Unmanned aerial vehicle for fire rescue and using method thereof

Abstract

The invention is suitable for the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle for fire rescue and a using method thereof.The unmanned aerial vehicle for fire rescue comprises a main body assembly, two retracting and releasing assemblies installed at the bottom of the main body assembly and a placing assembly arranged at the bottoms of the two retracting and releasing assemblies; the main body assembly comprises a fuselage and a plurality of sets of wings connected to the side wall of the fuselage in a surrounding mode, and the device solves the problems that loading and hoisting unmanned aerial vehicles are incompatible, manual assistance is needed, disaster site conditions are complex, part of positions cannot meet the transportation requirements, and consequently materials are difficult to deliver in time. The unmanned aerial vehicle can switch loading and hoisting modes, and functionality is improved. The clamping mechanism is controlled to be opened and closed through an electric sliding rail and a bearing plate, materials are clamped and then transferred to a target position, a two-way air cylinder drives an L-shaped rod to release the materials, and the materials which are not put are put after being transferred through the unmanned aerial vehicle, so that the requirement for material transportation is met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle for firefighting and rescue and a method for using the unmanned aerial vehicle. Background Art

[0002] Firefighting and rescue is a comprehensive work involving many aspects, mainly including fire fighting, emergency rescue, social assistance and responding to various disasters and accidents. Drones play a huge role in flood disaster rescue because of their advantages of speed, accuracy and all-weather. Traditional rescue methods require a lot of manpower, material resources and time, and the rescue efficiency is low, which cannot meet the urgent needs of the people in the disaster area.

[0003] At present, when existing drones are transporting materials, they usually adopt two main methods: loading and hoisting. The loading method is to first fix the materials on the drone cargo hold or platform to facilitate stable carrying during flight in the air, and to drop the materials through precise control when needed. The hoisting method allows the drone to replenish materials without landing. However, the hoisting method is prone to swing, which causes the materials to sway. In order to solve this problem, the staff further improved the drone so that it can use anti-swing technology to eliminate the swing of the hoisted materials and reduce the swing amplitude.

[0004] However, loading drones and lifting drones are incompatible, that is, during the firefighting and rescue process, staff still need to manually perform material loading or lifting assistance work. Affected by the environment for transporting materials and the diverse conditions at the disaster site, some disaster-stricken locations cannot meet the loading or lifting requirements, resulting in difficulty in timely delivery of rescue materials, which in turn causes the situation where materials cannot be transported. Summary of the invention

[0005] In view of the deficiencies in the prior art, an object of the present invention is to provide a firefighting and rescue drone and a method for using the same.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a firefighting and rescue drone, comprising a main body component, two sets of retractable components installed at the bottom of the main body component, and a placement component arranged at the bottom of the two sets of retractable components, wherein a toggle component is installed at the bottom of the placement component.

[0007] The main body component includes a fuselage and multiple groups of wings connected to the side walls of the fuselage. A propeller is installed on the top of the end of each group of wings away from the fuselage. Two groups of landing gears are symmetrically installed at the bottom of the fuselage. Two limiting mechanisms are installed at the bottom of the fuselage and at positions corresponding to the two landing gears. Two blocking frames are installed at the bottom of the fuselage and at positions intersecting with the two landing gears. The retracting and releasing assembly and the placing assembly are both arranged between the two blocking frames.

[0008] The placement component includes a top plate connected to the bottom of two groups of retractable components, two groups of side plates are symmetrically connected to the top plate, two supporting plates are horizontally slidably connected between the two groups of side plates, a first electric slide rail is installed in the middle of the bottom surface of the top plate, two moving seats are slidably connected to the bottom of the first electric slide rail, the two moving seats are respectively connected to the two supporting plates, two T-shaped plates are symmetrically connected to the bottom of the two supporting plates, a connecting shaft is connected between the two T-shaped plates, four groups of clamping mechanisms are equidistantly arranged at the bottom of the two supporting plates, and each group of the clamping mechanisms is connected to two connecting shafts.

[0009] Each group of the clamping mechanisms includes two sleeves, which are rotatably connected to the outer side walls of the two connecting shafts respectively. The outer side walls of the two sleeves are connected to an L-shaped plate, and two L-shaped rods are installed at one end of the L-shaped plate away from the corresponding sleeve.

[0010] The present invention is further configured as follows: the limiting mechanism includes a limiting block connected to the bottom of the fuselage, an arc portion is provided on the side wall of the limiting block, and the bottom end of the arc portion is horizontally arranged and arranged toward a side away from the fuselage.

[0011] By adopting the above technical solution, when the placement component is retracted to the bottom of the fuselage, two side edges of the top plate are first limited by two blocking frames, and the arc-shaped portion at the bottom of the limiting block guides the other two side edges of the top plate. The top plate is restricted and gradually placed in the position between the two blocking frames, thereby avoiding the situation where the placement component shakes and cannot be retracted.

[0012] The present invention is further configured as follows: both groups of the retractable and extendable components include a bracket installed at the bottom of the fuselage and an I-shaped wheel rotatably connected to the inside of the bracket, a retractable and discharge motor is installed on one side of the bracket, an output end of the retractable and discharge motor extends to the inside of the corresponding bracket and is connected to the center of the I-shaped wheel, a cable is wound around the outer wall of the I-shaped wheel, and one end of the cable is connected to the top of the top plate.

[0013] By adopting the above technical solution, when the placement component is loading materials, the retractable motor is used to drive the corresponding I-shaped wheel to rotate, and the cable is released or recovered during the rotation process. The cable pulls the placement component upward when it is reeled in, and vice versa, the placement component is released to the ground, thereby achieving compatibility between loading and lifting functions. The drone can switch between loading and lifting modes, greatly improving the functionality of the drone.

[0014] The present invention is further configured as follows: a guide rail is installed on one side of each of the bearing plates close to the side plate, a slider is slidably connected to the side wall of the guide rail, and the slider is connected to the side wall of the corresponding side plate.

[0015] The present invention is further configured as follows: each group of the clamping mechanisms includes a connecting block installed at the bottom of the top plate, a first bidirectional cylinder is horizontally installed at the bottom of the connecting block, both output ends of the first bidirectional cylinder are hinged with telescopic rods, and the two telescopic rods are respectively connected to the outer walls of the corresponding two sleeves.

[0016] The present invention is further configured as follows: the two supporting plates are both U-shaped, and the U-shaped openings of the two supporting plates are oriented in opposite directions, the connecting shaft is arranged at the U-shaped opening position of the corresponding supporting plate, and the corresponding telescopic rod swings inside the U-shaped opening of the corresponding supporting plate.

[0017] By adopting the above technical solution, when the placement component gradually descends to the position of the material, the first electric slide rail is used to drive the two bearing plates to separate from each other, and the bearing plates drive the corresponding T-shaped plates and the connecting shaft to move synchronously, and then the clamping mechanism opens. When the clamping mechanism moves to the side wall position of the material, the two bearing plates approach each other, causing the clamping mechanism to close and clamp the material. After that, the drone drives the clamped material to move to the position where it needs to be delivered. By controlling the extension of the first two-way cylinder, the telescopic rod is driven to swing adaptively, driving the sleeve to rotate, so that the L-shaped rod is tilted and opened to release the material. The material is thrown to the target position, and the undelivered material is transferred and thrown again by the drone until all the materials are delivered. This meets the requirements of material transportation.

[0018] The present invention is further configured as follows: the toggle assembly includes a second electric slide rail horizontally installed between two side plates, and the second electric slide rail is located below the two supporting plates, the bottom of the second electric slide rail is slidably connected to a sliding table, and two paddles are arranged at the bottom of the sliding table, and the two paddles are both located between correspondingly arranged L-shaped rods.

[0019] The present invention is further configured as follows: a lifting cylinder is installed vertically downward at the bottom of the sliding platform, a second bidirectional cylinder is installed horizontally at the bottom of the lifting cylinder, and two output ends of the second bidirectional cylinder are connected to two paddles.

[0020] The present invention is further configured as follows: three lever arms are equidistantly installed on the opposite sides of the two levers, the gaps between the three lever arms are arranged opposite to the two L-shaped rods of the same group, and a wedge block is installed on the bottom of each lever arm and on the side away from the lever.

[0021] By adopting the above technical solution, the second electric slide rail pushes the sliding table to move to the upper position corresponding to the material, and then the lifting cylinder pushes the second two-way cylinder and the paddle to move downward to squeeze the material downward, and then the second two-way cylinder pushes the two paddles to separate from each other, and the paddle arms corresponding to the paddles are inserted between the corresponding L-shaped rods, and finally the lifting cylinder pushes the second two-way cylinder and the paddle to move downward as a whole, and the paddle arms installed on the paddles squeeze the material, so that the material slides off the outer wall of the L-shaped rod and falls to the position where it needs to be dropped, and due to the shape limitation of the L-shaped rod, some materials cannot fall after being squeezed, so when the paddle arm is pressed down, it drives the wedge block to move downward at the same time, and the wedge block squeezes the side wall of the material toward an inclined surface of the material, so that the material can move along the inclined surface of the wedge block to the middle, and then the material can fall smoothly.

[0022] A method for using a firefighting and rescue drone, using the firefighting and rescue drone as described above, comprises the following steps: S1. The staff controls the flight of the drone by controlling the controller, that is, controlling the rotation of the propeller, and the drone takes off as a whole. Monitoring equipment and communication and navigation equipment are installed on the drone. The drone receives and processes control information and monitoring images in real time. The staff controls the drone to move to the material placement location.

[0023] S2. During this process, the staff placed multiple materials side by side on the ground, and then controlled the drone to descend, causing the drone to hover above the materials. The staff then controlled the retractable component to operate, and then controlled the placement component to descend to the location of the materials.

[0024] S3. After the placement component reaches the location of the materials, the L-shaped rods on the four sets of clamping mechanisms swing to grab multiple materials placed in parallel at the same time. Then the height of the drone rises, and the retracting component pulls the placement component back to the bottom of the fuselage, and the drone transports the loaded materials to the required location.

[0025] S4. The staff opens the L-shaped rod on one set of clamping mechanisms, causing a material at this position to be released, and the material is thrown to the position where it needs to be thrown, and this process is repeated until all the materials are thrown to the position where they need to be thrown.

[0026] S5. When materials are being dropped, the corresponding materials are pressed down and unhooked using the toggle assembly, so that the materials can be smoothly dropped to the location where they need to be dropped.

[0027] In summary, the present application includes at least one of the following beneficial technical effects: (1) By setting up a retractable and unretractable component, when the placement component is loading materials, the retractable and unretractable motor is used to drive the corresponding I-shaped wheel to rotate, and the cable is released or recovered during the rotation process. When the cable is reeled in, it pulls the placement component up, and vice versa, it releases the placement component to the ground, thereby achieving compatibility between loading and lifting functions. The drone can switch between loading and lifting modes, greatly improving the functionality of the drone.

[0028] (2) When the placement component is retracted to the bottom of the fuselage, two side edges of the top plate are first limited by two stoppers, and the arc-shaped portion at the bottom of the limit block guides the other two side edges of the top plate. The top plate is restricted and gradually enters the position between the two stoppers to prevent the placement component from shaking and being unable to be retracted.

[0029] (3) When the placement assembly gradually descends to the location of the material, the first electric slide rail is used to drive the two bearing plates to separate from each other, and the bearing plates drive the corresponding T-shaped plates and the connecting shaft to move synchronously, and then the clamping mechanism opens. When the clamping mechanism moves to the side wall of the material, the two bearing plates approach each other, causing the clamping mechanism to close and clamp the material. After that, the drone drives the clamped material to move to the location where it needs to be dropped. By controlling the extension of the two-way cylinder, the telescopic rod is driven to swing adaptively, driving the sleeve to rotate, so that the L-shaped rod is tilted and opened to release the material. The material is thrown to the target location, and the unreleased material is transferred and dropped by the drone until all the materials are dropped. This meets the requirements of material transportation.

[0030] (4) By setting up a toggle assembly, when one of the materials is stuck on the corresponding clamping mechanism and cannot be released, the second electric slide rail drives the slide to move above the material, and then the material is toggled by two paddles. The paddle arms and wedge blocks installed on the paddles cooperate to squeeze the material, so that the material slides off the outer wall of the L-shaped rod and falls to the position where it needs to be released, avoiding the situation where the material is stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The figure is a schematic diagram of the overall structure of a firefighting and rescue drone of the present invention.

[0032] Figure 2 for Figure 1 Schematic diagram of the side structure.

[0033] Figure 3 It is a schematic diagram of a partial structure viewed from above of the present invention.

[0034] Figure 4 It is a schematic diagram of the structure of the limiting mechanism in the present invention.

[0035] Figure 5 It is a schematic diagram of the connection structure between the retractable component and the placement component in the present invention.

[0036] Figure 6 This is a schematic diagram of the component placement structure in the present invention.

[0037] Figure 7 for Figure 6 Schematic diagram of the structure viewed from above.

[0038] Figure 8 It is a schematic diagram of the partial structure of the side view of the placement of components in the present invention.

[0039] Fig. 9 for Figure 8 Schematic diagram of the side structure.

[0040] Fig.10 It is a schematic diagram of the clamping mechanism structure.

[0041] Fig.11 It is a schematic diagram of the horizontal state of the L-shaped rod in the present invention.

[0042] Fig.12 It is a schematic diagram of the connection structure between the side plate and the toggle assembly in the present invention.

[0043] Fig.13 It is a schematic diagram of the cooperation between the L-shaped rod and the shift plate in the present invention.

[0044] Description of reference numerals: 1, main assembly; 11, fuselage; 12, wing; 13, propeller; 14, landing gear; 15, stop frame; 16, limit mechanism; 161, limit block; 162, arc portion; 2. Retractable assembly; 21. Bracket; 22. I-shaped wheel; 23. Retractable motor; 3. Placement assembly; 31. Top plate; 32. Side plate; 33. Slider; 34. Guide rail; 35. Loading plate; 36. First electric slide rail; 37. Clamping mechanism; 371. First bidirectional cylinder; 372. Connecting block; 373. Telescopic rod; 374. Sleeve; 375. L-shaped plate; 376. L-shaped rod; 38. T-shaped plate; 39. connecting shaft; 4. Toggle assembly; 41. Second electric slide rail; 42. Sliding table; 43. Lifting cylinder; 44. Second bidirectional cylinder; 45. Paddle; 46. Paddle arm; 47. Wedge block. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0047] See also Figure 1-Figure 13 , the present invention provides the following technical solutions: Example 1, see Figure 1-Figure 3 A fire rescue drone includes a main component 1, which is the overall structure of the drone. The specific structure of the main component 1 is as follows: See also Figure 1-Figure 3 The main component 1 includes a fuselage 11 and a plurality of wings 12 connected to the side wall of the fuselage 11. A propeller 13 is installed on the top of each wing 12 away from the fuselage 11. The wings 12 are arranged around the fuselage 11. The propeller 13 on the wing 12 is used to drive the wing 12 and the fuselage 11 to rise and fall, thereby driving the UAV to rise and fall, and to generate lift and thrust through the principle of aerodynamics to achieve the flight function. The fuselage 11 is equipped with an electronic control system, including sensors, controllers, communication equipment and navigation equipment. The sensors are used to collect the UAV's flight attitude, speed, altitude and other information in real time. According to the data collected by the sensors, the controller will send instructions to control the UAV's motors, steering gears and other components to adjust the UAV's flight attitude and flight direction. The communication equipment realizes the communication between the UAV and the ground control station. The navigation equipment is used to determine the location information of the UAV. Combined with other sensor data, the navigation equipment can help the UAV achieve accurate navigation and positioning.

[0048] See also Figure 1-Figure 3 Two sets of landing gears 14 are symmetrically installed at the bottom of the fuselage 11. When the drone lands, the landing gears 14 are used to support the fuselage 11. Two blocking frames 15 are installed at the bottom of the fuselage 11 and at a position staggered with the two landing gears 14. A placement component 3 is arranged between the two blocking frames 15. The placement component 3 is used to place materials. That is, when the drone lands on the ground as a whole, the staff places the materials inside the placement component 3 for storage, and the drone then moves the materials to the required location.

[0049] See also Figure 4-Figure 8The placement component 3 includes a top plate 31 connected to the bottom of the two groups of retractable components 2, and two groups of side plates 32 are symmetrically connected to the top plate 31. The top plate 31 and the side plates 32 cooperate to form a placement body. Two bearing plates 35 are horizontally slidably connected between the two groups of side plates 32. A first electric slide rail 36 is installed in the middle of the bottom surface of the top plate 31. Two moving seats are slidably connected to the bottom of the first electric slide rail 36. The two moving seats are respectively connected to the two bearing plates 35. The first electric slide rail 36 can be a stepper motor linear slide rail screw slide module, that is, a stepper motor is used to drive the linear The screw in the slide rail rotates, and the screw in the first electric slide rail 36 is a bidirectional screw rod. The two slides are threadedly connected on the bidirectional screw rod. When the bidirectional screw rod rotates, it drives the two slides to move closer to or away from each other. The two slides are respectively connected to the two moving seats. When the moving seats move, they drive the corresponding bearing plates 35 to move, causing the two bearing plates 35 to move closer to or away from each other. Materials can be placed between the two bearing plates 35, and the drone then moves the materials to the required position. After that, the two bearing plates 35 are separated from each other, and the materials can be thrown while the drone is suspended.

[0050] See also Figure 5 In this embodiment, a guide rail 34 is installed on one side of each supporting plate 35 close to the side plate 32, and a slider 33 is slidably connected to the side wall of the guide rail 34. The slider 33 is connected to the side wall of the corresponding side plate 32. When the supporting plate 35 moves between the two side plates 32, the supporting plate 35 drives the guide rail 34 to slide on the fixed slider 33, thereby guiding the supporting plate 35 when it moves.

[0051] In the second embodiment, when existing drones are transporting materials, they either use a loading method to drop the materials, or a hoisting method. The hoisting method allows the drone to replenish the materials without landing. The staff uses the anti-swing technology to perform anti-swing operations on the hoisted materials to reduce the swing amplitude. However, loading drones and hoisting drones are not compatible, and it is impossible to switch between loading and hoisting methods.

[0052] For this purpose, see Figure 5 Two sets of retractable components 2 are installed at the bottom of the fuselage 11, and the placement component 3 is hoisted by using the two sets of retractable components 2. The placement component 3 can be retracted to the bottom of the fuselage 11 by using the retractable components 2, or the placement component 3 can be released to the ground when the drone is suspended. The specific structure of the retractable components 2 is as follows: See also Figure 5In this embodiment, both sets of retractable and deployable components 2 include a bracket 21 installed at the bottom of the fuselage 11 and an I-shaped wheel 22 rotatably connected to the inside of the bracket 21. A retractable and deployable motor 23 is installed on one side of the bracket 21. The output end of the retractable and deployable motor 23 extends to the inside of the corresponding bracket 21 and is connected to the center of the I-shaped wheel 22. A cable is wound around the outer wall of the I-shaped wheel 22, and one end of the cable is connected to the top of the top plate 31. The retractable and deployable motor 23 is used to drive the corresponding I-shaped wheel 22 to rotate, and release or recycle the cable during the rotation process. When the cable is reeled in, it pulls the placement component 3 upward, and vice versa, it releases the placement component 3 to the ground.

[0053] See also Figure 3 and Figure 4 Two limiting mechanisms 16 are installed at the bottom of the fuselage 11 and at positions corresponding to the two landing gears 14. When the placement component 3 is retracted to the bottom of the fuselage 11 after loading materials or in an empty state, the drone needs to be in a suspended state. In this state, the placement component 3 will swing due to the influence of the drone flight and the surrounding environment. Therefore, direct retraction will cause collision and deviation. For this reason, the limiting mechanism 16 is used to guide and limit the placement component 3. The specific structure of the limiting mechanism 16 is as follows: See also Figure 4 The limiting mechanism 16 includes a limiting block 161 connected to the bottom of the fuselage 11, and an arc portion 162 is provided on the side wall of the limiting block 161. The bottom end of the arc portion 162 is horizontally arranged and faces the side away from the fuselage 11. The two blocking frames 15 limit two side edges of the top plate 31, and the arc portion 162 at the bottom of the limiting block 161 guides the other two side edges of the top plate 31. The top plate 31 is restricted and gradually enters the position between the two blocking frames 15 to prevent the placement component 3 from shaking and being unable to be retracted.

[0054] In the third embodiment, during the fire rescue process, the staff still needs to manually assist in loading or lifting materials. Due to the environmental influence of transporting materials, some disaster-stricken locations cannot meet the loading or lifting requirements, resulting in the inability to transport materials.

[0055] To this end, while the placement component 3 is set to a retractable state, the placement component 3 is used to clamp the materials placed on the ground, thereby eliminating the need for manual loading and hoisting and bundling by staff, and after clamping multiple materials at the same time, each material can be released separately to meet the requirements of material transportation. The specific structure is as follows: See also Figure 5 , Figure 6 and Fig. 9Two T-shaped plates 38 are symmetrically connected to the bottom of the two supporting plates 35, a connecting shaft 39 is connected between the two T-shaped plates 38, and four groups of clamping mechanisms 37 are equidistantly arranged at the bottom of the two supporting plates 35, and each group of clamping mechanisms 37 is connected to two connecting shafts 39.

[0056] The staff places multiple materials on the ground in parallel, and then controls the drone to descend, and the drone hovers above the materials. Then the staff controls the two reciprocating and discharging motors 23 to operate, and the reciprocating and discharging motors 23 drive the corresponding I-shaped wheels 22 to rotate, and the cable wrapped on the I-shaped wheels 22 is released. During the release of the cable, the placement component 3 gradually descends under the influence of gravity, causing the placement component 3 to gradually descend to the position of the materials. During the descent of the placement component 3, the two moving seats of the first electric slide rail 36 are separated from each other, causing the two bearing plates 35 to separate from each other, and the bearing plates 35 drive the corresponding T-shaped plates 38 and the connecting shaft 39 to move synchronously, and then the clamping mechanism 37 is opened. When the clamping mechanism 37 moves to the side wall position of the material, the two bearing plates 35 approach each other, causing the clamping mechanism 37 to close to clamp the material, and then the placement component 3 is retracted to the bottom of the drone, and the drone drives the clamped materials to be moved to the position where they need to be delivered for release, and each clamping mechanism 37 releases one material separately to meet the requirements of material transportation.

[0057] See also Figure 9-11 The specific structure of the clamping mechanism 37 is as follows: Each set of clamping mechanisms 37 includes two sleeves 374, which are rotatably connected to the outer walls of the two connecting shafts 39 respectively. The outer walls of the two sleeves 374 are connected to L-shaped plates 375. Two L-shaped rods 376 are installed at one end of the L-shaped plate 375 away from the corresponding sleeve 374. When the outer wall of the connecting shaft 39 rotates, the sleeve 374 can drive the L-shaped plate 375 and the corresponding L-shaped rod 376 to swing, thereby adjusting the angle of the L-shaped rod 376.

[0058] See also Figure 9-11Each set of clamping mechanisms 37 also includes a connecting block 372 installed at the bottom of the top plate 31, and a first two-way cylinder 371 is horizontally installed at the bottom of the connecting block 372. The two output ends of the first two-way cylinder 371 are hinged with telescopic rods 373, and the two telescopic rods 373 are respectively connected to the outer walls of the two corresponding sleeves 374. When the first electric slide rail 36 is used to drive the two bearing plates 35 to separate from each other, the first two-way cylinder 371 pulls one end of the corresponding telescopic rod 373 to maintain a positioning state, while the other end of the telescopic rod 373 is pushed to a tilted state, and the telescopic rod 373 is adaptively stretched. At this time, the telescopic rod 373 is stretched. When the angle of the retractable rod 373 changes, it drives the corresponding sleeve 374 to rotate on the outer wall of the connecting shaft 39, and then the L-shaped plate 375 and the L-shaped rod 376 swing, and the L-shaped rod 376 on the same group of clamping mechanisms 37 swings to a tilted and open state. In this state, the clamping mechanism 37 can be lowered to the side wall position of the material, and the first electric slide rail 36 drives the two supporting plates 35 to approach each other, the telescopic rod 373 adaptively shrinks, the sleeve 374 rotates, and the L-shaped plate 375 and the L-shaped rod 376 swing to a vertical state. After that, the material is clamped, and then the placement component 3 is retrieved and the clamped material is transferred by the drone.

[0059] Each clamping mechanism 37 releases a material individually to meet the requirements of material transportation. The specific operation is as follows: By controlling the extension of the piston rod of one of the first two-way cylinders 371, the first two-way cylinder 371 pushes the corresponding two telescopic rods 373 to swing, and the telescopic rods 373 adaptively shrink. The telescopic rods 373 push the corresponding sleeves 374 to rotate on the outer wall of the connecting shaft 39, causing the corresponding L-shaped rod 376 to swing to a tilted open state, and a material at this position is released, and the material is thrown to the position where it needs to be delivered. Other materials that have not been delivered can be moved to other positions by drones and then delivered until all materials are thrown to the positions where they need to be delivered.

[0060] See also Fig.10 The two supporting plates 35 are both U-shaped, and the U-shaped openings of the two supporting plates 35 are facing away from each other. The connecting shaft 39 is arranged at the U-shaped opening position of the corresponding supporting plate 35. In order to prevent the telescopic rod 373 from being blocked by the supporting plate 35 when swinging, the shape of the supporting plate 35 is separately set, and the corresponding telescopic rod 373 swings inside the U-shaped opening of the corresponding supporting plate 35 to achieve the purpose of non-interference.

[0061] Embodiment 4: Due to the difference in the shapes of materials, when the placing component 3 clamps the materials, the binding belt or protrusion on the materials will be stuck in one of the clamping mechanisms 37 and cannot be put into use, thereby affecting the rescue operation. For this reason, a toggle component 4 is installed at the bottom of the placing component 3, and the toggle component 4 is used to press and toggle the materials to avoid the materials from getting stuck. The specific structure of the toggle component 4 is as follows: See also Fig.12 and Fig.13 The toggle assembly 4 includes a second electric slide rail 41 horizontally installed between the two side plates 32, and the second electric slide rail 41 is located below the two carrying plates 35. The bottom of the second electric slide rail 41 is slidably connected to a sliding table 42. Two paddles 45 are arranged at the bottom of the sliding table 42. The two paddles 45 are located between the corresponding L-shaped rods 376. The second electric slide rail 41 can be a stepper motor linear slide rail slide seat module, that is, the stepper motor is used to drive the screw rod inside the linear slide rail to rotate, so that the slide seat threadedly connected to the outside of the screw rod is moved, and the sliding table 42 is connected to the slide seat of the second electric slide rail 41. When the slide seat on the second electric slide rail 41 moves, the sliding table 42 is displaced synchronously, that is, when one of the materials is stuck on the corresponding clamping mechanism 37 and cannot be delivered, the second electric slide rail 41 drives the sliding table 42 to move to the top of this material, and then the materials are toggled by the two paddles 45 so that the materials can be delivered smoothly.

[0062] See also Fig.12 and Fig.13 , the driving mode of the paddle 45 is as follows: In this embodiment, a lifting cylinder 43 is installed vertically downward at the bottom of the sliding table 42, and a second bidirectional cylinder 44 is installed horizontally at the bottom of the lifting cylinder 43. The two output ends of the second bidirectional cylinder 44 are connected to two paddles 45. Three paddle arms 46 are installed at equal distances on the opposite sides of the two paddles 45. The gaps between the three paddle arms 46 are arranged opposite to the two L-shaped rods 376 of the same group. A wedge block 47 is installed at the bottom of each paddle arm 46 and on the side away from the paddle 45.

[0063] The second electric slide rail 41 pushes the sliding platform 42 to move to the upper position corresponding to the material, and then the lifting cylinder 43 pushes the second two-way cylinder 44 and the paddle 45 to move downward to squeeze the material downward, and then the second two-way cylinder 44 pushes the two paddles 45 to separate from each other, and the paddle arm 46 corresponding to the paddle 45 is inserted between the corresponding L-shaped rods 376, and finally the lifting cylinder 43 pushes the second two-way cylinder 44 and the paddle 45 to move downward as a whole, and the paddle arm 46 installed on the paddle 45 squeezes the material, so that the material slides off the outer wall of the L-shaped rod 376 and falls to the position where it needs to be dropped, and due to the shape limitation of the L-shaped rod 376, some materials cannot fall after being squeezed, so when the paddle arm 46 is pressed down, it drives the wedge block 47 to move downward at the same time, and the wedge block 47 squeezes the side wall of the material toward one of the inclined surfaces of the material, so that the material can move along the inclined surface of the wedge block 47 to the middle, and then the material can fall smoothly.

[0064] Embodiment 5, a method for using a firefighting and rescue drone, using the firefighting and rescue drone, comprising the following steps: S1. The staff controls the flight of the drone by controlling the controller, that is, controls the propeller 13 to rotate, and the drone is lifted off as a whole. Monitoring equipment and communication and navigation equipment are installed on the drone. The drone receives and processes control information and monitoring images in real time, and the staff controls the drone to move to the material placement location.

[0065] S2. During this process, the staff places multiple materials side by side on the ground, and then controls the drone to descend, causing the drone to hover above the materials. The staff then controls the retractable component 2 to operate, and then controls the placement component 3 to descend to the location of the materials.

[0066] The more specific steps of S2 are: S21. After the staff place multiple materials side by side on the ground, the staff controls the drone to descend, and the drone hovers above the materials. Then the staff controls the two transmitting and receiving motors 23 to operate, and the transmitting and receiving motors 23 drive the corresponding I-shaped wheels 22 to rotate, and the cable wrapped around the I-shaped wheels 22 is released. During the release of the cable, the placement component 3 gradually descends due to the influence of gravity, causing the placement component 3 to descend to the position of the materials.

[0067] S3. After the placement component 3 reaches the location of the materials, the L-shaped rods 376 on the four groups of clamping mechanisms 37 swing to grab multiple materials placed in parallel at the same time. Then the height of the drone increases, and the retracting component 2 pulls the placement component 3 back to the bottom of the fuselage 11, and the drone transports the loaded materials to the required location.

[0068] The more specific steps of S3 are: S31. Before the placement component 3 reaches the location of the materials, the two moving seats of the first electric slide rail 36 are first separated from each other, causing the two supporting plates 35 to separate from each other. During this process, the first bidirectional cylinder 371 pulls one end of the corresponding telescopic rod 373 to maintain a positioning state, while the other end of the telescopic rod 373 is pushed to a tilted state, and the telescopic rod 373 is adaptively elongated. At this time, the angle of the telescopic rod 373 changes while driving the corresponding sleeve 374 to rotate on the outer wall of the connecting shaft 39, so that the L-shaped plate 375 and the L-shaped rod 376 swing, and the L-shaped rod 376 on the same group of clamping mechanisms 37 swings to a tilted and open state.

[0069] S32, the placement component 3 descends as a whole, causing the two L-shaped rods 376 to move to the side wall position of the material, and then the first electric slide rail 36 drives the two supporting plates 35 to approach each other, the telescopic rod 373 adaptively contracts, the sleeve 374 rotates, the L-shaped plate 375 and the L-shaped rod 376 swing to a vertical state, and then the material is clamped.

[0070] S33. Then the height of the UAV is raised, the cable wrapped around the I-shaped wheel 22 is rolled up, and the placement component 3 is pulled back to the bottom of the fuselage 11. During this process, the two retaining frames 15 limit two side edges of the top plate 31, and the arc-shaped portion 162 at the bottom of the limit block 161 guides the other two side edges of the top plate 31. The top plate 31 is restricted and gradually enters the position between the two retaining frames 15 for placement.

[0071] S4. The staff opens the L-shaped rod 376 on one set of the clamping mechanisms 37, so that a material at this position is released, and the material is thrown to the position where it needs to be thrown, and this process is repeated until all the materials are thrown to the position where they need to be thrown.

[0072] The more specific steps of S4 are: S41. Then the staff controls the piston rod of one of the first two-way cylinders 371 to extend. The first two-way cylinder 371 pushes the corresponding two telescopic rods 373 to swing. The telescopic rods 373 adaptively shrink. The telescopic rods 373 push the corresponding sleeves 374 to rotate on the outer wall of the connecting shaft 39, causing the corresponding L-shaped rod 376 to swing to a tilted open state. A material at this position is released, and the material is thrown to the position where it needs to be delivered, and this process is repeated until all the materials are thrown to the position where they need to be delivered.

[0073] S5. When materials are being dropped, the toggle assembly 4 is used to press down and unhook the corresponding materials, so that the materials can be smoothly dropped to the location where they need to be dropped.

[0074] The more specific steps of S5 are: S51. During the process of material being delivered, the second electric slide rail 41 pushes the sliding platform 42 to move to the upper position corresponding to the material, and then the lifting cylinder 43 pushes the second two-way cylinder 44 and the paddle 45 to move downward to squeeze the material downward, and then the second two-way cylinder 44 pushes the two paddles 45 to separate from each other, and the paddle arms 46 corresponding to the paddles 45 are inserted between the corresponding L-shaped rods 376, and finally the lifting cylinder 43 pushes the second two-way cylinder 44 and the paddle 45 to move downward as a whole, and the paddle arms 46 and wedge blocks 47 installed on the paddle 45 cooperate to squeeze the material, so that the material slides off the outer wall of the L-shaped rod 376 and falls to the position where it needs to be delivered.

[0075] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

Claims

1. A firefighting and rescue drone, characterized in that: It comprises a main body component (1), two groups of retractable components (2) installed at the bottom of the main body component (1), and a placement component (3) arranged at the bottom of the two groups of retractable components (2), wherein a toggle component (4) is installed at the bottom of the placement component (3); The main body component (1) comprises a fuselage (11) and a plurality of groups of wings (12) connected to the side wall of the fuselage (11), a propeller (13) being installed at the top of one end of each group of wings (12) away from the fuselage (11), two groups of landing gears (14) being symmetrically installed at the bottom of the fuselage (11), two limiting mechanisms (16) being installed at the bottom of the fuselage (11) and at positions corresponding to the two landing gears (14), two blocking frames (15) being installed at the bottom of the fuselage (11) and at positions intersecting with the two landing gears (14), and the retracting and releasing component (2) and the placing component (3) being arranged between the two blocking frames (15); The placement component (3) comprises a top plate (31) connected to the bottom of the two groups of retractable components (2); two groups of side plates (32) are symmetrically connected to the top plate (31); two bearing plates (35) are horizontally slidably connected between the two groups of side plates (32); a first electric slide rail (36) is installed in the middle of the bottom surface of the top plate (31); two movable seats are slidably connected to the bottom of the first electric slide rail (36); the two movable seats are respectively connected to the two bearing plates (35); two T-shaped plates (38) are symmetrically connected to the bottom of the two bearing plates (35); a connecting shaft (39) is connected between the two T-shaped plates (38); four groups of clamping mechanisms (37) are equidistantly arranged at the bottom of the two bearing plates (35); each group of the clamping mechanisms (37) is connected to two connecting shafts (39); Each group of the clamping mechanisms (37) comprises two sleeves (374), the two sleeves (374) being rotatably connected to the outer side walls of two connecting shafts (39), the outer side walls of the two sleeves (374) being connected to an L-shaped plate (375), and two L-shaped rods (376) being installed at one end of the L-shaped plate (375) away from the corresponding sleeve (374).

2. A firefighting and rescue drone according to claim 1, characterized in that: The limiting mechanism (16) comprises a limiting block (161) connected to the bottom of the fuselage (11); an arc-shaped portion (162) is provided on a side wall of the limiting block (161); and the bottom end of the arc-shaped portion (162) is arranged horizontally and toward a side away from the fuselage (11).

3. The firefighting and rescue drone according to claim 1, characterized in that: The two groups of the retractable and deployable components (2) each comprise a bracket (21) mounted on the bottom of the body (11) and an I-shaped wheel (22) rotatably connected to the inside of the bracket (21); a retractable and discharge motor (23) is mounted on one side of the bracket (21); an output end of the retractable and discharge motor (23) extends to the inside of the corresponding bracket (21) and is connected to the center of the I-shaped wheel (22); a cable is wound around the outer wall of the I-shaped wheel (22); one end of the cable is connected to the top of the top plate (31).

4. The firefighting and rescue drone according to claim 1, characterized in that: A guide rail (34) is installed on one side of each of the bearing plates (35) close to the side plate (32), a sliding block (33) is slidably connected to the side wall of the guide rail (34), and the sliding block (33) is connected to the side wall of the corresponding side plate (32).

5. The firefighting and rescue drone according to claim 4, characterized in that: Each group of the clamping mechanisms (37) comprises a connecting block (372) mounted on the bottom of the top plate (31); a first bidirectional cylinder (371) is horizontally mounted on the bottom of the connecting block (372); two output ends of the first bidirectional cylinder (371) are hinged with telescopic rods (373); the two telescopic rods (373) are respectively connected to the outer walls of two corresponding sleeves (374).

6. The firefighting and rescue drone according to claim 5, characterized in that: The two bearing plates (35) are both arranged in a U-shape, and the U-shaped openings of the two bearing plates (35) face away from each other. The connecting shaft (39) is arranged at the position of the U-shaped opening of the corresponding bearing plate (35), and the corresponding telescopic rod (373) swings inside the U-shaped opening of the corresponding bearing plate (35).

7. The firefighting and rescue drone according to claim 1, characterized in that: The toggle assembly (4) comprises a second electric slide rail (41) mounted horizontally between two side plates (32), the second electric slide rail (41) being located below two bearing plates (35), the bottom of the second electric slide rail (41) being slidably connected to a sliding platform (42), the bottom of the sliding platform (42) being provided with two toggle pieces (45), the two toggle pieces (45) being located between correspondingly arranged L-shaped rods (376).

8. The firefighting and rescue drone according to claim 7, characterized in that: A lifting cylinder (43) is installed vertically downward at the bottom of the sliding platform (42), and a second bidirectional cylinder (44) is installed horizontally at the bottom of the lifting cylinder (43), and both output ends of the second bidirectional cylinder (44) are connected to two paddles (45).

9. The firefighting and rescue drone according to claim 8, characterized in that: Three lever arms (46) are equidistantly mounted on opposite sides of the two levers (45); the gaps between the three lever arms (46) are arranged opposite to two L-shaped rods (376) of the same group; and a wedge block (47) is mounted on the bottom of each lever arm (46) and on the side away from the lever (45).

10. A method for using a firefighting and rescue drone, using the firefighting and rescue drone as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The staff controls the flight of the drone by controlling the controller, that is, controlling the propeller (13) to rotate, so that the drone is lifted off as a whole, and monitoring equipment and communication and navigation equipment are installed on the drone. The drone receives and processes control information and monitoring images in real time, and the staff controls the drone to move to the material placement location; S2. During this process, the staff places multiple materials side by side on the ground, and then controls the drone to descend, causing the drone to hover above the materials. The staff then controls the retractable component (2) to operate, and then controls the placement component (3) to descend to the location of the materials. S3, after the placement component (3) reaches the location of the materials, the L-shaped rods (376) on the four sets of clamping mechanisms (37) swing to simultaneously grab the multiple materials placed in parallel, and then the height of the drone rises, the retracting component (2) pulls the placement component (3) back to the bottom of the fuselage (11), and the drone transports the loaded materials to the desired location; S4. The staff opens the L-shaped rod (376) on one set of the clamping mechanisms (37), so that a material at this position is released, and the material is thrown to the position where it needs to be thrown, and the process repeats until all the materials are thrown to the position where they need to be thrown; S5. During the process of dropping the materials, the corresponding materials are pressed down and unhooked by using the toggle assembly (4), so that the materials are smoothly dropped to the location where they need to be dropped.

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