Master-slave rotor structure heavy-load fire-fighting emergency rescue flying robot

Abstract

The utility model discloses a master-slave rotor configuration heavy-load fire-fighting emergency rescue flying robot, which relates to the technical field of frequency spectrum monitoring, and comprises a tripod, connecting rods are connected between the bottom corners of the end part of the tripod, the end part of a first connecting shaft is provided with a coaxial propeller assembly, and a second connecting shaft is connected with the coaxial propeller assembly. An energy device is fixedly installed in a tetrahedral structure defined by the triangular frame and the connecting rod, and a hanging assembly is arranged on the lower portion of the tetrahedral structure. The stable supporting and bearing capacity is provided for the flying robot through a tetrahedral structure formed by the triangular supports and the connecting rods, and the coaxial propeller assemblies at the top ends of the triangular supports and the auxiliary propellers at the intersection points of the triangular supports and the connecting rods cooperate together, so that the flying robot can achieve vertical take-off and landing, horizontal movement and posture adjustment in the air; the flexibility of the robot is greatly improved, the application range of the robot is greatly expanded, and the robot can quickly and accurately reach a preset position and implement effective fire extinguishing operation especially in high-rise building fire rescue.

Description

Technical Field

[0001] The utility model relates to the technical field of spectrum monitoring, in particular to a heavy-load fire-fighting emergency rescue flying robot with a master-slave rotor configuration. Background Art

[0002] Currently, fire trucks are dispatched to put out fires when they occur. However, fire trucks have great limitations in firefighting. For example, if a fire breaks out on a high floor of a building, the height at which ladders and fire hoses can spray water is limited, and rescue may be impossible, resulting in significant property losses and casualties. If firefighters enter the building to rescue people or put out the fire, their lives will be endangered. In addition, the rescue speed is slow, and drone technology has developed rapidly in recent years. Drones are being used more and more widely in fire safety.

[0003] Currently, most firefighting flying robots on the market use single or multi-rotor structures. While they possess certain vertical take-off and landing and hovering capabilities, they still have shortcomings in terms of load-bearing capacity, flight stability, and firefighting efficiency. Especially when facing high-rise building fires, these robots often have difficulty maintaining a stable flight posture in complex airflow environments, which affects their firefighting effectiveness. Therefore, this utility model proposes a heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration. Utility Model Content

[0004] The purpose of the present utility model is to provide a heavy-duty fire-fighting emergency rescue flying robot with a master-slave rotor configuration, so as to solve the problem raised in the above background technology that most of the fire-fighting flying robots on the market currently adopt a single-rotor or multi-rotor structure. Although they have certain vertical take-off and landing and air hovering capabilities, they still have deficiencies in load-bearing weight, flight stability and fire-fighting efficiency. In particular, when facing high-rise building fires, these robots often find it difficult to maintain a stable flight posture in a complex airflow environment, thereby affecting the fire-fighting effect.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] A heavy-load fire-fighting emergency rescue flying robot with a master-slave rotor configuration includes a tripod, connecting rods are connected between the bottom corners of the tripod ends, the tripod and the connecting rods form a tetrahedron structure, the top movable sleeve of the tripod is provided with a first connecting shaft, the end of the first connecting shaft is provided with a coaxial propeller assembly, an energy device is fixedly installed in the tetrahedron structure formed by the tripod and the connecting rods, a suspension assembly is provided at the bottom of the tetrahedron structure, and three groups of support assemblies are distributed on the outer circumference of the suspension assembly.

[0007] Optionally, second connecting shafts extend outward from the intersections of the tripod and the connecting rods, and the ends of the three second connecting shafts are respectively connected to the first propeller, the second propeller and the third propeller.

[0008] Optionally, the coaxial propeller assembly includes a fixing frame arranged at the top end of the first connecting shaft, a first bevel gear is coaxially provided in the middle hole of the fixing frame, a second bevel gear and a third bevel gear are coaxially provided in the upper and lower vertical holes of the fixing frame, the second bevel gear and the third bevel gear are both engaged with the first bevel gear, a short shaft is coaxially installed in the second bevel gear, a long shaft is coaxially installed in the third bevel gear, and the end of the long shaft extends above the short shaft, and the end caps of the short shaft and the long shaft are respectively sleeved with the first main propeller and the second main propeller.

[0009] Optionally, the suspension assembly includes a fixed seat arranged at the lower part of the tetrahedron structure, a support rod is correspondingly provided at the bottom of the fixed seat, the other end of the support rod is fixedly connected to a suspension frame, and a clamping member is correspondingly provided on the inner side of the suspension frame, and the injection pipe is clamped in the clamping members on both sides.

[0010] Optionally, the support assembly includes a movable rod, which is mounted on the outer surface of the fixed seat, and the movable rod is movably connected to the top of the support rod through a pin shaft. Ear hooks are provided on the inner sides of the movable rod and the support rod, and a tension spring is elastically connected between the two groups of ear hooks. A reinforcement rod is provided on the same side of the movable rod as the ear hook.

[0011] Optionally, the three groups of support assemblies are staggered with the first propeller, the second propeller and the third propeller.

[0012] Optionally, the energy device has two output ends, of which the one extending from the top is the main output end, and three auxiliary output ends are extended horizontally. The main output end is used to drive the rotation of the first connecting shaft; the auxiliary output end is used to drive the rotation of the first propeller, the second propeller, and the third propeller connected to the outside of the second connecting shaft.

[0013] The beneficial effects of the utility model are:

[0014] 1. The tetrahedron structure formed by the tripod and the connecting rods of the utility model provides stable support and load-bearing capacity for the flying robot. The coaxial propeller assembly at the top of the tripod and the auxiliary propeller at the intersection of the tripod and the connecting rods work together to enable the flying robot to achieve vertical take-off and landing, horizontal movement and posture adjustment in the air, greatly improving the flexibility and applicability of the robot. In particular, in high-rise building fire rescue, it can quickly and accurately reach the predetermined location and implement effective firefighting operations.

[0015] 2. In the present invention, the movable rod in the support assembly effectively absorbs the impact force during the landing of the aircraft through the movable connection between the pin and the support rod and the elastic action of the tension spring, maintains the stability and resilience of the flying robot, enables the robot to land more smoothly, and reduces the risk of damage caused by landing impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of a heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the utility model;

[0018] Figure 3 It is a front view of the present utility model;

[0019] Figure 4 It is a structural schematic diagram of the support assembly in the utility model.

[0020] The numbers in the figure are:

[0021] 1. Tripod; 2. Connecting rod; 3. First connecting axis;

[0022] 4. Coaxial propeller assembly; 401. Mounting bracket; 402. First bevel gear; 403. Second bevel gear; 404. Third bevel gear; 405. Short shaft; 406. Long shaft; 407. First main propeller; 408. Second main propeller;

[0023] 5. Second connecting shaft; 6. First propeller; 7. Second propeller; 8. Third propeller; 9. Energy device;

[0024] 10. Suspension assembly; 1001. Fixing seat; 1002. Support rod; 1003. Suspension bracket; 1004. Clamping member; 1005. Injection pipe;

[0025] 11. Support assembly; 1101. Movable rod; 1102. Pin; 1103. Support rod; 1104. Ear hook; 1105. Tension spring; 1106. Reinforcement rod. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0027] The following describes the preferred embodiments of the device of the present invention.

[0028] See also Figure 1-4As shown, the master-slave rotor configuration heavy-load fire-fighting emergency rescue flying robot includes a tripod 1, and connecting rods 2 are connected between the bottom angles of the ends of the tripod 1. The tripod 1 and the connecting rods 2 form a tetrahedron structure. The top movable sleeve of the tripod 1 is provided with a first connecting shaft 3, and the end of the first connecting shaft 3 is provided with a coaxial propeller assembly 4. The coaxial propeller assembly 4 is used to provide a lifting effect for the device. A second connecting shaft 5 extends outward from the intersection of the tripod 1 and the connecting rod 2. The ends of the three second connecting shafts 5 are respectively connected to a first sub-propeller 6, a second sub-propeller 7 and a third sub-propeller 8. The first sub-propeller 6, the second sub-propeller 7 and the third sub-propeller 8 are used to provide power for horizontal movement and attitude adjustment; the tripod 1 and the connecting rod 2 are fixed in the tetrahedron structure. It is equipped with an energy device 9, and a suspension assembly 10 is provided at the bottom of the tetrahedron structure. The suspension assembly 10 is used to mount fire-fighting equipment, and three groups of support assemblies 11 are distributed on the outer circumference of the suspension assembly 10. The flying robot provides stable support and load-bearing capacity through the tetrahedron structure composed of the tripod 1 and the connecting rod 2. A coaxial propeller assembly 4 is installed on the first connecting shaft 3 at the top of the tripod 1. The assembly is driven by the energy device 9 and generates lift through rotation, so that the flying robot can take off and land vertically; at the same time, the first propeller 6, the second propeller 7 and the third propeller 8 are fixed on the second connecting shaft 5 at the intersection of the tripod 1 and the connecting rod 2 respectively. The rotation of these propellers can provide power for horizontal movement and attitude adjustment, so that the flying robot can move flexibly in the air.

[0029] Furthermore, the three groups of support assemblies 11 are staggered with the first propeller 6 , the second propeller 7 and the third propeller 8 .

[0030] Furthermore, the energy device 9 serves as the main energy output device, which can provide power for the first propeller 6, the second propeller 7, and the third propeller 8, as well as the propeller at the top. The energy device 9 has two output terminals, one of which extends from the top as the main output terminal, and three auxiliary output terminals extending horizontally. The main output terminal is used to drive the first connecting shaft 3 to rotate; the auxiliary output terminal is used to drive the first propeller, the second propeller, and the third propeller connected to the outside of the second connecting shaft 5 to rotate. A reducer or speed control module can also be provided between the main output terminal or the auxiliary output terminal and the connecting shaft, which will not be described in detail.

[0031] In another embodiment provided by the present invention, Figure 2As shown, the coaxial propeller assembly 4 includes a fixing frame 401 arranged at the top end of the first connecting shaft 3, and a first bevel gear 402 is coaxially provided with a central hole of the fixing frame 401, and a second bevel gear 403 and a third bevel gear 404 are coaxially provided with upper and lower vertical holes of the fixing frame 401, and the second bevel gear 403 and the third bevel gear 404 are both engaged with the first bevel gear 402, a short shaft 405 is coaxially installed in the second bevel gear 403, and a long shaft 406 is coaxially installed in the third bevel gear 404, and the end of the long shaft 406 extends to above the short shaft 405, and the end caps of the short shaft 405 and the long shaft 406 are respectively sleeved with a first main propeller 407 and a second main propeller 408.

[0032] Specifically, when the energy device 9 drives the first connecting shaft 3 to rotate, the first bevel gear 402 rotates accordingly, and drives the second bevel gear 403 and the third bevel gear 404 to rotate through the meshing relationship. The short shaft 405 coaxially installed in the second bevel gear 403 and the long shaft 406 coaxially installed in the third bevel gear 404 respectively drive the first main propeller 407 and the second main propeller 408 to rotate, generating lift. Since the first main propeller 407 and the second main propeller 408 rotate in opposite directions, the torques they generate can offset each other and eliminate the air vortex generated on the blade tip, thereby improving the stability and controllability of the flying robot.

[0033] In another embodiment provided by the present invention, Figure 3 As shown, the suspension assembly 10 includes a fixed seat 1001 arranged at the lower part of the tetrahedron structure, and a support rod 1002 is correspondingly provided at the bottom of the fixed seat 1001. The other end of the support rod 1002 is fixedly connected to a suspension frame 1003. A clamping member 1004 is correspondingly provided on the inner side of the suspension frame 1003. The clamping members 1004 on both sides clamp a spray pipe 1005. Specifically, when the flying robot arrives at the fire scene, the spray pipe 1005 mounted on the suspension assembly 10 can be used for fire extinguishing operations. The design of the clamping member 1004 enables the spray pipe 1005 to be firmly fixed on the suspension frame 1003 to ensure that it will not fall off or shake during the fire extinguishing process.

[0034] In another embodiment provided by the present invention, Figure 4 As shown, the support assembly 11 includes a movable rod 1101, which is installed on the outer surface of the fixed base 1001. The movable rod 1101 is movably connected to the top of the support rod 1103 through a pin shaft 1102. Ear hooks 1104 are provided on the inner sides of the movable rod 1101 and the support rod 1103. A tension spring 1105 is elastically connected between the two groups of ear hooks 1104. A reinforcing rod 1106 is provided on the same side of the movable rod 1101 with respect to the ear hook 1104.

[0035] Specifically, when the aircraft lands, its overall weight and the impact force during landing will act on the fixed seat 1001, and then be transmitted to the movable rod 1101. The movable rod 1101 is movably connected to the top of the support rod 1103 through the pin shaft 1102. The movable rod 1101 is subjected to the downward impact force, and the tension spring 1105 will be contracted, thereby absorbing part of the impact force. At the same time, the elastic force of the tension spring 1105 will also enable the movable rod 1101 to maintain a certain stability and resilience during the landing process, which helps the aircraft to land more smoothly and provides good buffering and stability performance for the aircraft.

[0036] The energy device 9 has two output terminals, one of which is the main output terminal and three auxiliary output terminals are provided horizontally. The main output terminal is used to drive the first connecting shaft 3 to rotate; the auxiliary output terminals are used to drive the first, second and third auxiliary propellers located outside the second connecting shaft 5 to rotate.

[0037] When in use, the energy device 9 is started to drive the first connecting shaft 3 to rotate, thereby driving the first main propeller 407 and the second main propeller 408 in the coaxial propeller assembly 4 to rotate in opposite directions to generate lift; during the flight, the horizontal movement and posture adjustment of the flying robot are achieved by adjusting the speed and rotation direction of the first auxiliary propeller 6, the second auxiliary propeller 7 and the third auxiliary propeller 8. When the flying robot reaches the predetermined position, the fire extinguishing agent is sprayed to the high-rise building fire scene through the spray pipe 1005 on the suspension assembly 10. After completing the fire extinguishing task, the flying robot is controlled to land. During the landing process, the movable rod 1101 in the support assembly 11 absorbs part of the impact force through the movable connection between the pin shaft 1102 and the support rod 1103 and the elastic action of the tension spring 1105, maintains the stability and resilience of the flying robot, and helps the aircraft land more smoothly.

[0038] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and improvements are possible without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed for the present invention is defined by the appended claims and their equivalents.

Claims

1. A heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration, characterized by: The invention comprises a tripod (1), wherein connecting rods (2) are connected between the bottom corners of the ends of the tripod (1), and the tripod (1) and the connecting rods (2) form a tetrahedron structure. The top of the tripod (1) is movably sleeved with a first connecting shaft (3), and the end of the first connecting shaft (3) is provided with a coaxial propeller assembly (4). An energy device (9) is fixedly installed in the tetrahedron structure formed by the tripod (1) and the connecting rods (2), and a suspension assembly (10) is provided at the bottom of the tetrahedron structure, and three groups of support assemblies (11) are distributed on the outer circumference of the suspension assembly (10).

2. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 1, characterized in that: A second connecting shaft (5) extends outward from each intersection of the tripod (1) and the connecting rod (2), and the ends of the three second connecting shafts (5) are respectively connected to a first propeller (6), a second propeller (7) and a third propeller (8).

3. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 1, characterized in that: The coaxial propeller assembly (4) comprises a fixing frame (401) arranged at the top end of the first connecting shaft (3); a first bevel gear (402) is coaxially arranged in a middle hole of the fixing frame (401); a second bevel gear (403) and a third bevel gear (404) are coaxially arranged in upper and lower vertical holes of the fixing frame (401); the second bevel gear (403) and the third bevel gear (404) are both meshed with the first bevel gear (402); a short shaft (405) is coaxially arranged in the second bevel gear (403); a long shaft (406) is coaxially arranged in the third bevel gear (404), and an end of the long shaft (406) extends above the short shaft (405); and end caps of the short shaft (405) and the long shaft (406) are respectively sleeved with a first main propeller (407) and a second main propeller (408).

4. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 1, characterized in that: The suspension assembly (10) comprises a fixing seat (1001) arranged at the lower part of the tetrahedron structure, a supporting rod (1002) correspondingly provided at the bottom of the fixing seat (1001), a suspension frame (1003) fixedly connected to the other end of the supporting rod (1002), a clamping piece (1004) correspondingly provided on the inner side of the suspension frame (1003), and a spray pipe (1005) clamped in the clamping pieces (1004) on both sides.

5. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 1, characterized in that: The support assembly (11) includes a movable rod (1101), which is installed on the outer surface of the fixed base (1001). The movable rod (1101) is movably connected to the top of the support rod (1103) through a pin (1102). Ear hooks (1104) are provided on the inner sides of the movable rod (1101) and the support rod (1103). A tension spring (1105) is elastically connected between the two groups of ear hooks (1104). A reinforcing rod (1106) is provided on the same side of the movable rod (1101) as the ear hook (1104).

6. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 1, characterized in that: The three groups of support assemblies (11) are staggeredly distributed with the first propeller (6), the second propeller (7) and the third propeller (8).

7. The heavy-duty firefighting emergency rescue flying robot with a master-slave rotor configuration according to claim 2, characterized in that: The energy device (9) has two output ends, of which the one extending from the top is the main output end, and three auxiliary output ends are provided horizontally. The main output end is used to drive the first connecting shaft (3) to rotate; and the auxiliary output end is used to drive the first auxiliary propeller, the second auxiliary propeller, and the third auxiliary propeller connected to the outside of the second connecting shaft (5) to rotate.

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