CN116726429A

CN116726429A - Air-ground collaborative fire-extinguishing rescue fire-fighting system

Info

Publication number: CN116726429A
Application number: CN202310516967.4A
Authority: CN
Inventors: 段婷婷; 王锐; 孔凡忠; 孙厚杰; 乔永胜; 刘浩; 张士恒
Original assignee: Xinxing Jihua Beijing Intelligent Equipment Technology Research Institute Co ltd
Current assignee: Xinxing Jihua Beijing Intelligent Equipment Technology Research Institute Co ltd
Priority date: 2023-05-09
Filing date: 2023-05-09
Publication date: 2023-09-12

Abstract

The invention provides a fire-extinguishing, rescue and fire-fighting system with air-ground cooperation, which comprises a fire-fighting truck, wherein the fire-fighting truck comprises a truck body, and a storage cabin and a control cabin are arranged on the truck body; an unmanned aerial vehicle take-off and landing platform is arranged at the top of the storage cabin, and an unmanned aerial vehicle is arranged on the unmanned aerial vehicle take-off and landing platform; a fire extinguishing agent supply system is arranged in the storage cabin; and a control assembly is arranged in the control cabin and is in communication connection with the fire extinguishing agent supply system and the unmanned aerial vehicle. According to the fire extinguishing rescue fire-fighting system with the cooperation of the air and the ground, provided by the invention, the fire extinguishing agent supply system is arranged in the storage cabin of the fire-fighting truck, the unmanned aerial vehicle is arranged on the take-off and landing platform of the unmanned aerial vehicle, and during fire extinguishing operation, the fire extinguishing agent supply system can supply various fire extinguishing agents to the fire extinguishing gun, the spray head and the unmanned aerial vehicle carried by the fire-fighting truck, and the fire-fighting truck and the unmanned aerial vehicle are controlled to carry out fire extinguishing operation in cooperation through the control assembly in the control cabin, so that the fire extinguishing with the cooperation of the air and the ground can be realized, and the fire extinguishing rescue fire-fighting system with the cooperation of the air and the ground is suitable for fire extinguishing work with complex fire situations of high-rise buildings and forest fires.

Description

Air-ground collaborative fire-extinguishing rescue fire-fighting system

Technical Field

The invention relates to the technical field of fire-fighting equipment, in particular to a fire-extinguishing rescue fire-fighting system with air-ground cooperation.

Background

When a fire disaster or a forest fire disaster occurs in a high-rise building in a city, the fire disaster is high in position, large in diffusion range and complex in fire condition, the existing fire truck only provided with the water storage tank, the water gun and the water cannon cannot generally meet the fire extinguishing requirements of the high-rise building or the complex fire extinguishing requirements, a fire fighter is required to enter a fire scene to extinguish the fire, and serious threat can be caused to the life safety of fire fighters.

Therefore, there is a need for a fire-fighting, rescue and fire-fighting system that can accommodate high-rise buildings or space-floor collaboration of complex fires.

Disclosure of Invention

The invention provides a fire-extinguishing rescue fire-fighting system with air-ground cooperation, wherein an unmanned aerial vehicle and a fire-fighting truck cooperate to realize the air-ground cooperation fire extinguishment, and the fire-extinguishing rescue fire-fighting system is suitable for high-rise buildings, forest fires or fire-extinguishing work with complex conditions.

The invention provides a fire-extinguishing, rescue and fire-fighting system with air-ground cooperation, which comprises a fire-fighting truck, wherein the fire-fighting truck comprises a truck body, and a storage cabin and a control cabin are arranged on the truck body;

the top of the storage cabin is provided with an unmanned aerial vehicle take-off and landing platform, and the unmanned aerial vehicle take-off and landing platform is provided with an unmanned aerial vehicle; a fire extinguishing agent supply system is arranged in the storage cabin, and the fire extinguishing agent supply system is suitable for supplying fire extinguishing agent to the unmanned aerial vehicle;

The control cabin is internally provided with a control assembly, and the control assembly is in communication connection with the fire extinguishing agent supply system and the unmanned aerial vehicle.

According to the space-ground collaborative fire-extinguishing rescue fire-fighting system provided by the invention, the high-temperature-resistant robot is arranged in the storage cabin, and the control component is in communication connection with the high-temperature-resistant robot;

the fire extinguishing agent supplying system is also adapted to supply fire extinguishing agent to the high temperature resistant robot.

According to the space-ground collaborative fire-fighting, rescue and fire-fighting system provided by the invention, the underwater robot for detecting the water area is arranged in the storage cabin, and the control assembly is in communication connection with the underwater robot.

According to the space-ground cooperative fire-fighting, rescue and fire-fighting system provided by the invention, the bottom of the unmanned aerial vehicle is provided with the landing gear, the grounding end of the landing gear is provided with the slot, and the end part of the slot forms a lap joint area;

be equipped with unmanned aerial vehicle fixed establishment on the unmanned aerial vehicle take-off and landing platform, unmanned aerial vehicle fixed establishment includes:

the first end of inserted bar is formed with fixed part, fixed part be suitable for press in overlap joint district, be formed with spacing fender point on the inserted bar, spacing fender point moves along first guide way and second guide way, so that the inserted bar with the slot is fixed or breaks away from.

According to the space-ground collaborative fire-extinguishing rescue fire-fighting system provided by the invention, the bulkhead of the storage cabin is provided with an on-off mechanism;

the loading and unloading mechanism comprises a ramp plate and a driving assembly, wherein the ramp plate and the driving assembly are arranged on a bulkhead of the storage cabin, an inlet and an outlet are formed in the bulkhead of the storage cabin, the lower end of the ramp plate is hinged with the lower end of the inlet and the outlet, and the driving assembly is used for driving the ramp plate to rotate around the lower end of the ramp plate.

According to the space-ground collaborative fire-extinguishing, rescue and fire-fighting system provided by the invention, the driving assembly comprises a push rod, a first connecting rod and a second connecting rod, wherein the first end of the first connecting rod is hinged with the bottom wall of the storage cabin, the second end of the first connecting rod is hinged with the end part of the push rod, the first end of the second connecting rod is hinged with the second end of the first connecting rod, and the second end of the second connecting rod is hinged with the ramp plate.

According to the space-ground collaborative fire-fighting, rescue and fire-fighting system provided by the invention, the bottom wall of the storage cabin is provided with the first hinging seat, the ramp plate is provided with the second hinging seat, the first end of the first connecting rod is hinged with the first hinging seat, and the second end of the second connecting rod is hinged with the second hinging seat.

The invention provides an air-ground collaborative fire-fighting, rescue and fire-fighting system, which further comprises at least one ladder stand mechanism, wherein the ladder stand mechanism comprises a first ladder stand and a second ladder stand, the first ladder stand is arranged on the unmanned aerial vehicle landing platform, and the second ladder stand is arranged at the tail part of the vehicle body in a transversely sliding fit manner.

According to the space-ground collaborative fire-fighting system, the ladder stand mechanism further comprises a third ladder stand, sliding sleeves are respectively arranged on two sides of the second ladder stand, and two sides of the upper end of the third ladder stand are respectively hinged with the sliding sleeves.

According to the space-ground collaborative fire-fighting, rescue and fire-fighting system provided by the invention, the unmanned aerial vehicle lifting platform comprises a top plate, side plates and a bottom plate, wherein the top plate is arranged adjacent to the side plates, and the side plates are arranged adjacent to the bottom plate;

the device comprises a first-stage push rod, a second-stage push rod and a driving device, wherein the driving device is hinged with the first end of the first-stage push rod so that the driving device drives the first-stage push rod to reciprocate;

the first-stage push rod is provided with a rotating part, the rotating part is arranged on a rod body close to the second end of the first-stage push rod, and the rotating part is adapted to be hinged with a third hinge seat on the unmanned aerial vehicle take-off and landing platform;

The first end of the secondary push rod is hinged with the second end of the primary push rod, and the second end of the secondary push rod is adapted to be hinged with a fourth hinging seat on the unmanned aerial vehicle take-off and landing platform;

wherein the primary push rod and the secondary push rod are configured to be driven by the driving device to operate in a stowed position and a deployed position of the deployment mechanism so that the unmanned aerial vehicle landing platform reaches a preset state.

According to the space-ground cooperative fire-fighting, rescue and fire-fighting system provided by the invention, the base plate is provided with the abdication groove, the primary push rod passes through the abdication groove, and the driving device is arranged below the base plate.

According to the space-ground collaborative fire-extinguishing, rescue and fire-fighting system provided by the invention, the vehicle body is provided with the cockpit, and the control cabin is arranged between the cockpit and the storage cabin.

According to the fire extinguishing rescue fire-fighting system with the cooperation of the air and the ground, provided by the invention, the fire extinguishing agent supply system is arranged in the storage cabin of the fire-fighting truck, the unmanned aerial vehicle is arranged on the take-off and landing platform of the unmanned aerial vehicle, and during fire extinguishing operation, the fire extinguishing agent supply system can supply various fire extinguishing agents to the fire extinguishing gun, the spray head and the unmanned aerial vehicle carried by the fire-fighting truck, and the fire-fighting truck and the unmanned aerial vehicle are controlled to carry out fire extinguishing operation in cooperation through the control assembly in the control cabin, so that the fire extinguishing with the cooperation of the air and the ground can be realized, and the fire extinguishing rescue fire-fighting system with the cooperation of the air and the ground is suitable for fire extinguishing work with complex fire situations of high-rise buildings and forest fires.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is one of the schematic diagrams of a fire-fighting rescue fire-fighting system with air-ground coordination provided by an embodiment of the invention;

FIG. 2 is a schematic diagram of a second embodiment of the fire-fighting system for air-ground collaboration;

fig. 3 is a schematic fixing diagram of a landing gear and a fixing mechanism of an unmanned aerial vehicle in the air-ground cooperative fire-fighting rescue fire-fighting system provided by the embodiment of the invention;

fig. 4 is a schematic structural diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue fire-fighting system provided by the embodiment of the invention;

fig. 5 is a second schematic structural diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue fire-fighting system according to the embodiment of the present invention;

fig. 6 is a schematic diagram of an undercarriage of an unmanned aerial vehicle in a space-ground collaborative fire-fighting rescue and fire-fighting system provided by an embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6A;

fig. 8 is a first motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue and fire-fighting system provided by the embodiment of the invention;

fig. 9 is a second motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue and fire-fighting system provided by the embodiment of the invention;

fig. 10 is a third motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue and fire-fighting system provided by the embodiment of the invention;

fig. 11 is a fourth motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue and fire-fighting system provided by the embodiment of the invention;

fig. 12 is a schematic diagram of a fixing state of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue fire-fighting system provided by the embodiment of the invention;

fig. 13 is a fifth motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground collaborative fire-fighting rescue and fire-fighting system provided by the embodiment of the invention;

fig. 14 is a sixth motion state diagram of an unmanned aerial vehicle fixing mechanism in the air-ground cooperative fire-fighting rescue fire-fighting system provided by the embodiment of the invention;

FIG. 15 is a schematic view of the deployment of the get-on/off mechanism in the air-ground collaborative fire rescue and fire protection system provided by the embodiment of the invention;

FIG. 16 is a schematic diagram of the closing of the get-on/off mechanism in the air-ground collaborative fire rescue and fire protection system provided by the embodiment of the invention;

FIG. 17 is one of the schematic diagrams of the climbing mechanism of the air-ground collaborative fire-fighting rescue fire-fighting system provided by the embodiment of the invention;

FIG. 18 is a second schematic view of a climbing mechanism of the air-ground collaborative fire rescue and fire protection system provided by an embodiment of the invention;

FIG. 19 is a schematic diagram of a deployment mechanism in the air-ground collaborative fire-fighting rescue fire-fighting system according to an embodiment of the present invention;

FIG. 20 is a schematic diagram of a deployment mechanism in a space-floor collaborative fire rescue and fire protection system according to a second embodiment of the present invention;

FIG. 21 is a third schematic diagram of a deployment mechanism in a space-floor collaborative fire rescue and fire protection system according to an embodiment of the present invention;

FIG. 22 is a schematic structural view of a deployment mechanism in the air-ground collaborative fire-fighting rescue fire-fighting system according to an embodiment of the present invention;

FIG. 23 is a second schematic structural view of a deployment mechanism in a space-floor collaborative fire-fighting rescue fire-fighting system according to an embodiment of the present invention;

FIG. 24 is a schematic view of a connection structure of a base portion of a deployment mechanism in an air-ground cooperative fire-fighting rescue fire protection system according to an embodiment of the present invention;

Fig. 25 is a schematic structural view of a first-stage push rod of a deployment mechanism in a space-ground collaborative fire-fighting, rescue and fire-fighting system according to an embodiment of the present invention.

Reference numerals:

1. a cockpit; 2. a vehicle body; 3. a carriage; 4. a control cabin; 5. an unmanned aerial vehicle landing platform; 6. an inlet and an outlet; 7. a ramp plate; 8. a push rod; 9. a first link; 10. a second link; 11. a first hinge base; 12. the second hinge seat; 13. a first ladder; 14. a second ladder; 15. a first chute; 16. a first slider; 17. a third ladder stand; 18. a sliding sleeve; 19. a top plate; 20. a side plate; 21. a bottom plate; 22. a first-stage push rod; 221. a rotating part; 222. a main body section; 223. bending sections; 23. a second-stage push rod; 24. a third hinge base; 25. a fourth hinge base; 26. a base; 27. a second chute; 28. a second slider; 29. a relief groove; 30. unmanned plane; 31. a pipeline through port; 32. a tethered line port; 33. high temperature resistant robot; 34. a tail baffle; 35. landing gear; 36. a slot; 37. a lap zone; 38. a first guide groove; 39. a second guide groove; 40. a rod; 41. a fixing part; 42. limiting the blocking point; 43. a ball plug; 44. ball plug stop blocks; 45. a rotating arm; 46. a plunger rod sheath; 47. a pushing member; 48. a bearing fixing seat; 49. a universal wheel; 50. a bushing.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "inner", "outer", "left", "right", "bottom", "top", etc. are based on the directions or positional relationships indicated in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated unless specifically limited otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "coupled," "configured" and the like are to be construed broadly, and for example, "coupled" may be either fixedly coupled, detachably coupled, or integrally formed; either directly, or indirectly, through intermediaries, may be internal to each other, or may be in a relationship between two elements, unless otherwise specifically defined. The above terms are understood in the specific meaning of the present invention according to circumstances, for those of ordinary skill in the art.

The space-ground collaborative fire-fighting system provided by the invention is described below with reference to fig. 1 to 25.

As shown in fig. 1 and 2, the embodiment of the invention provides a fire-extinguishing, rescue and fire-fighting system with air-ground cooperation, which comprises a fire-fighting truck, wherein the fire-fighting truck comprises a truck body 2, a cockpit 1, a storage cabin and a control cabin 4 are arranged on the truck body 2, and the control cabin 4 is arranged between the cockpit 1 and the storage cabin;

the top of the storage cabin is provided with an unmanned aerial vehicle take-off and landing platform 5, and the unmanned aerial vehicle 30 is arranged on the unmanned aerial vehicle take-off and landing platform 5; a fire extinguishing agent supplying system is arranged in the storage cabin, and the fire extinguishing agent supplying system is suitable for supplying fire extinguishing agent to the unmanned aerial vehicle 30;

a control assembly is arranged in the control cabin 4 and is in communication connection with the fire extinguishing agent supply system and the unmanned aerial vehicle 30.

Specifically, in the embodiment of the invention, the fire extinguishing gun/nozzle equipped with the fire engine and the unmanned aerial vehicle 30 can be connected with the fire extinguishing agent supply system through pipelines, the pipeline connection port and the nozzle are arranged on the unmanned aerial vehicle 30, and when the fire is extinguished, the fire extinguishing agent supply system is connected with the fire extinguishing gun/nozzle equipped with the unmanned aerial vehicle 30 and the fire engine so as to supply the fire extinguishing agent, when the fire is in a higher fire, the pipeline can be lifted to a proper fire extinguishing height through the unmanned aerial vehicle 30, and the fire extinguishing agent can be sprayed out through the nozzle arranged on the pipeline to extinguish the fire, and when the fire is in a lower fire, the fire extinguishing agent can be sprayed out through the fire extinguishing gun/nozzle equipped with the fire engine to extinguish the fire. Wherein, the fire extinguishing agent supply system can store fire extinguishing agents which are suitable for different fire conditions, such as foam fire extinguishing agents, dry powder fire extinguishing agents, water and the like. In addition, during fire extinguishment, the fire truck and the unmanned aerial vehicle 30 can be controlled to synchronously transfer so as to work at different fire positions of a plurality of fire points or a single fire point.

In some embodiments, a pipeline port 31 for a pipeline to pass through may be provided on the unmanned aerial vehicle take-off and landing platform 5, and the pipeline is connected with the unmanned aerial vehicle 30 from the lower part of the unmanned aerial vehicle take-off and landing platform 5 through the pipeline port 31. In a further embodiment, an arc-shaped protection ring may be disposed at the edge of the pipe opening 31 to prevent the pipe from bending at a larger angle, so as to affect the water pressure in the pipe, and further ensure that the unmanned aerial vehicle 30 is more stable during flight (reduce the influence of the pipe on the unmanned aerial vehicle). In some embodiments, the unmanned aerial vehicle 30 is powered by the power supply device arranged in the mooring line connection fire truck, when the fire condition is complex, the fire extinguishing time is generally longer, the power supply device of the fire truck is adopted to supply power to the unmanned aerial vehicle 30, so that the endurance time of the unmanned aerial vehicle can be effectively prolonged, at this time, the mooring line through hole 32 for the mooring line to pass through can be arranged on the unmanned aerial vehicle take-off and landing platform 5, and of course, a sheath for protecting the mooring line can be arranged at the position of the mooring line through hole 32.

In some embodiments, an identification module may be disposed on the unmanned aerial vehicle 30, before fire extinguishing, the unmanned aerial vehicle 30 may be controlled to be close to the fire area, the fire object on the fire point is identified by the identification module, and after the type of the fire object is determined, the fire extinguishing agent is supplied to the fire extinguishing gun/nozzle and the unmanned aerial vehicle 30 through the fire extinguishing agent supply system. As an example, the identification module may be a high-definition camera, a display control terminal may be set in the control cabin 4, and the image and video information acquired by the identification module may be displayed through the display control terminal, and a control instruction may be sent to the fire extinguishing agent supply system, the unmanned aerial vehicle 30, and the like through the display control terminal.

In the embodiment of the present invention, the control cabin 4 is disposed between the cockpit 1 and the storage cabin (carriage 3), so that firefighters in the cockpit 1 and firefighters in the control cabin 4 can communicate in real time, and in some embodiments, a window for facilitating communication and transferring of objects may also be disposed between the cockpit 1 and the cockpit 1. In some embodiments, multiple sub-compartments may be provided within the storage compartment, with different sub-compartments storing different materials/devices/components, respectively.

In the embodiment of the invention, the unmanned aerial vehicle take-off and landing platform 5 is provided with an unmanned aerial vehicle fixing mechanism for fixing the position of the unmanned aerial vehicle 30 and preventing the unmanned aerial vehicle from moving in the transportation process.

The following describes a fixing mechanism of an unmanned aerial vehicle in a space-ground collaborative fire-fighting rescue fire-fighting system provided by the invention in detail, and refer to fig. 3-14.

As shown in fig. 3 to 14, in the specific embodiment of the present invention, the bottom of the unmanned aerial vehicle 30 is provided with a landing gear 35, the ground end of the landing gear 35 is provided with a slot 36, and the end of the slot 36 forms a lap zone 37. The unmanned aerial vehicle fixing device comprises a first guide groove 38, a second guide groove 39, a limit deflector rod assembly and a plug rod 40. The plane of the first guide groove 38 intersects the plane of the second guide groove 39; the first guide groove 38 and the second guide groove 39 are intersected in the first area; the limit deflector rod assembly is arranged in the first area and is suitable for switching between a first guide position and a second guide position, wherein the first guide groove 38 is communicated with the second guide groove 39 when the limit deflector rod assembly is in the first guide position, and the first guide groove 38 is disconnected with the second guide groove 39 when the limit deflector rod assembly is in the second guide position; the first end of the insert rod 40 is formed with a fixing portion 41, the fixing portion 41 is suitable for pressing against the overlap area 37, the insert rod 40 is formed with a limiting stop point 42, and the limiting stop point 42 moves along the first guide groove 38 and the second guide groove 39 to fix or separate the insert rod 40 from the insert groove 36.

The landing gear 35 is a bracket assembly disposed at the bottom of the unmanned aerial vehicle 30 and capable of supporting and fixing, and the ground terminal is a portion where the landing gear 35 contacts the ground or the landing platform when the unmanned aerial vehicle 30 is in a non-flying state. The plunger 40 is a rod member that moves linearly in the same direction as the axis of the slot 36. The limiting stop point 42 is a protruding structure arranged on the rod body of the insert rod 40, and when the limiting stop point 42 is subjected to radial force, the insert rod 40 can rotate. The first guide groove 38 and the second guide groove 39 are respectively located in two planar spaces in an intersecting relationship, for example, in an XYZ space coordinate system, the first guide groove 38 is in an XZ plane, the second guide groove 39 is in a YZ plane, at this time, the limit stop point 42 enters the second guide groove 39 from the first guide groove 38, and in a first region where they intersect, the limit stop point 42 rotates by 90 ° and the plunger 40 rotates synchronously by 90 °. The angle between the two planes is not necessarily 90 ° completely, but may be 30 °, 45 °, 60 ° or other angles, and embodiments of the present invention are not particularly limited. The limit lever assembly is used for controlling the first guide groove 38 and the second guide groove 39 to be communicated or disconnected, and in the first guide position, the limit lever assembly is connected with the first guide groove 38 to form a transition groove structure leading to the second guide groove 39, and in the second guide position, the limit lever assembly seals the notch space leading to the second guide groove 39, so that the limit stop point 42 can only move along the first guide groove 38. The fixing portion 41 is a boss structure formed at the first end of the insert rod 40, and the outer dimension of the boss structure is generally greater than the inner diameter of the slot 36, so that when the fixing portion 41 abuts against the overlap region 37 at the end of the slot 36, the fixing portion 41 has enough area to press against the overlap region 37, and the boss is generally 10 mm higher than the overlap region 37.

In the embodiment of the present invention, through the motion matching between the first guide groove 38, the second guide groove 39 and the limiting stop point 42, the motion steering of the insert rod 40 can be completed, and the matching between the insert rod 40 and the slot 36 can be realized. Specifically, the unmanned aerial vehicle 30 is fixed through the landing gear 35, the slot 36 is formed at the grounding end of the landing gear 35, the inserting rod 40 can be arranged in the slot 36 in a penetrating mode, and the fixing portion 41 on the inserting rod 40 can be pressed against the lap joint area 37 at the end portion of the slot 36, so that the unmanned aerial vehicle 30 is fixed. Firstly, the slot 36 on the landing gear 35 is opposite to the inserted link 40, then the inserted link 40 moves towards the slot 36, in the moving process, the limit stop point 42 on the inserted link 40 is embedded in the first guide slot 38 to move, when the limit stop point 42 moves to the position of the limit deflector rod assembly, the inserted link 40 is penetrated into the slot 36, at the moment, the limit deflector rod assembly is positioned at the first guide position, the first guide slot 38 is communicated with the second guide slot 39, the limit stop point 42 can continuously slide towards the second guide slot 39, and as the first guide slot 38 and the second guide slot 39 are positioned in two intersecting planes, when the limit stop point 42 slides towards the second guide slot 39 from the first guide slot 38, the first area where the first guide slot 38 and the second guide slot 39 are in intersection can generate position deflection, and then the inserted link 40 can also rotate, at the moment, the fixed part 41 is opposite to the overlap region 37, and higher than the overlap region 37, the second guide slot 39 is pressed against the overlap region 37, the position of the inserted link 40 is pressed against the overlap region 37 along with the movement of the first guide slot 38 and the second guide slot 39 until the position of the first guide slot is completely enters the second guide slot 39, and the overlap region 37 is pressed against the overlap region 37, and the overlap region is fixed, and the overlap region is pressed against the overlap region 37, and the overlap region is further, the overlap region is fixed, and the overlap region is pressed, and the position by the position region by the position region. When the fixing needs to be released, the insert rod 40 moves towards the slot 36, the fixing part 41 is far away from the lap joint area 37, when the limit stop point 42 on the insert rod 40 passes through the first area from the second guide groove 39, the insert rod 40 can reversely rotate and then enter the first guide groove 38, then the insert rod 40 moves away from the slot 36, when the limit stop point 42 passes through the position of the limit deflector rod assembly again, the limit deflector rod assembly is located at the second guide position, the first guide groove 38 and the second guide groove 39 are disconnected, the limit stop point 42 can continuously slide to the initial position along the first guide groove 38, so that the insert rod 40 is separated from contact with the slot 36, and the fixing of the unmanned aerial vehicle 30 is released. The unmanned aerial vehicle fixing device provided by the invention has high automation degree, can improve the fixing reliability of the unmanned aerial vehicle 30, and can better ensure the stability of the unmanned aerial vehicle 30 in the transportation process.

As shown in fig. 4 and 5, in the embodiment of the present invention, the unmanned aerial vehicle fixing device further includes a one-way check assembly disposed in the first region, and the one-way check assembly is adapted to prevent the limit stop point 42 from sliding from the first guide groove 38 to the second guide groove 39. In the process of releasing fixation, the inserted link 40 moves towards the direction of the slot 36, at this time, the limiting stop point 42 slides towards the first guide slot 38 from the second guide slot 39, in the first guide slot 38, the inserted link 40 moves away from the direction of the slot 36, at this time, the limiting stop point 42 may slide into the second guide slot 39 again, and by setting a unidirectional non-return assembly, the movement of the limiting stop point 42 can be limited, so as to prevent the movement trend of the limiting stop point from sliding into the second guide slot 39 reversely, and ensure the normal operation of the fixation process of the unmanned aerial vehicle 30.

As shown in fig. 4 and 5, in the embodiment of the present invention, the one-way check assembly includes a ball plunger 43, a ball plunger stopper 44, and a spring; the ball plug stopper 44 forms a containing space in which the ball plug 43 and the spring are disposed; the ball plunger 43 is connected to a spring adapted to apply a resilient force to the ball plunger 43 tending to insert the rod 40. The ball stopper 44 can prevent the ball stopper 43 from being separated, the spring is abutted against the ball stopper 43, an elastic force is applied to the ball stopper 43, the limiting stop point 42 passes through the ball stopper 43 when the second guide groove 39 slides into the first guide groove 38, the limiting stop point 42 applies pressure to the ball stopper 43, the ball stopper 43 can compress the spring, a sliding space is provided for the limiting stop point 42, when the limiting stop point 42 slides, the ball stopper 43 keeps a state of tending to the plunger 40 under the action of the elastic force, so that the ball stopper 43 is abutted against the plunger 40, and when the limiting stop point 42 passes through the ball stopper 43 in the first guide groove 38, the ball stopper 43 directly forms a blocking effect on the limiting stop point 42, and the limiting stop point 42 is prevented from reversely sliding into the second guide groove 39.

As shown in fig. 4 and 5, in the embodiment of the present invention, the limit lever assembly includes a rotating arm 45, a rotating shaft and a torsion spring; the rotating shaft is arranged on the ball plug stop block 44; the rotating arm 45 penetrates through the rotating shaft and rotates around the rotating shaft; the torsion spring is adapted to apply an elastic force to the swivel arm 45 to urge the swivel arm 45 towards the first guiding position. In the first guiding position, the rotating end of the rotating arm 45 abuts against the groove wall, far away from the second guiding groove 39, of the first guiding groove 38 to form a one-way channel communicated with the second guiding groove 39, so that the limiting stop point 42 can enter the second guiding groove 39 from the first guiding groove 38, and the inserting rod 40 rotates. In the process of releasing the fixing, the limiting stop point 42 slides reversely in the first guide groove 38, the limiting stop point 42 can apply an acting force to the rotating end of the rotating arm 45, the rotating end of the rotating arm 45 rotates after being stressed until the rotating end of the rotating arm is propped against the groove wall, close to the second guide groove 39, in the first guide groove 38, a sliding space is provided for the limiting stop point 42, meanwhile, a channel leading to the second guide groove 39 is blocked, and the limiting stop point 42 can slide along the first guide groove 38 until the rotating end returns to the initial position.

As shown in fig. 3 to 5, in the embodiment of the present invention, the unmanned aerial vehicle fixing device further includes a plunger jacket 46, and a lumen suitable for the plunger 40 to penetrate is formed in the plunger jacket 46; the first guide groove 38 and the second guide groove 39 are formed in the plunger jacket 46; ball plunger stop 44 is mounted to plunger jacket 46. The inserted link 40 is inserted into the lumen of the inserted link sheath 46, which can play a role in reinforcing and protecting the inserted link 40, and prevent the inserted link 40 from shaking or even bending during the movement and rotation processes, thereby affecting the fixation of the unmanned aerial vehicle 30. The first guide groove 38 and the second guide groove 39 are directly formed on the plunger jacket 46, so that the structural space of the plunger jacket 46 can be fully utilized, the structural strength of the first guide groove 38 and the second guide groove 39 can be enhanced, and the ball plug stop 44 is mounted on the plunger jacket 46, so that the ball plug stop 44 can be mounted more firmly.

The plunger jacket 46 may be a pure metal or an alloy material, and embodiments of the present invention are not particularly limited.

As shown in fig. 3, in the embodiment of the present invention, the unmanned aerial vehicle fixing device further includes a pushing member 47 connected to the second end of the plunger 40, and the pushing member 47 is adapted to control the plunger 40 to move toward the slot 36 or move away from the slot 36. The pushing member 47 can apply an axial pushing force or an axial pulling force to the plunger 40, so that the plunger 40 moves towards the slot 36 or away from the slot 36, thereby realizing automatic fixing and automatic releasing of the unmanned aerial vehicle 30, and simultaneously, the control precision is higher.

The pushing member 47 may include a hydraulic driving system, a motor driving system, etc., and the embodiment of the present invention is not particularly limited.

As shown in fig. 4 and 5, in the embodiment of the present invention, the unmanned aerial vehicle fixing device further includes a bearing provided at the connection of the pushing member 47 and the second end of the plunger 40. The plunger 40 rotates while moving linearly, and thus, the plunger 40 rotates smoothly by providing a bearing at the junction of the pushing member 47 and the second end of the plunger 40.

The bearing may be a deep groove ball bearing, a tapered roller bearing, or the like, and the embodiment of the invention is not particularly limited. A bearing fixing seat 48 can also be arranged, the bearing is fixed in the bearing fixing seat 48, and the inserted rod 40 penetrates through the bearing fixing seat 48 to realize radial interference fit with the bearing.

In the embodiment of the present invention, as shown in fig. 6 to 14, a universal wheel 49 is provided on the landing gear 35, and the landing gear 35 is positioned by the universal wheel 49 so that the slot 36 is opposite to the insert rod 40 at the ground contact end of the landing gear 35. After the unmanned aerial vehicle 30 falls, the grounding end of the landing gear 35 is in contact with the landing platform, at this time, through the universal wheels 49, the unmanned aerial vehicle 30 can move and adjust in a front-back, left-right or oblique mode, so that the slot 36 on the landing gear 35 is opposite to the inserting rod 40, and the inserting rod 40 can be more accurately penetrated into the slot 36, positioning accuracy is improved, and fixing reliability of the unmanned aerial vehicle 30 is guaranteed.

As shown in fig. 6 and 7, in the embodiment of the present invention, the end of the slot 36 is formed with a sink table against which the fixing portion 41 is pressed; alternatively, the socket 36 is provided with a bush 50, and a sinking table is formed at an end of the bush 50, and the fixing portion 41 is pressed against the sinking table. The sink deck is the lap zone 37 of the end. The contact area between the sinking platform and the fixing part 41 is larger, and when the fixing part 41 is pressed against the sinking platform, the fixing part 41 is correspondingly embedded into the sinking platform, so that the contact reliability between the fixing part 41 and the sinking platform is higher, and the fixing part 41 is prevented from turning. The sinking platform may be formed directly at the end of the slot 36, and a bushing 50 may be disposed in the slot 36, with the end of the bushing 50 forming the sinking platform.

The bushing 50 can provide some anti-friction effect to the slot 36, and the bushing 50 can be in an interference fit with the slot 36 and glued to prevent the bushing 50 from falling out of the slot 36. The bushing 50 may be a rubber material, nylon, or a non-metallic composite material, or the like.

An embodiment of a second aspect of the present invention provides a fire engine, including a frame and an unmanned aerial vehicle fixing device in any of the embodiments of the first aspect; the unmanned aerial vehicle fixing device is matched with the frame.

The frame includes the carriage framework of fire engine, and unmanned aerial vehicle fixing device installs on the frame. Specifically, a bottom plate structure may be disposed on the frame to serve as a landing platform of the unmanned aerial vehicle 30, where the landing gear 35 in the unmanned aerial vehicle fixing device is disposed above the bottom plate structure, a positioning groove may be disposed on the bottom plate, and the universal wheel 49 is embedded in the positioning groove to realize preliminary positioning. The insert rod 40, the first guide groove 38, the second guide groove 39 and the limit deflector rod assembly are integrally arranged below the bottom plate. Four slots 36 may be provided at the ground end of the landing gear 35, and correspondingly, a plunger 40 is provided at a position corresponding to each slot 36, so as to achieve four-point fixation of the unmanned aerial vehicle 30. The insert rod 40, the first guide groove 38, the second guide groove 39, the limit deflector rod assembly and other components can be fixed through a fixing plate on the frame. The pushing members 47 can be provided in two groups, and each group of pushing members 47 simultaneously controls the linear movement of the two inserted bars 40 positioned on the same side, so as to reduce the time difference of multipoint fixation, avoid the asynchronous movement of the inserted bars 40 and ensure the movement precision. Of course, it is also possible to provide only one set of pushers 47 to control the linear movement of all the plungers 40.

In the embodiment of the invention, the unmanned aerial vehicle fixing device on the fire engine completes the movement steering of the inserted link 40 through the movement matching among the first guide groove 38, the second guide groove 39 and the limiting stop point 42, and realizes the matching of the inserted link 40 and the slot 36. Specifically, the unmanned aerial vehicle 30 is fixed through the landing gear 35, the slot 36 is formed at the grounding end of the landing gear 35, the inserting rod 40 can be arranged in the slot 36 in a penetrating mode, and the fixing portion 41 on the inserting rod 40 can be pressed against the lap joint area 37 at the end portion of the slot 36, so that the unmanned aerial vehicle 30 is fixed. Firstly, the slot 36 on the landing gear 35 is opposite to the inserted link 40, then the inserted link 40 moves towards the slot 36, in the moving process, the limit stop point 42 on the inserted link 40 is embedded in the first guide slot 38 to move, when the limit stop point 42 moves to the position of the limit deflector rod assembly, the inserted link 40 is penetrated into the slot 36, at the moment, the limit deflector rod assembly is positioned at the first guide position, the first guide slot 38 is communicated with the second guide slot 39, the limit stop point 42 can continuously slide towards the second guide slot 39, and as the first guide slot 38 and the second guide slot 39 are positioned in two intersecting planes, when the limit stop point 42 slides towards the second guide slot 39 from the first guide slot 38, the first area where the first guide slot 38 and the second guide slot 39 are in intersection can generate position deflection, and then the inserted link 40 can also rotate, at the moment, the fixed part 41 is opposite to the overlap region 37, and higher than the overlap region 37, the second guide slot 39 is pressed against the overlap region 37, the position of the inserted link 40 is pressed against the overlap region 37 along with the movement of the first guide slot 38 and the second guide slot 39 until the position of the first guide slot is completely enters the second guide slot 39, and the overlap region 37 is pressed against the overlap region 37, and the overlap region is fixed, and the overlap region is pressed against the overlap region 37, and the overlap region is further, the overlap region is fixed, and the overlap region is pressed, and the position by the position region by the position region. When the fixing needs to be released, the insert rod 40 moves towards the slot 36, the fixing part 41 is far away from the lap joint area 37, when the limit stop point 42 on the insert rod 40 passes through the first area from the second guide groove 39, the insert rod 40 can reversely rotate and then enter the first guide groove 38, then the insert rod 40 moves away from the slot 36, when the limit stop point 42 passes through the position of the limit deflector rod assembly again, the limit deflector rod assembly is located at the second guide position, the first guide groove 38 and the second guide groove 39 are disconnected, the limit stop point 42 can continuously slide to the initial position along the first guide groove 38, so that the insert rod 40 is separated from contact with the slot 36, and the fixing of the unmanned aerial vehicle 30 is released. The unmanned aerial vehicle fixing device provided by the invention has high automation degree, can improve the fixing reliability of the unmanned aerial vehicle 30, and can better ensure the stability of the unmanned aerial vehicle 30 in the transportation process.

In a specific embodiment of the invention, a refractory robot 33 is provided in the storage compartment, the refractory robot 33 being in communication with the control assembly and/or a separate controller, and the fire suppressant supply system is further adapted to supply fire suppressant to the refractory robot 33. In the case of fire extinguishing, the high temperature resistant robot 33 may be connected to the fire extinguishing agent supply system via a pipeline, and enter the fire scene to extinguish the fire. In a specific embodiment of the present invention, the high temperature resistant robot 33 travels through the crawler, which has excellent high temperature resistance and can also adapt to fire extinguishing work in areas with complex terrain conditions. In some embodiments, an identification module may be disposed on the refractory robot 33, and the refractory robot 33 is controlled by the control module to extinguish a fire according to the magnitude of the fire in the fire scene. In some embodiments, a robot fixing mechanism for fixing the refractory robot 33 may be provided in the storage compartment to secure stability of the refractory robot 33 during transportation.

In a specific embodiment of the invention, an underwater robot for detecting the water area is arranged in the storage cabin, and the underwater robot is in communication connection with the control assembly and/or the independent controller. The underwater robot is used for detecting the condition of a water area, and can be sent into the water area to be detected when in use.

In the embodiment of the invention, the cabin wall of the storage cabin is provided with a loading and unloading mechanism so as to facilitate the high-temperature-resistant robot 33 arranged in the storage cabin to enter and exit the storage cabin.

In a specific embodiment of the invention, the boarding and disembarking mechanism comprises a ramp 7 arranged on the bulkhead of the storage compartment, the bulkhead of the storage compartment is provided with an inlet and outlet 6, the lower end of the ramp 7 is hinged with the lower end of the inlet and outlet 6, and a driving component is used for driving the ramp 7 to rotate around the lower end of the ramp. It is envisaged that the lower end of the ramp 7 may rotate about the lower end of the access opening 6 under the drive of the drive assembly, and that in the closed condition the ramp 7 may act as a compartment door and in the open condition the upper end of the ramp 7 contacts the ground to form a ramp for ingress and egress to and from tall Wen Jiqi persons and underwater robots.

The following describes the boarding and alighting mechanism in the space-ground collaborative fire-extinguishing rescue fire-fighting system provided by the invention specifically, referring to fig. 15 and 16.

In a further embodiment of the invention, as shown in fig. 15 and 16, the drive assembly comprises a push rod 8, a first link 9 and a second link 10, the first end of the first link 9 being hinged to the bottom wall of the storage compartment, the second end of the first link 9 being hinged to the end of the push rod 8, the first end of the second link 10 being hinged to the second end of the first link 9, the second end of the second link 10 being hinged to the ramp plate 7. In the embodiment of the invention, the push rod 8 can be an electric push rod, a hydraulic push rod or an air push rod, and the electric push rod, the hydraulic push rod or the air push rod can be in communication connection with the control component, so that the control component can conveniently send a control signal to the push rod 8 to control the ramp plate 7 to be opened or closed. In some embodiments, to ensure the smoothness of the ramp plate 7 when opening and closing, driving components may be disposed on two sides of the ramp plate 7, and driving forces may be applied to the ramp plate 7 through two sets of driving components at the same time, so that the smoothness of the ramp plate 7 when opening and closing can be ensured.

As shown in fig. 15, when the ramp 7 is opened, the push rod 8 extends outwards, drives the first connecting rod 9 and the second connecting rod 10 to rotate around the corresponding hinge points, and drives the ramp 7 to rotate outwards, so that the top wall of the ramp 7 reaches the ground, and at this time, the push rod 8 stops extending outwards. In some embodiments, a contact sensor may also be provided at the top end of the ramp plate 7, and the control assembly may control the sensor to start operating when the push rod 8 is extended outwardly, and when the top end of the ramp plate 7 contacts the ground, the contact sensor may signal the control assembly that the push rod 8 is stopped extending outwardly. As shown in fig. 4, when the ramp plate 7 is closed, the push rod 8 is retracted inwards, so that the first connecting rod 9 and the second connecting rod 10 are driven to rotate around the corresponding hinge points, and the ramp plate 7 is driven to rotate inwards, so that the ramp plate 7 closes the inlet and outlet 6. In some embodiments, a contact sensor may be provided at the top end of the ramp 7 and a contact pad may be provided at the upper end of the access opening 6, and when the ramp 7 returns to the initial position, the contact sensor contacts the contact pad provided at the upper end of the access opening 6, at which point the contact sensor may signal a control assembly that controls the push rod 8 to cease retraction. In addition, in some embodiments, a guiding slope for guiding the top of the ramp plate 7 may be further disposed on one side of the contact cushion, and the top of the ramp plate 7 may be restored to the initial position of the vertical state by disposing the guiding slope in the process of approaching the contact cushion, so that the contact cushion is prevented from contacting the ramp plate 7 under the condition that the ramp plate 7 is not restored to the initial position, and the situation that the ramp plate 7 is not tightly closed is prevented.

In the embodiment of the present invention, the shape of the push rod 8 is not limited, and may be a square tube, a round tube, or a straight tube, a bent tube, a solid tube, a hollow tube, or the like, and the specific shape is matched according to the actual installation position and the driving requirement.

In a further embodiment of the invention, as shown in fig. 15 and 16, a first hinge seat 11 is provided on the bottom wall of the storage compartment, a second hinge seat 12 is provided on the ramp 7, a first end of the first link 9 is hinged to the first hinge seat 11, and a second end of the second link 10 is hinged to the second hinge seat 12. By providing the first hinge seat 11 and the second hinge seat 12, it is facilitated to hinge the first link 9 with the bottom wall of the storage compartment and to hinge the second link 10 with the ramp 7. In some embodiments, the ramp sheet 7 may be provided as a fold-over sheet that can be folded over toward the side of the cabin 3.

As shown in fig. 17 and 18, in the embodiment of the present invention, the vehicle further includes at least one ladder stand mechanism, where the ladder stand mechanism includes a first ladder stand 13 and a second ladder stand 14, the first ladder stand 13 is disposed on the unmanned aerial vehicle landing platform 5, and the second ladder stand 14 is disposed at the tail of the vehicle body 2 along a transverse sliding fit. Specifically, in the embodiment of the present invention, the tail of the carriage 3 is transversely provided with a first chute 15, the second ladder stand 14 is provided with a first slider 16 in sliding fit with the first chute 15, and the first chute 15 is disposed at a position close to the tail side wall of the carriage 3, so that the second ladder stand 14 can be conveniently adjusted to the side edge of the carriage 3, and a firefighter can conveniently climb on the unmanned aerial vehicle landing platform 5 when the unmanned aerial vehicle landing platform 5 is unfolded. In some embodiments, the ladder climbing mechanisms may be disposed on two sides of the tail of the carriage 3, so that two or two groups of firefighters can climb up through the two ladder climbing mechanisms respectively.

As shown in fig. 17 and 18, in the embodiment of the present invention, the ladder stand mechanism further includes a third ladder stand 17, two sides of the second ladder stand 14 are respectively provided with a sliding sleeve 18, and two sides of an upper end of the third ladder stand 17 are respectively hinged with the sliding sleeve 18. The position of third cat ladder 17 upper end can be adjusted from top to bottom to both sides through the upper end of third cat ladder 17 are articulated with sliding sleeve 18 respectively, can adjust the inclination of third cat ladder 17, make cat ladder mechanism adapt to different topography conditions, after using, can make third cat ladder 17 upwards rotate with its articulated junction with sliding sleeve 18 as the pivot, make third cat ladder 17 fold together with second cat ladder 14, be convenient for accomodate.

As shown in fig. 19, in the embodiment of the present invention, the unmanned aerial vehicle taking-off and landing platform 5 includes a top plate 19, a side plate 20, and a bottom plate 21, the top plate 19 being disposed adjacent to the side plate 20, the side plate 20 being disposed adjacent to the bottom plate 21;

the device also comprises a unfolding mechanism, wherein the unfolding mechanism comprises a first-stage push rod 22, a second-stage push rod 23 and a driving device, and the driving device is hinged with the first end of the first-stage push rod 22 so that the driving device drives the first-stage push rod 22 to reciprocate;

the primary push rod 22 is provided with a rotating part 221, the rotating part 221 is arranged on a rod body close to the second end of the primary push rod 22, and the rotating part 221 is adapted to be hinged with a third hinge seat 24 on the unmanned aerial vehicle take-off and landing platform 5;

The first end of the secondary push rod 23 is hinged with the second end of the primary push rod 22, and the second end of the secondary push rod 23 is adapted to be hinged with a fourth hinging seat 25 on the unmanned aerial vehicle take-off and landing platform 5;

wherein the primary push rod 22 and the secondary push rod 23 are configured to be driven by the driving means to operate in the stowed position and the deployed position of the deployment mechanism so that the unmanned aerial vehicle landing platform 5 reaches a preset state.

By setting the unfolding mechanism, the unmanned aerial vehicle take-off and landing platform 5 can be unfolded to be a platform (area is increased) convenient for the unmanned aerial vehicle 30 to land, and the unmanned aerial vehicle take-off and landing platform 5 can be folded to be in a carriage shape. In some embodiments, an electromagnetic adsorption mechanism may be disposed on a side wall of the two top plates 19 opposite to each other, when the deployment mechanism stows the unmanned aerial vehicle landing platform 5, the stability of the unmanned aerial vehicle landing platform 5 in the stowing state may be ensured by the electromagnetic adsorption mechanism, and the electromagnetic adsorption mechanism may be closed when the deployment mechanism deploys the unmanned aerial vehicle landing platform 5.

In the embodiment of the present invention, the connection manner of the bottom plate 21, the side plate 20 and the top plate 19 is not limited, and specifically, the plates may be connected to each other by a hinge to achieve rotation, may abut against each other, and may be supported by a deployment mechanism to be closed or deployed.

The deployment mechanism in the space-ground cooperative fire-fighting system provided by the invention is specifically described below, and reference is made to fig. 19-25.

Wherein, as shown in fig. 19 and 20, the deployment mechanism includes a driving device, a primary push rod 22 and a secondary push rod 23; the driving device is hinged with the first end of the first-stage push rod 22, the first-stage push rod 22 is provided with a rotating part 221, the rotating part 221 is arranged on a rod body close to the second end of the first-stage push rod 22, and the rotating part 221 is hinged with a third hinge seat 24 arranged on the unmanned aerial vehicle lifting platform 5; the first end of the secondary push rod 23 is hinged with the second end of the primary push rod 22, and the second end of the secondary push rod 23 is hinged with a fourth hinging seat 25 on the unmanned aerial vehicle take-off and landing platform 5; wherein the primary push rod 22 and the secondary push rod 23 are configured to be driven by the driving means to operate in the stowed position and the deployed position of the deployment mechanism so that the unmanned aerial vehicle landing platform 5 reaches a preset state.

In the unfolding mechanism in the above embodiment, the hinge between the primary push rod 22 and the secondary push rod 23 forms a link mechanism, when the driving device drives the first end of the primary push rod 22 to move linearly, the primary push rod 22 will also rotate to realize rotary and reciprocating movement, and the hinge between the rotating part 221 and the third hinge seat 24 converts the rotary and reciprocating movement into lever movement, that is, the rotating part 221 is used as a fulcrum, and the section from the rotating part 221 to the driving device is used as a force arm to drive the secondary push rod 23, which can obviously reduce the working stroke of the driving component and is convenient for structural arrangement and design.

As can be seen from fig. 19 and 20 and the description above, the deployment mechanism of the present invention is a single degree of freedom motion mechanism, and when the primary pushrod 22 is in a stationary state, the entire mechanism is in a fully constrained state, with the mechanism in a defined position. It is anticipated from the description of the deployment mechanism that the primary push rod 22 closes the unmanned aerial vehicle landing platform 5 in the stowed position, and when the primary push rod 22 moves to the deployed position, the side panels 20 and top panel 19 are deployed to effect opening of the unmanned aerial vehicle landing platform 5.

As shown in fig. 19, in some embodiments, one end of the primary push rod 22 is rotatably and reciprocally disposed within a base 26, a rotating portion 221 is disposed on the rod body of the primary push rod 22 on a side remote from the base 26, the rotating portion 221 is hinged with the third hinge base 24, and the primary push rod 22 is configured to operate in a stowed position and a deployed position. Wherein the stowed position is the position of the primary push rod 22 within the base 26 when the case is closed to define the take off, landing, or movement of the drone 30 or other item within the case. The deployed position is where the primary push rod 22 is located within the base 26 when the case is open, the case being deployed for use with the deployed side panels 20 and top panel 19 as a landing platform. The primary pushrod 22 is coupled to the base 26 in a manner such that the primary pushrod 22 is capable of sliding and rotating along the base 26, as will be described in detail in the following embodiments. In some particular embodiments, the base 26 may be connected below the bottom plate 21.

As shown in fig. 19, the second end of the secondary push rod 23 is hinged to the fourth hinge seat 25 on the top plate 19, the first end of the secondary push rod 23 is hinged to the second end of the primary push rod 22, and the primary push rod 22 and the secondary push rod 23 are configured to be driven by a driving member to expand the top plate 19 and the side plate 20 into the same plane or a preset state closed into a closed space when the expansion mechanism is driven by the driving member to move from the retracted position to the expanded position. Of course, in some embodiments, the preset state may be any other state, for example, the top plate 19 and the side plate 20 may be unfolded to a certain angle.

The driving device may be an electric cylinder, and the electric cylinder drives the first-stage push rod 22 to linearly reciprocate. Of course, the driving device may be other mechanisms capable of performing linear motion, such as a hydraulic cylinder, a motor, and the like. In a further embodiment, the driving device may have two output ends, the unmanned aerial vehicle take-off and landing platform 5 is provided with a pair of unfolding mechanisms, the two output ends are respectively connected with one first-stage push rod 22, for example, may be a double-shaft double-rod cylinder or a double-shaft motor, and the two output cylinder rods are respectively connected with the first-stage push rod 22, so that when the unmanned aerial vehicle take-off and landing platform 5 is unfolded as a box body, the two sides of the unmanned aerial vehicle take-off and landing platform 5 can be respectively driven and unfolded by one driving device, the number of the driving devices is greatly reduced, and the manufacturing cost and the whole weight are reduced.

It will be appreciated that in the above embodiments, the third hinge seat 24 and the fourth hinge seat 25 respectively connected to the side plate 20 and the top plate 19 are connected to the same side of the side plate 20 and the top plate 19. In the specific embodiment, as shown in fig. 19 and 20, the third hinge seat 24 and the fourth hinge seat 25 are both connected to the right side in the illustrated direction, and the corresponding primary push rod 22 and secondary push rod 23 are also connected to the right sides of the side plate 20 and the top plate 19.

In the embodiment of the present invention, the shapes of the primary push rod 22 and the secondary push rod 23 are not limited, and may be square tubes, round tubes, etc., or straight tubes, bent tubes, solid tubes, hollow tubes, etc., and the specific shapes are matched according to the actual installation positions and driving requirements.

In a further embodiment, a third hinge seat 24 is attached to the bottom of the side plate 20 on the side closer to the bottom plate 21, and a fourth hinge seat 25 is attached to the bottom of the top plate 19 on the side closer to the side plate 20.

As shown in fig. 19 and 25, in some embodiments, when the first-stage push rod 22 is in the stowed position, the side plates 20 and the top plate 19 are arranged in a vertical state, so that when the box is in a specific structure, the top plates 19 on two sides are used to close the top, and the side plates 20 on two sides are used to close two sides, so that the unmanned aerial vehicle landing platform 5 is closed and opened, and further the landing of the unmanned aerial vehicle 30 can be satisfied.

As shown in fig. 24, in a specific embodiment of the unfolding mechanism of the unmanned aerial vehicle take-off and landing platform 5, a second chute 27 is processed in a base 26, a sliding part is configured in the second chute 27, the sliding part comprises two second sliding blocks 28 which are respectively connected to two side walls of the second chute 27 in a sliding manner, the two second sliding blocks 28 are connected through a shaft pin, and a first-stage push rod 22 and a driving device are respectively hinged on the shaft pin; specifically, the two side walls of the second sliding groove 27 are respectively provided with a sliding rail, and the second sliding block 28 is slidably connected to the sliding rails, so that the second sliding block 28 slides along the sliding rails under the driving of the driving device, and the primary push rod 22 slides along the second sliding groove 27 due to the above connection manner of the shaft pin and the primary push rod 22. Thereby enabling the primary push rod 22 to reciprocate between the stowed position and the deployed position.

In a specific embodiment of the present invention, as shown in fig. 25, the primary push rod 22 includes a main body section 222 and a bending section 223, the main body section 222 is hinged on a shaft pin in the base 26, the bending section 223 is hinged with the secondary push rod 23, the bending section 223 forms a certain angle with the main body section 222, so that the hinge position of the bending section 223 and the secondary push rod 23 is lower than the hinge position of the primary push rod 22 and the third hinge seat 24, a lever structure is formed by the third hinge seat 24, in the lever structure, the third hinge seat 24 is used as a fulcrum, a rotating part 221 is connected in the primary push rod 22, the rotating part 221 is a rotating sleeve, and the primary push rod 22 can rotate around the third hinge seat 24 by the rotating sleeve. Specifically, the rotating sleeve is connected to the forming position of the main body section 222 and the bending section 223, and the bending section 223 is formed by extending obliquely downwards from the position of the rotating sleeve.

It will be appreciated that in the above embodiment, referring to fig. 23, the hinge point of the primary push rod 22 and the secondary push rod 23 may be set lower than the hinge point of the primary push rod 22 and the third hinge seat 24, so that the space occupation of the components can be further reduced, and the overall mechanism is more compact. In a further embodiment, the third hinge seat 24 and the fourth hinge seat 25 are configured in a triangle structure, and hinge portions are respectively configured at the top ends of the third hinge seat 24 and the fourth hinge seat 25, and hinge is respectively realized with the primary push rod 22 and the secondary push rod 23 through the hinge portions.

In the above embodiment, the whole mechanism is single-degree-of-freedom in the unfolding process, when the electric cylinder works, the whole mechanism can generate corresponding action when the primary push rod 22 is pushed to slide in the base 26, when the electric cylinder does not work, the primary push rod 22 is static at a certain position in the base 26, and the whole mechanism is kept in a certain position state. As shown in fig. 8, specifically, when the primary push rod 22 moves to the left under the driving of the electric cylinder, the primary push rod 22 pushes the side plate 20 to rotate outwards through the hinge joint between the primary push rod 22 and the secondary push rod 23 to move upwards relative to the side plate 20, and the secondary push rod 23 is pushed to move upwards relative to the side plate 20 by the upward movement, so that the top plate 19 is pushed to rotate outwards, and finally two stages of the side plate 20 and the top plate 19 are simultaneously unfolded outwards.

In some embodiments, the case is provided with a pair of unfolding mechanisms to achieve opening and closing of both sides. In some embodiments, two sets of deployment mechanisms are provided on each side of the housing, the deployment mechanisms on both sides being disposed at the distal and proximal ends of the housing, respectively, to ensure the connection strength of each side. Of course, in theory, multiple sets of deployment mechanisms, not limited to two sets, may also be provided in particular embodiments, with multiple sets of deployment mechanisms providing better connection strength, with particular number determinations being provided by demand. In some embodiments, only one drive means is provided for a pair of deployment mechanisms, which drive means has two outputs, which may be, for example, a dual-shaft dual-rod cylinder or a dual-shaft motor. The setting of the driving device is greatly reduced.

Through the description of the above embodiments, those skilled in the art can clearly understand that in each embodiment, two-stage driving expansion is performed by adopting a manner of hinging two push rods, and the two-stage expansion of the whole mechanism can complete the expansion and folding actions of the unmanned aerial vehicle take-off and landing platform 5 by only one driving source, so that the number of driving components is reduced; further, as the first-stage push rod 22 and the third hinge seat 24 are hinged to form a lever structure, the movement between the mechanisms has lever ratio, the working stroke of the driving assembly can be obviously reduced, and the arrangement and design of the structure are convenient; further, compared with the existing driving source which needs multiple stages, the whole movement mechanism is obviously simplified, and the flatness and effective space above the lifting platform are obviously improved. In summary, the reduction of driving devices and the simplification of driving components can obviously reduce the structural weight, reduce the product cost and improve the safety and reliability of the platform, and the side plates 20 and the top plate 19 are unfolded simultaneously in two stages, so that the unfolding efficiency is improved.

In some embodiments, the two sides of the carriage 3 are provided with supporting mechanisms, and when the unmanned aerial vehicle landing platform 5 is unfolded, the supporting mechanisms can respectively support the side plates 20 and the top plate 19 on the two sides, so as to ensure the stability of the unmanned aerial vehicle landing platform 5 when being unfolded. In some specific embodiments, the supporting mechanism may use an electric push rod or a hydraulic push rod, and support the side plates 20 and the top plate 19 on two sides through an electric driving mode or a hydraulic driving mode. In some specific embodiments, the supporting mechanism may use supporting rods, and the side plates 20 and the top plate 19 on two sides may be manually supported by using the supporting rods when the unmanned aerial vehicle take-off and landing platform 5 is deployed. In a further embodiment, multiple support mechanisms may be provided on both sides of the unmanned aerial vehicle landing platform 5 to support the different positions of the side plates 20 and the top plate 19.

In some embodiments, the unmanned aerial vehicle take-off and landing platform 5 further comprises a tail baffle 34 positioned at the tail of the fire truck, the lower end of the tail baffle 34 is hinged with the rear end of the bottom plate 21, and the tail of the carriage 3 is provided with a tail baffle driving mechanism for driving the tail baffle 34 to rotate. In a specific embodiment of the present invention, the tail baffle driving mechanism may adopt an electric push rod or a hydraulic push rod, and apply a pushing action to the tail baffle 34 by means of electric driving or hydraulic driving, so that the tail baffle 34 is unfolded to be used as a part of the unmanned aerial vehicle landing platform 5, and when the unmanned aerial vehicle landing platform 5 is closed, the tail baffle 34 is driven to rotate by the tail baffle driving mechanism, so that the upper carriage 3 formed by folding the unmanned aerial vehicle landing platform 5 is closed.

In the embodiment of the present invention, the base plate 21 is provided with a yielding groove 29, the primary push rod 22 passes through the yielding groove 29, and the driving device is disposed below the base plate 21. Thereby reducing the space occupied by the deployment mechanism on the unmanned aerial vehicle take-off and landing platform 5. The relief groove 29 allows the primary push rod 22 to move between a stowed position and a deployed position to avoid interference.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The fire-extinguishing, rescue and fire-fighting system is characterized by comprising a fire-fighting truck, wherein the fire-fighting truck comprises a truck body, and a storage cabin and a control cabin are arranged on the truck body;

2. The air-ground collaborative fire-fighting, rescue and fire-fighting system according to claim 1, wherein a high-temperature-resistant robot is arranged in the storage cabin, and the control component is in communication connection with the high-temperature-resistant robot;

3. The air-ground collaborative fire rescue and fire protection system according to claim 1, wherein an underwater robot for detecting a water area is arranged in the storage cabin, and the control assembly is in communication connection with the underwater robot.

4. The air-ground cooperative fire-fighting, rescue and fire-fighting system according to claim 1, wherein a landing gear is arranged at the bottom of the unmanned aerial vehicle, a slot is arranged at the grounding end of the landing gear, and a lap joint area is formed at the end part of the slot;

5. The air-ground cooperative fire-fighting rescue fire-fighting system according to claim 1, wherein an getting-on and getting-off mechanism is arranged on a bulkhead of the storage cabin;

6. The air-ground cooperative fire suppression, rescue and firefighting system according to claim 5, wherein the drive assembly includes a push rod, a first link and a second link, a first end of the first link being hinged to a bottom wall of the storage compartment, a second end of the first link being hinged to an end of the push rod, a first end of the second link being hinged to a second end of the first link, and a second end of the second link being hinged to the ramp plate.

7. The air-ground collaborative fire-fighting, rescue and fire-fighting system according to claim 6, wherein a first hinging seat is arranged on the bottom wall of the storage cabin, a second hinging seat is arranged on the ramp plate, a first end of the first connecting rod is hinged with the first hinging seat, and a second end of the second connecting rod is hinged with the second hinging seat.

8. The air-ground collaborative fire extinguishing rescue and fire protection system according to claim 1, further comprising at least one ladder stand mechanism, wherein the ladder stand mechanism comprises a first ladder stand and a second ladder stand, the first ladder stand is arranged on the unmanned aerial vehicle landing platform, and the second ladder stand is arranged on the tail of the vehicle body along a transverse sliding fit.

9. The air-ground collaborative fire-fighting, rescue and fire-fighting system according to claim 8, wherein the ladder stand mechanism further comprises a third ladder stand, sliding sleeves are respectively arranged on two sides of the second ladder stand, and two sides of the upper end of the third ladder stand are respectively hinged with the sliding sleeves.

10. The air-ground cooperative fire rescue and fire protection system of claim 1, wherein the unmanned aerial vehicle landing platform comprises a roof, a side panel and a floor, the roof being disposed adjacent to the side panel, the side panel being disposed adjacent to the floor;

11. The air-ground cooperative fire extinguishing rescue and fire control system according to claim 10, wherein a yielding groove is formed in the bottom plate, the primary push rod penetrates through the yielding groove, and the driving device is arranged below the bottom plate.

12. The air-ground cooperative fire-fighting, rescue and fire-fighting system according to claim 1, wherein a cockpit is provided on the vehicle body, and the control cabin is provided between the cockpit and the storage cabin.