CN111071441A - Flying robot for high-rise building rescue - Google Patents
Flying robot for high-rise building rescue Download PDFInfo
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- CN111071441A CN111071441A CN201911198886.4A CN201911198886A CN111071441A CN 111071441 A CN111071441 A CN 111071441A CN 201911198886 A CN201911198886 A CN 201911198886A CN 111071441 A CN111071441 A CN 111071441A
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- 238000005553 drilling Methods 0.000 claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 45
- 239000010959 steel Substances 0.000 claims description 45
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241001183967 Isodon Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses a flying robot for high-rise building rescue, which comprises a carrying unmanned aerial vehicle, wherein rescue rope modules are fixedly connected below the carrying unmanned aerial vehicle, base frame modules are fixed on two sides below the rescue rope modules, rescue expansion plate modules are fixed between the base frame modules on two sides below the rescue rope modules, base frames are fixedly connected to two ends of each base frame module, the base frames are vertically arranged, an unmanned aerial vehicle drilling module is fixedly arranged on one side of each base frame, which is far away from each base frame module, a rescue rope is arranged in each rescue rope module, a pulley e is fixed on the outer side of each rescue rope module, a pulley f is fixed on one end, which is far away from the carrying unmanned aerial vehicle, of each rescue expansion plate module, and the rescue rope stretches out of each rescue rope module and sequentially. The flying robot for high-rise building rescue solves the problems that a rescue system in the prior art needs to be fixedly installed for a long time and is large in installation limitation.
Description
Technical Field
The invention belongs to the technical field of rescue robots, and relates to a flying robot for high-rise building rescue.
Background
The method is specified in Chinese 'technical regulations on high-rise building concrete structures' (JGJ 3-2002): the reinforced concrete structure with 10 floors and more than 10 floors or the height of more than 28m is called a high-rise building structure. When the building height exceeds 100m, the building is called a super high-rise building, and at present, the number of high-rise buildings in China is 34.7 ten thousand, more than 6000 super high-rise buildings over one hundred meters, and the number of the high-rise buildings is the first in the world.
The high-rise buildings and the super high-rise buildings are concentrated in large cities, the high-rise buildings are large in size, complex in function, dense in personnel, multiple in hazard source and large in fire load, and serious challenges are brought to fire prevention, control and rescue. The data of the fire department of the ministry of public security shows that 5046 common fire disasters happen to high-rise buildings in China since 2017, and the direct property loss is more than 8000 ten thousand yuan. In the last 10 years, 3.1 thousands of high-rise building fires occur all over the country, 474 people die, and the direct property loss is 15.6 million yuan.
At present, a high-rise rescue apparatus is lack, so that great potential safety hazards are brought to high-rise building rescue, for super high-rise buildings, a refuge layer is set at the initial building construction stage, but in many cases, the refuge layer cannot be reached due to fire and harmful gas spread, and therefore the rescue apparatus capable of rapidly conveying people to the ground or the refuge layer is urgently needed in both the high-rise buildings and the super high-rise buildings.
Chinese patent 'high-rise fire rescue flight deck' (application date: 20150920, publication number: CN205113740U) discloses unmanned aerial vehicle rescue equipment. The invention provides a fire extinguishing device for high-rise buildings, which can be used for fire extinguishing or personnel evacuation when a fire disaster and other dangerous situations occur in the high-rise buildings and a fireman drives a flight cabin to ascend. This equipment mainly uses unmanned aerial vehicle as the power device that rises to the air, accomplishes the rescue and puts out a fire in the air, but unmanned aerial vehicle load is too big, the operation degree of difficulty is high, factor of safety is low excessively.
The invention discloses a Chinese patent 'high-rise rescue fire-fighting system' (application date: 20121214, publication number: CN103007453B), and provides a fire-fighting rescue system for a high-rise building, which can directly deliver rescuers or rescue goods to the high-rise building. The equipment comprises a hoisting device and a rescue device. The hoisting device can be a roof tower crane mechanism or a crane device positioned on the roof and used for directly towing rescue devices or personnel to high altitude from the ground or completing rescue through a tower crane. However, the equipment is too high in manufacturing cost, cannot be moved, needs to be arranged on the roof for a long time, needs frequent equipment management and equipment maintenance, is too numerous in urban high-rise buildings, cannot be installed on each high-rise building, and is uncertain in which direction the fire is on when the high-rise building catches fire, so that the tower crane installation position of the irregular super high-rise building is too limited.
In the Chinese patent of 'a movable type off-building high-rise fire-fighting rescue system' (application date: 20150529, publication number: CN104857644B), the roof position can be moved, but the urban high-rise buildings are many, equipment needs to be arranged on the roof for a long time, the manufacturing cost, the equipment management cost, the equipment maintenance cost and the like are too high, and the forced installation of each building is not practical.
Chinese patent ' a high-rise evacuation elevator rescue vehicle ' (application date: 20140630, notice number: CN104118827B) ' proposes a high-rise rescue elevator vehicle device, and ten or more stories of high-rise buildings can meet fire rescue, but twenty or thirty stories of buildings are common nowadays, and the device has great limitation on the height of the buildings.
In summary, although there are various fire fighting devices, there are certain limitations to transportation of fire fighting materials, personnel and rescue equipment for high-rise buildings in case of fire. When a fire disaster occurs, people can be helped to protect the personal safety and the property safety of people only by taking full care of the fire disaster, the loss caused by the fire disaster is reduced as much as possible, and people are helped to escape safely and quickly. Therefore, it is urgently needed to develop a high-rise rescue device which can be used for fast rescue and can be reused.
Disclosure of Invention
The invention aims to provide a flying robot for high-rise building rescue, and solves the problems that a rescue system in the prior art needs to be fixedly installed for a long time and is large in installation limitation.
The invention adopts the technical scheme that the flying robot for high-rise building rescue comprises a carrying unmanned aerial vehicle, wherein a rescue rope module is fixedly connected below the carrying unmanned aerial vehicle, base frame modules are fixed on two sides below the rescue rope module, a rescue expansion plate module is fixed between the base frame modules on two sides below the rescue rope module, two ends of the base frame module are fixedly connected with a base frame, the base frame is vertically arranged, an unmanned aerial vehicle drilling module is fixedly arranged on one side of the base frame, which is far away from the base frame module, a rescue rope is arranged in the rescue rope module, a pulley e is fixed on the outer side of the rescue rope module, a pulley f is fixed on one end, which is far away from the carrying unmanned aerial vehicle, of the rescue expansion plate module, and the rescue rope extends out of the rescue rope module and sequentially.
The present invention is also characterized in that,
the base frame module comprises basic arms a at two sides below the fixed rescue rope module, two sections of arms a and two sections of arms b are respectively sleeved in the left end and the right end of each basic arm a, three sections of arms a and three sections of arms b are respectively sleeved in the ends, which are opposite to each other, of the two sections of arms a and the two sections of arms b, a middle plate is fixedly arranged in the middle of each basic arm a, a motor a and a motor b are respectively fixed on two sides of the middle plate, the motor a and the motor b are respectively connected with an electric push rod inner rod a and an electric push rod inner rod b, an electric push rod outer rod a and an electric push rod outer rod b are respectively sleeved on the electric push rod inner rod a and the electric push rod inner rod b, one ends, far away from the middle plate, of the electric push rod outer rod a and the electric push rod b are respectively connected with a large pulley a and a large pulley b, the electric push rod outer rod a and the electric push rod b are also respectively fixedly connected with the two sections of arms a and the two sections of arms b, one ends, the other ends of the steel wire ropes a and b are fixedly connected to the middle plate after respectively bypassing the large pulley a and the large pulley b, the ends, close to the middle plate, of the two-section arm a and the two-section arm b are respectively and fixedly provided with the small pulley a and the small pulley b, the left end and the right end of the basic arm a are respectively and fixedly connected with the steel wire ropes c and d, and the other ends of the steel wire ropes c and d are respectively and fixedly connected to the ends, close to the middle plate, of the three-section arm a and the three-section arm b after respectively bypassing the small pulley a and the small pulley b.
And a camera and an infrared module are fixed in the middle of the basic arm a.
The rescue expansion plate module comprises a basic arm b fixed below the rescue rope module, a motor c is fixed at one end of the basic arm b, a two-section arm c is sleeved in the other end of the basic arm b, a three-section arm c is sleeved in one end of the two-section arm c far away from the motor c, a four-section arm is sleeved in one end of the three-section arm c far away from the motor c, the motor c is connected with an electric push rod inner rod, an electric push rod outer rod is sleeved on the electric push rod inner rod and fixedly connected with the two-section arm c, a pulley a is fixedly connected at one end of the electric push rod outer rod far away from the motor c, a steel wire rope e is fixedly connected at one end of the basic arm b, provided with the motor c, the other end of the steel wire rope e is fixedly connected with one end of the three-section arm c close to the motor c after passing around the pulley a, a pulley b is also fixedly connected at one end of the three-section arm c close to the motor c, a pulley c is further fixed at one end, far away from the motor c, of the three-section arm c, a steel wire rope h is further connected at one end, close to the motor c, of the four-section arm, the other end of the steel wire rope h is fixedly connected to one end, close to the motor c, of the two-section arm c after bypassing the pulley c, and the pulley f is fixed at one end, far away from the motor c, of the four-section arm.
A pulley d is further fixed at one end, close to the motor c, of the two-section arm c, a steel wire rope f is fixed at one end, far away from the motor c, of the basic arm b, and the other end of the steel wire rope f is fixed at one end, close to the motor c, of the three-section arm c after bypassing the pulley d.
Every bed frame is provided with two at least unmanned aerial vehicle and beats the module of boring.
Unmanned aerial vehicle beats the module and includes fixing the shell on the bed frame, and the shell internal fixation has the electric putter chunk, and electric putter chunk fixedly connected with beats the module of boring.
The drilling module 220 comprises a motor a22 and a gear a23 which are sequentially connected to an electric push rod block 21, wherein the gear a is meshed with a gear b, the gear b is fixedly connected with a rotating shaft, a spring is arranged on a rotating shaft of one side, close to the motor a, of the gear b, the other end of the rotating shaft is sequentially fixed with a driving plate, a cam, an impact braking device and a gear c, the driving plate is connected with a ram, the ram is fixedly connected with a ram slider, a sleeve is sleeved on the ram slider, a sleeve gear meshed with the gear c is fixedly sleeved on the sleeve, a ram is arranged in the sleeve, a spline shaft is fixedly connected into the other end of the sleeve through a spline, a drill bit hole is formed in the spline shaft, a drill bit is fixedly installed in the drill bit.
The electric push rod module comprises an electric motor, the electric motor is connected with an electric push rod, and the electric push rod is connected with an electric motor a.
The rescue rope module comprises a rescue rope module shell, a rescue winding device is arranged on the rescue rope module shell, a rescue rope is wound on the rescue winding device, a pulley e is fixed on the rescue rope module shell, and the rescue rope stretches out of the rescue rope module shell and bypasses the pulley e.
The invention has the beneficial effects that:
the flying robot for high-rise building rescue does not need to be fixedly installed on each high-rise building, is simple, convenient and reusable even if the robot needs to be rescued, and has high rescue efficiency.
Drawings
Fig. 1 is a schematic structural view of a flying robot for high-rise building rescue according to the present invention;
FIG. 2 is a structural view of the flying robot for high-rise building rescue according to the present invention after a pedestal module is extended;
FIG. 3 is a structural view of the flying robot for high-rise building rescue with the rescue expansion plate module extended out;
FIG. 4 is a structural view of a base frame module in a flying robot for high-rise rescue according to the present invention;
FIG. 5 is a structural view of a rescue expansion plate module in the flying robot for high-rise building rescue according to the invention;
FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle drilling module in the flying robot for high-rise building rescue according to the invention;
FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle drilling module in a flying robot for high-rise building rescue according to the invention;
FIG. 8 is a schematic diagram showing the specific disassembly of the drilling module of the unmanned aerial vehicle in the flying robot for high-rise building rescue according to the invention;
FIG. 9 is a schematic structural diagram of a housing of a drilling module of an unmanned aerial vehicle in a flying robot for high-rise building rescue according to the invention;
fig. 10 is a schematic structural view of a rescue rope module in a flying robot for high-rise building rescue according to the present invention;
fig. 11 is an implementation diagram of a flying robot for high-rise building rescue according to the invention;
fig. 12 is a control circuit diagram of a flying robot for high-rise building rescue according to the present invention.
In the figure, 1, a carrying unmanned aerial vehicle, 2, an unmanned aerial vehicle drilling module, 3, a rescue rope module, 4, a base frame module, 5, a rescue expansion plate module, 6, a pulley e, 7, a pulley f, 8, a hook, 9, a base frame, 10, a rescue rope and 11 holes are arranged;
2-1, an outer shell, 21, an electric push rod block, 21-1, a motor, 21-2, an electric push rod, 22, a motor a, 23, a gear a, 4, a spring, 25, a gear b, 26, a dial, 27, a disc cam, 28, a gear c, 29, a ram, 210, a ram slider, 211, a sleeve, 212, a sleeve gear, 213, a spring, 214, a spline shaft, 215, a drill hole, 216, a ram, 217, a drill, 218, an impact brake device, 219, a rotating shaft, 221, an inner shell;
31. rescue rope module housing, 33. rescue winding device;
41. the robot comprises a basic arm a, 42, a two-section arm a, 43, a three-section arm a, 44, a two-section arm b, 45, a three-section arm b, 46, a large pulley a, 47, a large pulley b, 48, a small pulley a, 49, a small pulley b, 410, a middle plate, 411, a motor a, 412, a motor b, 413, an inner rod a of an electric push rod, 414, an inner rod b of the electric push rod, 415, an outer rod a of the electric push rod, 416, an outer rod b of the electric push rod, 421, a steel wire rope a, 422, a steel wire rope b, 423, a steel wire rope c, 424, a steel wire rope d, 430, a camera and an infrared module;
51. basic arm b, 52, two-section arm c, 53, three-section arm c, 54, four-section arm, 55, pulley a, 56, pulley d, 57, pulley b, 58, pulley c, 59, electric push rod outer rod, 510, electric push rod inner rod, 511, steel wire rope e, 512, steel wire rope f, 513, steel wire rope g, 514, motor c, 515 and steel wire rope h.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a flying robot for rescuing high-rise buildings, which has a structure shown in figures 1-3 and comprises a carrying unmanned aerial vehicle 1, wherein a rescuing rope module 3 is fixedly connected below the carrying unmanned aerial vehicle 1, both sides below the rescuing rope module 3 are fixedly provided with pedestal modules 4, a rescuing expansion plate module 5 is fixedly arranged between the pedestal modules 4 positioned at both sides below the rescuing rope module 3, both ends of the pedestal module 4 are fixedly connected with pedestals 9, the pedestals 9 are vertically arranged, one side of the pedestal 9 far away from the pedestal modules 4 is fixedly provided with an unmanned aerial vehicle drilling module 2, a rescuing rope 10 is arranged in the rescuing rope module 3, a pulley e6 is fixedly arranged at the outer side of the rescuing rope module 3, one end of the rescuing expansion plate module 5 far away from the carrying unmanned aerial vehicle 1 is fixedly provided with a pulley f7, the rescuing rope 10 extends out of the rescuing rope module, the rear part of the pulley f7 is connected with a hook 8.
As shown in fig. 4, the pedestal module includes a basic arm a41 fixed on both sides below the rescue rope module 3, two joint arms a42 and b44 are respectively sleeved in both left and right ends of the basic arm a41, a three joint arm a43 and a three joint arm b45 are respectively sleeved in one end of the two joint arm a42 and the two joint arm b44 facing away from each other, a middle plate 410 is fixedly disposed in the middle of the basic arm a41, a motor a411 and a motor b412 are respectively fixed on both sides of the middle plate 410, a motor a411 and a motor b412 are respectively connected with an inner electric push rod a413 and an inner electric push rod b414, an outer electric push rod a415 and an outer electric push rod b416 are respectively sleeved on the inner electric push rod a413 and the inner electric push rod b414, one ends of the outer electric push rod a415 and the outer push rod b416 far away from the middle plate 410 are respectively connected with a large pulley a46 and a large pulley 47, a415 and the outer push rod b416 are respectively connected with a three joint arm 7342, a fixed on one end of the middle plate b 3884 and the three joint arm 7342, the other ends of the wire rope a421 and the wire rope b422 respectively wind around a large pulley a46 and a large pulley b47 and then are fixedly connected to the middle plate 410, one ends of the two-section arm a42 and the two-section arm b44, which are close to the middle plate 410, are respectively fixed with a small pulley a48 and a small pulley b49, the left end and the right end of the basic arm a41 are respectively fixedly connected with a wire rope c423 and a wire rope d424, and the other ends of the wire rope c423 and the wire rope d424 respectively wind around a small pulley a48 and a small pulley b49 and then are respectively fixedly connected to one ends of the three-section arm a43 and the three-section arm b 45.
A camera and infrared module 430 is also fixed at the middle position of the basic arm a 41.
As shown in fig. 5, the rescue expansion plate module 5 includes a base arm b51 fixed below the rescue rope module 3, a motor c514 is fixed at one end of the base arm b51, a two-section arm c52 is sleeved in the other end of the base arm b51, a three-section arm c53 is sleeved in one end of the two-section arm c52 away from the motor c514, a four-section arm 54 is sleeved in one end of the three-section arm c53 away from the motor c514, the motor c514 is connected with an electric push rod inner rod 510, an electric push rod outer rod 59 is sleeved on the electric push rod inner rod 510, the electric push rod outer rod 59 is fixedly connected with the two-section arm c52, a pulley a55 is fixedly connected at one end of the electric push rod outer rod 59 away from the motor c514, a steel wire rope e511 is fixedly connected at one end of the base arm b51 where the motor c514 is arranged, the other end of the steel wire rope e511 winds around the pulley a55 and is fixedly connected at one end of the three-section arm c53 close to the motor c514, a pulley b57 is fixed at one end, the other end of the wire rope g513 winds around a pulley b57 and is fixedly connected to a wire rope e511, one end, far away from the motor c514, of the three-section arm c53 is further fixedly provided with a pulley c58, one end, close to the motor c514, of the four-section arm 54 is further connected with a wire rope h515, the other end of the wire rope h515 winds around a pulley c58 and is fixedly connected to one end, close to the motor c514, of the two-section arm c52, and a pulley f7 is fixed to one end, far away from the motor c 514.
A pulley d56 is fixed at one end of the two-section arm c52 close to the motor c514, a steel wire rope f512 is fixed at one end of the basic arm b51 far away from the motor c514, and the other end of the steel wire rope f512 is fixed at one end of the three-section arm c53 close to the motor c514 after passing through the pulley d 56.
Each pedestal 9 is provided with at least two unmanned aerial vehicle drilling modules 2.
As shown in fig. 6-9, the unmanned aerial vehicle drilling module 2 includes a housing 2-1 fixed on the base frame 9, an electric push rod block 21 is fixed on one side of the housing 2-1 far from the base frame 9, the electric push rod block 21 is fixedly connected with a drilling module 220, the drilling module 220 includes a motor a22 and a gear a23 sequentially connected with the electric push rod block 21, a gear b25 is engaged with the gear a23, a rotating shaft 219 is fixedly connected with the gear b25, a spring 24 is arranged on the rotating shaft 219 on one side of the gear b25 close to the motor a22, a dial 26, a cam 27, an impact braking device 218 and a gear c28 are sequentially fixed on the other end of the rotating shaft 219, the dial 26 is connected with a ram 29, the ram 29 is fixedly connected with a ram slider 210, a sleeve 211 is sleeved on the ram slider 210, a sleeve gear 212 engaged with the gear c28 is fixedly sleeved on the sleeve 211, a ram 216, a spline shaft 214 is fixedly connected in the other end of the sleeve 211 through a spline, a drill bit hole 215 is formed in the spline shaft 214, a drill bit 217 is fixedly installed in the drill bit hole 215, the sleeve 211, the motor a22 and the rotating shaft 219 are fixedly connected with the inner shell 221.
The direction of extension of the drill bit 217 of unmanned aerial vehicle drilling module 2 is opposite to the direction of extension of rescue expansion plate module 5, and the position department that sets up unmanned aerial vehicle drilling module 2 on bed frame 9 is provided with hole 11, supplies drill bit 217 to stretch out bed frame 9.
The impact brake 218 of the present invention is a snap-in device, and the dial does not reciprocate when impact is not required, and the structure is a mature technology and is often applied to electric hammers and impact drills, and the impact brake 218 is applied to products such as bosch impact drill tsb5500, bosch impact drill tsb1300, komais impact drill KMS-001, and the like.
The electric push rod module 21 comprises an electric motor 21-1, the electric motor 21-1 is connected with an electric push rod 21-2, and the electric push rod 21-2 is connected with an electric motor a 22.
As shown in fig. 10, the rescue rope module 3 includes a rescue rope module case 31, the rescue rope module case 31 is provided with a rescue winding device 33, the rescue rope 10 is wound on the rescue winding device 33, a pulley e6 is fixed on the rescue rope module case 31, and the rescue rope 10 extends out of the rescue rope module case 31 and bypasses the pulley e 6.
The electric push rod module 21 of the invention can adopt a flag electric push rod and a Jiuwanli general motor lifting telescopic rod of the Ministry of Current appliances of Wenzhou city.
The motor c514, the electric push rod inner rod 510 and the electric push rod outer rod 59 form an electric push rod, the motor a411, the electric push rod inner rod a413 and the electric push rod outer rod a415 form an electric push rod, the motor b412, the electric push rod inner rod b414 and the electric push rod outer rod b416 form an electric push rod, and a small-sized miniature pen type electric push rod in Suzhou dynasty magnetoelectric technology limited company and a 24v linear pen type electric push rod in a Keno electromechanical product factory in Dongguan city can be adopted.
The invention relates to a base frame module 4 of a flying robot for high-rise building rescue, which has the working principle that:
stretching out: the motor a411 and the motor b412 work to respectively push the electric push rod inner rod a413 and the electric push rod inner rod b414, the electric push rod outer rod a415 and the electric push rod outer rod b416 in sequence, the electric push rod outer rod a415 and the electric push rod outer rod b416 simultaneously drive the two-section arm a42 and the two-section arm b44 to extend outwards, and the steel wire rope a421 and the steel wire rope b422 respectively drive the three-section arm a43 and the three-section arm b45 to extend outwards through the large pulley a46 and the large pulley b 47.
And (3) withdrawing: the motor a411 and the motor b412 work to respectively drive the electric push rod inner rod a413 and the electric push rod inner rod b414, the electric push rod outer rod a415 and the electric push rod outer rod b416 to retract in sequence, the electric push rod outer rod a415 and the electric push rod outer rod b416 simultaneously drive the two-section arm a42 and the two-section arm b44 to retract, and the steel wire rope c423 and the steel wire rope d424 respectively drive the three-section arm a43 and the three-section arm b45 to retract through the small pulley a48 and the small pulley b 49.
The working principle of the rescue expansion plate module 5 in the flying robot for high-rise building rescue is as follows:
stretching out: when the arms extend out, the motor c514 drives the electric push rod outer rod 59 to extend out, the electric push rod outer rod 59 drives the two-section arm c52 to extend out, the steel wire rope e511 drives the three-section arm c53 to extend out through the pulley a55, the three-section arm c53 extends out to drive the pulley c58 to move backwards, the pulley c58 moves backwards, and the four-section arm 54 extends out under the action of the steel wire rope h 515.
And (3) withdrawing: the motor c514 drives the electric push rod outer rod 59 to retract inwards, the electric push rod outer rod 59 drives the two-section arm c52 to retract inwards, the pulley d56 on the two-section arm c52 is connected with the basic arm b51 and the three-section arm c53 through the steel wire rope f512 to drive the three-section arms 3-52 to retract, and the steel wire rope g513 is connected with the steel wire rope e511 and the four-section arm 54 through the pulley b57 fixed on the three-section arm c53 to drive the four-section arms 3-54 to retract.
Thus, the rescue expansion plate module 5 is extended and retracted.
The working principle of the unmanned aerial vehicle drilling module 2 in the flying robot for high-rise building rescue is as follows: the electric push rod block 21 is controlled by the motor 21-1 to push or pull the electric push rod 21-2, so as to push or pull the electric drill block, when the unmanned aerial vehicle drilling module 2 drills into the wall, the electric push rod block 21 pushes forward, the motor a22 drives the gear a23, the gear a23 drives the rotating shaft 219, the gear a23 drives the gear b25, the gear b25 is fixed on the rotating shaft 219 to drive the disc cam 27 and the dial 26, the dial 26 drives the ram 29 and the ram slider 210, the ram slider 210 impacts the ram 216 to enable the drill bit module to impact forward, so as to facilitate drilling, the gear c28 is fixed on the rotating shaft 219 to drive the sleeve gear 212, and the sleeve 211 drives the spline shaft 214 to drive the drill bit 217 to rotate and push forward integrally.
The working principle of the rescue rope module 3 in the flying robot for high-rise building rescue is as follows: when the rescue rope 10 needs to be lowered, the rescue winding device 33 works, the rescue rope 10 is lowered sequentially through the pulley e6 and the pulley f7, the pulley e6 is arranged on the rescue rope module shell 31 corresponding to the position where the rescue rope 10 extends out, the rescue rope 10 extending out or retracting out of the rescue rope 10 is limited to the position of the pulley e6, and abrasion to the rescue rope 10 during winding and unwinding is prevented. Rescue winding device 33 may be an electric hoist of the beijing rabdosia hawk electric hoist or a hoisting device of the hebei knono hoisting equipment manufacturing ltd.
As shown in fig. 11, the overall working principle of the flying robot for high-rise building rescue according to the present invention is as follows: because the building has enclosing walls on the side vertical surface of the roof, but the width of the enclosing walls is different, the unmanned aerial vehicle rescue equipment is unfolded aiming at the problem of high-rise fire rescue, when fire breaks out, the unmanned aerial vehicle 1 is carried to the roof of the building to hover on the enclosing wall of the roof, the camera and the infrared module 430 observe the surrounding situation and measure the distance, the telescopic pedestal module 4 is controlled to clamp the whole pedestal module 4 on the enclosing wall of the roof of the building according to the specific situation, the unmanned aerial vehicle drilling module 2 works to drill a drill bit 217 into the wall for fixing, then each arm of the rescue telescopic plate module 5 extends out, the rescue rope 10 extends out at the same time, the unmanned aerial vehicle rescue rope is put down or retracted for material transportation or rescue, after use, the rescue rope module 3 and the rescue telescopic plate module 5 are retracted, the unmanned aerial vehicle drilling module reverses and pulls back, the drill bit withdraws from the wall, the unmanned aerial vehicle pedestal, the carrying unmanned aerial vehicle 1 flies back.
Carrying unmanned aerial vehicle 1 includes 6 screw, is provided with unmanned aerial vehicle drilling module 2 on every bed frame 9, then totally 8 motor a22, 8 motor 21-1, as shown in fig. 12, a kind of control circuit for flying robot for high-rise building rescue of this application can be: the 6 propellers are respectively and electrically connected with an electronic speed regulator M1-M6 through cables, the electronic speed regulators M1-M6 are respectively and electrically connected with a distribution board a through cables, the electronic speed regulators M1-M6 are also electrically connected with a controller through cables, the distribution board b is respectively and electrically connected with the electronic speed regulators D1-D9 through cables, the electronic speed regulator D1 is electrically connected with a motor in the rescue coiling device 33 through cables, the electronic speed regulators D2-D9 are respectively and electrically connected with 8 motors a22 through cables, the distribution board c is respectively and electrically connected with the electronic speed regulators T1-T13 through cables, the electronic speed regulators T1 are respectively and electrically connected with a motor c514 through cables, the electronic speed regulators T2 and T3 are respectively and electrically connected with two motors a411 through cables, the electronic speed regulators T4 and T5 are respectively and electrically connected with two motors b412 through cables, the electronic speed regulators T6-T13 are respectively, the electronic speed regulators D1-D9 and the electronic speed regulators T1-T13 are electrically connected with the controller through cables, the controller is electrically connected with the receiver through cables, the receiver is connected with the remote controller in a wireless transmission mode, the distributing board a, the distributing board b and the distributing board c are electrically connected with the lithium battery through cables, the camera and the infrared module 430 comprise a laser range finder and a monitor, and the laser range finder and the monitor are electrically connected with the controller through cables respectively.
Claims (10)
1. A flying robot for high-rise building rescue is characterized by comprising a carrying unmanned aerial vehicle (1), wherein a rescue rope module (3) is fixedly connected below the carrying unmanned aerial vehicle (1), pedestal modules (4) are fixed on two sides below the rescue rope module (3), a rescue expansion plate module (5) is fixed between the pedestal modules (4) on two sides below the rescue rope module (3), pedestal frames (9) are fixedly connected to two ends of each pedestal module (4), each pedestal (9) is vertically arranged, an unmanned aerial vehicle drilling module (2) is fixedly arranged on one side, away from the pedestal modules (4), of each pedestal (9), a rescue rope (10) is arranged in each rescue rope module (3), a pulley e (6) is fixed on the outer side of each rescue rope module (3), and a pulley f (7) is fixed on one end, away from the carrying unmanned aerial vehicle (1), of each rescue expansion plate module (5), the rescue rope (10) stretches out of the rescue rope module (3) and sequentially bypasses the pulley e (6) and the pulley f (7) to be connected with a hook (8).
2. The flying robot for high-rise building rescue according to claim 1, wherein the pedestal module comprises a basic arm a (41) for fixing two sides below the rescue rope module (3), two sections of arm a (42) and two sections of arm b (44) are respectively sleeved in the left end and the right end of the basic arm a (41), one ends of the two sections of arm a (42) and the two sections of arm b (44) which are away from each other are respectively sleeved with a three section of arm a (43) and a three section of arm b (45), a middle plate (410) is fixedly arranged in the middle of the basic arm a (41), a motor a (411) and a motor b (412) are respectively fixed on two sides of the middle plate (410), the motor a (411) and the motor b (412) are respectively connected with an electric push rod a (413) and an electric push rod b (414), and an electric push rod a (413) and an electric push rod b (414) are respectively sleeved on the electric push rod a (413) and the electric push rod b (414) ) One end of the electric push rod outer rod a (415) and one end of the electric push rod outer rod b (416) far away from the middle plate (410) are respectively connected with a large pulley a (46) and a large pulley b (47), the electric push rod outer rod a (415) and the electric push rod outer rod b (416) are also respectively and fixedly connected with the two-section arm a (42) and the two-section arm b (44), one end of the three-section arm a (43) and one end of the three-section arm b (45) near the middle plate (410) are respectively connected with a steel wire rope a (421) and a steel wire rope b (422), the other ends of the steel wire rope a (421) and the steel wire rope b (422) respectively wind around the large pulley a (46) and the large pulley b (47) and then are fixedly connected to the middle plate (410), one ends of the two-section arm a (42) and the two-section arm b (44) near the middle plate (410) are respectively and fixedly connected with a small pulley a (48) and a small pulley b (49), and the left and right ends of the basic arm a (41) are respectively, the other ends of the steel wire rope c (423) and the steel wire rope d (424) are respectively wound around the small pulley a (48) and the small pulley b (49) and then are respectively and fixedly connected to one ends, close to the middle plate (410), of the three-section arm a (43) and the three-section arm b (45).
3. The flying robot for high-rise building rescue according to claim 2, wherein a camera and an infrared module (430) are further fixed at the middle position of the basic arm a (41).
4. The flying robot for high-rise building rescue according to claim 2, wherein the rescue expansion plate module (5) comprises a base arm b (51) fixed below the rescue rope module (3), a motor c (514) is fixed at one end of the base arm b (51), a two-section arm c (52) is sleeved in the other end of the base arm b (51), a three-section arm c (53) is sleeved in one end of the two-section arm c (52) far away from the motor c (514), a four-section arm (54) is sleeved in one end of the three-section arm c (53) far away from the motor c (514), the motor c (514) is connected with an electric push rod inner rod (510), an electric push rod outer rod (59) is sleeved on the electric push rod inner rod (510), the electric push rod outer rod (59) is fixedly connected with the two-section arm c (52), and a pulley a (55) is fixedly connected to one end of the electric push rod outer rod (59) far away from the motor c (514), one end, provided with a motor c (514), of the basic arm b (51) is fixedly connected with a steel wire rope e (511), the other end of the steel wire rope e (511) is fixedly connected with one end, close to the motor c (514), of the three-section arm c (53) after passing around a pulley a (55), a pulley b (57) is further fixed at one end, close to the motor c (514), of the three-section arm c (53), a steel wire rope g (513) is connected with one end, close to the motor c (514), of the four-section arm (54), the other end of the steel wire rope g (513) after passing around the pulley b (57) is fixedly connected to the steel wire rope e (511), one end, far away from the motor c (514), of the three-section arm c (53) is further fixed with a pulley c (58), one end, close to the motor c (514), of the four-section arm (54) is further connected with a steel wire rope h (515), the other end of the steel wire rope h (515) after passing around the pulley c (58), the pulley f (7) is fixed at one end of the four-section arm (54) far away from the motor c (514).
5. The flying robot for high-rise building rescue according to claim 4, wherein a pulley d (56) is further fixed to one end of the two-section arm c (52) close to the motor c (514), a steel wire rope f (512) is fixed to one end of the basic arm b (51) far away from the motor c (514), and the other end of the steel wire rope f (512) is fixed to one end of the three-section arm c (53) close to the motor c (514) after passing around the pulley d (56).
6. A flying robot for high-rise rescue according to claim 1, characterised in that each base frame (9) is provided with at least two unmanned aerial vehicle drilling modules (2).
7. The flying robot for high-rise building rescue according to claim 1 or 6, wherein the unmanned aerial vehicle drilling module (2) comprises a housing (2-1) fixed on the base frame (9), an electric push rod block (21) is fixed in the housing (2-1), and a drilling module (220) is fixedly connected to the electric push rod block (21).
8. The flying robot for high-rise building rescue according to claim 7, wherein the drilling module (220) comprises a motor a (22) and a gear a (23) which are sequentially connected to the electric push rod block (21), the gear a (23) is engaged with a gear b (25), the gear b (25) is fixedly connected with a rotating shaft (219), a spring (24) is arranged on the rotating shaft (219) at one side of the gear b (25) close to the motor a (22), a drive plate (26), a cam (27), an impact braking device (218) and a gear c (28) are sequentially fixed at the other end of the rotating shaft (219), the drive plate (26) is connected with a ram (29), the ram (29) is fixedly connected with a ram slider (210), a sleeve (211) is sleeved on the ram slider (210), and a sleeve gear (212) engaged with the gear c (28) is fixedly sleeved on the sleeve (211), the utility model discloses a motor, including sleeve (211), bush (211), fixed connection has integral key shaft (214) through the spline in the sleeve (211) other end, be provided with drill bit hole (215) on integral key shaft (214), fixed mounting has drill bit (217) in drill bit hole (215), still includes inner shell (221), sleeve (211), motor a (22), pivot (219) all with inner shell (221) fixed connection.
9. A flying robot for high-rise rescue according to claim 8, characterized in that the electric putter block (21) comprises an electric motor (21-1), an electric putter (21-2) is connected to the electric motor (21-1), and the electric putter (21-2) is connected to the electric motor a (22).
10. A flying robot for high-rise building rescue according to claim 1, characterized in that the rescue rope module (3) comprises a rescue rope module housing (31), the rescue rope module housing (31) is provided with a rescue winding device (33), the rescue winding device (33) is wound with the rescue rope (10), the pulley e (6) is fixed on the rescue rope module housing (31), and the rescue rope (10) extends out of the rescue rope module housing (31) and bypasses the pulley e (6).
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| CN201911198886.4A CN111071441A (en) | 2019-11-29 | 2019-11-29 | Flying robot for high-rise building rescue |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911198886.4A CN111071441A (en) | 2019-11-29 | 2019-11-29 | Flying robot for high-rise building rescue |
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| CN111071441A true CN111071441A (en) | 2020-04-28 |
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| CN114228999A (en) * | 2021-12-24 | 2022-03-25 | 杭州申昊科技股份有限公司 | Infrared inspection high-altitude robot based on unmanned aerial vehicle |
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