Emergency rescue robot device

Abstract

The present invention discloses a disaster relief robot device, which relates to the technical field of disaster relief. The key points of its technical solution include structural components, and there are several of them. The length directions of the several structural components are the same, and the several structural components are arranged along the length direction. The two ends after the arrangement of the several structural components are the front end and the rear end respectively; two adjacent structural components can approach and move away from each other in the length direction of the structural component. Fixed rods that can move up and down are provided at the ends of the two structural components located at both ends and can be inserted into the ground downward. During the movement, the structural components are in a straight line and there will be no large-angle deflection during the movement, and it can also move in relatively small holes.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency rescue and disaster relief. More specifically, it relates to a robot device for emergency rescue and disaster relief. Background Art

[0002] Intelligent robots have begun to replace humans in performing many types of work, including some high-risk actions. Since intelligent robots have relatively more powerful structural functions compared to humans and can adapt to more dangerous scenarios than humans. Rescue robots are a common type of intelligent robot. Their application in emergency rescue and disaster relief work can not only improve the work efficiency of emergency rescue and disaster relief but also effectively reduce the casualty rate of emergency rescue and disaster relief workers.

[0003] Most of the intelligent robots used in existing emergency rescue and disaster relief walk in a snake-like or tracked form when walking on land. However, whether it is snake-like or tracked walking, it is not easy to drill into small holes. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a robot device for emergency rescue and disaster relief. During the movement process, its structural components are in a straight line and there will be no large-angle deflection during the movement process, and it can also move in small holes.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A robot device for emergency rescue and disaster relief, including a number of structural components. The length directions of the several structural components are the same, and the several structural components are arranged along the length direction. The two ends after the arrangement of the several structural components are the front end and the rear end respectively;

[0006] Adjacent two structural components can approach and move away from each other in the length direction of the structural components. At one end of the two structural components located at both ends that face away from each other, there are both vertically telescopic fixed rods, and the fixed rods can be inserted into the ground downward.

[0007] By adopting the above technical solution, when walking, the front fixed rod is inserted into the ground, the rear fixed rod retracts, and then the adjacent two structural components move towards the direction of approaching each other, pulling the rear fixed rod forward. Then the rear fixed rod is inserted into the ground, the front fixed rod retracts, and the adjacent two structural components move towards the direction of moving away from each other, pushing the front fixed rod forward to achieve movement; when crawling on land, it moves by imitating the crawling principle of a caterpillar; during the movement process, the structural components are in a straight line and there will be no large-angle deflection during the movement process, and it can also move in small holes.

[0008] The present invention is further configured such that: among two adjacent structural components, a threaded sleeve is provided in the structural component closer to the rear end, and a transmission rod is provided on the structural component closer to the front end. The transmission rod extends into the threaded sleeve from the end closer to the front end of the threaded sleeve and is threadedly connected to the threaded sleeve.

[0009] By adopting the above technical solution, when the transmission rod or the threaded sleeve rotates, the sliding between two adjacent structural components can be realized.

[0010] The present invention is further configured such that: a receiving hole for receiving the transmission rod is provided on the structural component provided with the transmission rod, and the transmission rod can be received into the receiving hole.

[0011] By adopting the above technical solution, when not in use, the transmission rod is received into the receiving hole to store the transmission rod.

[0012] The present invention is further configured such that: a power assembly is provided on the structural component provided with the transmission rod, and the power assembly is used to drive the transmission rod to be received into and extend out of the receiving hole.

[0013] The present invention is further configured such that: two adjacent structural components can not only slide along the length direction of the structural component, but also rotate around the vertical axis;

[0014] A flight fan blade for driving the structural component to fly is provided at the top of the structural component.

[0015] By adopting the above technical solution, when the robot needs to fly, the structural component is rotated so that the rotation axes of the flight fan blades on several different structural components are not in the same vertical plane, so that the robot can fly stably under the action of the flight fan blades.

[0016] The present invention is further configured such that: the structural component includes a first component near the front end position and a second component near the rear end. The first component and the second component are fixedly connected together and the bottom of the first component is flush with the top of the second component.

[0017] By adopting the above technical solution, when the structural component is rotated, the second component of the structural component located at the rear end can be rotated to the bottom of the first component of the structural component located at the front end, increasing the stability during flight.

[0018] The present invention is further configured such that: auxiliary fan blades are provided on the same side of the structural component.

[0019] By adopting the above technical solution, by providing the auxiliary fan blades, the flight direction can be guided during the flight of the robot, and when water movement is required, by rotating the structural component and through the cooperation between the auxiliary fan blades, the water movement of the robot can be realized.

[0020] The present invention is further configured as follows: It further includes a flexible shaft for driving the auxiliary fan blade to rotate;

[0021] A power shaft for driving the flexible shaft to rotate;

[0022] A guide sleeve sleeved outside the flexible shaft and with one end of the power shaft close to the flexible shaft extending into the guide sleeve;

[0023] A connecting sleeve made of a flexible material. The power shaft passes through the connecting sleeve;

[0024] And an adjusting assembly for adjusting the axis of the guide sleeve by changing the shape of the connecting sleeve.

[0025] By adopting the above technical solution, when moving on water, the rotation axis of the auxiliary fan blade facing the moving direction is the same as the moving direction. With the fan blade, the axis of the guide sleeve is adjusted by changing the shape of the connecting sleeve through the adjusting assembly, thereby changing the rotation axis of the auxiliary fan blade. It can maintain the moving direction through the other auxiliary fan blades and can also drive the robot to rotate on water by changing the rotation axes of the other auxiliary fan blades.

[0026] The present invention is further configured as follows: The adjusting assembly includes an electromagnet fixedly connected to one end of the power shaft close to the flexible shaft and located in the guide sleeve;

[0027] An eccentric block shaft fixedly connected to the side of the electromagnet facing away from the flexible shaft. The eccentric block shaft is located at one end of the guide sleeve close to the connecting sleeve and an elastic material is arranged outside the eccentric block shaft;

[0028] And an eccentric block sleeved on the power shaft and eccentrically arranged relative to the axis of the power shaft. The eccentric block is located at one end of the connecting sleeve close to the guide sleeve and can be attracted by the electromagnet under the magnetic force of the electromagnet. When the eccentric block is attracted by the electromagnet, the eccentric block shaft is embedded in the eccentric block and the eccentric block shaft can drive the eccentric block to rotate together.

[0029] By adopting the above technical solution, when it is necessary to change the rotation direction of the auxiliary fan blade, the electromagnet is energized to generate a magnetic force to attract the eccentric block to the electromagnet, so that the eccentric block shaft is embedded in the eccentric block. At this time, the eccentric block also moves from the connecting sleeve to the guide sleeve. At this time, the power shaft rotates, and the rotation of the eccentric block is used to push the axis of the guide shaft to change. The guide sleeve drives the rotation axis of the auxiliary fan blade to change and can drive the connecting sleeve to deform; after adjusting the rotation axis of the auxiliary fan blade to the appropriate direction, the electromagnet is powered off, and under the action of the elastic material, the eccentric block is separated from the eccentric block shaft, so that the eccentric block slides into the connecting sleeve.

[0030] The present invention is further configured to include: a shaft sleeve, which is rotatably connected to the guide sleeve, and a plurality of auxiliary blades can rotate relative to the shaft sleeve;

[0031] A plurality of sliding grooves are formed at one end of the shaft sleeve close to the auxiliary fan blades. The plurality of sliding grooves correspond to the plurality of fan blades one by one. The corresponding auxiliary fan blades are embedded in the corresponding sliding grooves, and the auxiliary fan blades can rotate in the corresponding sliding grooves.

[0032] A clamping groove is provided on the sleeve on the side of the sliding groove away from the rotation direction of the shaft, an elastic plate fixedly connected to the sleeve is provided in the clamping groove, and an elastic part is fixedly connected to the side of the elastic plate away from the fan blade. When the fan blade rotates to the end of the clamping groove away from the sliding groove, the elastic plate is pressed against the fan blade under the action of the elastic part.

[0033] By adopting the above technical solution, when the auxiliary fan blade slides into the abutting groove and abuts against the step portion, the shaft sleeve can drive the auxiliary fan blade to rotate through the step portion. And when rotating, the elastic member presses the elastic plate against the auxiliary fan blade through its own elastic force, so that the fan blade is not easy to rotate relative to the shaft sleeve during the rotation process; when the robot is in the ground walking state, the shaft sleeve does not rotate, and if the end of the auxiliary fan blade away from the fan shaft collides with a foreign object, the auxiliary fan blade can rotate in the space between the abutting groove and the sliding groove, so that the fan blade can pass over the foreign object through its own rotation.

[0034] In summary, compared with the prior art, the present invention has the following beneficial effects: when the present invention is walking, the front fixing rod is inserted into the ground, the rear fixing rod is contracted, and then the two adjacent structural components move in a direction toward each other, pulling the rear fixing rod to move forward, and then the rear fixing rod is inserted into the ground, the front fixing rod is contracted, the two adjacent structural components move in a direction away from each other, and the front fixing rod is pushed forward to achieve movement. During the movement, the structural components are in a straight line and no large-angle deflection will occur during the movement, and movement can also be achieved in smaller holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of an embodiment;

[0036] Figure 2 A cross-sectional view of a receiving hole and a threaded sleeve is shown in an embodiment;

[0037] Figure 3 A cross-sectional view of a rotating shaft is shown in an embodiment;

[0038] Figure 4 A schematic diagram of a chute is shown in the embodiment;

[0039] Figure 5 is a schematic diagram of an embodiment in a flight state;

[0040] Figure 6 Schematic diagram showing the adjustment component in the embodiment;

[0041] Figure 7 Schematic diagram showing the bushing in the embodiment;

[0042] Figure 8 Schematic diagram showing the elastic plate in the embodiment.

[0043] In the figure: 1, structural component; 11, first component; 12, second component; 13, accommodation hole; 131, storage hole; 132, limiting hole; 1321, gear; 14, sliding groove; 141, anti - detachment groove; 2, fixing rod; 3, flying fan blade; 4, auxiliary fan blade; 41, bushing; 411, sliding groove; 412, abutting groove; 42, shaft body; 43, elastic plate; 44, elastic member; 5, transmission rod; 51, threaded rod; 52, rack; 6, threaded sleeve; 7, rotating shaft; 71, anti - detachment block; 8, power shaft; 81, fixing sleeve; 82, connecting sleeve; 83, guiding sleeve; 84, flexible shaft; 85, adjustment component; 851, electromagnet; 852, eccentric block shaft; 853, eccentric block; 854, stop block. Detailed implementation manner

[0044] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only references to the directions in the drawings. Therefore, the directional terms used are for illustration rather than to limit the present invention.

[0045] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0046] Embodiment: A rescue and disaster relief robot, see attached Figure 1 , including a plurality of structural components 1. The length directions of the plurality of structural components 1 are all the same and the plurality of structural components 1 are arranged along the length direction of the structural component 1 itself; the two ends after the arrangement of the plurality of structures are the front end and the rear end respectively, that is, the two ends of a straight line formed by connecting a plurality of structural components 1 are the front end and the rear end respectively. Two adjacent structural components 1 can approach and move away from each other in the length direction of the structural component 1. Fixing rods 2 that can move up and down are provided at the mutually facing ends of the two structural components 1 at both ends, and the fixing rods 2 can be inserted downward into the ground.

[0047] When moving on the ground, the fixed rod 2 at the front end first inserts downward into the ground, the fixed rod 2 at the rear end contracts, and then two adjacent structural components 1 slide towards each other. During the sliding process, the fixed rod 2 at the rear end is driven to slide towards the front end; then the fixed rod 2 at the rear end inserts downward into the ground, the fixed rod 2 at the front end contracts upward, and then two adjacent structural components 1 slide away from each other, thereby pushing the fixed rod 2 at the front end forward; the above actions are performed alternately to achieve the forward movement of the robot. And during the forward movement, the overall movement amplitude of the robot is small, and the angle deflection generated is also small, so that the robot can move in a relatively small hole.

[0048] In some embodiments, the sliding of two adjacent structural components 1 is realized by means of cylinders, hydraulic cylinders, lead screws, etc.

[0049] See Appendix Figure 1 and Appendix Figure 2 In this embodiment, among two adjacent structural components 1, a threaded sleeve 6 is provided in the structural component 1 closer to the rear end, and a transmission rod 5 is provided on the structural component 1 closer to the front end. The transmission rod 5 extends into the threaded sleeve 6 from one end of the threaded sleeve 6 closer to the front end and is threadedly connected to the threaded sleeve 6.

[0050] In some embodiments, the threaded sleeve 6 is fixed in the structural component 1, and the transmission rod 5 is rotatably connected to the structural component 1. When two adjacent structural components 1 need to slide, the transmission rod 5 rotates, and through the cooperation between the transmission rod 5 and the threaded sleeve 6, the two structural components 1 are driven to slide.

[0051] In this embodiment, the threaded sleeve 6 is rotatably connected in the structural component 1, and the transmission rod 5 can be fixed on the structural component 1; when two structural components 1 need to move, the threaded sleeve 6 rotates, and through the cooperation between the threaded sleeve 6 and the transmission rod 5, the two structural components 1 are driven to slide; a power component is provided on one side of the threaded sleeve 6 and is fixed on the structural component 1 and drives the threaded sleeve 6 to rotate. In this embodiment, the power component is a servo motor.

[0052] Preferably, in this embodiment, one end of the transmission rod 5 closer to the rear end is a threaded rod 51, and the threaded rod 51 can be inserted into the threaded sleeve 6 and cooperate with the threaded sleeve 6; in order to protect the transmission rod 5 when the robot is not in use, a receiving hole 13 is opened on the structural component 1 provided with the transmission rod 5, and the transmission rod 5 can be received in the receiving hole 13 when not in use; a power component for receiving the transmission rod 5 into the receiving hole 13 is provided on the structural component 1 provided with the transmission rod 5.

[0053] In some embodiments, the transmission rod 5 is actuated by a power assembly such as a hydraulic cylinder or a pneumatic cylinder to retract the transmission rod 5 into the receiving hole 13 and extend it from the receiving hole 13.

[0054] In this embodiment, the transmission rod 5 near the front end of the threaded rod 51 is a rack 52. A gear 1321 that meshes with the rack 52 is provided on the structural member 1 provided with the transmission rod 5, and the power assembly is the gear 1321.

[0055] Preferably, in this embodiment, the part of the receiving hole 13 near the rear end is a storage hole 131 for receiving the threaded rod 51, the part of the receiving hole 13 near the storage hole 131 is a limiting hole 132 for limiting the sliding direction of the rack 52, and the remaining part of the receiving hole 13 is for receiving the inserted rack 52. The gear 1321 is provided at the limiting hole 132; preferably, in the structural member 1 provided with both the threaded sleeve 6 and the receiving hole 13, the receiving hole 13 communicates with the threaded sleeve 6, 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 cooperation of the threaded sleeve 6 and the receiving hole 13.

[0056] Preferably, in this embodiment, adjacent structural members 1 can not only slide along the length direction of the structural member 1, but also rotate around the vertical axis; a plurality of flight fan blades 3 are provided at the top of each structural member 1, and the plurality of flight fan blades 3 located at the top of the same structural member 1 rotate around the same vertical axis. The plurality of flight fan blades 3 on the same structural member 1 are rotated by the same power member. Preferably, in this embodiment, the power member is a servo motor.

[0057] When the robot needs to fly, first retract the transmission rod 5 into the receiving hole 13, and rotate the adjacent two structural members 1 so that the rotation axes of the flight fan blades 3 on several different structural members 1 are not in the same vertical plane, so that the flight fan blades 3 can stably drive the robot to fly when rotating.

[0058] Preferably, in this embodiment, the structural member 1 includes two parts, namely a first component 11 and a second component 12. In the same structural member 1, the first component 11 and the second component 12 are fixedly connected together. The first component 11 of the same structural member 1 is located at one end of the second component 12 near the front end, and the bottom of the first component 11 is flush with the top of the second component 12.

[0059] When rotating the structural member 1 during flight, the second component of the structural member 1 near the rear end rotates to the bottom of the first component 11 of the structural member 1 near the front end and makes them fit together to increase the stability during flight.

[0060] Preferably, in this embodiment, the accommodating hole 13, the transmission rod 5 and the threaded sleeve 6 are all arranged on the first component 11; the threaded sleeve 6 is located at the end of the first component 11 close to the front end, and the accommodating hole 13 is located at the end of the first component 11 close to the rear end.

[0061] See attached Figure 3 and attached Figure 4 , among the two adjacent structural components 1, the second component 12 of the structural component 1 near the front end is rotatably connected with the first component 11 of the structural component 1 near the rear end; in order to prevent the rotating structure from affecting the sliding of the two adjacent structural components 1, in this embodiment, the rotating connection relationship between the first component 11 and the second component 12 is realized by 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 component 1; preferably, in this embodiment, the rotating shaft 7 can slide on the top of the second component 12 along the length direction of the structural component 1, specifically, the top of the second component 12 is provided with a slide groove 14 whose length direction is the same as the length direction of the structural component, and one end of the bottom of the rotating shaft 7 extends into the slide groove 14 to slide.

[0062] In some embodiments, the rotating shaft 7 is fixedly connected to the second component 12, and a slider is provided in the slide groove 14 and slides along the length direction of the slide groove 14. The rotating shaft 7 is rotatably connected to the slider and is driven to rotate by a power member on the slider, and the power member is a servo motor; when two adjacent structural components 1 need to rotate, the power member drives the rotating shaft 7 to rotate, thereby driving the two structural components 1 to rotate.

[0063] In this embodiment, the rotating shaft 7 is rotatably 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, the two sides of the rotating shaft 7 are in contact with the two sides of the slide groove 14, so that the rotating shaft 7 can only slide in the slide groove 14 but cannot rotate in the slide groove 14. A power member that drives the rotating shaft 7 to rotate is fixed on the first component 11, and preferably, the power member is a servo motor. When two adjacent structural components 1 need to rotate, the power member drives the rotating shaft 7 to rotate, and the rotation of the two structural components 1 is realized through the rotating shaft 7.

[0064] In some embodiments, anti-slip grooves 141 are provided on both sides of the slide groove 14, and the length direction of the anti-slip grooves 141 is parallel to the length direction of the slide groove 14. Anti-slip blocks 71 fixedly connected to the rotating shaft 7 are provided in the anti-slip grooves 141; the anti-slip blocks 71 slide in the anti-slip grooves 141 along the length direction of the anti-slip grooves 141.

[0065] See attached Figure 5, preferably, in this embodiment, three structural components 1 are provided. During flight, the three structural components 1 are rotated so that the end of the second component 12 of the rear structural component 1 near the rear rotates to the bottom of the end of the second component 12 of the front structural component 1 near the front. During flight, the three structural components 1 form a triangle, making the flight more stable. Preferably, in this embodiment, the flight fan blades 3 on top of each structural component 1 are located at the end near the front of the top of the first component 11.

[0066] In this embodiment, a number of auxiliary fan blades 4 are provided on the same side of the three structural components 1, and the several auxiliary fan blades 4 on the same structural component 1 rotate around the same axis; when it is necessary to operate in water, the three structural components 1 rotate into a triangle, and at this time the auxiliary fan blades 4 are located outside the triangle; the rotation axis of the auxiliary fan blades 4 on the structural component 1 facing the moving direction is the same as the moving direction.

[0067] In some embodiments, the rotation axes of the auxiliary fan blades 4 on the three structural components 1 remain unchanged. By starting the auxiliary fan blades 4 on the three structural components 1 respectively, the robot can be driven to move in different directions on the water.

[0068] See appendix Figure 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 components 1 is the same as the moving direction, the rotation axes of the auxiliary fan blades 4 on the other two structural components 1 can be adjusted to be the same as the moving direction, which can better keep the moving direction unchanged. When turning is required, adjust the rotation axes of the auxiliary fan blades 4 on the other two structural components 1 to push the robot to turn.

[0069] Preferably, in this embodiment, the auxiliary fan blade 4 is arranged at the middle position in the length direction of the structural component 1.

[0070] Preferably, in this embodiment, the several auxiliary fan blades 4 on the structural component 1 are driven to rotate by a flexible shaft 84. A guide sleeve 83 for limiting the flexible shaft 84 is sleeved outside the flexible shaft 84, and the fan 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 a flexible material, and 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 for driving the connecting sleeve 82 to deform to change the axis direction of the guide sleeve 83 is arranged in the connecting sleeve 82 and the guide sleeve 83.

[0071] Since the connecting sleeve 82 is made of flexible material, the axial direction of the guide sleeve 83 can be 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 drive the change in the direction of the rotation axis of the auxiliary fan blade 4.

[0072] In this embodiment, the adjustment 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 the electromagnet 851 on the side close to the connecting sleeve 82 and located in the guide sleeve 83, and an eccentric block 853 sleeved on the power shaft 8, and the eccentric block 853 is eccentrically arranged relative to the axis of the main shaft. The outer side of the eccentric block shaft 852 is fixedly connected with an elastic material. When the electromagnet 851 is energized, the eccentric block 853 is adsorbed onto 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 located 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, and pushes the guide sleeve 83 to move through the eccentric block 853, thereby changing the axis of the guide sleeve 83, and when the axis of the guide sleeve 83 changes, it will drive the connecting sleeve 82 to deform; when the direction is changed to the predetermined direction, the electromagnet 851 is powered off, and under the action of the elastic material, the eccentric block shaft 852 is separated from the eccentric block 853, and the eccentric block 853 separated from the eccentric block shaft 852 falls into the connecting sleeve 82 and cannot rotate with the power shaft 8.

[0073] Preferably, in this embodiment, the power shaft 8 is also fixedly connected to a stopper 854 located in the connecting sleeve 82, and the stopper 854 limits the eccentric block 853 when the electromagnet 851 is powered off, thereby preventing the eccentric block 853 from continuing to slide in a direction away from the guide sleeve 83, so that the eccentric block shaft 852 can be smoothly adsorbed onto the electromagnet 851 when the electromagnet 851 is powered on again.

[0074] Preferably, in this embodiment, one end of the connecting sleeve 82 away from the guide sleeve 83 is also fixedly connected to a fixing sleeve 81 , and the fixing sleeve 81 is fixedly connected to the structural component 1 .

[0075] In order to ensure that the structural component 1 can smoothly float on the water surface, floating objects are installed outside the first component 11 and the second component 12. Preferably, the floating objects are non-flammable.

[0076] In some embodiments, the first component 11 and the second component 12 are also configured as hollow components.

[0077] See attached Figure 7 and attached Figure 8, preferably, in this embodiment, a bushing 41 is rotatably connected to one end of the guide sleeve 83 facing away from the connecting sleeve 82. A shaft body 42 is arranged in the bushing 41, and the shaft body 42 is fixedly connected to the bushing 41. The flexible shaft 84 drives the shaft body 42 to rotate; a plurality of auxiliary fan blades 4 are rotatably connected to one end of the shaft body 42 facing away from the flexible shaft 84. The auxiliary fan blades 4 are rotatably connected to the shaft body 42, and the rotation axis of the auxiliary fan blades 4 rotating on the shaft body 42 is parallel to the axis of the shaft body 42; the auxiliary fan blades 4 are arranged at one end of the bushing 41 facing away from the guide sleeve 83. A plurality of sliding grooves 411 are formed at one end of the bushing 41 close to the auxiliary fan blades 4. The plurality of sliding grooves 411 correspond to the plurality of 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. A tightening groove 412 is formed on the bushing 41 on the side of the sliding groove 411 facing away from the rotation direction of the rotating shaft 7. An elastic plate 43 fixedly connected to the bushing 41 is arranged in the tightening groove 412, and an elastic member 44 is fixedly connected to the side of the elastic plate 43 facing away from the auxiliary fan blade 4. When the auxiliary fan blade 4 rotates to the end of the tightening groove 412 facing away from the sliding groove 411, the elastic plate 43 is pressed against the auxiliary fan blade 4 under the action of the elastic member 44. A step portion is formed at the position of the bushing 41 at the end of the tightening groove 412 facing away from the sliding groove 411.

[0078] When the auxiliary fan blade 4 slides into the tightening groove 412 and abuts against the step portion, the bushing 41 can drive the auxiliary fan blade 4 to rotate through the step portion. And during the rotation, the elastic member 44 presses the elastic plate 43 against the auxiliary fan blade 4 through its own elastic force, so that the fan blade is not easy to rotate relative to the bushing 41 during the rotation; when the robot is in the ground walking state, the bushing 41 does not rotate. If one end of the auxiliary fan blade 4 facing away from the fan shaft collides with a foreign object, the auxiliary fan blade 4 can rotate in the space of the tightening groove 412 and the sliding groove 411, so that the fan blade can rotate over the foreign object through its own rotation.

[0079] , preferably, in this embodiment, the elastic member 44 is arranged as a spring.

[0080] The working principle of the emergency rescue and disaster relief robot during use is as follows: When walking on the ground, the front fixing rod 2 is inserted into the ground, the rear fixing rod 2 retracts, and then two adjacent structural components 1 move towards each other, pulling the rear fixing rod 2 forward. Then the rear fixing rod 2 is inserted into the ground, the front fixing rod 2 retracts, and two adjacent structural components 1 move away from each other, pushing the front fixing rod 2 forward to achieve movement. When the robot needs to fly, first, the transmission rod 5 is retracted into the receiving hole 13, and two adjacent structural components 1 are rotated so that the rotation axes of the flight fan blades 3 on several different structural components 1 are not in the same vertical plane, so that the flight fan blades 3 can stably drive the robot to fly when rotating. When it is necessary to move in water, the transmission rod 5 is also retracted into the receiving hole 13, and then the structural component 1 is rotated so that the auxiliary fan blades 4 are located outside the geometric shape formed by the structural components 1. The rotation axis of the auxiliary fan blades 4 on one of the structural components 1 is the same as the moving direction, and it cooperates with the auxiliary fan blades 4 on the structural components 1 to assist in pushing the robot to move in water.

[0081] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A rescue and disaster relief robot device, characterized in that: It includes structural members (1), and there are several of them. The length directions of the several structural members (1) are the same. The several structural members (1) are arranged along the length direction, and the two ends after the arrangement of the several structural members (1) are the front end and the rear end respectively. Two adjacent structural members (1) can approach and move away from each other in the length direction of the structural member (1). At the mutually facing ends of the two structural members (1) at both ends, there are fixed rods (2) that can expand and contract vertically, and the fixed rods (2) can be inserted downward into the ground. Two adjacent structural members (1) can not only slide along the length direction of the structural member (1), but also rotate around the vertical axis. At the top of the structural member (1), there are flight fan blades (3) for driving the structural member (1) to fly. The structural member (1) includes a first component (11) near the front end position and a second component (12) near the rear end. The first component (11) and the second component (12) are fixedly connected together and the bottom of the first component (11) is flush with the top of the second component (12). When the structural member (1) is rotated during flight, the second component (12) of the structural member (1) near the rear end rotates to the bottom of the first component (11) of the structural member (1) near the front end and makes the two fit together.

2. The emergency rescue robot device according to claim 1, wherein: Among two adjacent structural members (1), a threaded sleeve (6) is provided in the structural member (1) near the rear end, and a transmission rod (5) is provided on the structural member (1) near the front end. The transmission rod (5) extends into the threaded sleeve (6) from the end near the front end of the threaded sleeve (6) and is threadedly connected to the threaded sleeve (6).

3. The emergency rescue robot device according to claim 2, characterized in that: On the structural member (1) provided with the transmission rod (5), there is a receiving hole (13) for receiving the transmission rod (5), and the transmission rod (5) can be received into the receiving hole (13).

4. The emergency rescue robot device according to claim 3, wherein: On the structural member (1) provided with the transmission rod (5), there is a power assembly for driving the transmission rod (5) to retract into and extend out of the receiving hole (13).

5. The emergency rescue robot device according to claim 1, wherein: Auxiliary fan blades (4) are provided on the same side of the structural member (1).

6. The disaster relief robot device according to claim 5, wherein: It also includes a flexible shaft (84) for driving the auxiliary fan blades (4) to rotate. A power shaft (8) for driving the flexible shaft (84) to rotate. A guide sleeve (83) sleeved outside the flexible shaft (84) and the end of the power shaft (8) close to the flexible shaft (84) extends into the guide sleeve (83). A connecting sleeve (82) made of a flexible material, and the power shaft (8) passes through the connecting sleeve (82). And an adjusting assembly (85) for adjusting the axis of the guide sleeve (83) by changing the shape of the connecting sleeve (82).

7. The emergency rescue robot device according to claim 6, wherein: The adjusting assembly (85) includes an electromagnet (851) fixedly connected to the end of the power shaft (8) close to the flexible shaft (84) and located in the guide sleeve (83). An eccentric block shaft (852) fixedly connected to the side of the electromagnet (851) facing away from the flexible shaft (84). The eccentric block shaft (852) is located at the end of the guide sleeve (83) close to the connecting sleeve (82) and an elastic material is provided outside the eccentric block shaft (852). and an eccentric block (853), the eccentric block (853) being sleeved on the power shaft (8) and eccentrically arranged relative to the axis of the power shaft (8), the eccentric block (853) being located at one end of the connecting sleeve (82) close to the guide sleeve (83) and being able to be attracted by the electromagnet (851) under the action of the magnetic force of the electromagnet (851), when the eccentric block (853) is attracted by the electromagnet (851), the eccentric block shaft (852) is embedded in the eccentric block (853) and the eccentric block shaft (852) can drive the eccentric block (853) to rotate together.

8. The emergency rescue robot device according to claim 7, characterized in that: It also includes a shaft sleeve (41) which is rotatably connected to the guide sleeve (83), and a plurality of auxiliary blades (4) can rotate relative to the shaft sleeve (41); A plurality of sliding grooves (411) are formed at one end of the shaft sleeve (41) close to the auxiliary fan blades (4), the plurality of sliding grooves (411) correspond to the plurality of fan blades one by one, the corresponding auxiliary fan blades (4) are embedded in the corresponding sliding grooves (411), and the auxiliary fan blades (4) can rotate in the corresponding sliding grooves (411); A pressing groove (412) provided on the shaft sleeve (41) is arranged on the side of the sliding groove (411) away from the rotation direction of the rotating shaft (7); an elastic plate (43) fixedly connected to the shaft sleeve (41) is arranged in the pressing groove (412); an elastic member (44) is fixedly connected to the side of the elastic plate (43) away from the fan blade; when the fan blade rotates to the end of the pressing groove (412) away from the sliding groove (411), the elastic plate (43) is pressed against the fan blade under the action of the elastic member (44).

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