WO2022037043A1 - Long-distance throw device applicable to aquatic robot, robot, and operation method - Google Patents

Long-distance throw device applicable to aquatic robot, robot, and operation method Download PDF

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Publication number
WO2022037043A1
WO2022037043A1 PCT/CN2021/080664 CN2021080664W WO2022037043A1 WO 2022037043 A1 WO2022037043 A1 WO 2022037043A1 CN 2021080664 W CN2021080664 W CN 2021080664W WO 2022037043 A1 WO2022037043 A1 WO 2022037043A1
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WO
WIPO (PCT)
Prior art keywords
robot
water
rotating
fixedly installed
throwing
Prior art date
Application number
PCT/CN2021/080664
Other languages
French (fr)
Chinese (zh)
Inventor
王积相
鲍锦超
Original Assignee
南京灵雀智能制造有限公司
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Application filed by 南京灵雀智能制造有限公司 filed Critical 南京灵雀智能制造有限公司
Publication of WO2022037043A1 publication Critical patent/WO2022037043A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft

Definitions

  • the invention belongs to the field of robot equipment, in particular to a remote throwing device, a robot and a working method suitable for water robots.
  • the existing water rescue robot can quickly rescue drowning people, but if there are multiple scattered drowning people in the same water area calling for help at the same time, the robot can only follow the optimal route calculated by the system one by one. Carrying out rescue often results in the ineffective rescue of one or more drowning persons behind, resulting in the failure of rescue results.
  • a remote throwing device, robot and working method suitable for water robots are provided to solve the above problems existing in the prior art.
  • the utility model relates to a remote throwing device suitable for a water robot.
  • the device is arranged on the robot and is used for throwing compressed life-saving devices for a plurality of close drowning persons.
  • the life-saving throwing devices are in four groups, including a mounting seat fixedly installed in the drive cabin, a support device fixedly installed on the mounting seat and a compressed gas storage tank, which is connected to one end of the gas storage tank And the launching device fixed on the support device, and the projectile body arranged at the output end of the launching device;
  • the launching device comprises: a gas pipe connected to the air outlet of the gas storage tank, a trigger arranged on the gas pipe, a connecting rod arranged on the trigger, and a servo motor hinged on the other end of the connecting rod;
  • the output end of the launching device is a throwing tube integrally connected to the gas outlet end of the trachea, and the projectile body is a compressed lifebuoy embedded in the throwing tube and a traction rope fixedly connected to the bottom of the throwing tube and connected to the compressed lifebuoy;
  • One end of the compressed lifebuoy is provided with an inflatable trigger device, and the inflatable trigger device is inserted into the compressed lifebuoy.
  • the life-saving throwing device further comprises: a rotating base fixedly installed in the driving cabin, and an electromagnetic launching device fixedly disposed on the rotating base;
  • the electromagnetic launch device includes: a launch tube fixedly connected to the rotating base, a sliding assembly arranged in the launch tube, a traction component fixedly installed at one end of the launch tube, and a second drive motor that drives and connects the traction component;
  • One end of the launch tube away from the rotating base is provided with a launching port, and the launching tube and the rotating base are hinged at a certain angle, a hydraulic lifting rod is arranged on the rotating base, and the power output end of the hydraulic lifting rod is Connect the launch tube, and then control the included angle at which the launch tube rotates around the rotating base;
  • the sliding assembly is arranged at one end close to the launch port, and the slide assembly includes: a chute integrally provided on the inner wall side of the launch tube and extending to the launch port , Symmetrically install the spring components on both sides of the chute, the magnetic propulsion seat clamped in the chute, the electromagnetic coil arranged at one end of the magnetic propulsion seat, and the power supply control wire of the electric solenoid coil; and then the electromagnetic coil is energized to drive the magnetic propulsion The seat slides in the chute, and then the projectile on the magnetic propulsion seat is pushed out and ejected from the launch port;
  • the traction assembly includes: a transmission traction wire fixedly arranged on one side of the magnetic propulsion base, and a tensioning wheel assembly wound around the other end of the traction wire; the second driving motor is drivingly connected to the tensioning wheel assembly, thereby controlling the traction
  • the steel wire is wound or loosened on the runner, so that the ejected magnetic propulsion seat can be recovered and slid to the electromagnetic coil under the drive of the traction steel wire;
  • the bottom of the rotating seat is provided with a gear ring, and the gear ring is connected with a gear connected to the rotating motor for rotation transmission, so that the rotating seat drives the launch tube to change the angle.
  • the robot body includes: a drive cabin, balance wings symmetrically installed on both sides of the drive cabin, a power device arranged in the drive cabin, and a buoyancy detection and control device fixedly installed around the drive cabin; the outside of the drive cabin is provided with Waterproof case.
  • control system further includes: a user wristband, a locator and a controller are arranged in the user wristband, and an emergency button is arranged on the user wristband.
  • the power unit includes a first drive motor fixedly installed in the drive cabin, and a propulsion paddle symmetrically inserted at the bottom of the drive cabin and connected to the first drive motor in a driving manner, and the propulsion paddle and the first drive motor are drive-connected.
  • the transmission device includes : The waterproof cover fixedly installed at the bottom of the robot, the transmission shaft that is sleeved in the waterproof cover and symmetrically arranged on both sides of the output shaft of the first drive motor, the first tapered wheel fixedly installed at the output shaft end of the first drive motor, and the fixed installation
  • the waterproof cover and the two sets of transmission shafts are respectively inserted through
  • the rotating shafts are two sets of rotating shafts, and one end of the rotating shaft is respectively provided with a sixth conical wheel and a seventh conical wheel.
  • the fourth conical wheel at the other end of the transmission shaft is adapted to the fifth conical wheel, and then the power of the first drive motor drives the two sets of propellers at the bottom of the robot to rotate through the conical wheel on the transmission shaft.
  • the pressure cylinder rotates, the water in the water inlet booster cylinder is discharged at a high speed, and the water flow discharged from the water inlet booster cylinder exerts a reaction force on the robot to push the robot forward on the water; the water inlet of the water inlet booster cylinder is provided with a filter The net prevents the garbage or other debris floating on the water from entering the water inlet booster cylinder, which affects the normal operation of the rotating paddle.
  • the robot body controller is electrically coupled with the positioning system and the communication device, and a jacking device and a rotor mechanism fixedly installed on one side of the jacking device are symmetrically arranged on both sides of the top of the drive cabin; the There is a receiving groove under the rotor mechanism, the jacking device is installed in the receiving groove, the jacking device is a miniature hydraulic lifting rod, the rotor mechanism is multiple and matches the number of the receiving groove, the rotor The mechanism is fixedly installed at the output end of the miniature hydraulic lift rod, and the rotor mechanism includes: a drive motor, a rotating shaft connected to the output end of the drive motor, and a rotating blade connected to one end of the rotating shaft; the output end of the hydraulic lift rod is provided with A bearing device is plugged into the rotating shaft, and the micro-hydraulic lifting rod and the drive motor are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro-hydraulic lifting rod to lift up and eject
  • a battery pack corresponding to the drive motor is also provided in the drive compartment, and the drive motor is electrically connected to each assigned battery pack.
  • the buoyancy detection and control device includes: a buoyancy sensor arranged at the bottom of the robot and a floating airbag device fixedly installed on the robot;
  • the floating airbag device includes an inflation triggering device arranged above the balance wing, and the inflation is triggered when the top of the balance wing is submerged in water;
  • the floating airbag device includes: four clips fixedly installed at the bottom of the balance wing, The restraint straps that are fixedly connected to the hooks at both ends and are clamped on the buckle pieces, a plurality of trigger device installation ports are opened on the top of the balance wing, the airbag storage grooves are fixedly installed at the bottom of the trigger device, and the airbag storage grooves are clamped in the airbag storage grooves.
  • Airbag the restraint belt is made of elastic material and is arranged in an X-shaped structure, and the airbag is sleeved on the outside of the inflation triggering device.
  • the inflatable trigger device is inserted into the sleeve on the installation port of the compression lifebuoy and the trigger device of the balance wing, the solid salt silo fixedly installed in the sleeve, the compression spring arranged on the top of the solid salt silo, and the connection
  • a gas tank is compressed at the other end of the compression spring, and the connecting end of the compression spring and the solid salt silo is provided with a top plug adapted to the inner wall of the sleeve; the sleeve extends out of the outer side of the balance wing and the top is a constricted cone structure, and then When the solid salt silo meets water, it melts, so that the compression spring drives the top plug to advance toward the extension end of the sleeve, and the compression spring drives the compressed gas tank at the other end to open in the process of advancing, and the compressed gas instantly fills the airbag and compresses the lifebuoy.
  • the water area and direction of the water robot are set to multiple, and a special parking stand with a relay function is set up in a swimming pool or pool with a large area. For customers entering the swimming pool, a user bracelet is issued. When the customer finds that he is drowning Press the emergency button when you are in a situation or accidentally enter a deep water area;
  • the distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband, and controls the robot closest to the drowning person to go to the occurrence point;
  • the drive motor drives the rotating blade to rotate according to the command of the controller, and then drives a remote throwing device suitable for water robots to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing device to open according to the direction of the drowning person, and moves toward the drowning person. throw the life-saving airbag;
  • the control system drives the rotating motor to move the rotating base according to the relative position between the user's wristband and the robot body, moves the launch tube to the extension line positioned with the user's wristband, and sets the hydraulic lift rod to lift the launch tube according to the distance. Raise the height and adjust the range of the launch tube;
  • the buoyancy sensor detects the buoyancy of the robot and sends it to the control system, and the control system communicates with multiple robots through the network;
  • the water robot remote throwing device of the present invention is combined with the water robot to launch a compressed lifebuoy when there are multiple scattered drowning persons to be rescued, and the compressed lifebuoy is inflated when it encounters water, thereby providing life-saving equipment for the drowning people in the dispersed direction and reducing physical strength. Consume and assist robots to increase the chance.
  • FIG. 1 is a schematic structural diagram of the robot of the present invention.
  • FIG. 2 is a schematic structural diagram of the present invention applied to the buoyancy restraint device of an aquatic robot.
  • FIG. 3 is a schematic structural diagram of the life-saving throwing device of the present invention.
  • FIG. 4 is a schematic view of the structure of the projectile of the present invention.
  • FIG. 5 is a schematic structural diagram of the electromagnetic transmitting device of the present invention.
  • FIG. 6 is a top view of the electromagnetic transmitting device of the present invention.
  • FIG. 7 is a schematic view of the structure of the restraint belt of the present invention.
  • FIG. 8 is a schematic view of the structure of the floating airbag device of the present invention.
  • FIG. 9 is a schematic structural diagram of the power plant of the present invention.
  • FIG. 10 is a schematic structural diagram of the user bracelet of the present invention.
  • Figure 11 is a schematic structural diagram of the rotor mechanism of the present invention.
  • FIG. 12 is a schematic structural diagram of the inflatable trigger device of the present invention.
  • Reference numerals are: robot body 1 , drive cabin 10 , waterproof casing 100 , balance wing 11 , clip 110 , restraint strap 111 , trigger device installation port 112 , power device 12 , drive motor 120 , propeller 121 , rotating shaft 1210 , rotating paddle 1211, transmission device 122, waterproof cover 1220, transmission shaft 1221, first conical wheel 1222, second conical wheel 1223, third conical wheel 1224, fourth conical wheel 1225, fifth conical wheel 1226, sixth tapered wheel 1227, seventh tapered wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, jacking device 15, storage slot 16 , support device 17, launch device 170, trachea 1701, trigger 1702, connecting rod 1703, servo motor 1704, projectile 171, throwing tube 1710, compressed lifebuoy 1711, traction rope 1712, compressed air tank 18, user bracelet 2.
  • Emergency button 20 floating airbag device 3, airbag storage slot 30, airbag 31, inflation trigger device 4, sleeve 40, solid salt bin 41, compression spring 42, compressed air tank 43, top plug 44, rotating seat 5 , rotary motor 50, ring gear 51, gear 52, electromagnetic launch device 6, launch tube 60, launch port 600, second drive motor 61, hydraulic lift rod 62, chute 63, spring assembly 64, magnetic propulsion seat 65, Solenoid coil 66 , traction wire 67 , tensioning wheel assembly 68 .
  • the existing water rescue robot can quickly rescue the drowning person, but in the same water area, if there are multiple scattered drowning persons in multiple directions calling for help at the same time, the robot can only follow the best calculated by the system.
  • the rescue routes are carried out one by one, which often leads to the ineffective rescue of one or more drowning persons behind, which makes the rescue result fail. Therefore, inventing an emergency device with multiple parallel modes to prolong the optimal rescue time of the robot has a very positive significance for the rescue success rate.
  • life-saving equipment is added to multiple drowning persons to extend the rescue time limit, but the existing throwing device uses the release of compressed high-pressure gas to eject a compressed lifebuoy.
  • the accuracy of the shooting range is not high, and in the actual use process, the distance between each rescuer and the throwing device is different, so it is necessary to flexibly and quickly adjust the throwing distance of the throwing device and the throwing device according to the position of different rescuers. direction.
  • a remote throwing device suitable for water robots includes: a supporting device 17, a launching device 170, a trachea 1701, a trigger 1702, a connecting rod 1703, a servo motor 1704, a projectile 171, and a throwing device.
  • the device is set on a robot, and the robot includes: a robot body 1, a drive cabin 10, a waterproof casing 100, a balance wing 11, a clip 110, a restraint strap 111, a trigger device installation port 112, a power device 12, a drive motor 120, Propulsion paddle 121, rotating shaft 1210, rotating paddle 1211, transmission device 122, waterproof cover 1220, transmission shaft 1221, first tapered wheel 1222, second tapered wheel 1223, third tapered wheel 1224, fourth tapered wheel 1225 , fifth conical wheel 1226, sixth conical wheel 1227, seventh conical wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, jacking Device 15, storage slot 16, user bracelet 2, emergency button 20, floating airbag device 3, airbag storage slot 30, airbag 31, inflation trigger device 4, sleeve 40, solid salt bin 41, compression spring 42, compressed air Tank 43 , top plug 44 .
  • the device is arranged on the body of the robot, and can deliver compressed life-saving devices to multiple drowning persons at close range;
  • the remote throwing device is replaced by an electromagnetic launching device;
  • the device includes: a rotating base 5, a rotating motor 50, a ring gear 51, a gear 52, an electromagnetic launching device 6, a launching tube 60, a launching port 600,
  • the second drive motor 61 the hydraulic lift rod 62 , the chute 63 , the spring assembly 64 , the magnetic propulsion seat 65 , the electromagnetic coil 66 , the traction wire 67 , and the tensioning wheel assembly 68
  • the robot is suitable for outdoor swimming pools or water entertainment places to assist safety officers in water rescue.
  • the control system connects the robot body 1 with the controller and the user bracelet 2.
  • the user bracelet 2 is provided with a locator and a controller, and the user
  • the wristband 2 is provided with a first aid button 20;
  • the control system is provided with a user wristband 2 emergency button 20 signal receiving device, which will convert and locate the received signal.
  • the control system designates the robot in the nearest water area to start heading for drowning Click to rescue.
  • the user bracelet 2 is used to interact with the control system.
  • the swimmer uses the method of actively calling for help to send the drowning signal and positioning to the control system.
  • control system After the control system receives the signal, it controls the robot to go to the drowning point of the person to be rescued in time to prevent multiple drowning points.
  • the situation that the drowning safety officer cannot take into account occurs, and at the same time, it avoids the situation that the drowning person misses the rescue opportunity when the lifeguard leaves the post without permission or is negligent.
  • the rescue robot adopts the combination of the rotor mechanism 14 and the water power device 12 to realize amphibious movement, shortening the rescue time; using multiple robots to divide the working area according to the water area can be efficient and fast. It increases buoyancy for the drowning person, and at the same time assists lifeguards to reduce physical strength; the robot body 1 includes: a drive cabin 10, balance wings 11 symmetrically installed on both sides of the drive cabin 10, and a power device 12 arranged in the drive cabin 10 , a buoyancy detection and control device fixedly installed around the drive cabin 10 , and a life-saving throwing device fixedly installed at the top of the drive cabin 10 in multiple directions.
  • the robot body 1 controller electrically connects the positioning system and the communication device.
  • the controller When the control system controls the robot body 1 to start, the controller first turns on the rotor mechanism 14, and then drives the robot body 1 from the control to the drowning point, shortening the departure time, and the rotor mechanism 14 Disposed on both sides of the top of the drive cabin 10 , there are multiple rotor mechanisms 14 and a jacking device 15 is provided at the bottom, and a receiving slot 16 is arranged below the rotor mechanism 14 , and the jacking device 15 is installed in the storage.
  • the jacking device 15 is a miniature hydraulic lift rod
  • the rotor mechanisms 14 are multiple and are adapted to the number of the storage slots 16, and the rotor mechanism 14 is fixedly installed on the output end of the miniature hydraulic lift rod
  • the rotor mechanism 14 includes: a drive motor 140, a rotating shaft 141 connected to the output end of the drive motor 140, and a rotating blade 142 connected to one end of the rotating shaft 141; the output end of the hydraulic lift rod is provided with a bearing device and a rotating shaft 141 is plugged in, the micro hydraulic lifting rod and the driving motor 140 are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro hydraulic lifting rod to lift up and eject the rotating blade 142 in the receiving slot 16, and drive the motor 140 drives the rotating shaft 141 to rotate, and then drives the rotating blade 142 to rotate to drive the robot body 1 to fly to the drowning point. After reaching the drowning point, the robot controller controls the miniature hydraulic lift rod to descend to shrink the rotating blade 142 into the
  • the outside of the drive cabin 10 is provided with a waterproof casing 100, which causes water to enter the robot and damage the internal electronic components during the struggle of the drowning person.
  • the power unit 12 is fixedly installed in the drive cabin 10.
  • a propulsion paddle 121 inserted at the bottom of the drive cabin 10 and connected to the first drive motor 120 in a driving manner, and a transmission device 122 that drives the propeller paddle 121 and the output end of the first drive motor 120;
  • cylinder 1212, the propelling paddle 121 includes a rotating shaft 1210 sleeved in the water inlet booster cylinder 1212 and a rotating paddle 1211 fixedly connected to the rotating shaft 1210;
  • the transmission device 122 includes: a waterproof cover 1220 fixedly installed at the bottom of the robot , the transmission shaft 1221 sleeved in the waterproof cover 1220 and symmetrically arranged on both sides of the output shaft of the first drive motor 120, the first tapered wheel 1222 fixedly installed on the output shaft end of the first drive motor 120, and fixedly installed
  • the wheel drives the two groups of propellers 121 at the bottom of the robot to rotate.
  • the propellers 121 rotate in the water inlet booster cylinder 1212, the water in the water inlet booster barrel 1212 is discharged at a high speed to the outside, and the water flow in the water inlet booster barrel 1212 is opposite to the The robot performs a reaction force to push the robot forward on the water.
  • the drive cabin 10 is also provided with a battery pack corresponding to the drive motor 140, and the drive motor 140 is electrically connected to each assigned battery pack to provide power for the drive motor 140 to rotate; There is a filter screen at the water outlet to prevent the garbage or other debris floating on the water from entering the water inlet booster cylinder and affecting the normal operation of the rotating paddle.
  • the robot When the robot is rescuing multiple drowning people, it needs to detect its own buoyancy. When the buoyancy is insufficient, the controller sends a support signal to the control system again to deal with the rescue of multiple drowning people.
  • the robot body 1 There is also a device for increasing the buoyancy, to increase the number of rescuers and prevent the robot from being dragged into the water by the drowning person and cause the machine to enter the water.
  • the floating airbag device 3; the floating airbag device 3 includes an inflation trigger device 4 arranged above the balance wing 11, and the inflation is triggered when the top of the balance wing 11 is submerged by water.
  • the buoyancy restraint device is set on the robot body, and triggers the inflatable device when the robot's load exceeds its own bearing range and tilts and sinks, thereby increasing the buoyancy of the robot on the water surface, and finally increasing the robot's load capacity and reducing the burden of lifeguards and drowning people. physical exertion.
  • the floating airbag 31 device 3 includes: four clips 110 fixedly installed on the bottom of the balance wing 11 , restraint straps 111 fixedly connected to the hooks at both ends and clipped on the clips 110 , opened on the balance wing 11 There are a plurality of trigger device installation openings 112 on the top, the airbag 31 receiving groove 16 fixedly installed at the bottom of the trigger device, and the airbag 31 clipped in the airbag 31 receiving groove 16; the restraint belt 111 is made of elastic material and is X-shaped The structures are arranged crosswise, and the airbag 31 is sleeved outside the inflation triggering device.
  • the elastic restraint belt 111 can perform the overall air uniformity effect on the inflating airbag 31, and when the released gas impacts one side, the impact force is dispersed to the external restraint belt 111, so the impact force passes through the cross restraint belts 111 to the surrounding. transfer to achieve a uniform effect.
  • the inflatable trigger device is inserted into the sleeve on the trigger device installation port 112 of the balance wing 11, the solid salt silo fixedly installed in the sleeve, the compression spring arranged on the top of the solid salt silo, and the compressed gas connected to the other end of the compression spring Tank, the connection end of the compression spring and the solid salt warehouse is provided with a top plug that is adapted to the inner wall of the sleeve; the compression spring is fixedly connected to the seal of the compressed gas cylinder, and the seal is provided with a pull ring connected to the compression spring,
  • the sleeve extends out of the outer side of the balance wing 11 and the top is a constricted cone structure, and then melts in the solid salt silo when it encounters water, so that the compression spring drives the top plug to advance toward the extension end of the sleeve.
  • the compressed gas tank at the other end is driven to open the seal, and the compressed gas fills the airbag 31 instantly.
  • the compressed gas here is compressed carbon dioxide solid. After the seal is opened, it reacts with the melted brine to form carbon dioxide gas, which quickly fills the airbag 31.
  • the design of the top plug cone structure After the solid salt melts, the solid salt in the salt bin becomes smaller, so that the top plug moves upward. When the top plug moves upward, it squeezes the water stored in the salt bin and accelerates the leakage of the stored water.
  • the top plug is fitted with the salt silo to seal the airbag 31 .
  • a compressed lifebuoy 1711 is provided for remote throwing of multiple drowning people, which can greatly assist
  • the lifesaving throwing device is divided into four groups, including the mounting seat 13 fixedly installed in the drive cabin 10, the supporting device 17 and the compressed gas storage tank 18 fixedly installed on the mounting seat 13, which are connected to the The launcher 170 at one end of the gas tank and fixed on the support device 17, and the projectile 171 arranged at the output end of the launcher 170;
  • the launching device 170 includes: a gas pipe 1701 connected to the air outlet of the gas storage tank, a trigger 1702 arranged on the gas pipe 1701, a connecting rod 1703 arranged on the trigger 1702, and a servo motor 1704 hinged on the other end of the connecting rod 1703; Then the servo motor 1704 rotates to drive the connecting rod 1703 connected to the output of the servo motor 1704 to rotate, and the power passes through the connecting rod 1703 to drive the trigger 1702 at the other end of the connecting rod 1703 to rotate, thereby completing the release and closing of the compressed gas in the trachea 1701.
  • the output end of the launching device 170 is a throwing tube 1710 integrally connected to the gas outlet end of the trachea 1701 , and the projectile 171 is a compressed lifebuoy 1711 fitted in the throwing tube 1710 and fixedly connected to the bottom of the throwing tube 1710 and connected
  • the traction rope 1712 of the compressed lifebuoy 1711 is compressed; an inflatable trigger device 4 is provided at one end of the compressed lifebuoy 1711 .
  • the range of the projectile body 171 is controlled by the power of the servo motor 1704 to drive the trigger 1702 to rotate, and is also controlled by the traction rope 1712 connected to the bottom of the throwing tube 1710.
  • the compressed gas released by the lifebuoy 1711 is ejected from the throwing tube 1710, and at the same time, it is controlled by the traction rope. 1712 is connected with the robot body 1, and then drives the compressed lifebuoy 1711 to move together, preventing the loss of the compressed lifebuoy 1711 in the later stage and reducing the physical exertion of the drowning person and the lifeguard.
  • the compressed lifebuoy 1711 moves parabolically after being ejected.
  • the compressed lifebuoy 1711 is folded into a cylindrical shape and compressed in the throwing tube 1710.
  • the top of the cylinder is fixed with a traction rope 1712, and the bottom of the cylinder faces the water surface when falling into the water.
  • the inflation triggers The device 4 is inserted into the sleeve 40 on the compressed lifebuoy 1711, the solid salt bin 41 fixedly installed in the sleeve 40, the compression spring 42 arranged on the top of the solid salt bin 41, and the compressed gas tank 43 connected to the other end of the compression spring 42 , the connecting end of the compression spring 42 and the solid salt bin 41 is provided with a top plug 44 that is adapted to the inner wall of the sleeve 40; the sleeve 40 extends out of the compression lifebuoy 1711 and the outer side of the balance wing 11 and the top is a constricted cone structure , and then the solid salt silo 41 is melted by water, so that the compression spring 42 drives the top plug 44 to advance toward the extension end of the sleeve 40, and the compression spring 42 further drives the compressed gas tank 43 at the other end to open during the process of advancing, compressing the gas instantly.
  • Filling the compression buoy 1711 can increase the buoyancy of the compression buoy 1711 thrown
  • the remote throwing device is replaced by an electromagnetic launch device; furthermore, the scheme that the launch device occupies the load of the robot is improved.
  • the device includes: a rotating seat 5, a rotating Motor 50, ring gear 51, gear 52, electromagnetic launch device 6, launch tube 60, launch port 600, second drive motor 61, hydraulic lift rod 62, chute 63, spring assembly 64, magnetic propulsion seat 65, electromagnetic coil 66. Traction wire 67, tensioning wheel assembly 68.
  • the rotating seat is fixedly installed on the top of the drive cabin, and the electromagnetic transmitting device 6 is fixedly arranged on the rotating seat;
  • the electromagnetic launch device 6 includes: a launch tube 60 fixedly connected to the rotating base, a sliding assembly arranged in the launch tube 60, a traction component fixedly installed at one end of the launch tube 60, and a second drive motor that drives and connects the traction component 61;
  • One end of the launch tube 60 away from the rotating seat is provided with a launching port 600, and the launching tube 60 is hinged with the rotating base at a certain angle.
  • the rotating base is provided with a hydraulic lifting rod 62, and the hydraulic lifting rod
  • the power output end of 62 is connected to the launch tube 60, thereby controlling the included angle at which the launch tube 60 rotates around the rotating seat;
  • the sliding assembly is arranged at one end close to the launch port 600, and the sliding assembly includes: integrally arranged on the inner wall side of the launch tube 60 And extend to the chute 63 at the launch port 600, the spring assemblies 64 on both sides of the chute 63 are symmetrically installed, the magnetic propulsion seat 65 clamped in the chute 63, the electromagnetic coil 66 arranged at one end of the magnetic propulsion seat 65, and
  • the power supply control wire of the electromagnetic coil 66 is electrically connected; and after the electromagnetic coil 66 is energized, the magnetic propulsion seat 65 is driven to slide in the chute 63, and then the bullet body 171
  • the power supply control wire makes a parabolic motion from the launch port to the rescuer's position.
  • the current intensity of the electromagnetic coil 66 can be controlled according to the distance of the drowning person, and then the movement speed of the magnetic propulsion base 65 can be adjusted. , so that the launching device can accurately launch the precision according to the distance size, and improve the rescue efficiency.
  • the traction assembly includes: a driving traction wire 67 fixed on one side of the magnetic propulsion base 65, and a tensioning wheel assembly 68 wound around the other end of the traction wire 67; the second driving motor 61 is drivingly connected to the tensioning wheel Assembly 68, and then control the traction wire 67 to be wound or loosened on the runner, so that the ejected magnetic propulsion seat 65 can be recovered and slid to the electromagnetic coil 66 under the drive of the traction wire 67, and the next launch preparation is carried out.
  • a stopper is also provided at the mouth, and the spring assembly 64 is fixedly connected to the stopper to prevent the magnetic propulsion seat 65 from sliding out of the launch tube.
  • the bottom of the rotating seat is provided with a ring gear, and the ring gear is connected with the gear connected by the rotating motor for rotation, so that the rotating seat drives the launch tube 60 to change the angle, so that the launch port and the position of the drowning person maintain the same axis.
  • the working principle is as follows: the water area and direction of the water robot are set to multiple, and a special parking stand with relay function is set up in a swimming pool or pool with a larger area. Press the emergency button 20 when you are drowning or accidentally enter the deep water area; the distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband 2, and controls the nearest location to the drowning person.
  • the robot goes to the occurrence point; the driving motor 140 drives the rotating blade 142 to rotate according to the command of the controller, and then drives a remote throwing device suitable for water robots to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing according to the direction of the drowning person
  • the device is turned on, and the compressed lifebuoy 1711 is thrown to the drowning person; the control system drives the rotating motor to drive the rotating base to move according to the relative position of the user's wristband and the robot body, and moves the launch tube 60 to the extension line positioned with the user's wristband.
  • the buoyancy sensor detects the buoyancy of the robot.
  • the size is sent to the control system, and the control system communicates with multiple robots through the network; when rescuing multiple drowning or physically weak people, when the robot's force exceeds the buoyancy, the balance wing 11 tilts to the side with the excessive force, thereby making the balance
  • the inflatable trigger device on the wing 11 triggers the release of compressed gas when it encounters water, so that the airbag 31 at the bottom of the balance wing 11 is inflated, and the buoyancy of the robot increases.
  • the control system searches for the unemployed robot closest to the water area in the network according to the broadcast method to go to the rescue, reducing the load of the current robot.
  • the buoyancy restraint device of the present invention is arranged on the robot and the inflatable trigger device is not triggered, the device is in a compressed state, does not increase the resistance of the robot when flying on the water surface, thereby reduces the flight power consumption, increases the endurance capacity, and is light in weight and can be placed on small boats
  • the airbag 31 can be charged quickly on the water drone, and then the buoyancy can be increased to meet the operation of increasing the load capacity of the small robot applied to the water surface.
  • the solid salt silo is used as the trigger medium in the inflatable trigger device, and it is installed on the surface of the balance wing 11.
  • the solid salt dissolves in the water to trigger the release of the compressed gas, which has a smaller impact force than the traditional gunpowder release of the compressed gas, thereby preventing the first aid deviation caused by the impact force.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Emergency Lowering Means (AREA)

Abstract

A long-distance throw device applicable to an aquatic robot, a robot, and an operation method. The device is provided on a robot, and is capable of throwing compressed rescue devices to multiple nearby drowning persons. The device comprises a robot body (1) and four rescue throw devices disposed thereon. The rescue throw device comprises: an installation base (13) fixedly installed in a drive compartment; a support device (17) and a compressed air storage tank (18) fixed to the installation base (13); a launching device (170) connected to one end of the air storage tank (18) and fixed to the support device (17); and a launched object (171), namely a compressed lifebuoy (1711), disposed at an output end of the launching device (170). When combined with an aquatic robot, the long-distance throw device can launch compressed lifebuoys to multiple drowning persons at different locations, thereby providing rescue apparatuses to drowning persons in different directions, reducing physical exhaustion, and increasing the rescue success rate of a robot.

Description

适用于水上机器人远程抛投装置、机器人及工作方法Applicable to water robot remote throwing device, robot and working method 技术领域technical field
本发明属于机器人设备领域，尤其是一种适用于水上机器人远程抛投装置、机器人及工作方法。The invention belongs to the field of robot equipment, in particular to a remote throwing device, a robot and a working method suitable for water robots.
背景技术Background technique
现有的水上救人机器人，可以快速地救起溺水者，但是在同一水域中如果多个方向上均具有多个分散的溺水者同时求救时，机器人只能按照***计算的最佳路线依次逐一进行救助，往往造成后面一个多个溺水者的营救不力，使得出现营救结果的失败。The existing water rescue robot can quickly rescue drowning people, but if there are multiple scattered drowning people in the same water area calling for help at the same time, the robot can only follow the optimal route calculated by the system one by one. Carrying out rescue often results in the ineffective rescue of one or more drowning persons behind, resulting in the failure of rescue results.
通过在水上救人机器人上设置用于急救的抛投装置，对多个溺水者增加救生设备以延长救援时限，但是现有的抛投装置采用释放压缩的高压气体弹出压缩救生圈，该抛投装置的射程精度不高，且在实际使用过程中各个求救者之间与抛投装置的距离相间不一，所以需要根据不同的求救者的位置灵活快速的调整抛投装置的抛投距离以及抛投方向。By setting a throwing device for first aid on the water rescue robot, life-saving equipment is added to multiple drowning persons to extend the rescue time limit, but the existing throwing device uses the release of compressed high-pressure gas to eject a compressed lifebuoy. The accuracy of the shooting range is not high, and in the actual use process, the distance between each rescuer and the throwing device is different, so it is necessary to flexibly and quickly adjust the throwing distance of the throwing device and the throwing device according to the position of different rescuers. direction.
技术问题technical problem
提供一种适用于水上机器人远程抛投装置、机器人及工作方法，以解决现有技术存在的上述问题。A remote throwing device, robot and working method suitable for water robots are provided to solve the above problems existing in the prior art.
技术解决方案technical solutions
一种适用于水上机器人远程抛投装置，该装置设置在机器人上，用于多个近距离的溺水者投放压缩救生装置。The utility model relates to a remote throwing device suitable for a water robot. The device is arranged on the robot and is used for throwing compressed life-saving devices for a plurality of close drowning persons.
在进一步的实施例中，所述救生抛投装置为四组，包括固定安装在驱动舱中的安装座，固定安装在安装座上的支撑装置和压缩气体储气罐，连接在储气罐一端且固定在支撑装置上的发射装置，以及设置在发射装置输出端的弹体；In a further embodiment, the life-saving throwing devices are in four groups, including a mounting seat fixedly installed in the drive cabin, a support device fixedly installed on the mounting seat and a compressed gas storage tank, which is connected to one end of the gas storage tank And the launching device fixed on the support device, and the projectile body arranged at the output end of the launching device;
所述发射装置包括：连接在储气罐出气口的气管，设置在气管上的扳机，设置在扳机上的连接杆，以及铰接在连接杆另一端的伺服电机；The launching device comprises: a gas pipe connected to the air outlet of the gas storage tank, a trigger arranged on the gas pipe, a connecting rod arranged on the trigger, and a servo motor hinged on the other end of the connecting rod;
所述发射装置输出端为一体化连接在气管出气端的抛投管，所述弹体为嵌合在抛投管中的压缩救生圈和固定连接在抛投管底部且连接压缩救生圈的牵引绳；所述压缩救生圈的一端设有充气触发装置，所述充气触发装置穿插在压缩救生圈上。The output end of the launching device is a throwing tube integrally connected to the gas outlet end of the trachea, and the projectile body is a compressed lifebuoy embedded in the throwing tube and a traction rope fixedly connected to the bottom of the throwing tube and connected to the compressed lifebuoy; One end of the compressed lifebuoy is provided with an inflatable trigger device, and the inflatable trigger device is inserted into the compressed lifebuoy.
在进一步的实施例中，所述救生抛投装置还包括：固定安装在驱动舱中的转动座，以及固定设置在转动座上的电磁发射装置；In a further embodiment, the life-saving throwing device further comprises: a rotating base fixedly installed in the driving cabin, and an electromagnetic launching device fixedly disposed on the rotating base;
所述电磁发射装置包括：固定连接在转动座上的发射管，设置在发射管中的滑动组件，固定安装在发射管一端的牵引组件，以及传动连接牵引组件的第二驱动电机；The electromagnetic launch device includes: a launch tube fixedly connected to the rotating base, a sliding assembly arranged in the launch tube, a traction component fixedly installed at one end of the launch tube, and a second drive motor that drives and connects the traction component;
所述发射管的远离转动座的一端设有发射口且所述发射管与转动座呈一定夹角铰接，所述转动座上设有液压举升杆，所述液压举升杆的动力输出端连接发射管，进而控制发射管围绕转动座转动的夹角；所述滑动组件设置在靠近发射口的一端，所述滑动组件包括：一体设置在发射管内壁侧且延伸至发射口处的滑槽，对称安装滑槽两侧的弹簧组件，卡接在滑槽中的磁推进座，设置在磁推进座一端的电磁线圈，以及电联电磁线圈的供电控制导线；进而电磁线圈通电后驱动磁推进座在滑槽中滑行，进而推弹出磁推进座上的弹体从发射口中弹出；One end of the launch tube away from the rotating base is provided with a launching port, and the launching tube and the rotating base are hinged at a certain angle, a hydraulic lifting rod is arranged on the rotating base, and the power output end of the hydraulic lifting rod is Connect the launch tube, and then control the included angle at which the launch tube rotates around the rotating base; the sliding assembly is arranged at one end close to the launch port, and the slide assembly includes: a chute integrally provided on the inner wall side of the launch tube and extending to the launch port , Symmetrically install the spring components on both sides of the chute, the magnetic propulsion seat clamped in the chute, the electromagnetic coil arranged at one end of the magnetic propulsion seat, and the power supply control wire of the electric solenoid coil; and then the electromagnetic coil is energized to drive the magnetic propulsion The seat slides in the chute, and then the projectile on the magnetic propulsion seat is pushed out and ejected from the launch port;
所述牵引组件包括：固定设置在磁推进座一侧的传动牵引钢丝，以及缠绕在牵引钢丝另一端的张紧转轮组件；所述第二驱动电机传动连接张紧转轮组件，进而控制牵引钢丝在转轮上缠绕或松开，实现弹出的磁推进座的在牵引钢丝的带动下回收滑行至电磁线圈处；The traction assembly includes: a transmission traction wire fixedly arranged on one side of the magnetic propulsion base, and a tensioning wheel assembly wound around the other end of the traction wire; the second driving motor is drivingly connected to the tensioning wheel assembly, thereby controlling the traction The steel wire is wound or loosened on the runner, so that the ejected magnetic propulsion seat can be recovered and slid to the electromagnetic coil under the drive of the traction steel wire;
所述转动座的底部设有齿圈，所述齿圈与旋转电机传动连接的齿轮旋接传动，进而使转动座带动发射管实现角度的变化。The bottom of the rotating seat is provided with a gear ring, and the gear ring is connected with a gear connected to the rotating motor for rotation transmission, so that the rotating seat drives the launch tube to change the angle.
在进一步的实施例中，所述机器人本体和与机器人本体控制器连通的控制***；In a further embodiment, the robot body and a control system in communication with the robot body controller;
所述机器人本体包括：驱动舱，对称安装在驱动舱两侧的平衡翼，设置在驱动舱中的动力装置，以及固定安装在驱动舱四周的浮力检测控制装置；所述驱动舱的外部设有防水外壳。The robot body includes: a drive cabin, balance wings symmetrically installed on both sides of the drive cabin, a power device arranged in the drive cabin, and a buoyancy detection and control device fixedly installed around the drive cabin; the outside of the drive cabin is provided with Waterproof case.
在进一步的实施例中，所述控制***还包括：用户手环，用户手环中设有***和控制器，所述用户手环上设有急救按钮。In a further embodiment, the control system further includes: a user wristband, a locator and a controller are arranged in the user wristband, and an emergency button is arranged on the user wristband.
在进一步的实施例中，所述动力装置固定安装在驱动舱中的第一驱动电机，以及对称穿插在驱动舱底部且与第一驱动电机传动连接的推进桨，传动连接推进桨与第一驱动电机输出端的传动装置；所述推进桨的外部设有进水增压筒，所述推进桨包括套接在进水增压筒中的转轴和固定连接在转轴上的旋转桨；所述传动装置包括：固定安装在机器人底部的防水罩，套接在防水罩中且对称设置在第一驱动电机输出轴两侧的传动轴，固定安装在第一驱动电机输出轴端的第一锥形轮，固定安装在传动轴两端的第二锥形轮和第三锥形轮，以及固定连接在传动轴另一端的第四锥形轮和第五锥形轮；所述防水罩及两组传动轴分别穿插过进水增压筒中，所述转轴为两组所述转轴的一端分别设有第六锥形轮和第七锥形轮，所述转轴设有锥形轮的一端穿插过防水罩且与设置在传动轴另一端的第四锥形轮和第五锥形轮适配，进而第一驱动电机的动力经过传动轴上的锥形轮带动机器人底部的两组推进桨转动，推进桨在进水增压筒中转动时使进水增压筒中的水向外高速排出，排出进水增压筒的水流对机器人进行反作用力推动机器人在水上前进；所述进水增压筒的进水口处设有过滤网，防止水面上漂浮的垃圾或其它杂物进入进水增压筒中，影响旋转桨的正常运行。In a further embodiment, the power unit includes a first drive motor fixedly installed in the drive cabin, and a propulsion paddle symmetrically inserted at the bottom of the drive cabin and connected to the first drive motor in a driving manner, and the propulsion paddle and the first drive motor are drive-connected. A transmission device at the output end of the motor; the outside of the propeller is provided with a water inlet booster cylinder, and the propeller paddle includes a rotating shaft sleeved in the water inlet booster cylinder and a rotating paddle fixedly connected to the rotating shaft; the transmission device includes : The waterproof cover fixedly installed at the bottom of the robot, the transmission shaft that is sleeved in the waterproof cover and symmetrically arranged on both sides of the output shaft of the first drive motor, the first tapered wheel fixedly installed at the output shaft end of the first drive motor, and the fixed installation The second conical wheel and the third conical wheel at both ends of the transmission shaft, and the fourth conical wheel and the fifth conical wheel fixedly connected to the other end of the transmission shaft; the waterproof cover and the two sets of transmission shafts are respectively inserted through In the water inlet booster cylinder, the rotating shafts are two sets of rotating shafts, and one end of the rotating shaft is respectively provided with a sixth conical wheel and a seventh conical wheel. The fourth conical wheel at the other end of the transmission shaft is adapted to the fifth conical wheel, and then the power of the first drive motor drives the two sets of propellers at the bottom of the robot to rotate through the conical wheel on the transmission shaft. When the pressure cylinder rotates, the water in the water inlet booster cylinder is discharged at a high speed, and the water flow discharged from the water inlet booster cylinder exerts a reaction force on the robot to push the robot forward on the water; the water inlet of the water inlet booster cylinder is provided with a filter The net prevents the garbage or other debris floating on the water from entering the water inlet booster cylinder, which affects the normal operation of the rotating paddle.
在进一步的实施例中，所述机器人本体控制器电联定位***和通信装置，所述驱动舱的顶部两侧对称设有顶升装置和固定安装在顶升装置一侧的旋翼机构；所述旋翼机构的下方设有收纳槽，所述顶升装置安装在收纳槽中，所述顶升装置为微型液压升降杆，所述旋翼机构为多个且与收纳槽的数量适配，所述旋翼机构固定安装在微型液压升降杆的输出端，所述旋翼机构包括：驱动马达，传动连接在驱动马达输出端转动轴，以及连接在转动轴一端的旋转叶；所述液压升降杆的输出端设有轴承装置与转动轴插接，所述微型液压升降杆和驱动马达与控制器电联，进而在控制***的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽中的旋转叶，驱动马达带动进而转动轴转动，进而带动旋转叶转动带动机器人本体飞行至溺水点；In a further embodiment, the robot body controller is electrically coupled with the positioning system and the communication device, and a jacking device and a rotor mechanism fixedly installed on one side of the jacking device are symmetrically arranged on both sides of the top of the drive cabin; the There is a receiving groove under the rotor mechanism, the jacking device is installed in the receiving groove, the jacking device is a miniature hydraulic lifting rod, the rotor mechanism is multiple and matches the number of the receiving groove, the rotor The mechanism is fixedly installed at the output end of the miniature hydraulic lift rod, and the rotor mechanism includes: a drive motor, a rotating shaft connected to the output end of the drive motor, and a rotating blade connected to one end of the rotating shaft; the output end of the hydraulic lift rod is provided with A bearing device is plugged into the rotating shaft, and the micro-hydraulic lifting rod and the drive motor are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro-hydraulic lifting rod to lift up and eject the rotating blade in the storage slot, The driving motor drives and then rotates the rotating shaft, and then drives the rotating blade to rotate to drive the robot body to fly to the drowning point;
所述驱动舱中还设有与驱动马达对应的蓄电池组，所述驱动马达与每个分配的蓄电池组电联。A battery pack corresponding to the drive motor is also provided in the drive compartment, and the drive motor is electrically connected to each assigned battery pack.
在进一步的实施例中，所述浮力检测控制装置包括：设置在机器人底部的浮力传感器和固定安装在机器人的增浮气囊装置；In a further embodiment, the buoyancy detection and control device includes: a buoyancy sensor arranged at the bottom of the robot and a floating airbag device fixedly installed on the robot;
所述增浮气囊装置包括设置在平衡翼上方的充气触发装置，当平衡翼顶部被水淹没时进而触发充气；所述增浮气囊装置包括：固定安装在平衡翼底部的四个卡扣件，两端固定连接卡钩且卡接在卡扣件上的束缚带，开设在平衡翼顶部多个触发装置安装口，固定安装在触发装置底部的气囊收纳槽，以及卡接在气囊收纳槽中的气囊；所述束缚带采用弹性材料制成且呈X形结构交叉设置，所述气囊套接在充气触发装置外部。The floating airbag device includes an inflation triggering device arranged above the balance wing, and the inflation is triggered when the top of the balance wing is submerged in water; the floating airbag device includes: four clips fixedly installed at the bottom of the balance wing, The restraint straps that are fixedly connected to the hooks at both ends and are clamped on the buckle pieces, a plurality of trigger device installation ports are opened on the top of the balance wing, the airbag storage grooves are fixedly installed at the bottom of the trigger device, and the airbag storage grooves are clamped in the airbag storage grooves. Airbag; the restraint belt is made of elastic material and is arranged in an X-shaped structure, and the airbag is sleeved on the outside of the inflation triggering device.
在进一步的实施例中，所述充气触发装置穿插在压缩救生圈和平衡翼触发装置安装口上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述套筒延伸出平衡翼外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐开启，瞬间压缩气体充满气囊和压缩救生圈。 In a further embodiment, the inflatable trigger device is inserted into the sleeve on the installation port of the compression lifebuoy and the trigger device of the balance wing, the solid salt silo fixedly installed in the sleeve, the compression spring arranged on the top of the solid salt silo, and the connection A gas tank is compressed at the other end of the compression spring, and the connecting end of the compression spring and the solid salt silo is provided with a top plug adapted to the inner wall of the sleeve; the sleeve extends out of the outer side of the balance wing and the top is a constricted cone structure, and then When the solid salt silo meets water, it melts, so that the compression spring drives the top plug to advance toward the extension end of the sleeve, and the compression spring drives the compressed gas tank at the other end to open in the process of advancing, and the compressed gas instantly fills the airbag and compresses the lifebuoy. 
在进一步的实施例中，包括如下工作步骤：In a further embodiment, the following steps are included:
S1、水上机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮；S1. The water area and direction of the water robot are set to multiple, and a special parking stand with a relay function is set up in a swimming pool or pool with a large area. For customers entering the swimming pool, a user bracelet is issued. When the customer finds that he is drowning Press the emergency button when you are in a situation or accidentally enter a deep water area;
S2、求救信号发送至控制***，控制***根据用户手环中的***确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；S2. The distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband, and controls the robot closest to the drowning person to go to the occurrence point;
S3、驱动马达根据控制器的命令带动旋转叶转动，进而带动一种适用于水上机器人远程抛投装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投救生气囊；S3. The drive motor drives the rotating blade to rotate according to the command of the controller, and then drives a remote throwing device suitable for water robots to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing device to open according to the direction of the drowning person, and moves toward the drowning person. throw the life-saving airbag;
S4、控制***根据用户手环与机器人本体的相对位置，驱动旋转电机带动转动座移动，将发射管移动至与用户手环定位的延长线处，根据距离设置液压举升杆对发射管的举升高度，调整发射管的射程；S4. The control system drives the rotating motor to move the rotating base according to the relative position between the user's wristband and the robot body, moves the launch tube to the extension line positioned with the user's wristband, and sets the hydraulic lift rod to lift the launch tube according to the distance. Raise the height and adjust the range of the launch tube;
S5、待救人员为多个时，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制***，控制***通过网络与多个机器人通信； S5. When there are multiple people to be rescued, after all the life-saving throwing devices on a single robot are turned on, the buoyancy sensor detects the buoyancy of the robot and sends it to the control system, and the control system communicates with multiple robots through the network;
S6、营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼往受力过大的一方倾斜，进而使平衡翼上的充气触发装置遇水激发压缩气体释放，从而使平衡翼底部的气囊充气，机器人浮力增加，当两侧的平衡翼气囊都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制***按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。S6. When rescuing multiple drowning or physically weak people, when the force of the robot exceeds the buoyancy force, the balance wing tilts to the side with too much force, so that the inflatable trigger device on the balance wing is exposed to water to stimulate the release of compressed gas, so that the The airbag at the bottom of the balance wing is inflated, and the buoyancy of the robot increases. When the balance wing airbags on both sides are released, and the buoyancy of the robot detected by the buoyancy sensor is smaller than the force, the control system searches for the unemployed robot closest to this water area in the network according to the broadcast method. Go to the rescue and reduce the load of the current robot.
有益效果beneficial effect
本发明水上机器人远程抛投装置与水上机器人相结合在出现多个分散定位的溺水待营救人员时，发射压缩救生圈，压缩救生圈遇水充气，进而为分散方向上的溺水者提供救生设备，减少体力消耗和辅助机器人增加机率。The water robot remote throwing device of the present invention is combined with the water robot to launch a compressed lifebuoy when there are multiple scattered drowning persons to be rescued, and the compressed lifebuoy is inflated when it encounters water, thereby providing life-saving equipment for the drowning people in the dispersed direction and reducing physical strength. Consume and assist robots to increase the chance.
附图说明Description of drawings
图1是本发明机器人的结构示意图。FIG. 1 is a schematic structural diagram of the robot of the present invention.
图2是本发明适用于水上机器人浮力约束装置的结构示意图。FIG. 2 is a schematic structural diagram of the present invention applied to the buoyancy restraint device of an aquatic robot.
图3是本发明救生抛投装置的结构示意图。3 is a schematic structural diagram of the life-saving throwing device of the present invention.
图4是本发明弹体的结构示意图。FIG. 4 is a schematic view of the structure of the projectile of the present invention.
图5是本发明电磁发射装置的结构示意图。FIG. 5 is a schematic structural diagram of the electromagnetic transmitting device of the present invention.
图6是本发明电磁发射装置的俯视图。FIG. 6 is a top view of the electromagnetic transmitting device of the present invention.
图7是本发明束缚带的结构示意图。FIG. 7 is a schematic view of the structure of the restraint belt of the present invention.
图8是本发明增浮气囊装置的结构示意图。FIG. 8 is a schematic view of the structure of the floating airbag device of the present invention.
图9是本发明动力装置的结构示意图。FIG. 9 is a schematic structural diagram of the power plant of the present invention.
图10是本发明用户手环的结构示意图。FIG. 10 is a schematic structural diagram of the user bracelet of the present invention.
图11是本发明旋翼机构的结构示意图。Figure 11 is a schematic structural diagram of the rotor mechanism of the present invention.
图12是本发明充气触发装置的结构示意图。12 is a schematic structural diagram of the inflatable trigger device of the present invention.
附图标记为：机器人本体1、驱动舱10、防水外壳100、平衡翼11、卡扣件110、束缚带111、触发装置安装口112、动力装置12、驱动电机120、推进桨121、转轴1210、旋转桨1211、传动装置122、防水罩1220、传动轴1221、第一锥形轮1222、第二锥形轮1223、第三锥形轮1224、第四锥形轮1225、第五锥形轮1226、第六锥形轮1227、第七锥形轮1228、驱动电机输出轴1229、安装座13、旋翼机构14、驱动马达140、转动轴141、旋转叶142、顶升装置15、收纳槽16、支撑装置17、发射装置170、气管1701、扳机1702、连接杆1703、伺服电机1704、弹体171、抛投管1710、压缩救生圈1711、牵引绳1712、压缩空气储气罐18、用户手环2、急救按钮20、增浮气囊装置3、气囊收纳槽30、气囊31、充气触发装置4、套筒40、固体盐仓41、压缩弹簧42、压缩空气罐43、顶塞44、转动座5、旋转电机50、齿圈51、齿轮52、电磁发射装置6、发射管60、发射口600、第二驱动电机61、液压举升杆62、滑槽63、弹簧组件64、磁推进座65、电磁线圈66、牵引钢丝67、张紧转轮组件68。Reference numerals are: robot body 1 , drive cabin 10 , waterproof casing 100 , balance wing 11 , clip 110 , restraint strap 111 , trigger device installation port 112 , power device 12 , drive motor 120 , propeller 121 , rotating shaft 1210 , rotating paddle 1211, transmission device 122, waterproof cover 1220, transmission shaft 1221, first conical wheel 1222, second conical wheel 1223, third conical wheel 1224, fourth conical wheel 1225, fifth conical wheel 1226, sixth tapered wheel 1227, seventh tapered wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, jacking device 15, storage slot 16 , support device 17, launch device 170, trachea 1701, trigger 1702, connecting rod 1703, servo motor 1704, projectile 171, throwing tube 1710, compressed lifebuoy 1711, traction rope 1712, compressed air tank 18, user bracelet 2. Emergency button 20, floating airbag device 3, airbag storage slot 30, airbag 31, inflation trigger device 4, sleeve 40, solid salt bin 41, compression spring 42, compressed air tank 43, top plug 44, rotating seat 5 , rotary motor 50, ring gear 51, gear 52, electromagnetic launch device 6, launch tube 60, launch port 600, second drive motor 61, hydraulic lift rod 62, chute 63, spring assembly 64, magnetic propulsion seat 65, Solenoid coil 66 , traction wire 67 , tensioning wheel assembly 68 .
本发明的实施方式Embodiments of the present invention
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid obscuring the present invention.
申请人发现现有的水上救人机器人，可以快速地救起溺水者，但是在同一水域中如果多个方向上均具有多个分散的溺水者同时求救时，机器人只能按照***计算的最佳路线依次逐一进行救助，往往造成后面一个多个溺水者的营救不力，使得出现营救结果的失败。因此发明一种具有多并行方式的应急装置，以延长机器人的最佳救援时间，对救援成功率具有十分积极的意义。通过在水上救人机器人上设置用于急救的抛投装置，对多个溺水者增加救生设备以延长救援时限，但是现有的抛投装置采用释放压缩的高压气体弹出压缩救生圈，该抛投装置的射程精度不高，且在实际使用过程中各个求救者之间与抛投装置的距离相间不一，所以需要根据不同的求救者的位置灵活快速的调整抛投装置的抛投距离以及抛投方向。The applicant found that the existing water rescue robot can quickly rescue the drowning person, but in the same water area, if there are multiple scattered drowning persons in multiple directions calling for help at the same time, the robot can only follow the best calculated by the system. The rescue routes are carried out one by one, which often leads to the ineffective rescue of one or more drowning persons behind, which makes the rescue result fail. Therefore, inventing an emergency device with multiple parallel modes to prolong the optimal rescue time of the robot has a very positive significance for the rescue success rate. By setting a throwing device for first aid on the water rescue robot, life-saving equipment is added to multiple drowning persons to extend the rescue time limit, but the existing throwing device uses the release of compressed high-pressure gas to eject a compressed lifebuoy. The accuracy of the shooting range is not high, and in the actual use process, the distance between each rescuer and the throwing device is different, so it is necessary to flexibly and quickly adjust the throwing distance of the throwing device and the throwing device according to the position of different rescuers. direction.
如图1至图12所示的一种适用于水上机器人远程抛投装置，包括：支撑装置17、发射装置170、气管1701、扳机1702、连接杆1703、伺服电机1704、弹体171、抛投管1710、压缩救生圈1711、牵引绳1712、压缩空气储气罐18。该装置设置在机器人上，该机器人包括：机器人本体1、驱动舱10、防水外壳100、平衡翼11、卡扣件110、束缚带111、触发装置安装口112、动力装置12、驱动电机120、推进桨121、转轴1210、旋转桨1211、传动装置122、防水罩1220、传动轴1221、第一锥形轮1222、第二锥形轮1223、第三锥形轮1224、第四锥形轮1225、第五锥形轮1226、第六锥形轮1227、第七锥形轮1228、驱动电机输出轴1229、安装座13、旋翼机构14、驱动马达140、转动轴141、旋转叶142、顶升装置15、收纳槽16、用户手环2、急救按钮20、增浮气囊装置3、气囊收纳槽30、气囊31、充气触发装置4、套筒40、固体盐仓41、压缩弹簧42、压缩空气罐43、顶塞44。As shown in Figures 1 to 12, a remote throwing device suitable for water robots includes: a supporting device 17, a launching device 170, a trachea 1701, a trigger 1702, a connecting rod 1703, a servo motor 1704, a projectile 171, and a throwing device. Tube 1710 , compressed lifebuoy 1711 , traction rope 1712 , compressed air storage tank 18 . The device is set on a robot, and the robot includes: a robot body 1, a drive cabin 10, a waterproof casing 100, a balance wing 11, a clip 110, a restraint strap 111, a trigger device installation port 112, a power device 12, a drive motor 120, Propulsion paddle 121, rotating shaft 1210, rotating paddle 1211, transmission device 122, waterproof cover 1220, transmission shaft 1221, first tapered wheel 1222, second tapered wheel 1223, third tapered wheel 1224, fourth tapered wheel 1225 , fifth conical wheel 1226, sixth conical wheel 1227, seventh conical wheel 1228, drive motor output shaft 1229, mounting seat 13, rotor mechanism 14, drive motor 140, rotating shaft 141, rotating blade 142, jacking Device 15, storage slot 16, user bracelet 2, emergency button 20, floating airbag device 3, airbag storage slot 30, airbag 31, inflation trigger device 4, sleeve 40, solid salt bin 41, compression spring 42, compressed air Tank 43 , top plug 44 .
该装置设置在机器人本体上，可对多个近距离的溺水者投放压缩救生装置；The device is arranged on the body of the robot, and can deliver compressed life-saving devices to multiple drowning persons at close range;
同时进一步的，实施例中，远程抛投装置采用电磁发射装置替代；该装置包括：转动座5、旋转电机50、齿圈51、齿轮52、电磁发射装置6、发射管60、发射口600、第二驱动电机61、液压举升杆62、滑槽63、弹簧组件64、磁推进座65、电磁线圈66、牵引钢丝67、张紧转轮组件68Further, in the embodiment, the remote throwing device is replaced by an electromagnetic launching device; the device includes: a rotating base 5, a rotating motor 50, a ring gear 51, a gear 52, an electromagnetic launching device 6, a launching tube 60, a launching port 600, The second drive motor 61 , the hydraulic lift rod 62 , the chute 63 , the spring assembly 64 , the magnetic propulsion seat 65 , the electromagnetic coil 66 , the traction wire 67 , and the tensioning wheel assembly 68
该机器人适用于户外游泳池或者水上娱乐场所，协助安全员进行水上救助，其中，控制***连通机器人本体1控制器和用户手环2，用户手环2中设有***和控制器，所述用户手环2上设有急救按钮20；控制***中设有用户手环2急救按钮20信号接收装置，将对接收的信号进行转化和定位，信号转换完成后控制***指定最近水域的机器人启动前往溺水点进行救援。在救援过程中采用用户手环2和控制***互动，游泳者采用主动呼救的方式将溺水信号和定位发送至控制***，控制***接收到信号后及时控制机器人前往待救助人溺水点防止出现多个溺水者安全员无法顾及的情况发生，同时避免救生员擅离岗位或疏忽时造成溺水者错过救援机会的情况发生。The robot is suitable for outdoor swimming pools or water entertainment places to assist safety officers in water rescue. The control system connects the robot body 1 with the controller and the user bracelet 2. The user bracelet 2 is provided with a locator and a controller, and the user The wristband 2 is provided with a first aid button 20; the control system is provided with a user wristband 2 emergency button 20 signal receiving device, which will convert and locate the received signal. After the signal conversion is completed, the control system designates the robot in the nearest water area to start heading for drowning Click to rescue. In the rescue process, the user bracelet 2 is used to interact with the control system. The swimmer uses the method of actively calling for help to send the drowning signal and positioning to the control system. After the control system receives the signal, it controls the robot to go to the drowning point of the person to be rescued in time to prevent multiple drowning points. The situation that the drowning safety officer cannot take into account occurs, and at the same time, it avoids the situation that the drowning person misses the rescue opportunity when the lifeguard leaves the post without permission or is negligent.
考虑到一个水域中出现多个溺水者的情况，救援机器人采用旋翼机构14与水上动力装置12结合的方式实现水空两栖移动，缩短救援时间；采用多个机器人根据水域划分工作区域，能够高效快捷的对溺水者增加浮力，同时辅助救生员减少体力消耗；所述机器人本体1包括：驱动舱10，对称安装在驱动舱10两侧的平衡翼11，以及设置在驱动舱10中的动力装置12，固定安装在驱动舱10四周的浮力检测控制装置，以及固定安装在驱动舱10顶部多个方向的救生抛投装置。所述机器人本体1控制器电联定位***和通信装置，控制***控制机器人本体1启动时，控制器首先开启旋翼机构14，进而带动机器人本体1从控制前往溺水点，缩短出发时间，旋翼机构14设置在驱动舱10的顶部的两侧，所述旋翼机构14为多个且底部设有顶升装置15，所述旋翼机构14的下方设有收纳槽16，所述顶升装置15安装在收纳槽16中，所述顶升装置15为微型液压升降杆，所述旋翼机构14为多个且与收纳槽16的数量适配，所述旋翼机构14固定安装在微型液压升降杆的输出端，所述旋翼机构14包括：驱动马达140，传动连接在驱动马达140输出端转动轴141，以及连接在转动轴141一端的旋转叶142；所述液压升降杆的输出端设有轴承装置与转动轴141插接，所述微型液压升降杆和驱动马达140与控制器电联，进而在控制***的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽16中的旋转叶142，驱动马达140带动进而转动轴141转动，进而带动旋转叶142转动带动机器人本体1飞行至溺水点。到达溺水点后，机器人控制器控制微型液压升降杆下降将旋转叶142收缩至收纳槽16中，进而防止旋转叶142转动时的作用力造成机器人水上移动的偏差，精确动力装置12的移动精度。Considering the situation of multiple drowning persons in a water area, the rescue robot adopts the combination of the rotor mechanism 14 and the water power device 12 to realize amphibious movement, shortening the rescue time; using multiple robots to divide the working area according to the water area can be efficient and fast. It increases buoyancy for the drowning person, and at the same time assists lifeguards to reduce physical strength; the robot body 1 includes: a drive cabin 10, balance wings 11 symmetrically installed on both sides of the drive cabin 10, and a power device 12 arranged in the drive cabin 10 , a buoyancy detection and control device fixedly installed around the drive cabin 10 , and a life-saving throwing device fixedly installed at the top of the drive cabin 10 in multiple directions. The robot body 1 controller electrically connects the positioning system and the communication device. When the control system controls the robot body 1 to start, the controller first turns on the rotor mechanism 14, and then drives the robot body 1 from the control to the drowning point, shortening the departure time, and the rotor mechanism 14 Disposed on both sides of the top of the drive cabin 10 , there are multiple rotor mechanisms 14 and a jacking device 15 is provided at the bottom, and a receiving slot 16 is arranged below the rotor mechanism 14 , and the jacking device 15 is installed in the storage. In the slot 16, the jacking device 15 is a miniature hydraulic lift rod, the rotor mechanisms 14 are multiple and are adapted to the number of the storage slots 16, and the rotor mechanism 14 is fixedly installed on the output end of the miniature hydraulic lift rod, The rotor mechanism 14 includes: a drive motor 140, a rotating shaft 141 connected to the output end of the drive motor 140, and a rotating blade 142 connected to one end of the rotating shaft 141; the output end of the hydraulic lift rod is provided with a bearing device and a rotating shaft 141 is plugged in, the micro hydraulic lifting rod and the driving motor 140 are electrically connected to the controller, and then under the command of the control system, the robot controller controls the micro hydraulic lifting rod to lift up and eject the rotating blade 142 in the receiving slot 16, and drive the motor 140 drives the rotating shaft 141 to rotate, and then drives the rotating blade 142 to rotate to drive the robot body 1 to fly to the drowning point. After reaching the drowning point, the robot controller controls the miniature hydraulic lift rod to descend to shrink the rotating blade 142 into the receiving slot 16, thereby preventing the deviation of the robot's water movement caused by the force when the rotating blade 142 rotates, and accurately moving the power device 12.
所述驱动舱10的外部设有防水外壳100，在溺水者挣扎过程中造成机器人内部进水损坏内部电子元件，所述动力装置12固定安装在驱动舱10中的第一驱动电机120，以及对称穿插在驱动舱10底部且与第一驱动电机120传动连接的推进桨121，传动连接推进桨121与第一驱动电机120输出端的传动装置122；所述推进桨121的外部设有进水增压筒1212，所述推进桨121包括套接在进水增压筒1212中的转轴1210和固定连接在转轴1210上的旋转桨1211；所述传动装置122包括：固定安装在机器人底部的防水罩1220，套接在防水罩1220中且对称设置在第一驱动电机120输出轴两侧的传动轴1221，固定安装在第一驱动电机120输出轴端的第一锥形轮1222，固定安装在传动轴1221两端的第二锥形轮1223和第三锥形轮1224，以及固定连接在传动轴1221另一端的第四锥形轮1225和第五锥形轮1226；所述防水罩1220及两组传动轴1221分别穿插过进水增压筒1212中，所述转轴1210为两组所述转轴1210的一端分别设有第六锥形轮1227和第七锥形轮1228，所述转轴1210设有锥形轮的一端穿插过防水罩1220且与设置在传动轴1221另一端的第四锥形轮1225和第五锥形轮1226适配，进而第一驱动电机120的动力经过传动轴1221上的锥形轮带动机器人底部的两组推进桨121转动，推进桨121在进水增压筒1212中转动时使进水增压筒1212中的水向外高速排出，排出进水增压筒1212的水流对机器人进行反作用力推动机器人在水上前进。所述驱动舱10中还设有与驱动马达140对应的蓄电池组，所述驱动马达140与每个分配的蓄电池组电联，提供驱动马达140转动的电力；所述进水增压筒的进水口处设有过滤网，防止水面上漂浮的垃圾或其它杂物进入进水增压筒中，影响旋转桨的正常运行。The outside of the drive cabin 10 is provided with a waterproof casing 100, which causes water to enter the robot and damage the internal electronic components during the struggle of the drowning person. The power unit 12 is fixedly installed in the drive cabin 10. A propulsion paddle 121 inserted at the bottom of the drive cabin 10 and connected to the first drive motor 120 in a driving manner, and a transmission device 122 that drives the propeller paddle 121 and the output end of the first drive motor 120; cylinder 1212, the propelling paddle 121 includes a rotating shaft 1210 sleeved in the water inlet booster cylinder 1212 and a rotating paddle 1211 fixedly connected to the rotating shaft 1210; the transmission device 122 includes: a waterproof cover 1220 fixedly installed at the bottom of the robot , the transmission shaft 1221 sleeved in the waterproof cover 1220 and symmetrically arranged on both sides of the output shaft of the first drive motor 120, the first tapered wheel 1222 fixedly installed on the output shaft end of the first drive motor 120, and fixedly installed on the transmission shaft 1221 The second conical wheel 1223 and the third conical wheel 1224 at both ends, and the fourth conical wheel 1225 and the fifth conical wheel 1226 fixedly connected to the other end of the transmission shaft 1221; the waterproof cover 1220 and the two sets of transmission shafts 1221 are respectively inserted into the water inlet booster cylinder 1212, the rotating shafts 1210 are two sets of the rotating shafts 1210, and one end of the rotating shafts 1210 is respectively provided with a sixth conical wheel 1227 and a seventh conical wheel 1228, and the rotating shaft 1210 is provided with a conical shape. One end of the wheel is inserted through the waterproof cover 1220 and is matched with the fourth conical wheel 1225 and the fifth conical wheel 1226 arranged on the other end of the transmission shaft 1221 , and the power of the first driving motor 120 passes through the cone on the transmission shaft 1221 . The wheel drives the two groups of propellers 121 at the bottom of the robot to rotate. When the propellers 121 rotate in the water inlet booster cylinder 1212, the water in the water inlet booster barrel 1212 is discharged at a high speed to the outside, and the water flow in the water inlet booster barrel 1212 is opposite to the The robot performs a reaction force to push the robot forward on the water. The drive cabin 10 is also provided with a battery pack corresponding to the drive motor 140, and the drive motor 140 is electrically connected to each assigned battery pack to provide power for the drive motor 140 to rotate; There is a filter screen at the water outlet to prevent the garbage or other debris floating on the water from entering the water inlet booster cylinder and affecting the normal operation of the rotating paddle.
当机器人在营救多个溺水者时，需要采用对自身的浮力进行检测，浮力不足时控制器向控制***再次发送支援信号，以应对多个溺水者的救援情况，除了浮力检测装置，机器人本体1上还设置有增加浮力的装置，增加营救人员的数量和防止机器人被溺水者拽入水中造成机器进水造成的失灵；所述浮力检测控制装置包括：浮力传感器和固定安装在平衡翼11底部的增浮气囊装置3；所述增浮气囊装置3包括设置在平衡翼11上方的充气触发装置4，当平衡翼11顶部被水淹没时进而触发充气。 When the robot is rescuing multiple drowning people, it needs to detect its own buoyancy. When the buoyancy is insufficient, the controller sends a support signal to the control system again to deal with the rescue of multiple drowning people. In addition to the buoyancy detection device, the robot body 1 There is also a device for increasing the buoyancy, to increase the number of rescuers and prevent the robot from being dragged into the water by the drowning person and cause the machine to enter the water. The floating airbag device 3; the floating airbag device 3 includes an inflation trigger device 4 arranged above the balance wing 11, and the inflation is triggered when the top of the balance wing 11 is submerged by water.
该浮力约束装置设置在机器人本体上，在机器人载重超过自身承受范围倾斜下沉时触发充气装置，进而为机器人增加在水面的浮力，最终实现加大机器人在载重额度，减轻救生员和溺水者的体力消耗。The buoyancy restraint device is set on the robot body, and triggers the inflatable device when the robot's load exceeds its own bearing range and tilts and sinks, thereby increasing the buoyancy of the robot on the water surface, and finally increasing the robot's load capacity and reducing the burden of lifeguards and drowning people. physical exertion.
所述增浮气囊31装置3包括：固定安装在平衡翼11底部的四个卡扣件110，两端固定连接卡钩且卡接在卡扣件110上的束缚带111，开设在平衡翼11顶部多个触发装置安装口112，固定安装在触发装置底部的气囊31收纳槽16，以及卡接在气囊31收纳槽16中的气囊31；所述束缚带111采用弹性材料制成且呈X形结构交叉设置，所述气囊31套接在充气触发装置外部。弹性束缚带111可对充气中的气囊31进行整体匀气作用，当释放的气体对一侧冲击时进而将冲击力分散至外部的束缚带111上，因此冲击力经过交叉的束缚带111向四周传递，到达匀力的效果。The floating airbag 31 device 3 includes: four clips 110 fixedly installed on the bottom of the balance wing 11 , restraint straps 111 fixedly connected to the hooks at both ends and clipped on the clips 110 , opened on the balance wing 11 There are a plurality of trigger device installation openings 112 on the top, the airbag 31 receiving groove 16 fixedly installed at the bottom of the trigger device, and the airbag 31 clipped in the airbag 31 receiving groove 16; the restraint belt 111 is made of elastic material and is X-shaped The structures are arranged crosswise, and the airbag 31 is sleeved outside the inflation triggering device. The elastic restraint belt 111 can perform the overall air uniformity effect on the inflating airbag 31, and when the released gas impacts one side, the impact force is dispersed to the external restraint belt 111, so the impact force passes through the cross restraint belts 111 to the surrounding. transfer to achieve a uniform effect.
所述充气触发装置穿插在平衡翼11触发装置安装口112上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述压缩弹簧固定连接在压缩气瓶的封口处，封口处设有与压缩弹簧连接的拉环，所述套筒延伸出平衡翼11外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐封口开启，瞬间压缩气体充满气囊31，此处的压缩气体采用压缩的二氧化碳固体，在封口开启后与融化后的盐水反应形成二氧化碳气体，急速充满气囊31。顶塞锥体结构的设计在固体盐融化后，盐仓中的固体盐变小，从而使顶塞向上运动，顶塞向上运动时，对盐仓中的存水挤压，加速存水下泄的速度，盐水在与干冰反应时可降低水的冰点，增加干冰的熔点，最终实现盐水加速干冰升化，进而对气囊31急速充气的过程。盐仓中的固体盐完全消失后顶塞与盐仓适配实现对气囊31的密封。The inflatable trigger device is inserted into the sleeve on the trigger device installation port 112 of the balance wing 11, the solid salt silo fixedly installed in the sleeve, the compression spring arranged on the top of the solid salt silo, and the compressed gas connected to the other end of the compression spring Tank, the connection end of the compression spring and the solid salt warehouse is provided with a top plug that is adapted to the inner wall of the sleeve; the compression spring is fixedly connected to the seal of the compressed gas cylinder, and the seal is provided with a pull ring connected to the compression spring, The sleeve extends out of the outer side of the balance wing 11 and the top is a constricted cone structure, and then melts in the solid salt silo when it encounters water, so that the compression spring drives the top plug to advance toward the extension end of the sleeve. The compressed gas tank at the other end is driven to open the seal, and the compressed gas fills the airbag 31 instantly. The compressed gas here is compressed carbon dioxide solid. After the seal is opened, it reacts with the melted brine to form carbon dioxide gas, which quickly fills the airbag 31. The design of the top plug cone structure After the solid salt melts, the solid salt in the salt bin becomes smaller, so that the top plug moves upward. When the top plug moves upward, it squeezes the water stored in the salt bin and accelerates the leakage of the stored water. When the brine reacts with the dry ice, the freezing point of the water can be lowered, and the melting point of the dry ice can be increased, finally realizing the process that the brine accelerates the elevating of the dry ice, and then rapidly inflates the airbag 31 . After the solid salt in the salt silo completely disappears, the top plug is fitted with the salt silo to seal the airbag 31 .
溺水人在被救援过程中抱紧抓紧救援人，使得救援人过多消耗体力的同时无法开展救援的进而加大自身危险性，所以为多个溺水者远程投掷提供压缩救生圈1711，能够极大辅助救生员的营救工作，所述救生抛投装置为四组，包括固定安装在驱动舱10中的安装座13，固定安装在安装座13上的支撑装置17和压缩气体储气罐18，连接在储气罐一端且固定在支撑装置17上的发射装置170，以及设置在发射装置170输出端的弹体171；The drowning person hugs the rescuer tightly during the rescue process, so that the rescuer consumes too much physical strength and cannot carry out the rescue and thus increases the risk of himself. Therefore, a compressed lifebuoy 1711 is provided for remote throwing of multiple drowning people, which can greatly assist For the rescue work of lifeguards, the lifesaving throwing device is divided into four groups, including the mounting seat 13 fixedly installed in the drive cabin 10, the supporting device 17 and the compressed gas storage tank 18 fixedly installed on the mounting seat 13, which are connected to the The launcher 170 at one end of the gas tank and fixed on the support device 17, and the projectile 171 arranged at the output end of the launcher 170;
所述发射装置170包括：连接在储气罐出气口的气管1701，设置在气管1701上的扳机1702，设置在扳机1702上的连接杆1703，以及铰接在连接杆1703另一端的伺服电机1704；进而伺服电机1704转动带动连接在伺服电机1704输出的连接杆1703转动，动力经过连接杆1703带动连接杆1703另一端的扳机1702转动，从而完成对气管1701中压缩气体的释放和关闭。The launching device 170 includes: a gas pipe 1701 connected to the air outlet of the gas storage tank, a trigger 1702 arranged on the gas pipe 1701, a connecting rod 1703 arranged on the trigger 1702, and a servo motor 1704 hinged on the other end of the connecting rod 1703; Then the servo motor 1704 rotates to drive the connecting rod 1703 connected to the output of the servo motor 1704 to rotate, and the power passes through the connecting rod 1703 to drive the trigger 1702 at the other end of the connecting rod 1703 to rotate, thereby completing the release and closing of the compressed gas in the trachea 1701.
所述发射装置170输出端为一体化连接在气管1701出气端的抛投管1710，所述弹体171为嵌合在抛投管1710中的压缩救生圈1711和固定连接在抛投管1710底部且连接压缩救生圈1711的牵引绳1712；所述压缩救生圈1711的一端设有充气触发装置4。弹体171射程通过伺服电机1704带动扳机1702转动的动力大小控制，还依靠连接在抛投管1710底部的牵引绳1712控制，压缩救生圈1711经过释放的压缩气体弹出抛投管1710，同时通过牵引绳1712与机器人本体1连接，进而带动压缩救生圈1711一起移动，防止后期压缩救生圈1711的丢失和减少溺水者和救生员的体力消耗。The output end of the launching device 170 is a throwing tube 1710 integrally connected to the gas outlet end of the trachea 1701 , and the projectile 171 is a compressed lifebuoy 1711 fitted in the throwing tube 1710 and fixedly connected to the bottom of the throwing tube 1710 and connected The traction rope 1712 of the compressed lifebuoy 1711 is compressed; an inflatable trigger device 4 is provided at one end of the compressed lifebuoy 1711 . The range of the projectile body 171 is controlled by the power of the servo motor 1704 to drive the trigger 1702 to rotate, and is also controlled by the traction rope 1712 connected to the bottom of the throwing tube 1710. The compressed gas released by the lifebuoy 1711 is ejected from the throwing tube 1710, and at the same time, it is controlled by the traction rope. 1712 is connected with the robot body 1, and then drives the compressed lifebuoy 1711 to move together, preventing the loss of the compressed lifebuoy 1711 in the later stage and reducing the physical exertion of the drowning person and the lifeguard.
压缩救生圈1711弹出后呈抛物线运动，所述压缩救生圈1711折叠呈圆筒状压缩在抛投管1710中，圆筒的顶部固定牵引绳1712，圆筒的底部在落水时面向水面，所述充气触发装置4穿插在压缩救生圈1711上的套筒40，固定安装在套筒40中的固体盐仓41，设置在固体盐仓41顶部的压缩弹簧42，以及连接在压缩弹簧42另一端压缩气体罐43，所述压缩弹簧42与固体盐仓41连接端设有与套筒40内壁适配的顶塞44；所述套筒40延伸出压缩救生圈1711和平衡翼11外侧且顶部为收缩的锥体结构，进而在固体盐仓41遇水融化，从而使压缩弹簧42带动顶塞44向套筒40延伸端前进，压缩弹簧42在前进的过程中进而带动另一端的压缩气体罐43开启，瞬间压缩气体充满压缩救生圈1711，能够为投掷在溺水者附近的压缩救生圈1711增加浮力。The compressed lifebuoy 1711 moves parabolically after being ejected. The compressed lifebuoy 1711 is folded into a cylindrical shape and compressed in the throwing tube 1710. The top of the cylinder is fixed with a traction rope 1712, and the bottom of the cylinder faces the water surface when falling into the water. The inflation triggers The device 4 is inserted into the sleeve 40 on the compressed lifebuoy 1711, the solid salt bin 41 fixedly installed in the sleeve 40, the compression spring 42 arranged on the top of the solid salt bin 41, and the compressed gas tank 43 connected to the other end of the compression spring 42 , the connecting end of the compression spring 42 and the solid salt bin 41 is provided with a top plug 44 that is adapted to the inner wall of the sleeve 40; the sleeve 40 extends out of the compression lifebuoy 1711 and the outer side of the balance wing 11 and the top is a constricted cone structure , and then the solid salt silo 41 is melted by water, so that the compression spring 42 drives the top plug 44 to advance toward the extension end of the sleeve 40, and the compression spring 42 further drives the compressed gas tank 43 at the other end to open during the process of advancing, compressing the gas instantly. Filling the compression buoy 1711 can increase the buoyancy of the compression buoy 1711 thrown near a drowning person.
同时进一步的，考虑到投掷的精度以及压缩储气瓶的站机器人的重量问题，远程抛投装置采用电磁发射装置替代；进而改善发射装置占用机器人载重的方案，该装置包括：转动座5、旋转电机50、齿圈51、齿轮52、电磁发射装置6、发射管60、发射口600、第二驱动电机61、液压举升杆62、滑槽63、弹簧组件64、磁推进座65、电磁线圈66、牵引钢丝67、张紧转轮组件68。At the same time further, considering the accuracy of throwing and the weight of the station robot that compresses the gas cylinder, the remote throwing device is replaced by an electromagnetic launch device; furthermore, the scheme that the launch device occupies the load of the robot is improved. The device includes: a rotating seat 5, a rotating Motor 50, ring gear 51, gear 52, electromagnetic launch device 6, launch tube 60, launch port 600, second drive motor 61, hydraulic lift rod 62, chute 63, spring assembly 64, magnetic propulsion seat 65, electromagnetic coil 66. Traction wire 67, tensioning wheel assembly 68.
转动座固定安装在驱动舱的顶部，电磁发射装置6固定设置在转动座上；The rotating seat is fixedly installed on the top of the drive cabin, and the electromagnetic transmitting device 6 is fixedly arranged on the rotating seat;
所述电磁发射装置6包括：固定连接在转动座上的发射管60，设置在发射管60中的滑动组件，固定安装在发射管60一端的牵引组件，以及传动连接牵引组件的第二驱动电机61；The electromagnetic launch device 6 includes: a launch tube 60 fixedly connected to the rotating base, a sliding assembly arranged in the launch tube 60, a traction component fixedly installed at one end of the launch tube 60, and a second drive motor that drives and connects the traction component 61;
所述发射管60的远离转动座的一端设有发射口600且所述发射管60与转动座呈一定夹角铰接，所述转动座上设有液压举升杆62，所述液压举升杆62的动力输出端连接发射管60，进而控制发射管60围绕转动座转动的夹角；所述滑动组件设置在靠近发射口600的一端，所述滑动组件包括：一体设置在发射管60内壁侧且延伸至发射口600处的滑槽63，对称安装滑槽63两侧的弹簧组件64，卡接在滑槽63中的磁推进座65，设置在磁推进座65一端的电磁线圈66，以及电联电磁线圈66的供电控制导线；进而电磁线圈66通电后驱动磁推进座65在滑槽63中滑行，进而推弹出磁推进座65上的弹体171从发射口600中弹出；弹出的弹体171为压缩为圆筒状结构的救生圈，从发射口处作抛物线运动至救助者位置供电控制导线可根据溺水者的距离控制电磁线圈66的电流强度，进而控制磁推进座65的运动速度调整，使得发射装置可根据距离尺寸精确发射的精度，提高营救效率。One end of the launch tube 60 away from the rotating seat is provided with a launching port 600, and the launching tube 60 is hinged with the rotating base at a certain angle. The rotating base is provided with a hydraulic lifting rod 62, and the hydraulic lifting rod The power output end of 62 is connected to the launch tube 60, thereby controlling the included angle at which the launch tube 60 rotates around the rotating seat; the sliding assembly is arranged at one end close to the launch port 600, and the sliding assembly includes: integrally arranged on the inner wall side of the launch tube 60 And extend to the chute 63 at the launch port 600, the spring assemblies 64 on both sides of the chute 63 are symmetrically installed, the magnetic propulsion seat 65 clamped in the chute 63, the electromagnetic coil 66 arranged at one end of the magnetic propulsion seat 65, and The power supply control wire of the electromagnetic coil 66 is electrically connected; and after the electromagnetic coil 66 is energized, the magnetic propulsion seat 65 is driven to slide in the chute 63, and then the bullet body 171 on the magnetic propulsion seat 65 is pushed and ejected from the launch port 600; The body 171 is a lifebuoy compressed into a cylindrical structure. The power supply control wire makes a parabolic motion from the launch port to the rescuer's position. The current intensity of the electromagnetic coil 66 can be controlled according to the distance of the drowning person, and then the movement speed of the magnetic propulsion base 65 can be adjusted. , so that the launching device can accurately launch the precision according to the distance size, and improve the rescue efficiency.
所述牵引组件包括：固定设置在磁推进座65一侧的传动牵引钢丝67，以及缠绕在牵引钢丝67另一端的张紧转轮组件68；所述第二驱动电机61传动连接张紧转轮组件68，进而控制牵引钢丝67在转轮上缠绕或松开，实现弹出的磁推进座65的在牵引钢丝67的带动下回收滑行至电磁线圈66处，进行下一次的发射准备，所述发射口处还设有挡止件，弹簧组件64固定连接在挡止件上，避免磁推进座65滑出发射管。The traction assembly includes: a driving traction wire 67 fixed on one side of the magnetic propulsion base 65, and a tensioning wheel assembly 68 wound around the other end of the traction wire 67; the second driving motor 61 is drivingly connected to the tensioning wheel Assembly 68, and then control the traction wire 67 to be wound or loosened on the runner, so that the ejected magnetic propulsion seat 65 can be recovered and slid to the electromagnetic coil 66 under the drive of the traction wire 67, and the next launch preparation is carried out. A stopper is also provided at the mouth, and the spring assembly 64 is fixedly connected to the stopper to prevent the magnetic propulsion seat 65 from sliding out of the launch tube.
所述转动座的底部设有齿圈，所述齿圈与旋转电机传动连接的齿轮旋接传动，进而使转动座带动发射管60实现角度的变化，使得发射口与溺水者位置保持同一轴线。The bottom of the rotating seat is provided with a ring gear, and the ring gear is connected with the gear connected by the rotating motor for rotation, so that the rotating seat drives the launch tube 60 to change the angle, so that the launch port and the position of the drowning person maintain the same axis.
工作原理如下：水上机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环2，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮20；求救信号发送至控制***，控制***根据用户手环2中的***确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；驱动马达140根据控制器的命令带动旋转叶142转动，进而带动一种适用于水上机器人远程抛投装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投压缩救生圈1711；控制***根据用户手环与机器人本体的相对位置，驱动旋转电机带动转动座移动，将发射管60移动至与用户手环定位的延长线处，根据距离设置液压举升杆62对发射管60的举升高度，调整发射管60的射程；当求救者过多，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制***，控制***通过网络与多个机器人通信；营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼11往受力过大的一方倾斜，进而使平衡翼11上的充气触发装置遇水激发压缩气体释放，从而使平衡翼11底部的气囊31充气，机器人浮力增加，当两侧的平衡翼11气囊31都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制***按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。The working principle is as follows: the water area and direction of the water robot are set to multiple, and a special parking stand with relay function is set up in a swimming pool or pool with a larger area. Press the emergency button 20 when you are drowning or accidentally enter the deep water area; the distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband 2, and controls the nearest location to the drowning person. The robot goes to the occurrence point; the driving motor 140 drives the rotating blade 142 to rotate according to the command of the controller, and then drives a remote throwing device suitable for water robots to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing according to the direction of the drowning person The device is turned on, and the compressed lifebuoy 1711 is thrown to the drowning person; the control system drives the rotating motor to drive the rotating base to move according to the relative position of the user's wristband and the robot body, and moves the launch tube 60 to the extension line positioned with the user's wristband. Set the lifting height of the hydraulic lift rod 62 to the launch tube 60 from the distance, and adjust the range of the launch tube 60; when there are too many rescuers and all the life-saving throwing devices on a single robot are turned on, the buoyancy sensor detects the buoyancy of the robot. The size is sent to the control system, and the control system communicates with multiple robots through the network; when rescuing multiple drowning or physically weak people, when the robot's force exceeds the buoyancy, the balance wing 11 tilts to the side with the excessive force, thereby making the balance The inflatable trigger device on the wing 11 triggers the release of compressed gas when it encounters water, so that the airbag 31 at the bottom of the balance wing 11 is inflated, and the buoyancy of the robot increases. When the airbags 31 of the balance wing 11 on both sides are released, the buoyancy of the robot detected by the buoyancy sensor is less than When the force is applied, the control system searches for the unemployed robot closest to the water area in the network according to the broadcast method to go to the rescue, reducing the load of the current robot.
本发明浮力约束装置设置在机器人上未触发充气触发装置时该装置处于压缩状态，不增加机器人在水面上飞行时的阻力进而减小飞行用电，加大续航能力，质量轻可放置在小型船只和水上无人机上实现气囊31速冲，进而增加浮力以满足应用于水面的小型机器人增加载重额度的操作其次充气触发装置中采用固体盐仓作为触发介质，安装暴露在平衡翼11的表面，在平衡翼11自身浮力不足倾斜时固体盐在水中溶解进而触发压缩气体释放，比传统的火药释放压缩气体冲击力小，进而能够防止因冲击力造成急救出现偏差。The buoyancy restraint device of the present invention is arranged on the robot and the inflatable trigger device is not triggered, the device is in a compressed state, does not increase the resistance of the robot when flying on the water surface, thereby reduces the flight power consumption, increases the endurance capacity, and is light in weight and can be placed on small boats The airbag 31 can be charged quickly on the water drone, and then the buoyancy can be increased to meet the operation of increasing the load capacity of the small robot applied to the water surface. Secondly, the solid salt silo is used as the trigger medium in the inflatable trigger device, and it is installed on the surface of the balance wing 11. When the buoyancy of the balance wing 11 is insufficient, the solid salt dissolves in the water to trigger the release of the compressed gas, which has a smaller impact force than the traditional gunpowder release of the compressed gas, thereby preventing the first aid deviation caused by the impact force.
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, These equivalent transformations all belong to the protection scope of the present invention.

Claims (10)

  1. 一种适用于水上机器人远程抛投装置，其特征在于，该装置设置在机器人上，用于多个近距离的溺水者投放压缩救生装置。 A remote throwing device suitable for a water robot is characterized in that the device is arranged on the robot and is used for throwing compressed life-saving devices for a plurality of close drowning persons.
  2. 根据权利要求1所述的一种适用于水上机器人远程抛投装置，其特征在于，所述救生抛投装置为四组，包括固定安装在驱动舱中的安装座，固定安装在安装座上的支撑装置和压缩气体储气罐，连接在储气罐一端且固定在支撑装置上的发射装置，以及设置在发射装置输出端的弹体； A remote throwing device suitable for a water robot according to claim 1, wherein the lifesaving throwing device is composed of four groups, including a mounting seat fixedly installed in the drive cabin, and a mounting seat fixedly installed on the mounting seat. A support device and a compressed gas storage tank, a launcher connected to one end of the gas storage tank and fixed on the support device, and a projectile set at the output end of the launcher;
    所述发射装置包括：连接在储气罐出气口的气管，设置在气管上的扳机，设置在扳机上的连接杆，以及铰接在连接杆另一端的伺服电机；The launching device comprises: a gas pipe connected to the air outlet of the gas storage tank, a trigger arranged on the gas pipe, a connecting rod arranged on the trigger, and a servo motor hinged on the other end of the connecting rod;
    所述发射装置输出端为一体化连接在气管出气端的抛投管，所述弹体为嵌合在抛投管中的压缩救生圈和固定连接在抛投管底部且连接压缩救生圈的牵引绳；所述压缩救生圈的一端设有充气触发装置，所述充气触发装置穿插在压缩救生圈上。The output end of the launching device is a throwing tube integrally connected to the gas outlet end of the trachea, and the projectile body is a compressed lifebuoy embedded in the throwing tube and a traction rope fixedly connected to the bottom of the throwing tube and connected to the compressed lifebuoy; One end of the compressed lifebuoy is provided with an inflatable trigger device, and the inflatable trigger device is inserted into the compressed lifebuoy.
  3. 根据权利要求1所述的一种适用于水上机器人远程抛投装置，其特征在于，所述救生抛投装置还包括：固定安装在驱动舱中的转动座，以及固定设置在转动座上的电磁发射装置； A remote throwing device suitable for water robots according to claim 1, characterized in that, the lifesaving throwing device further comprises: a rotating seat fixedly installed in the drive cabin, and an electromagnetic electromagnetic device fixedly installed on the rotating seat launcher;
    所述电磁发射装置包括：固定连接在转动座上的发射管，设置在发射管中的滑动组件，固定安装在发射管一端的牵引组件，以及传动连接牵引组件的第二驱动电机；The electromagnetic launch device includes: a launch tube fixedly connected to the rotating base, a sliding assembly arranged in the launch tube, a traction component fixedly installed at one end of the launch tube, and a second drive motor that drives and connects the traction component;
    所述发射管的远离转动座的一端设有发射口且所述发射管与转动座呈一定夹角铰接，所述转动座上设有液压举升杆，所述液压举升杆的动力输出端连接发射管，进而控制发射管围绕转动座转动的夹角；所述滑动组件设置在靠近发射口的一端，所述滑动组件包括：一体设置在发射管内壁侧且延伸至发射口处的滑槽，对称安装滑槽两侧的弹簧组件，卡接在滑槽中的磁推进座，设置在磁推进座一端的电磁线圈，以及电联电磁线圈的供电控制导线；进而电磁线圈通电后驱动磁推进座在滑槽中滑行，进而推弹出磁推进座上的弹体从发射口中弹出；One end of the launch tube away from the rotating base is provided with a launching port, and the launching tube and the rotating base are hinged at a certain angle, a hydraulic lifting rod is arranged on the rotating base, and the power output end of the hydraulic lifting rod is Connect the launch tube, and then control the included angle at which the launch tube rotates around the rotating base; the sliding assembly is arranged at one end close to the launch port, and the slide assembly includes: a chute integrally provided on the inner wall side of the launch tube and extending to the launch port , Symmetrically install the spring components on both sides of the chute, the magnetic propulsion seat clamped in the chute, the electromagnetic coil arranged at one end of the magnetic propulsion seat, and the power supply control wire of the electric solenoid coil; and then the electromagnetic coil is energized to drive the magnetic propulsion The seat slides in the chute, and then the projectile on the magnetic propulsion seat is pushed out and ejected from the launch port;
    所述牵引组件包括：固定设置在磁推进座一侧的传动牵引钢丝，以及缠绕在牵引钢丝另一端的张紧转轮组件；所述第二驱动电机传动连接张紧转轮组件，进而控制牵引钢丝在转轮上缠绕或松开，实现弹出的磁推进座的在牵引钢丝的带动下回收滑行至电磁线圈处；The traction assembly includes: a transmission traction wire fixedly arranged on one side of the magnetic propulsion base, and a tensioning wheel assembly wound around the other end of the traction wire; the second driving motor is drivingly connected to the tensioning wheel assembly, thereby controlling the traction The steel wire is wound or loosened on the runner, so that the ejected magnetic propulsion seat can be recovered and slid to the electromagnetic coil under the drive of the traction steel wire;
    所述转动座的底部设有齿圈，所述齿圈与旋转电机传动连接的齿轮旋接传动，进而使转动座带动发射管实现角度的变化。The bottom of the rotating seat is provided with a gear ring, and the gear ring is connected with a gear connected to the rotating motor for rotation transmission, so that the rotating seat drives the launch tube to change the angle.
  4. 一种适用于水上机器人，其特征在于，包括权利要求1至3任一项的远程抛投装置。 A utility model suitable for a water robot, characterized in that it comprises the remote throwing device according to any one of claims 1 to 3.
  5. 根据权利要求4所述的一种适用于水上机器人，其特征在于，包括机器人本体和与机器人本体控制器连通的控制***； A water robot according to claim 4, characterized in that it comprises a robot body and a control system communicated with the robot body controller;
    所述机器人本体包括：驱动舱，对称安装在驱动舱两侧的平衡翼，设置在驱动舱中的动力装置，以及固定安装在驱动舱四周的浮力检测控制装置；所述驱动舱的外部设有防水外壳；The robot body includes: a drive cabin, balance wings symmetrically installed on both sides of the drive cabin, a power device arranged in the drive cabin, and a buoyancy detection and control device fixedly installed around the drive cabin; the outside of the drive cabin is provided with waterproof shell;
    所述控制***还包括：用户手环，用户手环中设有***和控制器，所述用户手环上设有急救按钮。The control system further includes: a user wristband, a locator and a controller are arranged in the user wristband, and an emergency button is arranged on the user wristband.
  6. 根据权利要求5所述的一种适用于水上机器人，其特征在于，所述动力装置固定安装在驱动舱中的第一驱动电机，以及对称穿插在驱动舱底部且与第一驱动电机传动连接的推进桨，传动连接推进桨与第一驱动电机输出端的传动装置；所述推进桨的外部设有进水增压筒，所述推进桨包括套接在进水增压筒中的转轴和固定连接在转轴上的旋转桨；所述传动装置包括：固定安装在机器人底部的防水罩，套接在防水罩中且对称设置在第一驱动电机输出轴两侧的传动轴，固定安装在第一驱动电机输出轴端的第一锥形轮，固定安装在传动轴两端的第二锥形轮和第三锥形轮，以及固定连接在传动轴另一端的第四锥形轮和第五锥形轮；所述防水罩及两组传动轴分别穿插过进水增压筒中，所述转轴为两组所述转轴的一端分别设有第六锥形轮和第七锥形轮，所述转轴设有锥形轮的一端穿插过防水罩且与设置在传动轴另一端的第四锥形轮和第五锥形轮适配，进而第一驱动电机的动力经过传动轴上的锥形轮带动机器人底部的两组推进桨转动，推进桨在进水增压筒中转动时使进水增压筒中的水向外高速排出，排出进水增压筒的水流对机器人进行反作用力推动机器人在水上前进；所述进水增压筒的进水口处设有过滤网，防止水面上漂浮的垃圾或其它杂物进入进水增压筒中，影响旋转桨的正常运行。 A device suitable for water robots according to claim 5, characterized in that the power device is fixedly installed in the first drive motor in the drive cabin, and symmetrically inserted at the bottom of the drive cabin and connected with the first drive motor. The propeller is driven to connect the propeller and the transmission device of the output end of the first drive motor; the outside of the propeller is provided with a water inlet booster cylinder, and the propeller paddle comprises a rotating shaft sleeved in the water inlet booster cylinder and a fixed connection on the water inlet booster barrel. The rotating paddle on the rotating shaft; the transmission device includes: a waterproof cover fixedly installed at the bottom of the robot, a transmission shaft sleeved in the waterproof cover and symmetrically arranged on both sides of the output shaft of the first drive motor, and fixedly installed on the first drive motor The first tapered wheel at the output shaft end, the second tapered wheel and the third tapered wheel fixedly installed on both ends of the transmission shaft, and the fourth tapered wheel and the fifth tapered wheel fixedly connected to the other end of the transmission shaft; The waterproof cover and the two sets of transmission shafts are respectively inserted into the water inlet pressurizing cylinder, and the rotating shaft is provided with a sixth conical wheel and a seventh conical wheel at one end of the two sets of rotating shafts, and the rotating shaft is provided with a conical wheel. One end of the wheel is inserted through the waterproof cover and is matched with the fourth and fifth conical wheels arranged on the other end of the transmission shaft, and then the power of the first drive motor drives the two wheels at the bottom of the robot through the conical wheel on the transmission shaft. The group of propellers rotates, and when the propeller rotates in the water inlet booster cylinder, the water in the water inlet booster barrel is discharged at a high speed to the outside, and the water flow discharged from the water inlet booster barrel exerts a reaction force on the robot to push the robot forward on the water; There is a filter screen at the water inlet of the water booster cylinder to prevent garbage or other debris floating on the water from entering the water inlet booster cylinder and affect the normal operation of the rotating paddle.
  7. 根据权利要求5所述的一种适用于水上机器人，其特征在于，所述机器人本体控制器电联定位***和通信装置，所述驱动舱的顶部两侧对称设有顶升装置和固定安装在顶升装置一侧的旋翼机构；所述旋翼机构的下方设有收纳槽，所述顶升装置安装在收纳槽中，所述顶升装置为微型液压升降杆，所述旋翼机构为多个且与收纳槽的数量适配，所述旋翼机构固定安装在微型液压升降杆的输出端，所述旋翼机构包括：驱动马达，传动连接在驱动马达输出端转动轴，以及连接在转动轴一端的旋转叶；所述液压升降杆的输出端设有轴承装置与转动轴插接，所述微型液压升降杆和驱动马达与控制器电联，进而在控制***的指令下，机器人控制器控制微型液压升降杆上升顶出收纳槽中的旋转叶，驱动马达带动进而转动轴转动，进而带动旋转叶转动进而带动机器人本体飞行至溺水点； The one suitable for a water robot according to claim 5, characterized in that the robot body controller is electrically coupled with the positioning system and the communication device, and the top of the drive cabin is symmetrically provided with a jacking device and a fixed installation on both sides of the top. A rotor mechanism on one side of the jacking device; a receiving groove is arranged below the rotor mechanism, the jacking device is installed in the receiving groove, the jacking device is a miniature hydraulic lifting rod, and the rotor mechanism is a plurality of Matching with the number of storage slots, the rotor mechanism is fixedly installed on the output end of the micro hydraulic lift rod, and the rotor mechanism includes: a drive motor, a rotating shaft connected to the output end of the drive motor, and a rotary shaft connected to one end of the rotating shaft. Leaf; the output end of the hydraulic lifting rod is provided with a bearing device to be plugged into the rotating shaft, the micro hydraulic lifting rod and the driving motor are electrically connected with the controller, and then under the command of the control system, the robot controller controls the micro hydraulic lifting and lowering. The rod lifts up and pushes out the rotating blade in the storage tank, and the driving motor drives the rotating shaft to rotate, which in turn drives the rotating blade to rotate and then drives the robot body to fly to the drowning point;
    所述驱动舱中还设有与驱动马达对应的蓄电池组，所述驱动马达与每个分配的蓄电池组电联。A battery pack corresponding to the drive motor is also provided in the drive compartment, and the drive motor is electrically connected to each assigned battery pack.
  8. 根据权利要求5所述的一种适用于水上机器人，其特征在于，所述浮力检测控制装置包括：设置在机器人底部的浮力传感器和固定安装在机器人的增浮气囊装置； The water robot according to claim 5, wherein the buoyancy detection and control device comprises: a buoyancy sensor arranged at the bottom of the robot and a floating airbag device fixedly installed on the robot;
    所述增浮气囊装置包括设置在平衡翼上方的充气触发装置，当平衡翼顶部被水淹没时进而触发充气；所述增浮气囊装置包括：固定安装在平衡翼底部的四个卡扣件，两端固定连接卡钩且卡接在卡扣件上的束缚带，开设在平衡翼顶部多个触发装置安装口，固定安装在触发装置底部的气囊收纳槽，以及卡接在气囊收纳槽中的气囊；所述束缚带采用弹性材料制成且呈X形结构交叉设置，所述气囊套接在充气触发装置外部。The floating airbag device includes an inflation triggering device arranged above the balance wing, and the inflation is triggered when the top of the balance wing is submerged in water; the floating airbag device includes: four clips fixedly installed at the bottom of the balance wing, The restraint straps that are fixedly connected to the hooks at both ends and are clamped on the buckle pieces, a plurality of trigger device installation ports are opened on the top of the balance wing, the airbag storage grooves are fixedly installed at the bottom of the trigger device, and the airbag storage grooves are clamped in the airbag storage grooves. Airbag; the restraint belt is made of elastic material and is arranged in an X-shaped structure, and the airbag is sleeved on the outside of the inflation triggering device.
  9. 根据权利要求5所述的一种适用于水上机器人，其特征在于，所述充气触发装置穿插在压缩救生圈和平衡翼触发装置安装口上的套筒，固定安装在套筒中的固体盐仓，设置在固体盐仓顶部的压缩弹簧，以及连接在压缩弹簧另一端压缩气体罐，所述压缩弹簧与固体盐仓连接端设有与套筒内壁适配的顶塞；所述套筒延伸出平衡翼外侧且顶部为收缩的锥体结构，进而在固体盐仓遇水融化，从而使压缩弹簧带动顶塞向套筒延伸端前进，压缩弹簧在前进的过程中进而带动另一端的压缩气体罐开启，瞬间压缩气体充满气囊和压缩救生圈。 The water robot according to claim 5, characterized in that the inflatable trigger device is inserted into the sleeve on the installation port of the compression lifebuoy and the balance wing trigger device, and the solid salt silo is fixedly installed in the sleeve. A compression spring on the top of the solid salt silo, and a compressed gas tank connected to the other end of the compression spring, the connecting end of the compression spring and the solid salt silo is provided with a top plug adapted to the inner wall of the sleeve; the sleeve extends out of the balance wing The outer side and the top is a constricted cone structure, which melts in the solid salt silo when it encounters water, so that the compression spring drives the top plug to advance toward the extension end of the sleeve, and the compression spring drives the compressed gas tank at the other end to open during the advancing process. Instantaneous compressed gas fills the airbag and compresses the lifebuoy.
  10. 基于权利要求5所述的一种适用于水上机器人的工作方法，其特征在于，包括如下工作步骤： A kind of working method applicable to water robot based on claim 5, is characterized in that, comprises the following working steps:
    S1、水上机器人安水域面积和方向设置为多个，在面积较大的泳池或水池中设置具有中继作用的专用停放台，对进入游泳池的顾客，发放用户手环，当顾客发现自己有溺水的情况时或误入深水区时按下急救按钮；S1. The water area and direction of the water robot are set to multiple, and a special parking stand with a relay function is set up in a swimming pool or pool with a large area. For customers entering the swimming pool, a user bracelet is issued. When the customer finds that he is drowning Press the emergency button when you are in a situation or accidentally enter a deep water area;
    S2、求救信号发送至控制***，控制***根据用户手环中的***确定溺水者的位置信息，并控制位于溺水者最近的机器人前往发生点；S2. The distress signal is sent to the control system, and the control system determines the location information of the drowning person according to the locator in the user's wristband, and controls the robot closest to the drowning person to go to the occurrence point;
    S3、驱动马达根据控制器的命令带动旋转叶转动，进而带动一种适用于水上机器人远程抛投装置飞行至溺水者附近，根据溺水者的方向控制与之对应的救生抛投装置开启，向溺水者抛投救生气囊；S3. The drive motor drives the rotating blade to rotate according to the command of the controller, and then drives a remote throwing device suitable for water robots to fly to the vicinity of the drowning person, and controls the corresponding life-saving throwing device to open according to the direction of the drowning person, and moves toward the drowning person. throw the life-saving airbag;
    S4、控制***根据用户手环与机器人本体的相对位置，驱动旋转电机带动转动座移动，将发射管移动至与用户手环定位的延长线处，根据距离设置液压举升杆对发射管的举升高度，调整发射管的射程；S4. The control system drives the rotating motor to move the rotating base according to the relative position between the user's wristband and the robot body, moves the launch tube to the extension line positioned with the user's wristband, and sets the hydraulic lift rod to lift the launch tube according to the distance. Raise the height and adjust the range of the launch tube;
    S5、待救人员为多个时，单个机器人身上所有的救生抛投装置开启后，浮力传感器检测到机器人所受的浮力大小发送至控制***，控制***通过网络与多个机器人通信； S5. When there are multiple people to be rescued, after all the life-saving throwing devices on a single robot are turned on, the buoyancy sensor detects the buoyancy of the robot and sends it to the control system, and the control system communicates with multiple robots through the network;
    S6、营救多个溺水者或体力不支的人员时，机器人受力大小超越浮力时平衡翼往受力过大的一方倾斜，进而使平衡翼上的充气触发装置遇水激发压缩气体释放，从而使平衡翼底部的气囊充气，机器人浮力增加，当两侧的平衡翼气囊都释放时，浮力传感器检测的机器人浮力大小小于受力时，控制***按照广播方式查找网络中最接近此片水域的待业机器人前往救援，减小当前机器人的载重。S6. When rescuing multiple drowning or physically weak people, when the force of the robot exceeds the buoyancy force, the balance wing tilts to the side with too much force, so that the inflatable trigger device on the balance wing is exposed to water to stimulate the release of compressed gas, so that the The airbag at the bottom of the balance wing is inflated, and the buoyancy of the robot increases. When the balance wing airbags on both sides are released, and the buoyancy of the robot detected by the buoyancy sensor is smaller than the force, the control system searches for the unemployed robot closest to this water area in the network according to the broadcast method. Go to the rescue and reduce the load of the current robot.
PCT/CN2021/080664 2020-08-21 2021-03-15 Long-distance throw device applicable to aquatic robot, robot, and operation method WO2022037043A1 (en)

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CN112061342A (en) * 2020-08-21 2020-12-11 南京灵雀智能制造有限公司 Buoyancy restraint device suitable for overwater emergency robot, emergency robot and working method
CN112078760A (en) * 2020-08-21 2020-12-15 南京灵雀智能制造有限公司 Remote throwing device suitable for water robot, robot and working method
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