A deployment and evacuation system for emergency rescue vehicle robots

Abstract

The present invention relates to the field of emergency rescue equipment, specifically, an emergency rescue vehicle robot deployment and retraction system, including a lifting mechanism, a side deployment mechanism and a slewing mechanism, wherein the side deployment mechanism includes a side deployment hydraulic cylinder and a side deployment support frame with telescopic cylinders on both sides, the ends of the telescopic cylinders on the same side are connected by a track support beam, and the track support beam is driven to move by the side deployment hydraulic cylinder on the corresponding side, the lower end of the lifting mechanism is rotatably arranged in the side deployment support frame, the slewing mechanism is arranged on one side of the side deployment support frame, and the lifting mechanism is driven to rotate by the slewing mechanism, and the gantry robot includes a track assembly, a gantry frame and a folding frame, and the upper end of the lifting mechanism is against the gantry frame, and the track assembly is supported by the corresponding track support beam. The present invention can realize the automatic and rapid deployment and retraction of a heavy tracked gantry robot, and the operation efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of emergency rescue equipment, in particular to an emergency rescue vehicle robot deployment and withdrawal system. Background Art

[0002] With the development of technology, robots are being used more and more widely. Gantry robots can be used in various accident scenes. However, the docking and withdrawal operations of gantry robots are relatively complicated. In the existing technology, the transportation and deployment of heavy lifting equipment are usually carried out by using special integrated vehicle-mounted equipment, such as heavy truck cranes. The operating range is large and the crane is fixed. It cannot move short distances and has certain requirements for the working site. It is difficult to meet the requirements of rapid deployment and withdrawal of gantry robots, which affects the rescue efficiency at the accident scene. Summary of the invention

[0003] The purpose of the present invention is to provide an emergency rescue vehicle robot deployment and withdrawal system, which can realize the automatic deployment and withdrawal of a heavy crawler gantry robot, thereby greatly improving the operating efficiency.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A deployment and retraction system for an emergency rescue vehicle robot comprises a lifting mechanism, a side deployment mechanism and a swivel mechanism, wherein the side deployment mechanism comprises a side deployment hydraulic cylinder and a side deployment support frame with telescopic cylinders on both sides, the ends of the telescopic cylinders on the same side are connected by a track support beam, and the track support beam is driven to move by the side deployment hydraulic cylinder on the corresponding side, the lower end of the lifting mechanism is rotatably arranged in the side deployment support frame, the swivel mechanism is arranged on one side of the side deployment support frame, and the lifting mechanism is driven to rotate by the swivel mechanism, the gantry robot comprises a track assembly, a gantry frame and a folding frame, and when the gantry robot is deployed, the upper end of the lifting mechanism is against the gantry frame, and the track assembly is supported by the corresponding track support beam.

[0006] The lifting mechanism includes a lifting hydraulic cylinder, a fixed support cylinder, a rotating base and a multi-stage lifting guide cylinder, wherein the lower end of the fixed support cylinder and the lower end of the lifting hydraulic cylinder are fixedly mounted on the rotating base, and a lifting seat is provided at the upper end of the lifting hydraulic cylinder. The lifting guide cylinders of each stage are sequentially assembled, and the lifting guide cylinder on the lower side is inserted into the corresponding fixed support cylinder, and the lifting guide cylinder on the upper side is fixedly connected to the lifting seat.

[0007] Wear-resistant sleeves are provided between adjacent lifting guide cylinders and between the outermost lifting guide cylinder and the fixed support cylinder, and dustproof sealing rings are provided on the inner side of the upper end of the fixed support cylinder and on the inner side of the upper end of each lifting guide cylinder except the uppermost lifting guide cylinder.

[0008] The lifting seat is provided with a lifting positioning cone, a photoelectric sensor and an electromagnet, and one side of any fixed support cylinder is provided with a lifting wire sensor.

[0009] The side expansion support frame includes guide sleeves on both sides and connecting beams connecting the guide sleeves on both sides. One end of the telescopic cylinder is inserted into the corresponding end of the corresponding side guide sleeve, and the other end is fixedly connected to the corresponding end of the corresponding side track support beam. One end of the side expansion hydraulic cylinder is fixed, and the other end is fixed to the corresponding side track support beam.

[0010] A crawler track positioning piece is arranged on the connecting beam, and a tightening piece is arranged at the end of the telescopic cylinder.

[0011] A wear-resistant plate is provided between the telescopic cylinder and the inner wall of the corresponding side guide sleeve, and a side extension wire sensor is provided on the lower side of the side extension support frame.

[0012] The slewing mechanism includes a slewing hydraulic cylinder, a slewing support frame and an articulated seat, wherein the slewing support frame is arranged on one side of the side expansion support frame, the articulated seat is arranged on the lifting mechanism, the slewing hydraulic cylinder is installed on the slewing support frame and the end of the cylinder rod is hinged to the articulated seat, and a slewing pull wire sensor is provided on the slewing support frame.

[0013] The side extension support frame is fixed on the frame of the emergency rescue vehicle, and the lower end of the lifting mechanism is rotatably arranged on the frame. The frame is provided with a leg hydraulic cylinder for leveling and a Y-shaped support frame for auxiliary supporting the telescopic cylinder.

[0014] When the gantry robot is unfolded, the gantry is first lifted to the set height by the lifting mechanism, then the folding frame is unfolded and fixed to the corresponding side of the gantry, and then the lifting mechanism drives the unfolded gantry to rotate 90 degrees through the slewing mechanism, and then the telescopic cylinders on both sides of the side expansion mechanism extend and drive the track support beam to drive the track assembly to move to the lower end of the corresponding folding frame, and then the track assembly is fixed to the corresponding folding frame, and then the gantry is lifted by the lifting mechanism to separate the track assembly from the track support beam, and then the telescopic cylinders on both sides of the side expansion mechanism drive the track support beams on both sides to retract, and then the lifting mechanism drives the gantry to fall and let the track assembly touch the ground.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention can automatically unfold the gantry robot in the transport state and dock it to the working state. After the task is completed, the gantry robot can be automatically withdrawn and restored to the transport state. There are no special requirements for the site, working environment (field), etc. The operating efficiency is greatly improved, ensuring timely rescue operations.

[0017] 2. The present invention can realize precise control of actions such as lifting, side extension, and rotation, ensure accurate docking position, and further ensure smooth and successful completion of deployment or withdrawal operations.

[0018] 3. The present invention is transported by an emergency rescue vehicle, and the two groups of robots on the vehicle can be deployed or withdrawn synchronously, further improving the rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the layout of the present invention,

[0020] Figure 2 for Figure 1 Schematic diagram of the lifting mechanism.

[0021] Figure 3 for Figure 2 Sectional view of the upper end of the fixed support cylinder of the lifting mechanism.

[0022] Figure 4 for Figure 2 Cross-sectional view of the bottom end of the fixed support cylinder of the middle lifting mechanism,

[0023] Figure 5 for Figure 1 A three-dimensional schematic diagram of the middle and side extension mechanism.

[0024] Figure 6 for Figure 5 Schematic diagram of the unfolded state of the middle and side expansion mechanism.

[0025] Figure 7 for Figure 1 Schematic diagram of the central rotary mechanism.

[0026] Figure 8 This is a schematic diagram of the gantry robot to be deployed.

[0027] Fig. 9 The working state of the present invention is shown in FIG. Figure 1 ,

[0028] Fig.10 for Fig. 9 Top view of the vehicle body.

[0029] Fig.11 The working state of the present invention is shown in FIG. Figure 2 ,

[0030] Fig.12 for Fig.11 Top view of the vehicle body.

[0031] Fig.13 The working state of the present invention is shown in FIG. Figure 3 ,

[0032] Fig.14 for Fig.13 A-direction view in

[0033] Fig.15for Fig.14 Schematic diagram of the side extension mechanism in the retracted state,

[0034] Fig.16 The working state of the present invention is shown in FIG. Figure 4 .

[0035] Among them, 1 is a lifting mechanism, 101 is a first-level lifting guide cylinder, 1011 is a first-level lifting limit block, 102 is a second-level lifting guide cylinder, 1021 is a second-level lifting limit block, 103 is a third-level lifting guide cylinder, 1031 is a third-level lifting limit block, 104 is a fixed support cylinder, 105 is a lifting hydraulic cylinder, 106 is a lifting wire sensor, 107 is a rotating base, 108 is a lifting seat, 109 is a lifting positioning cone, 110 is a photoelectric sensor, 111 is an electromagnet, 112 is a dustproof sealing ring, 113 is a wear-resistant sleeve, 114 is a limit plate, and 115 is a mounting plate; 2 is a side expansion mechanism, 201 is a side expansion support frame, 2011 is a guide sleeve, 2012 is a guide sleeve, 1 is a connecting beam, 202 is a telescopic cylinder, 203 is a cylinder seat, 204 is a track support beam, 205 is a tightening member, 206 is a Y-shaped support frame, 207 is a side expansion hydraulic cylinder, 208 is a side expansion wire sensor, 209 is a wear-resistant plate, 210 is a track positioning member, 3 is a slewing mechanism, 301 is a slewing hydraulic cylinder, 302 is a slewing support frame, 303 is an articulated seat, 304 is a slewing wire sensor, 305 is a wire protection cover, 4 is an electronic control system, 5 is a hydraulic system, 6 is a frame, 7 is an outrigger hydraulic cylinder, 701 is an outrigger wire sensor, 8 is a gantry robot, 801 is a track assembly, 802 is a gantry, 803 is a folding frame, and 804 is a gantry hydraulic cylinder. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] The present invention is installed on the frame 6 of the emergency rescue vehicle, such as Figures 1 to 16 As shown, the present invention comprises a lifting mechanism 1, a side spreading mechanism 2 and a slewing mechanism 3, wherein Figures 5-6 As shown, the side deployment mechanism 2 includes a side deployment hydraulic cylinder 207 and a side deployment support frame 201 with telescopic cylinders 202 on both sides. The ends of the telescopic cylinders 202 on the same side are connected through a crawler support beam 204, and the crawler support beam 204 is driven to move by the side deployment hydraulic cylinder 207 on the corresponding side. The lower end of the lifting mechanism 1 is rotatably mounted on the frame 6 and is arranged in the side deployment support frame 201. In addition, as shown in FIG. Figure 7 As shown, the swivel mechanism 3 is disposed on one side of the side extension support frame 201 , and the lifting mechanism 1 is driven to rotate by the swivel mechanism 3 .

[0038] The present invention is used for the deployment and retraction of gantry robots, such as Figures 8 to 16As shown, the gantry robot 8 includes a track assembly 801, a gantry frame 802, a folding frame 803, a gantry hydraulic cylinder 804 and other structures, wherein Figure 8 As shown, when the gantry robot 8 is not unfolded, the track assembly 801 is parallel to the gantry frame 802 and is arranged on both sides of the gantry frame 802, and the folding frame 803 is placed in the gantry frame 802. When the present invention is working, the upper end of the lifting mechanism 1 is against the middle part of the gantry frame 802, and the track assembly 801 is supported by the track support beam 204 at the end of the corresponding side telescopic cylinder 202. When unfolding, first Figures 9-10 As shown, the gantry 802 is first lifted to a set height by the lifting mechanism 1, and then the folding frame 803 is driven to unfold by the gantry hydraulic cylinder 804 on the corresponding side and fixed to the corresponding side of the gantry 802, and then Figures 11-12 As shown, the lifting mechanism 1 is driven by the slewing mechanism 3 to rotate 90 degrees, and drives the deployed gantry 802 to rotate 90 degrees. At this time, the gantry 802 is perpendicular to the crawler assembly 801, and then Figures 13-14 As shown, the telescopic cylinders 202 on both sides of the side deployment mechanism 2 extend and drive the corresponding track support beams 204 to drive the corresponding track assembly 801 to move to the lower end of the corresponding side folding frame 803, and then the operator fixes the track assembly 801 to the corresponding folding frame 803, and then Fig.15 As shown, the lifting mechanism 1 lifts the gantry 802 to separate the crawler assembly 801 from the crawler support beam 204, and the telescopic cylinders 202 on both sides of the side extension mechanism 2 drive the crawler support beams 204 on both sides to retract, and then Fig.16 As shown, the lifting mechanism 1 drives the gantry 802 to fall down so that the track assembly 801 touches the ground, and the gantry robot 8 is fully deployed for operation. The retraction process is the opposite of the above.

[0039] like Figures 2 to 4 As shown, the lifting mechanism 1 includes a lifting hydraulic cylinder 105, a fixed support cylinder 104, a rotating base 107 and a multi-stage lifting guide cylinder, wherein the rotating base 107 is rotatably arranged on the frame 6, the lower end of the fixed support cylinder 104 and the lower end of the lifting hydraulic cylinder 105 are both fixedly arranged on the rotating base 107, and a lifting seat 108 is arranged on the upper end of the lifting hydraulic cylinder 105. The lifting guide cylinders of each stage are sequentially assembled, and the lifting guide cylinder on the lower side is inserted into the corresponding fixed support cylinder 104, and the lifting guide cylinder on the upper side is fixedly connected to the lifting seat 108. When the mechanism is working, the lifting seat 108 is against the gantry 802 and driven to rise and fall through the lifting hydraulic cylinder 105.

[0040] like Figures 2 to 4As shown, in this embodiment, three levels of lifting guide cylinders are provided, wherein the lower end of the third-level lifting guide cylinder 103 is inserted in the corresponding fixed support cylinder 104, the lower end of the second-level lifting guide cylinder 102 is inserted in the corresponding third-level lifting guide cylinder 103, the lower end of the first-level lifting guide cylinder 101 is inserted in the corresponding second-level lifting guide cylinder 102, and the upper end of the first-level lifting guide cylinder 101 is fixedly connected to the lifting seat 108.

[0041] like Figure 3 As shown, wear-resistant sleeves 113 are provided between adjacent lifting guide cylinders and between the outermost lifting guide cylinder and the fixed support cylinder 104, and dustproof sealing rings 112 are provided on the inner side of the upper end of the fixed support cylinder 104 and on the inner side of the upper end of each lifting guide cylinder except the uppermost lifting guide cylinder.

[0042] like Figure 4 As shown, each lifting guide cylinder is provided with a lifting limit block at the lower end, wherein the first-level lifting limit block 1011 is fixed at the lower end of the first-level lifting guide cylinder 101, and the wear-resistant sleeve 113 outside the first-level lifting guide cylinder 101 is fixed at the upper end of the second-level lifting guide cylinder 102. The first-level lifting guide cylinder 101 performs telescopic movement under the drive of the lifting hydraulic cylinder 105. When the first-level lifting limit block 1011 contacts the wear-resistant sleeve 113 at the upper end of the second-level lifting guide cylinder 102, it drives the second-level lifting guide cylinder 102 to perform lifting movement. The second-level lifting limit block 1021 is fixed at the lower end of the second-level lifting guide cylinder 102, and the wear-resistant sleeve 113 outside the second-level lifting guide cylinder 102 is fixed at the upper end of the third-level lifting guide cylinder 103. When the second-level lifting limit block 1021 contacts the wear-resistant sleeve 113 at the upper end of the third-level lifting guide cylinder 103, it drives the third-level lifting guide cylinder 103 to perform lifting movement. The third-level lifting limit block 1031 is fixed on the lower end of the third-level lifting guide cylinder 103, and the wear-resistant sleeve on the outer side of the third-level lifting guide cylinder 103 is fixed on the upper end of the fixed support cylinder 104. When the third-level lifting limit block 1031 contacts the wear-resistant sleeve 113 on the upper end of the fixed support cylinder 104, the maximum lifting height is reached.

[0043] like Figure 2 As shown, in order to ensure smooth lifting, this embodiment is provided with three fixed support cylinders 104 to form a triangular support, each fixed support cylinder 104 is fixed by a triangular limiting plate 114, each fixed support cylinder 104 is provided with a group of multi-stage lifting guide cylinders, and the lifting hydraulic cylinder 105 is arranged between each fixed support cylinder 104.

[0044] like Figure 2As shown, the lifting seat 108 is provided with a lifting positioning cone 109, a photoelectric sensor 110 and an electromagnet 111, wherein the lifting positioning cone 109 cooperates with the cone hole on the gantry 802 for positioning, the photoelectric sensor 110 confirms whether the lifting seat 108 is in full contact with the gantry 802, and the electromagnet 111 is used to adsorb on the gantry 802. In addition, a lifting wire sensor 106 is provided on one side of any fixed support cylinder 104 to determine whether the lifting seat 108 is lifted in place. The photoelectric sensor 110, the electromagnet 111 and the lifting wire sensor 106 are all well-known technologies in the art and are commercially available products.

[0045] like Figures 5-6 As shown, the side expansion mechanism 2 includes a side expansion support frame 201, and the side expansion support frame 201 includes guide sleeves 2011 on both sides and connecting beams 2012 connecting the ends of the guide sleeves 2011 on both sides, one end of the telescopic cylinder 202 is inserted into the corresponding end of the corresponding side guide sleeve 2011, and the other end is fixedly connected to the corresponding end of the corresponding side track support beam 204, the side expansion support frame 201 is fixed on the frame 6, one end of the side expansion hydraulic cylinder 207 is fixedly connected to the cylinder seat 203 fixedly arranged on the frame 6, and the other end is fixedly connected to the track support beam 204 on the corresponding side, and the extension and retraction of the side expansion hydraulic cylinder 207 drives the track support beam 204 on the corresponding side to retract and move.

[0046] like Figures 5-6 As shown, the connection beam 2012 is provided with a track positioning member 210, and the end of the telescopic cylinder 202 is provided with a jacking member 205. When the telescopic cylinder 202 is retracted, the track positioning member 210 and the jacking member 205 cooperate to limit the displacement of the track assembly 801. The track positioning member 210 and the jacking member 205 are both well-known in the art, such as a positioning bolt and a jacking bolt.

[0047] like Figure 5 As shown, a wear-resistant plate 209 is provided between the telescopic cylinder 202 and the inner wall of the corresponding side guide sleeve 2011 of the side extension support frame 201, and a side extension wire sensor 208 is provided on the lower side of the side extension support frame 201 to confirm whether the telescopic cylinder 202 is fully extended. The side extension wire sensor 208 is a well-known technology in the art and is a commercially available product.

[0048] like Figure 1 and Figures 5-6 As shown, a Y-shaped support frame 206 is provided on the frame 6 for auxiliary supporting the two telescopic cylinders 202 on the corresponding side, and the upper end of the Y-shaped support frame 206 is slidably connected to the corresponding telescopic cylinder 202 and will not affect the telescopic movement of the telescopic cylinder 202.

[0049] like Figure 7As shown, the slewing mechanism 3 includes a slewing hydraulic cylinder 301, a slewing support frame 302 and an articulated seat 303, wherein the slewing support frame 302 is arranged on one side of the side support frame 201, and the articulated seat 303 is arranged at the lower end of the lifting mechanism 1, as shown in FIG. Figure 2 As shown, a mounting plate 115 is provided at the lower end of the lifting mechanism, and the hinge seat 303 is mounted on the mounting plate 115. Figure 7 As shown, the rotary hydraulic cylinder 301 is installed on the rotary support frame 302 and the end of the cylinder rod is hinged to the hinge seat 303. In addition, a rotary pull-wire sensor 304 is provided on the rotary support frame 302 to confirm whether the rotary hydraulic cylinder 301 is extended in place to ensure that the lifting mechanism 1 rotates 90 degrees. The rotary pull-wire sensor 304 is a commercially available product.

[0050] like Figure 1 and Figures 8 to 16 As shown, in order to improve the transportation efficiency, two sets of the system of the present invention can be set on the frame 6 of the emergency rescue vehicle, and the electric control system 4 and the hydraulic system 5 that control the two sets of systems can be set in the middle of the frame 6. It should be noted that when the gantry 802 rotates, one set of lifting mechanisms 1 rotates 90 degrees clockwise, and the other set of lifting mechanisms 1 rotates 90 degrees counterclockwise to avoid collision and interference with the electric control system 4 and the hydraulic system 5 in the middle of the frame 6. In addition, Figure 1 As shown, a plurality of outrigger hydraulic cylinders 7 are provided on the frame 6 of the emergency rescue vehicle. The outrigger hydraulic cylinders 7 are used to level the chassis. The outrigger hydraulic cylinders 7 are provided with outrigger wire sensors 701 to measure the outrigger stroke and compare it with the planned stroke to form a closed-loop control of the leveling accuracy. The outrigger wire sensors 701 are commercially available products.

[0051] The working principle of the present invention is:

[0052] like Figure 8 As shown, when the gantry robot 8 is not unfolded, the track assembly 801 is parallel to the gantry 802 and is arranged on both sides of the gantry 802, and the folding frame 803 is placed in the gantry 802. When the present invention is working, the upper end of the lifting mechanism 1 is against the middle part of the gantry 802, and the track assembly 801 is supported by the track support beam 204 at the end of the corresponding side telescopic cylinder 202.

[0053] The unfolding process of Gantry Robot 8 is as follows:

[0054] 1. Automatic leveling of vehicle chassis frame 6:

[0055] like Figure 1 As shown, the operator controls the operation box to level with one button. After the command is issued, each leg hydraulic cylinder 7 extends and automatically controls the extension amount of each leg according to the site conditions. The leg pull-wire sensor 701 measures the leg stroke and compares it with the planned stroke to form a closed loop, control the leveling accuracy, and complete the leveling.

[0056] 2. Gantry Robot 8 Expand:

[0057] like Figures 8 to 10 As shown, the upper ends of the two groups of lifting mechanisms 1 are respectively against the corresponding gantries 802 and lifted at the same time. When the lifting seat 108 at the upper end of the lifting mechanism 1 just contacts the gantry 802, the photoelectric sensor 110 confirms whether it is fully contacted. After confirming the contact, the lifting seat 108 rises to make the electromagnet 111 and the corresponding gantry 802 engage to prevent the gantry robot 8 from shaking. Then the lifting mechanism 1 drives the gantry 802 to lift to the specified height. After lifting into place, the gantry hydraulic cylinders 804 on the left and right sides of the gantry robot 8 drive the folding frame 803 on the corresponding side to fully unfold. Then the operator uses bolts to fix the folding frame 803 to the lower end of the corresponding side of the gantry 802 to complete the unfolding action. Then the lifting mechanism 1 descends to make the lower end of the folding frame 803 drop to the set height and prepare to dock with the track assembly 801.

[0058] 3. Docking pre-positioning:

[0059] like Figures 11-12 As shown, the two sets of rotary mechanisms 3 drive the corresponding lifting mechanisms 1 to rotate 90 degrees respectively, and one set of lifting mechanisms 1 rotates clockwise and the other set of lifting mechanisms 1 rotates counterclockwise to avoid collision interference. The rotary pull wire sensor 304 confirms whether the rotary hydraulic cylinder 301 is extended to the right position, and then determines whether the gantry 802 is rotated to the right position. Then, the two sets of lifting mechanisms 1 are synchronously extended to the set height, and then as shown in FIG. Figures 13-14 As shown, the telescopic cylinders 202 on both sides of the side deployment mechanism 2 are extended synchronously, thereby driving the track support beam 204 to drive the track assembly 801 to move, and the side deployment pull-wire sensor 208 determines whether it is extended into place. After the track support beam 204 is extended into place, the two sets of lifting mechanisms 1 are lowered to the set height, and the operator uses bolts to fix the lower end of the folding frame 803 to the corresponding side track assembly 801.

[0060] 4. Gantry Robot 8 Gets Off:

[0061] The two lifting mechanisms 1 drive the corresponding gantry 802 to rise so that the crawler assembly 801 is separated from the crawler support beam 204, and then the telescopic cylinder 202 of each side extension mechanism 2 is retracted to the initial position, and then Fig.16 As shown, the lifting mechanism 1 drives the gantry 802 to descend so that the track assembly 801 contacts the ground, and a telescopic hydraulic cylinder is provided in the folding frame 803. At this time, the telescopic hydraulic cylinder is started to extend to raise the gantry 802 and separate it from the lifting mechanism 1, and the track assembly 801 is started to move the robot out of the vehicle body.

[0062] The withdrawal process of the gantry robot 8 is opposite to the above process.

Claims

1. A system for deploying and withdrawing an emergency rescue vehicle robot, characterized in that: The invention comprises a lifting mechanism (1), a side extension mechanism (2) and a slewing mechanism (3), wherein the side extension mechanism (2) comprises a side extension hydraulic cylinder (207) and a side extension support frame (201) provided with telescopic cylinders (202) on both sides, the ends of the telescopic cylinders (202) on the same side are connected by a crawler support beam (204), and the crawler support beam (204) is driven to move by the side extension hydraulic cylinder (207) on the corresponding side, and the lower end of the lifting mechanism (1) is rotatably provided on the side extension support frame (201). 01), the slewing mechanism (3) is arranged on one side of the side-expanding support frame (201), and the lifting mechanism (1) is driven to rotate by the slewing mechanism (3), the gantry robot (8) comprises a track assembly (801), a gantry frame (802) and a folding frame (803), and when the gantry robot (8) is unfolded, the upper end of the lifting mechanism (1) is against the gantry frame (802), and the track assembly (801) is supported by the corresponding track support beam (204).

2. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 1, characterized in that: The lifting mechanism (1) comprises a lifting hydraulic cylinder (105), a fixed support cylinder (104), a rotating base (107) and a multi-stage lifting guide cylinder, wherein the lower end of the fixed support cylinder (104) and the lower end of the lifting hydraulic cylinder (105) are both fixedly mounted on the rotating base (107), and a lifting seat (108) is provided at the upper end of the lifting hydraulic cylinder (105). The lifting guide cylinders of each stage are sequentially assembled, and the lifting guide cylinder at the lower side is inserted into the corresponding fixed support cylinder (104), and the lifting guide cylinder at the upper side is fixedly connected to the lifting seat (108).

3. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 2, characterized in that: A wear-resistant sleeve (113) is provided between adjacent lifting guide cylinders and between the outermost lifting guide cylinder and the fixed support cylinder (104), and a dustproof sealing ring (112) is provided on the inner side of the upper end of the fixed support cylinder (104) and on the inner side of the upper end of each lifting guide cylinder except the uppermost lifting guide cylinder.

4. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 2, characterized in that: The lifting seat (108) is provided with a lifting positioning cone (109), a photoelectric sensor (110) and an electromagnet (111), and a lifting wire sensor (106) is provided on one side of any fixed support cylinder (104).

5. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 1, characterized in that: The side expansion support frame (201) is fixedly mounted on the frame (6) of the emergency rescue vehicle, and the side expansion support frame (201) comprises guide sleeves (2011) on both sides and a connecting beam (2012) connecting the guide sleeves (2011) on both sides; one end of the telescopic cylinder (202) is inserted into the corresponding end of the corresponding side guide sleeve (2011), and the other end is fixedly connected to the corresponding end of the corresponding side crawler support beam (204); one end of the side expansion hydraulic cylinder (207) is fixedly connected to a cylinder seat (203) fixedly mounted on the frame (6), and the other end is fixed to the crawler support beam (204) on the corresponding side.

6. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 5, characterized in that: A crawler track positioning member (210) is provided on the connecting beam (2012), and a tightening member (205) is provided at the end of the telescopic cylinder (202).

7. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 5, characterized in that: A wear-resistant plate (209) is provided between the telescopic cylinder (202) and the inner wall of the corresponding side guide sleeve (2011), and a side extension wire sensor (208) is provided on the lower side of the side extension support frame (201).

8. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 1, characterized in that: The slewing mechanism (3) comprises a slewing hydraulic cylinder (301), a slewing support frame (302) and an articulated seat (303), wherein the slewing support frame (302) is arranged on one side of the side support frame (201), the articulated seat (303) is arranged on the lifting mechanism (1), the slewing hydraulic cylinder (301) is installed on the slewing support frame (302) and the end of the cylinder rod is articulated with the articulated seat (303), and a slewing wire sensor (304) is arranged on the slewing support frame (302).

9. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 1, characterized in that: The side extension support frame (201) is fixedly mounted on the frame (6) of the emergency rescue vehicle, and the lower end of the lifting mechanism (1) is rotatably mounted on the frame (6). The frame (6) is provided with a support leg hydraulic cylinder (7) for leveling and a Y-shaped support frame (206) for auxiliary supporting the telescopic cylinder (202).

10. The deployment and withdrawal system of the emergency rescue vehicle robot according to claim 1, characterized in that: When the gantry robot (8) is unfolded, the gantry (802) is first lifted to a set height by the lifting mechanism (1), then the folding frame (803) is unfolded and fixed to the corresponding side of the gantry (802), then the lifting mechanism (1) drives the unfolded gantry (802) to rotate 90 degrees through the rotating mechanism (3), then the telescopic cylinders (202) on both sides of the side unfolding mechanism (2) extend and drive the crawler support beam (204) to drive the crawler assembly (801) to move to The corresponding folding frame (803) is located at the lower end, and then the track assembly (801) is fixed to the corresponding folding frame (803). Then the gantry (802) is lifted by the lifting mechanism (1) to separate the track assembly (801) from the track support beam (204). Then the telescopic cylinders (202) on both sides of the side extension mechanism (2) drive the track support beams (204) on both sides to retract. Then the lifting mechanism (1) drives the gantry (802) to fall and make the track assembly (801) touch the ground.

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