CN219361295U - Airbag control assembly of underwater rescue robot - Google Patents
Airbag control assembly of underwater rescue robot Download PDFInfo
- Publication number
- CN219361295U CN219361295U CN202222809787.9U CN202222809787U CN219361295U CN 219361295 U CN219361295 U CN 219361295U CN 202222809787 U CN202222809787 U CN 202222809787U CN 219361295 U CN219361295 U CN 219361295U
- Authority
- CN
- China
- Prior art keywords
- strip
- air bag
- shaped air
- shaped
- arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Emergency Lowering Means (AREA)
Abstract
The underwater rescue robot air bag control assembly comprises a telescopic mechanism and a strip-shaped air bag; the telescopic mechanism is detachably connected with the strip-shaped air bag and is used for controlling the strip-shaped air bag to be folded or unfolded, when the strip-shaped air bag is folded, the strip-shaped air bag is compressed to be in a straight shape in the length direction, and when the strip-shaped air bag is unfolded, the strip-shaped air bag is stretched to be in a C shape in the length direction. The utility model has the advantages that when the person falling into water is rescued, only the strip-shaped air bag is contacted with the body of the person falling into water, and the strip-shaped air bag is stretched into a C shape along the length direction after being unfolded and inflated and holds the waist of the person falling into water; on the one hand, the strip-shaped air bags are in flexible contact with the human body, so that the human body cannot be bruised or scratched when a person falling into water struggles in the water, and on the other hand, the strip-shaped air bags can be adaptively deformed according to the waistline of the person falling into water, and the phenomenon of clamping waist skin and meat of the person falling into water cannot occur.
Description
Technical Field
The utility model relates to the technical field of underwater rescue equipment, in particular to an underwater rescue robot air bag control assembly.
Background
In various natural or artificial water bodies such as rivers, lakes, reservoirs, swimming pools and the like, drowning events are not rare, and when the drowning events occur, the rapid and effective rescue of the person falling into the water is very important. At present, a manual rescue mode is mostly adopted for the rescue mode of the person falling into water, and floating objects are thrown to the water surface for grabbing by the person falling into water, or rescue is carried out by a person jumping into water by a person having water quality. The rescue mode of throwing the floating objects needs to actively grab the floating objects by the person falling into the water, but cannot ensure that the person falling into the water can grab the floating objects due to influence of wind power, waves, self reaction speed and physical state of the person falling into the water. The rescue mode of the rescue personnel diving is affected by the physical quality, water temperature, light and water quality of the rescue personnel, uncertainty exists in diving depth and diving duration, and the rescue personnel cannot be guaranteed to find out the person falling into water and bring the person falling into water out of the water.
Based on the current situation that the reliability of the person falling into water is poor in manual rescue, the underwater rescue robot is generated, and the patent with the authorized bulletin number of CN215752942U discloses the underwater rescue robot with the auxiliary mechanical claw structure. The working principle is as follows: when the robot submerges under water and approaches to a search and rescue object, the steering engine is used for driving the electromagnet and the mechanical arm to rotate so as to clamp the search and rescue object, the self-locking buckle is used for locking after clamping is completed, then the electromagnet is powered off, so that the mechanical arm and the electromagnet are separated from the robot, an automatic expansion air bag is fixed on the mechanical arm, and after the robot is separated from the mechanical arm, the air bag rapidly expands to bring the search and rescue object out of the water.
The underwater rescue robot has the following defects in practical application:
1. the safety is still to be improved, the waist of a person falling into water is surrounded by the two mechanical arms during rescue, and then the waist is locked by the self-locking buckles at the tail ends of the two mechanical arms; because the mechanical arm is a rigid part, the mechanical arm is in hard contact with a human body, and when a person falling into water struggles in water, the possibility of body bruise and scratch exists; because the sizes of the falling persons are fat and thin, when the sizes of the falling persons are fat and waistline is large, the possibility that the two mechanical arms cannot hold the waist of the falling persons when being folded exists, and further the self-locking buckles at the tail ends of the two mechanical arms cannot be locked, or the waist skin and the flesh of the falling persons are clamped during locking;
2. the reliability is still to be improved, after the two mechanical arms clamp the person falling into water, the rescue mechanism is separated from the robot frame as a whole, one end of the two mechanical arms is meshed with the other end of the two mechanical arms through a gear pair, and the other end of the two mechanical arms is locked through a self-locking buckle, namely, the two ends of the mechanical arms are closed in a movable connection mode to form a surrounding ring, other more parts are contained except for necessary air bags, when the person falling into water struggles in water due to the confusion, the gear at the joint of the two mechanical arms is damaged or the self-locking buckle is loosened easily, and rescue failure is caused;
3. the application scope has limitation, two arms are C-shaped components which are oppositely arranged, a certain operation space is required to be occupied in the opening or closing process, and for people falling into water with fat body type, the opening or closing angle of the two arms is larger in rescue, the occupied operation space is larger, and the rescue is difficult to be unfolded in a narrow water area environment.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides an airbag control assembly of an underwater rescue robot, which is applied to the underwater rescue robot and can improve the safety, reliability and application range of the underwater rescue robot.
The technical scheme of the utility model is as follows: the underwater rescue robot air bag control assembly comprises a telescopic mechanism and a strip-shaped air bag; the telescopic mechanism is detachably connected with the strip-shaped air bag and is used for controlling the strip-shaped air bag to be folded or unfolded, when the strip-shaped air bag is folded, the strip-shaped air bag is compressed to be in a straight shape in the length direction, and when the strip-shaped air bag is unfolded, the strip-shaped air bag is stretched to be in a C shape in the length direction.
The utility model further adopts the technical scheme that: the telescopic mechanism comprises a base, a movable plate, an inner arc rack, a motor, a gear, a shaft seat A, a shaft seat B and an arc-shaped scissor bracket; the upper end of the base is provided with a chute with an arc track; the lower end of the movable plate is provided with a roller matched with the chute, and the movable plate is slidably arranged at the upper end of the chute through the roller and can move along the chute in an arc track; the inner arc rack is fixedly arranged on the base, one side of the inner arc rack is an inner arc edge, the other side of the inner arc rack is an outer arc edge, and the inner arc edge of the inner arc rack faces the main engine room; the motor is fixedly arranged on the movable plate; the gear is fixedly arranged on the shaft of the motor and meshed with the inner arc rack, and when the gear rolls along the inner arc rack in a meshed manner, the movable plate is driven to move along the chute in an arc track; the shaft seat A is fixedly arranged on the base, and the shaft seat B is fixedly arranged on the movable plate; the arc-shaped scissor bracket comprises a plurality of diamond units which are sequentially connected, a hinge shaft is arranged between every two adjacent diamond units, an electromagnet is fixedly arranged on each hinge shaft, two adjacent hinge shafts in the middle of the arc-shaped scissor bracket are respectively hinged with the shaft seat A and the shaft seat B, the arc-shaped scissor bracket deforms along with the movement of the shaft seat A and then is folded or unfolded, when the arc-shaped scissor bracket is in a folded state, the arc-shaped scissor bracket is compressed to be in a straight shape in the length direction, and when the arc-shaped scissor bracket is in an unfolded state, the arc-shaped scissor bracket is stretched to be in a C shape in the length direction; correspondingly, a plurality of ferromagnetic material blocks are fixedly arranged on the outer wall of the strip-shaped air bag at intervals along the length direction, the strip-shaped air bag is magnetically connected with the electromagnet through the ferromagnetic material blocks, and the ferromagnetic material blocks are in one-to-one correspondence with the electromagnet.
The utility model further adopts the technical scheme that: the outer wall of the strip-shaped air bag is fixedly connected with a high-pressure air bottle, the high-pressure air bottle is used for inflating the inside of the strip-shaped air bag, a pull rope is connected to the bottle mouth of the high-pressure air bottle, and the tail end of the pull rope is connected with a ferromagnetic material block on the strip-shaped air bag; when the strip-shaped air bag is in a folded state, the stay cord is loosened, the high-pressure air bottle is not deflated, and when the strip-shaped air bag is in an unfolded state, the stay cord is tightened, and the high-pressure air bottle triggers deflation.
The utility model further adopts the technical scheme that: the opening angle of the arc-shaped scissor bracket is 30-60 degrees when the arc-shaped scissor bracket is stretched into a C shape, and the opening angle of the strip-shaped air bag is 0-20 degrees when the strip-shaped air bag is stretched into the C shape.
Compared with the prior art, the utility model has the following advantages:
1. the safety is higher: when the air bag control assembly is carried on the underwater rescue robot and used for rescuing a person falling into water, only the strip-shaped air bag is contacted with the body of the person falling into water, and after the strip-shaped air bag is unfolded and inflated, the strip-shaped air bag is stretched into a C shape along the length direction and holds the waist of the person falling into water; on the one hand, the strip-shaped air bags are in flexible contact with a human body, so that bodies cannot be bruised or scratched when people falling into water struggle in water, and on the other hand, the strip-shaped air bags can be adaptively deformed according to waistline of the people falling into water (for people falling into water with smaller waistline, the angle of a C-shaped opening formed after the strip-shaped air bags are inflated and unfolded is relatively smaller, and for people falling into water with larger waistline, the angle of the C-shaped opening formed after the strip-shaped air bags are inflated and unfolded is relatively larger), so that the phenomenon of clamping skin and meat of the waist of the people falling into water cannot occur.
2. The method has higher reliability:
2.1, when the air bag control assembly is carried on the underwater rescue robot and used for rescuing a person falling into water, after the strip-shaped air bag surrounds the waist of the person falling into water, only one part of the strip-shaped air bag is separated from the robot, the strip-shaped air bag floats up with the person falling into water through buoyancy after being separated from the robot, and the condition that the person falling into water struggles to damage a rigid connecting piece does not exist, so that the floating speed and reliability are greatly improved compared with the existing underwater rescue robot;
2.2, in order to meet the design requirement that the bar-shaped air bag is completely separated from the robot after being inflated, a gas cylinder pull rope type air bag structure is selected, the bar-shaped air bag is driven to be folded to be unfolded through deformation of the arc-shaped scissor bracket, and the pull rope is tightened after the bar-shaped air bag is unfolded, so that the gas cylinder is triggered to be deflated; that is, there is a linkage mechanism between the deployment and inflation of the airbag in the form of a strip, and there is no case where the airbag is not deployed during inflation or is not inflated after deployment.
3. The application range is relatively wider: when the airbag control assembly is carried on the underwater rescue robot and used for rescuing a person falling into water, the uninflated and folded bar-shaped airbag is contacted with the waist of the person falling into water, and the outline of the waist of the person falling into water can be deformed in the inflation and deployment processes of the bar-shaped airbag until the waist of the person falling into water is embraced, so that the operation space required by the whole rescue process is relatively small, and the rescue task can be carried out in a narrow water area more conveniently.
The underwater rescue robot provided by the utility model has the following advantages:
1. the flexibility is higher: the main cabin provides propulsion in the vertical direction through four propellers A, so that the robot ascends, descends and inclines vertically, and provides propulsion in the horizontal direction through four propellers B, so that the robot forwards, backwards and turns horizontally.
2. The method has higher reliability: the strip-shaped air bag can generate buoyancy immediately after being inflated, so that an upward bending moment is applied to the telescopic mechanism, the telescopic mechanism can generate a trend of deflecting upwards relative to the main engine room, at the moment, the buffer mechanism arranged between the telescopic mechanism and the main engine room can generate adaptive bending (the spring bending and the central rod ball head rotate in the base ball socket), the bending moment is counteracted, and the reliability of the connection between the telescopic mechanism and the main engine room is ensured
The utility model is further described below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic view of the structure of the present utility model at one view angle;
FIG. 2 is a schematic view of the structure of the present utility model at another view angle;
FIG. 3 is a schematic view of a structure of a strip-shaped air bag;
FIG. 4 is a state diagram of the telescoping mechanism when the arc-shaped scissor bracket is deployed;
FIG. 5 is a state diagram of the telescoping mechanism when the arc-shaped scissor bracket is folded;
FIG. 6 is a schematic view of the structure of an underwater rescue robot;
FIG. 7 is a bottom view of the main nacelle;
FIG. 8 is a top view of the main nacelle;
fig. 9 is a schematic structural view of the buffer mechanism.
Legend description: a main nacelle 1; propeller a11; propeller B12; an ear plate 13; an end plate a21; boss a211; a base 22; a central rod 23; end plate B24; boss B241; a spring 25; a base 31; a chute 311; a movable plate 32; a roller 321; an inner arc rack 33; a motor 34; a gear 35; axle seat A36; axle seat B37; an arc-shaped scissors bracket 38; an electromagnet 39; a strip-shaped air bag 4; a block 41 of ferromagnetic material; a high pressure gas cylinder 42; and an exhaust port 44.
Detailed Description
Example 1:
as shown in fig. 1-5, the airbag control assembly of the underwater rescue robot comprises a telescopic mechanism and a strip airbag 4. The telescopic mechanism is detachably connected with the strip-shaped air bag 4 and is used for controlling the strip-shaped air bag 4 to be folded or unfolded, when the strip-shaped air bag 4 is folded, the strip-shaped air bag 4 is compressed to be in a straight shape in the length direction, and when the strip-shaped air bag 4 is unfolded, the strip-shaped air bag 4 is stretched to be in a C shape in the length direction.
The telescopic mechanism comprises a base 31, a movable plate 32, an inner arc rack 33, a motor 34, a gear 35, an axle seat A36, an axle seat B37 and an arc-shaped scissor bracket 38. The upper end of the base 31 is provided with a chute 311 with an arc track. The lower end of the movable plate 32 is provided with a roller 321 matched with the chute 311, and the movable plate 32 is slidably arranged at the upper end of the chute 311 through the roller 321 and can move along the chute 311 in an arc track. The inner arc rack 33 is fixedly mounted on the base 31, one side of the inner arc rack 33 is an inner arc edge, the other side is an outer arc edge, and the inner arc edge of the inner arc rack 33 faces the main engine room 1. The motor 34 is fixedly mounted on the movable plate 32. The gear 35 is fixedly arranged on the shaft of the motor 34 and meshed with the inner arc rack 33, and when the gear 35 is driven by the motor 34 to roll along the inner arc rack 33 in a meshed manner, the movable plate 32 is driven to move along the chute 311 in an arc track. Axle seat A36 is fixedly mounted on base 31, and axle seat B37 is fixedly mounted on movable plate 32. The arc-shaped scissor bracket 38 comprises a plurality of diamond units which are sequentially connected, a hinge shaft is arranged between every two adjacent diamond units, an electromagnet 39 is fixedly arranged on each hinge shaft, two adjacent hinge shafts in the middle of the arc-shaped scissor bracket 38 are hinged with the shaft seat A36 and the shaft seat B37 respectively, the arc-shaped scissor bracket 38 deforms along with the movement of the shaft seat B37 and then folds or expands, when the arc-shaped scissor bracket 38 is in a folded state, the arc-shaped scissor bracket 38 is compressed to be in a straight shape in the length direction, and when the arc-shaped scissor bracket 38 is in an expanded state, the arc-shaped scissor bracket 38 is stretched to be in a C shape in the length direction.
A plurality of ferromagnetic material blocks 41 are fixedly arranged on the outer wall of the strip-shaped air bag 4 at intervals along the length direction, the strip-shaped air bag 4 is connected with the electromagnet 39 through the ferromagnetic material blocks 41 in a magnetic force mode, and the ferromagnetic material blocks 41 are in one-to-one correspondence with the electromagnet 39. The strip-shaped air bag 4 is folded or unfolded along with the deformation of the arc-shaped scissor bracket 38, is compressed in a linear shape in the length direction when the strip-shaped air bag 4 is in a folded state, and is stretched in a C-shape in the length direction when the strip-shaped air bag 4 is in an unfolded state.
The outer wall of the strip-shaped air bag 4 is fixedly connected with a high-pressure air bottle 42, the high-pressure air bottle 42 is used for inflating the inside of the strip-shaped air bag 4, a pull rope (not shown in the figure) is connected to the bottle mouth of the high-pressure air bottle 42, and the tail end of the pull rope is connected with a ferromagnetic material block 41 on the strip-shaped air bag 4. When the strip-shaped air bag 4 is in a folded state, the stay cord is loosened, the high-pressure air bottle 42 is not deflated, and when the strip-shaped air bag 4 is in an unfolded state, the stay cord is tightened, and the high-pressure air bottle 42 triggers deflation.
Preferably, the outer wall of the strip-shaped air bag 4 is provided with an air outlet 44, and a plug is connected to the air outlet 44 in a threaded manner.
Preferably, the opening angle of the arc-shaped scissor bracket 38 when stretched into a C shape is 30-60 degrees, and the opening angle of the strip-shaped air bag 4 when stretched into a C shape is 0-20 degrees, based on the opening angle, the stretched strip-shaped air bag 4 can be approximately annular, and the waist of a person falling into water can be better clamped.
As shown in fig. 1 to 9, the above-mentioned airbag control assembly is applied to an underwater rescue robot, which includes a main cabin 1, a buffer mechanism, a telescopic mechanism and a bar-shaped airbag 4 which are sequentially connected. The structure and connection relationship between the telescopic mechanism and the strip-shaped air bag 4 are as described above, and will not be described here again.
The inside components and parts installation cavity that is equipped with of main engine room 1 is used for providing the airtight waterproof installation environment of all kinds of electrical components, has set firmly otic placode 13 on the outside opposite both sides wall of main engine room 1. The main nacelle 1 is provided externally with a propeller a11 for providing propulsion in the vertical direction and a propeller B12 for providing propulsion in the horizontal direction. The number of the propellers A11 is four, the four propellers A11 are symmetrically arranged on the two ear plates 13 in pairs, the number of the propellers B12 is four, the four propellers B12 are arranged at the bottom of the main engine room 1 in a rectangular shape, and the propelling forces provided by any two adjacent propellers B12 are mutually perpendicular.
The damping mechanism includes an end plate a21, a base 22, a center rod 23, an end plate B24, and a spring 25, which are connected in order from one end to the other. The outer surface of the end plate a21 is fixedly connected with the outer wall of the main nacelle 1, the outer surface of the end plate B24 is fixedly connected with the base 31 of the telescopic mechanism, the surfaces of the end plate a21 and the end plate B24, which are respectively opposite, are set as inner surfaces, and the surfaces of the end plate a21 and the end plate B24, which are respectively opposite, are set as outer surfaces. The base 22 is fixedly installed at the center of the inner surface of the end plate A21, a ball socket is arranged in the base, an opening is formed in the base, and the opening is communicated with the ball socket. One end of the central rod 23 is provided with a ball head which is matched with the ball socket in shape, one end of the central rod 23 is movably arranged in the ball socket of the base 22 through the ball head, and the other end of the central rod extends out of the opening of the base 22 and is fixedly connected to the center of the inner surface of the end plate B24. The plurality of springs 25 are uniformly distributed between the end plate A21 and the end plate B24 in a ring shape around the center rod 23, one end of each spring 25 is connected with the end plate A21, the other end of each spring 25 is connected with the end plate B24, the springs 25 force the center rod 23 and the base 22 to generate a mutual separation trend through elasticity, however, the ball head of the center rod 23 cannot leave the ball socket through the opening.
Preferably, the inner surface of the end plate A21 is provided with annular and uniformly distributed bosses A211, the inner surface of the end plate B24 is provided with annular and uniformly distributed bosses B241, the bosses A and B are oppositely arranged and correspond to each other one by one, and the bosses A and B with opposite positions are respectively inserted into two ends of one spring, so that the two ends of the spring 25 are respectively connected with the end plate A21 and the end plate B241.
Preferably, the device further comprises a gesture control mechanism, wherein the gesture control mechanism comprises a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer, a depth sensor and a singlechip. STM32-F405F/F407 can be selected as the model of the singlechip, the signal input end of the singlechip is respectively and electrically connected with the triaxial accelerometer, the triaxial gyroscope, the triaxial magnetometer and the depth sensor, and the signal output end of the singlechip is respectively and electrically connected with the propeller A11 and the propeller B12. The three-axis accelerometer, the three-axis gyroscope, the three-axis magnetometer and the singlechip are all installed in the component installation cavity of the main engine room 1, and the depth sensor is installed outside the main engine room 1. The working principle of the gesture control mechanism is as follows: after the robot enters water, the singlechip acquires original data of the triaxial accelerometer, the triaxial gyroscope and the triaxial magnetometer in real time, and quaternion calculation is performed on the original data to acquire a real-time fusion posture, wherein the fusion posture comprises triaxial speed (including X, Y, Z axes), triaxial angle and displacement information. The depth sensor is used for acquiring depth information and z-axis speed information, and updating the z-axis speed information into three-axis speed information through the singlechip. The singlechip combines the triaxial speed information to control the thrust distribution of the four propellers A11, so as to realize the ascending, descending and vertical inclination of the robot, control the thrust distribution of the four propellers B12 and realize the forward, backward and horizontal steering of the robot.
Preferably, the opening angle of the arc-shaped scissor bracket is 30-60 degrees when the arc-shaped scissor bracket is stretched into a C shape, and the opening angle of the strip-shaped air bag is 0-20 degrees when the strip-shaped air bag is stretched into the C shape, and based on the opening angle, the stretched strip-shaped air bag 4 is approximately annular, and the waist of a person falling into water can be better clamped.
Preferably, it also includes camera, lighting module and battery. The cameras are arranged on the upper end and/or the lower end and/or the side wall of the main cabin 1 and are used for acquiring the peripheral vision of the main cabin 1; the lighting modules are mounted on the upper and/or lower end and/or side walls of the main nacelle 1 for illuminating the peripheral area of the main nacelle 1.
Briefly described the working process of the underwater rescue robot:
the underwater rescue method is based on an underwater rescue robot, and before the rescue method is executed, the strip-shaped air bags are in folded and uninflated states, and the arc-shaped scissor support is in a folded state.
The rescue method comprises the following steps:
s01, searching and approaching people falling into water: the robot is placed in water, the camera and the lighting module assist in searching for people falling into water, after the people falling into water are searched, the remote control robot moves towards the direction close to the people falling into water, and after the people falling into water are close to the people falling into water, the gesture of the robot is adjusted to enable the strip-shaped air bags to be aligned and attached to the waist of the people falling into water.
S02, expanding and inflating the strip-shaped air bag: starting the motor 34, driving the gear 35 to roll along the inner arc rack 33 in a meshed manner, driving the movable plate 32 and the shaft seat B37 to move along the chute 311 of the base 31 in an arc track, and unfolding the arc-shaped scissor support 38 along with the movement of the shaft seat B37, so as to further drive the strip-shaped air bag 4 to unfold, so that the strip-shaped air bag 4 surrounds the waist of a person falling into water, and along with the unfolding of the strip-shaped air bag 4, the stay rope is changed from loose to tight, and immediately triggering the high-pressure air bottle 41 to inflate the strip-shaped air bag 4 after the stay rope is tightly pulled.
S03, separating the strip-shaped air bag and returning the robot:
a. in the process of deflating the high-pressure gas cylinder 41, the electromagnet 39 is powered off to separate the strip-shaped gas bag 4 from the arc-shaped scissor bracket 38, and the strip-shaped gas bag 4 immediately floats up with a person falling into water under the action of buoyancy;
b. after the strip-shaped air bag 4 is separated from the arc-shaped scissor bracket 38, the motor 34 is started, the driving gear 35 is meshed with the inner arc rack 33 to roll, the movable plate 32 and the shaft seat B37 are driven to move along the arc-shaped track along the chute 311 of the base 31, and the arc-shaped scissor bracket 38 is folded along with the movement of the shaft seat B37; then, under the assistance of the camera and the lighting module, the remote control robot moves to the water surface, so that the robot moves to the shore, and the robot is recovered by a staff on the shore.
Claims (5)
1. The airbag control assembly of the underwater rescue robot is characterized in that: comprises a telescopic mechanism and a strip-shaped air bag; the telescopic mechanism is detachably connected with the strip-shaped air bag and is used for controlling the strip-shaped air bag to be folded or unfolded, when the strip-shaped air bag is folded, the strip-shaped air bag is compressed to be in a straight shape in the length direction, and when the strip-shaped air bag is unfolded, the strip-shaped air bag is stretched to be in a C shape in the length direction.
2. The underwater rescue robot airbag control assembly of claim 1, wherein: the telescopic mechanism comprises a base, a movable plate, an inner arc rack, a motor, a gear, a shaft seat A, a shaft seat B and an arc-shaped scissor bracket; the upper end of the base is provided with a chute with an arc track; the lower end of the movable plate is provided with a roller matched with the chute, and the movable plate is slidably arranged at the upper end of the chute through the roller and can move along the chute in an arc track; the inner arc rack is fixedly arranged on the base, one side of the inner arc rack is an inner arc edge, the other side of the inner arc rack is an outer arc edge, and the inner arc edge of the inner arc rack faces the main engine room; the motor is fixedly arranged on the movable plate; the gear is fixedly arranged on the shaft of the motor and meshed with the inner arc rack, and when the gear rolls along the inner arc rack in a meshed manner, the movable plate is driven to move along the chute in an arc track; the shaft seat A is fixedly arranged on the base, and the shaft seat B is fixedly arranged on the movable plate; the arc-shaped scissor bracket comprises a plurality of diamond units which are sequentially connected, a hinge shaft is arranged between every two adjacent diamond units, an electromagnet is fixedly arranged on each hinge shaft, two adjacent hinge shafts in the middle of the arc-shaped scissor bracket are respectively hinged with the shaft seat A and the shaft seat B, the arc-shaped scissor bracket deforms along with the movement of the shaft seat A and then is folded or unfolded, when the arc-shaped scissor bracket is in a folded state, the arc-shaped scissor bracket is compressed to be in a straight shape in the length direction, and when the arc-shaped scissor bracket is in an unfolded state, the arc-shaped scissor bracket is stretched to be in a C shape in the length direction; correspondingly, a plurality of ferromagnetic material blocks are fixedly arranged on the outer wall of the strip-shaped air bag at intervals along the length direction, the strip-shaped air bag is magnetically connected with the electromagnet through the ferromagnetic material blocks, and the ferromagnetic material blocks are in one-to-one correspondence with the electromagnet.
3. The underwater rescue robot airbag control assembly of claim 2, wherein: the outer wall of the strip-shaped air bag is fixedly connected with a high-pressure air bottle, the high-pressure air bottle is used for inflating the inside of the strip-shaped air bag, a pull rope is connected to the bottle mouth of the high-pressure air bottle, and the tail end of the pull rope is connected with a ferromagnetic material block on the strip-shaped air bag; when the strip-shaped air bag is in a folded state, the stay cord is loosened, the high-pressure air bottle is not deflated, and when the strip-shaped air bag is in an unfolded state, the stay cord is tightened, and the high-pressure air bottle triggers deflation.
4. An underwater rescue robot air bag control assembly as claimed in claim 3, wherein: the opening angle of the arc-shaped scissor bracket is 30-60 degrees when the arc-shaped scissor bracket is stretched into a C shape.
5. The underwater rescue robot airbag control assembly of claim 4, wherein: the opening angle of the strip-shaped air bag when the strip-shaped air bag is stretched into a C shape is 0-20 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222809787.9U CN219361295U (en) | 2022-10-25 | 2022-10-25 | Airbag control assembly of underwater rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222809787.9U CN219361295U (en) | 2022-10-25 | 2022-10-25 | Airbag control assembly of underwater rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219361295U true CN219361295U (en) | 2023-07-18 |
Family
ID=87147534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222809787.9U Active CN219361295U (en) | 2022-10-25 | 2022-10-25 | Airbag control assembly of underwater rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219361295U (en) |
-
2022
- 2022-10-25 CN CN202222809787.9U patent/CN219361295U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107792318B (en) | Water rescue device | |
| CN109774856B (en) | Safe and efficient underwater vehicle laying and recycling method and device | |
| CN219361294U (en) | Underwater rescue robot with telescopic air bag | |
| CN104085515B (en) | salvage device and salvage method | |
| CN111152902A (en) | Lifting platform claw type AUV releasing and recovering device adopted by underwater glider | |
| US9511833B2 (en) | Multi-component robot for below ice search and rescue | |
| WO2022037042A1 (en) | Buoyancy constraint device suitable for water first-aid robot, first-aid robot, and working method | |
| CN113733070B (en) | Waterborne intelligent rescue robot and use method thereof | |
| WO2020187265A1 (en) | Collision protection device | |
| CN115783187A (en) | Underwater rescue robot with telescopic air bag and rescue method | |
| CN219361295U (en) | Airbag control assembly of underwater rescue robot | |
| CN219361301U (en) | Airbag form control mechanism of underwater rescue robot | |
| CN112158318A (en) | Hybrid bidirectional vertical profiler based on telescopic wings and bidirectional localization method thereof | |
| CN117508677B (en) | Emergency rescue unmanned aerial vehicle | |
| CN207594862U (en) | A kind of automobile water dropping self saving car door | |
| CN114132459A (en) | Controllable submersible self-propelled U-shaped power life buoy, control system and control method | |
| CN212099287U (en) | Unmanned aerial vehicle for rescue at sea | |
| CN116022309A (en) | Rescue mechanical claw for person falling into water | |
| CN111017157B (en) | Automatic inflatable floating platform capable of achieving air drop | |
| CN218907574U (en) | U-shaped rescue ship with inflatable air cushion | |
| CN214524339U (en) | Water surface lifesaving equipment | |
| CN113525628B (en) | Overwater rescue device and rescue method | |
| KR20150001199U (en) | Remote control lifeboat with gas inflatable tube | |
| CN209833954U (en) | Inflatable lifesaving floating carrier | |
| CN115817763B (en) | Intelligent salvage robot for refusing rescue or unconscious objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |