A high-altitude rescue robot

Abstract

The application provides a high-altitude rescue robot, which comprises a support and a climbing mechanism, a turnover wall-clamping mechanism and an escape slide, which are all installed on the support; the support comprises a main support frame and an escape support frame, and the escape support frame is hollow in the middle; the climbing mechanism comprises a winch, which is used for winding a traction rope to realize the climbing of the high-altitude rescue robot; the turnover wall-clamping mechanism comprises a wall-clamping frame, which is used for being controlled to turn over to the inner side of a wall when the climbing mechanism is in place, and clamping the wall together with the main support frame; the escape slide is a cylindrical structure made of flexible material and internally provided with a slide, one end of the escape slide wraps the escape support frame and makes the internal slide communicate with the hollow structure of the escape support frame, thereby providing a safe and convenient vertical evacuation channel for trapped personnel. The whole device is quick in response and easy to operate, and effectively solves the core problem of the lack of external rescue means for super high-rise buildings.

Description

Technical Field

[0001] This invention relates to the field of rescue equipment technology, and more specifically, to a high-altitude rescue robot. Background Technology

[0002] The number of supertall buildings worldwide continues to grow, but the development of their rescue and evacuation technologies lags behind the increase in building height. The core issues can be summarized as follows: limited external rescue height, low internal evacuation efficiency, accelerated pilot testing of smart technologies, and prominent systemic shortcomings. Specific problems are as follows: 1. The extreme altitude limit becomes apparent, making external rescue virtually ineffective. Currently, external rescue operations for super high-rise buildings mainly rely on fire ladder trucks, which have a significant height limitation and cannot cover the core rescue needs of super high-rise buildings over 100 meters tall. The effective working height of mainstream aerial ladder trucks is only 50-70 meters (about 15-20 floors), which can only cover low and medium-rise buildings and cannot reach super high-rise areas above 100 meters. Currently, the industry's top-of-the-line aerial ladder trucks (such as the 101-meter class) can cover a maximum height of about 33 floors. However, they have problems such as high cost, demanding requirements for the operating site (requiring open and flat ground without obstructions), complex operation, and extremely low nationwide adoption rate. They can only be deployed in the core areas of a few large cities and cannot meet the widespread needs for ultra-high-rise rescue. For super high-rise buildings with a height of more than 100 meters, existing external rescue equipment (ladders, aerial platforms) cannot reach them at all. Once a fire, explosion or other emergency occurs, external rescue is almost completely ineffective, and the only option is to rely on the building's internal self-rescue system. However, internal self-rescue is often constrained by a variety of factors, resulting in extremely poor rescue effectiveness.

[0003] 2. There is a severe mismatch between evacuation efficiency and the speed of disaster evolution, resulting in an extremely short survival window. High-rise buildings are densely populated with long vertical distances, resulting in low internal evacuation efficiency. This creates a fatal mismatch between the speed of fire and toxic gas spread, significantly reducing the living space for people. Taking a 240-meter super high-rise building as an example, the time required for the evacuation of all personnel usually exceeds 1 hour. The toxic fumes produced in the fire (such as hydrogen cyanide and carbon monoxide) can cause people to lose consciousness within 4 minutes and die within 10 minutes in a high-temperature environment. The evacuation time far exceeds the limit of human survival. Fireworks can spread vertically at a speed of up to 8 m / s in the shafts and stairwells of super high-rise buildings. In a 400-meter-high super high-rise building, firework can spread to the roof in just 1 minute, quickly blocking evacuation routes and causing people to be trapped. The only available way to evacuate is through the stairs, with no other auxiliary evacuation routes. If the stairs are blocked by smoke and fire, the trapped people will be in a desperate situation with no way to escape and no way to go, and their chances of survival will be extremely low.

[0004] 3. Vertical evacuation routes are singular, inefficient, and extremely risky. Evacuation routes in super high-rise buildings rely heavily on staircases, which present numerous problems such as congestion, stampedes, and difficulties for rescue personnel, further exacerbating the difficulty of rescue operations. Staircases are the only vertical evacuation route, and people can only go down one way. They are prone to stampedes due to overcrowding, and evacuation efficiency will be further reduced, especially when panic spreads. Firefighters carry heavy loads while climbing stairs, which is extremely strenuous. Under normal circumstances, it takes about 8 minutes to climb 33 floors while trapped people descend at a speed of about 2.5 minutes per floor. As a result, rescuers cannot quickly reach the fire or trapped area and miss the best rescue opportunity. For special groups such as the elderly, children, people with disabilities, and pregnant women, stairwell evacuation is extremely difficult. Most of them are unable to descend on their own and can only wait for rescue, which further prolongs the evacuation time and increases the risk of injury or death.

[0005] 4. Inherent design flaws in the building exacerbate the difficulty of rescue operations. The structural design and facility configuration of super high-rise buildings have many inherent defects, especially in older super high-rise buildings, which further restricts rescue efficiency. The vertical shafts inside the building (elevator shafts, pipe shafts, cable shafts) create a "chimney effect." After a fire breaks out, toxic fumes can quickly fill the top of the building in just 30 seconds, blocking evacuation routes and poisoning trapped people. In some buildings, refuge floors are illegally occupied, fire doors are often left open, and evacuation routes are often cluttered with debris. As a result, refuge floors cannot play their role in evacuation during a fire, evacuation routes are blocked, and rescue and evacuation space is further reduced. Most old high-rise buildings are not equipped with intelligent evacuation systems, pressurized air supply systems, or reliable high-altitude descent devices. When a fire occurs, people cannot obtain clear evacuation guidance, smoke cannot be discharged from stairwells, and descent devices cannot be used, further increasing the risk of being trapped. The few existing pilot drone rescue technologies are mostly heavy-duty tethered drones (payload 60-120 kg), which have problems such as large equipment size, high cost, high site requirements, and complicated deployment. They cannot respond quickly to emergency rescue needs and can only achieve fire fighting or material delivery, but cannot fulfill the core needs of personnel evacuation and firefighter delivery. Summary of the Invention

[0006] The purpose of this invention is to provide a high-altitude rescue robot that can be applied to external rescue and evacuation situations in ultra-high-rise buildings, thereby accelerating the rescue speed and reducing the difficulty of the rescue, and forming a rapid and effective high-rise emergency rescue.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a high-altitude rescue robot, including a support frame and a climbing mechanism, a flipping wall-clamping mechanism, and an escape slide, all mounted on the support frame. The support frame includes a main support frame and an escape support frame perpendicular to the main support frame. The main support frame is parallel to the wall during use, and the escape support frame has a hollow center. The climbing mechanism includes a winch for winding a traction rope hanging from a height to achieve the climbing of the high-altitude rescue robot. The flipping wall-clamping mechanism includes a wall-clamping frame that can flip relative to the main support frame by a predetermined angle. This frame is used to controllably flip to the inside of the wall when the climbing mechanism reaches its position, clamping the wall together with the main support frame. The escape slide is a cylindrical structure made of flexible material with an internal slide, having both folded and unfolded states. One end of the escape slide wraps around the escape support frame, connecting the internal slide to the hollow structure of the escape support frame.

[0008] In one embodiment, the wall clamping frame includes a wall clamping frame connected to the main support frame inside the main support frame and parallel to the main support frame when the wall clamping frame clamps the wall.

[0009] In one embodiment, the tilting clamping mechanism further includes a tilting motor, a worm gear reducer, a sprocket, a chain, and a rotating shaft. The clamping frame is rotatably mounted on the main support frame via the rotating shaft. The sprocket is provided on both the rotating shaft and the worm gear reducer. The chain is wound around the sprockets of the rotating shaft and the worm gear reducer.

[0010] In one embodiment, the flipping wall clamping mechanism further includes an electronically controlled lock, which is used to extend a locking tongue after the wall clamping frame flips and clamps the wall, so that the wall clamping frame stops on one side of the main support frame and restricts the wall clamping frame from flipping in the opposite direction.

[0011] In one embodiment, the flipping clamping mechanism further includes a position sensor electrically connected to the electronic lock, the position sensor being used to output an electrical signal to control the electronic lock to lock the flipping frame when it detects that the clamping frame has been flipped into place.

[0012] In one embodiment, the wall clamping frame further includes a foot pedal installed on one side of the wall clamping frame, the foot pedal being located on the side of the wall clamping frame facing away from the main support frame.

[0013] In one embodiment, a pair of handrails are formed at the upper end of the main support frame, and the pair of handrails are respectively located at both ends of the main support frame in the width direction.

[0014] In one embodiment, the climbing mechanism includes three pairs of walking wheels arranged along the length of the main support frame. Two wheels of each pair of walking wheels are located at both ends of the width of the main support frame. The bottom pair of walking wheels is equipped with a walking control motor, and the remaining walking wheels are mounted on the main support frame through bearings. When the high-altitude rescue robot climbs, the walking wheels press against the wall and roll along the wall.

[0015] In one embodiment, the escape support frame is equipped with a laser displacement sensor for detecting the climbing height of the high-altitude rescue robot.

[0016] In one embodiment, the bracket, the wall clamp, and the escape slide are all wrapped with fireproof cotton and fireproof cloth.

[0017] The beneficial effects of the technical solution provided by this invention are as follows: The high-altitude rescue robot of this invention climbs by winding a traction rope hanging from a high-rise building using a winch, breaking through the height limitations of traditional aerial ladder trucks and enabling it to quickly reach any floor of a super high-rise building; the flipping wall-clamping mechanism, in conjunction with the main support frame, clamps the robot to the wall, achieving anchorage on the exterior wall; the escape slide is installed below the escape support frame, providing a safe and convenient vertical evacuation channel for trapped personnel. The entire device is responsive and easy to operate, effectively solving the core problem of the lack of external rescue methods for super high-rise buildings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0019] Figure 1 This is a schematic diagram of the internal structure of a high-altitude rescue robot provided in one embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the high-altitude rescue robot clamping onto a wall in use. Figure 3 This is a schematic diagram of the structure of a high-altitude rescue system using the high-altitude rescue robot of the present invention.

[0020] Figure label: 100. High-altitude rescue drone; 110. Tethered drone; 120. Wall hook; 200. High-altitude rescue robot; 210. Support frame; 211. Main support frame; 212. Escape support frame; 213. Handrail; 220. Tilting wall clamping mechanism; 221. Wall clamping frame; 2210. Wall clamping frame; 2211. Foot pedal; 222. Worm gear reducer transmission mechanism; 223. Rotating shaft; 224. Position sensor; 225. Electric lock; 230. Climbing mechanism; 231. Winch; 232. Walking wheels; 233. Walking control motor; 240. Escape slide; 250. Laser displacement sensor; 300. Traction rope; 400. Walls. Detailed Implementation

[0021] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0022] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "connection" can refer to a direct connection or an indirect connection via intermediate components (elements). The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description.

[0023] See Figure 1 and Figure 2 and combined Figure 3 The present invention relates to a high-altitude rescue robot, including a support 210 and a climbing mechanism 230, a flipping wall clamping mechanism 220 and an escape slide 240, all mounted on the support 210.

[0024] The bracket 210 includes a main support frame 211 and an escape support frame 212 perpendicular to the main support frame 211. The main support frame 211 is set parallel to the wall 400 when in use, and the escape support frame 212 is hollowed out in the middle.

[0025] The climbing mechanism 230 includes a winch 231, which is used to wind a traction rope 300 hanging from a height to enable the high-altitude rescue robot to climb.

[0026] The flipping wall clamping mechanism 220 includes a wall clamping frame 221, which can be flipped relative to the main support frame 211 by a predetermined angle. It is used to be flipped in a controlled manner to the inside of the wall 400 when the climbing mechanism 230 climbs to the position, and to clamp the wall 400 together with the main support frame 211.

[0027] The escape slide 240 is a cylindrical structure made of flexible material, with an internal slide, and has two states: folded and unfolded. One end of the escape slide 240 wraps around the escape support frame 212 and connects the internal slide with the hollow structure of the escape support frame 212.

[0028] The high-altitude rescue robot of this invention climbs by winding a traction rope 300 hanging from a wall hook 120 attached to a high-rise building using a winch 231, breaking through the height limitations of traditional aerial ladder trucks and enabling rapid access to any floor of a super high-rise building. A flipping wall-clamping mechanism 220, in conjunction with the main support frame, clamps the robot to the wall, achieving anchorage on the exterior wall. An escape slide is installed below the escape support frame, providing a safe and convenient vertical evacuation route for trapped personnel. The entire device is responsive, easy to operate, and effectively solves the core problem of the lack of external rescue methods for super high-rise buildings.

[0029] In this embodiment, the wall clamping frame 221 includes a wall clamping frame 2210, which is connected to the main support frame 211 on the inner side of the main support frame 211 and is parallel to the main support frame 211 when the wall clamping frame 221 clamps the wall 400.

[0030] By constructing the clamping wall as a frame structure, the robot's weight is reduced while meeting structural strength requirements, allowing it to complete the climbing action using a lower-powered winch. The clamping wall frame is set parallel to the main support frame, ensuring that the clamping force is evenly distributed with the main support frame after the clamping wall frame is flipped into place. This avoids damage to the building structure caused by excessive local stress on the wall due to clamping angle deviation, while also ensuring the stability and reliability of the robot's anchoring.

[0031] like Figure 1 and Figure 2 As shown, the tilting clamping mechanism 220 also includes a tilting motor (not shown), a worm gear reducer 222, and a rotating shaft 223. The clamping frame 2210 is rotatably mounted on the main support frame 211 via the rotating shaft 223. The rotating shaft 223 is connected to the worm gear reducer 222, thereby being driven by the tilting motor and driven by the worm gear reducer to ensure the stability of the tilting of the clamping frame.

[0032] The worm gear reducer transmission mechanism 222 includes a worm gear reducer (not shown), a sprocket (not shown), and a chain (not shown). Both the worm gear reducer and the rotating shaft are equipped with sprockets, and the chain is wound around the rotating shaft 223 and the sprocket of the worm gear reducer.

[0033] The tilting motor drives the rotating shaft through a worm gear reducer, sprockets, and chain, thereby causing the wall clamp frame to tilt. The worm gear reducer has a self-locking characteristic, ensuring that even if the motor is powered off after tilting, the wall clamp frame will maintain its current position and will not tilt backward, enhancing the safety of the anchoring. The sprocket and chain drive system has a compact structure and precise transmission ratio, ensuring accurate control of the tilting angle of the wall clamp frame and adapting to walls of varying thicknesses.

[0034] The flip-and-clamp mechanism 220 also includes an electric lock 225. The electric lock 225 is used to extend a locking tongue after the clamping frame 2210 flips and clamps the wall 400, so that the clamping frame 2210 stops on one side of the main support frame 211, restricting the clamping frame 2210 from flipping in the opposite direction, further ensuring that the connection between the flip-and-clamp mechanism 220 and the wall 400 is firm and reliable, and eliminating safety hazards such as loosening or displacement during the rescue process.

[0035] The electronic lock, together with the self-locking mechanism of the worm gear reducer, provides double protection. Even if the transmission mechanism malfunctions or is subjected to external impact, the wall clamp will not come loose unexpectedly, ensuring the absolute safety of the robot's anchoring during high-altitude rescue operations.

[0036] The flip-and-flip wall clamping mechanism 220 also includes a position sensor 224 electrically connected to the electric lock 225. The position sensor 224 is used to output an electrical signal when it detects that the wall clamping frame 2210 has been flipped into place, so as to control the electric lock 225 to lock the wall clamping frame 2210.

[0037] The position sensor can accurately detect whether the wall clamping frame has been flipped into place. The locking action is triggered only after the wall clamping frame is confirmed to have reached the predetermined clamping position. This realizes the automatic linkage control of flipping and locking, avoids locking failure or incomplete clamping due to improper operation, and improves the intelligence and operational reliability of the device.

[0038] like Figure 1 and Figure 2 As shown, the wall clamping frame 221 also includes a foot pedal 2211 installed on one side of the wall clamping frame 2210. The foot pedal 2211 is located on the side of the wall clamping frame 2210 that is away from the main support frame 211.

[0039] like Figure 1 and Figure 2 As shown, a pair of handrails 213 are formed at the upper end of the main support frame 211, and the pair of handrails 213 are respectively located at both ends of the width direction of the main support frame 211.

[0040] Foot pedal 2211 provides a temporary standing platform for trapped personnel before entering the escape slide. After the wall frame flips to the inside of the wall, the foot pedal flips to the indoor side along with the wall frame. Trapped personnel can step on foot pedal 2211 and stabilize their bodies using handrail 213, and then enter the escape slide through the open space of the escape support frame. This reduces the difficulty and risk of people climbing over the windowsill to enter the escape slide, and is especially beneficial for the evacuation of the elderly, children, disabled people, and other people with mobility difficulties.

[0041] like Figure 1 and Figure 2 As shown, the climbing mechanism 230 also includes three pairs of wheels 232 arranged along the length of the main support frame 211. Two wheels of each pair of wheels 232 are located at both ends of the main support frame 211 in the width direction. The bottom pair of wheels 232 each has a walking control motor 233, while the remaining wheels 232 are mounted to the main support frame 211 via bearings. When the high-altitude rescue robot climbs, the wheels 232 press against the wall and roll along it.

[0042] The wheels effectively increase the contact area between the robot and the climbing surface during the robot's ascent, distributing the robot's weight and reducing the load on the winch. This makes the robot's ascent more stable and reliable, preventing tilting and slippage, and ensuring the robot can successfully climb to rescue positions at different heights. The bottom pair of wheels are equipped with walking control motors for the robot's posture adjustment and motion control, ensuring stability during climbing and flipping. The remaining wheels are mounted with bearings, resulting in low rolling resistance and good responsiveness.

[0043] It should be noted that in this invention, all motors (flipping motor and walking control motor) adopt AC servo drive mode. The fully closed-loop servo motor drive can realize precise control of motor speed and position, ensuring that the robot's various movements are stable and smooth, and improving the reliability of operation.

[0044] like Figure 1 and Figure 2 As shown, a laser displacement sensor 250 is installed on the escape support frame 212 to detect the climbing height of the high-altitude rescue robot. The laser displacement sensor 250 can detect the robot's height relative to the ground or its displacement relative to the lifting point in real time, providing operators with accurate height positioning information.

[0045] During the rescue, operators can use data from various sensors combined with the drone's own flight altitude information to precisely control the robot to stop at the target floor, avoiding the robot failing to align with the window of the floor where the trapped person is located due to altitude judgment errors, thus improving the accuracy and efficiency of the rescue.

[0046] The support frame 210, the wall clamp 221, and the escape slide 240 are all wrapped with fireproof cotton and fireproof cloth (not shown in the figure).

[0047] Fireproof cotton and fireproof cloth effectively isolate external heat radiation and direct flame attack in high-temperature environments, protecting the robot's main structure from deformation or failure in the high temperatures of a fire, and ensuring that the escape slide remains structurally intact and unobstructed in a fire environment. This fireproof design enables the high-altitude rescue robot to maintain normal operation in the harsh environment of a continuously spreading fire, buying precious escape time for trapped personnel.

[0048] In practical use, see Figure 3 The wall hook 120 can be placed by the tethered drone 110 on the windowsill or railing of the floor the rescue robot wants to climb. The traction rope 300 installed on the wall hook 120 hangs down, and the high-altitude rescue robot achieves autonomous climbing by winding the traction rope 300 through the winch 231. The walking wheels 232 roll along the wall to maintain guidance and assist drive. After reaching the target floor, the flip motor drives the rotating shaft 223 to rotate through the worm gear reduction transmission mechanism 222, and the wall clamping frame 2210 flips to the inside of the wall 400. The position sensor 224 detects that the flipping is in place and sends a signal. The electric lock 225 extends the locking tongue to lock the wall clamping frame 2210 in the clamping position. At this time, the trapped person can hold the handrail 213 and step on the foot pedal 2211 to enter the escape slide 240 through the hollow of the escape support frame 212 and slide safely down to the ground.

[0049] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions as those in the present invention.

[0050] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A high-altitude rescue robot, characterized in that, Includes a support frame and a climbing mechanism, a flipping wall clamping mechanism, and an escape slide, all mounted on the support frame; The support includes a main support frame and an escape support frame perpendicular to the main support frame. The main support frame is set parallel to the wall when in use, and the escape support frame is hollowed out in the middle. The climbing mechanism includes a winch for winding a traction rope that is lowered from a height to enable the high-altitude rescue robot to climb. The flipping wall clamping mechanism includes a wall clamping frame, which can be flipped relative to the main support frame by a predetermined angle. It is used to be flipped into the inside of the wall in a controlled manner when the climbing mechanism climbs to the position, and to clamp the wall together with the main support frame. The escape slide is a cylindrical structure made of flexible material with an internal slide. It has two states: folded and unfolded. One end of the escape slide wraps around the escape support frame and connects the internal slide with the hollow structure of the escape support frame.

2. The high-altitude rescue robot according to claim 1, characterized in that, The wall clamping frame includes a wall clamping frame, which is connected to the main support frame inside the main support frame and is parallel to the main support frame when the wall clamping frame clamps the wall.

3. The high-altitude rescue robot according to claim 2, characterized in that, The tilting clamping mechanism also includes a tilting motor, a worm gear reducer, sprockets, a chain, and a rotating shaft. The clamping frame is rotatably mounted on the main support frame via the rotating shaft. The rotating shaft and the worm gear reducer are both equipped with the sprockets, and the chain is wound around the rotating shaft and the sprockets of the worm gear reducer.

4. The high-altitude rescue robot according to claim 2, characterized in that, The flip-over wall clamping mechanism also includes an electric lock, which is used to extend a locking tongue after the wall clamping frame flips and clamps the wall, so that the wall clamping frame stops on one side of the main support frame and restricts the wall clamping frame from flipping in the opposite direction.

5. The high-altitude rescue robot according to claim 4, characterized in that, The flip-and-clamp mechanism also includes a position sensor electrically connected to the electric lock. The position sensor is used to output an electrical signal when it detects that the clamp frame has been flipped into place, so as to control the electric lock to lock the flip frame.

6. The high-altitude rescue robot according to claim 2, characterized in that, The wall clamping frame also includes a foot pedal installed on one side of the wall clamping frame, the foot pedal being located on the side of the wall clamping frame facing away from the main support frame.

7. The high-altitude rescue robot according to claim 6, characterized in that, A pair of handrails are formed at the upper end of the main support frame, and the pair of handrails are located at both ends of the width direction of the main support frame.

8. The high-altitude rescue robot according to claim 1, characterized in that, The climbing mechanism includes three pairs of walking wheels arranged along the length of the main support frame. Two wheels of each pair of walking wheels are located at both ends of the width of the main support frame. The bottom pair of walking wheels is equipped with a walking control motor. The remaining walking wheels are mounted on the main support frame through bearings. When the high-altitude rescue robot climbs, the walking wheels press against the wall and roll along the wall.

9. The high-altitude rescue robot according to claim 1, characterized in that, The escape support frame is equipped with a laser displacement sensor for detecting the climbing height of the high-altitude rescue robot.

10. The high-altitude rescue robot according to claim 1, characterized in that, The support frame, wall clamps, and escape slides are all wrapped with fireproof cotton and fireproof cloth.

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