Urban flood rescue robot

Abstract

The invention discloses an urban flood rescue robot, which at least comprises a hull part capable of travelling on the water surface and an ejection part for ejecting a rescue net to a rescue object; the ejection part comprises an ejection box, an ejection tube, a node, a warhead, a warhead ejection mechanism and an ejection trigger mechanism; the warhead ejection mechanism comprises an ejection spring, a warhead connecting rope, a cam steering gear, a take-up motor, a clutch and a take-up shaft I; the ejection trigger mechanism comprises a transverse tube, a clip, a clip spring, a clip connecting rope and a trigger steering gear; when performing rescue, the ejection trigger mechanism releases the lock on the warhead, and the warhead hits the node under the action of the ejection spring, so that the node carries the rescue net and is ejected to the rescue object, and the rescue object is floated above the water surface by the rescue net, thereby completing the rescue mission.

Description

Technical Field

[0001] The invention belongs to the field of rescue robots, and in particular relates to an urban flood rescue robot. Background Art

[0002] In recent years, affected by global climate change, flood disasters have occurred frequently in most cities in my country, seriously affecting urban economic development and threatening the safety of people's lives and property. The time from the occurrence of floods to the end of rescue is very precious. Traditional rescue methods require a lot of manpower and material resources, large and small urban roads and small streets and alleys, which greatly reduces the efficiency of search and rescue, consumes too much golden time for rescue, and leads to untimely and incomplete rescue.

[0003] Flood rescue robots are robots specially designed for disaster rescue. At present, flood rescue robots usually take the following forms: 1. Surface robots: They can carry cameras and remote controls, and are suitable for search and rescue in shallow water areas. 2. Underwater robots: They include manned and unmanned types, and can complete search, salvage, repair and other tasks by carrying underwater cameras and mechanical arms. 3. Drones: They can patrol and search the water surface in the air, and can quickly find submerged people and objects by carrying infrared, thermal imaging and other equipment.

[0004] Existing surface rescue robots can usually only move to the vicinity of the rescue target to complete the rescue mission. For example, a surface rescue robot disclosed in publication number CN215663933U can move around the person who falls into the water, and requires the person who falls into the water to climb onto the hull independently, and then drive the person who falls into the water to approach the shore, and then search and rescue the person who falls into the water; rescue work cannot be carried out for the person who falls into the water who cannot be approached by the hull, or the people and objects who cannot climb onto the rescue boat independently.

[0005] The present invention designs an urban flood disaster rescue robot. Compared with traditional manual rescue methods, the robot has the advantages of high speed, high efficiency, high safety, etc., can effectively improve the efficiency of rescue and reduce the waste of manpower and financial resources, thereby better protecting the safety of people's lives and property. Summary of the invention

[0006] The purpose of the present invention is to provide an urban flood disaster rescue robot, which can move autonomously on the water surface, and complete the rescue mission by catapulting a rescue net to the rescue object and using the rescue net to make the rescue object float above the water surface.

[0007] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0008] The urban flood rescue robot of the present invention comprises at least a hull part capable of traveling on the water surface and an ejection part for ejecting a rescue net to a rescue object; the ejection part comprises an ejection box, an ejection tube, a node, a warhead, a warhead ejection mechanism and an ejection trigger mechanism; the ejection tube is fixedly arranged outside the ejection box; the node is detachably installed at the outer end of the ejection tube and connected to the rescue net; the warhead is installed inside the ejection tube; the warhead ejection mechanism comprises an ejection spring, a warhead connecting rope, a cam steering gear, a take-up motor, a clutch and a take-up shaft I; the ejection spring is placed below the warhead; the cam steering gear, the take-up motor, the clutch and the take-up shaft I are installed inside the ejection box, and the cam steering gear is used to control the movement of the take-up motor, The output end of the take-up motor is combined or separated with the input end of the clutch; the output end of the clutch is connected to the take-up shaft I; the take-up shaft I is connected to the warhead through the warhead connecting rope to pull the warhead to move and compress the ejection spring; the ejection trigger mechanism includes a cross tube, a clip, a clip spring, a clip connecting rope and a trigger servo; the cross tube is fixed to the side of the ejection tube; the clip and the clip spring are arranged in the cross tube, and the clip spring is used to push the clip into the ejection tube to clamp the warhead; the trigger servo is arranged in the ejection box, and the output end of the trigger servo is connected to the clip through the clip connecting rope; the trigger servo pulls the clip back to the cross tube through the clip connecting rope to make the warhead bounce up and hit the node, so that the node is separated from the ejection tube and drives the rescue net to pop out;

[0009] Furthermore, the hull part is provided with a gimbal and a gimbal driving servo for driving the gimbal to rotate; the ejection box is connected to the gimbal through a connecting rod; servos are provided between the ejection box and the connecting rod, and between the connecting rod and the gimbal to adjust the elevation angle of the ejection box;

[0010] Furthermore, the hull part includes a bow, a hull and a stern; the pan platform is arranged above the bow, and a rudder for controlling the forward direction of the hull is arranged below the bow; the hull is provided with a reeling shaft II, and the reeling shaft II is connected to the rescue net through a traction rope; the stern is provided with a propeller;

[0011] Furthermore, the clutch comprises a plurality of reduction gears meshing in sequence; a driven friction plate is fixed to the end surface of the first-stage reduction gear; an active friction plate cooperating therewith is fixed to the output end of the take-up motor;

[0012] Furthermore, the wire-receiving motor is installed in a motor seat and can slide along the motor seat; a compression spring is provided in the motor seat for pushing the wire-receiving motor to always keep in contact with the cam of the cam servo;

[0013] Furthermore, the robot also includes a camera part arranged on the hull part; the camera part includes a bracket arranged on the pan-tilt platform and a camera arranged on the bracket;

[0014] Furthermore, the rescue net comprises a grid-shaped rope body and an air cushion arranged in the grid; the air cushion expands when it comes into contact with water.

[0015] The beneficial effects of the present invention are as follows: when the urban flood rescue robot of the present invention is used for rescue operations; the locking of the bullet by the clip is released by the trigger mechanism, so that the bullet is ejected and hits the node under the action of the ejection spring, and the node is separated from the ejection tube and ejected to the rescue object position with the rescue net; then the line is taken up by the take-up shaft II, so that the first two nodes of the rescue net are retracted and the rescue net is placed under the rescued person, and then the rescue net is inflated when it encounters water, and the drowned person is successfully rescued. Therefore, compared with the existing surface rescue robot, the rescue robot of the present invention can greatly increase the scope of rescue, thereby completing the rescue task better and faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the appearance structure of the ejection part of the present invention;

[0018] Figure 3 It is a schematic diagram of the internal structure of the ejection part of the present invention;

[0019] Figure 4 It is a schematic diagram of the internal arrangement of the ejection box of the present invention;

[0020] Figure 5 It is a schematic structural diagram of the clutch of the present invention;

[0021] Figure 6 It is a schematic diagram of the working principle of the cam motor and the wire-receiving motor of the present invention;

[0022] Figure 7 It is a structural schematic diagram of the rescue net of the present invention;

[0023] Figure 8 It is a structural schematic diagram of the camera part of the present invention;

[0024] Fig. 9 It is a structural schematic diagram of the hull part of the present invention;

[0025] Fig.10 It is a schematic diagram of the internal structure of the bow of the present invention;

[0026] Fig.11a / b is a schematic diagram of the structure of the hull of the present invention;

[0027] Fig.12a / b is a schematic structural diagram of the stern of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with embodiments.

[0029] like Figure 1 As shown, the urban flood rescue robot of this embodiment includes a hull part 3 that can travel on the water surface, a launching part 1 for launching a rescue net to a rescue object, and a camera part 2 for collecting surrounding image information.

[0030] like Figure 2 As shown, the ejection part 1 includes an ejection box 1-1-1, an ejection tube, a node 1-2-1, a warhead 1-2-2, a warhead ejection mechanism and an ejection trigger mechanism; four ejection tubes are fixedly arranged outside the ejection box 1-1-1 and tilted in all directions, so that the rescue net can be deployed in time after being ejected; the hull part 3 is provided with a gimbal and a gimbal driving servo for driving the gimbal to rotate; the ejection box 1-1-1 is connected to the gimbal through a connecting rod 1-1-2; servos 1-1-3 are provided between the ejection box 1-1-1 and the connecting rod 1-1-2, and between the connecting rod 1-1-2 and the gimbal to adjust the elevation angle of the ejection box 1-1-1, and the gimbal driving servo controls the rotation of the gimbal to adjust the ejection direction of the rescue net.

[0031] like Figure 3 As shown, the node 1-2-1 is detachably mounted on the outer end of the ejection tube and connected to the rescue net through a thin rope; the bullet 1-2-2 is a cylindrical structure, which is mounted inside the ejection tube and can slide along the ejection tube; the bullet ejection mechanism includes an ejection spring 1-2-3, a bullet connecting rope 1-2-4, a cam servo 1-2-9, a take-up motor 1-2-12, a clutch 1-2-10 and a take-up shaft I 1-2-8; the ejection spring 1-2-3 is placed under the bullet 1-2-2; the bullet ejection mechanism is used to pull the bullet 1-2-2 downward to compress the ejection spring 1-2-3, and then the ejection trigger mechanism is used to lock the position of the bullet 1-2-2; when it is necessary to launch, the ejection trigger mechanism releases the lock on the bullet 1-2-2, and the bullet 1-2-2 hits the node 1-2-1 under the action of the ejection spring 1-2-3, so that the node 1-2-1 carrying the rescue net is ejected. The ejection trigger mechanism includes a cross tube, a clip 1-2-6, a clip spring 1-2-7, a clip connecting rope 1-2-5 and a trigger steering gear 1-2-11; Figure 3, the cross tube is fixed to the side of the ejection tube and is connected to the inside of the ejection tube; the clip 1-2-6 and the clip spring 1-2-7 are arranged in the cross tube, and the clip spring 1-2-7 is used to push the clip 1-2-6 into the ejection tube to clamp the warhead 1-2-2; the trigger servo 1-2-11 is arranged in the ejection box 1-1-1, and the output end of the trigger servo 1-2-11 is connected to the clip 1-2-6 through the clip connecting rope 1-2-5; the trigger servo 1-2-11 pulls the clip 1-2-6 back to the cross tube through the clip connecting rope 1-2-5 to make the warhead 1-2-2 bounce up and hit the node 1-2-1.

[0032] like Figure 4 As shown, the cam servo 1-2-9, the take-up motor 1-2-12, the clutch 1-2-10 and the take-up shaft Ⅰ1-2-8 are installed in the ejection box 1-1-1, and the cam servo 1-2-9 is used to control the movement of the take-up motor 1-2-12 so that the output end of the take-up motor 1-2-12 is combined or separated with the input end of the clutch 1-2-10; Figure 6 , the wire-taking motor 1-2-12 is installed in a motor seat and can slide along the motor seat; a compression spring 1-2-13 is provided in the motor seat for pushing the wire-taking motor 1-2-12 to always keep in contact with the cam of the cam servo 1-2-9, the cam servo 1-2-9 includes a servo and a cam fixedly installed on the servo shaft, two wire-taking motors 1-2-12 are symmetrically arranged on both sides of the cam, and the cam is used to push the wire-taking motor 1-2-12 to slide in the motor seat; Figure 5 The clutch 1-2-10 includes three reduction gears meshing in sequence; a driven friction plate is fixed on the end face of the first-stage reduction gear; an active friction plate cooperating therewith is fixed on the output end of the take-up motor 1-2-12; the output end of the clutch 1-2-10 is connected to the take-up shaft Ⅰ1-2-8; when the cam servo 1-2-9 pushes the take-up motor 1-2-12 to slide so that the active friction plate and the driven friction plate engage with each other, the power of the take-up motor 1-2-12 can be transmitted to the take-up shaft Ⅰ1-2-8 through the clutch 1-2-10, and the take-up shaft Ⅰ1-2-8 is connected to the warhead 1-2-2 through the warhead connecting rope 1-2-4. Therefore, the take-up motor 1-2-12 can pull the warhead 1-2-2 downward to compress the ejection spring 1-2-3.

[0033] like Figure 7 As shown, the rescue net includes a grid-shaped rope body and an air cushion arranged in the grid; a small amount of chemical substances (such as sodium) that can react with water to produce gas are placed in the air cushion. When the rescue net is thrown down, water penetrates into the air cushion from one side of the rope body and reacts with the chemical substances to produce gas, causing the gas to expand rapidly and squeeze with other adjacent air cushions, so that the air cushion forms a seal and floats on the water surface.

[0034] like Figure 8 As shown, the camera part 2 includes a bracket 2-2 arranged on the pan-tilt head and a camera 2-1 arranged on the bracket 2-2. The pan-tilt head 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 installed on the bracket 2-2 for searching for disaster victims.

[0035] like Fig. 9 As shown, the hull portion includes a bow 3-1, a hull 3-2 and a stern 3-3; Fig.10 The pan head is arranged above the bow 3-1, and a steering gear slot 3-1-3 for fixing and installing the pan head steering gear 2-3 is arranged in the bow 3-1. A tray 3-1-2 for supporting the pan head is arranged on the top of the bow 3-1. A rudder 3-1-4 for controlling the forward direction of the hull is arranged below the bow 3-1. A U-shaped tube structure shell 3-1-5 is arranged at the front end of the bow 3-1, which can reduce the resistance of traveling on the water surface and push away floating objects; Fig.11a / b, the hull 3-2 includes two hull tubes 3-2-1 arranged in parallel and a take-up shaft II 3-2-2 connected between the two hull tubes 3-2-1, a motor slot 3-2-4 is provided in the hull tube 3-2-1 to install a take-up motor for driving the take-up shaft II 3-2-2 to rotate, the take-up shaft II 3-2-2 is connected to the rescue net through a traction rope 3-2-3, and two guide holes 3-1-1 are also provided on the bow 3-1 for the traction rope 3-2-3 to pass through, so as to control the movement direction of the traction rope 3-2-3 when taking up the line, when the take-up shaft II 3-2-2 rotates, the rear part of the rescue net is pulled by the traction rope 3-2-3, so that the net rescue rope is placed under the affected person; handles 3-2-5 are provided on both sides of the hull 3-2 for easy carrying; Fig.12a / b, the stern 3-3 is provided with two propellers, which include a stern shell 3-3-1 with multiple holes, a propeller arranged in the stern shell 3-3-1, and a driving motor 3-3-2 for driving the propeller to rotate.

[0036] The working principle of the flood rescue robot in this embodiment is as follows:

[0037] Ready to launch: The cam servo 1-2-9 rotates to make the take-up motor 1-2-12 go deep into the input end of the clutch 1-2-10, so that the friction plate at the input end of the clutch 1-2-10 engages, and the take-up motor 1-2-12 rotates. Under the action of friction, the gears in the entire clutch 1-2-10 rotate, so that the take-up shaft Ⅰ1-2-8 rotates, and the warhead connecting rope 1-2-4 is wound. The connecting rope pulls the warhead 1-2-2 down to the clip 1-2-6. Under the elastic force of the clip spring 1-2-7, the end of the clip 1-2-6 is pushed into the ejection tube. When the warhead 1-2-2 reaches the bottom, the clip 1-2-6 just catches the warhead 1-2-2. At this time, the cam servo 1-2-9 rotates to make the take-up motor 1-2-12 withdraw from the input end of the clutch 1-2-10.

[0038] Launching state: trigger the servo 1-2-11 to rotate and pull the clip connecting rope 1-2-5, so that the clip 1-2-6 is retracted into the cross tube, the warhead 1-2-2 is ejected, and the clutch 1-2-10 gear is in an idling state, which reduces the external force consumption and makes the rescue net ejection distance wider.

[0039] Part of the work performed:

[0040] The clip connecting rope 1-2-5 connecting the clip 1-2-6 is pulled back into the cross tube by the trigger servo 1-2-1, and the warhead 1-2-2 pops out instantly, hits the node 1-2-1 and pops out, and drives the rescue net to pop out at the same time. After a certain period of time, the reel II 3-2-2 starts to reel in the line, and the first two nodes 1-2-1 of the rescue net are retracted to place the rescue net under the person to be rescued. Then, the rescue net is inflated when it meets water, and the person who fell into the water is successfully rescued.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An urban flood rescue robot, characterized in that: The vessel comprises at least a hull portion capable of traveling on the water surface and a launching portion for launching the rescue net to the rescue object; The ejection part includes an ejection box, an ejection tube, a node, a warhead, a warhead ejection mechanism and an ejection trigger mechanism; the ejection tube is fixedly arranged outside the ejection box; The node is detachably mounted on the outer end of the ejection tube and connected to the rescue net; the bullet is mounted inside the ejection tube; the bullet ejection mechanism includes an ejection spring, a bullet connecting rope, a cam servo, a take-up motor, a clutch and a take-up shaft I; the ejection spring is placed below the bullet; the cam servo, the take-up motor, the clutch and the take-up shaft I are mounted in the ejection box, the cam servo is used to control the movement of the take-up motor so that the output end of the take-up motor is combined or separated with the input end of the clutch; the output end of the clutch is connected to the take-up shaft I; the take-up shaft I is connected to the bullet through the bullet connecting rope to pull the bullet to move and compress the ejection spring; The ejection trigger mechanism includes a transverse tube, a clip, a clip spring, a clip connecting rope and a trigger servo; the transverse tube is fixed to the side of the ejection tube; the clip and the clip spring are arranged in the transverse tube, and the clip spring is used to push the clip into the ejection tube to clamp the warhead; the trigger servo is arranged in the ejection box, and the output end of the trigger servo is connected to the clip through the clip connecting rope; the trigger servo pulls the clip back to the transverse tube through the clip connecting rope to make the warhead bounce up and hit the node, so that the node is separated from the ejection tube and drives the rescue net to pop out.

2. The urban flood rescue robot according to claim 1, characterized in that: The hull part is provided with a pan head and a pan head driving servo for driving the pan head to rotate; the ejection box is connected with the pan head through a connecting rod; servos are provided between the ejection box and the connecting rod, and between the connecting rod and the pan head to adjust the elevation angle of the ejection box.

3. The urban flood rescue robot according to claim 2, characterized in that: The hull part includes a bow, a hull and a stern; the pan platform is arranged above the bow, and a rudder for controlling the forward direction of the hull is arranged below the bow; the hull is provided with a reeling shaft II, and the reeling shaft II is connected to the rescue net through a traction rope; the stern is provided with a propeller.

4. The urban flood rescue robot according to claim 1, characterized in that: The clutch comprises a plurality of reduction gears meshing in sequence; a driven friction plate is fixed on the end surface of the first-stage reduction gear; and an active friction plate cooperating therewith is fixed on the output end of the wire-receiving motor.

5. The urban flood rescue robot according to claim 1, characterized in that: The wire-taking motor is installed in a motor seat and can slide along the motor seat; a compression spring is arranged in the motor seat to push the wire-taking motor to always keep in contact with the cam of the cam servo.

6. The urban flood rescue robot according to claim 1, characterized in that: The robot also includes a camera part arranged on the hull part; the camera part includes a bracket arranged on the pan-tilt platform and a camera arranged on the bracket.

7. The urban flood rescue robot according to claim 2, characterized in that: The rescue net comprises a grid-shaped rope body and an air cushion arranged in the grid; the air cushion expands when it meets water.

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