CN115445128A - A fire-fighting robot capable of clearing obstacles - Google Patents

Abstract

The invention discloses a fire-fighting robot capable of clearing obstacles, which includes a mobile base, a protective cover, a fire monitor structure and an obstacle-clearing structure, the protective cover is fixed on the mobile base, and the fire monitor structure is arranged on the protective cover and a barrier-removing structure; the barrier-removing structure includes a sliding mechanism, an arm bar, and a clamping mechanism, and the sliding end of the sliding mechanism can be vertically moved on the protective cover, and the sliding mechanism is provided with an arm that can rotate horizontally A rod, and the end of the arm rod away from the sliding mechanism is connected to a rotatable clamping mechanism. The advantage of the present invention is that the obstacle is clamped by the clamping mechanism, the vertical movement of the clamping mechanism is realized through the setting of the sliding mechanism, and the horizontal movement of the clamping mechanism is realized through the setting of the arm bar rotation. Cooperating with the rotatable clamping mechanism, the movement of the clamping mechanism at any angle is realized, and the cleaning of obstacles is realized.

Description

A fire-fighting robot capable of clearing obstacles

technical field

The invention relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot capable of clearing obstacles.

Background technique

With the rapid development of social economy and the particularity of construction and enterprise production, the hidden dangers of leakage of chemical dangerous goods and radioactive substances, as well as accidents of combustion, explosion and collapse have increased, and the probability of accidents has also increased accordingly. In the event of a disaster accident, when firefighters face hazardous environments such as high temperature, darkness, poisonous and dense smoke, if they rush into the scene without corresponding equipment, they will not only be unable to complete the task, but will also increase casualties.

At present, fire-fighting robots, as a kind of special robots, play an increasingly important role in reconnaissance, fire fighting and emergency rescue. On-site commanders can use it to suppress in advance, and make scientific judgments on the disaster situation in a timely manner according to the feedback results, so as to make correct and reasonable decisions on the scene of disaster accidents. ability and greatly reduce casualties.

For example, the Chinese invention patent document with the publication number CN111617415A discloses a fully autonomous fire-fighting robot operating system and its working method in a complex environment, which are used to improve the efficiency of disaster scene rescue and the safety of fire-fighting and extinguishing. However, when there are obstacles blocking the rescue site, the obstacles will occupy the operating space of the fire-fighting robot, affecting the fire-fighting operation of the fire-fighting robot, and cannot achieve the effect of rapid fire extinguishing.

Contents of the invention

The technical problem to be solved by the present invention is how to provide a fire-fighting robot capable of clearing obstacles.

In order to solve the above technical problems, the present invention provides the following technical solutions:

A fire-fighting robot capable of clearing obstacles, comprising a mobile base, a protective cover, a fire monitor structure and a clearing structure, the protective cover is fixed on the mobile base, and the protective cover is provided with a fire monitor structure and a clearing structure;

The obstacle removal structure includes a sliding mechanism, an arm, and a clamping mechanism. The sliding end of the sliding mechanism is vertically movable and arranged on the protective cover. The sliding mechanism is provided with an arm that can rotate horizontally. The arm The end of the rod away from the slide mechanism is connected with a rotatable clamping mechanism.

The obstacle is clamped by the clamping mechanism, the vertical movement of the clamping mechanism is realized through the setting of the sliding mechanism, and the horizontal movement of the clamping mechanism is realized through the rotation of the arm bar. The coordinated setting of the mechanism realizes the movement of the clamping mechanism at any angle, and realizes the cleaning of obstacles.

Preferably, the sliding mechanism includes a sliding seat, a sliding assembly and a first air cylinder, the first air cylinder is fixed on the side of the protective cover, the output end of the first air cylinder is connected to the sliding seat, and the sliding seat passes through the sliding assembly The one that can move vertically is arranged on the side of the protective cover, drives the first air cylinder, and drives the sliding seat to move vertically on the side of the protective cover.

Preferably, the arm rod is rotatably arranged on the sliding end of the sliding mechanism through the driving mechanism, and the sliding end of the sliding mechanism is provided with a first hinge part and a second hinge part vertically spaced apart, the One end of the arm is rotatably connected to the first hinge, the driving mechanism includes a second cylinder, a bushing and a fixed post, the fixed end of the second cylinder is rotatably connected to the second hinge, and the output end of the second cylinder passes through the shaft The sleeve is rotatably connected to the fixed column, and the end of the fixed column away from the shaft sleeve is fixedly connected to the arm. Driven by the second cylinder, the arm rotates around the central axis of the first hinge.

Preferably, the clamping mechanism includes a clamping seat, a clamping motor, a screw rod, a first clamping plate and a second clamping plate, the clamping seat is rotatably arranged at one end of the arm, and the clamping The clamping motor is fixed on the seat, the output end of the clamping motor is connected to one end of the screw rod, and the other end of the screw rod is rotatably arranged on the clamping seat, and the first clamping plate and the second clamping plate The plates are all screwed to the threaded screw, the thread directions of the first clamping plate and the second clamping plate are opposite, and the screw rod drives the first clamping plate and the second clamping plate under the drive of the clamping motor. The plates move towards or away from each other.

Preferably, the clamping mechanism is rotatably arranged at one end of the arm through a rotating mechanism; the rotating mechanism includes a first rotating motor, a first driving wheel, a sleeve and a first driven wheel, and the first rotating motor is fixed On the arm, the output end of the first rotating motor is connected to the first driving wheel, the sleeve is rotatably sleeved on the end of the arm, and the outer wall of the sleeve is sleeved and fixed with the first driving wheel. The first driven wheel engaged with the wheel, and the sleeve is fixedly connected to the clamping mechanism.

Preferably, the fire monitor structure includes a horizontal rotating device, a gun base, a vertical rotating device, a nozzle, a hose and a water tank, the gun base is rotatably arranged on the top of the protective cover through the horizontal rotating device, and the nozzle is passed through the vertical The rotating device can be vertically rotated and arranged on the gun base, and the spray head communicates with the water tank arranged in the protective cover through a hose.

The horizontal rotation of the nozzle is driven by the horizontal rotation device to drive the gun base, and the vertical rotation of the nozzle is driven by the vertical rotation device to realize the adjustment of any angle of the nozzle.

Preferably, the horizontal rotating device includes a second rotating motor, a second driving wheel, a rotating shaft and a second driven wheel, the second rotating motor is fixed on the top inner wall of the protective cover, and the output end of the second rotating motor is connected to The second driving wheel, the rotating shaft is rotatably arranged on the top of the protective cover, one end of the rotating shaft is connected with the second driven wheel meshing with the second driving wheel, and the other end of the rotating shaft passes through the protective cover to connect with the gun base.

Preferably, the vertical rotating device includes a third rotating motor and a rotating disk, the fixed end of the third rotating motor is fixed on the gun base, the output end of the third rotating motor is connected to the rotating disk, and the The nozzle is fixed on the rotating disc.

Preferably, the protective cover is transparent, and the inner wall of the protective cover is provided with a transparent heat-insulating coating.

Preferably, it also includes a controller, a radar sensor and a camera, the radar sensor and the camera are respectively installed outside the protective cover, and the radar sensor and the camera are respectively connected in communication with the controller.

Through the setting of the radar sensor, the robot can detect obstacles from all directions around and transmit the signal to the controller. After receiving the signal, the controller controls the robot to actively avoid obstacles. Through the setting of the camera, the robot can The surrounding terrain is photographed in all directions and transmitted to the controller, so that remote operators can keep abreast of the situation on site. .

Compared with prior art, the beneficial effect of the present invention is:

1. The obstacle is clamped by the clamping mechanism, the vertical movement of the clamping mechanism is realized through the setting of the sliding mechanism, and the horizontal movement of the clamping mechanism is realized through the rotation of the arm bar. The cooperative setting of the clamping mechanism realizes the movement of the clamping mechanism at any angle, and realizes the cleaning of obstacles.

2. The horizontal rotation of the nozzle is driven by the horizontal rotation device to drive the gun base, and the vertical rotation of the nozzle is driven by the vertical rotation device to realize the adjustment of any angle of the nozzle.

3. Through the setting of the radar sensor, the robot can detect obstacles from all directions around and transmit the signal to the controller. After receiving the signal, the controller controls the robot to actively avoid obstacles. Through the setting of the camera, the robot can The robot can take an all-round shot of the surrounding terrain and transmit it to the controller, so that remote operators can keep abreast of the situation on the spot.

Description of drawings

Fig. 1 is a structural schematic diagram of a fire-fighting robot capable of clearing obstacles according to an embodiment of the present invention;

Figure 2 is an enlarged view of A in Figure 1;

Fig. 3 is a schematic structural view of a sliding mechanism and a driving mechanism according to an embodiment of the present invention;

Fig. 4 is a structural schematic diagram of a rotating mechanism and a clamping mechanism according to an embodiment of the present invention.

detailed description

In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention will be further described in conjunction with the accompanying drawings.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction relationship between two components . Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In this application, unless otherwise clearly specified and limited, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features quantity. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

Referring to Fig. 1, the present embodiment discloses a fire-fighting robot capable of clearing obstacles, including a mobile base 1, a protective cover 2, a fire monitor structure 3 and a clearing structure 4, the protective cover 2 is fixed on the mobile base 1, In this embodiment, the mobile base 1 is a crawler base or a wheel base; the protective cover 2 is provided with a fire monitor structure 3 and a barrier removal structure 4 .

The protective cover 2 is transparent. The protective cover 2 is composed of a cylindrical cover at the bottom and a hemispherical cover at the top. Both the inner walls of the cylindrical protective cover and the hemispherical protective cover are provided with a transparent heat-insulating coating. Handrails are fixed on the inner wall of the cylindrical protective cover, and a touch screen is fixed on the inner wall of the cylindrical protective cover; a fire door is installed on the side of the cylindrical protective cover, and a storage box is fixed on the inner wall of the cylindrical protective cover. A portable oxygen respirator is placed inside the storage box.

The transparent protective cover 2 is set to ensure that the operators inside the protective cover 2 have a wide field of vision, which is convenient for observing the terrain. The transparent heat-insulating coating can reduce the transfer of external heat to the inside of the protective cover 2. The armrests are used for internal personnel to support and operate. Personnel can conduct on-site control of the whole through the touch screen, realizing the combination of remote control and manual on-site control.

A plurality of radar sensors 5, camera 6 and controller (not shown) are installed on the outside of the cylindrical protective cover, and each radar sensor 5 and camera 6 communicate with the controller (not shown) outside the robot, through The setting of the radar sensor 5 enables the robot to detect obstacles in all directions from the periphery and transmit the signal to the controller. After receiving the signal, the controller controls the robot to actively avoid obstacles. Through the setting of the camera 6, the robot It can take an all-round shot of the surrounding terrain and transmit it to the controller, so that remote operators can keep abreast of the situation on site.

Referring to Fig. 1 and Fig. 2, described fire monitor structure 3 comprises horizontal rotation device 31, gun mount 32, vertical rotation device 33, sprinkler 34, hose 35, water pump 36 and water tank 37, and described gun mount 32 rotates horizontally The device 31 can be rotatably arranged on the top of the hemispherical protective cover, and the spray head 34 can be vertically rotatably arranged on the gun mount 32 through the vertical rotation device 33, and the spray head 34 is arranged in the cylindrical protective cover through the hose 35. The water tank 37 is connected, and the water pump 36 is provided on the flexible pipe.

The nozzle 34 is rotated horizontally by the horizontal rotation device 31 to drive the gun base 32 to rotate, and the vertical rotation of the nozzle 34 is driven by the vertical rotation device 33 to realize the adjustment of the nozzle 34 at any angle.

Described horizontal rotation device 31 comprises second rotating motor 311, second driving wheel 312, rotating shaft 313 and second driven wheel 314, and described second rotating motor 311 is fixed on the inner wall of hemispherical protective cover top, and described second The output end of the rotating motor 311 is connected to the second driving wheel 312, and the rotating shaft 313 is rotatably arranged on the top of the hemispherical protective cover, and one end of the rotating shaft 313 is connected with the second driven wheel 314 meshing with the second driving wheel 312, so The other end of the rotating shaft 313 passes through the hemispherical protective cover and connects to the gun base 32 .

The vertical rotating device 33 includes a third rotating motor 331 and a rotating disk 332, the fixed end of the third rotating motor 331 is fixed on the gun base 32, and the output end of the third rotating motor 331 is connected to the rotating disk 332, the spray head 34 is fixed on the rotating disk 332.

The obstacle removal structure 4 includes a sliding mechanism 41 , an arm lever 42 , a driving mechanism 43 , a rotating mechanism 44 and a clamping mechanism 45 .

Referring to Fig. 3, the sliding mechanism 41 includes a sliding seat 411, a sliding assembly (not shown) and a first cylinder 412, the sliding seat 411 is vertically movable through the sliding assembly and is arranged on the side of the cylindrical protective cover. The first air cylinder 412 is fixed on the side of the cylindrical protective cover above the sliding seat 411 , and the output end of the first air cylinder 412 is connected to the sliding seat 411 . Driving the first cylinder 412 drives the sliding seat 411 to move vertically on the side of the protective cover.

The sliding seat 411 is provided with a first hinged part and a second hinged part vertically spaced apart, and one end of the arm 42 is rotatably connected to the first hinged part of the sliding seat 411, and the arm 42 is away from One end of the sliding seat 411 is connected to the clamping mechanism 45 through the rotating mechanism 44 .

The driving mechanism 43 includes a second cylinder 431, a shaft sleeve 432 and a fixed column 433, the fixed end of the second cylinder 431 is hinged on the second hinged part on the sliding seat 411, and the output end of the second cylinder 431 passes through The shaft sleeve 432 is rotationally connected with the fixed post 433, and the end of the fixed post 433 away from the shaft sleeve 432 is fixedly connected with the arm rod 42. Driven by the second cylinder 431, the arm rod 42 rotates around the central axis of the first hinged part, thereby driving The clamping mechanism 45 moves horizontally.

Referring to Fig. 4, the rotating mechanism 44 includes a first rotating motor 441, a first driving wheel 442, a sleeve 443 and a first driven wheel 444, the first rotating motor 441 is fixed on the arm 42, and the first The output end of the rotating motor 441 is connected to the first driving wheel 442, the sleeve 443 is rotatably sleeved on the end of the arm 42, and the outer wall of the sleeve 443 is sleeved and fixed to engage with the first driving wheel 442. The first driven wheel 444 , the sleeve 443 is fixedly connected to the clamping mechanism 45 . The first rotating motor 441 is driven to drive the driven wheel 444 to rotate through the first driving wheel 442 , thereby driving the sleeve 443 to rotate at the end of the arm 42 , and further driving the clamping mechanism 45 to rotate.

The clamping mechanism 45 includes a clamping seat 451 , a clamping motor 452 , a screw rod 453 , a first clamping plate 454 and a second clamping plate 455 , and the clamping seat 451 is fixed on the sleeve 443 away from the arm bar 42 In this embodiment, the clamping seat 451 is a U-shaped seat. The clamping motor 452 is fixed on the clamping seat 451, the output end of the clamping motor 452 is connected to one end of the screw rod 453, and the other end of the screw rod 453 is rotatably arranged on the clamping seat 451. The first clamping plate 454 and the second clamping plate 455 are all threaded with the screw mandrel 453, and the thread directions of the first clamping plate 454 and the second clamping plate 455 are opposite, and the screw mandrel 453 is connected to the clamping motor Driven by 452, the first clamping plate 454 and the second clamping plate 455 are driven to move toward each other or back to realize the clamping or loosening of obstacles.

The obstacle is clamped by the clamping mechanism 45, the vertical movement of the clamping mechanism 45 is realized by the setting of the sliding mechanism 41, the horizontal movement of the clamping mechanism is realized by the rotation of the arm bar 42, and the horizontal movement of the clamping mechanism is realized by the rotating mechanism 44. The rotation of the clamping mechanism 45 realizes the movement of the clamping mechanism 45 at any angle through the cooperative arrangement of the above-mentioned mechanisms, and realizes the cleaning of obstacles.

The working principle of this embodiment: drive the mobile base 1, move the protective cover 2 to the fire scene, drive the first rotating motor 441 according to the position of the obstacle, and drive the driven wheel 444 to rotate through the first driving wheel 442, Thereby driving the sleeve 443 to rotate at the end of the arm rod 42, and then driving the clamping mechanism 45 to rotate to an angle capable of clamping obstacles, driving the first cylinder 412, and driving the sliding seat 411 on the protective cover The side moves vertically, and then the arm bar 42 drives the clamping mechanism 45 to move vertically above the obstacle, and then drives the second cylinder 431 to drive the arm bar 42 to rotate horizontally on the sliding seat 411 through the fixed column 433 , drive the clamping mechanism 45 to move horizontally to the top of the obstacle, then drive the first cylinder 412, drive the clamping mechanism 45 to move down to the position where the obstacle can be clamped, and then drive the clamping motor 452 to make the The first clamping plate 454 and the second clamping plate 455 move towards each other to realize the clamping of obstacles. After the clamping is completed, the above-mentioned structure is driven to clean the obstacles to a position that does not affect the fire extinguishing operation of the robot, and then Drive the gun base 32 to rotate through the horizontal rotation device 31 to drive the horizontal rotation of the nozzle 34, and drive the vertical rotation of the nozzle 34 through the vertical rotation device 33 to realize the adjustment of the angle of the nozzle 34 and aim at the fire source to extinguish the fire.

In the present invention, the obstacle is clamped by the clamping mechanism 45, the vertical movement of the clamping mechanism 45 is realized through the setting of the sliding mechanism 41, and the horizontal movement of the clamping mechanism 45 is realized by the rotation of the arm bar 42. The cooperative arrangement of the above-mentioned mechanism and the rotatable clamping mechanism 45 realizes the movement of the clamping mechanism 45 at any angle, and realizes the cleaning of obstacles. In addition, the nozzle 34 is driven horizontally by the horizontal rotation device 31 to rotate the gun base 32 , and the vertical rotation of the nozzle 34 is driven by the vertical rotation device 33 , so that the adjustment of any angle of the nozzle 34 is realized.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the invention, and any reference sign in a claim shall not be construed as limiting the claim concerned.

The above-described embodiments only represent the implementation of the invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments. For those skilled in the art, some deformations and changes can also be made without departing from the concept of the present invention. Improvements, these all belong to the protection scope of the present invention.

Claims (10)

1. A fire-fighting robot capable of clearing obstacles, characterized in that: comprise a mobile base, a protective cover, a fire monitor structure and a clearing structure, the protective cover is fixed on the mobile base, and the protective cover is provided with a fire monitor structures and wrecking structures; The obstacle removal structure includes a sliding mechanism, an arm, and a clamping mechanism. The sliding end of the sliding mechanism is vertically movable and arranged on the protective cover. The sliding mechanism is provided with an arm that can rotate horizontally. The arm The end of the rod away from the slide mechanism is connected with a rotatable clamping mechanism. 2. A fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the sliding mechanism includes a sliding seat, a sliding assembly and a first cylinder, the first cylinder is fixed on the side of the protective cover, the The output end of the first air cylinder is connected to the sliding seat, and the sliding seat is arranged on the side of the protective cover through the sliding assembly to move vertically, and the first air cylinder is driven to drive the sliding seat to move vertically on the side of the protective cover. 3. A fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the arm is rotatably arranged on the sliding end of the sliding mechanism through the driving mechanism, and the sliding end of the sliding mechanism is provided with There are a first hinged part and a second hinged part vertically spaced apart, one end of the arm is rotatably connected to the first hinged part, the driving mechanism includes a second cylinder, a shaft sleeve and a fixed column, and the fixing of the second cylinder The end is rotatably connected to the second hinge part, the output end of the second cylinder is rotatably connected to the fixed post through the bushing, and the end of the fixed post away from the bushing is fixedly connected to the arm. Driven by the second cylinder, the arm goes around The central axis of the first hinge part rotates. 4. A fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the clamping mechanism includes a clamping seat, a clamping motor, a screw, a first clamping plate and a second clamping plate , the clamping seat is rotatably arranged at one end of the arm rod, the clamping motor is fixed on the clamping seat, the output end of the clamping motor is connected to one end of the screw rod, and the other end of the screw rod is rotatable Set on the clamping seat, the first clamping plate and the second clamping plate are screwed with the screw rod, the thread directions of the first clamping plate and the second clamping plate are opposite, and the screw rod is in the Driven by the clamping motor, the first clamping plate and the second clamping plate are driven to move toward each other or back. 5. A fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the clamping mechanism is rotatably arranged at one end of the arm through a rotating mechanism; the rotating mechanism includes a first rotating motor, a second A driving wheel, a sleeve and a first driven wheel, the first rotating motor is fixed on the arm, the output end of the first rotating motor is connected to the first driving wheel, and the sleeve is rotatably sleeved At the end of the arm rod, a first driven wheel engaged with the first driving wheel is sleeved and fixed on the outer wall of the sleeve, and the sleeve is fixedly connected to the clamping mechanism. 6. A kind of fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the fire monitor structure includes a horizontal rotation device, a gun mount, a vertical rotation device, a nozzle, a hose and a water tank, and the fire monitor The seat is rotatably arranged on the top of the protective cover through the horizontal rotating device, and the spray head is arranged on the gun seat rotatably vertically through the vertical rotating device, and the spray head communicates with the water tank arranged in the protective cover through the hose. 7. A fire-fighting robot capable of clearing obstacles according to claim 6, characterized in that: the horizontal rotation device comprises a second rotation motor, a second driving wheel, a rotating shaft and a second driven wheel, and the second rotation The motor is fixed on the inner wall of the top of the protective cover, the output end of the second rotating motor is connected to the second driving wheel, the rotating shaft is rotatably arranged on the top of the protective cover, and one end of the rotating shaft is connected to the second driving wheel meshing with the second driving wheel. Two driven wheels, the other end of the rotating shaft passes through the protective cover and connects to the gun base. 8. A fire-fighting robot capable of clearing obstacles according to claim 6, characterized in that: said vertical rotation device comprises a third rotating motor and a rotating disk, and the fixed end of said third rotating motor is fixed on the gun base Above, the output end of the third rotating motor is connected to the rotating disk, and the spray head is fixed on the rotating disk. 9. A fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: the protective cover is transparent, and the inner wall of the protective cover is provided with a transparent heat-insulating coating. 10. A kind of fire-fighting robot capable of clearing obstacles according to claim 1, characterized in that: it also includes a controller, a radar sensor and a camera, the radar sensor and the camera are installed on the outside of the protective cover respectively, and the radar The sensor and the camera are respectively connected in communication with the controller.

Images