CN114771180A - Water life-saving device - Google Patents
Water life-saving device Download PDFInfo
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- CN114771180A CN114771180A CN202210477317.9A CN202210477317A CN114771180A CN 114771180 A CN114771180 A CN 114771180A CN 202210477317 A CN202210477317 A CN 202210477317A CN 114771180 A CN114771180 A CN 114771180A
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- lifesaving
- mounting
- mechanical arm
- shaft
- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention belongs to the technical field of water rescue, and discloses a water lifesaving device. The device comprises a propeller, a steering mechanism, a closed cabin body, a lifting mechanism, a rotating platform, a mechanical arm lifting mechanism, a mechanical arm rotation driving mechanism, a lifesaving flat plate, a grabbing mechanism, a cardiopulmonary resuscitation pressing mechanism and the like, wherein the lifting mechanism, the rotating platform, the mechanical arm lifting mechanism, the mechanical arm rotation driving mechanism, the lifesaving flat plate, the grabbing mechanism and the cardiopulmonary resuscitation pressing mechanism are located in the closed cabin body. The rotary platform is arranged on the lifting mechanism, the mechanical arm is arranged on the rotary platform, the mechanical arm is connected with the lifesaving flat plate, and the grabbing mechanism is arranged on the lifesaving flat plate. According to the invention, the mechanical arm lifting mechanism, the mechanical arm rotation driving mechanism, the grabbing mechanism and the like are utilized, so that drowning personnel can be conveniently fixed on the lifesaving flat plate and brought back to the closed cabin body, and then the cardiopulmonary resuscitation pressing mechanism is used for rescuing the drowning personnel. The invention has high automation degree, can carry out rescue at the first time after the drowned person is rescued, and improves the success rate of the rescue.
Description
Technical Field
The invention belongs to the technical field of water/marine rescue, and particularly relates to a water lifesaving device.
Background
At present, life-saving equipment on water (sea) mainly takes life jackets, life buoys, life ropes and other equipment as main parts, rescue workers need to arrive at the accident site of drowned people, the life-saving equipment is sleeved on the drowned people, and then the drowned people are rescued.
However, the rescue method needs rescuers to arrive at the site to perform rescue operation, the rescue time is long, and the rescue efficiency is low. In addition, these rescue devices need to be guided by professional life preservers to be successfully implemented.
Under the condition of no guidance of professional life-saving personnel, the ordinary personnel can hardly carry out the life-saving work accurately.
In addition, the existing life saving equipment is only limited to dragging the drowned person back from the water (sea), and the drowned person cannot be rescued by the cardiopulmonary resuscitation at the first time when the drowned person arrives at the accident site, so that the optimal rescue time is easily delayed.
Disclosure of Invention
The invention aims to provide a water life-saving device, which is used for realizing the rescue and treatment work of drowning people in water (sea), and carrying out cardio-pulmonary resuscitation on the drowning people in the first time when the drowning people arrive at the place of accident, thereby improving the survival success rate.
In order to achieve the purpose, the invention adopts the following technical scheme:
a water lifesaving device comprises a closed cabin body, a propeller, a steering mechanism, a lifting mechanism, a rotating platform, a mechanical arm, a lifesaving flat plate, a grabbing mechanism, a cardio-pulmonary resuscitation pressing mechanism and a three-axis movement mechanism;
the propeller and the steering mechanism are positioned at the outer side of the closed cabin body, and the lifting mechanism, the rotating platform, the mechanical arm, the lifesaving flat plate, the grabbing mechanism, the cardiopulmonary resuscitation pressing mechanism and the three-axis movement mechanism are all positioned at the inner side of the closed cabin body;
defining the length direction of the closed cabin body as the front-back direction;
the propeller and the steering mechanism are connected to the rear side of the closed cabin body and are used for driving the closed cabin body to advance and turn underwater;
the lifting mechanism is arranged on the bottom plate of the closed cabin and is positioned at the rear part of the closed cabin;
the lifting mechanism adopts a shear type lifting mechanism, and the rotating platform is arranged on the lifting mechanism;
the mechanical arm is arranged on the rotating platform, and is provided with a mechanical arm lifting mechanism and a mechanical arm rotation driving mechanism which are used for driving the mechanical arm to realize lifting action and rotation action around the axis of the mechanical arm;
the lifesaving flat plate is connected with the mechanical arm, and the grabbing mechanism is arranged on the lifesaving flat plate and used for realizing grabbing and fixing of drowned people;
the three-axis movement mechanism is arranged on a bottom plate of the closed cabin body and adopts a lead screw driving mechanism;
the cardio-pulmonary resuscitation pressing mechanism is arranged on the three-axis movement mechanism and is used for realizing the pressing action on drowning personnel;
the closed cabin body is provided with an openable or closable closed cabin door;
the water life-saving device also comprises a water drainage mechanism and an air supply mechanism which are used for discharging water in the closed cabin body to the outside of the cabin.
The invention has the following advantages:
as described above, the invention provides a water life-saving device, which has high automation degree, can quickly reach the accident area of drowned people, and can finish the automatic grabbing, dragging back, cardiopulmonary resuscitation and other works of the drowned people in sequence, the life-saving people do not need to arrive at the scene, and the life-saving device can realize the treatment of the drowned people at the first time after rescue, thereby greatly improving the success rate of life-saving. In addition, the device of the invention also reduces the professional requirements on the life-saving personnel.
Drawings
Fig. 1 is a schematic structural view of a water life-saving device in a first visual angle (when a cabin door is opened) according to an embodiment of the invention;
fig. 2 is a schematic view of the water life-saving device in the second view (with the door open) according to the embodiment of the invention;
fig. 3 is a schematic structural view of the water life-saving device in the first view (when the door is closed) according to the embodiment of the invention;
fig. 4 is a top view of a water life saving device in an embodiment of the invention;
fig. 5 is a schematic structural view of the water life-saving device in the embodiment of the invention at a second visual angle (when the lifting mechanism is lifted);
FIG. 6 is a schematic perspective view of a part of the enclosed cabin according to the embodiment of the present invention;
FIG. 7 is an enlarged view of portion A of FIG. 2;
FIG. 8 is a schematic structural diagram of a propeller and a steering mechanism in an embodiment of the invention;
FIG. 9 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention;
FIG. 10 is an assembly view of the robotic arm, life saving panel, and gripping mechanism of an embodiment of the present invention;
FIG. 11 is a schematic structural view of an assembled bushing in an embodiment of the present invention;
FIG. 12 is a schematic view of the installation of the first power transmission portion in the embodiment of the present invention;
FIG. 13 is a schematic view of the mounting of the grasping mechanism according to the embodiment of the present invention;
FIG. 14 is a schematic view of a rotary stage according to an embodiment of the present invention;
FIG. 15 is a schematic view of the assembly of the CPR compression mechanism and the three-axis movement mechanism according to the embodiment of the present invention;
FIG. 16 is a schematic diagram of a CPR compression mechanism in accordance with an embodiment of the present invention;
the system comprises a closed cabin body, a propeller, a steering mechanism, a lifting mechanism, a rotating platform, a mechanical arm, a lifesaving flat plate, a grabbing mechanism, a cardiopulmonary resuscitation pressing mechanism and a three-axis movement mechanism, wherein the closed cabin body is 1-2-the propeller, the steering mechanism is 3-the lifting mechanism, the rotating platform is 4-the mechanical arm is 5-the lifesaving flat plate is 6-the grabbing mechanism, the cardiopulmonary resuscitation pressing mechanism is 8-the three-axis movement mechanism is 9-the three-axis movement mechanism; 10-a mechanical arm lifting mechanism, 11-a mechanical arm rotation driving mechanism, 12-a drainage mechanism, 13-an air supply mechanism, 14-an assembly shaft sleeve, 15-an electric telescopic rod, 16-a support table, 17-a first image acquisition camera, 18-a second image acquisition camera, 19, 20-a rotation holder and 21-a four-rotor structure; 101-closed cabin door, 102-left closed cabin door, 103-right closed cabin door, 104-mounting column, 105-sliding block, 106-strip-shaped sliding hole, 107-vertical mounting groove and 108-transmission connecting rod; 201-a lead screw, 202-a lead screw driving motor, 203-a first lead screw nut, 204-a second lead screw nut, 205-a first transmission straight connecting rod, 206-a second transmission straight connecting rod, 207-a swing rod, 208-a fan-shaped swing rod, 209-an installation box body, 210-a lead screw installation seat, 211-a bottom plate of the installation box body, 212-an installation column and 213-a closed housing; 401-lower fixed disk, 402-upper rotating disk, 403-teeth, 404-fifth driving motor, 405-third driving gear, 406-fourth driving gear, 407-fifth driving gear, 408-gear shaft; 501-mounting arm, 502-U-shaped mounting part, 601-mounting seat, 602-mounting space and 603-mounting shaft; 701-a left clamping jaw, 702-a right clamping jaw, 703-a left clamping jaw mounting shaft sleeve, 704-a right clamping jaw mounting shaft sleeve, 705 and 706-mounting shafts, 707-a third driving motor, 708-an eccentric column, 709-a first disc, 710-a first straight connecting rod, 711-a sliding block, 712-a sliding groove, 713-a sliding groove mounting seat, 714-a sliding block extension rod, 715-a first synchronous connecting rod, 716-a second synchronous connecting rod, 717-a mounting column, 718 and 719-a hinge seat; 801-an installation base, 802-a fourth driving motor, 803-a pressing column, 804-a guide sleeve, 805-a guide sleeve support, 806-a second disc, 807-a second straight connecting rod, 808-an arc connecting rod, 809-a hinge base, 810-a limiting plate, 901-a lead screw nut, 1001-a first driving motor, 1002-a motor base, 1101-a second driving motor, 1102-a motor base, 1103-a first transmission gear, 1104-a second transmission gear, 1105-a gear shaft, 1401-a bearing hole, 1402-an installation space and 1403-an opening.
Detailed Description
The invention is described in further detail below with reference to the following figures and embodiments:
this embodiment has mentioned a life saving equipment on water to it is low to solve current life saving equipment degree of automation, needs professional rescue personnel to arrive the scene and can't carry out the technical problem who rescues drowned personnel the very first time after the rescue.
As shown in fig. 1 to 5, the device comprises an enclosed cabin 1, a propeller and steering mechanism 2, a lifting mechanism 3, a rotating platform 4, a mechanical arm 5, a life saving panel 6, a grabbing mechanism 7, a cardiopulmonary resuscitation pressing mechanism 8 and a three-axis movement mechanism 9.
The propeller and the steering mechanism 2 are positioned at the outer side of the closed cabin body 1, and the lifting mechanism 3, the rotating platform 4, the mechanical arm 5, the lifesaving flat plate 6, the grabbing mechanism 7, the cardiopulmonary resuscitation pressing mechanism 8 and the three-axis movement mechanism 9 are all positioned at the inner side of the closed cabin body.
The propeller and steering mechanism 2 is connected to one side of the sealed cabin 1, for example, the rear side of the sealed cabin 1, and the propeller and steering mechanism 2 is used for driving the sealed cabin 1 to travel underwater and achieve steering.
The length direction of the sealed cabin 1 is defined as the front-back direction, and the lifting mechanism 3 is arranged at the rear part of the bottom plate in the sealed cabin.
The lifting mechanism 3 adopts a scissor type lifting mechanism, and the rotating platform 4 is arranged on the lifting mechanism 3.
The rotary platform 4 is a circular rotary platform, and the purpose of the rotary platform is to drive the mechanical arm 5, the lifesaving panel 6, the grabbing mechanism 7 and the like on the rotary platform 4 to integrally realize horizontal rotation, so that the grabbing direction is adjusted to be proper.
The robot arm 5 is mounted on the rotary platform 4, and the robot arm 5 is provided with a robot arm lifting mechanism 10 for driving the robot arm to perform a lifting motion and a rotating motion about its own axis, and a robot arm rotation driving mechanism 11.
The lifesaving flat plate 6 is connected with the mechanical arm 5, and the grabbing mechanism 7 is arranged on the lifesaving flat plate 6 to realize the grabbing of drowned people.
The purpose of the robot arm 5 being able to rotate about its own axis in this embodiment is:
when drowned personnel face down in aqueous, the accessible arm is rotatory adjusts the positive side of survival panel 6 to down to guarantee that the survival panel 6 advances the cabin back, drowned personnel remain face upwards throughout, are convenient for carry out cardiopulmonary resuscitation and rescue work.
The three-axis movement mechanism 9 is arranged on the bottom plate of the closed cabin 1.
In this embodiment, the three-axis movement mechanism 9 preferably adopts a lead screw driving mechanism, which will not be described in detail herein.
The cardiopulmonary resuscitation pressing mechanism 8 is arranged on the three-axis movement mechanism 9, and under the driving of the three-axis movement mechanism 9, the cardiopulmonary resuscitation pressing mechanism 8 can reach a proper pressing area and realize the cardiopulmonary resuscitation pressing action on drowning people.
In this embodiment, the closed cabin body 1 is configured with a closed cabin door 101 capable of being opened or closed and a cabin door opening and closing mechanism, the closed cabin door 101 adopts a single-side opening mode, and is driven by the cabin door opening and closing mechanism to realize automatic opening and closing.
The sealing treatment is carried out between the side walls of the closed cabin door 101 and the closed cabin body 1 to ensure the sealing effect in the closed cabin.
In addition, the water life-saving device also comprises a water drainage mechanism 12 and an air supply mechanism 13.
The water discharge mechanism 12 and the air supply mechanism 13 are both provided outside the sealed cabin 1, and this side is, for example, the front side of the sealed cabin 1. Wherein the drainage mechanism 12 is used for quickly draining the water in the sealed cabin 1 to the outside of the sealed cabin 1.
The air supply mechanism 13 is used for supplying air with a certain oxygen content into the closed cabin body 1 so as to create a suitable rescue condition.
The structure of the drainage mechanism 12 is conventional, and an existing drainage structure can be adopted, wherein a drainage pipe of the drainage mechanism 12 extends into the sealed cabin body 1, and water is pumped out by a drainage pump and is discharged outside the cabin body.
In addition, the structure of the air supply mechanism 13 is relatively conventional, and the existing air supply mechanism in the prior art can be adopted, and the air supply mechanism mainly comprises an air source, an air supply pipeline extending into the closed cabin body 1 and an air pump arranged on the air supply pipeline.
The general working process of the life saving device on the reclaimed water in the embodiment is as follows:
firstly, under the driving of the propeller and the steering mechanism 2, the overwater lifesaving device quickly reaches the position below the drowned person.
The closed cabin door 101 is automatically opened under the driving of the cabin door opening and closing mechanism.
Then, the lifting mechanism acts to lift the rotating platform 4, the mechanical arm 5, the lifesaving panel 6 and the grabbing mechanism 7 to a preset height integrally, so that they can be exposed from the closed cabin 1, as shown in fig. 5, which is convenient for rescue.
The rotary platform 4 is started and drives the mechanical arm 5, the lifesaving panel 6 and the grabbing mechanism 7 to face drowning personnel integrally.
Next, the arm lifting mechanism 10 controls the arm 5 and the lifesaving panel 6 to be lifted integrally, and whether the arm rotation driving mechanism 11 needs to control the rotation of the arm 5 and the lifesaving panel to be determined according to the posture of the drowned person is determined:
if the face of the drowning person faces upwards, the mechanical arm rotation driving mechanism 11 does not need to act;
when the face of the drowning person faces downward, the arm rotation driving mechanism 11 controls the arm 5 and the lifesaving panel 6 to rotate 180 degrees, so that the front side of the lifesaving panel 6 faces downward, and the back of the drowning person is attached to the surface of the lifesaving panel 6.
Next, the grasping mechanism 7 is actuated, and the drowning person is fixed on the survival platform 6.
Further judging whether the posture of the lifesaving panel 6 needs to be adjusted:
before rescue, if the face of a drowning person faces upwards, the mechanical arm rotation driving mechanism 11 still does not need to act;
before rescue, if the face of the drowning person faces downward, the mechanical arm rotation driving mechanism 11 needs to further control the mechanical arm 5 and the lifesaving panel to rotate in the reverse direction by 180 degrees, so that the front side of the lifesaving panel 6 faces upward again.
After the posture of the lifesaving flat plate 6 is adjusted, the mechanical arm lifting mechanism 10 controls the mechanical arm 5, the lifesaving flat plate 6 and the like to fall back integrally, and then the rotary platform 4 is started, so that the mechanical arm 5, the lifesaving flat plate 6 and the like are restored to be along the front-back direction.
The lifting mechanism falls down and drives the rotating platform 4, the mechanical arm 5, the lifesaving panel 6, the grabbing mechanism 7 and the like to fall back into the closed cabin body 1 integrally, and then the closed cabin door 101 is automatically closed under the driving of the cabin door opening and closing mechanism.
Then, the drainage mechanism 12 acts rapidly and discharges the water in the sealed cabin 1 rapidly; at the same time, the gas supply mechanism 13 continuously supplies gas into the sealed cabin 1, thereby creating a good rescue environment in the sealed cabin 1.
After the conditions in the closed cabin body 1 are suitable, the three-axis movement mechanism 9 is started and drives the cardiopulmonary resuscitation pressing mechanism 8 to move to the position above the chest of the drowned person, the cardiopulmonary resuscitation pressing mechanism 8 is started, and the pressing rescue is started.
The device has high automation degree, can well realize the rescue and treatment work of drowning people in water, and carries out cardio-pulmonary resuscitation on the drowning people as soon as the drowning people arrive at the accident place, thereby improving the survival success rate.
The structure of the various components of the water life saving device is explained in detail below:
as shown in fig. 6, the two door opening and closing mechanisms are provided in two sets, one set of the door opening and closing mechanisms is disposed at the front side of the enclosed cabin 1, and the other set of the door opening and closing mechanisms is disposed at the rear side of the enclosed cabin (not shown).
A vertical installation groove 107 is formed at a position corresponding to the door opening and closing mechanism at the front side of the sealed cabin 1, and as shown in fig. 7, the door opening and closing mechanism at the front side of the sealed cabin 1 is installed in the vertical installation groove 107.
Similarly, a vertical installation groove is also formed in the position of the rear side of the sealed cabin 1 corresponding to the hatch opening and closing mechanism on the rear side, and similarly, the hatch opening and closing mechanism on the rear side of the sealed cabin 1 is installed in the vertical installation groove (not shown).
The two groups of hatch opening and closing mechanisms are matched to jointly realize the opening and closing of the closed hatch 101.
The sealing cabin door 101 is composed of a left sealing cabin door 102 and a right sealing cabin door 103, and mounting posts, such as mounting posts 104, are arranged at the front side corner and the rear side corner of the left sealing cabin door and the right sealing cabin door.
The door opening and closing mechanism adopts a structural form that a linear module is matched with the transmission connecting rod 108. Wherein, the straight line module is vertically arranged at one end of the vertical mounting groove, and the end is, for example, the right end of the vertical mounting groove (certainly, the end can also be positioned at the left end).
The slide 105 on the linear module can slide up and down.
One end of the transmission connecting rod 108 is connected with the mounting column of the right side corner of the right side airtight door 103 and the sliding block 105, and the other end of the transmission connecting rod 108 is connected with the mounting column of the left side corner of the left side airtight door 102.
As shown in fig. 7, a horizontal strip-shaped sliding hole 106 is provided between the upper portion of the enclosed cabin 1 and the vertical installation slot 107 for the sliding requirement when the left enclosed cabin door 102 and the right enclosed cabin door 103 are opened and closed.
The slide block 105 moves up and down under the drive of the linear module, and drives the closed cabin door 101 to open and close through the transmission connecting rod 108.
In this embodiment, the propeller and the steering mechanism 2 are used for driving the sealed cabin 1 to advance and realize movement steering, wherein the propeller and the steering mechanism 2 comprise two parts, one part is the propeller, and the other part is the steering mechanism.
The propeller structure is conventional and will not be described herein.
The present embodiment provides a structure of a rudder mechanism of a preferable structure, as shown in fig. 8 and 9.
The steering mechanism comprises a lead screw 201, a lead screw driving motor 202, a first lead screw nut 203, a second lead screw nut 204, a first transmission straight connecting rod 205, a second transmission straight connecting rod 206, a swing rod 207, a fan-shaped swing plate 208 and a mounting box 209.
The lead screw 201 is arranged in the front-rear direction and fixed to a bottom plate 211 of the installation box body through a lead screw installation base 210. The lead screw driving motor 202 is located at the front side of the lead screw 201, and is connected to the lead screw 201.
The front section thread and the rear section thread of the lead screw 201 in this embodiment have opposite thread directions. The first lead screw nut 203 is connected to the front section of the lead screw 201, and the second lead screw nut 204 is connected to the rear section of the lead screw 201.
One end of the first transmission straight connecting rod 205 is connected to the first lead screw nut 203, and the other end is connected to one end of the swing rod 207. One end of the second transmission straight connecting rod 206 is connected to the second lead screw nut 204, and the other end is connected to the other end of the swing rod 207.
And a mounting column 212 is arranged below the middle part of the swing rod 207, and the mounting column 212 is connected with the swing rod 207. The upper part of the front side of the fan-shaped swinging plate 208 is positioned below the middle part of the swinging rod 207 and is installed on the installation column 212.
When the lead screw driving motor 202 rotates, the first lead screw nut and the second lead screw nut are driven to simultaneously move toward the middle or move toward two sides, and the swing rod is driven to swing left and right through the first transmission straight connecting rod 205 and the second transmission straight connecting rod 206.
Since the fan-shaped swinging plate 208 is connected below the swinging rod 207, the fan-shaped swinging plate can synchronously swing left and right, and further realize steering.
As shown in fig. 2, a sealing cover 213 is further provided on the mounting case 209 to ensure internal sealing.
As shown in fig. 10, the robot arm 5 in this embodiment is further provided with a fitting boss 14. Wherein, the mounting end portion, namely the rear end portion, of the mechanical arm 5 adopts a mounting shaft structure and is mounted on the mounting shaft sleeve 14 through a bearing.
Fig. 11 shows the structure of the fitting boss 14, and the front portion of the fitting boss 14 is provided with a bearing hole 1401.
The mounting end of the robot arm 5 is mounted at this bearing hole 1401 by a bearing.
Further, an installation space 1402 for installing the first power transmission portion is provided inside the fitting boss 14.
The robot arm lifting mechanism 10 is located on the side of the mounting boss, for example the right side of the robot arm 5.
The mechanical arm lifting mechanism 10 is a first driving motor 1001, the first driving motor 1001 is mounted on the rotary platform 4 through a motor base 1002, and a motor shaft of the first driving motor is connected with the side part of the assembling shaft sleeve 14.
When rotating, the first driving motor 1001 can drive the assembling shaft sleeve 14 to lift up, and further drive the mechanical arm 5 to lift up.
The arm rotation driving mechanism 11 and the arm lift mechanism 10 are located on the opposite side of the fitting boss 14, for example, the left side of the arm 5, and include a second driving motor 1101 and a first power transmission portion.
The second driving motor 1101 is mounted on the rotary platform 4 through a motor base 1102, a side opening of the mounting sleeve 14 corresponding to the second driving motor 1101 is provided, and the side opening 1403 is communicated with the mounting space 1402.
As shown in fig. 12, the first power transmission portion adopts a transmission gear set, which includes a first transmission gear 1103 and a second transmission gear 1104, and both of the first transmission gear and the second transmission gear are located in the installation space 1402.
The mounting end portion of the robot arm is provided with a gear shaft 1105 which is coaxial with the mounting end portion of the robot arm 5, i.e., the extending direction of the gear shaft 1105 coincides with the mounting end portion extending direction of the robot arm.
A motor shaft of the second driving motor 1101 is extended into the installation space 1402 through the side opening 1403, the first transmission gear 1103 is provided on the motor shaft of the second driving motor, and the second transmission gear is provided on the gear shaft.
The first transmission gear 1103 and the second transmission gear 1104 are both bevel gears, and the first transmission gear and the second transmission gear are meshed with each other.
The rotation of the robot arm 5 about its own axis can be realized by the above-described robot arm rotation driving mechanism 11.
As shown in fig. 10, one end of the robot arm 5 connected to the survival panel 6 (i.e., the front end of the robot arm 5) is provided with a U-shaped mounting portion 502 composed of two opposing mounting arms 501.
A mounting seat, such as mounting seat 601, is provided at the end of the survival platform 6 corresponding to each mounting arm 501.
Each mounting seat 601 is connected with a corresponding mounting arm 501 through a rotating shaft.
An electric telescopic rod 15 is arranged between the mechanical arm 5 and the lifesaving panel 6, the fixed end of the electric telescopic rod 15 is hinged to the bottom of the inner side of the mounting part 502, and the movable end of the electric telescopic rod 15 is hinged to the lifesaving panel 6.
Specifically, an installation space 602 is provided at the rear end of the survival plate 6.
The mounting base 601 is located on the side of the mounting space, and a mounting shaft 603 is provided in the mounting space 602. Wherein, the movable end of the electric telescopic rod 15 is provided with a shaft sleeve and is mounted on the mounting shaft 603.
The lifting of the lifesaving flat plate 6 can be controlled through the electric telescopic rod 15, so that drowning personnel can be conveniently grabbed.
As shown in fig. 13, the gripping mechanism 7 is located in the middle of the life saving panel 6, and includes a left-hand clamping jaw 701, a right-hand clamping jaw 702, a left-hand clamping jaw mounting boss 703, a right-hand clamping jaw mounting boss 704, and a clamping jaw synchronous movement driving mechanism.
The left clamping jaw 701 and the right clamping jaw 702 both adopt arc-shaped rod structures.
The left clamping jaw mounting shaft sleeve 703 is arranged in the middle of the left side of the lifesaving flat plate 6, and the axis direction of the shaft sleeve extends along the length direction of the lifesaving flat plate; one end of the left jaw 701 is provided with a mounting shaft 705 and is mounted on a left jaw mounting boss 703.
The right clamping jaw mounting shaft sleeve 704 is arranged in the middle of the right side of the lifesaving flat plate 6, and the axis direction of the right clamping jaw mounting shaft sleeve extends along the length direction of the lifesaving flat plate; one end of the right jaw 702 is provided with a mounting shaft 706 and is mounted on a right jaw mounting boss 704.
The clamping jaw synchronous movement mechanism is arranged on the back side of the lifesaving flat plate 7. This clamping jaw simultaneous movement mechanism includes:
a third drive motor 707, a first disk 709 with an eccentric post 708, a first straight link 710, a slider 711, a chute mount 713 with a chute 712, a slider extension rod 714, a first synchronization link 715, and a second synchronization link 716.
A third drive motor 707 is mounted to the back side surface of the survival panel 6 through a motor mount.
A first disk 709 with an eccentric post is disposed on a motor shaft of the third drive motor 707. A mounting column 717 is provided on the slider 711, and one end of the first straight link 710 is connected to the eccentric column 708, and the other end is connected to the mounting column 717.
The chute mount 713 is provided on the back surface of the survival panel 6, and the length direction of the chute 712 is in the front-rear direction.
The slider 711 is located within the slide groove 712 and is capable of traveling along the slide groove 712. One end of the slider extension rod 714 is connected to the slider 711, and the other end is connected to one end of the first and second synchronization links 715 and 716.
Hinged seats 718, 719 are provided on both the mounting shaft 705 and the mounting shaft 706.
The other end of the first synchronous connecting rod 715 is hinged to a hinge seat 718 of the mounting shaft connected with the left clamping jaw; the other end of the second synchronization link 716 is hinged to the hinge seat 719 of the mounting shaft connected to the right jaw.
In this embodiment, the number of the left clamping jaw 701 and the right clamping jaw 702 is plural, for example, 2 to 4, and the number of the left clamping jaw 701 and the right clamping jaw 702 may be the same or different.
The left clamping jaw 701 and the right clamping jaw 702 extend to the upper side of the lifesaving flat plate, the lifesaving flat plate and the lifesaving flat plate are folded to form mutual intersection, and the schematic diagram after the intersection is shown in fig. 10, so that drowning people can be well fixed.
As shown in fig. 14, in order to realize the rotation of the robot arm 5, the survival platform 6, etc., there is also provided a rotation platform of a preferred structure, which includes a lower fixed tray 401, an upper rotating tray 402, a fifth driving motor 404, and a third power transmission part.
Wherein, the bottom of the lower fixed disk 401 is mounted on the lifting mechanism.
The fifth driving motor 404 is disposed at a middle position of the lower fixed tray 401 and is horizontally oriented.
The third power transmission portion includes a third transmission gear 405, a fourth transmission gear 406, a gear shaft, and a fifth transmission gear 407.
A third transmission gear 405 is installed on a motor shaft of the fifth driving motor 404, and a fourth transmission gear 406 is installed on a gear shaft 408 installed on the lower portion of the gear shaft 408, which is installed on the lower fixed plate 401 through a bearing.
The third and fourth transmission gears 405 and 406 are bevel gears and engaged with each other, and a fifth transmission gear 407 is mounted on an upper portion of the gear shaft 408, and engaged with the inner teeth 403 of the upper rotating disk.
The fifth driving motor 404 transmits power to the gear shaft 408 through the third transmission gear 405 and the fourth transmission gear 406, and then drives the upper rotating disk 402 to rotate through the transmission of the fifth transmission gear 407 and the teeth 403.
As shown in fig. 15 and 16, the cpr compression mechanism 8 includes a mounting base 801, a fourth drive motor 802, a second power transmission part, a compression column 803, a guide sleeve 804, and a guide sleeve bracket 805.
The mounting base 801 is disposed on the three-axis movement mechanism 9 (a horizontal lead screw nut 901). The fourth driving motor 802 is located below the mounting base 801 and horizontally disposed on the mounting base 801.
The second power transmission part includes a second disc 806 with an eccentric hole, a second straight link 807, and an arc-shaped link 808.
The eccentric hole of the second disc 806 is mounted on the motor shaft of the fourth drive motor 802.
One end of the second straight connecting rod 807 is fixedly connected with the edge of the second disc 806, and the other end is connected with one end of the arc connecting rod 808 through a rotating shaft; the top of the pressing column 803 is provided with a hinge seat 809.
The other end of the arc-shaped connecting rod 808 is hinged on a hinge seat 809 at the top of the pressing column.
The pressing pillars 803 have a cylindrical shape, and the upper size of the pressing pillars 803 is larger than the middle and lower size of the pressing pillars.
The guide sleeve 804 is disposed on the mounting base 801 by a guide sleeve holder 805.
The guide sleeve 804 is horizontally arranged and aligned with the pressing column 803 in the up-down direction; the middle lower part of the pressing column 803 passes through the guide sleeve 804, and can realize the up-and-down reciprocating motion under the driving of the fourth driving motor and the second power transmission part.
The pressing columns 803 are used for periodically pressing the chest of the drowned person, so that the drowned person can be conveniently subjected to emergency treatment in the first time after rescue, the delay of the best rescue time is avoided, and the rescue success rate is improved.
In addition, a position limiting plate 810 inclined to the rear and downward direction is further arranged above the position of the lower part of the mounting base corresponding to the arc-shaped connecting rod 808, wherein the arc-shaped side edge of the arc-shaped connecting rod 808 is tightly pressed against the surface of the position limiting plate 810.
In this embodiment, the sealed cabin 1 and the life saving plate 6 are both square.
A support platform 16 for supporting the lifesaving panel 6 is provided on the bottom plate of the enclosed cabin 1 at a position corresponding to the front part of the lifesaving panel 6, and as shown in fig. 6, the bottom of the front side of the lifesaving panel 6 can be supported by the support platform 16.
And the rear side of the survival panel 6 is supported by the elevating mechanism so that the survival panel 6 is kept horizontal.
In addition, the water life saving device further comprises a first image acquisition camera 17 and a second image acquisition camera 18.
As shown in fig. 10, the first image capturing camera 17 is mounted at the rear side corner position of the rescue flat plate 6 through a rotating platform 19, and the rotating platform 19 can rotate in a large space range.
Whether drowning personnel arrive on the life saving panel 6 can be checked through the first image acquisition camera 17.
As shown in fig. 15, the second image capturing camera 18 is mounted on the mounting bracket of the three-axis moving mechanism by the rotating pan-tilt 20 and aligned with the pressing area, and the rotating pan-tilt 20 can rotate in a large space range.
The chest area of drowning people can be accurately found through the second image acquisition camera 18, and rescue is convenient to implement.
In addition, life saving equipment on the normal water of this embodiment still disposes the four rotor structure 21 that is used for driving this life saving equipment on the water flight, and wherein, four rotor structure 21 are connected in the outside of airtight cabin body 1.
This four rotor structure 21 adopts present four rotor unmanned aerial vehicle to go up ripe structure can.
Through being equipped with four rotor structures 21 for life saving equipment on water can fly, and then faster reachs drowned personnel place of business and implements the rescue, and in time returns after the rescue, so that in time salvage drowned personnel.
It should be understood, however, that the description herein of specific embodiments is by way of illustration only, and not by way of limitation, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. A water lifesaving device is characterized by comprising a closed cabin body, a propeller, a steering mechanism, a lifting mechanism, a rotating platform, a mechanical arm, a lifesaving flat plate, a grabbing mechanism, a cardio-pulmonary resuscitation pressing mechanism and a three-axis movement mechanism;
the propeller and the steering mechanism are positioned at the outer side of the closed cabin body, and the lifting mechanism, the rotating platform, the mechanical arm, the lifesaving flat plate, the grabbing mechanism, the cardiopulmonary resuscitation pressing mechanism and the three-axis movement mechanism are all positioned at the inner side of the closed cabin body;
defining the length direction of the closed cabin body as the front-back direction;
the propeller and the steering mechanism are connected to the rear side of the closed cabin body and are used for driving the closed cabin body to advance and turn underwater;
the lifting mechanism is arranged on the bottom plate of the closed cabin and is positioned at the rear part of the closed cabin;
the lifting mechanism adopts a shear type lifting mechanism, and the rotating platform is arranged on the lifting mechanism;
the mechanical arm is arranged on the rotating platform, and is provided with a mechanical arm lifting mechanism and a mechanical arm rotation driving mechanism which are used for driving the mechanical arm to realize lifting action and rotation action around the axis of the mechanical arm;
the lifesaving flat plate is connected with the mechanical arm, and the grabbing mechanism is arranged on the lifesaving flat plate and used for realizing grabbing and fixing of drowned people;
the three-axis movement mechanism is arranged on a bottom plate of the closed cabin body and adopts a lead screw driving mechanism;
the cardio-pulmonary resuscitation pressing mechanism is arranged on the three-axis movement mechanism and is used for realizing the pressing action on drowning people;
the closed cabin body is provided with a closed cabin door which can be opened or closed;
the water lifesaving device also comprises a drainage mechanism and an air supply mechanism which are used for discharging water in the closed cabin body to the outside of the cabin.
2. The water rescue apparatus of claim 1,
the mechanical arm is provided with an assembling shaft sleeve;
the mounting end part, namely the rear end part of the mechanical arm adopts a mounting shaft structure and is mounted on the mounting shaft sleeve through a bearing;
an installation space is arranged inside the assembling shaft sleeve;
the mechanical arm lifting mechanism is positioned on one side of the assembling shaft sleeve and is a first driving motor; a first driving motor is arranged on the rotating platform through a motor base, and a motor shaft of the first driving motor is fixedly connected with the side part of the assembling shaft sleeve;
the mechanical arm rotation driving mechanism and the mechanical arm lifting mechanism are positioned on one side opposite to the assembling shaft sleeve;
the mechanical arm rotation driving mechanism comprises a second driving motor and a first power transmission part;
the second driving motor is arranged on the rotating platform through a motor base; one side of the assembly shaft sleeve, which corresponds to the second driving motor, is provided with a hole, and the side hole is communicated with the mounting space; the first power transmission part is positioned in the installation space;
the first power transmission part adopts a transmission gear set which comprises a first transmission gear and a second transmission gear;
the mounting end part of the mechanical arm is provided with a gear shaft, and the gear shaft and the mounting end part of the mechanical arm share the same axis;
a motor shaft of the second driving motor extends into the mounting space through a side opening of the assembling shaft sleeve; the first transmission gear is arranged on a motor shaft of the second driving motor, and the second transmission gear is arranged on a gear shaft;
the first transmission gear and the second transmission gear are both bevel gears, and the first transmission gear and the second transmission gear are meshed with each other.
3. The water rescue apparatus of claim 1,
one end of the mechanical arm connected with the lifesaving flat plate is provided with a U-shaped mounting part consisting of two opposite mounting arms; a mounting seat is arranged at the end part of the lifesaving flat plate connected with the mechanical arm and corresponds to the position of each mounting arm;
each mounting seat is connected with one corresponding mounting arm through a rotating shaft;
an electric telescopic rod is further arranged between the mechanical arm and the lifesaving panel;
the fixed end of the electric telescopic rod is hinged to the bottom of the inner side of the U-shaped installation part, and the movable end of the electric telescopic rod is hinged to the lifesaving flat plate.
4. The water life saving device of claim 1,
the grabbing mechanism is positioned in the middle of the lifesaving panel and comprises a left clamping jaw, a right clamping jaw, a left clamping jaw mounting shaft sleeve, a right clamping jaw mounting shaft sleeve and a clamping jaw synchronous motion driving mechanism;
the left clamping jaw and the right clamping jaw both adopt arc-shaped rod structures;
the left clamping jaw mounting shaft is sleeved in the middle of the left side of the lifesaving flat plate, and the axis direction of the left clamping jaw mounting shaft extends along the length direction of the lifesaving flat plate; one end of the left clamping jaw is provided with a mounting shaft and is mounted on the left clamping jaw mounting shaft sleeve;
the right clamping jaw mounting shaft is sleeved in the middle of the right side of the lifesaving flat plate, and the axis direction of the right clamping jaw mounting shaft extends along the length direction of the lifesaving flat plate; one end of the right clamping jaw is provided with an installation shaft and is installed on the right clamping jaw installation shaft sleeve;
the clamping jaw synchronous motion mechanism is arranged on the back side of the lifesaving flat plate;
the clamping jaw synchronous motion mechanism comprises a third driving motor, a first disc with an eccentric column, a first straight connecting rod, a sliding block, a sliding groove mounting seat, a sliding block extending rod, a first synchronous connecting rod and a second synchronous connecting rod;
the third driving motor is arranged on the back surface of the lifesaving panel;
the center of the first disc with the eccentric column is arranged on a motor shaft of the third driving motor;
the sliding block is provided with a mounting column, one end of the first straight connecting rod is connected to the eccentric column, and the other end of the first straight connecting rod is connected to the mounting column;
the chute mounting seat is arranged on the back surface of the lifesaving flat plate; the sliding groove mounting seat is provided with a sliding groove, wherein the length direction of the sliding groove is along the front-back direction; the sliding block is positioned in the sliding groove and can move along the sliding groove;
one end of the slide block extension rod is connected to the slide block, and the other end of the slide block extension rod is connected with one end of the first synchronous connecting rod and one end of the second synchronous connecting rod;
a mounting shaft connected with the left clamping jaw and a mounting shaft connected with the right clamping jaw are provided with hinge seats;
the other end of the first synchronous connecting rod is hinged to a hinge seat of a mounting shaft connected with the left clamping jaw;
the other end of the second synchronous connecting rod is hinged to a hinge seat of a mounting shaft connected with the right clamping jaw.
5. The water rescue apparatus of claim 4,
the number of the left clamping jaws and the number of the right clamping jaws are multiple;
the left clamping jaw and the right clamping jaw are extended to the upper part of the lifesaving flat plate and are folded to form mutual intersection.
6. The water life saving device of claim 1,
the cardiopulmonary resuscitation pressing mechanism comprises a mounting base, a fourth driving motor, a second power transmission part, a pressing column, a guide sleeve and a guide sleeve bracket; the mounting base is arranged on the three-axis movement mechanism;
the fourth driving motor is arranged on the mounting base, wherein a motor shaft of the fourth driving motor extends along the horizontal direction;
the second power transmission part comprises a second disc with an eccentric hole, a second straight connecting rod and an arc-shaped connecting rod;
the eccentric hole of the second disc is arranged on a motor shaft of a fourth driving motor;
one end of the second straight connecting rod is fixedly connected with the edge of the second disc, and the other end of the second straight connecting rod is connected with one end of the arc-shaped connecting rod through a rotating shaft; the top of the pressing column is provided with a hinged seat, and the other end of the arc-shaped connecting rod is hinged on the hinged seat at the top of the pressing column;
a limiting plate which is inclined towards the rear lower part is arranged above the position, corresponding to the arc-shaped connecting rod, of the lower part of the mounting base;
the arc-shaped connecting rod is tightly propped against the surface of the limiting plate; the pressing column is cylindrical, and the size of the upper part of the pressing column is larger than that of the middle lower part of the pressing column; the guide sleeve is arranged on the mounting base through the guide sleeve bracket;
the guide sleeve is horizontally arranged and is aligned with the pressing column in the vertical direction; the middle lower part of the pressing column penetrates through the guide sleeve and can realize vertical reciprocating motion under the driving of the fourth driving motor and the second power transmission part.
7. The water life saving device of claim 1,
the rotating platform comprises a lower fixed disc, an upper rotating disc, a fifth driving motor and a third power transmission part; the bottom of the lower fixed disk is arranged on the lifting mechanism, and teeth are uniformly distributed on the inner periphery of the upper rotating disk;
the fifth driving motor is arranged in the middle of the lower fixed disc and faces horizontally;
the third power transmission part comprises a third transmission gear, a fourth transmission gear, a gear shaft and a fifth transmission gear;
the third transmission gear is arranged on a motor shaft of the fifth driving motor, the fourth transmission gear is arranged on the gear shaft and is positioned at the lower part of the gear shaft, and the third transmission gear and the fourth transmission gear are both bevel gears and are meshed with each other;
the gear shaft is arranged on the lower fixed disc through a bearing;
and a fifth transmission gear is arranged at the upper part of the gear shaft and is meshed with the inner side teeth of the upper rotating disc.
8. The water life saving device of claim 1,
the closed capsule body and the lifesaving flat plate are both square;
and a supporting platform for supporting the lifesaving flat plate is arranged on the bottom plate of the closed capsule body corresponding to the front part of the lifesaving flat plate.
9. The water life saving device of claim 1,
the water life-saving device is also provided with a four-rotor structure for driving the water life-saving device to fly;
wherein, four rotor structures are connected in the outside of airtight cabin body.
10. The water rescue apparatus of claim 1,
the water lifesaving device also comprises a first image acquisition camera and a second image acquisition camera;
the first image acquisition camera is mounted at the rear side corner position of the lifesaving panel through the rotating holder, and the second image acquisition camera is mounted on the mounting bracket of the three-axis movement mechanism through the rotating holder and is aligned to the pressing area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477317.9A CN114771180A (en) | 2022-05-04 | 2022-05-04 | Water life-saving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477317.9A CN114771180A (en) | 2022-05-04 | 2022-05-04 | Water life-saving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114771180A true CN114771180A (en) | 2022-07-22 |
Family
ID=82434741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210477317.9A Withdrawn CN114771180A (en) | 2022-05-04 | 2022-05-04 | Water life-saving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114771180A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023213006A1 (en) * | 2022-05-04 | 2023-11-09 | 滨州学院 | Overwater life-saving method |
-
2022
- 2022-05-04 CN CN202210477317.9A patent/CN114771180A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023213006A1 (en) * | 2022-05-04 | 2023-11-09 | 滨州学院 | Overwater life-saving method |
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Application publication date: 20220722 |
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