CN110339512A - A kind of fire-fighting robot using In-wheel motor driving - Google Patents
A kind of fire-fighting robot using In-wheel motor driving Download PDFInfo
- Publication number
- CN110339512A CN110339512A CN201910491516.3A CN201910491516A CN110339512A CN 110339512 A CN110339512 A CN 110339512A CN 201910491516 A CN201910491516 A CN 201910491516A CN 110339512 A CN110339512 A CN 110339512A
- Authority
- CN
- China
- Prior art keywords
- car body
- fire
- unit
- motor driving
- fighting robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
The present invention relates to a kind of fire-fighting robots using In-wheel motor driving, including car body, walking unit, sensing unit, fire extinguishing unit, electronic control unit and power source, in which: car body is the reference for installation of other function module；Walking unit is set to two side bottom of car body, with In-wheel motor driving and braking；Sensing unit includes the wireless locating module being set on car body, detection of obstacles module, flame identification module and sensoring；Fire extinguishing unit is made of the extinguishing device and water supply interface being set on car body；Electronic control unit is set in car body, is connect respectively with walking unit, sensing unit and fire extinguishing unit；Power source is set in car body, for providing electric energy.Compared with prior art, the present invention has many advantages, such as at low cost, job security and work efficiency is high, compatibility is strong.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of fire-fighting robot using In-wheel motor driving.
Background technique
Currently, the petrochemical enterprise of all kinds of large sizes is continuous with the fast development of economic construction of China and scientific and technological level
Increase.Corresponding, the hidden danger of fire explosion safety accident is consequently increased.Industrial fire the condition of a disaster is complicated, and fireman is often
Life risk is risked into the scenes of the accident such as inflammable and explosive, toxic, anoxic, dense smoke.Such as in the great of PORT OF TIANJIN in 2015
In fire explosion, just there are 104 firemans brave and noble-minded.
Fire-fighting robot is as a kind of intelligent fire equipment, and not only can replace fire fighter, to enter dangerous accident existing
, the detection and positioning to fire source are completed in time, it is automatic either to carry out fire-fighting work under manual operation, and can send
The condition of a disaster information helps floor manager personnel to formulate rationally correctly fire extinguishing scheme to fire protection control center.In the feelings of not the condition of a disaster
Under condition, fire-fighting robot can carry out round-the-clock, comprehensive monitoring to protection zone.Once fire behavior, fire-fighting robot occurs
Fire protection control center can be sent an alert to immediately, and carries out fire-fighting work automatically, prevent the condition of a disaster from further deteriorating.
The drive form that existing fire-fighting robot mainly uses is concentration motor driven.Due to concentrating motor-driven disappear
There are the machine driven systems such as retarder, transmission shaft in anti-robot body, not only make chassis structure relative complex, robot
Space utilization rate is not high in ontology, and machine driven system can generate higher energy loss during transmitting power,
Cause the working performance of fire-fighting robot to be affected, is unfavorable for preferably controlling the condition of a disaster.
Summary of the invention
Hub motor is used it is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of
The fire-fighting robot of driving.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of fire-fighting robot using In-wheel motor driving, comprising:
Car body,
Walking unit is set to two side bottom of car body, with In-wheel motor driving and braking,
Sensing unit, including be set on car body wireless locating module, detection of obstacles module, flame identification module and
Sensoring,
Fire extinguishing unit is made of the extinguishing device and water supply interface that are set on car body,
Electronic control unit is set in car body, is connect respectively with walking unit, sensing unit and fire extinguishing unit,
Power source is set in car body, for providing electric energy.
The walking unit uses track structure or wheeled construction as a preferred technical solution,.
As a preferred technical solution, when walking unit use track structure when, the walking unit include hub motor,
Thrust wheel, guide wheel, support roller and around hub motor, thrust wheel, guide wheel, support roller crawler belt, outside the hub motor
Shape is in synchronous belt colyliform.
The crawler belt is synchronous toothed belt, crawler belt material selection high temperature fireproof material as a preferred technical solution,；
The hub motor is directly connect with car body, or is connect by retarder with car body.
The walking unit is additionally provided with damper as a preferred technical solution,.
As a preferred technical scheme:
The wireless locating module uses electromagnetic communication, is set to car body top, and have and be symmetrically arranged in vehicle
The signal antenna of body two sides；
The detection of obstacles module is laser radar, is set to car body front end, is lower than extinguishing device, and be equipped with protection
Cover, avoids the interference of extinguishing device；
The flame identification module is industrial camera, is set to car body front end；Further preferred industrial camera branch
Hold a variety of resolution ratio；Flame identification module can carry out round-the-clock, comprehensive monitoring to protection zone；
The sensoring is set to car body top, remotely to receive the manipulation instruction of operator.
The extinguishing device is set to car body top front by fixed bracket as a preferred technical solution, and can
With adjustment fire extinguishing direction and angle.
The extinguishing device is fire monitor or fire-fighting lance as a preferred technical solution,.
The extinguishing device is connect by mounting flange with fixed bracket as a preferred technical solution, and Method for Installation
The rubber washer for preventing water from revealing from gap is equipped between blue and fixed bracket；The water supply interface is set to car body
Tail end, and be connected with extinguishing device.
The car body surface is covered with insulating moulding coating as a preferred technical solution,.
The power source is battery as a preferred technical solution,.
The electronic control unit is PLC as a preferred technical solution, is set in electric cabinet, and can remotely send report
Alert signal, such as alarm signal is sent to fire protection control center.
Compared with prior art, the invention has the following advantages:
(1) cost optimization.Using hub motor, transmission system can be given up, so that fire-fighting robot vehicle body mechanism
Simplify, design, manufacture, the cost maintained reduce.And since fire-fighting robot internal structure is simplified, it is fixed to reduce
Phase maintenance and failure, further reduce costs.Job security is promoted.By electric machine built-in in wheel, substantially alleviates and disappear
The weight of anti-robot body alleviates the burden of car body while obtaining better space utilization rate, promote fire-fighting robot
The safety of work.
(2) working efficiency is promoted.Cancel the intermediate gearings such as transmission shaft and improve transmission efficiency, reduces and be driven
Energy loss in journey, and then improve the working efficiency of fire-fighting robot.
(3) compatibility is strong.Hub motor can carry out flat with various energy resources packets such as pure electric vehicle, hybrid power, fuel cells
Platformization is integrated, and when any Energy situation has marked improvement, fire-fighting robot all can be matched, preferably promotion work
Performance.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
In figure, 1 is car body, and 2 be extinguishing device, and 3 be sensoring, and 4 be fixed bracket, and 5 be water supply interface, and 6 be wheel hub
Motor, 7 be wireless locating module, and 8 be detection of obstacles module, and 9 be flame identification module, and 10 be electric cabinet, and 11 be power source,
12 be protective cover, and 13 be crawler belt, and 14 be guide wheel, and 15 be thrust wheel, and 16 be support roller.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of fire-fighting robot using In-wheel motor driving, as shown in Figure 1, including car body 1, walking unit, sensing list
Member, fire extinguishing unit, electronic control unit and power source, in which: car body 1 is the reference for installation of other function module；Walking unit setting
In 1 liang of side bottom of car body, is driven and braked with hub motor 6；Sensing unit includes the wireless locating module being set on car body 1
7, detection of obstacles module 8, flame identification module 9 and sensoring 3；Fire extinguishing unit is by the extinguishing device 2 that is set on car body 1
It is formed with water supply interface 5；Electronic control unit is set in car body 1, is connect respectively with walking unit, sensing unit and fire extinguishing unit；
Power source is set in car body 1, for providing electric energy.
The present embodiment is driven and is braked using hub motor 6, can adapt to most fire extinguishing scenes, and with wheel hub electricity
Machine 6 is as driving and brake apparatus, while driving fire-fighting robot is mobile, the automatic braking in fire-fighting robot fire-fighting work
To resist the reaction force that the injection of extinguishing device 2 generates.Walking unit can use track structure or wheeled construction.This implementation
In, walking unit use track structure, the walking unit include hub motor 6, thrust wheel 15, guide wheel 14, support roller 16 with
And around hub motor 6, thrust wheel 15, guide wheel 14, support roller 16 crawler belt 13,6 shape of hub motor be in synchronous belt colyliform.Into
The preferred crawler belt 13 of one step is synchronous toothed belt, 13 material selection high temperature fireproof material of crawler belt；Hub motor 6 directly with car body 1
Connection, or connect by retarder with car body 1.Damper can also be arranged in walking unit, and damper can be carried out using common
The damper of belt walking unit.
In the present embodiment, extinguishing device 2 passes through fixed bracket 4 and is set to 1 top front of car body, and adjustable fire extinguishing side
To and angle.Further, in this embodiment extinguishing device 2 is connect by mounting flange with fixed bracket 4, and mounting flange
The rubber washer for preventing water from revealing from gap is equipped between fixed bracket 4；Water supply interface 5 is (for connecting external confession
Water installations) it is set to 1 tail end of car body, and be connected with extinguishing device 2.Extinguishing device 2 can use fire monitor or fire water
Rifle.
Wireless locating module 7 uses electromagnetic communication, is set to 1 top of car body, and have and be symmetrically arranged in 1 liang of car body
The signal antenna of side, the location information of fire-fighting robot is provided；Detection of obstacles module 8 is laser radar, is set to car body 1
Front end is lower than extinguishing device 2, and is equipped with protective cover 12, avoids the interference of extinguishing device 2；Flame identification module 9 is that support is a variety of
The industrial camera of resolution ratio is set to 1 front end of car body；Sensoring 3 is set to 1 top of car body, remotely to receive operation
The manipulation instruction of personnel.Electronic control unit can use PLC, be set in electric cabinet 10, respectively with hub motor 6, power source 11,
Sensoring 3, extinguishing device 2, wireless locating module 7, detection of obstacles module 8 and flame identification module 9 are connected, for pair
The data information that sensoring 3, wireless locating module 6, detection of obstacles module 8, flame identification module 9 provide is handled,
And driving signal and fire extinguishing signal are sent into hub motor 6 and extinguishing device 2 respectively, fire-fighting robot is made to start to work, and
Alarm signal can be remotely sent, such as alarm signal is sent to fire protection control center.Power source 11 can use battery, with
Energy is provided.
In the present embodiment, 1 surface of car body can cover insulating moulding coating.
When the condition of a disaster occurs, flame identification module 9 quickly (such as can be automatically in 30 seconds) completes the detection to fire source
And position, after electric cabinet 10 receives the data information of the offer of flame identification module 9, active transmission alarm signal to fire-fighting is controlled
Center, while the data information provided wireless locating module 6, detection of obstacles module 8 is handled, and driving signal is sent into
Hub motor 6, after so that fire-fighting robot is reached suitable position, control extinguishing device 2 starts fire-fighting work, and extinguishing device 2 is sprayed water
Angle is adjustable.While fire-fighting work starts, brake signal is sent into hub motor 6 by electric cabinet 10, to guarantee fire-fighting
The stability of robot work.Electric cabinet 10 can also receive remote worker's manipulation instruction by sensoring 3, artificial
Operation is lower to complete the same course of work.
The above-mentioned description to embodiment is for ease of ordinary skill in the art to understand and use the invention.It is ripe
The personnel for knowing art technology obviously easily can make various modifications to these embodiments, and general original described herein
It ought to use in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, this field
Technical staff's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be in guarantors of the invention
Within the scope of shield.
Claims (10)
1. a kind of fire-fighting robot using In-wheel motor driving characterized by comprising
Car body (1),
Walking unit is set to (1) two side bottom of car body, is driven and is braked with hub motor (6),
Sensing unit, including wireless locating module (7), the detection of obstacles module (8), flame identification being set on car body (1)
Module (9) and sensoring (3),
Fire extinguishing unit is made of the extinguishing device (2) and water supply interface (5) that are set on car body (1),
Electronic control unit is set in car body (1), connect respectively with walking unit, sensing unit and fire extinguishing unit,
Power source is set in car body (1), for providing electric energy.
2. a kind of fire-fighting robot using In-wheel motor driving according to claim 2, which is characterized in that the row
Unit is walked using track structure or wheeled construction.
3. a kind of fire-fighting robot using In-wheel motor driving according to claim 1, which is characterized in that when walking is single
Member use track structure when, the walking unit include hub motor (6), thrust wheel (15), guide wheel (14), support roller (16) with
And around hub motor (6), thrust wheel (15), guide wheel (14), support roller (16) crawler belt (13), the hub motor (6)
Shape is in synchronous belt colyliform.
4. a kind of fire-fighting robot using In-wheel motor driving according to claim 3, which is characterized in that the shoe
Band (13) is synchronous toothed belt, crawler belt (13) material selection high temperature fireproof material；The hub motor (6) is directly and car body
(1) it connects, or is connect by retarder with car body (1).
5. a kind of fire-fighting robot using In-wheel motor driving according to any one of claims 1 to 4, which is characterized in that
The walking unit is additionally provided with damper.
6. a kind of fire-fighting robot using In-wheel motor driving according to claim 1, it is characterised in that:
The wireless locating module (7) uses electromagnetic communication, is set at the top of car body (1), and has and be symmetrically arranged in
The signal antenna of car body (1) two sides；
The detection of obstacles module (8) is laser radar, is set to car body (1) front end, is lower than extinguishing device (2), and set
There are protective cover (12), avoids the interference of extinguishing device (2)；
The flame identification module (9) is industrial camera, is set to car body (1) front end；
The sensoring (3) is set at the top of car body (1), remotely to receive the manipulation instruction of operator.
7. a kind of fire-fighting robot using In-wheel motor driving according to claim 1, which is characterized in that described goes out
Fiery device (2) passes through fixed bracket (4) and is set to car body (1) top front, and adjustable fire extinguishing direction and angle.
8. a kind of fire-fighting robot using In-wheel motor driving according to claim 7, which is characterized in that described goes out
Fiery device (2) is fire monitor or fire-fighting lance.
9. a kind of fire-fighting robot using In-wheel motor driving according to claim 7, which is characterized in that described goes out
Fiery device (2) is connect by mounting flange with fixed bracket (4), and is equipped between mounting flange and fixed bracket (4) for preventing
The rubber washer that sealing is revealed from gap；The water supply interface (5) is set to car body (1) tail end, and with extinguishing device (2)
It is connected.
10. a kind of fire-fighting robot using In-wheel motor driving according to claim 1, which is characterized in that described
Car body (1) surface is covered with insulating moulding coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910491516.3A CN110339512A (en) | 2019-06-06 | 2019-06-06 | A kind of fire-fighting robot using In-wheel motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910491516.3A CN110339512A (en) | 2019-06-06 | 2019-06-06 | A kind of fire-fighting robot using In-wheel motor driving |
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| Publication Number | Publication Date |
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| CN110339512A true CN110339512A (en) | 2019-10-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910491516.3A Pending CN110339512A (en) | 2019-06-06 | 2019-06-06 | A kind of fire-fighting robot using In-wheel motor driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979489A (en) * | 2019-12-13 | 2020-04-10 | 深圳市贝特尔机器人有限公司 | Hydraulic drive all-steel high-temperature-resistant crawler-type fire-fighting robot chassis |
| CN112622546A (en) * | 2020-12-29 | 2021-04-09 | 江苏大学镇江流体工程装备技术研究院 | Crawler-type amphibious pump truck |
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Cited By (2)
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| CN110979489A (en) * | 2019-12-13 | 2020-04-10 | 深圳市贝特尔机器人有限公司 | Hydraulic drive all-steel high-temperature-resistant crawler-type fire-fighting robot chassis |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191018 |
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