Underwater emergency rescue robot

Abstract

The invention discloses an underwater emergency rescue robot, and belongs to the technical field of underwater robots, the underwater emergency rescue robot comprises a robot main body, the robot main body comprises a rack and a propeller assembled on the rack, and a dragging unit is assembled at the bottom of the rack; through arrangement of a pull rope, an encircling unit and an air bag, after the robot body gets close to an underwater to-be-rescued person, the cross rod abuts against the person and then rotates to the rear side to be attached to the front of the person, the person is encircled through an L-shaped rod, the air bag is inflated after encircling, the air bag carries the person to float to the water surface together with the encircling unit, and the rescue effect is achieved. Meanwhile, in the moving process of the robot main body after floating, the floating personnel are dragged by the pull rope to quickly approach the shore, so that the problem of waiting on the water surface when the floating position is far away from the search and rescue personnel on the water surface is avoided under the cooperative use, and the rescued personnel can be timely brought to the shore to be rescued in the next step.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an underwater emergency rescue robot. Background Art

[0002] Drowning incidents are not uncommon in all kinds of natural or artificial water bodies such as rivers, lakes, reservoirs, and swimming pools. At the same time, some swimming enthusiasts may become exhausted while swimming and unable to get ashore on their own. When the above incidents occur, it is very important to rescue the people quickly and effectively.

[0003] At present, most rescue methods for people who fall into the water adopt manual rescue methods, which are to throw floating objects onto the water surface for the people who fall into the water to grab, or rescue personnel who are proficient in water jumping into the water to carry out rescue. Among them, the rescue method of throwing floating objects requires the people who fall into the water to actively grab the floating objects, but due to the influence of wind, waves, the reaction speed and physical condition of the people who fall into the water, there is no guarantee that the people who fall into the water will be able to grab the floating objects. Among them, the method of rescue personnel diving to rescue is affected by the rescue personnel's own physical fitness, water temperature, light and water quality. There is uncertainty in the diving depth and diving time. There is no guarantee that the rescue personnel will be able to find the people who fall into the water and bring them out of the water. For this reason, underwater emergency rescue robots are designed.

[0004] In actual applications, existing underwater emergency rescue robots usually use a method of approaching the underwater rescue personnel and inflating the airbags they carry, so that the rescue personnel can float to the surface with the help of the buoyancy of the airbags. However, there is a problem with this method: when the floating position is far away from the search and rescue personnel on the surface, the rescue personnel may face many uncertainties while waiting on the surface, resulting in the inability to be brought to the shore in time. Summary of the invention

[0005] The purpose of the present invention is to propose an underwater emergency rescue robot to solve the problem that when the buoyancy position is far away from the surface search and rescue personnel, the rescue personnel may face many uncertainties while waiting on the water surface, resulting in the inability to be brought to the shore in time.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An underwater emergency rescue robot comprises a robot body, wherein the robot body comprises a frame and a propeller mounted on the frame, and a towing unit is mounted on the bottom of the frame; The dragging unit includes a rear shell and a pull rope assembled in the rear shell, and one end of the pull rope passing through the rear shell is connected to a control unit; The control unit is connected to an embracing unit via a control rope, and an airbag unit is provided on the embracing unit, and the airbag unit includes a gas cylinder; The embracing unit comprises a connecting rod, a foldable rod is rotatably connected to the connecting rod via a first U-shaped seat, one end of the foldable rod is rotatably connected to two cross rods, one end of the cross rod is rotatably connected to an L-shaped rod, both ends of the connecting rod are fixed with guide rods for driving the L-shaped rod to rotate, and air bags that are connected to each other are installed on the inner sides of the cross rod and the L-shaped rod, and the air bags are connected to the gas cylinder; The cross bar gradually rotates rearward while moving backward after hitting the underwater person, fitting closely with the underwater person's body. During the backward movement, the L-shaped bar is driven to rotate inward under the action of the guide rod, and cooperates with the cross bar to embrace the underwater person, and drives the underwater person to float up after the airbag is inflated by the gas cylinder. At the same time, the robot body pulls the floating person towards the shore through the pull rope.

[0007] As a further description of the above technical solution: The control unit includes a front shell and a first motor fixed in the front shell, a first winding wheel is fixed to the output end of the first motor, the control rope is wound around the first winding wheel, and the connecting rod is fixed to the end of the front shell through a connecting piece.

[0008] As a further description of the above technical solution: The dragging unit further comprises a second motor fixed on the inner wall of the rear shell, a first electromagnet is fixed on one end of the rear shell, and the rear shell is fixed to the front shell through the first electromagnet.

[0009] As a further description of the above technical solution: A second winding wheel is fixed to the output end of the second motor, the pull rope is wound around the second winding wheel, and one end of the pull rope passes through the rear shell and is fixed to the front shell.

[0010] As a further description of the above technical solution: The foldable rod includes a first folding rod rotatably connected to a first U-shaped seat, one end of the first folding rod is rotatably connected to a second folding rod through a second U-shaped seat, a sleeve rod is sleeved on the second folding rod, and one end of the cross rod is rotatably connected to the end of the second folding rod.

[0011] As a further description of the above technical solution: A push rod is inserted in the second folding rod, one end of the push rod is fixed to the inner wall of the sleeve rod, a spring is fixed on the inner wall of the second folding rod, and a moving block is fixed to one end of the spring.

[0012] As a further description of the above technical solution: A second electromagnet is fixed in the middle of the inner wall of the second folding rod, so that one end of the push rod passing through the moving block can be fixed in the second folding rod through the second electromagnet. Connecting ropes are fixed on both sides of the moving block. The connecting rope passes through one end of the second folding rod and is fixed to the cross bar.

[0013] As a further description of the above technical solution: The airbag unit also includes a solenoid valve installed at the end of the gas cylinder, the gas cylinder is assembled in the front shell, one end of the solenoid valve is fixed with a delivery pipe, one end of the delivery pipe passes through the front shell and one of the cross bars in sequence and then communicates with the airbag.

[0014] As a further description of the above technical solution: A first torsion spring is sleeved on the rotation connection between the first folding rod and the first U-shaped seat, so that the first folding rod can only rotate downward, and cannot continue to rotate after rotating upward to a horizontal state. A second torsion spring is sleeved on the rotation connection between the second folding rod and the second U-shaped seat, so that the second folding rod can only rotate downward, and cannot continue to rotate after rotating upward to a horizontal state.

[0015] As a further description of the above technical solution: A third torsion spring is sleeved on the rotation connection between the cross bar and the second folding bar, so that the cross bar can only rotate outward and cannot continue to rotate after being reset to the inclined state. A fourth torsion spring is sleeved on the rotation connection between the L-shaped rod and the cross bar, so that the L-shaped rod can only rotate inward and cannot continue to rotate after being reset to the end flush with the cross bar.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: By setting the pull rope, embracing unit and airbag, it is realized that after the robot body approaches the underwater rescue personnel, it can press against the personnel through the cross bar and then rotate backward to fit in front of the personnel, and complete the embrace of the personnel through the L-shaped rod. After the embrace, the airbag is inflated, so that the airbag brings the personnel and the embracing unit to the water surface. At the same time, after floating, the floated personnel can be quickly dragged to the shore by the pull rope during the movement of the robot body. With coordinated use, the problem of waiting on the water surface when the floating position is far away from the search and rescue personnel on the water surface is avoided, so that the rescued personnel can be brought to the shore in time for the next step of rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a structure providing a first viewing angle in an initial state according to an embodiment of the present invention is shown; Figure 2 It shows a schematic diagram of the structure of the interior of the rear housing after being cut open according to an embodiment of the present invention; Figure 3A schematic diagram of the structure after the rear housing and the front housing are separated according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the structure of the second viewing angle in the initial state provided by an embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of the embracing unit after rotation according to an embodiment of the present invention is shown; Figure 6 It shows a schematic structural diagram of a first folding rod provided according to an embodiment of the present invention; Figure 7 A schematic structural diagram of a sleeve rod provided in an embodiment of the present invention is shown; Figure 8 It shows a schematic structural diagram of a rear housing and a front housing fixed together according to an embodiment of the present invention; Fig. 9 The embodiment of the present invention provides Figure 2 The enlarged view of point A in the middle; Fig.10 The embodiment of the present invention provides Figure 2 The enlarged view of point B in the middle; Fig.11 The embodiment of the present invention provides Figure 6 Enlarged view of point C in the middle; Fig.12 It shows a schematic diagram of the structure after the embracing unit provided in an embodiment of the present invention is embraced; Fig.13 A schematic diagram of the structure after the embracing unit is separated from the frame according to an embodiment of the present invention is shown.

[0018] Legend: 10. Robot body; 11. Frame; 12. Propeller; 20. Drag unit; 21. Rear housing; 22. Second motor; 23. Second reel; 24. Pull rope; 25. First electromagnet; 30. Control unit; 31. Front housing; 32. First motor; 33. First winding wheel; 34. Control rope; 40. Encircling unit; 41. Connecting rod; 42. Foldable rod; 421. First folding rod; 422. Second folding rod; 423. Sleeve rod; 424. Push rod; 425. Moving block; 426. Second electromagnet; 427. Connecting rope; 428. First torsion spring; 429. Second torsion spring; 4210. Spring; 43. Crossbar; 44. L-shaped rod; 45. Guide rod; 46. Connecting piece; 50. Airbag unit; 51. Gas cylinder; 52. Airbag; 53. Solenoid valve; 54. Delivery pipe. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] like Figure 1 - Fig.13 As shown, the present invention provides: An underwater emergency rescue robot includes a robot body 10, the robot body 10 includes a frame 11 and a propeller 12 mounted on the frame 11, and the robot body 10 also includes an energy system, a sensing system and a control system, which are existing well-known technologies, and the specific structural composition is not described in detail here; A towing unit 20 is installed at the bottom of the frame 11, and the towing unit 20 includes a rear shell 21 and a pull rope 24 installed in the rear shell 21. The rear shell 21 is detachably fixed to the bottom of the frame 11. One end of the pull rope 24 passes through the rear shell 21 and is connected to a control unit 30. The control unit 30 is connected to an embracing unit 40 through a control rope 34, and an airbag unit 50 is provided on the embracing unit 40.

[0021] like Figure 2 , Figure 3 and Fig.13 As shown, the control unit 30 includes a front housing 31 and a first motor 32 fixed in the front housing 31, a first winding wheel 33 is fixed to the output end of the first motor 32, a control rope 34 is wound around the first winding wheel 33, and a connecting rod 41 is fixed to the end of the front housing 31 through a connecting member 46; A first torsion spring 428 is sleeved at the rotation connection between the first folding rod 421 and the first U-shaped seat, so that the first folding rod 421 can only rotate downward, and can only rotate downward 90 degrees. Figure 1 As shown, after rotating upward to a horizontal state, it cannot continue to rotate, such as Figure 5 As shown, a second torsion spring 429 is sleeved at the rotation connection between the second folding rod 422 and the second U-shaped seat, so that the second folding rod 422 can only rotate downward, and can only rotate downward 90°, as shown in FIG. Figure 1 As shown, after rotating upward to a horizontal state, it cannot continue to rotate, such as Figure 5 As shown; Specifically, when not in use, the embracing unit 40 is folded and stored under the receiving frame 11. When approaching the underwater rescue personnel, the first motor 32 is started to drive the first winding wheel 33 to rotate counterclockwise to loosen the control rope 34, so that the first folding rod 421 and the second folding rod 422 are rotated upward to a horizontal state under the action of the first torsion spring 428 and the second torsion spring 429. At this time, the embracing unit 40 rotates from the bottom of the frame 11 to the front of the frame 11; When not in use, the first motor 32 is started to drive the first winding wheel 33 to rotate clockwise, thereby winding the control rope 34. During the winding process, the second folding rod 422 and the first folding rod 421 are pulled to gradually rotate to the position as shown in FIG. Figure 1 The state shown in the figure has been completed by folding and retracting again.

[0022] like Figure 1 , Figure 2 , Fig.12 and Fig.13 As shown, the embracing unit 40 includes a connecting rod 41, a foldable rod 42 is rotatably connected to the connecting rod 41 through a first U-shaped seat, one end of the foldable rod 42 is rotatably connected to two cross bars 43, one end of the cross bar 43 is rotatably connected to an L-shaped rod 44, and both ends of the connecting rod 41 are fixed with guide rods 45 for driving the L-shaped rod 44 to rotate; After the cross bar 43 hits the underwater person and moves backward, it gradually rotates backward and fits the underwater person's body. During the backward movement, the guide rod 45 drives the L-shaped rod 44 to rotate inward, cooperates with the cross bar 43 to embrace the underwater person, and drives the underwater person to float after the air bag 52 is inflated by the gas cylinder 51. At the same time, the robot body 10 pulls the floating person closer to the shore through the pull rope 24.

[0023] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the foldable rod 42 includes a first folding rod 421 rotatably connected to the first U-shaped seat, one end of the first folding rod 421 is rotatably connected to the second folding rod 422 through the second U-shaped seat, a sleeve rod 423 is sleeved on the second folding rod 422, and one end of the cross bar 43 is rotatably connected to the end of the second folding rod 422; A push rod 424 is inserted into the second folding rod 422, one end of the push rod 424 is fixed to the inner wall of the sleeve rod 423, a spring 4210 is fixed on the inner wall of the second folding rod 422, one end of the spring 4210 is fixed to a moving block 425, a second electromagnet 426 is fixed to the middle of the inner wall of the second folding rod 422, so that one end of the push rod 424 passing through the moving block 425 can be fixed in the second folding rod 422 through the second electromagnet 426, and connecting ropes 427 are fixed on both sides of the moving block 425, and one end of the connecting rope 427 passes through the second folding rod 422 and is fixed to the cross bar 43; A third torsion spring is provided at the rotation connection between the cross bar 43 and the second folding rod 422, so that the cross bar 43 can only rotate outwards and cannot continue to rotate after being reset to the tilted state. Figure 5 As shown, a fourth torsion spring is sleeved at the rotation connection between the L-shaped rod 44 and the cross bar 43, so that the L-shaped rod 44 can only rotate inward, and cannot continue to rotate after being reset to a state where the end is flush with the cross bar 43. Figure 5 As shown; After the embracing unit 40 rotates from the bottom of the frame 11 to the front of the frame 11, the robot body 10 controls the embracing unit 40 to approach the underwater rescue personnel. When the inner side of the cross bar 43 contacts the personnel, the robot body 10 continues to move, so that the cross bar 43 rotates backward under the action of the reaction force when contacting the personnel. When the cross bar 43 rotates until it is completely in contact with the personnel, the robot body 10 continues to move, so that the cross bar 43 continues to press against the personnel. At this time, the cross bar 43 drives the sleeve rod 423 to move backward (i.e., toward the side of the frame 11) under the action of the reaction force. During the movement, the push rod 424 pushes the moving block 425 to move backward, and pulls the connecting rope 427 to move backward to tighten it, and pulls the cross bar 43 to keep it in this state, and moves until one end of the push rod 424 passes through the moving block 425 and contacts the second electromagnet 426 and stops moving. At this time, the second electromagnet 426 is started to magnetically fix the push rod 424. At this time, the moving block 425 is also in a fixed state due to being pushed up by the push rod 424. In this state, the spring 4210 is in a compressed state. After the position is fixed, the angle of the cross bar 43 is fixed, and it will not reset itself under the action of the third torsion spring. During the backward movement of the cross bar 43, the L-shaped bar 44 gradually rotates inward under the action of the guide bar 45 until the push rod 424 is fixed in position. At this time, the L-shaped bar 44 wraps around the surface of the underwater person to be rescued. This state is as shown in FIG. Fig.12 As shown, after the push rod 424 is fixed in position, the L-shaped rod 44 will also maintain this state.

[0024] like Figure 2 , Figure 3 , Fig.12 and Fig.13 As shown, the airbag unit 50 includes a gas cylinder 51, and airbags 52 are installed on the inner sides of the cross bar 43 and the L-shaped rod 44. The airbags 52 are connected to each other through a ventilation pipe. The airbag 52 is connected to the gas cylinder 51. The airbag unit 50 also includes a solenoid valve 53 installed at the end of the gas cylinder 51. The gas cylinder 51 is assembled in the front shell 31. A delivery pipe 54 is fixed to one end of the solenoid valve 53. One end of the delivery pipe 54 passes through the front shell 31 and one of the cross bars 43 in sequence and then communicates with the airbag 52. After the cross bar 43 cooperates with the L-shaped bar 44 to embrace the underwater person to be rescued (underarm position), the solenoid valve 53 at the air outlet end of the gas cylinder 51 is opened to connect the gas cylinder 51 with the airbag 52, and at the same time, the first electromagnet 25 is closed to separate the rear shell 21 from the front shell 31. When the airbag 52 is inflated by the high-pressure gas delivered by the gas cylinder 51 through the delivery pipe 54, the airbag 52 drives the underwater person to be rescued held by the embracing unit 40 to float up alone, while the robot body 10 does not float up with it.

[0025] like Figure 2 , Figure 3 and Fig.13 As shown, the dragging unit 20 further includes a second motor 22 fixed on the inner wall of the rear housing 21, a first electromagnet 25 is fixed to one end of the rear housing 21, the rear housing 21 is fixed to the front housing 31 through the first electromagnet 25, a second winding wheel 23 is fixed to the output end of the second motor 22, a pull rope 24 is wound around the second winding wheel 23, and one end of the pull rope 24 passes through the rear housing 21 and is fixed to the front housing 31; When the embracing unit 40 is floating with personnel, the second motor 22 controls the second winding wheel 23 to rotate counterclockwise to loosen the pull rope 24, so that the embracing unit 40 will not drag the robot body 10 while floating. After floating to the water surface, the robot body 10 is controlled to move toward the shore. During the movement, the pull rope 24 is used to pull the floating personnel toward the shore to ensure that subsequent rescue can be carried out in time.

[0026] Specifically, when the underwater emergency rescue robot is working / in use: 1. Preparation stage: Ensure that the structures of the robot body 10, the dragging unit 20, the embracing unit 40 and the airbag unit 50 are intact, and check whether the energy system, the sensing system and the control system function normally. Then put the device into the water, start the robot body 10, and control it to approach the underwater rescue personnel through the thruster 12; 2. The surrounding unit 40 is expanded: When the robot body 10 approaches the person to be rescued, the first motor 32 is started to drive the first winding wheel 33 to rotate counterclockwise, and the control rope 34 is loosened. Under the action of the first torsion spring 428 and the second torsion spring 429, the first folding rod 421 and the second folding rod 422 of the embracing unit 40 rotate upward to a horizontal state, and the embracing unit 40 rotates from the bottom of the frame 11 to the front of the frame 11; 3. Hug the person waiting for rescue: The embracing unit 40 is controlled to continue to approach the person to be rescued so that the inner side of the cross bar 43 contacts the person. The cross bar 43 rotates backward under the action of the reaction force and fits with the person. After it is fully fitted, the cross bar 43 is controlled to continue to press against the person, push the sleeve rod 423 to move backward, pull the connecting rope 427 to tighten, fix the angle of the cross bar 43, and fix the push rod 424 through the second electromagnet 426, so that the position of the linkage structure such as the sleeve rod 423 is fixed. At the same time, during the movement, the L-shaped rod 44 gradually rotates inward under the action of the guide rod 45, and finally embraces the person to be rescued.

[0027] 4. The airbag 52 is inflated to separate the robot body 10 and the surrounding unit 40: After encircling, the electromagnetic valve 53 at the gas outlet end of the gas cylinder 51 is opened to connect the gas cylinder 51 with the airbag 52. The airbag 52 is inflated by the high-pressure gas delivered by the gas cylinder 51 through the delivery pipe 54, driving the underwater rescue personnel held by the encircling unit 40 to float up separately. When inflating, the first electromagnet 25 is closed to separate the rear shell 21 from the front shell 31, ensuring that the robot body 10 will not float up together with the encircling unit 40; 5. Towing floating personnel: During the floating process, the second motor 22 controls the second winding wheel 23 to rotate counterclockwise, and the pull rope 24 is loosened, so that the embracing unit 40 floats up alone with the floating person. After floating to the water surface, the propeller 12 of the robot body 10 controls it to move toward the shore. During the movement, the pull rope 24 is used to pull the floating person closer to the shore to ensure that subsequent rescue can be carried out in time.

[0028] 6. Rescue completed: When the floating personnel are successfully brought to the shore, the energy system of the robot body 10 is turned off, the towing unit 20 and the embracing unit 40 are recovered, and the robot is subjected to necessary maintenance and inspection in preparation for the next use.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater emergency rescue robot, comprising a robot body (10), wherein the robot body (10) comprises a frame (11) and a propeller (12) mounted on the frame (11), characterized in that: A dragging unit (20) is mounted on the bottom of the frame (11); The dragging unit (20) comprises a rear shell (21) and a pull rope (24) mounted in the rear shell (21); one end of the pull rope (24) passing through the rear shell (21) is connected to a control unit (30); The control unit (30) is connected to the embracing unit (40) via a control rope (34); the embracing unit (40) is provided with an airbag unit (50); the airbag unit (50) comprises an air cylinder (51); The embracing unit (40) comprises a connecting rod (41), a foldable rod (42) being rotatably connected to the connecting rod (41) via a first U-shaped seat, one end of the foldable rod (42) being rotatably connected to two cross rods (43), one end of the cross rod (43) being rotatably connected to an L-shaped rod (44), both ends of the connecting rod (41) being fixed with guide rods (45) for driving the L-shaped rod (44) to rotate, and air bags (52) which are connected to each other are installed on the inner sides of the cross rod (43) and the L-shaped rod (44), and the air bags (52) are connected to the gas cylinder (51); The cross bar (43) gradually rotates rearward while moving backward after contacting the underwater person, fitting closely to the body of the underwater person. During the backward movement, the L-shaped bar (44) is driven to rotate inward under the action of the guide rod (45), and cooperates with the cross bar (43) to embrace the underwater person, and drives the underwater person to float up after the air bag (52) is inflated by the gas cylinder (51). At the same time, the robot body (10) pulls the floating person toward the shore through the pull rope (24).

2. The underwater emergency rescue robot according to claim 1, characterized in that: The control unit (30) comprises a front housing (31) and a first motor (32) fixed in the front housing (31); a first winding wheel (33) is fixed to the output end of the first motor (32); the control rope (34) is wound around the first winding wheel (33); and the connecting rod (41) is fixed to the end of the front housing (31) via a connecting piece (46).

3. The underwater emergency rescue robot according to claim 2, characterized in that: The dragging unit (20) further comprises a second motor (22) fixed on the inner wall of the rear housing (21); a first electromagnet (25) is fixed to one end of the rear housing (21); and the rear housing (21) is fixed to the front housing (31) via the first electromagnet (25).

4. The underwater emergency rescue robot according to claim 3, characterized in that: A second winding wheel (23) is fixed to the output end of the second motor (22), the pull rope (24) is wound around the second winding wheel (23), and one end of the pull rope (24) passes through the rear housing (21) and is fixed to the front housing (31).

5. The underwater emergency rescue robot according to claim 1, characterized in that: The foldable rod (42) comprises a first folding rod (421) rotatably connected to a first U-shaped seat, one end of the first folding rod (421) being rotatably connected to a second folding rod (422) via a second U-shaped seat, a sleeve rod (423) being sleeved on the second folding rod (422), and one end of the cross rod (43) being rotatably connected to an end of the second folding rod (422).

6. The underwater emergency rescue robot according to claim 5, characterized in that: A push rod (424) is inserted into the second folding rod (422), one end of the push rod (424) is fixed to the inner wall of the sleeve rod (423), a spring (4210) is fixed on the inner wall of the second folding rod (422), and a moving block (425) is fixed to one end of the spring (4210).

7. The underwater emergency rescue robot according to claim 6, characterized in that: A second electromagnet (426) is fixed to the middle of the inner wall of the second folding rod (422), so that one end of the push rod (424) passing through the moving block (425) can be fixed in the second folding rod (422) through the second electromagnet (426), and connecting ropes (427) are fixed on both sides of the moving block (425), and one end of the connecting rope (427) passes through the second folding rod (422) and is fixed to the cross bar (43).

8. The underwater emergency rescue robot according to claim 1, characterized in that: The airbag unit (50) further comprises a solenoid valve (53) mounted on the end of the gas cylinder (51); the gas cylinder (51) is mounted in the front housing (31); a delivery pipe (54) is fixed to one end of the solenoid valve (53); one end of the delivery pipe (54) passes through the front housing (31) and one of the cross bars (43) in sequence and is then connected to the airbag (52).

9. The underwater emergency rescue robot according to claim 7, characterized in that: A first torsion spring (428) is sleeved on the rotation connection between the first folding rod (421) and the first U-shaped seat, so that the first folding rod (421) can only rotate downwards and cannot continue to rotate after returning to a horizontal state. A second torsion spring (429) is sleeved on the rotation connection between the second folding rod (422) and the second U-shaped seat, so that the second folding rod (422) can only rotate downwards and cannot continue to rotate after returning to a horizontal state.

10. The underwater emergency rescue robot according to claim 9, characterized in that: A third torsion spring is sleeved at the rotational connection between the cross bar (43) and the second folding bar (422), so that the cross bar (43) can only rotate outwards and cannot continue to rotate after being reset to the inclined state. A fourth torsion spring is sleeved at the rotational connection between the L-shaped rod (44) and the cross bar (43), so that the L-shaped rod (44) can only rotate inwards and cannot continue to rotate after being reset to an end portion flush with the cross bar (43).

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