Triphibian rescue robot

Abstract

The invention discloses a water-land-air triphibian rescue robot, and relates to the field of rescue robots. According to the scheme, the device comprises a main frame body; the walking wheel sets are distributed at the four corners of the main frame body and used for driving the main frame body to move. The fixed floating body is fixed at the bottom of the main frame body and used for providing basic buoyancy for the main frame body; the pneumatic rescue mechanism is assembled at the bottom of the main frame body and used for providing adjustable buoyancy and multi-scene rescue capacity for the main frame body. A pneumatic rescue mechanism is assembled at the bottom, and an air bag floating body can serve as an underwater passing floating body of a main frame body after being inflated, can also be quickly separated from a second air cylinder, serves as a floating body for underwater rescue rescue of persons in distress and can also stretch into the position below a collapse object in a collapse scene to serve as a collapse object supporting object to share the pressure of the persons in distress, so that the rescue effect of the persons in distress is improved. And the survival probability of persons in distress is improved.

Description

Technical Field

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

[0002] Search and rescue robots were the first robots used in post-disaster rescue. They are mainly used for life search and dangerous area detection. In order to improve the mobility, amphibious rescue robots came into being. The characteristic of amphibious rescue robots is that they can pass through different scenarios.

[0003] For example, Chinese patent publication number CN111532430A discloses an amphibious drone, which includes a body with a fixed shift cylinder. Three partitions divide the shift cylinder into three shift chambers filled with hydraulic oil. Each shift chamber is provided with a shift block. The body is connected to the shift cylinder via three injection pipes filled with hydraulic oil. A shift button is provided in the injection pipe near the outer wall of the body. A shift adjustment knob is rotatably provided on the outer side of the body. A shift motor is fixedly installed in the center of the body. The shift motor is rotatably connected to the shift knob via a shift driving shaft. The drone can simultaneously meet the needs of activities and operations on water, land and air, and can automatically switch operating modes without manual adjustment, which saves costs and frees up manpower, allowing people to engage in other more meaningful work instead of wasting time on adjusting the drone. It can also coordinate drone operations and increase production efficiency.

[0004] This invention meets the needs of amphibious transportation. However, as a rescue robot, this invention and the current amphibious robots can only perform life search and dangerous area detection, and cannot perform emergency rescue in dangerous situations. For example, in a landslide scene, people in distress are pressed under heavy objects. The rescue method is to support the heavy objects, but the current supporting method requires rescuers to use tools for rescue. The rescue robot cannot perform emergency rescue, which may easily cause the danger of the people in distress to worsen. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose an amphibious rescue robot that is capable of being equipped with split rescue tools and performing emergency rescue in multiple scenarios.

[0006] To achieve the above technical objectives, the present invention provides an amphibious rescue robot:

[0007] It includes: a main frame; a walking wheel group, distributed at the four corners of the main frame, for driving the main frame to move; a fixed float, fixed to the bottom of the main frame, for providing basic buoyancy for the main frame; a pneumatic rescue mechanism, assembled at the bottom of the main frame, for providing the main frame with adjustable buoyancy and multi-scenario rescue capabilities, the pneumatic rescue mechanism includes: a second cylinder, fixed to the bottom of the main frame; a connecting assembly, fixed to the output end of the second cylinder; an airbag float, the airbag float is fixedly connected to the output end of the second cylinder through the connecting assembly; a first pressure valve, fixed to the end of the connecting assembly; a second pressure valve, for cooperating with the first pressure valve to connect the airbag float with the inner cavity of the second cylinder; an air pump, fixed on the main frame, for providing high-pressure gas to the fixed float, the walking wheel group and the pneumatic rescue mechanism.

[0008] Preferably, the second cylinder comprises: a cylinder barrel fixedly connected to the main frame; a hollow piston rod slidingly and sealingly connected to the cylinder barrel, and the interior of the hollow piston rod is hollow.

[0009] Preferably, the connecting assembly includes: a fixed cylinder, fixed to the output end of the hollow piston rod; a pin, slidably connected to the fixed cylinder; a first spring, the two ends of which are respectively abutted against the fixed cylinder and the pin; a paddle, hinged to the fixed cylinder, and one end of the paddle abuts against the end of the pin, and the other end of the paddle abuts against a second spring, and the other end of the second spring is embedded in the fixed cylinder.

[0010] Preferably, the first pressure valve includes: a first valve cylinder, fixedly connected to the end of the fixed cylinder; a vent plate, fixed to the end of the first valve cylinder; a first valve core, slidingly connected to the first valve cylinder, and the first valve core is conical; a third spring, the two ends of which are respectively against the first valve core and the vent plate.

[0011] Preferably, the second pressure valve includes: a second valve cylinder, fixed inside the airbag float; a second valve core, slidingly connected to the second valve cylinder; a fourth spring, the two ends of which are respectively against the second valve core and the second valve cylinder; and a vent hole, the inner cavity of the second valve cylinder is connected to the inner cavity of the airbag float through the vent hole.

[0012] Preferably, the walking wheel group includes: a wheel group frame, which is rotatably connected to the main frame; a support rod, one end of which is hinged to the wheel group frame and the other end of which is rotatably connected to a brushless motor wheel; a first cylinder, both ends of which are respectively hinged to the wheel group frame and the support rod, and the first cylinder is connected to the output part of the air pump.

[0013] Preferably, a steering drive assembly is fixed to the outer surface of the main frame, and the steering drive assembly includes: a push-pull rod, both ends of which are hinged to the wheel frame respectively, and a waist-round hole is opened through the middle of the push-pull rod; a motor is fixed to the main frame, and a shift rod is fixed to the output end of the motor, and the shift rod is slidably connected to the waist-round hole.

[0014] Preferably, a rotorcraft is mounted on the upper surface of the main frame, and the rotorcraft is used to drive the main frame to pass through the air.

[0015] Preferably, the bottom of the rotorcraft is rotatably sealed and connected to a first sealing plate, the bottom of the rotorcraft is fixed with positioning piles, and the positioning piles and the first sealing plate are staggered, and the bottom of the first sealing plate is fixed with a fixing ring.

[0016] Preferably, the outer surface of the main frame is rotatably sealed and connected to a second sealing plate, the bottom of the second sealing plate is equipped with a driving member for driving the second sealing plate to rotate, a card slot is provided in the middle of the second sealing plate, a card block that cooperates with the card slot is fixed in the middle of the first sealing plate, a fixing pile that cooperates with the fixing ring is fixed on the outer surface of the main frame, and a positioning hole that cooperates with the positioning pile is provided on the outer surface of the main frame.

[0017] It can be seen from the above technical solutions that this application has the following beneficial effects:

[0018] 1: By equipping the bottom with a pneumatic rescue mechanism, the airbag float can serve as a floating body for the main frame to pass through the water after being inflated. It can also be quickly separated from the second cylinder to serve as a floating body for emergency rescue of people in distress in the water. It can also be extended under the collapsed objects in the landslide scene as a support for the collapsed objects, sharing the pressure of the people in distress and increasing the probability of survival of the people in distress.

[0019] 2: Through the split land-air structure, the rotorcraft can pass independently of the main frame, serving as a pathfinder for the main frame to pass on land, thereby improving the main frame's land passability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] Figure 1 This is a schematic diagram of the overall structure of an amphibious rescue robot provided by the present invention;

[0022] Figure 2 This is a schematic diagram of the overall structure of the walking wheel group and steering drive assembly of an amphibious rescue robot provided by the present invention;

[0023] Figure 3 A schematic cross-sectional view of the pneumatic rescue mechanism of an amphibious rescue robot provided by the present invention;

[0024] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at point A;

[0025] Figure 5 A schematic diagram of the partially disassembled structure of an amphibious rescue robot provided by the present invention;

[0026] Figure 6 A schematic diagram of the rotorcraft structure of an amphibious rescue robot provided by the present invention;

[0027] Figure 7 This is a schematic cross-sectional structural diagram of an amphibious rescue robot provided by the present invention.

[0028] Explanation of reference numerals: 1. Main frame; 11. Fixed float; 12. Positioning hole; 13. Second closing plate; 14. Fixed pile; 2. Traveling wheel set; 21. Wheel set frame; 22. Support rod; 23. Brushless motor wheel; 24. First cylinder; 3. Pneumatic rescue mechanism; 31. Second cylinder; 311. Cylinder barrel; 312. Hollow piston rod; 32. Connecting assembly; 321. Fixed cylinder; 322. Pin; 323. First spring; 324. Paddle; 325. Second spring; 33 , airbag float; 34, first pressure valve; 341, first valve cylinder; 342, vent plate; 343, first valve core; 344, third spring; 35, second pressure valve; 351, second valve cylinder; 352, second valve core; 353, fourth spring; 354, vent; 4, air pump; 5, steering drive assembly; 51, push-pull rod; 511, waist round hole; 52, motor; 521, shift rod; 6, rotorcraft; 61, first closing plate; 611, fixing ring; 62, positioning pile. DETAILED DESCRIPTION

[0029] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0030] Example 1

[0031] See Figure 1As shown, a three-in-one rescue robot for land, water and air includes a main frame 1, a walking wheel group 2, a fixed float 11, a rotorcraft 6 and a propeller (not shown). The fixed float 11 is fixed to the bottom of the main frame 1, and the fixed float 11 is used to provide basic buoyancy for the main frame 1. The propeller is fixed on the main frame 1. In this embodiment, the propeller is driven by a motor or a fuel engine, which is not specifically limited here. The rotation of the propeller can propel this embodiment to walk on water; the walking wheel group 2 is distributed at the four corners of the main frame 1, and the walking wheel group 2 is used to drive the main frame 1 to move on land. The rotorcraft 6 is fixed to the surface of the main frame 1, and the rotorcraft 6 is used to drive the main frame 1 to pass in the air, thereby meeting the three-in-one passage of land, water and air of this embodiment.

[0032] For further information, see Figure 1 、 Figure 3 and Figure 4 As shown, an air pump 4 is fixed inside the main frame 1, and a pneumatic rescue mechanism 3 is assembled at the bottom of the main frame 1. The pneumatic rescue mechanism 3 is used to provide the main frame 1 with adjustable buoyancy and multi-scenario rescue capabilities. The pneumatic rescue mechanism 3 includes a second cylinder 31, a connecting assembly 32, an airbag float 33, a first pressure valve 34 and a second pressure valve 35. The second cylinder 31 is fixed to the bottom of the main frame 1, the connecting assembly 32 is fixed to the output end of the second cylinder 31, the airbag float 33 is fixedly connected to the output end of the second cylinder 31 through the connecting assembly 32, the first pressure valve 34 is fixed to the end of the connecting assembly 32, and the second pressure valve 35 is used to cooperate with the first pressure valve 34 to connect the airbag float 33 with the inner cavity of the second cylinder 31; it should be noted that the middle part of the airbag float 33 in this embodiment is a pipe fitting, and an airbag skin is fixedly attached to the outer surface of the pipe fitting. The airbag float 33 is composed of a pipe fitting and an airbag skin;

[0033] The purpose is that the middle part of the airbag float 33 can be sleeved on the output end of the second cylinder 31, and the airbag float 33 can be driven to move horizontally by the second cylinder 31. After the airbag float 33 is completely sleeved on the output end of the second cylinder 31, the airbag float 33 is locked with the second cylinder 31 through the connecting component 32. A specific condition must be met to unlock it. In this embodiment, the contact locking condition is that the airbag float 33 is inflated to a certain amount to avoid insufficient inflation of the airbag float 33. This embodiment is not limited to this unlocking condition. Those skilled in the art can also adopt an electromagnetic locking method according to actual needs. At this time, the first pressure valve 34 and the second pressure valve 35 will abut, so that the second cylinder 31 is connected to the inside of the airbag float 33, and the gas in the second cylinder 31 can also enter the airbag float 33.

[0034] For example, if there is a disaster on land such as a collapse, and the person in distress is trapped under a heavy object and cannot escape, the present embodiment can move to the person in distress, extend the second cylinder 31, insert the airbag float 33 into the gap between the heavy object and the ground, and inflate the airbag float 33 through the air pump 4, so that the airbag float 33 expands and supports the heavy object, giving the person in distress a certain amount of pressure sharing; if there are a large number of people in distress in the water, the present embodiment can reach the person in distress through its ability to pass through the water, separate the airbag float 33 and give it to the person in distress, which can ensure that the person in distress is out of danger of drowning.

[0035] The purpose is that this embodiment can meet the emergency rescue needs in different scenarios through the pneumatic rescue mechanism 3, thereby increasing the survival probability of people in distress.

[0036] For details, see Figure 3 and Figure 4 As shown, the second cylinder 31 includes a cylinder barrel 311 and a hollow piston rod 312. The cylinder barrel 311 is fixedly connected to the main frame 1; the hollow piston rod 312 is slidingly and sealedly connected to the cylinder barrel 311, and the interior of the hollow piston rod 312 is hollow; the purpose is that after the cylinder barrel 311 is ventilated, the hollow piston rod 312 will be pushed to slide in the cylinder barrel 311, and the gas can also enter the airbag float 33 through the hollow piston rod 312.

[0037] For more details, see Figure 3 and Figure 4As shown, the connecting assembly 32 includes a fixed cylinder 321, a pin 322, a first spring 323 and a paddle 324. The fixed cylinder 321 is fixedly connected to the output end of the hollow piston rod 312. The middle of the fixed cylinder 321 is passed through, and the pin 322 is slidably connected to the outer wall of the fixed cylinder 321. A pin hole that cooperates with the pin 322 is provided on the inner wall of the tube in the airbag float 33. The two ends of the first spring 323 are respectively against the fixed cylinder 321 and the pin 322. The first spring 323 is used to provide a resetting elastic force for the pin 322. The paddle 324 is hinged to the fixed cylinder 321, that is, it is hinged to the inner wall of the fixed cylinder 321, and one end of the paddle 324 is in contact with the end of the pin 322. The other end of the paddle 324 is in contact with the second spring 325. The other end of the second spring 325 Embedded in the fixed cylinder 321, the second spring 325 is used to provide elastic force for the paddle 324; the purpose is that when the hollow piston rod 312 inflates the airbag float 33, the initial internal air pressure of the airbag float 33 is less than the elastic force of the second spring 325, and the airbag float 33 will continue to expand to its deformation limit. At this time, the internal air pressure of the airbag float 33 and the hollow piston rod 312 increases. When the internal air pressure is greater than the elastic force provided by the second spring 325 to the paddle 324, the paddle 324 is pushed, and the paddle 324 pulls the pin shaft 322 away from the pin hole. At this time, if the hollow piston rod 312 retreats into the cylinder 311, the airbag float 33 can be separated. At this time, the amphibious rescue robot of this embodiment can continue to move to other positions for rescue exploration without being affected.

[0038] For further information, see Figure 4 As shown, in order to ensure that the airbag float 33 can be separated from the hollow piston rod 312 for use after inflation, and the hollow piston rod 312 can also be used independently, the airbag float 33 and the hollow piston rod 312 are connected through the first pressure valve 34 and the second valve cylinder 351. Specifically, the first pressure valve 34 includes a first valve cylinder 341, a vent plate 342, a first valve core 343 and a third spring 344. The first valve cylinder 341 is fixedly connected to the end of the fixed cylinder 321, and the vent plate 342 is fixed to the end of the first valve cylinder 341. The surface of the air plate 342 is evenly provided with through holes, which are used for ventilation. The first valve core 343 is slidably connected to the first valve cylinder 341. The first valve core 343 is conical. When the first valve core 343 slides in the direction away from the first valve cylinder 341, the gap between the first valve core 343 and the first valve cylinder 341 will increase. At this time, the first pressure valve 34 is in an open state. The two ends of the third spring 344 are respectively against the first valve core 343 and the ventilation plate 342. The third spring 344 is used to provide elastic force for the first valve core 343.

[0039] For further information, see Figure 4As shown, the second pressure valve 35 includes a second valve cylinder 351, a second valve core 352, a fourth spring 353 and a vent hole 354. The second valve cylinder 351 is fixed inside the airbag float 33, the second valve core 352 is slidably connected to the second valve cylinder 351, and the two ends of the fourth spring 353 are respectively against the second valve core 352 and the second valve cylinder 351. The inner cavity of the second valve cylinder 351 is connected with the inner cavity of the airbag float 33 through the vent hole 354, and the fourth spring 353 is used to provide elastic force for the second valve core 352; illustratively, when the airbag float 33 is completely covered on the output end of the second cylinder 31, that is, the hollow piston rod 312 is fully inserted into the airbag float 33, at this time, the first valve core 343 and the second valve core 352 are abutted, and exert pressure on each other, so that the first valve core 343 and the second valve core 352 are respectively away from the first valve cylinder 341 and the second valve cylinder 351, so that the first valve cylinder 341 and the second valve cylinder 351 are connected.

[0040] See Figure 1 and Figure 2 As shown, the walking wheel group 2 includes a wheel group frame 21, a support rod 22 and a first cylinder 24. The wheel group frame 21 is rotatably connected to the main frame 1, one end of the support rod 22 is hinged to the wheel group frame 21, and the other end of the support rod 22 is rotatably connected to the brushless motor wheel 23. The brushless motor wheel 23 in this embodiment is a combination of a brushless motor and a tire, such as the driving wheel currently used in electric bicycles. The specific principle will not be elaborated here; the two ends of the first cylinder 24 are respectively hinged to the wheel group frame 21 and the support rod 22, and the first cylinder 24 is connected to the output part of the air pump 4. The height of the support rod 22 can be adjusted by the first cylinder 24, so that the support rod 22 drives the adjustment of the height of the brushless motor wheel 23 to adapt to the movement of different terrains and improve land traffic capacity.

[0041] See Figure 1 and Figure 2 As shown, a steering drive assembly 5 is fixed to the outer surface of the main frame 1, and the steering drive assembly 5 includes a push-pull rod 51 and a motor 52. The two ends of the push-pull rod 51 are respectively hinged to the wheel frame 21, and a waist-round hole 511 is opened in the middle of the push-pull rod 51; the motor 52 is fixed on the main frame 1, and a shift rod 521 is fixed to the output end of the motor 52. The shift rod 521 is slidingly connected to the waist-round hole 511. The motor 52 drives the shift rod 521 to rotate to different angles. The shift rod 521 can push the push-pull rod 51 to different positions, thereby controlling the rotation of the wheel frame 21, and adjusting the walking direction of the brushless motor wheel 23 to achieve the steering effect.

[0042] Example 2

[0043] Based on the above embodiments, see Figure 5 、 Figure 6 and Figure 7As shown, the rotorcraft 6 of this embodiment includes but is not limited to a four-wing rotorcraft. The rotorcraft 6 of this embodiment can be used independently of the main frame 1. The purpose is to be able to explore the main frame 1, that is, the part that is accessible on land or water, in some complex scenarios, thereby improving the efficiency of rescue exploration;

[0044] The electrical parts of this embodiment or embodiment 1 all use batteries, and independent batteries are installed in the rotorcraft 6 and the main frame 1 respectively. The independent batteries in the rotorcraft 6 and the main frame 1 can respectively power the electrical equipment on the rotorcraft 6 and the main frame 1, and when the rotorcraft 6 is fixed to the main frame 1, the independent batteries in the rotorcraft 6 and the main frame 1 can also be shared and used. To meet this condition, the independent batteries can be electrically connected after the rotorcraft 6 is fixed to the main frame 1.

[0045] Specifically, the bottom of the rotorcraft 6 is equipped with terminals for electrically connecting the independent batteries. The main frame 1 is equipped with terminal nut to match the terminals. The terminals and the terminal nut are of a non-self-locking type. The specific model is not specifically limited here.

[0046] For more details, see Figure 5 、 Figure 6 and Figure 7 As shown, the bottom of the rotorcraft 6 is rotatably sealed and connected with a first sealing plate 61. When the first sealing plate 61 is rotated open, the terminal is exposed. Otherwise, the terminal is hidden in the rotorcraft 6. A positioning pile 62 is fixed to the bottom of the rotorcraft 6, and the positioning pile 62 is staggered with the first sealing plate 61. A fixing ring 611 is fixed to the bottom of the first sealing plate 61; the outer surface of the main frame 1 is rotatably sealed and connected with a second sealing plate 13. When the second sealing plate 13 is rotated open, the terminal nut is exposed. Otherwise, the terminal nut is hidden in the main frame 1; the purpose is to prevent the rotorcraft 6 from being affected by the surrounding environment on the terminal nut after it is separated from the main frame 1 for use, such as rain or dust.

[0047] The bottom of the second sealing plate 13 is equipped with a driving member for driving the second sealing plate 13 to rotate. The driving member of this embodiment can adopt a servo motor or an electric push rod in conjunction with a cam and other structures that can drive the second sealing plate 13 to rotate, which is not specifically limited here. A card slot is provided in the middle of the second sealing plate 13, and a card block that cooperates with the card slot is fixed to the middle of the first sealing plate 61. A fixing pile 14 that cooperates with the fixing ring 611 is fixed to the outer surface of the main frame 1, and a positioning hole 12 that cooperates with the positioning pile 62 is provided on the outer surface of the main frame 1. For example, when the rotorcraft 6 needs to work independently, the terminal end mother is disconnected, and the docking of the terminal end mother can adopt a lifting or electromagnetic structure, which is not specifically limited here, and then the driving The moving part drives the second closing plate 13 to rotate, and the second closing plate 13 drives the first closing plate 61 to rotate synchronously, so that the terminal end mother is respectively enclosed in the main frame 1 and the rotorcraft 6, and the fixing ring 611 is separated from the fixing pile 14. At this time, the rotorcraft 6 can move independently; when the rotorcraft 6 returns to the main frame 1, the positioning pile 62 and the positioning hole 12 are first docked. After the docking is completed, the driving part drives the second closing plate 13 to rotate, and the second closing plate 13 drives the first closing plate 61 to rotate synchronously, so that the terminal end mother leaks out of the main frame 1 and the rotorcraft 6 respectively. At the same time, the fixing ring 611 rotates and moves with the first closing plate 61, so as to be sleeved on the fixing pile 14, and the combination of the rotorcraft 6 and the main frame 1 is completed.

[0048] It should be noted that the docking positioning between the rotorcraft 6 and the main frame 1 can be achieved through laser positioning or machine vision positioning. The specific positioning method and algorithm are not specifically limited here.

[0049] The exemplary implementation schemes proposed in the present disclosure are described in detail above with reference to preferred embodiments. However, it will be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the scope of protection of the present disclosure, which is determined by the appended claims.

Claims

1. A three-dimensional rescue robot capable of operating on land, water and air, characterized in that: include: Main frame (1); Traveling wheel sets (2), distributed at the four corners of the main frame (1), for driving the main frame (1) to move; A fixed float (11) is fixed to the bottom of the main frame (1) and is used to provide basic buoyancy for the main frame (1); A pneumatic rescue mechanism (3) is mounted on the bottom of the main frame (1) and is used to provide the main frame (1) with adjustable buoyancy and multi-scenario rescue capabilities. The pneumatic rescue mechanism (3) includes: The second cylinder (31) is fixed to the bottom of the main frame (1); A connecting assembly (32) is fixed to the output end of the second cylinder (31); An airbag float (33), wherein the airbag float (33) is fixedly connected to the output end of the second cylinder (31) via a connecting assembly (32); a first pressure valve (34) fixed to an end of the connecting assembly (32); a second pressure valve (35) for cooperating with the first pressure valve (34) to connect the airbag float (33) with the inner cavity of the second cylinder (31); The air pump (4) is fixed on the main frame (1) and is used to provide high-pressure gas to the fixed float (11), the walking wheel group (2) and the pneumatic rescue mechanism (3).

2. The amphibious rescue robot according to claim 1, characterized in that: The second cylinder (31) comprises: The cylinder (311) is fixedly connected to the main frame (1); The hollow piston rod (312) is connected to the cylinder (311) in a sliding and sealing manner, and the interior of the hollow piston rod (312) is hollow.

3. The amphibious rescue robot according to claim 2, characterized in that: The connecting assembly (32) comprises: A fixed cylinder (321) is fixed to the output end of the hollow piston rod (312); A pin (322) is slidably connected to the fixed cylinder (321); The first spring (323) has two ends respectively abutting against the fixed cylinder (321) and the pin (322); The paddle (324) is hinged to the fixed cylinder (321), and one end of the paddle (324) abuts against the end of the pin shaft (322), and the other end of the paddle (324) abuts against a second spring (325), and the other end of the second spring (325) is embedded in the fixed cylinder (321).

4. The amphibious rescue robot according to claim 3, characterized in that: The first pressure valve (34) comprises: The first valve cylinder (341) is fixedly connected to the end of the fixed cylinder (321); A vent plate (342) is fixed to the end of the first valve cylinder (341); A first valve core (343) is slidably connected to the first valve cylinder (341), and the first valve core (343) is tapered; The third spring (344) has two ends respectively abutting against the first valve core (343) and the vent plate (342).

5. The amphibious rescue robot according to claim 1, characterized in that: The second pressure valve (35) comprises: The second valve cylinder (351) is fixed inside the airbag float (33); A second valve core (352) is slidably connected to the second valve cylinder (351); The fourth spring (353) has two ends respectively abutting against the second valve core (352) and the second valve cylinder (351); The vent hole (354) is connected to the inner cavity of the airbag float (33) through the vent hole (354).

6. The amphibious rescue robot according to claim 1, characterized in that: The walking wheel set (2) comprises: A wheel assembly frame (21) is rotatably connected to the main frame (1); A support rod (22) is hinged at one end to the wheel assembly frame (21) and rotatably connected to a brushless motor wheel (23) at the other end; The first cylinder (24) has two ends hinged to the wheel frame (21) and the support rod (22) respectively, and the first cylinder (24) is communicated with the output part of the air pump (4).

7. The amphibious rescue robot according to claim 1, characterized in that: A steering drive assembly (5) is fixed to the outer surface of the main frame (1), and the steering drive assembly (5) comprises: A push-pull rod (51), both ends of which are hinged to the wheel assembly frame (21), and a waist-shaped hole (511) is provided through the middle of the push-pull rod (51); The motor (52) is fixed on the main frame (1). The output end of the motor (52) is fixed with a shifting rod (521), and the shifting rod (521) is slidably connected to the waist-round hole (511).

8. The amphibious rescue robot according to claim 1, characterized in that: The upper surface of the main frame (1) is equipped with a rotorcraft (6), and the rotorcraft (6) is used to drive the main frame (1) to pass through the air.

9. The amphibious rescue robot according to claim 8, characterized in that: The bottom of the rotorcraft (6) is rotatably sealed and connected to a first sealing plate (61). Positioning piles (62) are fixed to the bottom of the rotorcraft (6), and the positioning piles (62) and the first sealing plate (61) are staggered. A fixing ring (611) is fixed to the bottom of the first sealing plate (61).

10. The amphibious rescue robot according to claim 9, characterized in that: The outer surface of the main frame (1) is rotatably sealed and connected to a second sealing plate (13); the bottom of the second sealing plate (13) is equipped with a driving member for driving the second sealing plate (13) to rotate; a card slot is provided in the middle of the second sealing plate (13); a card block that cooperates with the card slot is fixed in the middle of the first sealing plate (61); a fixing pile (14) that cooperates with the fixing ring (611) is fixed on the outer surface of the main frame (1); and a positioning hole (12) that cooperates with the positioning pile (62) is provided on the outer surface of the main frame (1).

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