CN115382136A

CN115382136A - Fire-fighting search and rescue vehicle automatically separating from slipping operation area

Info

Publication number: CN115382136A
Application number: CN202210982005.3A
Authority: CN
Inventors: 曹光客; 杜礼会
Original assignee: Hangzhou Shenhong Intelligent Technology Co ltd
Current assignee: Hangzhou Shenhong Intelligent Technology Co ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-11-25
Anticipated expiration: 2042-08-16
Also published as: CN115382136B

Abstract

The invention discloses a fire fighting search and rescue vehicle capable of automatically separating from a slipping operation area, which comprises two vehicle bodies and a connection switching assembly, wherein the connection switching assembly is arranged on the vehicle bodies; two combined assemblies are arranged at the lower part of each vehicle body; the combined assembly comprises a wheel assembly arranged at the lower end of the vehicle body; the connection switching assembly comprises a first connecting rod rotatably connected inside the vehicle body, a second connecting rod rotatably connected inside the vehicle body and a switching motor fixedly connected inside the vehicle body; the lower part of the vehicle body is provided with a disengaging assembly; the separation component comprises two supporting foot groups arranged at the lower part of the vehicle body; the supporting foot group comprises two supporting feet which are connected to the lower part of the vehicle body in a sliding way; the combined assembly also comprises a worm wheel assembly arranged at the lower part of the vehicle body; the worm wheel assembly comprises a worm wheel which is rotatably connected in the vehicle body and a worm motor which is fixedly connected in the vehicle body; a worm is fixedly connected to an output shaft of the worm motor; the invention can enable the two vehicle bodies to move relatively to realize the separation from the slipping when the wheels slip.

Description

Fire control search and rescue car in operation area that independently breaks away from to skid

Technical Field

The invention belongs to the technical field of fire fighting, and particularly relates to a fire fighting search and rescue vehicle which is automatically separated from a slipping operation area.

Background

In the rescue process of fire-fighting operation, places which are narrow in space and difficult for people to enter exist, and environments with different conditions, such as corners with large bending angles and even turning angles close to 180 degrees, and roads which are easy to cause equipment slipping, such as soil or oil stains, can be encountered in the narrow spaces.

Chinese patent No. CN205978982U discloses a multifunctional ring for a pipeline robot and an anti-collision pipeline robot.

Chinese patent document No. CN216180481U discloses a visual pipeline robot, which comprises a pipeline robot body.

In the use process of the above patent, the scene of use is a wet and slippery working area of the inner wall with high probability, once the wheel slips, the wheel cannot move, and is difficult to take out from the working area, so that unnecessary loss is caused.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: aiming at the defects existing in the prior art, the fire fighting search and rescue vehicle which can enable two vehicle bodies to move relatively to realize the purpose of separating from the slipping and overcoming the slipping of the wheels when the wheels slip is provided.

In order to realize the purpose of the invention, the following technical scheme is adopted to realize the purpose: a fire fighting search and rescue vehicle capable of automatically separating from a slipping operation area comprises two vehicle bodies which are arranged along the front and back direction; each vehicle body is provided with a connection switching assembly; the lower part of each vehicle body is provided with two combined assemblies which are arranged in a central symmetry manner; the combined assembly comprises a wheel assembly arranged at the lower end of the vehicle body and used for driving the vehicle body to move.

The connection switching assembly comprises a first connecting rod, a second connecting rod and a switching motor, wherein the first connecting rod is rotatably connected with a rotating shaft in the vehicle body and is arranged along the vertical direction, the second connecting rod is rotatably connected with the rotating shaft in the vehicle body and is coaxial with the rotating shaft of the first connecting rod, and the switching motor is fixedly connected in the vehicle body and is respectively in transmission connection with the first connecting rod and the second connecting rod; the first connecting rod is rotatably connected with the first connecting rod on the other vehicle body; the second connecting rod is rotatably connected with a second connecting rod on the other vehicle body; the first link is located above the second link.

A separation component is arranged at the lower part of the vehicle body; the separation component comprises two supporting foot groups which are respectively arranged at the left side and the right side of the lower part of the vehicle body; the supporting foot group comprises two supporting feet which are connected to the lower part of the vehicle body in a sliding manner and are symmetrically arranged in front and at the back; the two supporting legs are perpendicular to each other.

The combined assembly also comprises a worm gear assembly arranged at the lower part of the vehicle body; the worm wheel assembly comprises a worm wheel which is rotatably connected in the vehicle body and used for driving the supporting legs to slide, and a worm motor which is fixedly connected in the vehicle body and used for driving the worm wheel to rotate; and a worm which is in transmission connection with the worm wheel is fixedly connected to an output shaft of the worm motor.

When one of the car bodies needs to be separated from the slipping position, the worm wheel in the other car body rotates, the supporting legs are abutted to the ground, the other car body is fixed relative to the ground, at the moment, the switching motor operates, the included angle between the first connecting rod and the second connecting rod is changed, the two car bodies move relative to each other, so that the car body located at the slipping position moves, and the car body is forced to be separated from the slipping position.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the upper insert block is arranged, so that the upper insert block can abut against the upper end surface of the fixed plate, the upper slide seat and the lower slide seat are not relatively fixed, the first connecting rod and the second connecting rod are mutually crossed, the two vehicle bodies can only get close to or away from each other in the front-rear direction, and can also be moved to be inserted into the jack when being opposite to the switching port, so that the upper slide seat and the lower slide seat are relatively fixed, the first connecting rod and the second connecting rod are overlapped, the two vehicle bodies can relatively rotate, and the rotating direction and the rotating angle are arbitrary.

The invention can move in the worm wheel chute when the worm wheel sliding column is not prevented from sliding by the single-pass block, change the supporting leg in transmission connection with the disengaging gear, realize the change of the moving direction when disengaging from the sliding, and can rotate when the worm wheel sliding column is prevented from sliding by the single-pass block, drive the supporting leg to move, so that the vehicle body disengages from the sliding.

The wheel is arranged, so that the vehicle body can be driven to move, the switching plate can be driven to rotate when the direction is changed, the single-pass block moves, the supporting leg in transmission connection with the disengaging gear is changed, and the moving direction is changed when the disengaging gear is disengaged from slipping.

According to the invention, the first connecting rod is arranged, so that the first connecting rod can be used as a part of connection to realize mutual sliding and turning of two vehicle bodies, and can also drive the push plate to move in the rotating process, so that the reset rod moves to different positions to realize state switching.

The invention can be separated when the wheel slips, thereby avoiding the loss caused by the incapability of moving in the operation area; the invention can turn to any angle in the operation area, and has small limitation; the invention can automatically replace the driving supporting feet after changing the moving direction, so that the sliding can be separated from the new moving direction.

Drawings

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

Fig. 2 is a schematic exploded view of the present invention.

Fig. 3 is an exploded view of the connection switching module according to the present invention.

Fig. 4 is a cross-sectional structural schematic view of the vehicle body of the invention.

Fig. 5 is an exploded view of the reset assembly of the present invention.

Fig. 6 is a cross-sectional exploded view of the detachment assembly of the present invention.

Fig. 7 is an exploded view of the worm gear assembly of the present invention.

Fig. 8 is an exploded view of the adjustment assembly of the present invention.

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

Fig. 10 is a cross-sectional view schematically showing the straight advance of the first link and the second link crossing each other according to the present invention.

Fig. 11 is a schematic sectional view of the upper plug block of the present invention inserted into the jack.

Fig. 12 is a schematic sectional view showing a parallel turning of a first link and a second link according to the present invention.

Fig. 13 is a schematic sectional view of the upper plug and the jack of the present invention.

FIG. 14 is a schematic cross-sectional view of the worm gear of the present invention sliding within the sliding region.

FIG. 15 is a schematic cross-sectional view of the worm gear of the present invention as it rotates within the restricted area.

Fig. 16 is a schematic view of the present invention in a curve when cornering.

1. A vehicle body; 10. a camera; 11. a connecting rod column; 12. a partition plate; 121. a return spring plate; 13. a wheel frame; 131. a wheel hole; 14. mounting a plate; 141. a supporting foot rest; 142. a single-pass block chute; 143. a worm wheel chute; 15. an upper sliding seat slide rail; 16. a lower slider rail; 17. a fixing plate; 171. a drop-proof chute; 172. a switching port; 2. connecting a switching component; 21. switching the motors; 22. a first link; 221. an upper sliding seat chute; 222. a first link rotating hole; 223. a first link connection hole; 23. an upper insertion block; 231. a drop-proof clamping groove; 232. a sliding column of the insert block; 24. an upper sliding seat; 241. an insert block chute; 242. a strut slide bore; 243. a first screw hole; 25. a first lead screw; 26. a second link; 261. a lower sliding seat chute; 262. a second connecting rod rotary hole; 263. a second connecting rod connecting hole; 27. a pushing block is pushed down; 271. resetting the driven rod; 28. a lower sliding seat; 281. a second screw hole; 282. a jack; 283. a driven link chute; 284. a lower sliding column; 285. a lower push block chute; 29. a second lead screw; 3. resetting the assembly; 31. a reset lever; 311. a return spring; 312. bending the elastic sheet; 313. a first stopper; 314. a second stopper; 32. a stopper frame; 321. a first support bar; 322. a second support bar; 323. a first stopper rod; 324. a second stopper rod; 33. a rebounder; 331. pushing the plate; 332. a poke rod; 333. the elastic sheet is shifted; 4. a disengaging assembly; 41. disengaging the motor; 42. a support leg group; 421. a synchronization lever; 422. supporting legs; 423. a rack group; 424. a synchronization slot; 424. a drill bit; 5. a worm gear assembly; 51. a worm motor; 511. a worm; 52. a worm gear; 521. disengaging the gear; 522. a worm gear strut; 6. an adjustment assembly; 61. a single pass block; 611. a single-pass surface; 612. a switching link; 62. a switch lever; 621. a switching shaft; 622. switching the swing rod; 63. a switch board; 631. switching the sliding groove; 64. a torsion spring; 7. a wheel assembly; 71. a wheel; 72. the motor is driven.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Referring to fig. 1 to 16, a fire fighting and rescue vehicle which automatically departs from a skid working area comprises two vehicle bodies 1 arranged in the front-rear direction; each vehicle body 1 is provided with a connection switching assembly 2; the lower part of each vehicle body 1 is provided with two combined assemblies which are arranged in a central symmetry manner; the combined assembly comprises a wheel assembly 7 which is arranged at the lower end of the vehicle body 1 and used for driving the vehicle body 1 to move.

The connection switching assembly 2 comprises a first connecting rod 22 which is rotatably connected with a rotating shaft in the vehicle body 1 and is arranged along the vertical direction, a second connecting rod 26 which is rotatably connected with the rotating shaft in the vehicle body 1 and is coaxially arranged with the rotating shaft of the first connecting rod 22, and a switching motor 21 which is fixedly connected with the inside of the vehicle body 1 and is respectively in transmission connection with the first connecting rod 22 and the second connecting rod 26; the first connecting rod 22 is rotatably connected with the first connecting rod 22 on the other vehicle body 1; the second connecting rod 26 is rotatably connected with the second connecting rod 26 on the other vehicle body 1; the first link 22 is located above the second link 26.

The inside connecting rod post 11 that is close to another automobile body 1 one side fixedly connected with axis along the upper and lower direction setting that is close to of automobile body 1, first connecting rod 22 upper end center shaping have along the upper and lower direction link up with connecting rod post 11 rotates the first connecting rod hole 222 of being connected, second connecting rod 26 upper end center shaping have along the upper and lower direction link up with connecting rod post 11 rotates the second connecting rod hole 262 of being connected.

One end of the first link 22, which is far away from the vehicle body 1, is formed with a first link connecting hole 223 which is vertically through, and the first link connecting hole 223 on one vehicle body 1 is rotatably connected with the first link connecting hole 223 on the other vehicle body 1 through a bolt.

One end of the second link 26, which is far away from the vehicle body 1, is formed with a second link connecting hole 263 which penetrates up and down, and the second link connecting hole 263 on one vehicle body 1 is rotatably connected with the second link connecting hole 263 on the other vehicle body 1 through a bolt.

A disengaging component 4 is arranged at the lower part of the vehicle body 1; the disengaging assembly 4 comprises two supporting foot groups 42 which are respectively arranged at the left side and the right side of the lower part of the vehicle body 1; the supporting leg group 42 comprises two supporting legs 422 which are connected to the lower part of the vehicle body 1 in a sliding manner and are symmetrically arranged in front and back; the two supporting legs 422 are perpendicular to each other.

The combined assembly also comprises a worm wheel assembly 5 arranged at the lower part of the vehicle body 1; the worm wheel assembly 5 comprises a worm wheel 52 which is rotatably connected in the vehicle body 1 and is used for driving the supporting foot 422 to slide, and a worm motor 51 which is fixedly connected in the vehicle body 1 and is used for driving the worm wheel 52 to rotate; a worm 511 in transmission connection with the worm wheel 52 is fixedly connected to an output shaft of the worm motor 51; a rack group 423 is arranged on the outer wall of the supporting leg 422 along the circumferential direction, and the sections of the rack group 423 along the axial direction of the supporting leg 422 are all rack-shaped; the centers of the two ends of the worm wheel 52 are respectively and fixedly connected with a disengaging gear 521 which can be engaged with the corresponding rack set on the supporting leg 422.

When one of the car bodies 1 needs to be separated from the slipping position, the worm gear 52 in the other car body 1 rotates, the supporting leg 422 abuts against the ground, the other car body 1 is fixed relative to the ground, at this time, the switching motor 21 operates, the included angle between the first connecting rod 22 and the second connecting rod 26 is changed, the two car bodies 1 move relative to each other, so that the car body 1 located at the slipping position moves, and the car body 1 is forced to be separated from the slipping position.

A second screw rod 29 which is arranged along the left-right direction and is in transmission connection with the switching motor 21 is rotatably connected to the lower part of the second connecting rod 26 in the vehicle body 1, and a lower sliding seat 28 which is in transmission connection with the second screw rod 29 is connected to the second screw rod 29 along the axial direction; the lower sliding seat 28 is used for driving the second connecting rod 26 to rotate; the lower slider seat 28 has an insertion hole 282 formed at the upper end thereof.

A lower sliding seat sliding groove 261 which is arranged along the radial direction and is penetrated up and down and is connected with the lower sliding seat 28 in a sliding manner is formed at the position, far away from the first link connecting hole 223, of the upper end of the second link 26; a second screw hole 281 which is connected with the second screw 29 and is penetrated in the left-right direction is formed at the lower part of the lower sliding seat 28, and a lower sliding column 284 which is slidably connected with the spiral groove on the second screw 29 is formed on the inner wall of the second screw hole 281.

A first screw rod 25 which is arranged above the first connecting rod 22 and is in transmission connection with the switching motor 21 along the left-right direction is rotatably connected inside the vehicle body 1, an upper sliding seat 24 is connected to the first screw rod 25 in a sliding manner along the axis direction, and an upper insert block 23 which can be inserted into the insertion hole 282 is connected inside the upper sliding seat 24 in a sliding manner along the up-down direction; an insert sliding column 232 capable of being connected with the first screw rod 25 is formed at the upper end of the upper insert 23; the upper sliding seat 24 is used for driving the first connecting rod 22 to rotate.

An insert sliding groove 241, the axis of which is slidably connected with the upper insert 23, is formed at the lower end of the upper sliding seat 24 and is arranged along the vertical direction, a first screw rod hole 243, which is penetrated in the left-right direction and is slidably connected with the first screw rod 25, is formed at the upper part of the upper sliding seat 24, and a sliding column sliding hole 242, which is communicated with the first screw rod hole 243 and is slidably connected with the insert sliding column 232, is formed at the top in the insert sliding groove 241; an upper sliding seat sliding groove 221 which is arranged along the radial direction and penetrates up and down and is slidably connected with the upper sliding seat 24 is formed at a position, far away from the second link connecting hole 263, of the upper end of the first link 22.

The turning directions of the threads on the first screw rod and the second screw rod are the same, the first screw rod is connected with a switching motor through a first belt, a switching motor gear is installed on an output shaft of the switching motor, and a reverse gear (not shown) meshed with the switching motor gear is rotationally connected in the vehicle body; the reversing gear is connected with the second screw rod through a second belt, so that when the switching motor works, the rotating directions of the first screw rod and the second screw rod are opposite.

When going up the inserted block 23 with the jack 282 is not pegged graft, go up sliding seat 24 with lower sliding seat 28 is not relatively fixed, inserted block traveller 232 with first lead screw 25 transmission is connected, switching motor 21 operates, go up sliding seat 24 with lower sliding seat 28 removes to opposite direction respectively, first connecting rod 22 with second connecting rod 26 intercrosses, two automobile body 1 can only be in the front and back direction relative movement.

When go up the inserted block 23 with when jack 282 pegs graft, go up sliding seat 24 with lower sliding seat 28 is relatively fixed, inserted block traveller 232 with first lead screw 25 does not transmit and is connected, switching motor 21 operates, go up sliding seat 24 with lower sliding seat 28 removes to the same direction, first connecting rod 22 with second connecting rod 26 is parallel to each other, two automobile body 1 can rotate relatively.

A lower push block 27 capable of pushing the upper insert block 23 out of the insertion hole 282 is connected to the lower slide block 28 in a vertically sliding manner; a reset component 3 is arranged in the vehicle body 1; the reset component 3 comprises a reset rod 31 which is connected with the interior of the vehicle body 1 in a sliding way along the front-back direction; one end of the reset rod 31 close to the push-down block 27 is provided with a bending elastic sheet 312 capable of pushing the push-down block 27 upwards; a return spring 311 for driving the return rod 31 to move in a direction away from the push-down block 27 is arranged between the return rod 31 and the vehicle body 1.

A partition plate 12 slidably connected with the reset rod 31 is fixedly connected to the middle of the vehicle body 1, a reset spring plate 121 fixedly connected with one end of the reset spring 311 is formed at the upper end of the partition plate 12, and the other end of the reset spring 311 is fixedly connected with the outer wall of the reset rod 31; a return driven rod 271 capable of extruding the bent elastic piece 312 is formed on one side, close to the bent elastic piece 312, of the lower pushing block 27; a lower push block sliding groove 285 connected with the lower push block 27 in a sliding manner is formed at the bottom in the insertion hole 282, and a driven rod sliding groove 283 connected with the reset driven rod 271 in a sliding manner and allowing the reset driven rod 271 to penetrate out is formed on the inner wall of the lower push block sliding groove 285.

When the reset rod 31 is located at the second position, the bending elastic piece 312 cannot abut against the lower pushing block 27, the lower pushing block 27 is kept at the lower limit position, the upper inserting block 23 is inserted into the inserting hole 282, the first connecting rod 22 and the second connecting rod 26 are parallel to each other, and the two vehicle bodies 1 can rotate relatively.

When the return link 31 is located at the first position, the bending elastic piece 312 makes the pushing-down block 27 located at the upper limit position, the upper insertion block 23 is not inserted into the insertion hole 282, the switching motor 21 operates so that the first link 22 and the second link 26 cross each other, and the two vehicle bodies 1 cannot rotate relative to each other.

The reset assembly 3 further comprises a stop frame 32 which is rotatably connected to the inside of the vehicle body 1 and can change the position of the reset rod 31; the stopping frame 32 is integrally V-shaped; the first support bar 321 is one side of the stop frame 32, and the second support bar 322 is the other side of the stop frame 32.

A first stop block 313 is formed on the side of the reset rod 31 close to the first support rod 321, and a first stop rod 323 capable of abutting against the first stop block 313 is formed on the side of the first support rod 321 close to the reset rod 31; a second stop block 314 is formed on one side of the reset rod 31 close to the second strut 322, and a second stop rod 324 capable of abutting against the second stop block 314 is formed on one side of the second strut 322 close to the reset rod 31; the first stop 313 is located between the second stop 314 and the push-down block 27.

When the reset lever 31 is located at the first position, the first stop block 313 abuts against the first stop rod 323, and the bending elastic piece 312 can drive the push-down block 27 to move to the upper limit position.

When the reset lever 31 is located at the second position, the second stopping block 314 abuts against the second stopping rod 324, the bending elastic piece 312 cannot abut against the pushing-down block 27, and the pushing-down block 27 is kept at the lower limit position.

The reset assembly 3 further comprises a rebounder 33 fixedly connected in the vehicle body 1; the output end of the rebounder 33 is fixedly connected with a push plate 331 capable of driving the reset rod 31 to slide, one side of the lower end of the push plate 331, which is close to the first supporting rod 321, is fixedly connected with a poking rod 332 capable of pushing the first supporting rod 321 to rotate, and one side of the lower end of the push plate 331, which is close to the second supporting rod 322, is fixedly connected with a poking elastic sheet 333 capable of pushing the second supporting rod 322 to rotate; the toggle elastic piece is made of an elastic material, such as rubber.

When the first connecting rod moves to be parallel to the front-rear direction of the vehicle body, the first connecting rod enables the push plate to be located at the first position, and the second connecting rod is parallel to the first connecting rod; when the first connecting rod is not contacted with the push plate, the rebounder enables the push plate to move to the second position or the third position; the third position is located between the first position and the second position.

When the push plate 331 is located at the second position, the toggle rod 332 abuts against the first support rod 321, the first stop rod 323 and the first stop block 313 are opposite to each other in the front-rear direction, the toggle elastic piece 333 abuts against and bends and deforms with the second support rod 322 without driving the second support rod 322 to rotate, when the first link 22 pushes the push plate 331 to move from the second position to the first position, the reset rod 31 moves to the first position under the elastic action of the reset spring 311, and the first stop block 313 abuts against the first stop rod 323.

When the push plate 331 is located at the third position, the toggle elastic piece 333 abuts against the second support rod 322, the second stop rod 324 is opposite to the second stop block 314 in the front-rear direction, the toggle rod 332 is not in contact with the first support rod 321, when the first connecting rod 22 pushes the push plate 331 to move from the third position to the first position, the reset rod 31 moves to the second position under the elastic force of the reset spring 311, and the second stop block 314 abuts against the second stop rod 324.

When the push plate 331 is located at the second position, the first connecting rod 22 pushes and pushes the push plate 331 again, so that the push plate 331 moves to the first position, when the first connecting rod 22 does not push the push plate 331 any more, the push plate 331 pops up to the third position, when the first connecting rod 22 pushes and pushes the push plate 331 again, the push plate 331 moves to the first position again, when the first connecting rod 22 does not push the push plate 331 any more, the push plate 331 pops up to the second position, and the operation is repeated.

The rebounder is a standardized part, and the scheme of the specific structure of the rebounder is not repeated.

A fixed plate 17 is fixedly connected between the first connecting rod 22 and the second connecting rod 26 in the vehicle body 1; the upper end of the fixed plate 17 can abut against the lower end of the upper insert block 23; the upper end of the fixed plate 17 is formed with a separation-preventing sliding groove 171 which is arranged along the left-right direction and runs through in the up-down direction, and the width of the separation-preventing sliding groove 171 is smaller than the diameter of the upper inserting block 23; a slip-off preventing slot 231 which can be slidably connected with the slip-off preventing chute 171 is formed in the outer wall of the upper insert block 23; a switching port 172, which is formed at the center of the slip-off preventing groove 171 at the upper end of the fixing plate 17 and penetrates in the vertical direction, is used for the upper insert block 23 to pass through.

An upper sliding seat slide rail 15 which is connected with the upper sliding seat 24 in a sliding manner and limits the axis of the upper sliding seat 24 to be kept vertical is fixedly connected above the fixed plate 17 in the vehicle body 1; a lower sliding seat slide rail 16 which is fixedly connected with the lower sliding seat 28 in a sliding manner and limits the axis of the lower sliding seat 28 to be kept vertical is fixedly connected with the lower part of the fixed plate 17 in the vehicle body 1.

When the first link 22 moves to be parallel to the front-rear direction of the vehicle body 1, the upper insert block 23 is directly opposite to the switching port 172, and at this time, the upper insert block 23 moves upward or downward, so that the upper insert block 23 is switched between a state of not being inserted into or inserted into the insertion hole 282.

When the first link 22 moves to be not parallel to the front-rear direction of the vehicle body 1, the upper insert block 23 is maintained in a state of being not inserted or inserted into the insertion hole 282.

The bottom shaping has two bilateral symmetry's the mounting panel 14 that sets up along upper and lower direction respectively that sets up in automobile body 1, each mounting panel 14 lateral wall shaping has the worm wheel spout 143 that sets up along the fore-and-aft direction respectively, worm wheel 52 terminal surface center fixedly connected with worm wheel spout 143 sliding connection's worm wheel traveller 522.

The combined assembly further comprises an adjusting assembly 6 arranged at the lower part of the vehicle body 1; the adjusting assembly 6 comprises two single-pass blocks 61 which are respectively connected to two ends of the worm wheel slide groove 143 in a longitudinal sliding manner and can limit the sliding of the worm wheel slide column 522; the single-pass block 61 is formed with a single-pass surface 611 allowing only the worm gear sliding column 522 to pass through in a single direction.

The single-pass block is made of elastic materials such as rubber, and after the worm wheel sliding column moves to be in contact with the single-pass surface, the worm wheel sliding column is matched with the single-pass surface, so that the single-pass block deforms, and the worm wheel sliding column crosses the single-pass block; and when the worm wheel sliding column is abutted against one side of the single-pass block opposite to the single-pass surface, the worm wheel sliding column cannot cross the single-pass block.

Supporting foot frames 141 which are slidably connected with the corresponding supporting feet 422 are formed on the front side and the rear side of the worm wheel slide groove 143 on the mounting plate 14; a single-pass block sliding groove 142 which is longitudinally connected with the single-pass block 61 in a sliding mode is formed in the position, corresponding to each single-pass block 61, of the top of the worm wheel sliding groove 143.

The moving directions of the two single-pass blocks 61 are opposite; the single-pass surfaces 611 on the two single-pass blocks 61 are arranged oppositely; the two single-pass blocks 61 divide the worm wheel slide groove 143 into a sliding area between the two single-pass blocks 61 and a limiting area away from the sliding area of the two single-pass blocks 61.

When the worm-gear sliding column 522 is not abutted against the single-pass block 61, the worm motor 51 is operated, and the worm-gear sliding column 522 moves in a sliding region.

When the worm wheel sliding column 522 abuts against the single through surface 611, the worm wheel sliding column 522 slides to move into the limited area through the single through surface 611, and after the worm wheel sliding column 522 passes through the single through surface 611, the single through block 61 limits the sliding of the worm wheel sliding column 522, so that the worm wheel 52 can only rotate in the limited area, and at this time, the worm wheel 52 is in transmission connection with one supporting leg 422 in the corresponding supporting leg group 42.

The wheel assembly 7 comprises a wheel 71 rotatably connected to the lower end of the vehicle body 1, and a driving motor 72 fixedly connected to the inner bottom of the vehicle body 1 and used for driving the wheel 71 to rotate; two wheel frames 13 which are arranged symmetrically left and right are formed at the lower end of the vehicle body 1, and wheel holes 131 which are rotatably connected with the wheels 71 are formed in the inner walls of the wheel frames 13.

The adjusting assembly 6 further comprises a switching rod 62 rotatably connected to the mounting plate 14 in the vehicle body 1, and a switching plate 63 connected to the switching rod in a sliding manner along a radial direction and contacting with a wheel; the switching rod is in transmission connection with the two corresponding single-pass blocks 61; a torsion spring 64 for driving the switching rod to rotate vertically is arranged between the switching rod and the mounting plate 14 in the vehicle body 1; the switching plate 63 is always kept to be tightly pressed against the surface of the wheel 71 under the action of the elasticity of the torsion spring 64 and the gravity thereof; the switching plate 63 can rub against the wheel 71 and be rotated.

A switching chute 631 arranged along the length direction is formed on the side wall of the switching plate 63, and a switching shaft 621 with a non-circular cross section and slidably connected with the switching chute 631 is formed on the outer wall of the switching rod 62; two switching swing rods 622 which are respectively arranged along the radial direction in the opposite direction are formed at one end, close to the single through block 61, of the switching rod 62, one end, far away from the switching rod 62, of each switching swing rod 622 is rotatably connected with a switching connecting rod 612, one end of each switching connecting rod 612 is rotatably connected with the corresponding switching swing rod 622, and the other end of each switching connecting rod 612 is rotatably connected with the upper portion of the corresponding single through block 61.

When the wheel 71 rotates, the wheel drives the switching plate 63 to move to the front limit position in the wheel moving direction, the torsion spring 64 twists to store force, the one-way block 61 located in the front of the moving direction moves out of the worm wheel slide groove 143, and the one-way block 61 located in the rear of the moving direction moves into the worm wheel slide groove 143, so that the worm wheel 52 can be in transmission connection with the supporting leg 422 located in the rear of the moving direction in the vehicle body 1 during the moving process of the vehicle body 1.

The lower end of the supporting leg 422 is fixedly connected with a drill 425; the disengaging assembly 4 further comprises a synchronizing rod 421 which is rotatably connected to the corresponding mounting plate 14 in the vehicle body 1 and is in circumferential synchronous rotation and axial sliding connection with the supporting foot 422, and a disengaging motor 41 which is fixedly connected to the inside of the vehicle body 1 and is in transmission connection with the two corresponding synchronizing rods 421; the cross section of the synchronous rod 421 is non-circular, and a synchronous groove 424 which is connected with the synchronous rod 421 in a sliding manner and has the same cross section as the synchronous rod 421 is formed at the upper end of the supporting leg 422.

When the ground contacting the supporting leg 422 is soft, the separation motor 41 operates, the synchronizing rods 421 at both sides rotate, the corresponding supporting leg 422 rotates, and the drill 425 drills into the ground and is fixed relative to the ground.

The outer wall of the vehicle body 1 is fixedly connected with a camera 10 for observing the environment.

A controller is fixedly connected inside the vehicle body 1, a receiver for receiving signals of an operator is fixedly connected inside the vehicle body 1, and a starting button, a turning button, a disengaging button, a drilling button and a containing button are arranged on the operator; the operator is wirelessly connected with the controller, and the receiver, the camera 10, the switching motor 21, the disengaging motor 41, the worm motor 51 and the driving motor 72 are electrically connected with the controller.

In an initial state, the two vehicle bodies 1 are located at the limit positions close to each other, the lower end of the upper insertion block 23 abuts against the upper end of the fixed plate 17, the push plate 331 is located at the third position, the reset rod 31 is located at the second position, the support legs 422 are in the storage state, the switching plate 63 abuts against the wheels 71, and the torsion force of the torsion spring 64 is stored.

When the present invention is used, the present invention is stably placed on the ground, then the start button is pressed on the operator, the controller controls each driving motor 72 to operate in the forward direction, the driving motors 72 operate to drive the wheels 71 to rotate, and the vehicle body 1 moves forward, at this time, because the first connecting rod 22 and the second connecting rod 26 are crossed with each other, the two vehicle bodies 1 can only slide in the forward and backward directions and can not rotate relatively.

When the camera 10 observes that a curve needs to turn, a turning button on the operator is pressed, the controller controls the switching motor 21 to operate in the forward direction, and the switching motor 21 drives the first screw rod 25 and the second screw rod 29 to rotate through the switching synchronous belt; the rotation of the first screw rod 25 drives the insert sliding column 232 to move in the spiral groove, the movement of the insert sliding column 232 drives the upper insert 23 to move so that the upper sliding seat 24 moves, and the movement of the upper sliding seat 24 drives the first connecting rod 22 to rotate; the rotation of the second screw 29 drives the lower sliding column 284 to move in the spiral groove, the movement of the lower sliding column 284 drives the lower sliding seat 28 to move, and the movement of the lower sliding seat 28 drives the second connecting rod 26 to rotate; the upper sliding seat 24 moves in the opposite direction to the lower sliding seat 28; when the first link 22 rotates to one end to abut against the push plate 331, the first link 22 continues to rotate so that the push plate 331 moves to the first position.

When the switching motor 21 operates for a certain time, the controller controls the switching motor 21 to stop, at this time, the first connecting rod 22 and the second connecting rod 26 are overlapped and arranged along the front-back direction, the push plate 331 is located at the first position, the upper insert block 23 is located right above the switching port 172, the lower push block 27 is located at the lower limit position, the upper insert block 23 moves to be inserted into the insertion hole 282 under the action of self gravity, at this time, the anti-release clamping groove 231 and the anti-release sliding groove 171 are opposite to each other in the horizontal direction, the upper sliding seat 24 and the lower sliding seat 28 are relatively fixed, meanwhile, the insert block sliding column 232 on the upper insert block 23 is separated from the first screw rod 25, the upper sliding seat 24 can slide freely relative to the first screw rod 25, so that the first connecting rod 22 and the second connecting rod 26 are kept in an overlapped state, and then the first connecting rod 22 and the second connecting rod vehicle body 26 move synchronously, so that the two 1 can rotate relatively; then, the operator inputs the direction to be turned, and the controller controls the two driving motors 72 on the front vehicle body 1 to operate at different powers, so that the moving direction of the front vehicle body 1 is changed to realize the turning.

In the turning process, the vehicle body 1 rotates relative to the first connecting rod 22, the first connecting rod 22 drives the upper insertion block 23 to move in the anti-falling sliding groove 171, meanwhile, the first connecting rod 22 does not extrude the push plate 331 any more, the push plate 331 pops up, the popped-up push plate 331 abuts against the reset rod 31 and drives the reset rod 31 to move towards the direction close to the fixed plate 17, and meanwhile, as the second supporting rod 322 rotates to the limit, the toggle elastic piece 333 abuts against and bends the second supporting rod 322 without driving the second supporting rod 322 to rotate; when the toggle rod 332 abuts against the first support rod 321, the reset rod 31 moves to a position where the first stop block 313 is located between the first stop rod 323 and the fixing plate 17, and the push plate 331 pops up to drive the first support rod 321 to rotate, so that the stop frame 32 rotates; when the push plate 331 moves to the second position, the first stop lever 323 faces the first stop block 313 in the front-rear direction.

Similarly, when the vehicle body 1 at the rear turns, the controller controls the two driving motors 72 to operate at different powers, and the vehicle body 1 turns, and the first connecting rod 22 rotates back and forth without contacting the push plate 331 during the turning.

When the turning is about to be finished, the first connecting rod 22 extrudes and pushes the push plate 331 again, the push plate 331 moves to enable the poke rod 332 not to abut against the first supporting rod 321, and the poke elastic piece 333 does not abut against the second supporting rod 322 and restores to the original shape; when the rear car body 1 moves to be aligned with the front car body 1 in the front-rear direction, the push plate 331 moves to the first position again, at this time, the reset rod 31 moves to the first position under the elastic force of the reset spring 311, the first stop block 313 abuts against the first stop rod 323, the first link 22 rotates again until the upper plug block 23 is aligned with the switching port 172, and the bending elastic piece 312 can always abut against the reset driven rod 271 in the process.

In the process that the upper insert block 23 moves towards the direction close to the switching port 172, the reset driven rod 271 presses the bending elastic piece 312 to enable the bending elastic piece 312 to deform and store force; when the first link 22 rotates again until the upper plug 23 is aligned with the switch port 172, the lower plug 27 moves upward rapidly under the elastic force of the bending elastic piece 312, so that the upper plug 23 moves out of the insertion hole 282 and moves above the fixed plate 17, the plug sliding column 232 moves again into the spiral groove of the first lead screw 25, and the upper sliding seat 24 and the lower sliding seat 28 are not fixed relatively.

Then the controller controls the switching motor 21 to operate, the first lead screw 25 and the second lead screw 29 rotate, the first connecting rod 22 and the second connecting rod 26 rotate, the upper sliding seat 24 and the lower sliding seat 28 are away from each other, when the switching motor 21 operates for a certain time, the controller controls the switching motor 21 to stop operating, at the moment, the first connecting rod 22 and the second connecting rod 26 are crossed with each other, and the two vehicle bodies 1 cannot rotate with each other; when the first link 22 rotates to push the push plate 331 without being squeezed, the push plate 331 pops up and causes the toggle elastic piece 333 to drive the second support rod 322 to rotate, thereby causing the stop frame 32 to rotate; when the push plate 331 is ejected to the third position, the stop frame 32 rotates until the second stop lever 324 is opposite to the second stop block 314, the first stop lever 323 is not abutted against the first stop block 313, at this time, the reset lever 31 moves to the second position under the elastic force of the reset spring 311, the second stop lever 324 is abutted against the second stop block 314, and the bending elastic piece 312 cannot be abutted against the reset driven lever 271.

The switching plate 63 is tightly abutted against the wheels 71 under the action of the elastic force of the torsion spring 64, so that the switching plate 63 is rubbed with the wheels 71 in the advancing process of the vehicle body 1, the switching plate 63 is rotated, the switching rod 62 is rotated by the rotation of the switching plate 63, the switching rod 62 is rotated to drive the switching swing rod 622 to rotate, the switching connecting rod 612 is moved, the corresponding one-way block 61 is driven by the movement of the switching connecting rod 612 to slide, the one-way block 61 positioned in the front of the advancing direction of the vehicle body 1 moves downwards in the one-way block sliding groove 142, and the one-way block 61 positioned in the rear of the advancing direction of the vehicle body 1 moves upwards in the one-way block sliding groove 142; when the switching plate 63 is rotated to the limit position, the one-way block 61 in front of the vehicle body 1 in the traveling direction moves into the worm wheel slide groove 143, so that the one-way block 61 in front of the vehicle body 1 in the traveling direction can restrict the movement of the worm wheel spool 522.

Then the controller controls the worm motor 51 to operate, at this time, the worm wheel 52 can move in the worm wheel sliding groove 143, and the worm wheel 52 slides preferentially; when the worm wheel 52 slides to abut against the single-pass surface 611 on the single-pass block 61 in the front in the traveling direction of the vehicle body 1, the worm wheel 52 continues to move and can pass through the single-pass block 61; when the worm wheel 52 passes through the one-way block 61, the worm wheel 52 cannot pass through the one-way block 61 in the reverse direction, the one-way block 61 in the front of the vehicle body 1 in the traveling direction restricts the sliding of the worm wheel spool 522, and the disengaging gear 521 is engaged with the rack group 423 on the corresponding support leg 422.

When the camera 10 detects that the wheels 71 and the ground slip and cannot continue to advance, a disengagement button on the operator is pressed, the controller firstly controls the worm motor 51 in the rear vehicle body 1 to operate, and the worm motor 51 drives the worm 511 to rotate; since the worm wheel slide 522 is located in the worm wheel slide groove 143 and is restricted from sliding by the one-way block 61, the worm wheel 52 can only rotate at this time; the rotation of the worm 511 drives the worm wheel 52 to rotate positively, the rotation of the worm wheel 52 drives the disengaging gear 521 to rotate, and the rotation of the disengaging gear 521 drives the rack group 423 to move, so that the supporting leg 422 moves towards the rear of the advancing direction of the vehicle body 1, and the drill 425 abuts against the ground; if the ground is soft and cannot be tightly supported, a drilling button on the operator is pressed, the controller controls the separation motor 41 to operate, the separation motor 41 drives the separation synchronous belt to operate, so that the synchronous rods 421 at two sides rotate, the rotation of the synchronous rods 421 drives the supporting legs 422 to rotate, so that the drill bits 425 drill into the ground, and the supporting legs 422 are fixed with the ground.

Then the controller controls the switching motor 21 to operate in the forward direction, the switching motor 21 drives the first connecting rod 22 and the second connecting rod 26 to rotate, so that the two car bodies 1 are far away from each other, the car body 1 in front is separated from slipping, then the separation motor 41 is controlled to rotate in the reverse direction, the drill bit 425 is retracted, the worm motor 51 is controlled to rotate in the reverse direction, and the supporting leg 422 is retracted; similarly, when the supporting leg 422 on the front vehicle body 1 is fixed relative to the ground, the controller controls the switching motor 21 to operate in reverse, so that the two vehicle bodies 1 approach each other, and the rear vehicle body 1 is separated from slipping; during the slipping-free process, the back-and-forth rotation of the first link 22 does not contact the push plate 331.

Under the normal condition, through control wheel motor work, drive the automobile body motion to observe through the camera, carry out personnel's search and rescue or article inspection work.

When the vehicle body 1 moves to the recovery point, the storage button is pressed, the controller controls the switching motor 21 to operate, the vehicle bodies 1 on the two sides move to the limit positions close to each other, and the initial state is recovered.

According to the invention, the upper insert block 23 is arranged, so that the upper insert block can abut against the upper end surface of the fixed plate 17, the upper slide seat 24 and the lower slide seat 28 are not relatively fixed, the first connecting rod 22 and the second connecting rod 26 are mutually crossed, the two vehicle bodies 1 can only approach or leave in the front-back direction, and the two vehicle bodies can also be moved to be inserted into the insertion hole 282 when being opposite to the switching port 172, so that the upper slide seat 24 and the lower slide seat 28 are relatively fixed, the first connecting rod 22 and the second connecting rod 26 are overlapped, the two vehicle bodies 1 can relatively rotate, and the rotating direction and the rotating angle are arbitrary.

According to the invention, through the arrangement of the worm wheel 52, the worm wheel sliding column 522 can move in the worm wheel sliding groove 143 when not prevented from sliding by the single-pass block 61, the supporting leg 422 in transmission connection with the disengaging gear 521 is changed, the moving direction is changed when the worm wheel sliding column 522 is disengaged from sliding, and the worm wheel sliding column 522 can rotate when prevented from sliding by the single-pass block 61 to drive the supporting leg 422 to move, so that the vehicle body 1 is disengaged from sliding.

According to the invention, the wheels 71 are arranged, so that the vehicle body 1 can be driven to move, and the switching plate 63 can be driven to rotate when the direction is changed, so that the one-way block 61 moves, the supporting leg 422 in transmission connection with the disengaging gear 521 is changed, and the change of the moving direction when the vehicle body is disengaged from slipping is realized.

According to the invention, the first connecting rod 22 is arranged, so that the mutual sliding and turning of the two vehicle bodies 1 can be realized as a part of the connection, and the push plate 331 can be driven to move in the rotating process, so that the reset rod 31 can move to different positions, and the state switching can be realized.

The invention can be separated when the wheel 71 slips, thereby avoiding the loss caused by the incapability of moving in the operation area; the invention can turn to any angle in the operation area, and has small limitation; the invention can automatically replace the driving supporting leg 422 after changing the moving direction, so that the slipping can be separated to the new moving direction.

It should be understood that the above-described embodiments are merely preferred embodiments of the invention and the technical principles applied thereto. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, such variations are within the scope of the invention as long as they do not depart from the spirit of the invention. In addition, certain terminology used in the description and claims of the present application is not limiting, but is used for convenience only.

Claims

1. The utility model provides an independently break away from fire control search and rescue car in operation area that skids which characterized in that: comprises two vehicle bodies arranged along the front and back direction; each vehicle body is provided with a connection switching assembly; two combined assemblies which are arranged in a central symmetry manner are arranged at the lower part of each vehicle body; the combined assembly comprises a wheel assembly which is arranged at the lower end of the vehicle body and used for driving the vehicle body to move; the connection switching assembly comprises a first connecting rod, a second connecting rod and a switching motor, wherein the first connecting rod is rotatably connected with a rotating shaft in the vehicle body and is arranged along the vertical direction, the second connecting rod is rotatably connected with the rotating shaft in the vehicle body and is coaxial with the rotating shaft of the first connecting rod, and the switching motor is fixedly connected in the vehicle body and is respectively in transmission connection with the first connecting rod and the second connecting rod; the first connecting rod is rotatably connected with the first connecting rod on the other vehicle body; the second connecting rod is rotatably connected with a second connecting rod on the other vehicle body; the first connecting rod is positioned above the second connecting rod; a separation component is arranged at the lower part of the vehicle body; the separation component comprises two supporting foot groups which are respectively arranged at the left side and the right side of the lower part of the vehicle body; the supporting leg group comprises two supporting legs which are connected to the lower part of the vehicle body in a sliding manner and are symmetrically arranged in front and at the back; the two supporting legs are perpendicular to each other.

2. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 1, wherein: the combined assembly also comprises a worm gear assembly arranged at the lower part of the vehicle body; the worm wheel assembly comprises a worm wheel which is rotatably connected in the vehicle body and used for driving the supporting legs to slide, and a worm motor which is fixedly connected in the vehicle body and used for driving the worm wheel to rotate; a worm in transmission connection with the worm wheel is fixedly connected to an output shaft of the worm motor; when one of the car bodies needs to be separated from the slipping position, the worm wheel in the other car body rotates, the supporting legs are abutted to the ground, the other car body is fixed relative to the ground, at the moment, the switching motor operates, the included angle between the first connecting rod and the second connecting rod is changed, the two car bodies move relative to each other, so that the car body located at the slipping position moves, and the car body is forced to be separated from the slipping position.

3. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 2, wherein: a second screw rod which is arranged along the left-right direction and is in transmission connection with the switching motor along the axis is rotatably connected to the lower part of the second connecting rod in the vehicle body, and a lower sliding seat which is in transmission connection with the second screw rod is connected to the second screw rod along the axis; the lower sliding seat is used for driving the second connecting rod to rotate; the upper end of the lower sliding seat is provided with a jack; a first lead screw which is arranged above the first connecting rod and is in transmission connection with the switching motor is rotatably connected inside the vehicle body, the axis of the first lead screw is arranged along the left-right direction, an upper sliding seat is connected onto the first lead screw in a sliding manner along the axis direction, and an upper insert block which can be inserted into the insertion hole is connected inside the upper sliding seat in a sliding manner along the up-down direction; an insert sliding column capable of being connected with the first screw rod is formed at the upper end of the upper insert; the upper sliding seat is used for driving the first connecting rod to rotate; when the upper insert block is not inserted into the jack, the upper sliding seat and the lower sliding seat are not relatively fixed, the insert block sliding column is in transmission connection with the first screw rod, the switching motor operates, the upper sliding seat and the lower sliding seat respectively move in opposite directions, the first connecting rod and the second connecting rod are mutually crossed, and the two vehicle bodies can only relatively move in the front-rear direction; when go up the inserted block with when the jack is pegged graft, go up the sliding seat with lower sliding seat relatively fixed, the inserted block traveller with first lead screw does not transmit and is connected, the switching motor function, go up the sliding seat with lower sliding seat removes to the same direction, first connecting rod with the second connecting rod is parallel to each other, two the automobile body can rotate relatively.

4. A fire fighting vehicle for automatically separating from a skid working area as defined in claim 3, wherein: a lower pushing block capable of pushing the upper inserting block out of the inserting hole is connected in the lower sliding seat in a sliding mode along the vertical direction; a reset assembly is arranged in the vehicle body; the reset assembly comprises a reset rod which is connected with the interior of the vehicle body in a sliding manner along the front-back direction; one end of the reset rod, which is close to the lower pushing block, is provided with a bending elastic sheet which can push the lower pushing block upwards; a reset spring for driving the reset rod to move towards the direction far away from the lower push block is arranged between the reset rod and the vehicle body; when the reset rod is located at the second position, the bent elastic sheet cannot abut against the lower push block, the lower push block is kept at the lower limit position, the upper insert block is inserted into the insert hole, the first connecting rod and the second connecting rod are parallel to each other, and the two vehicle bodies can rotate relatively; when the reset rod is located at the first position, the bent elastic piece enables the lower pushing block to be located at the upper limit position, the upper inserting block is not inserted into the inserting hole, the switching motor operates to enable the first connecting rod and the second connecting rod to be crossed mutually, and the two vehicle bodies cannot rotate relatively.

5. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 4, wherein: the reset assembly also comprises a stop frame which is rotatably connected with the interior of the vehicle body and can change the position of the reset rod; the whole stopping frame is in a V shape; the supporting rod on one side of the stopping frame is a first supporting rod, and the supporting rod on the other side of the stopping frame is a second supporting rod; a first stop block is formed on one side, close to the first support rod, of the reset rod, and a first stop rod capable of abutting against the first stop block is formed on one side, close to the reset rod, of the first support rod; a second stop block is formed on one side, close to the second support rod, of the reset rod, and a second stop rod capable of abutting against the second stop block is formed on one side, close to the reset rod, of the second support rod; the first stop block is positioned between the second stop block and the lower push block; when the reset rod is located at the first position, the first stop block abuts against the first stop rod, and the bent elastic piece can drive the lower push block to move to the upper limit position; when the reset rod is located at the second position, the second stop block abuts against the second stop rod, the bending elastic piece cannot abut against the lower push block, and the lower push block is kept at the lower limit position.

6. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 5, wherein: the reset assembly also comprises a rebounder fixedly connected in the vehicle body; the output end of the rebounder is fixedly connected with a push plate capable of driving the reset rod to slide, one side, close to the first supporting rod, of the lower end of the push plate is fixedly connected with a poking rod capable of pushing the first supporting rod to rotate, and one side, close to the second supporting rod, of the lower end of the push plate is fixedly connected with a poking elastic sheet capable of pushing the second supporting rod to rotate; when the first connecting rod moves to be parallel to the front-rear direction of the vehicle body, the first connecting rod enables the push plate to be located at the first position, and the second connecting rod is parallel to the first connecting rod; when the first connecting rod is not contacted with the push plate, the rebounder enables the push plate to move to the second position or the third position; the third position is located between the first position and the second position; when the push plate is located at the second position, the poke rod abuts against the first support rod, the first stop rod is opposite to the first stop block in the front-rear direction, the poke elastic piece abuts against the second support rod and is bent and deformed, the second support rod is not driven to rotate, when the first link rod pushes the push plate to move from the second position to the first position, the reset rod moves to the first position under the elastic action of the reset spring, and the first stop block abuts against the first stop rod; when the push plate is located at the third position, the poking elastic piece abuts against the second supporting rod, the second stop rod is opposite to the second stop block in the front-rear direction, the poking rod is not in contact with the first supporting rod, when the first connecting rod pushes the push plate to move from the third position to the first position, the reset rod moves to the second position under the elastic action of the reset spring, and the second stop block abuts against the second stop rod.

7. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 6, wherein: a fixing plate is fixedly connected between the first connecting rod and the second connecting rod in the vehicle body; the upper end of the fixing plate can abut against the lower end of the upper insertion block; the upper end of the fixed plate is formed with a slip-off preventing chute which is arranged along the left-right direction and runs through in the up-down direction, and the width of the slip-off preventing chute is smaller than the diameter of the upper insertion block; a slip-off preventing clamping groove capable of being in sliding connection with the slip-off preventing sliding groove is formed in the outer wall of the upper inserting block; a switching port which is penetrated in the vertical direction and is used for the upper insertion block to pass through is formed at the upper end of the fixing plate and is positioned in the center of the anti-falling sliding chute; when the first connecting rod moves to be parallel to the front-rear direction of the vehicle body, the upper insertion block is opposite to the switching port, and at the moment, the upper insertion block moves upwards or downwards, so that the upper insertion block is switched between a state of not being inserted into or being inserted into the jack; when the first connecting rod moves to be not parallel to the front-back direction of the vehicle body, the upper insertion block is kept in a non-insertion or insertion state with the insertion hole.

8. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 2, wherein: two worm wheel sliding grooves which are arranged in a bilateral symmetry mode and are respectively arranged in the front-back direction are formed in the bottom of the vehicle body, and a worm wheel sliding column which is connected with the worm wheel sliding grooves in a sliding mode is fixedly connected to the center of the end face of the worm wheel; the combined assembly also comprises an adjusting assembly arranged at the lower part of the vehicle body; the adjusting assembly comprises two single-pass blocks which are longitudinally connected to two ends of the worm gear sliding chute in a sliding mode and can limit the sliding of the worm gear sliding column; a single-pass surface which only allows the worm wheel sliding column to pass in a single direction is formed on the single-pass block; the moving directions of the two single-pass blocks are opposite; the single through surfaces on the two single through blocks are oppositely arranged; the two single-pass blocks divide the worm wheel sliding chute into a sliding area between the two single-pass blocks and limiting areas which are respectively positioned on the two single-pass blocks and far away from the sliding area; when the worm wheel sliding column is not abutted against the single through block, the worm motor operates, and the worm wheel sliding column moves in a sliding area; when the worm wheel sliding column abuts against the single through surface, the worm wheel sliding column slides to move into the limiting area through the single through surface, after the worm wheel sliding column passes through the single through surface, the single through block limits the worm wheel sliding column to slide, so that the worm wheel can only rotate in the limiting area, and at the moment, the worm wheel is in transmission connection with one supporting leg in the corresponding supporting leg group.

9. A fire fighting vehicle for automatically separating from a skid working area as defined in claim 8, wherein: the wheel assembly comprises a wheel which is rotatably connected to the lower end of the vehicle body and a driving motor which is fixedly connected to the inner bottom of the vehicle body and is used for driving the wheel to rotate; the adjusting assembly also comprises a switching rod which is rotatably connected in the vehicle body and a switching plate which is connected to the switching rod in a sliding manner along the radial direction and is contacted with the wheels; the switching rod is in transmission connection with the two corresponding single through blocks; a torsion spring for driving the switching rod to rotate vertically is arranged between the switching rod and the vehicle body; the switching plate is always kept to be tightly pressed against the surface of the wheel under the action of the elasticity of the torsion spring and the gravity of the switching plate; the switching plate can rub with the wheels and is driven to rotate; when the wheels rotate, the wheels drive the switching plate to move to the front limit position of the traveling direction of the wheels, the torsion springs twist to store force, the single-pass block positioned in the front of the traveling direction moves out of the worm gear sliding groove, and the single-pass block positioned in the rear of the traveling direction moves into the worm gear sliding groove, so that the worm gear can be in transmission connection with the supporting legs positioned in the rear of the traveling direction in the traveling process of the automobile body.

10. A fire fighting search and rescue vehicle which autonomously departs from a skid working area as claimed in claim 2, wherein: a drill bit is fixedly connected to the lower end of the supporting foot; the separation assembly also comprises a synchronous rod which is rotationally connected in the vehicle body and is in circumferential synchronous rotation and axial sliding connection with the supporting foot, and a separation motor which is fixedly connected in the vehicle body and is in transmission connection with the two corresponding synchronous rods; when the ground in contact with the supporting legs is soft, the motor is separated, the synchronous rods on two sides rotate, the corresponding supporting legs rotate, and the drill bit drills into the ground and is relatively fixed with the ground.