CN220430469U - Urban flood rescue robot - Google Patents
Urban flood rescue robot Download PDFInfo
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- CN220430469U CN220430469U CN202321075724.3U CN202321075724U CN220430469U CN 220430469 U CN220430469 U CN 220430469U CN 202321075724 U CN202321075724 U CN 202321075724U CN 220430469 U CN220430469 U CN 220430469U
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- 238000004804 winding Methods 0.000 claims abstract description 59
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000009467 reduction Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses an urban flood rescue robot, which at least comprises a ship body part capable of moving on the water surface and an ejection part for ejecting a rescue net to a rescue object; the ejection part comprises an ejection box body, an ejection pipe, a node, a warhead ejection mechanism and an ejection triggering mechanism; the warhead ejection mechanism comprises an ejection spring, a warhead connecting rope, a cam steering engine, a wire winding motor, a clutch and a wire winding shaft I; the ejection triggering mechanism comprises a transverse tube, a clip spring, a clip connecting rope and a triggering steering engine; when rescue is carried out, the ejection triggering mechanism releases locking of the warhead, and the warhead impacts the node under the action of the ejection spring, so that the node carries the rescue net to pop up to the rescue object, the rescue object floats above the water surface by using the rescue net, and further a rescue task is completed.
Description
Technical Field
The utility model belongs to the field of rescue robots, and particularly relates to an urban flood rescue robot.
Background
The time from flood to rescue ending is precious, a large amount of manpower and material resources are needed in a traditional rescue mode, and the urban roads and the street lanes with large and small sizes greatly reduce the search and rescue efficiency, consume too much rescue golden time, and lead to untimely and incomplete rescue.
The flood rescue robot is a robot specially designed for disaster rescue. At present, flood rescue robots generally take the following forms: 1. a water surface robot: the portable camera and the remote controller are suitable for searching and rescuing in shallow water areas. 2. An underwater robot: the robot comprises a manned type and an unmanned type, and can complete the tasks of searching, salvaging, repairing and the like by carrying an underwater camera and a mechanical arm. 3. Unmanned aerial vehicle: the water surface inspection and searching can be carried out in the air, and submerged people and objects can be quickly found by carrying equipment such as infrared rays, thermal imaging and the like.
The existing water surface rescue robot can only move around a rescue target to finish rescue tasks, for example, a water surface rescue robot disclosed by publication No. CN215663933U can travel around a person falling into water, and the person falling into water is required to climb up a ship body independently, so that the person falling into water is driven to approach the shore, and then the person falling into water is searched and rescued; the rescue work cannot be carried out on people falling into water, which cannot approach the ship body, or people and articles, which cannot climb up the rescue ship independently.
Compared with the traditional manual rescue mode, the robot has the advantages of high speed, high efficiency, high safety and the like, and can effectively improve the rescue efficiency and reduce the waste of manpower and financial resources, thereby better protecting the life and property safety of people.
Disclosure of Invention
The purpose of the utility model is that: the utility model provides a city flood disaster rescue robot, this robot can independently advance on the surface of water, through catapulting the rescue net to rescue object department, makes the rescue object float above the surface of water with the rescue net, and then accomplishes the rescue task.
In order to achieve the technical purpose, the utility model adopts the following technical scheme:
the urban flood rescue robot at least comprises a hull part capable of moving on the water surface and an ejection part for ejecting a rescue net to a rescue object; the ejection part comprises an ejection box body, an ejection pipe, a node, a warhead ejection mechanism and an ejection triggering mechanism; the ejection pipe is fixedly arranged outside the ejection box body; the node is detachably arranged at the outer end of the ejection pipe and is connected with the rescue net; the warhead is arranged in the ejection tube; the warhead ejection mechanism comprises an ejection spring, a warhead connecting rope, a cam steering engine, a wire winding motor, a clutch and a wire winding shaft I; the ejection spring is arranged below the warhead; the cam steering engine, the wire winding motor, the clutch and the wire winding shaft I are arranged in the ejection box body, and the cam steering engine is used for controlling the wire winding motor to move so that the output end of the wire winding motor is combined with or separated from the input end of the clutch; the clutch output end is connected to the winding shaft I; the winding shaft I is connected to the warhead through a warhead connecting rope so as to pull the warhead to move to compress the ejection spring; the ejection triggering mechanism comprises a transverse tube, a clip spring, a clip connecting rope and a triggering steering engine; the horizontal tube is fixed on the side part of the ejection tube; the clip and the clip spring are arranged in the transverse tube, and the clip spring is used for pushing the clip out of the ejection tube to clamp the warhead; the trigger steering engine is arranged in the ejection box body, and the output end of the trigger steering engine is connected with the clamp through the clamp connecting rope; the trigger steering engine pulls the clip back to the transverse pipe through the clip connecting rope to enable the warhead to bounce and strike the node, so that the node is separated from the ejection pipe and the rescue net is driven to pop up;
further, the hull part is provided with a cradle head and a cradle head driving steering engine for driving the cradle head to rotate; the ejection box body is connected with the cradle head through a connecting rod; steering engines are arranged between the ejection box body and the connecting rod, and between the connecting rod and the cradle head so as to adjust the elevation angle of the ejection box body;
further, the hull section includes a bow, a hull, and a stern; the cradle head is arranged above the ship head, and a rudder for controlling the advancing direction of the ship body is arranged below the ship head; the ship body is provided with a take-up shaft II which is connected with the rescue net through a traction rope; the stern is provided with a propeller;
further, the clutch comprises a plurality of reduction gears which are meshed in sequence; a driven friction plate is fixed on the end face of the first-stage reduction gear; an active friction plate matched with the winding motor is fixed at the output end of the winding motor;
further, the wire winding motor is arranged in a motor seat and can slide along the motor seat; a compression spring used for pushing the wire winding motor to be always in contact with a cam of the cam steering engine is arranged in the motor seat;
further, the robot further includes an image pickup section provided on the hull section; the camera shooting part comprises a bracket arranged on the cradle head and a camera arranged on the bracket;
further, the rescue net comprises a latticed rope body and an air cushion arranged in the latticed rope body; the air cushion expands when meeting water.
The beneficial effects of the utility model are as follows: when the urban flood rescue robot is used for rescue operation; the locking of the clip to the warhead is released through the triggering mechanism, so that the warhead ejects and impacts the node under the action of the ejection spring, and the node is separated from the ejection pipe and carries the rescue net to be ejected to the rescue object position; and then the wire is wound by the winding shaft II, so that the front two nodes of the rescue net are gathered together, the rescue net is placed under the person to be rescued, and then the rescue net is inflated when meeting water, so that the person falling into water is successfully rescued. Therefore, compared with the existing water surface rescue robot, the rescue robot can greatly improve the rescue range, so that rescue tasks can be completed better and faster.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of the structure of the ejector according to the present utility model;
FIG. 3 is a schematic view of the internal structure of the ejector part of the present utility model;
FIG. 4 is a schematic view of the internal layout of the ejection tank of the present utility model;
FIG. 5 is a schematic structural view of the clutch of the present utility model;
FIG. 6 is a schematic diagram of the working principle of the cam motor and the wire winding motor of the present utility model;
fig. 7 is a schematic structural view of the rescue net of the present utility model;
fig. 8 is a schematic structural view of an image pickup section of the present utility model;
FIG. 9 is a schematic view of the hull section of the present utility model;
FIG. 10 is a schematic view of the internal structure of the bow of the present utility model;
FIGS. 11a, 11b are schematic views of the hull of the present utility model;
fig. 12a and 12b are schematic views of the stern structure of the present utility model.
Detailed Description
In order that those skilled in the art can better understand the present utility model, the following description of the technical scheme of the present utility model will be provided with reference to examples.
As shown in fig. 1, the urban flood rescue robot of the present embodiment includes a hull part 3 that can travel on the water surface, an ejection part 1 for ejecting a rescue net to a rescue object, and an image pickup part 2 for collecting surrounding image information.
As shown in fig. 2, the ejection part 1 comprises an ejection box body 1-1-1, an ejection pipe, a node 1-2-1, a warhead 1-2-2, a warhead ejection mechanism and an ejection triggering mechanism; the four ejection pipes are fixedly arranged outside the ejection box body 1-1-1 and incline to the periphery, so that the rescue net can be unfolded in time after being ejected; the hull part 3 is provided with a cradle head and a cradle head driving steering engine for driving the cradle head to rotate; the ejection box body 1-1-1 is connected with the cradle head through a connecting rod 1-1-2; steering engines 1-1-3 are arranged between the ejection box body 1-1 and the connecting rod 1-1-2 as well as between the connecting rod 1-1-2 and the cloud deck so as to adjust the elevation angle of the ejection box body 1-1, and the cloud deck drives the steering engines to control the cloud deck to rotate so as to adjust the ejection direction of the rescue net.
As shown in fig. 3, the node 1-2-1 is detachably arranged at the outer end of the ejection pipe and is connected with the rescue net through a string; the warhead 1-2-2 is of a cylindrical structure, is arranged inside the ejection tube and can slide along the ejection tube; the warhead ejection mechanism comprises an ejection spring 1-2-3, a warhead connecting rope 1-2-4, a cam steering engine 1-2-9, a wire winding motor 1-2-12, a clutch 1-2-10 and a wire winding shaft I1-2-8; the ejection spring 1-2-3 is arranged below the warhead 1-2-2; the warhead ejection mechanism is used for pulling the warhead 1-2-2 to press down so as to compress the ejection spring 1-2-3, and then the ejection trigger mechanism is used for locking the position of the warhead 1-2-2; when the fire-fighting device needs to be launched, the ejection triggering mechanism releases the locking of the warhead 1-2-2, and the warhead 1-2-2 impacts the node 1-2-1 under the action of the ejection spring 1-2-3, so that the node 1-2-1 carries the rescue net to be ejected. The ejection triggering mechanism comprises a transverse tube, a clip 1-2-6, a clip spring 1-2-7, a clip connecting rope 1-2-5 and a triggering steering engine 1-2-11; as shown in fig. 3, the horizontal tube is fixed on the side part of the ejector tube and is communicated with the inside of the ejector tube; the clip 1-2-6 and the clip spring 1-2-7 are arranged in the transverse tube, and the clip spring 1-2-7 is used for pushing the clip 1-2-6 out of the ejection tube to clamp the warhead 1-2-2; the trigger steering engine 1-2-11 is arranged in the ejection box body 1-1, and the output end of the trigger steering engine 1-2-11 is connected with the clamp 1-2-6 through the clamp connecting rope 1-2-5; the trigger steering engine 1-2-11 pulls the clip 1-2-6 back to the transverse tube through the clip connecting rope 1-2-5 to enable the bullet 1-2-2 to bounce and strike the node 1-2-1.
As shown in fig. 4, the cam steering engine 1-2-9, the wire winding motor 1-2-12, the clutch 1-2-10 and the wire winding shaft i 1-2-8 are installed in the ejection box 1-1, and the cam steering engine 1-2-9 is used for controlling the wire winding motor 1-2-12 to move so as to enable the output end of the wire winding motor 1-2-12 to be combined with or separated from the input end of the clutch 1-2-10; as shown in fig. 6, the wire winding motor 1-2-12 is installed in a motor base and can slide along the motor base; the motor seat is internally provided with a compression spring 1-2-13 for pushing a wire winding motor 1-2-12 to keep contact with a cam of a cam steering engine 1-2-9 all the time, the cam steering engine 1-2-9 comprises a steering engine and a cam fixedly arranged on a steering engine rotating shaft, the two wire winding motors 1-2-12 are symmetrically arranged on two sides of the cam, and the cam is used for pushing the wire winding motor 1-2-12 to slide in the motor seat; as shown in fig. 5, the clutches 1-2-10 include three sequentially engaged reduction gears; a driven friction plate is fixed on the end face of the first-stage reduction gear; the output ends of the winding motors 1-2-12 are fixed with driving friction plates matched with the winding motors; the output end of the clutch 1-2-10 is connected with the winding shaft I1-2-8; when the cam steering engine 1-2-9 pushes the wire winding motor 1-2-12 to slide so that the driving friction plate and the driven friction plate are mutually engaged, the power of the wire winding motor 1-2-12 can be transmitted to the wire winding shaft I1-2-8 through the clutch 1-2-10, and the wire winding shaft I1-2-8 is connected to the warhead 1-2-2 through the warhead connecting rope 1-2-4, so that the wire winding motor 1-2-12 can pull the warhead 1-2-2 to move downwards so as to compress the ejection spring 1-2-3.
As shown in fig. 7, the rescue net comprises a latticed rope body and an air cushion arranged in the latticed rope body; when the rescue net is thrown down, water is immersed into the air cushion from one side of the rope body to react with the chemical substances to generate gas, so that the gas rapidly expands and is extruded by other adjacent air cushions, the air cushion forms a seal, and floats on the water surface.
As shown in fig. 8, the camera part 2 includes a bracket 2-2 arranged on a pan-tilt and a camera 2-1 arranged on the bracket 2-2, and the pan-tilt is driven to rotate by a pan-tilt motor to control the shooting direction of the camera 2-1 and the ejection direction of the rescue net; the camera 2-1 is arranged on the bracket 2-2 and used for searching disaster-stricken personnel.
As shown in fig. 9, the hull part includes a bow 3-1, a hull 3-2 and a stern 3-3; as shown in fig. 10, the pan-tilt is disposed above the bow 3-1, a steering engine groove 3-1-3 for fixedly mounting a pan-tilt steering engine 2-3 is disposed in the bow 3-1, a tray 3-1-2 for supporting the pan-tilt is disposed at the top of the bow 3-1, a rudder 3-1-4 for controlling the advancing direction of the ship body is disposed below the bow 3-1, a shell 3-1-5 with a U-shaped pipe structure is disposed at the front end of the bow 3-1, so that resistance of running on the water surface can be reduced and floating objects can be pulled out; as shown in fig. 11a/b, the hull 3-2 includes two hull barrels 3-2-1 arranged in parallel and a winding shaft ii 3-2-2 connected between the two hull barrels 3-2-1, a motor slot 3-2-4 is arranged in the hull barrels 3-2-1 to mount a winding motor for driving the winding shaft ii 3-2-2 to rotate, the winding shaft ii 3-2-2 is connected with a rescue net through a traction rope 3-2-3, two guide holes 3-1-1 for allowing the traction rope 3-2-3 to pass through are further arranged on the bow 3-1 to control the movement direction of the traction rope 3-2-3 during winding, and when the winding shaft ii 3-2-2 rotates, the rear side part of the rescue net is pulled through the traction rope 3-2-3 to enable the net rescue rope to be placed below a disaster-stricken; handles 3-2-5 which are convenient to carry are arranged on two sides of the ship body 3-2; as shown in fig. 12a/b, the stern 3-3 is provided with two propellers comprising a stern shell 3-3-1 with a plurality of holes distributed therein and a propeller arranged in the stern shell 3-3-1 and a driving motor 3-3-2 for driving the propeller to rotate.
The working principle of the flood rescue robot of this embodiment is as follows:
wait for send state: the cam steering engine 1-2-9 rotates to enable the wire winding motor 1-2-12 to extend into the input end of the clutch 1-2-10, friction plates at the input end of the clutch 1-2-10 are connected, the wire winding motor 1-2-12 rotates under the action of friction force, gears in the whole clutch 1-2-10 rotate to enable the wire winding shaft I1-2-8 to rotate, the wire winding warhead connecting rope 1-2-4 pulls the warhead 1-2-2 to downwards to the clamp 1-2-6, the end portion of the clamp 1-2-6 is pushed into the ejection tube under the elasticity of the clamp spring 1-2-7, and when the warhead 1-2-2 reaches the bottommost portion, the clamp 1-2-6 just clamps the warhead 1-2-2. At the moment, the cam steering engine 1-2-9 rotates to enable the wire winding motor 1-2-12 to withdraw from the inside of the input end of the clutch 1-2-10.
Emission state: triggering steering engine 1-2-11 to rotate and pull clip connecting rope 1-2-5, making clip 1-2-6 withdraw into horizontal tube, bullet 1-2-2 pops out, clutch 1-2-10 gear is in idle state, reduces external force consumption, makes rescue net catapulting distance wider.
Executing part of work content:
the clip connecting rope 1-2-5 of the connecting clip 1-2-6 retracts into the transverse tube under the pulling of the trigger steering engine 1-2-11, the warhead 1-2-2 pops out instantly, the middle node 1-2-1 pops out and drives the rescue net to pop out, after a certain time is reached, the winding shaft II 3-2-2 starts winding, the two nodes 1-2-1 in front of the rescue net are recovered, the rescue net is placed under a person to be rescued, and then the rescue net is inflated when meeting water, so that the person falling into water is successfully rescued.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered by the scope of the claims of the present utility model.
Claims (7)
1. A city flood rescue robot which is characterized in that: at least comprises a ship body part capable of moving on the water surface and an ejection part for ejecting the rescue net to a rescue object;
the ejection part comprises an ejection box body, an ejection pipe, a node, a warhead ejection mechanism and an ejection triggering mechanism; the ejection pipe is fixedly arranged outside the ejection box body;
the node is detachably arranged at the outer end of the ejection pipe and is connected with the rescue net; the warhead is arranged in the ejection tube; the warhead ejection mechanism comprises an ejection spring, a warhead connecting rope, a cam steering engine, a wire winding motor, a clutch and a wire winding shaft I; the ejection spring is arranged below the warhead; the cam steering engine, the wire winding motor, the clutch and the wire winding shaft I are arranged in the ejection box body, and the cam steering engine is used for controlling the wire winding motor to move so that the output end of the wire winding motor is combined with or separated from the input end of the clutch; the clutch output end is connected to the winding shaft I; the winding shaft I is connected to the warhead through a warhead connecting rope so as to pull the warhead to move to compress the ejection spring;
the ejection triggering mechanism comprises a transverse tube, a clip spring, a clip connecting rope and a triggering steering engine; the horizontal tube is fixed on the side part of the ejection tube; the clip and the clip spring are arranged in the transverse tube, and the clip spring is used for pushing the clip out of the ejection tube to clamp the warhead; the trigger steering engine is arranged in the ejection box body, and the output end of the trigger steering engine is connected with the clamp through the clamp connecting rope; the trigger steering engine pulls the clip back to the transverse pipe through the clip connecting rope to enable the warhead to bounce and strike the node, so that the node is separated from the ejection pipe and the rescue net is driven to pop up.
2. The urban flood rescue robot of claim 1, wherein: the hull part is provided with a cradle head and a cradle head driving steering engine for driving the cradle head to rotate; the ejection box body is connected with the cradle head through a connecting rod; steering engines are arranged between the ejection box body and the connecting rod, and between the connecting rod and the cradle head so as to adjust the elevation angle of the ejection box body.
3. The urban flood rescue robot of claim 2, wherein: the hull section includes a bow, a hull and a stern; the cradle head is arranged above the ship head, and a rudder for controlling the advancing direction of the ship body is arranged below the ship head; the ship body is provided with a take-up shaft II which is connected with the rescue net through a traction rope; the stern is equipped with the propeller.
4. The urban flood rescue robot of claim 1, wherein: the clutch comprises a plurality of reduction gears which are meshed in sequence; a driven friction plate is fixed on the end face of the first-stage reduction gear; and an active friction plate matched with the winding motor is fixed at the output end of the winding motor.
5. The urban flood rescue robot of claim 1, wherein: the wire winding motor is arranged in a motor seat and can slide along the motor seat; and a compression spring used for pushing the wire winding motor to be always in contact with the cam of the cam steering engine is arranged in the motor seat.
6. The urban flood rescue robot of claim 1, wherein: the robot further comprises an image pick-up part arranged on the hull part; the camera shooting part comprises a bracket arranged on the cradle head and a camera arranged on the bracket.
7. The urban flood rescue robot of claim 2, wherein: the rescue net comprises a latticed rope body and an air cushion arranged in the latticed rope body; the air cushion expands when meeting water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321075724.3U CN220430469U (en) | 2023-05-08 | 2023-05-08 | Urban flood rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321075724.3U CN220430469U (en) | 2023-05-08 | 2023-05-08 | Urban flood rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220430469U true CN220430469U (en) | 2024-02-02 |
Family
ID=89688918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321075724.3U Active CN220430469U (en) | 2023-05-08 | 2023-05-08 | Urban flood rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220430469U (en) |
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2023
- 2023-05-08 CN CN202321075724.3U patent/CN220430469U/en active Active
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