A reconfigurable rescue device

Abstract

This invention discloses a reconfigurable rescue device, relating to the field of land and air equipment technology, to address the problems existing in current rescue and disaster relief operations where only aircraft and walking mechanisms are used. The device includes a first connecting part located at the lower part of the aircraft and a second connecting part located on the walking mechanism. When the aircraft and walking mechanism are reconfigured, a first rocker arm of the first connecting part moves from a first working position to a second working position, capturing the capturing end of the second connecting part, thus realizing the reconfiguration of the connection between the aircraft and the walking mechanism. This invention combines the advantages of both aircraft and walking mechanisms, improving rescue and disaster relief efficiency.

Description

Technical Field

[0001] This invention relates to the field of land and air equipment technology, and in particular to a reconfigurable rescue device. Background Technology

[0002] With the development of technology, aircraft and mobile devices are increasingly involved in disaster relief efforts.

[0003] Aircraft face numerous challenges in actual rescue operations: 1) Limited ground mobility: The complex terrain of disaster areas restricts aircraft movement during near-ground rescues; 2) Safety risks: The high-speed rotating rotors of drones have significant destructive power; accidental collisions with undulating ground at low altitudes could injure lives beneath the surface; 3) Insufficient detection capabilities: Drones primarily rely on AI imaging technology to transmit disaster images, but cannot determine vital signs at a certain depth below the surface of collapsed or rubble-covered areas. Walking mechanisms also face many challenges in actual rescue operations: 1) Limited ground mobility: The complex terrain of disaster areas hinders the movement of walking mechanisms; 2) Poor load capacity and endurance; 3) In situations of communication difficulties, ground-based walking mechanisms cannot transmit information in a timely manner.

[0004] Therefore, how to create a reconfigurable rescue device that connects and reconstructs the aircraft and the walking mechanism, combining the advantages of both aircraft and walking mechanism to improve rescue and disaster relief efficiency, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] Based on the above analysis, this invention aims to provide a reconfigurable rescue device that can connect and reconfigure an aircraft and a ground-based walking mechanism during rescue and disaster relief operations. This addresses the problems existing in the prior art where the aircraft and walking mechanism perform rescue missions independently. In areas where the ground walking mechanism and the ground surface have compatible passability, the positive pressure exerted by the ground walking mechanism on the ground surface can be controlled by changing the horizontal altitude of the aerial equipment to achieve optimal passability. In areas where the ground walking mechanism and the ground surface do not have compatible passability, the integration of the aerial and ground equipment enables the aerial equipment to carry the ground equipment across complex terrain, facilitating the traversal of special road conditions by the ground equipment.

[0006] The objective of this invention is mainly achieved through the following technical solutions:

[0007] The present invention provides a reconfigurable rescue device for reconfiguring the connection between an aircraft and a walking mechanism, comprising a first connecting part disposed on the lower part of the aircraft and a second connecting part disposed on the walking mechanism; wherein, when the aircraft and the walking mechanism are reconfigured, the first connecting part is connected to the second connecting part.

[0008] Furthermore, the second connecting part includes a telescopic rod.

[0009] Furthermore, the upper end of the telescopic rod is the capture end.

[0010] Furthermore, the second connecting part also includes a second motor.

[0011] Furthermore, the telescopic rod also includes a liftable spindle and an outer bushing sleeved outside the liftable spindle.

[0012] Furthermore, the second motor is used to drive the liftable spindle to move up and down.

[0013] Furthermore, the second connection portion also includes a cathode connector, which is disposed at the upper end of the liftable mandrel.

[0014] Furthermore, the cathode connector includes a latch, a latching induction disk, a latching slip ring, a shape memory alloy spring, and a rotary spring.

[0015] Furthermore, a sensor is provided on the latch sensing plate.

[0016] Furthermore, one end of the shape memory alloy spring is disposed on the locking slip ring, and the other end of the shape memory alloy spring is disposed on the upper end face of the liftable mandrel; one end of the rotary spring is disposed on the locking slip ring, and the other end of the rotary spring is disposed on the upper end face of the liftable mandrel.

[0017] Furthermore, the first connecting part includes a base, a first motor, an adjustment assembly, a transmission assembly, and a rocker arm; the base is fixed to the lower end face of the aircraft; the first motor is fixed on the base; the adjustment assembly is coaxially arranged with the output end of the first motor; the upper end of the rocker arm is hinged to the base, and the middle part of the rocker arm is assembled to the adjustment assembly; the adjustment assembly drives the middle part of the rocker arm to rotate clockwise and counterclockwise, so that the lower end of the rocker arm moves to a first working position in an open state and a second working position in a retracted state, respectively;

[0018] When the aircraft is reconnected and reconfigured with the walking mechanism, the lower end of the rocker arm positions the capture end over a wide range in the first working position, and the capture end is located within the area enclosed by the multiple rockers; when moving from the first working position to the second working position, the lower end of the rocker arm captures the capture end.

[0019] Furthermore, the base includes a first through hole at the center and a fixing seat on the lower end face of the base; a plurality of the fixing seats are circumferentially distributed on the base;

[0020] The output end of the first motor passes through the first through hole and is connected to the adjustment component via a transmission component.

[0021] Furthermore, the fixing base includes a first flexible material, a second flexible material, and a pressure plate; the second flexible material is disposed below the first flexible material; the pressure plate is fixed to the fixing base;

[0022] The first flexible material and the second flexible material have cavities that accommodate the upper end of the rocker arm; the pressure plate fixes the first flexible material, the second flexible material and the upper end of the rocker arm to the fixing base.

[0023] Furthermore, the adjusting component includes: a gear assembly, an external gear ring, and a regulating disk; the external gear ring meshes with the outside of the gear assembly; the regulating disk moves synchronously with the external gear ring; the regulating disk includes a ring body that is engaged on the outer circumference of the external gear ring and a mating through hole disposed on the outer circumference of the ring body;

[0024] The lower end of the rocker arm passes through the mating through hole, and the middle part of the rocker arm is assembled into the mating through hole.

[0025] Furthermore, the adjustment assembly includes an upper end cover and a lower end cover of the adjuster;

[0026] The regulator has a second through hole at the center of its upper end cover.

[0027] Furthermore, the transmission assembly includes a transmission shaft, a coupling, and a coupling sleeve; the coupling connects a first end of the transmission shaft and the output end of the first motor; the coupling sleeve is fitted onto the coupling.

[0028] The coupling is located on the upper part of the upper cover of the regulator, and the first end of the drive shaft passes through the second through hole and is connected to the output end of the first motor through the coupling.

[0029] Furthermore, the adjusting assembly also includes a gear assembly, a planetary carrier, a rubber bearing, and a bearing: the planetary carrier has a third through hole at its center, and the second end of the drive shaft passes through the third through hole;

[0030] The bearing is disposed between the rubber bearing and the lower end cover of the adjuster;

[0031] The gear assembly includes a sun gear disposed at the second end and planet gears meshing between the sun gear and the external gear ring; the rubber bearing is disposed between the sun gear and the second end; a rotating shaft is disposed on the planet carrier at a position corresponding to the planet gears, and the planet gears are rotatably disposed on the rotating shaft.

[0032] Furthermore, the first connection portion also includes an anode connector disposed outside the lower end cover of the regulator.

[0033] Furthermore, the first fixing part also includes a connecting assembly, which includes a connecting rod and a sliding groove; the sliding groove is formed on the rocker arm, one end of the connecting rod is slidably disposed in the sliding groove, and the other end of the connecting rod is hinged to an adjacent rocker arm.

[0034] Furthermore, the connecting rod includes a first rod, a second rod, and a joint component, the joint component connecting the first rod and the second rod.

[0035] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0036] (1) The reconfigurable rescue equipment provided by the present invention, when the aircraft and the walking mechanism need to be reconfigured during the rescue and disaster relief process, the second connecting part controls the telescopic rod to rise from the walking mechanism, and the aircraft uses a vision system and a laser positioning system to position the walking mechanism; the first motor of the first connecting part runs, drives the adjustment component to rotate, and the adjustment component drives the middle part of the rocker arm to rotate. The upper part of the rocker arm is hinged to the base, so that the lower end of the rocker arm moves from the first working position to the second working position. During the process of moving from the first working position to the second working position, the capture end of the telescopic rod is completed. The lower end of the aircraft rocker arm is connected to the upper end of the telescopic rod of the walking mechanism, and the reconfiguration of the connection between the aircraft and the walking mechanism is completed.

[0037] (2) The reconfigurable rescue device provided by the present invention has an anode connector on the first connecting part and a cathode connector that matches the anode connector on the second connecting part. When the lower end of the rocker arm captures the capture end of the telescopic rod, after the precise positioning is completed, the cathode connector and the anode connector are connected and locked to ensure that the connection between the aircraft and the walking mechanism is reliable after the reconfiguration connection. This ensures that the aircraft and the walking mechanism can complete subsequent rescue tasks after they are connected as one unit.

[0038] (3) The reconfigurable rescue device provided by the present invention uses a planetary gear system to coaxially set the adjustment component and the first motor in the first connection part to avoid uneven load distribution and load impact damage.

[0039] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0040] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0041] Figure 1 This is a schematic diagram of the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of the first connecting part in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of the second connecting part in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0044] Figure 4 This is an exploded view of the adjustment component in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the first motor, base, and transmission assembly in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0046] Figure 6 This is a schematic diagram of the structure of the fixed base in the reconfigurable rescue equipment provided in Embodiment 1 of the present invention;

[0047] Figure 7 This is a schematic diagram of the anode connector in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0048] Figure 8 This is a schematic diagram of the cathode connector in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0049] Figure 9 This is a schematic diagram of the sensor panel in the reconfigurable rescue device provided in Embodiment 1 of the present invention, wherein (a) is a top view and (b) is a side view;

[0050] Figure 10 A schematic diagram of the slip ring in the reconfigurable rescue device provided in Embodiment 1 of the present invention is provided, wherein (a) is a top view and (b) is a side view;

[0051] Figure 11 This is a schematic diagram of the connecting rod in the reconfigurable rescue device provided in Embodiment 1 of the present invention;

[0052] Figure 12 This is a schematic diagram of the connecting components in the reconfigurable rescue device provided in Embodiment 1 of the present invention.

[0053] Figure label:

[0054] 1-First connecting part; 11-Base; 111-Fixed seat; 1111-First flexible material; 1112-Second flexible material; 1113-Pressure plate; 12-First motor; 13-Adjusting assembly; 131-Sun gear; 132-Planet gear; 133-External gear ring; 134-Control disc; 1341-Ring body; 1342-Matching through hole; 135-Planet carrier; 136-Rubber bearing; 137-Bearing; 138-Adjuster upper end cover; 139-Adjuster lower end cover; 1310-Cover plate; 14-Rock arm; 15-Transmission assembly; 151-Transmission shaft; 152-Coupling; 153-Coupling sleeve; 16 - Anode connector; 17- Connecting assembly; 171- Connecting rod; 1711- First rod; 1712- Second rod; 1713- Joint component; 172- Slide groove; 2- Second connecting part; 21- Telescopic rod; 211- Capture end; 212- Liftable spindle; 213- Outer bushing; 22- Second motor; 23- Cathode connector; 231- Lock; 232- Lock induction disc; 233- Lock slip ring; 234- Memory alloy spring; 235- Rotary spring; 24- Base plate; 25- Life detection vertical radar; 26- Power supply; 27- Control system; 28- Bevel gear reducer; 3- Aircraft; 4- Walking mechanism. Detailed Implementation

[0055] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of the present invention and are used together with the invention to illustrate the principles of the invention.

[0056] Example 1

[0057] This embodiment provides a reconfigurable rescue device; see [link / reference] Figures 1 to 8 It includes: a first connecting part 1 disposed on the lower part of the aircraft 3 and a second connecting part 2 disposed on the walking mechanism 4;

[0058] The first connecting part 1 includes a base 11, a first motor 12, an adjustment assembly 13, and a rocker arm 14: as shown Figure 2As shown, the base 11 is fixed to the lower end face of the aircraft 3; the first motor 12 is mounted on the aircraft 3 and fixed to the base 11, with its output end passing through a first through hole on the base 11 and extending into the interior of the aircraft 3; the adjustment assembly 13 is coaxially arranged with the output end of the first motor 12; the upper end of the rocker arm 14 is hinged to the base 11, and the middle part of the rocker arm 14 is mounted on the adjustment assembly 13; the adjustment assembly 13 drives the middle part of the rocker arm 14 to rotate clockwise and counterclockwise, so that the lower end of the rocker arm 14 moves to a first working position in an open state and a second working position in a retracted state, respectively; in the first working position, the lower ends of the plurality of rocker arms 14 form an equilateral polygon, and the number of rocker arms 14 is set to 6. The upper end of the rocker arm 14 is hinged to the base 11, and the rocker arm 14 is constrained to the adjustment component 13 and rotates with the adjustment component 13. This allows the spatial configuration of the lower end of the rocker arm 14 to change within a large range, and the lower end of the rocker arm 14 has the maximum deflection distance. The equilateral polygon formed by the lower ends of multiple rocker arms 14 has the largest area, which achieves maximum spatial capture of the capture end 211 when moving from the first working position to the second working position.

[0059] In the embodiments, such as Figure 4 and Figure 5 As shown, the transmission assembly 15 connecting the adjustment assembly 13 and the output terminal of the first motor 12, and the adjustment assembly include:

[0060] The transmission assembly 15 includes a transmission shaft 151, a coupling 152, and a coupling sleeve 153; the coupling 152 connects the first end of the transmission shaft 151 and the output end of the first motor 12; the coupling sleeve 153 is sleeved on the coupling 152.

[0061] The adjustment assembly 13 includes an upper end cover 138 of the adjuster, a planetary carrier 135, a sun gear 131, a rubber bearing 136, a planetary gear 132, a bearing 137, an external gear ring 133, a control disc 134, and a lower end cover 139 of the adjuster. The upper cover 138 of the regulator has a second through hole at its center; the coupling 152 is located on the upper part of the upper cover 138 of the regulator; the first end of the drive shaft 151 passes through the second through hole and is connected to the output end of the first motor 12 through the coupling 152; the planetary carrier 135 has a third through hole at its center, and the second end of the drive shaft 151 passes through the third through hole; wherein, the outer diameter of the second end of the drive shaft 151 is larger than the outer diameter of the first end of the drive shaft 151; the sun gear 131 is located at the second end; the rubber bearing 136 is located between the sun gear 131 and the second end; since the differential planetary gear 132 is used, the sun gear 131 has a large load, so the fit between the sun gear 131 and the drive shaft 151 is made of rubber bearing 136. The rubber bearing 136 includes a small-diameter shaft section and a large-diameter shaft end. The small-diameter shaft section of the rubber bearing 136 is assembled between the transmission shaft 151 and the center hole of the sun gear 131, and the upper end face of the large-diameter shaft end contacts the lower end face of the sun gear 131 to ensure that the sun gear 131 is not interfered with by the bearing 137 and operates stably. The planetary gear 132 is meshed between the sun gear 131 and the external gear ring 133; the bearing 137 is disposed between the rubber bearing 136 and the lower end cover 139 of the adjuster.

[0062] The planet carrier 135 has a rotating shaft at a position corresponding to the planetary gear 132, and the planetary gear 132 is rotatably mounted on the rotating shaft.

[0063] The outer gear ring 133 meshes with the outside of the planetary gear 132 system; the regulating disk 134 moves synchronously with the outer gear ring 133; the regulating disk 134 includes an annular body 1341 that is engaged on the outer circumference of the outer gear ring 133 and a mating through hole 1342 that is provided on the outer circumference of the annular body 1341.

[0064] The lower end of the rocker arm 14 passes through the mating through hole 1342, and the middle part of the rocker arm 14 is assembled into the mating through hole 1342.

[0065] Planetary gear 132 operates between sun gear 131 and external gear ring 133, creating a differential speed transmission to the external gear ring 133, causing it to rotate coaxially and achieving both regulation and deceleration effects. Regulation disk 134 is mounted on the external gear ring 133 and rotates synchronously with it, thus changing the shape of the parallel spatial rocker arm 14. The inner circumferential surface of regulation disk 134 is fixed to the outer circumferential surface of external gear ring 133 using a spline method.

[0066] The cover plate 1310 is placed on the lower cover 139 of the regulator. When performing the reconfiguration connection task, the cover plate 1310 is opened to facilitate the reconfiguration of the aircraft 3 and the walking mechanism 4. After the aircraft 3 and the walking mechanism 4 are separated, the cover plate 1310 is closed to reduce the contamination of the docking interface by the external environment, and the aircraft 3 can fly normally.

[0067] In the embodiments, such as Figure 6 As shown, the base 11 includes a first through hole at the center and a fixing seat 111 on the lower end face of the base 11; a plurality of fixing seats 111 are circumferentially distributed on the base 11; the output end of the motor passes through the first through hole and is connected to the adjustment assembly 13 through the transmission assembly 15.

[0068] The fixing base 111 includes: a first flexible material 1111, a second flexible material 1112, and a pressure plate 1113; the second flexible material 1112 is disposed below the first flexible material 1111; the pressure plate 1113 is fixed to the side wall of the fixing base 111.

[0069] The first flexible material 1111 and the second flexible material 1112 form a cavity that can accommodate the upper end of the rocker arm 14; the pressure plate 1113 fixes the first flexible material 1111, the second flexible material 1112 and the upper end of the rocker arm 14 to the fixing base 111.

[0070] The first flexible material 1111 and the second flexible material 1112 work together to produce a certain elastic tolerance, facilitating the fixation of the upper end of the rocker arm 14 into the cavity and reducing friction between the upper end of the rocker arm 14 and the fixed seat 111. Utilizing the buffering effect of the first flexible material 1111 and the second flexible material 1112, the aircraft 3 naturally conforms to the forces exerted by the walking mechanism 4 on the aircraft 3 during connection and reconfiguration, reducing the forces exerted on both the aircraft 3 and the walking mechanism 4 during the connection and reconfiguration process. The resulting compliance is related to the positioning error; adjusting the compliance can further improve docking accuracy.

[0071] like Figure 2 As shown, the second connecting part 2 includes a base plate 24, a second motor 22, and a telescopic rod 21; the base plate 24 is disposed on the upper end of the walking mechanism 4, and a fourth through hole is provided on the base plate 24; the second motor 22 is disposed on the end face of the base plate 24 near the walking mechanism 4; one end of the telescopic rod 21 passes through the fourth through hole and is connected to the output end of the second motor 22, and a capture end 211 is provided on the other end of the telescopic rod 21;

[0072] When the aircraft 3 and the ground walking mechanism 4 are reconnected and reconfigured, the aircraft 3 obtains the position of the ground walking mechanism 4 through Beidou positioning and navigation, laser signals, etc. The first motor 12 in the first connecting part 1 drives the middle part of the rocker arm 14 to rotate through the adjusting component 13, so that the lower end of the rocker arm 14 is in the open first working position. The aircraft 3 flies to the position of the ground walking mechanism 4, and the capture area formed by multiple rockers 14 in the first working position covers the capture end 211 of the second connecting part 2. The first motor 12 rotates counterclockwise, and through the adjusting component 13 drives the middle part of the rocker arm 14 to rotate counterclockwise, so that the lower end of the rocker arm 14 is retracted from the open first working position to the second working position, and the capture end 211 is completed in the second working position. By establishing a reconfigured connection between the aircraft 3 and the walking mechanism 4, the aircraft 3 and the walking mechanism 4 assist each other in performing rescue missions, overcome the limitations of the disaster area environment, and improve the efficiency of rescue and disaster relief.

[0073] In the embodiments, such as Figure 3 As shown, the base plate 24 includes a first base plate, on which a life detection vertical radar 25, a power supply 26, a control system 27, a second motor 22 and a bevel gear reducer 28 disposed at the output end of the second motor 22 are provided;

[0074] The telescopic rod 21 includes a liftable spindle 212 and an outer sleeve 213 fitted outside the liftable spindle 212; the output end of the bevel gear reducer 28 acts on the liftable spindle 212. The inner wall of the outer sleeve is provided with a lifting groove, in which the liftable spindle 212 moves. The capturing end 211 is located at the upper end of the outer sleeve.

[0075] The upper end of the liftable mandrel 212 is provided with a cathode connector 23, such as Figures 8-10As shown, the cathode connector 23 includes a latch 231, a latch induction disk 232, a latch slip ring 233, a shape memory alloy spring 234, and a rotary spring 235; the upper end of the liftable spindle 212 is provided with a mounting hole; the latch induction disk 232 is disposed inside the latch slip ring 233, the latch 231 is fixed to the latch slip ring 233, and the latch 231 and the latch slip ring 233 rotate synchronously; the lower end of the latch slip ring 233 is provided with a mating end, the latch induction disk 232 is fixed to the mounting hole, and the latch induction disk 232 presses against the mating end, but does not restrict the rotation of the latch slip ring 233, thereby realizing the rotatable connection of the latch slip ring 233 to the mounting hole. One end of the shape memory alloy spring 234 is mounted on the locking slip ring 233, and the other end is mounted on the upper end face of the liftable spindle 212; one end of the rotary spring 235 is mounted on the locking slip ring 233, and the other end is mounted on the upper end face of the liftable spindle 212; a sensor is mounted on the locking induction disk 232. When the anode connector 16 enters the inner hole of the cathode connector 23, the sensor on the locking induction disk 232 senses the entry process of the anode connector 16, the controller opens the switching circuit, the shape memory alloy spring 234 is energized and contracts, driving the controllable slip ring to rotate, and the latch 231 reaches the open position as it rotates. The center shape of the latch 231 matches the anode connector 16, allowing the anode connector 16 to be inserted. The anode connector 16 and the cathode connector 23 have been connected. The shape memory alloy spring 234 is de-energized and cooled. The shape memory alloy wire returns to its original position under the pull of the rotary spring 235. The locking slip ring 233 returns to its original position, driving the locking buckle 231 to rotate back to its original position. The center hole of the locking buckle 231 does not match the connection end of the anode connector 16, locking the anode connector 16 and completing the locking of the cathode connector 23 and the anode connector 16.

[0076] Example 2

[0077] This embodiment provides a reconfigurable rescue device; see [link / reference] Figures 11 to 12Based on Embodiment 1, a connecting component 17 is provided on two adjacent rocker arms 14. The connecting assembly 17 includes a connecting rod 171 and a sliding groove 172. The sliding groove 172 is formed on the first rocker arm 14. One end of the connecting rod 171 is slidably disposed in the sliding groove 172, and the other end of the connecting rod 171 is hinged to the lower end of the second rocker arm 14. The first rocker arm 14 and the second rocker arm 14 are two adjacent rocker arms 14. The sliding groove 172 is formed along the length direction of the first rocker arm 14, and the direction of the sliding groove 172 matches the movement of the lower end of the rocker arm 14 between the first working position and the second working position. When the lower end of the rocker arm 14 moves from the second working position to the first working position, one end of the connecting rod 171 moves from the upper part to the lower part of the sliding groove 172 under the drive of the movement of the lower end of the rocker arm 14. The movement of one end of the connecting rod 171 is in accordance with the movement of the lower end of the rocker arm 14. In the first working position, the connecting rod 171 connects the lower part of the rocker arm 14 to form a closed capture net and support frame.

[0078] The slide 172 includes a first sub-slot and a second sub-slot connected to the lower end of the first sub-slot. The first sub-slot is an arc-shaped groove along the length of the rocker arm 14. When the lower end of the rocker arm 14 moves between a first working position and a second working position, the connecting rod 171 moves up and down within the first sub-slot. The curve of the first sub-slot satisfies the movement of the rocker arm 14 between the first and second working positions. The second sub-slot is arranged radially along the rocker arm 14, that is, the groove body of the second sub-slot is perpendicular to the axis of the rocker arm 14. When the lower end of the rocker arm 14 is in the first working position of the open state, the connecting rod 171 is located at the lower end of the first sub-slot. Under the opening movement tendency of the rocker arm 14, the connecting rod 171 is located at the lower end of the first sub-slot. At the same time, the rocker arm 14 generates a lateral force on the connecting rod 171. The connecting rod 171 moves from the first sub-slot to the second sub-slot in accordance with the lateral force. The connecting rod 171 remains in the second sub-slot, preventing the connecting rod 171 from sliding up and down in the first sub-slot, thus keeping the movable rod 14 in the open first working position. This enhances the stability and firmness of the movable rod 14 in the first working position. When the rocker arm 14 moves from the first working position to the second working position, the retraction movement of the rocker arm 14 generates a lateral component force. Under the action of the lateral component force, one end of the connecting rod 171 moves laterally from the second sub-slot to the vertically set first sub-slot. And according to the retraction state of the rocker arm 14, one end of the connecting rod 171 moves to the predetermined position of the first sub-slot. The first connecting part 1 uses the rocker arm 14 to perform an active capture operation on the passive docking part 2. The connecting component 17 further limits the capture range of the rocker arm 14 to prevent the capture end 211 of the passive docking part 2 from leaking out between two adjacent rocker arms 14.

[0079] In this embodiment, when the rocker arm 14 moves between the first and second working positions, it generates two types of motion: the first is rotation with the fixed base 111 as the fulcrum, and the second is torsion around the adjustment component 13. The second motion enables the necessary connection between the aircraft 3 and the walking mechanism 4, and the first connecting part 1 acts as a support frame for the aircraft 3. The first motion is coordinated with the second motion, coordinating with the rotation of the rocker arm 14 during the torsion process of the second motion. The slide groove 172 runs along the rocker arm 14, satisfying the torsional motion of the rocker arm 14 in the second motion, and coordinating with the rotational motion of the rocker arm 14. However, the connecting rod 171 restricts the useless rotation of the rocker arm 14. When the first connecting part 1 of the aircraft 3 is used as a support, the connecting rod 171 restricts the rotation of the rocker arm 14 during support, making the support structure more stable. Especially in the rescue site, in the complex terrain environment, external forces such as vibration or wind may cause the rocker arm 14 to rotate. The connecting rod 171 is used to ensure the stability of the support of the first connecting part 1.

[0080] In this embodiment, when the rocker arm 14 moves from the first working position to the second working position, the connecting rod 171 connects between two adjacent rocker arms 14. During the retraction of the rocker arm 14, the connecting rod 171 can prevent the capturing end 211 from running out from the gap between the two adjacent rocker arms 14, thereby avoiding the phenomenon that the lower end of the rocker arm 14 cannot effectively capture the capturing end 211 and improving the accuracy of the capture.

[0081] The connecting rod 171 includes a first rod 1711, a second rod 1712, and a joint component 1713. During the movement of the connecting rod 171, the first rod 1711 and the second rod 1712 can rotate relative to each other, allowing the connecting rod 171 to move between a first working position and a second working position in conjunction with the rocker arm 14. The joint component 1713 is a universal joint.

[0082] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A reconfigurable rescue device for reconfiguring the connection between an aircraft (3) and a walking mechanism (4), characterized in that, include: A first connecting part (1) is provided at the lower part of the aircraft (3) and a second connecting part (2) is provided on the walking mechanism (4); When the aircraft (3) and the walking mechanism (4) are reconnected, the first connecting part (1) is connected to the second connecting part (2).

2. The reconfigurable rescue device according to claim 1, characterized in that, The second connecting part (2) includes a telescopic rod (21).

3. The reconfigurable rescue device according to claim 2, characterized in that, The upper end of the telescopic rod (21) is provided with a capture end (211).

4. The reconfigurable rescue device according to claim 3, characterized in that, The second connecting part (2) also includes a second motor (22).

5. The reconfigurable rescue device according to claim 4, characterized in that, The telescopic rod (21) also includes a liftable spindle (212) and an outer bushing (213) sleeved outside the liftable spindle (212).

6. The reconfigurable rescue device according to claim 5, characterized in that, The second motor (22) is used to drive the liftable spindle (212) to rise and fall.

7. The reconfigurable rescue device according to claim 5, characterized in that, The second connecting part (2) further includes a cathode connector (23), which is disposed at the upper end of the liftable mandrel (212).

8. The reconfigurable rescue device according to claim 7, characterized in that, The cathode connector (23) includes a latch (231), a latch induction disk (232), a latch slip ring (233), a shape memory alloy spring (234), and a rotary spring (235).

9. The reconfigurable rescue device according to claim 8, characterized in that, A sensor is provided on the latch sensing disk (232).

10. The reconfigurable rescue device according to claim 8, characterized in that, One end of the memory alloy spring (234) is disposed on the locking slip ring (233), and the other end of the memory alloy spring (234) is disposed on the upper end face of the liftable spindle (212); One end of the rotary spring (235) is mounted on the locking slip ring (233), and the other end of the rotary spring (235) is mounted on the upper end face of the liftable spindle (212).

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