CN208931610U - Diving rescue robot - Google Patents
Diving rescue robot Download PDFInfo
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- CN208931610U CN208931610U CN201821221390.5U CN201821221390U CN208931610U CN 208931610 U CN208931610 U CN 208931610U CN 201821221390 U CN201821221390 U CN 201821221390U CN 208931610 U CN208931610 U CN 208931610U
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Abstract
The utility model belongs to rescue aid technical field, more particularly to diving rescue robot.Rescue robot of diving under water includes shell, horizontal propeller, vertical propeller, power mechanism, the first horn, the second horn and driving mechanism；Horizontal propeller drive shell moves horizontally；Vertical impeller driven shell vertical shift；Power mechanism provides power for horizontal propeller and vertical propeller；The first end of first horn is equipped with the first rescue portion；The first end of second horn is equipped with the second rescue portion, and the second rescue portion and the first rescue portion are in the operating condition around the body for living in drowning man；The middle part of second horn and the middle part of the first horn are hinged, and articulated shaft is slidably connected with shell；Second horn and the first horn are in scissor-shaped；Driving mechanism drives the second end of the first horn or the second end movement of the second horn.The diving rescue robot can help drowning man to float, and provide timely, effective help for survivor, improve the probability of surviving of survivor.
Description
Technical field
The utility model belongs to rescue aid technical field, more particularly to diving rescue robot.
Background technique
Boat will lead to hull in the accidents such as storm or shock of experience and topple, after sinking occurs, by severe ring
The influence in border, rescue tend not to be unfolded immediately.Currently, when coping with sinking, after usually waiting extreme weather improves,
Rescue ship rushes towards incident waters, reinflated large area search-and-rescue work, but the delay of rescue time will be greatly reduced drowning man
Probability of surviving.
Underwater robot copes with complicated water condition, relative to rescue personnel, the more flexible side of the work of underwater robot
Just, it can organize work under complex environment.But current underwater robot is applied to detect and return underwater real-time pictures mostly,
When handling sinking, timely, effective help can not be provided for survivor.
Utility model content
In view of this, the utility model embodiment provides diving rescue robot, it is intended to solve water in the prior art
The problem of lower robot can not succour drowning man.
In order to achieve the above objectives, the technical scheme adopted by the utility model is
Diving rescue robot, comprising:
Shell；
Horizontal propeller, setting on the housing, and are used to that the shell to be driven to move horizontally；
Vertical propeller, setting on the housing, and are used to drive the shell vertical shift；
Power mechanism is connected with the horizontal propeller and the vertical propeller respectively, and for pushing away for the level
Power is provided into device and the vertical propeller；
First horn is arranged on the housing, and first end is equipped with the first arc-shaped rescue portion；
Second horn is arranged on the housing, and first end is equipped with the second arc-shaped rescue portion, and described second rescues
It helps portion and first rescue portion is used in the operating condition around the body for living in drowning man；The middle part of second horn with
It is hinged in the middle part of first horn, and second horn and orthographic projection of first horn in horizontal plane are in cut
Knife-like；The articulated shaft of second horn and first horn is slidably connected with the shell；With
Driving mechanism, setting on the housing, and with the second end of first horn and/or second horn
Second end is connected, for driving the second end of first horn and/or the second end movement of second horn.
Further, the driving mechanism includes:
Lead screw is connect with the housing into rotation；
Connector is sheathed on the lead screw, and is connect with the threads of lead screw；The connector and first horn
Second end and/or the second end of second horn be hinged, for driving the second end of first horn and/or described
The second end of second horn is mobile；With
Driving unit is connected with the lead screw, and for driving the lead screw to rotate.
Further, the lead screw is equipped with opposite the first threaded portion and the second threaded portion of thread rotary orientation；
The connector includes:
First nut is sheathed on first threaded portion, and is connect with first threaded portion；First spiral shell
Female second end with first horn is hinged, for driving the second end of first horn mobile；With
Second nut is sheathed on second threaded portion, and is connect with second threaded portion；Second spiral shell
Female second end with second horn is hinged, for driving the second end of second horn mobile.
Further, the driving unit includes:
Driving motor is arranged in the cavity of the shell；With
Transmission mechanism, first end are connected with the output shaft of the driving motor, and second end is connected with the lead screw, is used for
The lead screw is driven to rotate.
Further, the transmission mechanism includes:
First bevel gear is sheathed on the lead screw；
Second bevel gear is engaged with the first bevel gear；With
Transmission shaft is connect with the housing into rotation, and first end is arranged in the second bevel gear, second end with it is described
The output shaft of driving motor is connected.
Further, first rescue portion is equipped with the first air bag for adjusting the size in first rescue portion,
And second rescue portion is equipped with the second air bag for adjusting the size in second rescue portion.
Further, diving rescue robot further include:
Pressure detecting module is arranged on first air bag and/or second air bag, and for detecting described first
Pressure value between air bag and/or second air bag and drowning man；
Air pump is connected with first air bag and/or second air bag, for first air bag and/or described
Inflation in second air bag；
Processing module is arranged in the cavity of the shell, and electrically connects with the pressure detecting module and the air pump
It connects, the pressure value for being detected according to the pressure detecting module controls the start and stop of the air pump.
Further, diving rescue robot further include:
Air accumulator is arranged in the cavity of the shell, and is connected with the air pump, for accommodating compressed air；With
Upper flotation bladder is arranged on the lateral wall of the shell, and is connected with the air pump, for driving the shell
It is floating.
Further, the shell is equipped with support plate, and the support plate is equipped with sliding slot；
The articulated shaft of second horn and first horn is equipped with the sliding block for being slidably matched with the sliding slot.
Further, the power mechanism includes:
Horizontal propulsion electric machine is arranged in the cavity of the shell, and is connected with the horizontal propeller, for driving
State horizontal propeller operating；
Vertical propulsion electric machine is arranged in the cavity of the shell, and is connected with the vertical propeller, for driving
State vertical propeller operating；With
Battery is arranged in the cavity of the shell, and for being the horizontal propulsion electric machine, the vertical propulsion electricity
Machine and the driving mechanism provide the energy.
By adopting the above-described technical solution, the technological progress that the utility model obtains is:
Shell is played a supporting role.Horizontal propeller is arranged on shell, moves horizontally for drive shell；It is vertical to promote
Device is arranged on shell, is used for drive shell vertical shift, by horizontal propeller and vertical propeller, shell can be under water
It is moved to target position.Power mechanism is connected with horizontal propeller and vertical propeller respectively, for being horizontal propeller and erecting
Straight propeller provides power.
The first end of first horn is equipped with the first rescue portion；The first end of second horn is equipped with the second rescue portion, and second
Rescue portion and the first rescue portion are used in the operating condition around the body for living in drowning man.The middle part of second horn and the first machine
It is hinged in the middle part of arm, and the orthographic projection of the second horn and the first horn in horizontal plane is in scissor-shaped.Driving mechanism setting
It is connected on shell, and with the second end of the second end of the first horn and/or the second horn, for driving the second of the first horn
The second end of end and/or the second horn is mobile.
Driving mechanism drives the second end of the first horn and/or the second end reverse movement of the second horn, to drive the
One rescue portion and second rescue part from, formed opening.Driving mechanism drives the second end and/or second horn of the first horn
Second end moves towards, to drive the first rescue portion and the second rescue portion to close up, around the body for living in drowning man.Second machine
The articulated shaft of arm and the first horn is slidably connected with shell, and therefore, shell plays support and limit to the first horn and the second horn
Position effect.First rescue portion and the second rescue portion are arc-shaped, convenient for constituting ring structure after closing up, thus with drowning man's
Body fits closely.
The beneficial effects of adopting the technical scheme are that the diving rescue robot in this programme can help
Drowning man floats up to the water surface, provides timely, effective help in the event of an accident for survivor, and it is general to improve surviving for survivor
Rate.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the first schematic diagram of diving rescue robot provided by the embodiment of the utility model；
Fig. 2 is the schematic diagram of another angle of diving rescue robot provided by the embodiment of the utility model；
Fig. 3 is the second schematic diagram of diving rescue robot provided by the embodiment of the utility model；
Fig. 4 is the first schematic diagram of driving mechanism provided by the embodiment of the utility model；
Fig. 5 is the second schematic diagram of driving mechanism provided by the embodiment of the utility model；
Fig. 6 is the assembling schematic diagram of support plate provided by the embodiment of the utility model and articulated shaft；
Fig. 7 is the connection schematic diagram of processing module provided by the embodiment of the utility model；
Fig. 8 is another connection schematic diagram of processing module provided by the embodiment of the utility model.
Description of symbols:
10- shell, 11- horizontal propeller, the vertical propeller of 12-, the horizontal propulsion electric machine of 13-, the vertical propulsion electric machine of 14-,
The first horn of 20-, the first rescue of 21- portion, the first air bag of 211-, 22- articulated shaft, 221- sliding block, 2211- limit plate, 30- second
Horn, the second rescue of 31- portion, the second air bag of 311-, 41- housing, the upper flotation bladder of 42-, 43- support plate, 431- sliding slot, 4311-
Limiting slot, 51- lead screw, the first threaded portion 511-, the second threaded portion 512-, the first nut of 521-, the second nut of 522-, 531- drive
Dynamic motor, 532- first bevel gear, 533- second bevel gear, 534- transmission shaft, 61- pressure detecting module, 62- processing module,
63- air pump.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the utility model embodiment.However, it will be clear to one skilled in the art that there is no these
The utility model also may be implemented in the other embodiments of detail.In other situations, omit to well-known system,
The detailed description of apparatus, circuit and method, in case unnecessary details interferes the description of the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that the orientation or position of the instructions such as term " on ", "lower", "vertical", "horizontal", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be construed as a limitation of the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In order to illustrate technical solution described in the utility model, the following is a description of specific embodiments.
The utility model embodiment provides a kind of diving rescue robot, and in conjunction with shown in Fig. 1, Fig. 2 and Fig. 4, diving is rescued
Helping robot includes shell 10, horizontal propeller 11, vertical propeller 12, power mechanism, the first horn 20,30 and of the second horn
Driving mechanism.In conjunction with shown in Fig. 1, Fig. 2 and Fig. 3, horizontal propeller 11 is arranged on the housing 10, and horizontal for drive shell 10
It is mobile.The vertical setting of propeller 12 on the housing 10, and is used for 10 vertical shift of drive shell.Power mechanism is pushed away with level respectively
It is connected into device 11 with vertical propeller 12, and for providing power for horizontal propeller 11 and vertical propeller 12.
In conjunction with shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 5, the first horn 20 is arranged on the housing 10, and first end is equipped with arc-shaped
The first rescue portion 21.Second horn 30 is arranged on the housing 10, and first end is equipped with the second arc-shaped rescue portion 31, and the
Two rescue portions 31 and the first rescue portion 21 are in the operating condition for around the body for living in drowning man.In conjunction with Fig. 4 and Fig. 5 institute
Show, the middle part of the second horn 30 and the middle part of the first horn 20 are hinged, and the second horn 30 and the first horn 20 are flat in level
Orthographic projection in face is in scissor-shaped.The articulated shaft of second horn 30 and the first horn 20 is slidably connected with shell 10.Driving mechanism
Setting on the housing 10, and is connected with the second end of the second end of the first horn 20 and/or the second horn 30, for driving first
The second end of horn 20 and/or the second end of the second horn 30 are mobile.
Structure based on shell 10, plays a supporting role.Horizontal propeller 11 and 12 drive shell 10 of vertical propeller exist
It is moved to target position under water.Power mechanism is used to provide power for horizontal propeller 11 and vertical propeller 12.
Propeller is the device for converting the energy of other forms to mechanical energy.By rotating vane, jet or water spray come
Thrust is generated, shell 10 is pushed to advance.In the present embodiment, propeller can select screw propeller or hydraulic propeller.Its
In, screw propeller drives blade to rotate by cardan shaft, and water is sucked from the suction plane of blade, is discharged, utilizes from discharge face
The reaction force of water pushes shell 10 to advance.And hydraulic propeller is made of water pump, suction line and water pipe, water pump self-suction
Water lines inspiration water flow, to obtain the reaction force of water flow, pushes shell 10 to advance from water pipe high speed ejection water flow.
Specifically, power mechanism can select motor or pump.
Driving mechanism drives the second end of the first horn 20 and/or the second end movement of the second horn 30, so that the first machine
The second end counter motion of the second end of arm 20 and the second horn 30, so that the first rescue portion 21 and the second rescue portion 31 be driven to divide
From, formed opening.When succouring drowning man, driving mechanism drives the second end and/or second horn 30 of the first horn 20
Second end is mobile, so that the second end of the first horn 20 and the second end of the second horn 30 move toward one another, to drive first to rescue
It helps portion 21 and the second rescue portion 31 closes up, around the body for living in drowning man.The articulated shaft of second horn 30 and the first horn 20
22 are slidably connected with shell 10, and therefore, shell 10 plays support and position-limiting action to the first horn 20 and the second horn 30.Specifically
, driving mechanism can select cylinder, hydraulic cylinder or feed screw nut.
First rescue portion 21 and the second rescue portion 31 are arc-shaped, convenient for constituting ring structure under closed configuration, thus with
The body of drowning man fits closely.Specifically, shell 10 is equipped with housing 41, and driving mechanism is located at the cavity of housing 41
It is interior.Housing 41 plays sealing function, avoid water plant or sundries enwind driving mechanism, cause it is stuck, while be also avoided that seawater/
River water long period of soaking driving mechanism, shortens the service life of driving mechanism.Preferably, housing 41 and the first horn 20 and/or
The position that two horns 30 are in contact is equipped with gasket.
As one embodiment, in conjunction with shown in Fig. 4 and Fig. 5, driving mechanism includes lead screw 51, connector and driving unit.
Lead screw 51 and shell 10 are rotatablely connected.Connector is sheathed on lead screw 51, and is threadedly coupled with lead screw 51.Connector and the first machine
The second end of arm 20 and/or the second end of the second horn 30 are hinged, for driving the second end and/or second of the first horn 20
The second end of horn 30 is mobile.Driving unit is connected with lead screw 51, and for driving lead screw 51 to rotate.
It needs to impregnate in water for a long time by diving rescue robot in this present embodiment, and cylinder driving is used to need
It carries gas source similarly to need to carry hydraulic medium using hydraulic cylinder, will increase the weight of main structure, and in use process
Fluctuation of service.In addition, speed is fast when cylinder movement, secondary injury may be caused to drowning man.Therefore, in the present embodiment,
Driving mechanism uses the driving method of feed screw nut.
Specifically, lead screw 51 is connected by bearing or bearing block with shell 10.Specifically, driving unit can select electricity
Machine, can also be using motor in such a way that transmission parts combine.When the second end of connector and the first horn 20 is hinged, silk
Thick stick 51 rotates drive connection part and translates along the length direction of lead screw 51, the second end translation of the first horn 20 is driven, to make the
One rescue portion 21 is close to or far from the second rescue portion 31.
When the second end of connector and the second horn 30 is hinged, lead screw 51 rotates drive connection part along the length of lead screw 51
Direction translation drives the second end translation of the second horn 30, to make the second rescue portion 31 close to or far from the first rescue portion 21.
When connector is divided into two parts and hinged with the second end of the second end of the first horn 20 and the second horn 30 respectively
When, two parts that lead screw 51 rotates drive connection part move toward one another along the length direction of lead screw 51 or when counter motions, drive the
The second end of the one horn 20 and second end of the second horn 30 moves toward one another or counter motion, to make the first rescue portion 21 and
Two rescue portions 31 close up or open.In the present solution, lead screw 51 is equipped with the opposite two parts of thread rotary orientation and two with connector
Divide and corresponds.
In the present embodiment, in conjunction with shown in Fig. 4 and Fig. 5, lead screw 51 is equipped with the first opposite threaded portion 511 of thread rotary orientation and the
Two threaded portions 512.Connector includes the first nut 521 and the second nut 522.First nut 521 is sheathed on the first threaded portion 511
On, and be threadedly coupled with the first threaded portion 511.The second end of first nut 521 and the first horn 20 is hinged, for driving the
The second end of one horn 20 is mobile.Second nut 522 is sheathed on the second threaded portion 512, and is connected with 512 screw thread of the second threaded portion
It connects.The second end of second nut 522 and the second horn 30 is hinged, for driving the second end of the second horn 30 mobile.
When lead screw 51 rotates in the forward direction, the first threaded portion 511 and the second threaded portion 512 respectively drive because oppositely oriented
522 counter motion of one nut 521 and the second nut, to drive the second end of the first horn 20 and the second end of the second horn 30
Counter motion, so that the first rescue portion 21 and the second rescue portion 31 open, form opening.
When lead screw 51 reversely rotates, the first threaded portion 511 and the second threaded portion 512 respectively drive 521 He of the first nut
Second nut 522 moves toward one another, so that the second end of the first horn 20 and the second end of the second horn 30 is driven to move toward one another, from
And the first rescue portion 21 and the second rescue portion 31 are closed up and around the body of drowning man.
In this implementation, the first rescue portion 21 and the second rescue portion 31 move simultaneously, convenient for quickly surrounding drowning man,
Compared to the mode that the first rescue portion 21 or the second rescue portion 31 are individually moved, this programme can be improved rescue efficiency.
In the present embodiment, in conjunction with shown in Fig. 4 and Fig. 5, driving unit includes driving motor 531 and transmission mechanism.Driving electricity
Machine 531 is arranged in the cavity of shell 10.The first end of transmission mechanism is connected with the output shaft of driving motor 531, and second end
It is connected with lead screw 51, for driving lead screw 51 to rotate.
Driving motor 531 be electrical component, for extend driving motor 531 service life, avoid its long period of soaking in water
In, in the present embodiment, driving motor 531 is encapsulated in the cavity of shell 10, with water segregation.Transmission mechanism is electric with driving respectively
Machine 531 is connected with lead screw 51, for driving lead screw 51 to rotate under the drive of driving motor 531.Specifically, transmission mechanism can be with
Select pulley drive, sprocket wheel transmission or gear-driven mode.
Specifically, transmission mechanism includes first bevel gear 532, second bevel gear 533 and transmission in conjunction with shown in Fig. 4 and Fig. 5
Axis 534.First bevel gear 532 is sheathed on lead screw 51.Second bevel gear 533 is engaged with first bevel gear 532.Transmission shaft 534
It is rotatablely connected with shell 10, and first end is arranged in second bevel gear 533, the output shaft phase of second end and driving motor 531
Even.
For the precision and stability for guaranteeing transmission, in the present embodiment, transmission mechanism is by the way of Bevel Gear Transmission.Specifically
, transmission shaft 534 is connected by bearing with the side wall of shell 10, and the connecting portion of bearing and shell 10 is equipped with sealing ring.Tool
Body, the bearing block for being used to support transmission shaft 534 is equipped in shell 10.Specifically, first bevel gear 532 and second bevel gear
533 are arranged in the cavity of housing 41.
As one embodiment, in conjunction with shown in Fig. 4 and Fig. 5, the first rescue portion 21 is equipped with for adjusting the first rescue portion
First air bag 211 of 21 size, and the second rescue portion 31 is equipped with the second gas of the size for adjusting the second rescue portion 31
Capsule 311.
First rescue portion 21 and the second rescue portion 31 are used for around the body for living in drowning man, but the figure of drowning man is not
Together, and the physical feeling that contacts of the first rescue portion 21 and the second rescue portion 31 is different, to guarantee that the first rescue portion 21 and second rescues
The body of drowning man can be fitted closely by helping portion 31, and in the present embodiment, the first air bag 211 is arranged in the first rescue portion 21,
And the second air bag 311 is set in the second rescue portion 31.
After the first rescue portion 21 and the second rescue portion 31 close up and surround drowning man, the first air bag 211 and second
Air bag 311 is inflated, and by adjusting the size of aeration quantity, can adjust the lifesaving that the first rescue portion 21 and the second rescue portion 31 are formed
The size of the diameter of circle, to adapt to the drowning man of different building shape.Specifically, the first air bag 211 or the second air bag 311 can be with
By air-pump inflating, (air bag on similar automobile) can also be inflated by gas generator.
In the present embodiment, as shown in connection with fig. 7, diving rescue robot further includes pressure detecting module 61, processing module 62
With air pump 63.Pressure detecting module 61 is arranged on the first air bag 211 and/or the second air bag 311, and for detecting the first air bag
211 and/or the second pressure value between air bag 311 and drowning man.Processing module 62 is arranged in the cavity of shell 10, and with
Pressure detecting module 61 is electrically connected, and for receiving the pressure value of the detection of pressure detecting module 61, and is compared with setting value.
Air pump 63 and processing module 62 are electrically connected, and are connected with the first air bag 211 and/or the second air bag 311, are used for the first air bag
211 and/or second inflation in air bag 311.The pressure value control that processing module 62 is also used to be detected according to pressure detecting module 61
The start and stop of air pump 63.Specifically, processing module 62 is also used to when the pressure value that pressure detecting module 61 detects is less than setting value,
Control air pump 63 is inflated into the first air bag 211 and/or the second air bag 311.
Since gas generator is difficult to control the size of aeration quantity, in the present embodiment, use air pump 63 for the first gas
Capsule 211 and/or the inflation of the second air bag 311.To guarantee the first rescue portion 21 and 31 clamping drowning man of the second rescue portion, Ke Yidan
It solely inflates, can also be filled into the first air bag 211 and the second air bag 311 simultaneously into the first air bag 211 or the second air bag 311
Gas.
After first rescue portion 21 and the second rescue portion 31 close up, pressure detecting module 61 detects the first air bag 211 and/or the
Pressure value between two air bags 311 and drowning man, and numerical value is sent to processing module 62；Processing module 62 is by the number of receiving
Value is compared with setting value, when pressure value is less than setting value, illustrates the first air bag 211 and/or the non-clamping of the second air bag 311
Drowning man inflates at this point, processing module 62 controls air pump 63 into the first air bag 211 and/or the second air bag 311；Work as pressure
When value reaches setting value, illustrate the first air bag 211 and/or the second air bag 311 clamping drowning man, at this point, processing module 62
Control air pump 63 stops inflating into the first air bag 211 and/or the second air bag 311.
Specifically, pressure detecting module 61 can select micro pressure sensor, this Ba Tuo brand, model can be used
The pressure sensor of SBT6 system or 7 systems can also select the pressure sensor of Ou Luda brand, model AT8106.Specifically,
Processing module 62 can use PLC or single-chip microcontroller, can also be selected using west gate sub-brand name, the PLC of model 6ES7-300
With Omron brand, the PLC of model CJ1W.
Specifically, pressure detecting module 61 includes first pressure sensor and second pressure sensor.First pressure sensing
Device is arranged on the first air bag 211, and for detecting the pressure value between the first air bag 211 and drowning man.Second pressure passes
Sensor is arranged on the second air bag 311, and for detecting the pressure size between the second air bag 311 and drowning man.
In the present embodiment, diving rescue robot further includes air accumulator and upper flotation bladder 42.Air accumulator is arranged in shell 10
Cavity in, and be connected with air pump 63, for accommodating compressed air.As shown in connection with fig. 2, shell 10 is arranged in upper flotation bladder 42
On lateral wall, and it is connected with air pump 63, for driving shell 10 to float.As shown in connection with fig. 7, processing module 62 is also used in pressure
When the pressure value that detection module 61 detects is greater than the set value, inflation in the upward flotation bladder 42 of control air pump 63.
Upper flotation bladder 42 is located at the bottom of shell 10, for driving shell 10 to float after inflation.When pressure detecting module 61
When the pressure value of detection is greater than the set value, illustrate the first rescue portion 21 and the second rescue portion 31 clamping drowning man, at this point,
Processing module 62 controls inflation in the upward flotation bladder 42 of air pump 63.
When drowning man is drifted about in water, holding head portion is needed to be located at the water surface or more, otherwise may endangered because drowned
Danger, but due to bad environments, many drowning men may occur to drown because being short of physical strength, in the present embodiment, the first rescue portion 21
After 31 clamping drowning man of the second rescue portion, it can float under the action of vertical propeller 12, meanwhile, upper flotation bladder 42 fills
After gas, can also help drowning man keep head more than the water surface, then wait for rescue or horizontal propeller 11 work
With lower to clear waters movement.
As one embodiment, in conjunction with shown in Fig. 1, Fig. 4 and Fig. 6, shell 10 is equipped with support plate 43, and in support plate 43
Equipped with sliding slot 431.The articulated shaft 22 of second horn 30 and the first horn 20 is equipped with the sliding block for being slidably matched with sliding slot 431
221。
Support plate 43 plays the role of support and limit to articulated shaft 22.Preferably, the side wall of sliding slot 431 is equipped with limit
Slot 4311, and sliding block 221 is equipped with the limit plate 2211 for being slidably matched with limiting slot 4311, so that sliding block 221 is sliding
It is more steady in the process.
As one embodiment, as shown in connection with fig. 8, power mechanism includes horizontal propulsion electric machine 13, vertical propulsion electric machine 14
And battery.Horizontal propulsion electric machine 13 is arranged in the cavity of shell 10, and is connected with horizontal propeller 11, for driving level
Propeller 11 operates.Vertical propulsion electric machine 14 is arranged in the cavity of shell 10, and is connected with vertical propeller 12, for driving
Vertical propeller 12 operates.Battery is arranged in the cavity of shell 10, and for being horizontal propulsion electric machine 13, vertical propulsion electricity
Machine 14 and driving mechanism provide the energy.
Specifically, horizontal propulsion electric machine 13, vertical propulsion electric machine 14 and driving motor 531 are servo motor.Specifically,
Processing module 62 is electrically connected with horizontal propulsion electric machine 13, vertical propulsion electric machine 14 and driving motor 531 respectively.Specifically, latent
Water rescue robot further includes sonar contact device, underwater laser scanner and GPS positioning instrument.Processing module 62 is visited with sonar respectively
Device, underwater laser scanner and GPS positioning instrument is surveyed to be electrically connected.
Sonar contact device passes data to processing module 62 for submarine target to be detected and positioned.Under water
Picture is passed to processing module 62 for scanning underwater environment by laser scanner.Processing module 62 is for receiving sonar spy
The data of device and the picture of underwater laser scanner are surveyed, and are compared with setting data, whether disturbance in judgement object is overboard people
Member.
Processing module 62 is used for controlled level propulsion electric machine 13 and vertical propulsion electric machine when barrier is not drowning man
14 open, and drive shell 10 to advance by horizontal propeller 11 and vertical propeller 12.
Processing module 62 is also used to when barrier is drowning man, and controlled level propulsion electric machine 13 stops, and is controlled perpendicular
Straight propulsion electric machine 14 is kept it turning on, and so that shell 10 is kept hovering by vertical propeller 12；Then, the control of processing module 62 is driven
Dynamic motor 531 is opened, and is rotated by driving lead screw 51, the first rescue portion 21 and the second rescue portion 31 is finally made to close up, surround
The body of drowning man.
Processing module 62 is also used to after 31 clamping drowning man of the first rescue portion 21 and the second rescue portion, by pushing away vertically
Vertical propeller 12 is controlled into motor 14 to float；Then, processing module 62 is also used to through horizontal 13 controlled level of propulsion electric machine
Propeller 11 is opened, and drowning man is driven to advance to clear waters；Meanwhile processing module 62 is also used to control GPS positioning instrument hair
Real time position is sent, in order to which administrative staff understand the location information of drowning man, convenient for expansion subsequent rescue.
Diving rescue robot in this programme can help drowning man to float up to the water surface, in the event of an accident to survive
Person, which provides, in time, effectively to be helped, and the probability of surviving of survivor is improved.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although referring to before
Embodiment is stated the utility model is described in detail, those skilled in the art should understand that: it still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit for various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
And range, it should be included within the scope of protection of this utility model.
Claims (10)
1. rescue robot of diving under water characterized by comprising
Shell；
Horizontal propeller, setting on the housing, and are used to that the shell to be driven to move horizontally；
Vertical propeller, setting on the housing, and are used to drive the shell vertical shift；
Power mechanism is connected with the horizontal propeller and the vertical propeller respectively, and for being the horizontal propeller
Power is provided with the vertical propeller；
First horn is arranged on the housing, and first end is equipped with the first arc-shaped rescue portion；
Second horn is arranged on the housing, and first end is equipped with the second arc-shaped rescue portion, and second rescue portion
It is used in the operating condition with first rescue portion around the body for living in drowning man；The middle part of second horn with it is described
It is hinged in the middle part of first horn, and second horn and orthographic projection of first horn in horizontal plane are in scissors
Shape；The articulated shaft of second horn and first horn is slidably connected with the shell；With
Driving mechanism, setting on the housing, and second with the second end of first horn and/or second horn
End is connected, for driving the second end of first horn and/or the second end movement of second horn.
2. diving rescue robot according to claim 1, which is characterized in that the driving mechanism includes:
Lead screw is connect with the housing into rotation；
Connector is sheathed on the lead screw, and is connect with the threads of lead screw；The of the connector and first horn
The second end of two ends and/or second horn is hinged, for driving the second end and/or described second of first horn
The second end of horn is mobile；With
Driving unit is connected with the lead screw, and for driving the lead screw to rotate.
3. diving rescue robot according to claim 2, it is characterised in that: it is opposite that the lead screw is equipped with thread rotary orientation
First threaded portion and the second threaded portion；
The connector includes:
First nut is sheathed on first threaded portion, and is connect with first threaded portion；First nut with
The second end of first horn is hinged, for driving the second end of first horn mobile；With
Second nut is sheathed on second threaded portion, and is connect with second threaded portion；Second nut with
The second end of second horn is hinged, for driving the second end of second horn mobile.
4. diving rescue robot according to claim 2, which is characterized in that the driving unit includes:
Driving motor is arranged in the cavity of the shell；With
Transmission mechanism, first end are connected with the output shaft of the driving motor, and second end is connected with the lead screw, for driving
The lead screw rotation.
5. diving rescue robot according to claim 4, which is characterized in that the transmission mechanism includes:
First bevel gear is sheathed on the lead screw；
Second bevel gear is engaged with the first bevel gear；With
Transmission shaft is connect with the housing into rotation, and first end is arranged in the second bevel gear, second end and the driving
The output shaft of motor is connected.
6. diving rescue robot according to claim 1, it is characterised in that: first rescue portion is equipped with for adjusting
The first air bag of the size in first rescue portion is saved, and second rescue portion is equipped with for adjusting second rescue portion
Size the second air bag.
7. diving rescue robot according to claim 6, which is characterized in that further include:
Pressure detecting module is arranged on first air bag and/or second air bag, and for detecting first air bag
And/or the pressure value between second air bag and drowning man；
Air pump is connected with first air bag and/or second air bag, and for first air bag and/or described the
Inflation in two air bags；
Processing module is arranged in the cavity of the shell, and is electrically connected with the pressure detecting module and the air pump, uses
The start and stop of the air pump are controlled in the pressure value detected according to the pressure detecting module.
8. diving rescue robot according to claim 7, which is characterized in that further include:
Air accumulator is arranged in the cavity of the shell, and is connected with the air pump, for accommodating compressed air；With
Upper flotation bladder is arranged on the lateral wall of the shell, and is connected with the air pump, for driving the shell to float.
9. diving rescue robot according to claim 1, it is characterised in that: the shell is equipped with support plate, and institute
Support plate is stated equipped with sliding slot；
The articulated shaft of second horn and first horn is equipped with the sliding block for being slidably matched with the sliding slot.
10. diving rescue robot according to claim 1, which is characterized in that the power mechanism includes:
Horizontal propulsion electric machine is arranged in the cavity of the shell, and is connected with the horizontal propeller, for driving the water
Flat propeller operating；
Vertical propulsion electric machine is arranged in the cavity of the shell, and is connected with the vertical propeller, described perpendicular for driving
Straight propeller operating；With
Battery is arranged in the cavity of the shell, and for for the horizontal propulsion electric machine, the vertical propulsion electric machine with
And the driving mechanism provides the energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821221390.5U CN208931610U (en) | 2018-07-31 | 2018-07-31 | Diving rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821221390.5U CN208931610U (en) | 2018-07-31 | 2018-07-31 | Diving rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208931610U true CN208931610U (en) | 2019-06-04 |
Family
ID=66716924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821221390.5U Expired - Fee Related CN208931610U (en) | 2018-07-31 | 2018-07-31 | Diving rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208931610U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319732A (en) * | 2020-02-24 | 2020-06-23 | 宁波工程学院 | Underwater safety emergency type intelligent robot |
| CN112407193A (en) * | 2020-11-25 | 2021-02-26 | 江苏师范大学 | Water surface rescue device capable of being driven quickly |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
-
2018
- 2018-07-31 CN CN201821221390.5U patent/CN208931610U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319732A (en) * | 2020-02-24 | 2020-06-23 | 宁波工程学院 | Underwater safety emergency type intelligent robot |
| CN112407193A (en) * | 2020-11-25 | 2021-02-26 | 江苏师范大学 | Water surface rescue device capable of being driven quickly |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| CN114426085B (en) * | 2022-02-11 | 2022-11-08 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190604 Termination date: 20210731 |