CN214028103U - Rescue and relief robot device - Google Patents

Abstract

The utility model discloses a rescue and relief robot device, which relates to the technical field of rescue and relief, and the key points of the technical proposal are that the rescue and relief robot device comprises a plurality of structural components, wherein the length directions of the structural components are the same, the structural components are arranged along the length direction, and the two ends of the structural components are respectively the front end and the rear end; two adjacent structural component can be close to each other and keep away from in structural component's length direction, and the one end that two structural component that lie in both ends deviate from each other all is provided with flexible dead lever from top to bottom, and the dead lever can insert ground downwards, and the in-process of removal, structural component are a straight line and remove the in-process and can not produce the large angle deflection, also can realize removing in less hole.

Description

Rescue and relief robot device

Technical Field

The utility model relates to a technical field of rescue and relief work, more specifically the utility model relates to a robot device for rescue and relief work.

Background

Smart robots have begun to perform many types of work in place of humans, including some high-risk actions, because smart robots are relatively powerful in their own structure and function and can adapt to more dangerous situations than humans. The emergency robot is a common intelligent robot, and is applied to emergency and disaster relief work, so that the work efficiency of the emergency and disaster relief can be improved, and the casualty rate of workers in the emergency and disaster relief can be effectively reduced.

The intelligent robot applied to the existing emergency rescue and disaster relief mostly walks in a snake shape or a crawler shape when walking on land, but is not easy to drill into holes when meeting small holes no matter walking in the snake shape or the crawler shape.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a not enough to prior art exists, the utility model aims to provide a rescue and relief of disaster robot device, its in-process that removes, structural component be a straight line and remove the in-process and can not produce the wide-angle deflection, also can realize removing in less hole.

In order to achieve the above purpose, the utility model provides a following technical scheme: a rescue and relief robot device comprises a plurality of structural components, wherein the structural components are arranged in the same length direction, the structural components are arranged along the length direction, and the two ends of the arranged structural components are respectively the front end and the rear end;

two adjacent structural component can be close to each other and keep away from each other in structural component's length direction, and the one end that two structural component that lie in both ends deviate from each other all is provided with flexible dead lever from top to bottom, and the dead lever can insert in the ground downwards.

By adopting the technical scheme, when the walking vehicle walks, the front end fixing rod is inserted into the ground, the rear end fixing rod is contracted, then the two adjacent structural components move towards the direction of mutual approaching, the rear end fixing rod is pulled to move forwards, then the rear end fixing rod is inserted into the ground, the front end fixing rod is contracted, the two adjacent structural components move towards the direction of mutual leaving, and the front end fixing rod is pushed to move forwards to realize moving; when the caterpillar crawls on the land, the caterpillar crawl principle is simulated to move; in the moving process, the structural components are straight lines, large-angle deflection cannot be generated in the moving process, and the structural components can also move in small holes.

The utility model discloses further set up to: and in the two adjacent structural components, the structural component close to the rear end is provided with a threaded sleeve, the structural component close to the front end is provided with a transmission rod, and the transmission rod extends into the threaded sleeve from one end of the threaded sleeve close to the front end and is in threaded connection with the threaded sleeve.

Through adopting above-mentioned technical scheme, the slip between two adjacent structural component just can be realized to transfer line or thread bush rotation.

The utility model discloses further set up to: the structural part provided with the transmission rod is provided with a containing hole for containing the transmission rod, and the transmission rod can be received in the containing hole.

Through adopting above-mentioned technical scheme, when not using, in the middle of receiving the accommodation hole with the transfer line, accomodate the transfer line.

The utility model discloses further set up to: the structure part provided with the transmission rod is provided with a power assembly, and the power assembly is used for driving the transmission rod to retract and extend out of the accommodating hole.

The utility model discloses further set up to: two adjacent structural components can slide along the length direction of the structural components and also can rotate around a vertical axis;

and the top of the structural component is provided with a flying fan blade for driving the structural component to fly.

Through adopting above-mentioned technical scheme, when needs robot flight, rotating structure part for the axis of rotation of the flight flabellum on a plurality of different structure parts is not in same vertical plane, thereby makes the robot can be steady flight under the effect of flight flabellum.

The utility model discloses further set up to: the structural component comprises a first component part close to the front end and a second component part close to the rear end, wherein the first component part and the second component part are fixedly connected together, and the bottom of the first component part and the top of the second component part are flush with each other.

Through adopting above-mentioned technical scheme, when rotating structural component, can rotate the second component that is located the structural component of rear end to the bottom that is located the first component of the structural component of front end, stability when increasing the flight.

The utility model discloses further set up to: the same side of the structural component is provided with auxiliary fan blades.

Through adopting above-mentioned technical scheme, through setting up supplementary flabellum, can lead the flight direction in the middle of the process of robot flight to can also be when needs are in water sports, through rotating the structural component, through the cooperation between each supplementary flabellum, realize the water sports of robot.

The utility model discloses further set up to: the flexible shaft is used for driving the auxiliary fan blades to rotate;

the power shaft is used for driving the flexible shaft to rotate;

the guide sleeve is sleeved outside the flexible shaft, and one end of the power shaft, which is close to the flexible shaft, extends into the guide sleeve;

the connecting sleeve is made of flexible materials, and the power shaft penetrates through the connecting sleeve;

and an adjusting assembly for adjusting the axis of the guide sleeve by changing the shape of the connecting sleeve.

Through adopting above-mentioned technical scheme, when action on water, the rotation axis of the square auxiliary fan blade of the counter-motion is the same with the direction of motion, and it is the same with the flabellum, changes the axis that the uide bushing was adjusted to the shape of adapter sleeve through adjusting part to change the rotation axis of auxiliary fan blade, can keep the direction of motion through remaining auxiliary fan blade, also can promote the robot to rotate on water through changing the rotation axis of remaining auxiliary fan blade.

The utility model discloses further set up to: the adjusting component comprises an electromagnet which is fixedly connected to one end, close to the flexible shaft, of the power shaft and is positioned in the guide sleeve;

the eccentric block shaft is fixedly connected to one side, away from the flexible shaft, of the electromagnet, the eccentric block shaft is positioned at one end, close to the connecting sleeve, of the guide sleeve, and elastic materials are arranged on the outer side of the eccentric block shaft;

and the eccentric block is sleeved on the power shaft and is eccentrically arranged relative to the axis of the power shaft, the eccentric block is positioned at one end of the connecting sleeve, which is close to the guide sleeve, and can be attracted by the electromagnet under the magnetic action of the electromagnet, and when the eccentric block is attracted by the electromagnet, the eccentric block shaft is embedded into the eccentric block and can drive the eccentric block to rotate together.

By adopting the technical scheme, when the rotation direction of the auxiliary fan blade needs to be changed, the electromagnet is electrified to generate magnetic force, the eccentric block is attracted to the electromagnet, so that the eccentric block shaft is embedded into the eccentric block, the eccentric block also moves from the connecting sleeve to the guide sleeve, the power shaft rotates at the moment, the axis of the guide shaft is pushed to change through the rotation of the eccentric block, and the guide sleeve drives the rotation axis of the auxiliary fan blade to change and can drive the connecting sleeve to deform; after the rotating axis of the auxiliary fan blade is adjusted to a proper direction, the electromagnet is powered off, and the eccentric block is separated from the eccentric block shaft under the action of the elastic material, so that the eccentric block slides into the connecting sleeve.

The utility model discloses further set up to: the fan blade guide device also comprises a shaft sleeve which is rotatably connected on the guide sleeve, and the plurality of auxiliary fan blades can rotate relative to the shaft sleeve;

one end of the shaft sleeve, which is close to the auxiliary fan blades, is provided with a plurality of sliding grooves, the sliding grooves correspond to the fan blades one by one, the corresponding auxiliary fan blades are embedded into the corresponding sliding grooves, and the auxiliary fan blades can rotate in the corresponding sliding grooves;

the sliding groove deviates from one side of the rotating direction of the rotating shaft and is provided with a tight supporting groove arranged on the shaft sleeve, an elastic plate fixedly connected to the shaft sleeve is arranged in the tight supporting groove, the elastic plate deviates from one side of the fan blade and is fixedly connected with an elastic part, and when the fan blade rotates to the tight supporting groove and is away from one end of the sliding groove, the elastic plate is tightly supported on the fan blade under the action of the elastic part.

Through adopting above-mentioned technical scheme, supplementary flabellum slides to supporting tightly in the groove and support tightly on step portion, and the axle sleeve can drive supplementary flabellum through step portion and rotate. When the fan blade rotates, the elastic piece tightly supports the elastic plate on the auxiliary fan blade through the elasticity of the elastic piece, so that the fan blade is not easy to rotate relative to the shaft sleeve in the rotating process; when the robot is in ground walking state, the axle sleeve does not rotate, if the auxiliary fan blade deviates from one end of the fan shaft and collides with a foreign object, the auxiliary fan blade can rotate in the space of the abutting groove and the sliding groove, so that the fan blade can cross over the foreign object through the rotation of the auxiliary fan blade.

To sum up, the utility model discloses compare and have following beneficial effect in prior art: the utility model discloses during the walking, the front end fixed rod inserts ground, the shrink of rear end fixed rod, then the direction that two adjacent structural component orientation were close to each other removes, stimulate the fixed rod forward movement of rear end, then the fixed rod of rear end inserts ground, the shrink of front end fixed rod, two adjacent structural component orientation remove towards the direction of keeping away from each other, promote the fixed rod forward movement of front end, realize removing, the in-process of removal, structural component is a straight line and can not produce the wide-angle deflection in the removal process, also can realize removing in less hole.

Drawings

FIG. 1 is a schematic view of the overall structure of the embodiment;

FIG. 2 is a cross-sectional view of an embodiment embodying a receiving bore and a threaded sleeve;

FIG. 3 is a cross-sectional view of an embodiment embodying a rotating shaft;

FIG. 4 is a schematic view of an embodiment embodying a chute;

FIG. 5 is a schematic view of the embodiment in flight;

FIG. 6 is a schematic view of an embodiment embodying an adjustment assembly;

FIG. 7 is a schematic view of an embodiment embodying a bushing;

FIG. 8 is a schematic diagram of an embodiment of an elastic plate.

In the figure: 1. a structural component; 11. a first component; 12. a second component; 13. an accommodation hole; 131. a receiving hole; 132. a limiting hole; 1321. a gear; 14. a chute; 141. a drop-proof groove; 2. fixing the rod; 3. flight fan blades; 4. auxiliary fan blades; 41. a shaft sleeve; 411. a sliding groove; 412. abutting against the groove; 42. a shaft body; 43. an elastic plate; 44. an elastic member; 5. a transmission rod; 51. a threaded rod; 52. a rack; 6. a threaded sleeve; 7. a rotating shaft; 71. an anti-drop block; 8. a power shaft; 81. fixing a sleeve; 82. connecting sleeves; 83. a guide sleeve; 84. a flexible shaft; 85. an adjustment assembly; 851. an electromagnet; 852. an eccentric block shaft; 853. an eccentric block; 854. and a stop block.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following description, together with the drawings of the present invention, clearly and completely describes the technical solution of the present invention, and based on the embodiments in the present application, other similar embodiments obtained by those skilled in the art without creative efforts shall all belong to the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustration and not for limitation of the present invention.

The present invention will be further described with reference to the accompanying drawings and preferred embodiments.

Example (b): an emergency rescue and relief robot, which is shown in figure 1, comprises a plurality of structural components 1, wherein the length directions of the structural components 1 are the same, and the structural components 1 are arranged along the length direction of the structural components 1; the two ends of the plurality of structures after being arranged are respectively the front end and the rear end, that is, the two ends of a straight line formed by connecting the plurality of structural components 1 are respectively the front end and the rear end. Two adjacent structural component 1 can be close to each other and keep away from each other in the length direction of structural component 1, and the one end that two structural component 1 that lie in both ends deviate from each other all is provided with flexible dead lever 2 from top to bottom, and dead lever 2 can insert in the ground downwards.

When the movable floor moves on the ground, the fixed rod 2 at the front end is firstly inserted downwards into the ground, the fixed rod 2 at the rear end is contracted, then the two adjacent structural components 1 slide towards the direction close to each other, and the fixed rod 2 at the rear end is driven to slide towards the direction close to the front end in the sliding process; then the fixed rod 2 at the rear end is inserted into the ground downwards, the fixed rod 2 at the front end is contracted upwards, and then the two adjacent structural components 1 slide towards the direction deviating from each other, so that the fixed rod 2 at the front end is pushed to move forwards; the robot moves forwards alternately, the action amplitude of the whole robot is small in the process of advancing, the deflection of the generated angle is small, and therefore the robot can move in a small hole.

In some embodiments, the two adjacent structural members 1 are slid by means of an air cylinder, a hydraulic cylinder, a lead screw, or the like.

Referring to fig. 1 and 2, in the embodiment, a threaded sleeve 6 is arranged in the structural component 1 close to the rear end of two adjacent structural components 1, a transmission rod 5 is arranged on the structural component 1 close to the front end, and the transmission rod 5 extends into the threaded sleeve 6 from one end of the threaded sleeve 6 close to the front end and is in threaded connection with the threaded sleeve 6.

In some embodiments, the threaded sleeve 6 is fixed in the structural member 1, the transmission rod 5 is rotatably connected to the structural member 1, and when two adjacent structural members 1 need to slide, the transmission rod 5 rotates to drive the two structural members 1 to slide through the cooperation of the transmission rod 5 and the threaded sleeve 6.

In the present embodiment, the threaded sleeve 6 is rotatably connected in the structural part 1, the transmission rod 5 being able to be fixed to the structural part 1; when the two structural parts 1 need to move, the threaded sleeve 6 rotates, and the two structural parts 1 are driven to slide through the matching of the threaded sleeve 6 and the transmission rod 5; one side of the threaded sleeve 6 is provided with a power part which is fixed on the structural component 1 and drives the threaded sleeve 6 to rotate, and in the embodiment, the power part is a servo motor.

Preferably, in the present embodiment, one end of the transmission rod 5 near the rear end is a threaded rod 51, and the threaded rod 51 can be inserted into the threaded sleeve 6 and is matched with the threaded sleeve 6; in order to protect the transmission rod 5 when the robot is not used, an accommodating hole 13 is formed in the structural component 1 provided with the transmission rod 5, and the transmission rod 5 can be accommodated in the accommodating hole 13 when the robot is not used; the structural member 1 provided with the transmission rod 5 is provided with a power unit for receiving the transmission rod 5 into the receiving hole 13.

In some embodiments, the driving rod 5 is received in the receiving hole 13 and extended out of the receiving hole 13 by a power assembly such as a hydraulic cylinder or an air cylinder.

In this embodiment, the transmission rod 5 located at the front end portion of the threaded rod 51 is a rack 52, the structural component 1 provided with the transmission rod 5 is provided with a gear 1321 engaged with the rack 52, and the power assembly is a gear 1321.

Preferably, in the present embodiment, a portion of the receiving hole 13 near the rear end is a receiving hole 131 for receiving the threaded rod 51, a portion of the receiving hole 13 near the receiving hole 131 is a limiting hole 132 for limiting the sliding direction of the rack 52, the rest of the receiving hole 13 is used for receiving the rack 52 extending into, and the gear 1321 is disposed at the limiting hole 132; preferably, in the structural component 1 provided with both the threaded sleeve 6 and the receiving hole 13, the receiving hole 13 and the threaded sleeve 6 are communicated with each other, and the rack 52 in the receiving hole 13 can smoothly extend into the threaded sleeve 6, and the rack 52 is received by the threaded sleeve 6 matching with the receiving hole 13.

Preferably, in the present embodiment, two adjacent structural members 1 can not only slide along the length direction of the structural member 1, but also the two adjacent structural members 1 can rotate around the vertical axis; the top of each structural component 1 is provided with a plurality of flight fan blades 3, and the flight fan blades 3 positioned on the top of the same structural component 1 rotate around the same vertical axis. The plurality of flight blades 3 on the same structural component 1 are rotated by the same power component, preferably, in this embodiment, the power component is a servo motor.

When needing the robot to fly, take in into accommodation hole 13 with transfer line 5 now, rotate two adjacent structural component 1 for the axis of rotation of the flight flabellum 3 on a plurality of different structural component 1 is not in same vertical plane, thereby the drive robot that can be steady when making flight flabellum 3 rotate flies.

Preferably, in this embodiment, the structural component 1 includes two parts, namely a first component 11 and a second component 12, in the same structural component 1, the first component 11 and the second component 12 are fixedly connected together, the first component 11 of the same structural component 1 is located at one end of the second component 12 close to the front end, and the bottom of the first component 11 and the top of the second component 12 are flush with each other.

When the structural component 1 rotates in flight, the second component of the structural component 1 close to the rear end rotates to the bottom of the first component 11 of the structural component 1 close to the front end, and the two components are attached to each other, so that the stability in flight is improved.

Preferably, in the present embodiment, the receiving opening 13, the transmission rod 5 and the threaded sleeve 6 are all provided on the first component 11; the threaded sleeve 6 is located at an end of the first component 11 near the front end, and the receiving hole 13 is located at an end of the first component 11 near the rear end.

Referring to fig. 3 and 4, in two adjacent structural members 1, the second component 12 of the structural member 1 near the front end is rotatably connected with the first component 11 of the structural member 1 near the rear end; in order to ensure that the rotating structure does not affect the sliding of the two adjacent structural components 1, in the embodiment, the rotating connection relationship between the first component 11 and the second component 12 is realized through the rotating shaft 7, and the rotating shaft 7 can slide on the first component 11 or the second component 12 along the length direction of the structural components 1; preferably, in this embodiment, the rotating shaft 7 can slide along the length direction of the structural component 1 at the top of the second component 12, specifically, the top of the second component 12 is provided with a sliding slot 14 having the same length direction as the length direction of the structural fastener, and one end of the bottom of the rotating shaft 7 extends into the sliding slot 14 to slide.

In some embodiments, the rotating shaft 7 is fixedly connected with the second component 12, a sliding block which slides in the sliding groove 14 along the length direction of the sliding groove 14 is arranged in the sliding groove 14, the rotating shaft 7 is rotatably connected to the sliding block and drives the rotating shaft 7 to rotate through a power part on the sliding block, and the power part is a servo motor; when two adjacent structural components 1 need to rotate, the power part drives the rotating shaft 7 to rotate, so that the two structural components 1 are driven to rotate.

In the embodiment, the rotating shaft 7 is rotationally connected with the first component 11, and the rotating shaft 7 slides on the second component 12 but cannot rotate on the second component 12; preferably, both sides of the rotating shaft 7 and both sides of the sliding slot 14 are attached to each other, so that the rotating shaft 7 can only slide in the sliding slot 14 and cannot rotate in the sliding slot 14. The first component 11 is fixed with a power component for driving the rotating shaft 7 to rotate, preferably, the power component is a servo motor. When two adjacent structural components 1 need to rotate, the power part drives the rotating shaft 7 to rotate, and the rotating of the two structural components 1 is realized through the rotating shaft 7.

In some embodiments, anti-slip grooves 141 are disposed on both sides of the sliding groove 14, the length direction of the anti-slip grooves 141 is parallel to the length direction of the sliding groove 14, and anti-slip blocks 71 fixedly connected to the rotating shaft 7 are disposed in the anti-slip grooves 141; the escape prevention block 71 slides in the escape prevention groove 141 in the longitudinal direction of the escape prevention groove 141.

Referring to fig. 5, preferably, in the present embodiment, three structural members 1 are provided, and in flight, the three structural members 1 are rotated, so that one end of the second component 12 of the rear structural member 1 close to the rear end is rotated to the bottom of one end of the second component 12 of the front structural member 1 close to the front end, so that in flight, the three structural members 1 have a triangular stroke, and thus, the flight is more stable. Preferably, in the present embodiment, the flying fan blade 3 at the top of each structural component 1 is located at the end of the top of the first component 11 near the front end.

In this embodiment, the same side of the three structural components 1 is provided with a plurality of auxiliary fan blades 4, and the plurality of auxiliary fan blades 4 on the same structural component 1 rotate around the same axis; when the water-cooled fan needs to operate in water, the three structural components 1 rotate to form a triangle, and the auxiliary fan blades 4 are positioned outside the triangle; the axis of rotation of the auxiliary fan blades 4 on the structural part 1 facing the direction of movement is the same as the direction of movement.

In some embodiments, the rotation axes of the auxiliary fan blades 4 on the three structural components 1 are not changed, and the auxiliary fan blades 4 on the three structural components 1 are respectively started, so that the robot can be driven to move in different directions on water.

Referring to fig. 6, in this embodiment, the direction of the rotation axis of the auxiliary fan blade 4 can be adjusted, when the rotation axis of the auxiliary fan blade 4 on one of the structural members 1 is the same as the moving direction, the rotation axes of the auxiliary fan blades 4 on the other two structural members 1 can be adjusted to the same direction, so as to better keep the moving direction unchanged, and when a turn is required, the rotation axes of the auxiliary fan blades 4 on the other two structural members 1 are adjusted to push the robot to turn.

Preferably, in the present embodiment, the auxiliary fan blade 4 is provided at an intermediate position in the longitudinal direction of the structural member 1.

Preferably, in this embodiment, the plurality of auxiliary blades 4 on the structural component 1 are driven by the flexible shaft 84 to rotate, the flexible shaft 84 is sleeved with a guide sleeve 83 for limiting the flexible shaft 84, and the blades on the flexible shaft 84 rotate relative to the guide sleeve 83. One end of the guide sleeve 83 close to the structural component 1 is fixedly connected with a connecting sleeve 82, and the connecting sleeve 82 is fixedly connected to the structural component 1; the connecting sleeve 82 is made of flexible material, a power shaft 8 is arranged in the connecting sleeve 82, one end of the power shaft 8 extends into the guide sleeve 83 to transmit power to the flexible shaft 84, and an adjusting component 85 which drives the connecting sleeve 82 to deform so as to change the axial direction of the guide sleeve 83 is arranged in the connecting sleeve 82 and the guide sleeve 83.

Because the connecting sleeve 82 is made of flexible material, the axial direction of the guide sleeve 83 is changed by changing the shape of the connecting sleeve 82, and the changed axial direction of the guide sleeve 83 can be fixed; the change in the axial direction of the guide sleeve 83 can cause the change in the direction of the rotational axis of the auxiliary fan blades 4.

In this embodiment, the adjusting assembly 85 includes an electromagnet 851 fixedly connected to one end of the power shaft 8 extending into the guide sleeve 83, an eccentric block shaft 852 fixedly connected to one side of the electromagnet 851 close to the connection sleeve 82 and located in the guide sleeve 83, and an eccentric block 853 sleeved on the power shaft 8, wherein the eccentric block 853 is eccentrically arranged relative to the axis of the main shaft. An elastic material is fixedly connected to the outer side of the eccentric block shaft 852, when the electromagnet 851 is electrified, the eccentric block 853 is adsorbed on the electromagnet 851, and the eccentric block shaft 852 is embedded in the eccentric block 853; when the eccentric block shaft 852 is embedded in the eccentric block 853, the eccentric block 853 is positioned in the guide sleeve 83 and at one end of the guide sleeve 83 close to the connecting sleeve 82; the power shaft 8 drives the eccentric block 853 to rotate through the eccentric block shaft 852, the guide sleeve 83 is pushed to move through the eccentric block 853, the axis of the guide sleeve 83 is changed, and the connecting sleeve 82 is driven to deform when the axis of the guide sleeve 83 is changed; when the direction is changed to the preset direction, the electromagnet 851 is powered off, the eccentric block shaft 852 is separated from the eccentric block 853 under the action of the elastic material, and the eccentric block 853 separated from the eccentric block shaft 852 falls into the connecting sleeve 82 and cannot rotate along with the power shaft 8.

Preferably, in this embodiment, power shaft 8 is further fixedly connected with a stopper 854 located in connection sleeve 82, and stopper 854 limits eccentric block 853 when electromagnet 851 is powered off, so as to prevent eccentric block 853 from continuing to slide in the direction away from guide sleeve 83, and enable electromagnet 851 to smoothly adsorb eccentric block shaft 852 on electromagnet 851 when electromagnet 851 is powered on again.

Preferably, in this embodiment, a fixing sleeve 81 is further fixedly connected to an end of the connecting sleeve 82 facing away from the guiding sleeve 83, and the fixing sleeve 81 is fixedly connected to the structural component 1.

In order to ensure that the structural component 1 can smoothly float on the water surface, light floats are additionally arranged on the outer sides of the first component 11 and the second component 12, and preferably, the light floats are non-flammable light floats.

In some embodiments, the first component 11 and the second component 12 are also provided as hollow members.

Referring to fig. 7 and 8, in a preferred embodiment, in the present embodiment, one end of the guide sleeve 83 away from the connection sleeve 82 is rotatably connected with a shaft sleeve 41, a shaft body 42 is disposed in the shaft sleeve 41, the shaft body 42 is fixedly connected with the shaft sleeve 41, and the flexible shaft 84 drives the shaft body 42 to rotate; the auxiliary fan blades 4 are rotatably connected to one end, away from the flexible shaft 84, of the shaft body 42, the auxiliary fan blades 4 are rotatably connected with the shaft body 42, and the rotating axis of the auxiliary fan blades 4 on the shaft body 42 is parallel to the axis of the shaft body 42; supplementary flabellum 4 sets up and deviates from uide bushing 83 one end at axle sleeve 41, and a plurality of sliding tray 411 have been seted up to the one end that axle sleeve 41 is close to supplementary flabellum 4, and a plurality of sliding tray 411 and a plurality of flabellum one-to-one correspond, and the supplementary flabellum 4 that corresponds is embedded into the sliding tray 411 that corresponds, and supplementary flabellum 4 can rotate in the sliding tray 411 that corresponds. One side of the sliding slot 411, which is away from the rotation direction of the rotating shaft 7, is provided with a abutting slot 412 formed in the shaft sleeve 41, an elastic plate 43 fixedly connected to the shaft sleeve 41 is arranged in the abutting slot 412, and one side of the elastic plate 43, which is away from the auxiliary fan blade 4, is fixedly connected with an elastic member 44. When the auxiliary fan blade 4 rotates to the end of the abutting slot 412 departing from the sliding slot 411, the elastic plate 43 abuts against the auxiliary fan blade 4 under the action of the elastic member 44. A step part is formed at the shaft sleeve 41 at one end of the abutting groove 412 departing from the sliding groove 411.

When the auxiliary fan blades 4 slide into the abutting groove 412 and abut on the step portion, the shaft sleeve 41 can drive the auxiliary fan blades 4 to rotate through the step portion. When the fan blades rotate, the elastic piece 44 tightly presses the elastic plate 43 against the auxiliary fan blades 4 through the elasticity of the elastic piece, so that the fan blades are not easy to rotate relative to the shaft sleeve 41 in the rotating process; when the robot is in a ground walking state, the shaft sleeve 41 does not rotate, if one end of the auxiliary fan blade 4 departing from the fan shaft collides with a foreign object, the auxiliary fan blade 4 can rotate in the space of the abutting groove 412 and the sliding groove 411, so that the fan blade can pass over the foreign object through the rotation of the fan blade.

Preferably, in the present embodiment, the elastic member 44 is provided as a spring.

The working principle of the rescue and relief robot when in use is as follows: when the ground walks, the front end fixing rod 2 is inserted into the ground, the rear end fixing rod 2 contracts, then the two adjacent structural components 1 move towards the direction close to each other, the rear end fixing rod 2 is pulled to move forwards, then the rear end fixing rod 2 is inserted into the ground, the front end fixing rod 2 contracts, the two adjacent structural components 1 move towards the direction far away from each other, and the front end fixing rod 2 is pushed to move forwards to realize movement; when needing the robot to fly, take in into accommodation hole 13 with transfer line 5 now, rotate two adjacent structural component 1 for the axis of rotation of the flight flabellum 3 on a plurality of different structural component 1 is not in same vertical plane, thereby the drive robot that can be steady when making flight flabellum 3 rotate flies. When the robot needs to move in water, the transmission rod 5 is also accommodated in the accommodating hole 13, and then the structural component 1 is rotated, so that the auxiliary fan blades 4 are positioned outside the geometric shape of the structural component 1, the rotation axis of the auxiliary fan blade 4 on one structural component 1 is the same as the moving direction, and the auxiliary fan blade 4 on the structural component 1 assists the robot to move in water.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A rescue and relief robot device is characterized in that: the structure comprises a plurality of structural components (1), wherein the structural components (1) are arranged in the same length direction, the structural components (1) are arranged along the length direction, and the front end and the rear end are respectively arranged at the two ends of the structural components (1) after being arranged;

two adjacent structural component (1) can be close to each other and keep away from in the length direction of structural component (1), and the one end that two structural component (1) that lie in both ends deviate from each other all is provided with from top to bottom flexible dead lever (2), and dead lever (2) can insert in the ground downwards.

2. The rescue and relief robotic device of claim 1, wherein: in two adjacent structural components (1), a threaded sleeve (6) is arranged in the structural component (1) close to the rear end, a transmission rod (5) is arranged on the structural component (1) close to the front end, and the transmission rod (5) extends into the threaded sleeve (6) from one end, close to the front end, of the threaded sleeve (6) and is in threaded connection with the threaded sleeve (6).

3. The rescue and relief robotic device of claim 2, wherein: a receiving opening (13) for receiving the transmission rod (5) is provided in the component (1) provided with the transmission rod (5), wherein the transmission rod (5) can be received in the receiving opening (13).

4. The rescue and relief robotic device of claim 3, wherein: the structure part (1) provided with the transmission rod (5) is provided with a power assembly, and the power assembly is used for driving the transmission rod (5) to retract into and extend out of the accommodating hole (13).

5. The rescue and relief robotic device of claim 1, wherein: the two adjacent structural components (1) can slide along the length direction of the structural components (1) and also can rotate around a vertical axis;

the top of the structural component (1) is provided with a flying fan blade (3) for driving the structural component (1) to fly.

6. The rescue and relief robotic device of claim 5, wherein: the structural component (1) comprises a first component (11) close to the front end and a second component (12) close to the rear end, the first component (11) and the second component (12) are fixedly connected together, and the bottom of the first component (11) and the top of the second component (12) are flush with each other.

7. The rescue and relief robotic device of claim 5, wherein: the same side of the structural component (1) is provided with auxiliary fan blades (4).

8. The rescue and relief robotic device of claim 7, wherein: the fan also comprises a flexible shaft (84) which is used for driving the auxiliary fan blade (4) to rotate;

the power shaft (8) is used for driving the flexible shaft (84) to rotate;

the guide sleeve (83) is sleeved outside the flexible shaft (84), and one end of the power shaft (8) close to the flexible shaft (84) extends into the guide sleeve (83);

a connecting sleeve (82) made of flexible material, wherein the connecting sleeve (82) is made of flexible material, and the power shaft (8) penetrates through the connecting sleeve (82);

and an adjustment assembly (85) for adjusting the axis of the guide sleeve (83) by changing the shape of the connection sleeve (82).

9. The rescue and relief robotic device of claim 8, wherein: the adjusting component (85) comprises an electromagnet (851), which is fixedly connected to one end of the power shaft (8) close to the flexible shaft (84) and is positioned in the guide sleeve (83);

the eccentric block shaft (852) is fixedly connected to one side, away from the flexible shaft (84), of the electromagnet (851), the eccentric block shaft (852) is positioned at one end, close to the connecting sleeve (82), of the guide sleeve (83), and elastic materials are arranged on the outer side of the eccentric block shaft (852);

and the eccentric block (853), the eccentric block (853) is sleeved on the power shaft (8) and is eccentrically arranged relative to the axis of the power shaft (8), the eccentric block (853) is positioned at one end, close to the guide sleeve (83), of the connecting sleeve (82) and can be attracted by the electromagnet (851) under the magnetic force action of the electromagnet (851), and when the eccentric block (853) is attracted by the electromagnet (851), the eccentric block shaft (852) is embedded into the eccentric block (853) and the eccentric block shaft (852) can drive the eccentric block (853) to rotate together.

10. The rescue and relief robotic device of claim 9, wherein: the fan blade support is characterized by further comprising a shaft sleeve (41) which is rotatably connected to the guide sleeve (83), and the auxiliary fan blades (4) can rotate relative to the shaft sleeve (41);

one end, close to the auxiliary fan blades (4), of the shaft sleeve (41) is provided with a plurality of sliding grooves (411), the sliding grooves (411) correspond to the fan blades one by one, the corresponding auxiliary fan blades (4) are embedded into the corresponding sliding grooves (411), and the auxiliary fan blades (4) can rotate in the corresponding sliding grooves (411);

one side, deviating from the rotating direction of the rotating shaft (7), of the sliding groove (411) is provided with a abutting groove (412) formed in the shaft sleeve (41), an elastic plate (43) fixedly connected to the shaft sleeve (41) is arranged in the abutting groove (412), one side, deviating from the fan blades, of the elastic plate (43) is fixedly connected with an elastic part (44), and when the fan blades rotate to the end, deviating from the sliding groove (411), of the abutting groove (412), the elastic plate (43) abuts against the fan blades under the action of the elastic part (44).

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