the front blade 442 to rotate to generate upward lifting force, so that the snake bone units 42 drive the shell 10 to fly, the limiting walls 425 are abutted against the adjacent limiting walls 425, the snake bone units 42 cannot rotate upwards, so that the snake bone units 42 are coaxial, the shell 10 can fly stably, shake in flying is reduced, flying safety is improved, large-scale ascending equipment is not required when high-level rescue is carried out, the use site is not limited, and the compatibility is wide; when rescue is carried out, the front rotating sleeve 41 rotates downwards to enable the snake bone units 42 to move downwards, meanwhile, the front rotating sleeve 41 rotates to drive the winding shafts 45 to rotate, the outer diameter winding shafts 451 loose the corresponding traction wires 46, the inner diameter winding shafts 452 tighten the corresponding traction wires 46, so that each snake bone unit 42 rotates towards the body direction of a user, the snake bone units 42 move downwards to the armpits of trapped people, the snake bone units 42 rotate to form annular tightening rings which are abutted against the body of the user, and then the trapped people can be carried to move, so that the trapped people can safely and rapidly move to a safety zone, rescue procedures are simplified, rescue time is shortened, and rescue efficiency of the trapped people is improved.

According to the invention, the sliding tube 51 is arranged, when the sliding tube 51 moves to the second limit position, the sliding tube 51 slides outwards, so that the safety rope 24 is pulled outwards, the sliding tube 51 drives the rear arm 32 to move upwards, the switching bevel gear 332 is further driven to be connected with the worm bevel gear 231, meanwhile, the driven hole 3411 is not propped against the driving column 331 any more, the rear motor 33 works to enable the rope winding disc 21 to rotate, the safety rope is further loosened or wound tightly, trapped people are rescued, a new movement mechanism and operation steps are not added, the use is simple and convenient, precious time is saved for rescue, meanwhile, the sliding tube 51 can also be used for holding by trapped people, a user is prevented from being scratched in the movement process of the safety rope 24, and the rescue safety is improved; when the sliding tube 51 moves to the first limit position, the rear arm 32 moves to the original position in the process of moving, the sliding tube 51 moves to drive the rope pressing raised strips 513 to move, and the sliding tube 51 is stored in the casing 10, and meanwhile, the rope pressing raised strips 513 enable the safety rope 24 to move into the rope pressing grooves 1031, so that the safety rope 24 in the casing 10 is prevented from being knotted, the safety rope 24 moves smoothly, the safety rope 24 is prevented from being clamped in the casing 10, and smooth rescue is guaranteed.

Claims

1. An infrared high altitude robot of patrolling and examining based on unmanned aerial vehicle, its characterized in that: the device comprises a shell, two front arm assemblies which are arranged at the front part of the shell, can provide lifting force for the shell and can be used for fixing trapped personnel, and a pull rope assembly which is arranged in the shell; the rope pulling assembly comprises a rope winding disc which is rotatably connected in the shell and is wound with a safety rope; two rear arm assemblies which can provide lifting force for the machine shell and can drive the rope winding disc to rotate are arranged in the machine shell;

the rear horn assembly comprises a rear horn, a rear paddle part and a rear motor, wherein the rear horn is in sliding connection in the shell, the rear paddle part is longitudinally and slidably connected to the rear horn, and the rear motor is fixedly connected to the rear horn, can drive the rear paddle part to circumferentially rotate and can be in transmission connection with the rope winding disc; the outer wall of the output shaft of the rear motor is formed with a driving column which is longitudinally and slidably connected with the rear paddle part and can drive the rear paddle part to circumferentially rotate; two extrusion inclined planes for driving the corresponding rear paddle parts to downwards are formed on the shell; a reset spring for enabling the rear paddle part to move upwards is arranged between the rear paddle part and the corresponding rear motor; the shell is in sliding connection with a sliding tube for driving the rear arm to slide; when the sliding pipe is positioned at a first limit position, the extrusion inclined plane is not in contact with the rear paddle part, the driving column is in transmission connection with the rear paddle part, the rear motor is not in transmission connection with the rope winding disc, and the rear motor rotates to enable the rear paddle part to rotate to generate upward lifting force; when the sliding pipe is positioned at a second limit position, the extrusion inclined plane is propped against the rear paddle part, so that the driving column is not contacted with the rear paddle part, the rear motor is in transmission connection with the rope winding disc, and the rear motor rotates to enable the rope winding disc to rotate;

The front horn assembly comprises a plurality of snake bone units which are connected in turn in a rotating way, a winding shaft which is connected in the shell in a rotating way and is used for driving the snake bone units to rotate, and a front rotating sleeve which is connected in the shell in a rotating way and is connected with the winding shaft in a transmission way; one snake bone unit, which is close to the shell, in the front horn assembly is fixedly connected with the corresponding front rotating sleeve; the outer wall of the winding shaft is wound with two traction wires, and the two tail ends of each traction wire are fixedly connected with the inner wall of the corresponding snake bone unit far away from the shell; one of the two traction wires is close to the rotation direction of the snake bone unit, and the other traction wire is far away from the rotation direction of the snake bone unit; the two winding directions of the two traction wires on the corresponding winding shafts are opposite; the sliding tube can synchronously drive the front rotating sleeve to rotate in a sliding manner; when the winding shaft rotates positively, the traction wires close to the rotation direction of the snake bone units are tightened, the traction wires far away from the rotation direction of the snake bone units are loosened, and each snake bone unit rotates gradually to form an annular tightening ring which can be abutted against the body of a user;

The front horn assembly further comprises a front paddle part rotatably connected to the snake bone unit far away from the shell and a front motor fixedly connected to the snake bone unit and used for driving the corresponding front paddle part to rotate; limiting walls which can be propped against two ends of the adjacent snake bone units to limit the rotation angles of the adjacent snake bone units are respectively formed at two ends of the snake bone units close to the upper ends; when the winding shaft reversely rotates, the traction wire close to the rotation direction of the snake bone unit is loosened, the traction wire far away from the rotation direction of the snake bone unit is tightened, the rotation of the snake bone unit enables the adjacent limiting walls to respectively abut against, and the rotation of the front paddle part enables the snake bone unit to drive the machine shell to fly;

the rear horn assembly further comprises a rear rotating sleeve which is rotationally connected in the shell and can be driven to rotate by the corresponding rear horn and a linkage rod, wherein two ends of the linkage rod are respectively rotationally connected with the rear rotating sleeve and the front rotating sleeve and can drive the front rotating sleeve to rotate; when the sliding tube slides to a first limit position, the spool reversely rotates; when the sliding tube slides to the second limit position, the winding shaft rotates positively;

The shell is rotatably connected with a rotating tube; the rotating pipe is internally and axially connected with a stop rod which is rotationally connected with the sliding pipe and is used for driving the sliding pipe to slide in a sliding manner; a stop spring for enabling the stop rod to move in a direction away from the rotating pipe is arranged between the stop rod and the rotating pipe; when the stop rod and the rotating pipe are mutually perpendicular, the stop spring compresses the power; when the stop rod is not perpendicular to the sliding tube, the elastic force of the stop spring can drive the stop rod to slide, so that the sliding tube moves to a first limit position or a second limit position;

the rope pulling assembly further comprises a worm wheel which is rotationally connected in the shell and is in transmission connection with the rope winding disc, and a worm which is rotationally connected in the shell and is in transmission connection with the worm wheel; the worm can be in transmission connection with the rear motor; when the worm is in transmission connection with the rear motor, the rear motor works to drive the worm to rotate, so that the rope winding disc can rotate, and the safety rope is released to enable a user to drop to a safety zone; when the worm is not contacted with the rear motor, the rope winding disc cannot drive the worm to rotate, namely, the rope winding disc cannot rotate circumferentially.

2. The unmanned aerial vehicle-based infrared inspection high-altitude robot of claim 1, wherein: a guide groove which is in sliding connection with the sliding tube is formed in the shell; a rope pressing groove for accommodating the safety rope is formed in the guide groove; the outer wall of the sliding tube is formed with a rope pressing convex strip which can press the safety rope into the rope pressing groove; a sliding block which is in sliding connection with the guide groove is formed at one end of the sliding tube, which is close to the guide wheel; a limiting block for limiting the sliding block to slide is formed at the front end of the guide groove; when the sliding pipe slides to a first limit position, the rope pressing convex strips press the safety rope into the rope pressing grooves to prevent the safety rope from being knotted; when the sliding tube slides to the second limit position, the sliding block abuts against the limiting block.

3. The unmanned aerial vehicle-based infrared inspection high-altitude robot of claim 1, wherein: the rear paddle part comprises a rear paddle rotating plate longitudinally and slidably connected to the corresponding rear horn and two symmetrically arranged rear paddles respectively connected to two sides of the rear paddle rotating plate in a rotating way; when flying, the two rear paddles move to the limit positions far away from each other under the centrifugal action, and the rear paddles circumferentially rotate to provide flying lift force; when rescue is carried out, the two rear paddles are positioned at limit positions close to each other.