A metamorphic vehicle for offshore rescue

Abstract

The application provides a metamorphic vehicle for offshore rescue, which comprises an inflating device, a metamorphic mechanism, a power system and a camera module; the camera module is arranged at the head of the metamorphic vehicle, the metamorphic mechanism is arranged in the middle of the metamorphic vehicle, and the power system is arranged at the tail of the metamorphic vehicle; the inflating device is arranged in the metamorphic mechanism; the metamorphic mechanism of the vehicle comprises a crank slider mechanism, a parallelogram mechanism, a parallel connection mechanism connecting rod and a shell; the crank slider mechanism is connected with the parallelogram mechanism, and the parallel connection mechanism connecting rod is arranged in the parallelogram mechanism; and the shell is arranged outside the metamorphic mechanism. The application improves the rescue efficiency and guarantees the safety of the rescuers.

Description

Technical Field

[0001] This application relates to the field of maritime rescue technology, and in particular to a variable-cell vehicle for maritime rescue. Background Technology

[0002] The complex and ever-changing conditions at sea can easily lead to maritime accidents. Therefore, ships, as important means of maritime transportation, need to be equipped with appropriate rescue equipment. Currently, maritime rescue equipment on the market is mainly divided into two categories: one is rescue equipment without a propulsion system, such as life jackets, life rings, life rafts, and life bracelets; the other is rescue equipment with a propulsion system, such as water robots, intelligent inflatable boats, and waterplane wings. The first type of rescue equipment is launched by helicopter or by throwing, which has significant limitations in deployment accuracy, making precise rescue impossible. Furthermore, this type of equipment lacks a propulsion system, making it unable to quickly remove people from the danger zone, only ensuring temporary safety. The second type of rescue equipment has a propulsion system and can operate on water. It is generally controlled by a remote control and can remove people from the danger zone. However, due to its generally large size, rescuers typically place the equipment in the water and then remotely control it to the rescue location. This takes a significant amount of time, potentially missing the optimal rescue window, and is also limited by signal transmission restrictions, meaning the rescue location cannot be too far from the remote control location. Summary of the Invention

[0003] This application provides a variable-cell vehicle for maritime rescue, which can solve the technical problem of large equipment size in existing variable-cell vehicles.

[0004] This application provides a variable-cell vehicle for maritime rescue, the variable-cell vehicle comprising:

[0005] This application includes an inflation device, a variable cell mechanism, a power system, and a camera module;

[0006] The camera module is located at the head of the variable cell vehicle, the variable cell mechanism is located in the middle of the variable cell vehicle, the power system is located at the tail of the variable cell vehicle, and the inflation device is located in the variable cell mechanism.

[0007] The variable-cell mechanism of the aircraft includes a crank-slider mechanism, a parallelogram mechanism, a parallel mechanism connecting rod, and an outer shell;

[0008] The crank-slider mechanism is connected to the parallelogram mechanism, and the connecting rod of the parallel mechanism is located inside the parallelogram mechanism; the variable cell mechanism is equipped with an outer shell.

[0009] Furthermore, the inflation device is located inside the aircraft, and the American-style valve is hinged to one end of the left and right fixed connecting rods through the gas cylinder inflation head connector;

[0010] One end of the gas cylinder inflation head is connected to the gas cylinder via a thread; the other end is connected to a torsion spring, on which a wrench is installed; the airbag is connected to an American-style valve; when the variable cell aircraft is not running, the wrench holds the gas cylinder inflation head in place.

[0011] Furthermore, the crank-slider mechanism includes a gas cylinder filling head connector, a crossbar, and a fixed connecting rod;

[0012] The crossbars include a left crossbar and a right crossbar; the fixed links include fixed links at both ends on the left and fixed links at both ends on the right.

[0013] The left end fixed link is connected to the left cross link by a hinge; the right cross link is connected to the right end fixed link by a hinge.

[0014] One end of the fixed connecting rod is hinged to the gas cylinder filling head connector, and the other end is connected to the tail of the two cross rods and the slide rail on the inner wall of the rear shell through a pin; the fixed connecting rod is connected in series with the internal cross rods; the two cross rods are hinged at the center point, one end of the cross rod is connected to the slide rail on the inner wall of the rear shell through a pin, and can move back and forth in the slide rail; the other end is hinged to the fixed point at the front end of the rear shell.

[0015] Furthermore, the parallelogram mechanism is a symmetrical structure;

[0016] Includes the lower left connecting rod of the camera; the upper left connecting rod of the camera; the upper hinge; the upper center pin; the lower center pin; the upper right connecting rod of the camera; the lower right connecting rod of the camera; and the lower hinge.

[0017] The upper center pin has one end connected to the center of the upper hinge; the two ends of the upper hinge are respectively connected to one end of the upper left connecting rod and one end of the upper right connecting rod of the camera; the lower center pin has one end connected to the center of the lower hinge; the two ends of the lower hinge are respectively connected to one end of the lower left connecting rod and one end of the lower right connecting rod of the camera.

[0018] One end of each of the four connecting rods is hinged to the back panel of the camera, with the hinge points arranged in a regular quadrilateral; the other end of each of the four connecting rods is hinged to the upper center pin and the lower center pin respectively via the upper hinge and the lower hinge.

[0019] Furthermore, the outer shell has a symmetrical structure; the outer shell is divided into a rear shell and a front shell; the rear shell includes a left rear shell and a right rear shell, and the front shell includes a left front shell and a right front shell;

[0020] Includes camera housing, left front section housing, left rear section housing, right rear section housing, and right front section housing;

[0021] The camera housing is located at the head of the housing. When closed, the left front section and the right front section of the housing are closed cylindrical cavities, and the left rear section and the right rear section of the housing are also closed cylindrical cavities.

[0022] Furthermore, one end of the parallel mechanism connecting rod is hinged to the upper hinge point of the camera back plate, and the other end is hinged to the inflation head connector; when the inflation head connector moves forward, the parallel mechanism connecting rod rotates, causing the camera module to rise.

[0023] Furthermore, the power system includes symmetrically installed left and right waterproof motors, symmetrically installed left and right propellers, and top feet; wherein, the propellers and waterproof motors correspond one-to-one; the four pins of the top feet are inserted into the slots at the tail of the left and right rear sections of the housing.

[0024] The left waterproof motor is fixed in the motor slot at the rear of the left rear section of the housing, and the right waterproof motor is fixed in the motor slot at the rear of the right rear section of the housing.

[0025] Furthermore, the camera module includes a camera and a camera backplate, which are mounted on the head of the vehicle; the camera backplate is hinged to four connecting rods via hinge points distributed in a square shape; the camera is fixed to the camera backplate, and the camera housing is connected to the camera backplate.

[0026] Furthermore, after the converter is launched to the designated rescue location, the water-soluble rope dissolves upon contact with water, the wrench rotates under the action of the torsion spring, the airway opens, and the pin inside the gas cylinder filling head opens the gas cylinder opening.

[0027] The liquid inside the high-pressure CO2 cylinder 22 vaporizes and rapidly fills the gas bladder. The gas bladder expands and its volume increases, pushing open the left front section shell and the right front section shell.

[0028] The rear shell separates in parallel and orderly under the pressure of the airbag and the constraint of the crossbar; as the crossbar rotates and opens, the fixed connecting rods at both ends of the crank-slider mechanism push the front gas cylinder filling head connector forward; during the cell transformation, the left rear shell separates in an orderly manner from the right rear shell, and the bottom top foot of the vehicle falls off accordingly, exposing the left and right propellers.

[0029] The variable-cell mechanism provided in this application enables the transformation between the launch and rescue states of the vehicle. After the rescue equipment is rapidly launched to the target location, the vehicle can quickly carry out the rescue operation and move the equipment away from dangerous waters using power provided by the propeller driven by the motor. This effectively combines the launch and propulsion systems of traditional rescue operations, improving rescue efficiency and ensuring the safety of rescue personnel. Attached Figure Description

[0030] Figure 1 This is a perspective view of the hull of the present invention in its launch state;

[0031] Figure 2 This is a perspective view of the ship's hull in rescue condition according to the present invention;

[0032] Figure 3This is a perspective view of the gas cylinder opening mechanism of the present invention;

[0033] Figure 4 This is a cross-sectional view of the bottle-opening mechanism of the present invention;

[0034] Figure 5 This is a structural diagram of the variable cell rod assembly of the present invention;

[0035] Figure 6 This is a side view of the variable cell rod assembly of the present invention;

[0036] Figure 7 This is a diagram showing the airbag compression state of the present invention;

[0037] Figure 8 This is a diagram showing the airbag in the deployed state of the present invention;

[0038] Figure 9 This is a partial structural diagram of the power system of the present invention;

[0039] Figure 10 This is an exploded view of the complete machine of the present invention;

[0040] Figure 11 This is a diagram showing the composition of the spatial linkage mechanism of the present invention.

[0041] In the image: 1. Camera housing; 2. Camera; 3. Camera back panel; 4. Airbag; 5. Inflation wrench; 6. Gas cylinder inflation head; 7. American-style valve; 8. Gas cylinder inflation head connector; 9. Lower left connecting rod of the camera; 10. Upper left connecting rod of the camera; 11. Front left section housing; 12. Left end fixing connecting rods; 13. Rear left section housing; 14. Left cross connecting rod; 15. Left waterproof motor; 16. Upper hinge; 17. Left... 18. Propeller; 19. Top foot; 20. Upper center pin; 21. Right propeller; 22. Lower center pin; 23. Gas cylinder; 24. Right waterproof motor; 25. Right cross link; 26. Right rear section shell; 27. Right end fixing link; 28. Right front section shell; 29. ​​Parallel mechanism connecting rod; 30. Camera upper right connecting rod; 31. Camera lower right connecting rod; 32. Lower hinge; 33. Water-soluble rope; 34. Torsion spring; 35. Top pin. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] This application features a space-variable mechanism, enabling the vehicle to transition from launch to rescue mode. Initially, it launches in a compressed state via gun-launch method, allowing it to reach the rescue location in the shortest possible time. This saves space while ensuring the best rescue opportunity is not missed, achieving long-distance unmanned autonomous maritime rescue.

[0044] The embodiments of this application will now be described in conjunction with the accompanying drawings.

[0045] This application includes an inflation device, a variable cell mechanism, a power system, and a camera module;

[0046] The camera module is located at the head of the variable-cell vehicle, the variable-cell mechanism is located in the middle of the variable-cell vehicle, the power system is located at the tail of the variable-cell vehicle, and the inflation device is located in the variable-cell mechanism.

[0047] The inflation device is located inside the aircraft. The American-style valve 7 is hinged to one end of the left and right fixed connecting rods 12 and 26 through the gas cylinder inflation head connector 8.

[0048] One end of the gas cylinder inflation head 6 is connected to the gas cylinder 22 via a thread; the other end is connected to the torsion spring 33, on which a wrench 5 is provided; the airbag 4 is connected to the American-style valve 7; when the variable cell aircraft is not started, the wrench 5 locks the gas cylinder inflation head 6.

[0049] A gas cylinder 22 containing compressed carbon dioxide gas is tightly connected to a gas cylinder inflation head 6 via threads. A wrench 5 connected to a torsion spring 33 opens and closes the air passage. Before the vehicle deforms, a water-soluble rope 32 secures the wrench 5, closing the air passage and leaving the airbag 4 uninflated. Upon launch to the designated rescue location, the water-soluble rope 32 dissolves upon contact with water, and the wrench 5 rotates under the action of the torsion spring 33, opening the air passage. Simultaneously, a pin 34 inside the gas cylinder inflation head 6 pushes open the opening of the gas cylinder 22. The liquid inside the high-pressure CO2 gas cylinder 22 vaporizes and rapidly fills the airbag 4, causing it to expand and push open the left front shell 11 and the right front shell 27. The airbag 4 then inflates as if... Figure 8 As shown in the diagram. Powered by the inflation of airbag 4, the spacecraft transforms from launch mode to rescue mode via a space-cell mechanism.

[0050] The variable-cell mechanism of the aircraft includes a crank-slider mechanism, a parallelogram mechanism, a parallel mechanism connecting rod 28, and an outer shell.

[0051] The crank-slider mechanism is connected to the parallelogram mechanism, and the connecting rod 28 of the parallel mechanism is located inside the parallelogram mechanism; the variable cell mechanism is equipped with an outer shell.

[0052] The crank-slider mechanism includes a gas cylinder filling head connector 8, a cross rod, and a fixed connecting rod; the cross rod includes a left cross connecting rod 14 and a right cross connecting rod 24; the fixed connecting rod includes left end fixed connecting rods 12 and right end fixed connecting rods 26.

[0053] The left end fixed link 12 is connected to the left cross link 14 by a hinge; the right cross link 24 is connected to the right end fixed link 26 by a hinge.

[0054] One end of the fixed connecting rod is hinged to the gas cylinder filling head connector 8, and the other end is connected to the tail of the two cross rods and the slide rail of the inner wall of the rear shell through a pin; the fixed connecting rod is connected in series with the internal cross rods; while the cross rods rotate and open, the fixed connecting rods at both ends of the crank slider mechanism push the front gas cylinder filling head connector 8 forward.

[0055] Two intersecting rods are hinged at a central point. One end of each rod is connected to a sliding track on the inner wall of the rear shell via a pin, allowing it to move back and forth within the track. The other end is hinged to a fixed point at the front end of the rear shell, and the rods are driven by the pressure of airbag 4. Under the pressure of airbag 4 and the constraint of the intersecting rods, the rear shell separates in a parallel and orderly manner, increasing the contact area, and serves as the main hull part of the vehicle in rescue mode.

[0056] Parallelogram mechanisms are symmetrical structures;

[0057] The system includes a lower left connecting rod 9 for the camera; an upper left connecting rod 10 for the camera; an upper hinge 16; an upper center pin 19; a lower center pin 21; an upper right connecting rod 29 for the camera; a lower right connecting rod 30 for the camera; and a lower hinge 31. One end of the upper center pin 19 is connected to the center of the upper hinge 16; both ends of the upper hinge 16 are connected to one end of the upper left connecting rod 10 and one end of the upper right connecting rod 29 for the camera, respectively; one end of the lower center pin 21 is connected to the center of the lower hinge 31; and both ends of the lower hinge 31 are connected to one end of the lower left connecting rod 9 and one end of the lower right connecting rod 30 for the camera, respectively.

[0058] One end of the four connecting rods is hinged to the camera back plate 3. To ensure the synchronous parallel movement of the four connecting rods, the hinge points are arranged in a regular quadrilateral. The other end of the four connecting rods is hinged to the upper center pin 19 and the lower center pin 21 through the upper hinge 16 and the lower hinge 31, respectively.

[0059] The outer shell has a symmetrical structure; the outer shell is divided into a rear shell and a front shell; the rear shell includes a left rear shell 13 and a right rear shell 25, and the front shell includes a left front shell 11 and a right front shell 27.

[0060] Includes camera housing 1, left front section housing 11, left rear section housing 13, right rear section housing 25, and right front section housing 27;

[0061] The camera housing 1 is located at the head of the housing. In the closed state, the left front section housing 11 and the right front section housing 27 are closed cylindrical cavities, and the left rear section housing 13 and the right rear section housing 25 are closed cylindrical cavities.

[0062] The front shell is used to protect the front of the vehicle and is compressed and detached from the vehicle when the airbag 4 inflates.

[0063] An innovative single-degree-of-freedom spatial three-dimensional rod group variable cell mechanism with rigid deformation capability was designed, which combines the crank-slider mechanism and the parallelogram mechanism in a two-in-one-series structure.

[0064] The crank-slider mechanism is connected in parallel with the parallelogram mechanism to achieve synchronous forward movement of the crank-slider mechanism and the parallelogram mechanism.

[0065] One end of the parallel mechanism connecting rod 28 is hinged to the upper hinge point of the camera back plate 3, and the other end is hinged to the inflation head connector 8. When the inflation head connector 8 moves forward, the parallel mechanism connecting rod 28 rotates, causing the camera module to rise, which is beneficial for the identification of targets falling into the water.

[0066] The power system includes a left waterproof motor 15 and a right waterproof motor 23 symmetrically installed, a left propeller 17 and a right propeller 20 symmetrically installed, and a top foot 18; wherein the propellers and waterproof motors correspond one-to-one; the four pins of the top foot 18 are inserted into the slots at the tail of the left rear section shell 13 and the right rear section shell 25.

[0067] The left waterproof motor 15 is fixed in the motor slot at the tail of the left rear section shell 13, and the right waterproof motor 23 is fixed in the motor slot at the tail of the right rear section shell 25. During the transformation, the left rear section shell separates from 13 and the right rear section shell 25 in an orderly manner, the bottom top foot 18 of the aircraft falls off accordingly, the left propeller 17 and the right propeller 20 are exposed, and the wheelbase of the tail propeller motor is increased, thereby increasing the torque when the aircraft turns, so that the aircraft has better maneuverability when turning.

[0068] The camera module includes a camera 2 and a camera backplate 3, which are mounted on the head of the vehicle. The camera backplate 3 is hinged to four connecting rods through hinge points distributed in a square shape, realizing the cooperation and transmission between the parallelogram mechanism and the camera module. The camera 2 is fixed on the camera backplate 3, and the transparent camera shell 1 is connected to the camera backplate 3, which plays a role in covering and protecting the camera 2.

[0069] like Figure 1 and Figure 2 As shown in the embodiment of the invention, the variable-cell vehicle for maritime rescue has its hull in a launch state within the launch mechanism. After determining the target rescue area, it launches the rescue equipment to the vicinity of the drowning victim. The hull chamber contains a gas cylinder 22 and an airbag 4. The opening mechanism of the gas cylinder 22 is connected to the air inlet of the airbag 4. Upon contact with water, the opening mechanism is activated, and the compressed liquid carbon dioxide vaporizes and enters the compressed airbag 4. The airbag 4 inflates and expands, and the hull transforms from a launch state to a rescue state through a linkage variable-cell mechanism. The inflated airbag 4 provides buoyancy to the drowning victim, buying time for subsequent rescue efforts and enabling long-distance saturation rescue. Figure 1 The hull structure in launch configuration. Figure 2 The ship's hull structure in a rescue state.

[0070] like Figure 3 and Figure 4 As shown, the cylinder opening mechanism includes a water-soluble rope 32, a torsion spring 33, an American-style valve 7, a valve stem 34, and an inflation wrench 5. When inflating cylinder 22, the cylinder nozzle engages with the valve stem 34, connecting the cylinder and valve. Carbon dioxide gas is injected into cylinder 22 via the inflation machine. Inflation stops when the internal pressure reaches a predetermined value. The inflation wrench 5 is then rotated counterclockwise and secured with the water-soluble rope 32. At this point, cylinder 22 is no longer connected to the American-style valve 7, and the inflation phase ends. If the rescue equipment comes into contact with water, the water-soluble rope 32 dissolves due to the water solubility of its material and breaks. Under the action of the torsion spring 33, the inflation wrench 5 resets clockwise, opening the valve passage and releasing a large amount of compressed gas. The American-style valve 7 connects to the air inlet of the airbag 4, inflating the airbag and ending the deflation phase. This inflation and deflation process can be repeated, allowing for multiple uses of the equipment. Image 7 shows the airbag in its compressed state, and image 8 shows the airbag in its deployed state.

[0071] like Figure 5 and Figure 6 As shown, the variable-cell mechanism of the aircraft consists of a set of spatial three-dimensional linkage mechanisms. After the airbag 4 inflates, the front shell of the aircraft detaches from the main body under the pressure of the airbag 4. The rear shell separates in a parallel and orderly manner under the pressure of the airbag and the constraint of the internal crossbar mechanism. The internal crossbar mechanism is connected in series with a crank-slider mechanism consisting of a gas cylinder inflation head connector 8, left end fixed connecting rods 12, and right end fixed connecting rods 26. When the crossbar rotates, it causes the gas cylinder inflation head connector 8 in the crank-slider mechanism to move forward. The crank-slider mechanism and the parallelogram mechanism consisting of the lower left connecting rod 9 of the camera, the upper left connecting rod 10 of the camera, the upper right connecting rod 29 of the camera, the lower right connecting rod 30 of the camera, the upper center pin 19, the lower center pin 21, the upper hinge 16, and the lower hinge 31 are connected in parallel, which can realize that the parallelogram mechanism moves forward synchronously when the gas cylinder inflation head connector 8 moves forward. The gas cylinder inflation head connector 8 and the upper right connecting rod 29 of the camera on the parallelogram mechanism are hinged together by a parallel mechanism connecting rod 28. When the gas cylinder inflation head connector 8 moves forward, the parallel mechanism connecting rod 28 rotates and lifts the parallelogram mechanism. The head camera 2 moves upward and floats above the water surface to obtain a longer field of view, which helps in the automatic identification of people who have fallen into the water.

[0072] like Figure 9As shown, after the airbag 4 inflates, the hull opens, and the top foot 18 automatically detaches. The rescue equipment is powered by the left waterproof motor 15 and the right waterproof motor 23, which drive the left propeller 17 and the right propeller 20 respectively. The variable-cell mechanism increases the wheelbase of the propeller motor at the tail of the vehicle, which increases the torque when the vehicle turns, giving it better maneuverability. Direction is adjusted by controlling the speed difference between the left waterproof motor 15 and the right waterproof motor 23.

[0073] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A variable-cell underwater vehicle for maritime rescue, characterized in that, The variable-cell vehicle includes: Inflator, variable cell mechanism, power system, camera module; The camera module is located at the head of the variable cell vehicle, the variable cell mechanism is located in the middle of the variable cell vehicle, the power system is located at the tail of the variable cell vehicle, and the inflation device is located in the variable cell mechanism. The variable-cell mechanism of the aircraft includes a crank-slider mechanism, a parallelogram mechanism, a parallel mechanism connecting rod (28), and an outer shell; The crank-slider mechanism is connected to the parallelogram mechanism, and the connecting rod (28) of the parallel mechanism is set inside the parallelogram mechanism; the variable cell mechanism is set with an outer shell. The inflation device is located inside the aircraft. The American-style valve (7) is hinged to one end of the left end fixed link (12) and the right end fixed link (26) through the gas cylinder inflation head connector (8). One end of the gas cylinder inflation head (6) is connected to the gas cylinder (22) via a thread; the other end is connected to a torsion spring (33), on which a wrench (5) is provided; the airbag (4) is connected to the American-style valve (7); when the variable cell aircraft is not started, the wrench (5) locks the gas cylinder inflation head (6). The crank-slider mechanism includes a gas cylinder filling head connector (8), a cross rod, and a fixed connecting rod; The crossbars include a left crossbar (14) and a right crossbar (24); the fixed links include fixed links at both ends on the left (12) and fixed links at both ends on the right (26). The left end fixed link (12) is connected to the left cross link (14) by a hinge; the right cross link (24) is connected to the right end fixed link (26) by a hinge; One end of the left-end fixed connecting rod (12) and the right-end fixed connecting rod (26) is hinged to the gas cylinder filling head connector (8), and the other end is connected to the tail of the left cross connecting rod (14) and the right cross connecting rod (24) and the slide rail of the inner wall of the rear shell by pins; the left-end fixed connecting rod (12) is connected in series with the left cross connecting rod (14); the right-end fixed connecting rod (26) is connected in series with the right cross connecting rod (24); the left cross connecting rod (14) and the right cross connecting rod (24) are hinged at the center point, and one end of the left cross connecting rod (14) and the right cross connecting rod (24) is connected to the slide rail of the inner wall of the rear shell by pins, and can move back and forth in the slide rail; the other end is hinged at the fixed point at the front end of the rear shell; The outer shell has a symmetrical structure; the outer shell is divided into a rear shell and a front shell; the rear shell includes a left rear shell (13) and a right rear shell (25), and the front shell includes a left front shell (11) and a right front shell (27). Includes camera housing (1), left front section housing (11); left rear section housing (13); right rear section housing (25); right front section housing (27). The camera housing (1) is located at the head of the housing. In the closed state, the left front section housing (11) and the right front section housing (27) are closed cylindrical cavities, and the left rear section housing (13) and the right rear section housing (25) are closed cylindrical cavities.

2. The variable-cell vehicle according to claim 1, characterized in that, Parallelogram mechanisms are symmetrical structures; Includes the lower left connecting rod (9) of the camera; the upper left connecting rod (10) of the camera; the upper hinge (16); the upper center pin (19); the lower center pin (21); the upper right connecting rod (29) of the camera; the lower right connecting rod (30) of the camera; and the lower hinge (31). Among them, one end of the upper center pin (19) is connected to the center position of the upper hinge (16); the two ends of the upper hinge (16) are respectively connected to one end of the upper left connecting rod (10) of the camera and one end of the upper right connecting rod (29) of the camera; one end of the lower center pin (21) is connected to the center position of the lower hinge (31); the two ends of the lower hinge (31) are respectively connected to one end of the lower left connecting rod (9) of the camera and one end of the lower right connecting rod (30) of the camera; One end of the four connecting rods is hinged to the camera back plate (3), and the hinge points are arranged in a regular quadrilateral; the other end of the four connecting rods is hinged to the upper center pin (19) and the lower center pin (21) respectively through the upper hinge (16) and the lower hinge (31).

3. The variable-cell vehicle according to claim 2, characterized in that, One end of the parallel mechanism connecting rod (28) is hinged to the upper hinge point of the camera back plate (3), and the other end is hinged to the inflation head connector (8); when the inflation head connector (8) moves forward, the parallel mechanism connecting rod (28) rotates, causing the camera module to rise.

4. The variable-cell vehicle according to claim 3, characterized in that, The power system includes a left waterproof motor (15) and a right waterproof motor (23) installed symmetrically, a left propeller (17) and a right propeller (20) installed symmetrically, and a top foot (18); wherein the propeller and the waterproof motor correspond one to one; the four pins of the top foot (18) are inserted into the slots at the tail of the left rear section shell (13) and the right rear section shell (25); The left waterproof motor (15) is fixed in the motor slot at the tail of the left rear section shell (13), and the right waterproof motor (23) is fixed in the motor slot at the tail of the right rear section shell (25).

5. The variable-cell aircraft according to claim 4, characterized in that, The camera module includes a camera (2) and a camera backplate (3), which are mounted on the head of the vehicle. The camera backplate (3) is hinged to four connecting rods through hinge points distributed in a square shape. The camera (2) is fixed on the camera backplate (3), and the camera housing (1) is connected to the camera backplate (3).

6. The variable-cell vehicle according to claim 5, characterized in that, After the morphing device is launched to the designated rescue location, the water-soluble rope (32) dissolves in water, the wrench (5) rotates under the action of the torsion spring (33), the airway is opened, and the pin (34) inside the gas cylinder filling head (6) pushes open the mouth of the gas cylinder (22); high pressure The liquid inside the gas cylinder (22) vaporizes and quickly fills the gas bag (4). The gas bag (4) expands and increases in volume, opening the left front shell (11) and the right front shell (27). The rear shell separates in parallel and orderly under the pressure of the airbag (4) and the constraint of the crossbar; while the crossbar rotates and opens, the fixed connecting rods at both ends of the crank slider mechanism push the front gas cylinder filling head connector (8) forward; when the shell changes, the left rear shell (13) and the right rear shell (25) separate in an orderly manner, the bottom top foot (18) of the aircraft falls off accordingly, and the left propeller (17) and the right propeller (20) are exposed.

Images