CN220054184U - High-altitude mooring unmanned aerial vehicle system of reconnaissance fire extinguishing robot - Google Patents

Abstract

The utility model belongs to the technical field of fire-fighting robots, and particularly relates to a high-altitude mooring unmanned aerial vehicle system of a reconnaissance fire-fighting robot, wherein an electric control energy module is arranged on the reconnaissance fire-fighting robot, an unmanned aerial vehicle storage and release device is electrically connected with the electric control energy module, a load landing gear is connected with the unmanned aerial vehicle storage and release device, the unmanned aerial vehicle is fixedly connected with the load landing gear, the bottom of the unmanned aerial vehicle is connected with a rotation detection assembly, and an adaptive wall mooring assembly is connected with the rear end of the rotation detection assembly; unmanned aerial vehicle, gyration detection subassembly, self-adaptation wall mooring component, automatically controlled energy module all are connected with the control cabinet wireless. The unmanned aerial vehicle is used for storing and releasing the unmanned aerial vehicle to realize stable and automatic release, the self-adaptive wall mooring component can be adsorbed on the wall surface of the object to be detected to resist the inside of the object to be detected, and vacuum adsorption or electromagnetic adsorption can be selected according to the material of the wall surface of the object to be detected, so that the detection distance is shortened, and the detection precision of a high-altitude fire scene is improved.

Description

High-altitude mooring unmanned aerial vehicle system of reconnaissance fire extinguishing robot

Technical Field

The utility model belongs to the technical field of fire-fighting robots, and particularly relates to a high-altitude mooring unmanned aerial vehicle system of a reconnaissance fire-fighting robot.

Background

The fire-fighting robot is used as a special robot and plays an important role in fire extinguishment and rescue. The on-site commander can use the device to perform advanced reconnaissance and suppression, and timely make scientific judgment on the disaster condition according to the feedback result, so as to make a correct and reasonable decision on the disaster accident site work. The fire-fighting robot put into use at home and abroad generally takes a powered all-terrain chassis as a running and loading matrix, and various special rescue operations are carried out by loading reconnaissance equipment, fire-extinguishing equipment, rescue equipment and the like on the chassis, so that the capability of treating malignant accidents is obviously improved, and the casualties of personnel are greatly reduced.

Nowadays, high-rise buildings are more and more, and unmanned aerial vehicles are generally adopted for high-altitude reconnaissance after fire disaster occurs in the high-rise buildings due to the characteristics of the high-rise buildings. Traditional unmanned aerial vehicle receives the restriction of load and flight stability problem, can not lean on waiting to reconnaissance the building too closely, only can long-range video reconnaissance, can not see clearly the inside condition of building, leads to reconnaissance effect to discount greatly, influences the rescue judgement to the scene of fire.

The utility model patent with the publication number of CN110180112B discloses a method for collaborative reconnaissance and fire extinguishing operation of an unmanned aerial vehicle and a fire-fighting robot, which comprises a release step of the unmanned reconnaissance, a spatial positioning step of the unmanned reconnaissance robot by the unmanned reconnaissance, a robot control console and an unmanned aerial vehicle control console, and a collaborative reconnaissance and fire extinguishing step of the fire-fighting reconnaissance robot, the unmanned reconnaissance, the robot control console and the unmanned aerial vehicle control console. The unmanned reconnaissance aircraft and the fire extinguishing reconnaissance robot are independently arranged, and the unmanned reconnaissance aircraft cannot abut against a fire scene to perform real-time reconnaissance on the interior of the high-rise building.

The utility model patent with the application publication number of CN113681577A discloses a split type reconnaissance detection robot and a method, wherein a stacked unmanned aerial vehicle is arranged in a transmitting cylinder, and a gas ejection device for transmitting the stacked unmanned aerial vehicle is arranged in the transmitting cylinder; the four-legged robot carries the stacked unmanned aerial vehicle, performs aerial reconnaissance detection on the area to be detected through the stacked unmanned aerial vehicle, performs land detection on the four-legged robot, has two detection modes of land and air, and can adapt to various complex working environments. In the scheme, the unmanned aerial vehicle takes off in an ejection mode, the stability of the take-off mode is poor, and the unmanned reconnaissance aircraft cannot abut against a fire scene to reconnaissance the interior of a high-rise building in real time.

Disclosure of Invention

The utility model aims to provide a high-altitude mooring unmanned aerial vehicle system of a reconnaissance fire-extinguishing robot, which realizes the stable release of the robot to the unmanned aerial vehicle and the stable adsorption of the unmanned aerial vehicle to the wall surface of an object to be reconnaissance, improves the reconnaissance capability and the data accuracy of the robot, and improves the rescue capability of the robot.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a reconnaissance fire extinguishing robot's high altitude mooring unmanned aerial vehicle system, including unmanned aerial vehicle, load undercarriage, gyration detection subassembly, self-adaptation wall mooring component, automatically controlled energy module, control cabinet, unmanned aerial vehicle store release, automatically controlled energy module installs on reconnaissance fire extinguishing robot, unmanned aerial vehicle stores release and automatically controlled energy module electric connection, load undercarriage and unmanned aerial vehicle store release and are connected, unmanned aerial vehicle and load undercarriage fixed connection, unmanned aerial vehicle's bottom is connected with gyration detection subassembly, self-adaptation wall mooring component is connected in gyration detection component's rear end; unmanned aerial vehicle, gyration detection subassembly, self-adaptation wall mooring component, automatically controlled energy module all are connected with the control cabinet wireless.

Further, unmanned aerial vehicle stores release includes fixed bolster, slip table system, synchronous propulsion branch, slide the guide block, the direction release cap, release footstock, fixed bolster fixed mounting is in the bottom of reconnaissance fire extinguishing robot, the front end fixed mounting of slip table system is in the bottom of fixed bolster, slip table system is parallel with reconnaissance fire extinguishing robot direction of advance, and slip table system's rear end extends to reconnaissance fire extinguishing robot's rear outside, slip table system's rear end is equipped with limit stop, synchronous propulsion branch is equipped with even numbers, two are a set of, every synchronous propulsion branch of group sets up along slip table system front and back, and two synchronous propulsion branches of every group set up in slip table system's both sides respectively symmetry, every two synchronous propulsion branches of group can follow slip table system and remove, a set of synchronous propulsion branch that is close to the fixed bolster and automatically controlled energy module electrical connection, synchronous propulsion branch's top all is equipped with the guide block that slides, the guide block is used for supporting fixed high altitude mooring unmanned aerial vehicle system, be connected with release footstock between a set of synchronous propulsion branch that is close to the fixed bolster, be close to a set of synchronous propulsion branch on the synchronous propulsion branch top that the fixed bolster, the fixed cap that is connected with the slip cap that slides on the slip table system, the support is close to synchronous propulsion branch, the landing gear, the two synchronous propulsion branch sets of synchronous propulsion branch is along slip cap, the slip cap of slip cap, the landing gear is realized, the load is released towards the direction, and the landing gear is kept away from, and the direction, and is released by the direction, and is realized.

Further, unmanned aerial vehicle includes frame, power pack, screw, automatically controlled energy pack, and automatically controlled energy pack sets up inside the center of frame, and the outer fixedly connected with power pack of frame, screw and power pack are connected and are operated by power pack drive, power pack and control cabinet wireless connection, and the omnidirectional cloud platform is installed at frame center top, and high altitude reconnaissance subassembly one is installed on the omnidirectional cloud platform, high altitude reconnaissance subassembly one and control cabinet wireless connection.

Further, load undercarriage includes first bracing piece, connects the pendant, the bracing piece that takes off and land, and the bracing piece that takes off and land is equipped with two, and the symmetry sets up in unmanned aerial vehicle both sides below, and the bracing piece that takes off and land is used for storing release's guide block supporting contact that slides with unmanned aerial vehicle, and the bracing piece that takes off and land can slide on the guide block that slides, and the bracing piece that takes off and land is connected with the one end of first bracing piece through connecting the pendant, and the other end fixed connection of first bracing piece is on the lateral wall of unmanned aerial vehicle frame.

Further, connect the pendant including first horizontal link plate, the vertical connecting plate of second, the vertical link plate of third, take off and land the bracing piece and include the bracing piece main part, direction separation head, first horizontal link plate fixed connection is connected through the top of the vertical link plate of second and third respectively at the both ends of the horizontal link plate, the bottom fixed connection of the vertical link plate of third is in the bracing piece main part, the front end of bracing piece main part is equipped with the direction separation head, the direction separation head suits and mutually support with unmanned aerial vehicle stores release cap shape of release.

Further, the gyration detection subassembly includes revolving stage, ring gear, driving gear, a pedestal, the gyrator, the slip table body, the hold-in range, synchronous slider, displacement detection module, displacement motor, the gyrator, displacement motor respectively with control cabinet wireless connection, displacement detection module fixed mounting is in the one end of slip table body, displacement motor is fixed in the other end of slip table body, the output shaft and the hold-in range of displacement motor are connected, the outside of slip table body is located to the hold-in range cover, synchronous slider fixed connection is on the hold-in range and can slide along the slip table body, displacement motor drives the hold-in range and rotates and then drive synchronous slider back and forth movement, synchronous slider's top and the bottom fixed connection of base, the bottom of base still fixedly connected with gyrator, the upper surface of base is equipped with intermeshing's ring gear and driving gear, after passing the base with driving gear connection, ring gear and the bottom fixed connection of revolving stage, the top fixed connection of revolving stage is in unmanned aerial vehicle's frame, the gyrator rotates, drive gear rotates, and then drives ring gear and the frame that connects gradually rotates, realize unmanned aerial vehicle's turning.

Further, the self-adaptation wall mooring component includes initiative pendulum to angle adjustment subassembly, the main part of mooring, vacuum adsorption module, electromagnetic adsorption module, vacuum adsorption module fixed mounting is in the one end of mooring the main part, electromagnetic adsorption module fixed connection is in the below of vacuum adsorption module, the other end of mooring the main part is connected with the one end of initiative pendulum to angle adjustment subassembly, the other end fixed connection of initiative pendulum to angle adjustment subassembly installs displacement detection module's one end on the slip table body, initiative pendulum is to angle adjustment subassembly and control cabinet wireless connection, the top of mooring the main part is equipped with high altitude reconnaissance subassembly two, high altitude reconnaissance subassembly two and control cabinet wireless connection.

Further, initiative pendulum is to angle adjusting part includes first hinge, the second hinge, the hinge, pendulum is to the motor, elastic support seat, a spring, the guide boss, first hinge fixed connection is in the tip of slip table body, second hinge fixed connection is on the main part of mooring, first hinge passes through the hinge and articulates with the second hinge and is connected, pendulum is to motor fixed mounting in the bottom of second hinge, pendulum is to motor and control cabinet wireless connection, pendulum is to motor's output shaft and second hinge connection, pendulum is to motor rotation drive second hinge and mooring main part around the hinge pendulum to rotation, respectively fixed mounting has the elastic support seat on the slip table body of first hinge both sides, respectively fixed mounting has the guide boss on the mooring main part of second hinge both sides, pass through spring coupling between elastic support seat and the guide boss that corresponds.

Further, the vacuum adsorption module includes sucking disc, main part frame, guiding device, the direction supporting spring, array range finding module, the direction spring fixing base, the gas circuit pipeline, the pipeline supporting seat, the air pump, the fixing base, the oscillating axle, swing bearing, the sucking disc is equipped with a plurality of, the front end of every sucking disc is equipped with a plurality of array range finding modules, the top of every sucking disc is equipped with guiding device, guiding device passes through the gas circuit pipeline and is connected with the air pump, the air pump is installed on the base, air pump and control cabinet wireless connection, pipeline supporting seat fixed mounting is in the bottom of slip table body, the pipeline supporting seat is used for supporting fixed gas circuit pipeline, main part frame is connected fixedly with the main part, the rear end of every sucking disc is connected in main part frame's top and bottom through oscillating axle and swing bearing, the sucking disc can swing about the oscillating axle, the both sides of every sucking disc respectively fixed mounting has the direction spring fixing base, connect through the direction supporting spring between the direction spring fixing base of two adjacent sucking discs, the sucking disc of the outside is connected with main part frame's lateral wall through the direction supporting spring.

Further, the electromagnetic adsorption module comprises array electromagnetic adsorption units, flexible pads, synchronous supports, electromagnetic adsorption bases and flexible ribs, the number of the array electromagnetic adsorption units, the number of the electromagnetic adsorption bases and the number of the suckers are consistent and correspond to each other one by one, the end faces of each array electromagnetic adsorption unit are respectively provided with the flexible pads, the rear parts of each array electromagnetic adsorption unit are respectively and fixedly connected to the corresponding electromagnetic adsorption base, the electromagnetic adsorption bases are fixedly connected to the bottoms of the corresponding suckers through the synchronous supports, and the adjacent electromagnetic adsorption bases are connected through the flexible ribs.

The utility model has the following beneficial effects: the high-altitude mooring unmanned aerial vehicle system can realize stable and automatic release through the unmanned aerial vehicle storage and release device, can be adsorbed on the wall surface of the object to be detected to resist the interior of the object to be detected through the self-adaptive wall surface mooring component, can select vacuum adsorption or electromagnetic adsorption according to the material of the wall surface of the object to be detected, shortens the detection distance, and improves the detection precision of a high-altitude fire scene; the rotation detection assembly can realize the omnibearing automatic steering of the unmanned aerial vehicle, improves the treatment efficiency and the intelligent degree of the high-altitude fire scene, does not need manual close-range control, and improves the fire-fighting safety.

Drawings

Fig. 1 is a schematic view of the overall structure of the high-altitude mooring unmanned aerial vehicle system of the present utility model.

Fig. 2 is an enlarged view of a partial structure at a in fig. 1.

Fig. 3 is a front view of the high altitude mooring drone system of the present utility model.

Fig. 4 is a sectional view taken along the direction B-B in fig. 3.

Figure 5 is a rear view of the high-altitude moored unmanned aerial vehicle system of the present utility model.

Fig. 6 is an enlarged view of a partial structure at C in fig. 5.

Fig. 7 is an enlarged view of a partial structure at D in fig. 5.

Fig. 8 is a right side view of the high-altitude moored drone system of the present utility model.

Fig. 9 is a schematic structural view of a storage and release device of the unmanned aerial vehicle according to the present utility model.

Fig. 10 is a schematic overall perspective view of the high-altitude mooring unmanned aerial vehicle system applied to the reconnaissance fire extinguishing robot.

Fig. 11 is a schematic view of the high-altitude moored unmanned aerial vehicle system according to the present utility model after being slid out of the unmanned aerial vehicle storage and release device.

Fig. 12 is a schematic view of the high-altitude moored drone system of the present utility model after further sliding forward from the drone store-and-release.

Fig. 13 is a schematic view of the high-altitude moored drone system of the present utility model after release from the drone store-and-release.

Fig. 14 is a schematic view of the use effect of the high-altitude mooring unmanned aerial vehicle system of the utility model adsorbed on the wall surface of an object to be detected for detection.

In the figure, 1, unmanned aerial vehicle, 2, load landing gear, 3, rotation detection component, 4, self-adaptive wall mooring component, 5, electric control energy module, 6, control desk, 7, unmanned aerial vehicle storage and release device, 8, object wall to be detected, 9, fire extinguishing system, 10, heavy-duty rescue operation system, 1-1, rack, 1-2, power component, 1-3, screw, 1-4, electric control energy component, 1-5, omnidirectional cloud platform, 1-6, high-altitude detection component I, 2-1, first support bar, 2-2, connecting hanging piece, 2-3, lifting support bar, 2-2a, first transverse hanging plate, 2-2b, second longitudinal connecting plate, 2-2c and third vertical hanging plate, 2-3a, a supporting rod main body, 2-3b, a guiding separating head, 3-1, a turntable, 3-2, a ring gear, 3-3, a driving gear, 3-4, a base, 3-5, a rotary motor, 3-6, a sliding table main body, 3-7, a synchronous belt, 3-8, a synchronous sliding block, 3-9, a displacement detection module, 3-10, a displacement motor, 4-1, an active swing angle adjusting component, 4-2, a mooring main body, 4-3, a vacuum adsorption module, 4-4, an electromagnetic adsorption module, 4-1a, a first hinge, 4-1b, a second hinge, 4-1c, a hinge shaft, 4-1d, a swing motor, 4-1e, an elastic supporting seat, 4-1f, a spring, 4-1g, a guiding boss, 4-2a, a high-altitude reconnaissance component II, 4-3a, a vacuum adsorption module, the device comprises a sucker, 4-3b, a main body frame, 4-3c, a flow guiding device, 4-3d, a guide supporting spring, 4-3e, an array ranging module, 4-3f, a guide spring fixing seat, 4-3g, an air path pipeline, 4-3h, a pipeline supporting seat, 4-3i, an air pump, 4-3j, a fixing seat, 4-3k, a swinging shaft, 4-3l, a swinging bearing, 4-4a, an array electromagnetic adsorption unit, 4-4b, a flexible pad, 4-4c, a synchronous support, 4-4d, an electromagnetic adsorption base, 4-4e, a flexible rib, 7-1, a fixed support, 7-2, a sliding table system, 7-3, a synchronous pushing support rod, 7-4, a sliding guide block, 7-5, a guide releasing cap and 7-6, and a releasing top seat.

Detailed Description

The following are specific examples of the present utility model, and the technical solutions of the present utility model are further described, but the scope of the present utility model is not limited to these examples. All changes and equivalents that do not depart from the gist of the utility model are intended to be within the scope of the utility model.

As shown in fig. 1 and 10, a high-altitude mooring unmanned aerial vehicle system of a reconnaissance fire-extinguishing robot comprises an unmanned aerial vehicle 1, a load landing gear 2, a rotation detection assembly 3, a self-adaptive wall mooring assembly 4, an electric control energy module 5, a control console 6 and an unmanned aerial vehicle storage and release device 7, wherein the electric control energy module 5 is arranged on the reconnaissance fire-extinguishing robot, the unmanned aerial vehicle storage and release device 7 is electrically connected with the electric control energy module 5, the load landing gear 2 is connected with the unmanned aerial vehicle storage and release device 7, the unmanned aerial vehicle 1 is fixedly connected with the load landing gear 2, the bottom of the unmanned aerial vehicle 1 is connected with the rotation detection assembly 3, and the self-adaptive wall mooring assembly 4 is connected to the rear end of the rotation detection assembly 3; the unmanned aerial vehicle 1, the rotation detection component 3, the self-adaptive wall mooring component 4 and the electric control energy module 5 are all in wireless connection with the control console 6. The high-altitude mooring unmanned aerial vehicle system can release and take off from the unmanned aerial vehicle storage and release device 7, so that high-altitude reconnaissance operation is realized; the console 6 is used for remotely controlling the robot and the high-altitude mooring unmanned aerial vehicle system.

As shown in fig. 1, the unmanned aerial vehicle 1 comprises a frame 1-1, a power assembly 1-2, a propeller 1-3 and an electric control energy assembly 1-4, wherein the electric control energy assembly 1-4 is arranged in the center of the frame 1-1, the power assembly 1-2 is fixedly connected to the outer end of the frame 1-1, the propeller 1-3 is connected with the power assembly 1-2 and is driven to operate by the power assembly 1-2, the power assembly 1-2 is in wireless connection with a console 6, an omnidirectional holder 1-5 is arranged at the top of the center of the frame 1-1, a high-altitude reconnaissance assembly 1-6 is arranged on the omnidirectional holder 1-5, and the omnidirectional holder 1-5 and the high-altitude reconnaissance assembly 1-6 are in wireless connection with the console 6.

As shown in fig. 1, the load landing gear 2 comprises a first supporting rod 2-1, a connecting hanging piece 2-2 and a lifting supporting rod 2-3, wherein two lifting supporting rods 2-3 are symmetrically arranged below two sides of the unmanned aerial vehicle 1, the lifting supporting rods 2-3 are used for supporting and contacting with a sliding guide block 7-4 of a storage and release device 7 of the unmanned aerial vehicle, the lifting supporting rod 2-3 can slide on the sliding guide block 7-4, the lifting supporting rod 2-3 is connected with one end of the first supporting rod 2-1 through the connecting hanging piece 2-2, and the other end of the first supporting rod 2-1 is fixedly connected to the side wall of a frame 1-1 of the unmanned aerial vehicle 1.

Further, the connection hanging piece 2-2 comprises a first transverse hanging plate 2-2a, a second longitudinal connecting plate 2-2b and a third vertical hanging plate 2-2c, the lifting support rod 2-3 comprises a support rod main body 2-3a and a guide separation head 2-3b, the first transverse hanging plate 2-2a is fixedly connected to the end part of the first support rod 2-1, two ends of the first transverse hanging plate 2-2a are respectively connected with the top part of the third vertical hanging plate 2-2c through the second longitudinal connecting plate 2-2b, the bottom part of the third vertical hanging plate 2-2c is fixedly connected to the support rod main body 2-3a, the front end of the support rod main body 2-3a is provided with the guide separation head 2-3b, and the guide separation head 2-3b is matched with the guide release cap 7-5 of the unmanned aerial vehicle storage release device 7 in shape.

As shown in fig. 3-7, the rotary detection assembly 3 comprises a turntable 3-1, a ring gear 3-2, a driving gear 3-3, a base 3-4, a rotary motor 3-5, a sliding table body 3-6, a synchronous belt 3-7, a synchronous slide block 3-8, a displacement detection module 3-9 and a displacement motor 3-10, wherein the rotary motor 3-5 and the displacement motor 3-10 are respectively and wirelessly connected with a console 6, the displacement detection module 3-9 is fixedly arranged at one end of the sliding table body 3-6, the displacement motor 3-10 is fixed at the other end of the sliding table body 3-6, an output shaft of the displacement motor 3-10 is connected with the synchronous belt 3-7, the synchronous belt 3-7 is sleeved on the outer side of the sliding table body 3-6, the synchronous slide block 3-8 is fixedly connected to the synchronous belt 3-7 and can slide along the sliding table body 3-6, the displacement motor 3-10 drives the synchronous belt 3-7 to rotate so as to drive the synchronous slide block 3-8 to move forwards and backwards, the top of the synchronous slide block 3-8 is fixedly connected with the bottom of the base 3-4, the bottom of the base 3-4 is fixedly connected with the rotary motor 3-5, the ring gear 3-2 is arranged on the surface of the ring gear 3-2 and the ring gear 3-1 is fixedly connected with the bottom of the turntable 1-2, which is fixedly connected with the turntable 1-2 on the surface of the turntable 3-3, and the upper surface of the base 3-3 is meshed with the rotary machine 3 through the ring gear 1, the rotary motor 3-5 rotates to drive the driving gear 3-3 to rotate, so as to drive the ring gear 3-2 and the frame 1-1 which are sequentially connected to rotate, and the steering of the unmanned aerial vehicle 1 is realized.

As shown in fig. 2, the self-adaptive wall mooring component 4 comprises an active swinging angle adjusting component 4-1, a mooring main body 4-2, a vacuum adsorption module 4-3 and an electromagnetic adsorption module 4-4, wherein the vacuum adsorption module is fixedly installed at one end of the mooring main body 4-2, the electromagnetic adsorption module 4-4 is fixedly connected to the lower part of the vacuum adsorption module 4-3, the other end of the mooring main body 4-2 is connected with one end of the active swinging angle adjusting component 4-1, the other end of the active swinging angle adjusting component 4-1 is fixedly connected to one end of a displacement detecting module 3-9 installed on a sliding table body 3-6, the active swinging angle adjusting component 4-1 is in wireless connection with a control console 6, the top of the mooring main body 4-2 is provided with a high-altitude reconnaissance component two 4-2a, and the high altitude reconnaissance component two 4-2a is in wireless connection with the control console 6.

As shown in fig. 6, the active swing angle adjusting component 4-1 includes a first hinge 4-1a, a second hinge 4-1b, a hinge shaft 4-1c, a swing motor 4-1d, an elastic support 4-1e, a spring 4-1f, and a guiding boss 4-1g, wherein the first hinge 4-1a is fixedly connected to an end of the sliding table body 3-6, the second hinge 4-1b is fixedly connected to the mooring main body 4-2, the first hinge 4-1a is hinged to the second hinge 4-1b through a hinge shaft 4-1c, the swing motor 4-1d is fixedly installed at the bottom of the second hinge 4-1b, the swing motor 4-1d is in wireless connection with the console 6, an output shaft of the swing motor 4-1d is connected with the second hinge 4-1b, the swing motor 4-1d rotates to drive the second hinge 4-1b and the main body 4-2 to swing around the hinge 4-1c, the sliding table body 3-6 on two sides of the first hinge 4-1a is fixedly installed with the elastic support 4-1e on the sliding table body 3-6 on two sides of the mooring main body, and the guiding boss is fixedly installed on the two sides of the second hinge 4-1g and is fixedly connected with the guiding boss 4-1g through the elastic support 4-1 b.

As shown in fig. 1, 2 and 4, the vacuum adsorption module 4-3 comprises a plurality of sucking discs 4-3a, a main body frame 4-3b, a flow guiding device 4-3c, a guiding support spring 4-3d, an array ranging module 4-3e, a guiding spring fixing seat 4-3f, an air channel pipeline 4-3g, a pipeline supporting seat 4-3h, an air pump 4-3i, a fixing seat 4-3j, a swinging shaft 4-3k and a swinging bearing 4-3l, wherein the front end of each sucking disc 4-3a is provided with a plurality of array ranging modules 4-3e, the top of each sucking disc 4-3a is provided with a flow guiding device 4-3c, the flow guiding device 4-3c is connected with the air pump 4-3i through an air channel pipeline 4-3g, the air pump 4-3i is arranged on the base 3-4, the air pump 4-3i is in wireless connection with a control console 6, the pipeline supporting seat 4-3h is fixedly arranged at the bottom of the main body 3-6, the pipeline supporting seat 4-3h is used for supporting and fixing the pipeline 4-3g, the main body frame 4-3b is fixedly connected with the two adjacent sucking discs 4-3a through the two swinging springs 4-3f, the two sides of the two fixing seats 4-3a can be fixedly connected with the top of the main body frame 4-3a 4-3b through the two adjacent to the two fixing seats 4-3a 4 f, the two fixing seats 4-3f are fixedly arranged at the top of the two fixing seats 4-3a 4-3f and the top of the air channel 4-3b 4-3a through the air channel frame 4-3b, and the two upper ends of the two fixing seats 4-3f can be respectively connected with the air channel 4-3f and the two fixing seats 4-3f can be respectively, the outermost suction cup 4-3a is connected with the side wall of the main body frame 4-3b through a guide supporting spring 4-3 d. The sucker 4-3a is used for adsorbing the high-altitude mooring unmanned aerial vehicle system on the wall surface 8 of the object to be detected, and the wall surface 8 of the object to be detected can be the surface of high-rise building glass, a chemical oil tank and a magnetic structure.

As shown in fig. 2 and 8, the electromagnetic adsorption module 4-4 includes an array electromagnetic adsorption unit 4-4a, a flexible pad 4-4b, a synchronous support 4-4c, electromagnetic adsorption bases 4-4d, and flexible ribs 4-4e, the number of the array electromagnetic adsorption units 4-4a, the number of the electromagnetic adsorption bases 4-4d are consistent with that of the suckers 4-3a and are in one-to-one correspondence, the end face of each array electromagnetic adsorption unit 4-4a is provided with the flexible pad 4-4b, the rear part of each array electromagnetic adsorption unit 4-4a is respectively and fixedly connected to the corresponding electromagnetic adsorption base 4-4d, the electromagnetic adsorption bases 4-4d are fixedly connected to the bottoms of the corresponding suckers 4-3a through the synchronous support 4-4c, and the adjacent electromagnetic adsorption bases 4-4d are connected through the flexible ribs 4-4 e.

As shown in fig. 9, the unmanned aerial vehicle storage and release device 7 comprises a fixed bracket 7-1, a sliding table system 7-2, synchronous propulsion supporting rods 7-3, a sliding guide block 7-4, a guide release cap 7-5 and a release footstock 7-6, wherein the fixed bracket 7-1 is fixedly arranged at the bottom of the reconnaissance fire extinguishing robot, the front end of the sliding table system 7-2 is fixedly arranged at the bottom of the fixed bracket 7-1, the sliding table system 7-2 is parallel to the advancing direction of the reconnaissance fire extinguishing robot, the rear end of the sliding table system 7-2 extends to the rear outer side of the reconnaissance fire extinguishing robot, the rear end of the sliding table system 7-2 is provided with a limit stop, the synchronous propulsion supporting rods 7-3 are provided with an even number, each group of synchronous propulsion supporting rods 7-3 are arranged along the sliding table system 7-2, the two synchronous propulsion supporting rods 7-3 are symmetrically arranged at the two sides of the sliding table system 7-2 respectively, the two synchronous propulsion supporting rods 7-3 of each group can move along the sliding table system 7-2, in one embodiment of the utility model, the synchronous propulsion supporting rods 7-3 are provided with four electric control blocks 7-3 close to the fixed supporting rods 7-3, the electric control blocks 7-3 are connected with the electric control blocks 7-3, the electric control blocks are connected with the electric control blocks 4 and the electric control blocks 4 are connected with the upper end of the synchronous propulsion supporting rods 4, the sliding guide blocks 7-4 close to the tops of a group of synchronous propulsion supporting rods 7-3 of the fixed support 7-1 are fixedly connected with guide release caps 7-5, the guide release caps 7-5 are conical, the openings face away from the fixed support 7-1, and the guide release caps 7-5 are matched with the load landing gear 2 to realize unmanned aerial vehicle storage, propulsion and release.

When the high-altitude mooring unmanned aerial vehicle system is applied to a reconnaissance fire-extinguishing robot, the reconnaissance fire-extinguishing robot can be further provided with a fire-extinguishing system 9 and a heavy-load rescue operation system 10 for carrying out fire-extinguishing operation and on-site rescue on site fire sources.

The utility model discloses a high-altitude mooring unmanned aerial vehicle system release and reconnaissance steps as follows:

1) Release of high-altitude moored unmanned aerial vehicle system:

a. the electric control energy module 5 controls the synchronous propulsion supporting rods 7-3 to move backwards along the sliding table system 7-2, the guide release cap 7-5 at the top of the synchronous propulsion supporting rods 7-3 drives the high-altitude mooring unmanned aerial vehicle system to move backwards through the guide release heads 2-3b, the synchronous propulsion supporting rods 7-3 far away from the fixed support 7-1 move to the rear end limited position stop block effect of the sliding table system 7-2 to stop moving (as shown in fig. 11), a group of synchronous propulsion supporting rods 7-3 close to the fixed support 7-1 continue to move backwards (as shown in fig. 12) to drive the high-altitude mooring unmanned aerial vehicle system to slide backwards, the rear end of the high-altitude mooring unmanned aerial vehicle system is influenced by gravity and has a descending trend, the guide release heads 2-3b are limited in the guide release cap 7-5 to prevent the high-altitude mooring unmanned aerial vehicle system from falling, the control console 6 controls the power component 1-2 of the unmanned aerial vehicle 1 to operate, the propeller 1-3 operates, and the conical guide release heads 2-3b can move from the conical guide release cap 7-5 to drive the high-altitude mooring unmanned aerial vehicle system to deviate from the unmanned aerial vehicle storage release device 7 (as shown in fig. 13).

b. The electric control energy module 5 controls the synchronous propulsion supporting rod 7-3 to move backwards along the sliding table system 7-2, the guide release cap 7-5 at the top of the synchronous propulsion supporting rod 7-3 drives the high-altitude mooring unmanned aerial vehicle system to move backwards through the guide separation head 2-3b, the synchronous propulsion supporting rod 7-3 far away from the fixed support 7-1 moves to the rear end limited position stop block effect of the sliding table system 7-2 to stop moving, at the moment, the control console 6 controls the displacement motor 3-10 to rotate, the displacement motor 3-10 drives the synchronous belt 3-7 to rotate so as to drive the synchronous sliding block 3-8 to move forwards and backwards, the synchronous sliding block 3-8 is sequentially connected with the base 3-4, the unmanned aerial vehicle 1 and the load landing gear 2, and the load landing gear 2 is connected with the synchronous propulsion supporting rod 7-3 of the unmanned aerial vehicle storage release device 7, so that when the sliding table body 3-6 moves to the release top seat 7-6, the unmanned aerial vehicle 1 moves backwards along the sliding table body 3-6, the control console 6 controls the power component 1-2 of the unmanned aerial vehicle 1 to operate, the conical guide separation head 2b drives the unmanned aerial vehicle 7 to move forwards and backwards, and the conical landing gear 2 can be released from the unmanned aerial vehicle storage release device 7.

2) High altitude reconnaissance of high altitude mooring unmanned aerial vehicle system:

a. in the high-altitude mooring unmanned aerial vehicle system, a first high-altitude reconnaissance assembly 1-6 reconnaissance a flight environment and a target object, a control console 6 controls a rotary motor 3-5 to rotate to drive a driving gear 3-3 to rotate, and then drives a ring gear 3-2 and a rack 1-1 connected in sequence to rotate, so that the unmanned aerial vehicle 1 is turned.

b. When the high-altitude mooring unmanned aerial vehicle system flies close to the wall surface 8 of the object to be detected, vacuum adsorption or electromagnetic adsorption is selected according to the material of the wall surface 8 of the object to be detected, the array ranging module 4-3e monitors the distance between the sucker 4-3a and the wall surface 8 of the object to be detected in real time, the control console 6 controls the air pump 4-3i to operate, the sucker 4-3a is adsorbed on the wall surface 8 of the object to be detected, the control console 6 also controls the swinging motor 4-1d to rotate so as to drive the second hinge 4-1b and the vacuum adsorption module 4-3 to swing left and right, active adjustment of the adsorption angle between the sucker 4-3a and the wall surface 8 of the object to be detected is realized, the guide supporting spring 4-3d between the adjacent suckers 4-3a can realize passive auxiliary adjustment of the adsorption angle between the sucker 4-3a and the wall surface 8 of the object to be detected, and finally stable attaching and attaching of the high-altitude mooring unmanned aerial vehicle system to the wall surface 8 of the object to be detected is realized, so that the inside of the wall surface 8 of the object to be detected is stabilized (as shown in fig. 14).

c. When the wall surface 8 of the object to be detected is the magnetic permeability wall surface, the array electromagnetic adsorption unit 4-4a is adsorbed on the wall surface 8 of the object to be detected, the flexible cushion 4-4b prevents the high-altitude mooring unmanned aerial vehicle system from being damaged, the flexible ribs 4-4e can realize independent adjustment of the array electromagnetic adsorption unit 4-4a along with the wall surface 8 of the object to be detected, and the stable attaching and attaching of the high-altitude mooring unmanned aerial vehicle system to the wall surface 8 of the object to be detected are realized, so that the stable detection of the interior of the wall surface 8 of the object to be detected is facilitated by the high-altitude mooring unmanned aerial vehicle system, and the second 4-2a of the high-altitude reconnaissance assembly.

The present utility model is not limited to the above embodiments, and any person who can learn the structural changes made under the teaching of the present utility model can fall within the scope of the present utility model if the present utility model has the same or similar technical solutions.

The technology, shape, and construction parts of the present utility model, which are not described in detail, are known in the art.

Claims (10)

1. The high-altitude mooring unmanned aerial vehicle system of the reconnaissance fire extinguishing robot is characterized by comprising an unmanned aerial vehicle, a load landing gear, a rotation detection assembly, a self-adaptive wall mooring assembly, an electric control energy module, a control console and an unmanned aerial vehicle storage and release device, wherein the electric control energy module is arranged on the reconnaissance fire extinguishing robot, the unmanned aerial vehicle storage and release device is electrically connected with the electric control energy module, the load landing gear is connected with the unmanned aerial vehicle storage and release device, the unmanned aerial vehicle is fixedly connected with the load landing gear, the bottom of the unmanned aerial vehicle is connected with the rotation detection assembly, and the self-adaptive wall mooring assembly is connected to the rear end of the rotation detection assembly; unmanned aerial vehicle, gyration detection subassembly, self-adaptation wall mooring component, automatically controlled energy module all are connected with the control cabinet wireless.

2. The overhead mooring unmanned aerial vehicle system of claim 1, wherein the unmanned aerial vehicle storage and release device comprises a fixed support, a sliding table system, synchronous propulsion struts, sliding guide blocks, a guide release cap and a release footstock, the fixed support is fixedly arranged at the bottom of the reconnaissance extinguishing robot, the front end of the sliding table system is fixedly arranged at the bottom of the fixed support, the sliding table system is parallel to the advancing direction of the reconnaissance extinguishing robot, the rear end of the sliding table system extends to the rear outer side of the reconnaissance extinguishing robot, limit stops are arranged at the rear end of the sliding table system, the synchronous propulsion struts are provided with an even number, the synchronous propulsion struts are arranged in a group, each group of synchronous propulsion struts are arranged along the front and rear of the sliding table system, the two synchronous propulsion struts of each group are symmetrically arranged at two sides of the sliding table system respectively, the two synchronous propulsion struts of each group can move along the sliding table system, one group of synchronous propulsion struts close to the fixed support are electrically connected with the electronic control energy module, the sliding guide blocks are arranged at the top of the synchronous propulsion struts, the sliding guide blocks are used for supporting and fixing the high mooring unmanned aerial vehicle system, one group of synchronous propulsion struts are connected with the release footstock close to the fixed support, the synchronous propulsion struts are connected with the guide caps close to the sliding guide caps, and the release the landing gear is matched with the release caps towards the top of the fixed support, and the release caps are matched with the unmanned aerial vehicle is released towards the top of the unmanned aerial vehicle.

3. The overhead mooring unmanned aerial vehicle system of claim 1 or 2, wherein the unmanned aerial vehicle comprises a frame, a power component, a propeller, an electric control energy component, an omnidirectional holder and an overhead reconnaissance component I, wherein the electric control energy component is arranged in the center of the frame, the power component is fixedly connected to the outer end of the frame, the propeller is connected with the power component and driven by the power component to operate, the power component is in wireless connection with a control console, the omnidirectional holder is arranged at the top of the center of the frame, the overhead reconnaissance component I is arranged on the omnidirectional holder, and the omnidirectional holder and the overhead reconnaissance component I are in wireless connection with the control console.

4. The overhead mooring unmanned aerial vehicle system of claim 3, wherein the load landing gear comprises a first support rod, a connecting hanging piece and a lifting support rod, wherein the lifting support rod is arranged below two sides of the unmanned aerial vehicle and symmetrically arranged, the lifting support rod is used for being in supporting contact with a sliding guide block of the unmanned aerial vehicle storage and release device, the lifting support rod can slide on the sliding guide block, the lifting support rod is connected with one end of the first support rod through the connecting hanging piece, and the other end of the first support rod is fixedly connected to the side wall of the unmanned aerial vehicle frame.

5. The overhead mooring unmanned aerial vehicle system of claim 4, wherein the connection hanging piece comprises a first transverse hanging plate, a second longitudinal connecting plate and a third vertical hanging plate, the lifting support rod comprises a support rod main body and a guide separating head, the first transverse hanging plate is fixedly connected to the end part of the first support rod, the two ends of the first transverse hanging plate are respectively connected with the top part of the third vertical hanging plate through the second longitudinal connecting plate, the bottom part of the third vertical hanging plate is fixedly connected to the support rod main body, the front end of the support rod main body is provided with the guide separating head, and the guide separating head is matched with the shape of the guide releasing cap of the unmanned aerial vehicle storage and release device.

6. The reconnaissance fire extinguishing robot's high altitude mooring unmanned aerial vehicle system of claim 3, wherein, the gyration detection subassembly includes the revolving stage, ring gear, a drive gear, a pedestal, the gyrator, the slip table body, the hold-in range, the synchronous slide, displacement detection module, the displacement motor, the gyrator, displacement motor wireless connection respectively with the control cabinet, displacement detection module fixed mounting is in the one end of slip table body, the other end that the displacement motor was fixed in the slip table body, the output shaft of displacement motor is connected with the hold-in range, the outside of slip table body is located to the hold-in range cover, synchronous slide fixed connection is on the hold-in range and can slide along the slip table body, the displacement motor drives the hold-in range and rotates and then drive synchronous slide back and forth movement, synchronous slide's top and the bottom fixed connection of base, the bottom of base still fixedly connected with gyrator, the upper surface of base is equipped with intermeshing's ring gear and drive gear, the output shaft of gyrator passes behind the base and is connected with drive gear, ring gear and the bottom fixed connection of the bottom of the frame of revolving stage, the top fixed connection in unmanned aerial vehicle, the gyrator rotates, drive gear rotates, and drives the drive gear and then drives ring gear and the frame that connects gradually rotates, realize unmanned aerial vehicle's steering.

7. The overhead mooring unmanned aerial vehicle system of claim 6, wherein the self-adaptive wall mooring component comprises an active swaying angle adjusting component, a mooring main body, a vacuum adsorption module and an electromagnetic adsorption module, wherein the vacuum adsorption module is fixedly arranged at one end of the mooring main body, the electromagnetic adsorption module is fixedly connected to the lower part of the vacuum adsorption module, the other end of the mooring main body is connected with one end of the active swaying angle adjusting component, the other end of the active swaying angle adjusting component is fixedly connected with one end of the displacement detecting module arranged on the slipway body, the active swaying angle adjusting component is in wireless connection with the control console, the top of the mooring main body is provided with a second overhead swaying component, and the second overhead swaying component is in wireless connection with the control console.

8. The overhead mooring unmanned aerial vehicle system of claim 7, wherein the active swing angle adjusting assembly comprises a first hinge, a second hinge, a hinge shaft, a swing motor, an elastic support seat, a spring and a guide boss, wherein the first hinge is fixedly connected to the end part of the slipway body, the second hinge is fixedly connected to the mooring main body, the first hinge is hinged with the second hinge through the hinge shaft, the swing motor is fixedly arranged at the bottom of the second hinge, the swing motor is in wireless connection with the control console, an output shaft of the swing motor is connected with the second hinge, the swing motor rotates to drive the second hinge and the mooring main body to swing around the hinge shaft, the elastic support seats are fixedly arranged on the slipway bodies on two sides of the first hinge respectively, the guide bosses are fixedly arranged on the mooring main bodies on two sides of the second hinge respectively, and the elastic support seats are connected with the corresponding guide bosses through the springs.

9. The overhead mooring unmanned aerial vehicle system of the reconnaissance fire extinguishing robot according to claim 7, wherein the vacuum adsorption module comprises a sucker, a main body frame, a flow guiding device, a guide supporting spring, an array ranging module, a guide spring fixing seat, a gas path pipeline, a pipeline supporting seat, an air pump, a fixing seat, a swinging shaft and a swinging bearing, wherein a plurality of suckers are arranged, the front end of each sucker is provided with a plurality of array ranging modules, the top of each sucker is provided with the flow guiding device, the flow guiding device is connected with the air pump through the gas path pipeline, the air pump is arranged on a base, the air pump is in wireless connection with a control console, the pipeline supporting seat is fixedly arranged at the bottom of the slipway body, the pipeline supporting seat is used for supporting and fixing the gas path pipeline, the main body frame is fixedly connected with a mooring main body, the rear end of each sucker is connected with the top and the bottom of the main body frame through the swinging shaft, the suckers can swing around the swinging shaft, the two sides of each sucker are respectively fixedly provided with the guide spring fixing seat, the two adjacent guide spring fixing seats are connected through the guide supporting springs, and the outermost suckers are connected with the side walls of the main body frame through the guide supporting springs.

10. The overhead mooring unmanned aerial vehicle system of the reconnaissance fire extinguishing robot according to claim 7, wherein the electromagnetic adsorption module comprises an array electromagnetic adsorption unit, flexible pads, synchronous supports, electromagnetic adsorption bases and flexible ribs, the number of the array electromagnetic adsorption units, the electromagnetic adsorption bases and the number of the suckers are consistent and correspond to each other one by one, the end face of each array electromagnetic adsorption unit is provided with the flexible pads, the rear part of each array electromagnetic adsorption unit is fixedly connected to the corresponding electromagnetic adsorption base, the electromagnetic adsorption bases are fixedly connected to the bottoms of the corresponding suckers through the synchronous supports, and the adjacent electromagnetic adsorption bases are connected through the flexible ribs.