CN105944257A - Fire fighting robot and control method for same - Google Patents
Fire fighting robot and control method for same Download PDFInfo
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- CN105944257A CN105944257A CN201610091164.9A CN201610091164A CN105944257A CN 105944257 A CN105944257 A CN 105944257A CN 201610091164 A CN201610091164 A CN 201610091164A CN 105944257 A CN105944257 A CN 105944257A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000712 assembly Effects 0.000 claims abstract description 44
- 238000000429 assembly Methods 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 8
- 241000876443 Varanus salvator Species 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 9
- 230000008961 swelling Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000001737 promoting effect Effects 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000002184 metal Substances 0.000 description 12
- 210000004907 gland Anatomy 0.000 description 11
- 238000005728 strengthening Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000004698 Polyethylene Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 229920000573 polyethylene Polymers 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
- 230000001550 time effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention provides a fire fighting robot and a control method for the same. The fire fighting robot includes: a chassis rack for supporting and connecting components thereon; a fire fighting water cannon arranged on the chassis rack and used for jetting a fire extinguishing medium; two supporting wheel assemblies arranged under the chassis rack and used for supporting the whole fire fighting robot; two driving wheels which are arranged on the front part of the chassis rack and located above the supporting wheel assemblies and are used for outputting power; two tension rollers which are installed on the rear part of the chassis rack and located above the supporting wheel assemblies; two tracks which are installed on the driving wheels, the supporting wheel assemblies and the tension rollers and are used for power transmission; a tensioning apparatus which is installed on the chassis rack and is used for pushing the tension rollers to adjust the tension force on the tracks; a power apparatus which is installed on the chassis rack and is used for supplying power to the driving wheels; and an electric control device which is installed on the chassis rack and is used for detection, communication and control of the robot. The fire fighting robot has a more stable and strong total structure and has better pass-through performance and operation performance.
Description
Technical field
The present invention relates to robotics, in particular it relates to a kind of fire-fighting robot and control method thereof.
Background technology
Along with development in science and technology, robot has been increasingly appearing in the life of people, replaces people to be engaged in some works
Make, and for the of a relatively high work of some degrees of danger, use robot the most more advantage.
Fire-fighting robot, as the one of specialized robot, plays very important work in fire extinguishing and rescue further
With.Fire-fighting robot replaces fire fighter to enter into the scene of a fire one line carrying out fire fighting, significantly improve fire-fighting more and more
The warfighting capabilities of especially big malignant fire are put out by army, also produce the injures and deaths reducing national wealth loss and fire fighting and rescue personnel
Important effect.
But, environment and the landform of scene of fire are the most more complicated, and existing fire-fighting robot is answered for scene of fire
Miscellaneous landform adaptability is poor, and this just greatly limit promoting the use of of fire-fighting robot.
The technical problem to be solved in the present invention is to provide a kind of fire-fighting robot for stamping out a fire, and solves existing disappearing
Anti-equipment is to the problem that fire extinguishing ability is weak and intelligence degree is the highest.
In view of this, the special proposition present invention.
Summary of the invention
In order to solve the problems referred to above, first goal of the invention of the present invention is to provide a kind of fire-fighting robot, specifically, uses
Following technical scheme:
A kind of fire-fighting robot, including:
Sole, is used for carrying and connecting all parts；
Fire water monitor, is arranged on sole, for ejecting extinguishing medium；
Bogie assemblies, is arranged on below sole, is used for supporting complete vehicle quality；
Driving wheel, is arranged on sole anterior, and is positioned at the top of bogie assemblies, is used for exporting power；
Expansion tightening wheel, is arranged on sole rear portion, and is positioned at the top of bogie assemblies；
Crawler belt, is arranged on driving wheel, bogie assemblies and expansion tightening wheel, for power transmission；
Swelling device, is arranged on sole, is used for promoting expansion tightening wheel to regulate crawler belt tighting；
Power set, are arranged on sole, for providing power for driving wheel；
Electric control gear, is arranged on sole, for detection, communication and the control of robot.
Further, described bogie assemblies includes multiple, be mounted at least the front portion below sole, middle part and after
Portion.
Further, the front and rear below described sole is separately installed with the first bogie assemblies, below sole
Middle part the second bogie assemblies is installed；The first described bogie assemblies includes the first thrust wheel, the second thrust wheel group
Part includes the second thrust wheel, and the external diameter of the first thrust wheel is more than the external diameter of the second thrust wheel.
Further, described electric control gear includes electric cabinet and is arranged in electric cabinet:
Battery, for providing electric power for fire-fighting robot electrical equipment；
Radar avoidance sensor, for detecting the barrier encountered in traveling process；
Temperature sensor, is used for detecting electric cabinet inside and working site temperature；
Communication device, controls end for data and the image information real-time Transmission detected by sensor to robot；
Central processing unit, for gathering and the data of transmission sensor detection, receives and sends instruction and control the fortune of robot
Dynamic；
Power set driver, for controlling the work of power set.
Further, electric cabinet is that the inside being made up of back-fire relief, exotic material has hollow chamber's casing.
Further, described fire water monitor includes for fire-fighting fire extinguishing main jet head with for robot certainly spraying from spray
Shower nozzle.
Further, the water inlet pipe of described fire water monitor being installed threeway, two outlets of threeway are respectively communicated with main jet head
With from spray nozzle；Described including from spray nozzle is multiple, each position being distributed on sole.
Further, also include attitude detecting sensor, for real-time monitoring robot vehicle body attitude.
Further, described attitude detecting sensor is inclinator, and inclinator is by measuring robots relative level
Inclination angle, it is judged that whether job site meets fire water monitor trouble free service requirement.
Second goal of the invention of the present invention is to provide the control method of a kind of fire-fighting robot, specifically, have employed following
Technical scheme:
A kind of control method of fire-fighting robot as described in above-mentioned any one, remote control terminal leads to fire-fighting robot
News connect, and remote control terminal controls fire-fighting robot and starts and enter fire-fighting work region, and fire-fighting robot passes through sensor
Detecting data and gather image and be sent to remote control terminal, remote control terminal is analyzed backward disappearing according to data and image
Anti-robot sends dependent instruction, and fire-fighting robot receives instruction and performs corresponding actions.
The fire-fighting robot of the present invention is by crawler belt, driving wheel, bogie assemblies, expansion tightening wheel, swelling device, power set
Being assembled on sole with electric control gear, fire water monitor is carried on composition smart motion chassis, controls chassis by control system
Motion, in traveling process, by radar avoidance sensor and the view data in robot front, real-time monitoring robot row
Barrier on inbound path, it is ensured that robot security arrives fire-fighting operation place, that improves robot passes through performance；Machine
After people arrives operating location, by attitude transducer real-time monitoring robot current pose, it is ensured that whether current work place
Meet fire water monitor trouble free service requirement, improve the service behaviour of robot.
Therefore, the fire-fighting robot overall structure of the present invention is more firm, coordinates electric control gear to realize advancing and work, tool
Have preferably by performance and service behaviour.
The control method of the fire-fighting robot of the present invention, receives the real-time transmission data of fire-fighting robot by remote control terminal
And image, it is achieved the instruction to fire-fighting robot controls, and control method is simply effective, substantially increases fire-fighting robot pair
The conformability of scene of fire.
Accompanying drawing explanation
The structural representation of Fig. 1 fire-fighting robot of the present invention.
The top view of Fig. 2 fire-fighting robot of the present invention.
The structural representation of the swelling device of Fig. 3 fire-fighting robot of the present invention.
The sectional view of the bogie assemblies of Fig. 4 fire-fighting robot of the present invention.
The side view of the bogie assemblies of Fig. 5 fire-fighting robot of the present invention.
The opposite side view of the bogie assemblies of Fig. 6 fire-fighting robot of the present invention.
Detailed description of the invention
A kind of fire-fighting robot and control method thereof to the present invention are described in detail below in conjunction with the accompanying drawings.
As shown in Figures 1 and 2, a kind of fire-fighting robot, including:
Sole 2, is used for carrying and connecting all parts；
Fire water monitor 1, is arranged on sole 2, for ejecting extinguishing medium；
Bogie assemblies 5, is arranged on below sole 2, is used for supporting complete vehicle quality；
Driving wheel 4, is arranged on sole 2 anterior, and is positioned at the top of bogie assemblies 5, is used for exporting power；
Expansion tightening wheel 8, is arranged on sole 2 rear portion, and is positioned at the top of bogie assemblies 5；
Crawler belt 3, is arranged on driving wheel 4, bogie assemblies 5 and expansion tightening wheel 8, for power transmission；
Swelling device 7, is arranged on sole 2, is used for promoting expansion tightening wheel 8 to regulate crawler belt tighting；
Power set 9, are arranged on sole 2, for providing power for driving wheel 4；
Electric control gear 11, is arranged on sole 2, for detection, communication and the control of robot.
The fire-fighting robot of the present invention may replace people and plays fire extinguishing function in a fire, reduces casualties.
The sole 2 of the present invention is the frame structure being made up of sheet metal, and sole can carry various device.Therefore,
Sole needs to be made up of the sheet metal of high intensity, has high-temperature stability concurrently, to adapt to the environment of scene of fire.
As a kind of preferred implementation of the present invention, bogie assemblies 5 includes multiple, is mounted at least sole 2 times
Front portion, middle part and the rear portion of side.The bogie assemblies of the present invention arranges multiple, the bearing capacity of the most each bogie assemblies
Just reducing, the operating mode of each bogie assemblies is more stable.It addition, bogie assemblies 5 is arranged on below sole 2
Front portion, middle part and rear portion, can make the whole bottom of sole 2 effectively be supported.
Further, the front and rear below described sole is separately installed with the first bogie assemblies, below sole
Middle part the second bogie assemblies is installed；The first described bogie assemblies includes the first thrust wheel, the second thrust wheel group
Part includes the second thrust wheel, and the external diameter of the first thrust wheel is more than the external diameter of the second thrust wheel.
The external diameter of first thrust wheel of the present invention is more than the external diameter of the second thrust wheel, and therefore, the first bogie assemblies is main
Support member, the second bogie assemblies is auxiliary bogie assemblies.First bogie assemblies undertakes main supporting role, really
Protect the stability supported.Second bogie assemblies carries out auxiliary and supports in the position that the first roller assembly cannot support, a side
The cost of entirety can be lowered in face, on the other hand, compares same radial piston machine people's car body smallerization.
As a kind of preferred implementation of the present invention, the electric control gear 11 of the present invention includes electric cabinet and is arranged on automatically controlled
In case:
Battery, for providing electric power for fire-fighting robot electrical equipment；
Radar avoidance sensor, for detecting the barrier encountered in traveling process；
Temperature sensor, for detecting electric cabinet inside and the temperature of working site；
Communication device, controls end for data and the image information real-time Transmission detected by sensor to robot；
Central processing unit, for gathering and the data of transmission sensor detection, receives and sends instruction and control the fortune of robot
Dynamic；
Power set driver, for controlling the work of power set.
" heart " that electric control gear 11 is fire-fighting robot of the present invention, on the one hand, carry and detect environmental conditions in real time
Effect, on the other hand, carry the communication of data, the reception of instruction and execution.Therefore, the electric control gear of the present invention
Integrated level is higher, possesses obstacle system, can be with auto-steering or stopping when there is barrier in front.
High temperature warning system it is also equipped with inside electric cabinet.When car body closes on scene of a fire work, high temperature warning system checks in real time
Electric cabinet internal temperature, and when internal temperature closes on safe temperature, high temperature warning system can be reported to the police, to protect electronics unit
Device.
Further, electric cabinet is that the inside being made up of back-fire relief, exotic material has hollow chamber's casing.Electric cabinet is
The various devices being disposed therein provide effective guarantee, when entering scene of fire, it is ensured that robot can normally work.
As a kind of preferred implementation of the present invention, described fire water monitor 1 include for fire-fighting fire extinguishing main jet head and
For robot from spray from spray nozzle.The applicator of the present invention is while putting out a fire, moreover it is possible to realize machine
The spray of device people self, it is to avoid robot catches fire in scene of fire.
Specifically, on the water inlet pipe of fire water monitor 1 install threeway, two outlets of threeway be respectively communicated with main jet head and from
Spray nozzle；Described including from spray nozzle is multiple, each position being distributed on sole.The present invention is by the end of at
Each position on plate rail is arranged from spray nozzle, it is ensured that fire-fighting robot entirety can realize from spraying effect, maximum limit
The robot that avoids of degree catches fire.
Place electronics hydraulic pressure gauge on fire water monitor 1, remote controller shows the hydraulic pressure of fire water monitor 1 in real time, it is to avoid due to water
Press through and cause greatly fire water monitor 1 recoil to cause greatly car body sliding.
It addition, by adjusting appropriate design in structure, make fire water monitor 1 preposition by center of gravity regulation, during increase work
Safety.
As a kind of preferred implementation of the present invention, fire-fighting robot also includes attitude detecting sensor 12, in real time
Monitoring robot vehicle body attitude.
Specifically, described attitude detecting sensor is inclinator, and inclinator is inclined by measuring robots relative level
Angle, it is judged that whether job site meets fire water monitor trouble free service requirement.The fire-fighting robot of the present invention is equipped with inclinator,
Vehicle body attitude can be checked, remind operator when car body closes on the angle of overturn, it is to avoid cause danger.
Preparation before the fire-fighting robot work of the present invention: 1. the battery electric quantity in electric cabinet is rushed full；2. by fire-fighting
Robot central source of power is switch activated.
The fire-fighting robot running of the present invention: after preparation completes, opens the real-time monitored picture of remote control terminal,
The real-time pictures shot by photographic head is through being wirelessly transmitted to remote control terminal, by operator according to course from remotely control
End processed sends instruction, through the central processing unit of wireless system for transmitting data transmission signal command to fire-fighting robot, controls dynamic
Power apparatus driver starts, and controls power set driver control power set 9 and operates, and power set 9 drive two respectively
Individual driving wheel, by operator during fire-fighting robot forward-reverse.
Power set driver is controlled by the direction controlling operation handle.
When arriving appointment position, control power set driver by the stop button on operation handle and stop, and operate
Personnel judge whether to fire water monitor injection action according to the field condition inside real-time monitored picture.If desired spray
When penetrating operation, then operated by the fire water monitor control knob on operation handle, and the order operated is by remotely controlling
End is transferred to the central processing unit of fire-fighting robot through wireless transmitting system, central processing unit control fire water monitor and spray back
Gyration and luffing angle.By the monitoring of real-time monitored picture, after position suitable, operator are sent out by operation handle
Go out the order started.Simultaneously from spraying startup, the water inlet of fire water monitor separate current by threeway, through flexible pipe,
Hard tube reaches at multiple shower nozzle, lowers the temperature to car body.
Injection is stopped by operator's operating control handle again, simultaneously from spraying stopping after having put out a fire.
Control system:
The fire-fighting robot of the present invention is operated by Remote by fire fighter, radar avoidance sensor during advancing
By measuring robots preceding object thing, remind operator robot front road conditions, assist in conjunction with front camera image
Operator complete the safety operation to robot.
Attitude transducer is by monitoring the inclination angle of current robot relative level in real time, it is judged that work at present place is the fullest
Foot water cannon trouble free service requirement, prevents that recoil in water cannon work process is excessive causes robot generation overthrow accident.
Real-time Collection robot interior temperature and fire-fighting scene temperature are passed through in temperature sensor, send heat alert, control certainly
Spraying cooling system works.
The invention provides the control method of a kind of above-mentioned fire-fighting robot, remote control terminal and fire-fighting robot carry out communication
Connecting, remote control terminal controls fire-fighting robot and starts and enter fire-fighting work region, and fire-fighting robot is examined by sensor
Surveying data and gather image and be sent to remote control terminal, remote control terminal is analyzed backward fire-fighting according to data and image
Robot sends dependent instruction, and fire-fighting robot receives instruction and performs corresponding actions.
Embodiment one
As it is shown on figure 3, expansion tightening wheel 8 is pressed against on crawler belt 3, by making expansion tightening wheel 8 to the side away from robot sole
Crawler belt 3 tensioning is made to movement.
One end of first sliding unit 702 is connected to the center of expansion tightening wheel 8 by rotating shaft.When robot advances, pass through
Friction between crawler belt 3 and expansion tightening wheel 8 drives expansion tightening wheel 8 to rotate around rotating shaft.Additionally, when the first sliding unit 702
Time mobile, expansion tightening wheel 8 can move with the first sliding unit 702.According to the present embodiment, the first sliding unit 702
Could be formed with cylindrical outer surface.
Second sliding unit 703 is set in the outside of the first sliding unit 702, and slides with the first sliding unit 702
Coordinate.First sliding unit 702 can slide relative to the second sliding unit 703 in the second sliding unit 703, from
And drive expansion tightening wheel 8 to move together.According to the present embodiment, the second sliding unit 703 is configured to support, preferably rectangle
Support.Support includes framework and is spaced the some baffle plates being arranged in parallel in framework.Such as, as it is shown on figure 3, baffle plate
Quantity is one.The through hole (such as, manhole) accommodating the first sliding unit 702 is offered on baffle plate.Framework
The first framework side towards one end of the first sliding unit 702 also offers the through hole (example accommodating the first sliding unit 702
As, manhole).Preferably, through hole is opened in baffle plate and the middle and lower part of the first framework side, to guarantee the rigidity of support.
According to the present embodiment, the second sliding unit 703 is provided with installation portion, for swelling device being installed to crawler type machine
On the sole of device people.Such as, installation portion can be the through hole being opened in the framework of the second sliding unit 703, bolt
Through through hole so that the second sliding unit 703 is fixed on the sole of robot.
First regulation unit 706 is arranged on the other end contrary with one end on the first sliding unit 702, and first adjusts
The outer surface of joint unit 706 is formed with external screw thread.Receiving is offered in the second framework side contrary with the first framework side of framework
The through hole of the second regulation unit 705.Arrange in through hole female thread formed second regulation unit 705 or the second framework side with
Nut is installed to form described second regulation unit 705 in the position that described through hole is relative.First regulation unit 706 and second
Regulation unit 705 is threaded.Lock cell 707 is arranged on the first regulation unit 706 outside and the first regulation unit 705
Threaded, in order to lock the first regulation unit the 706, first sliding unit 702 and position of expansion tightening wheel 8.
Preferably, the first regulation unit 706 is screw rod, and the second regulation unit 705 is nut, is fixedly mounted on the second frame
Side is corresponding with the position of the through hole allowing described first regulation unit to stretch out towards the side of expansion tightening wheel, and described locking is single
Unit 707 is locking nut, is arranged on the periphery of screw rod, and is positioned at screw rod and stretches out the periphery of the second frame bodyside portions.
After robot uses a period of time, crawler belt can be elongated, when crawler belt elongated slack and undisciplined time, first by locking nut rotate
To away from the second framework side, then using spanner rotary screw, screw rod promotes the first sliding unit 72 with expansion tightening wheel 8 forward
Top crawler belt, until track tensioning is to appropriate level, stop the rotation screw rod, spin locking nut, props up the to lock nut
During two framework sides locked, it is achieved tensioner regulate.
Support means 701 is arranged on one end of the first sliding unit 702, and is configured with against the first sliding unit 702
One end and the supporting part paralleled with the glide direction of the first sliding unit 702.When the first sliding unit 702 relative to
When second sliding unit 703 slides, support means 701 can make one end of the first sliding unit 702 will not fill to supporting
Put the side deflection at 701 places.As it is shown in figure 1, one end that support means 701 limits the first sliding unit 702 is downward
Motion, so that it is guaranteed that swelling device consolidates.It is provided with assembled portion, for by support means 701 in support means 701
It is arranged on the sole of caterpillar type robot.Such as, assembled portion can be the through hole being opened in support means 701,
Bolt passes through hole support means 701 to be fixed on the sole of robot.
According to the present embodiment, one end of the first sliding unit 702 be provided be connected with the first sliding unit 702 axle and against
The roller of support means 701, when the first sliding unit 702 slides relative to the second sliding unit 703, roller is along propping up
Support part rolls.By this way, the frictional force between the first sliding unit 702 and supporting part is reduced so that convenient to operate
Swelling device.
According to the present embodiment, the other end of the first sliding unit 702 is provided with stop part 704, and stop part 704 is from first
The outwardly projection of sliding unit 702.By this way, when stop part 704 contacts with baffle plate, it is possible to stop
First sliding unit 702 continues to slide relative to the second sliding unit 703, so that it is guaranteed that the first sliding unit 702 will not
Deviate from from the second sliding unit 703.
Embodiment two
As shown in Figure 4, bogie assemblies includes wheel shaft 506 and two wheel bodys 501.
Wheel shaft 506 is connected directly or indirectly with robot sole.The center of wheel body 501 is provided with and accommodates wheel shaft 506
Centre bore, wheel body 501 is arranged on wheel shaft 506 by centre bore.It is provided with in centre bore for supporting wheel shaft 506
Bearing 504.Preferably, wheel body 501 is made up of superhigh molecular weight polyethylene material, and this kind of wheel body not only has excellent
Wearability and resistance to impact, also have excellent self lubricity and non-sticky property.
As shown in Figure 4, wheel body 501 also includes bearing limiting component 507, bearing gland 503 and wheel body strengthening part 502.
Bearing limiting component 507 is arranged on first side 509 towards wheel shaft 506 of wheel body 501, and at least partly position
In centre bore.Bearing limiting component 507 leans with one end of bearing 504, for limiting bearing 504 at wheel shaft
Axial position in 506 so that bearing 504 will not take off along the direction of first side 509 of from centre bore to wheel shaft 506
Go out.
Bearing gland 503 is arranged on the second side 510 of the wheel shaft dorsad 506 of wheel body 501, and is at least partially disposed at
In central hole.Bearing gland 503 leans with the other end of bearing 504, for limiting bearing 504 in wheel shaft 506
Axial location so that bearing 504 will not along from centre bore to wheel shaft 506 the second side 510 direction abjection.Additionally,
Bearing gland 503 can also block centre bore.
Wheel body strengthening part 507 is more than the parts of the intensity of wheel body 501 for intensity.Wheel body strengthening part 507 is arranged on wheel
First side 509 of body 501, and bearing gland 503 is by strengthening through the fixed component 508 of wheel body 501 and wheel body
Parts 507 connect.Fixed component 508 itself is connected with wheel body strengthening part 507 rather than wheel body 501 so that work as wheel
When body is connected with bearing gland, it is to avoid beat screwed hole on the wheel body of superhigh molecular weight polyethylene material.This one side energy
Enough improve the intensity of wheel body；On the other hand, prevent from causing by bigger side force when thrust wheel is turned is threaded
Lost efficacy the problem dropped with bearing gland, and reduces the use fault rate of robot.
According to the present embodiment, wheel body strengthening part 502 is an endless metal set.Endless metal set is embedded into wheel body 501
First side 509, and concordant with the first side 509 of wheel body 501.Such as, by impact style, metallic sheath is embedded into wheel
In body 501.Wheel body strengthening part 502 does not affect the external shape of wheel body 501.Preferably, the first side of wheel body 501
509 positions corresponding with endless metal set are provided with annular groove, and endless metal is set in groove.Such as, annular
Metallic sheath is by being adhesively secured in the groove of wheel body 501.
According to the present embodiment, endless metal puts and is provided with the first installation portion, and bearing gland 503 is provided with the second installation portion,
First installation portion and the second installation portion are connected by fixed component 508, endless metal set and bearing gland 503 to be connected
Together.
According to the present embodiment, fixed component 508 is screw, and the first installation portion is screwed hole, and the second installation portion is peace
Dress hole.Such as, installing hole is unthreaded hole or sets female hole.Wheel body 1 is provided with the through hole allowing screw to pass.
Screw is threadeded through installing hole, through hole with screwed hole, thus bearing gland 503 and endless metal set are connected as one
Body, to improve the intensity of wheel body.
According to the present embodiment, bearing limiting component 507 is the limited step in centrally disposed hole, and centre bore is near wheel body
The diameter of first side 509 of 501 forms limiting stand less than the diameter of the first side 509 away from wheel body 501, diameter sudden change
Rank.One end of bearing 504 is resisted against on limited step to realize the location of bearing 4.According to the present embodiment, bearing is spacing
Parts 507 form as one with wheel body 1, as shown in Figure 4.
According to the present embodiment, at least two bearing 504 is set in centre bore.End ring 505 is set between adjacent bearing,
When preventing from operating, bearing 504 weares and teares mutually.Moreover it is preferred that also be provided with axle between bearing 504 and bearing gland 503
Terminal block circle.
According to the present embodiment, wheel body strengthening part 502 is an endless metal set, and wherein, endless metal set embeds wheel body 501
The first side 509, concordant with the first side 509 of wheel body 1, and endless metal set inner ring diameter less than centre bore straight
Footpath so that the step that inner ring and centre bore are formed constitutes bearing limiting component 507.Wheel body strengthening part 502 limits with bearing
Position parts 507 are integrally provided, the processing in center of reduction hole.
The service life of the wheel body being provided with the robot of above-described bogie assemblies is long, the use fault rate of robot
Low.
Fig. 2 and Fig. 3 illustrates the side view of the wheel body 1 according to the present embodiment.
The above is only presently preferred embodiments of the present invention, and the present invention not makees any pro forma restriction, although
The present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people being familiar with this patent
Member is in the range of without departing from technical solution of the present invention, when the technology contents of available above-mentioned prompting makes a little change or modification
For the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technology according to the present invention is real
Any simple modification, equivalent variations and the modification that confrontation above example is made, all still falls within the range of the present invention program.
Claims (10)
1. a fire-fighting robot, it is characterised in that including:
Sole, is used for carrying and connecting all parts；
Fire water monitor, is arranged on sole, for ejecting extinguishing medium；
Bogie assemblies, is arranged on below sole, is used for supporting complete vehicle quality；
Driving wheel, is arranged on sole anterior, and is positioned at the top of bogie assemblies, is used for exporting power；
Expansion tightening wheel, is arranged on sole rear portion, and is positioned at the top of bogie assemblies；
Crawler belt, is arranged on driving wheel, bogie assemblies and expansion tightening wheel, for power transmission；
Swelling device, is arranged on sole, is used for promoting expansion tightening wheel to regulate crawler belt tighting；
Power set, are arranged on sole, for providing power for driving wheel；
Electric control gear, is arranged on sole, for detection, communication and the control of robot.
A kind of fire-fighting robot the most according to claim 1, it is characterised in that described bogie assemblies includes
Multiple, it is mounted at least the front portion below sole, middle part and rear portion.
A kind of fire-fighting robot the most according to claim 1 and 2, it is characterised in that below described sole
Front and rear is separately installed with the first bogie assemblies, and the middle part below sole is provided with the second bogie assemblies；Institute
The first bogie assemblies stated includes that the first thrust wheel, the second bogie assemblies include the second thrust wheel, the first thrust wheel
External diameter is more than the external diameter of the second thrust wheel.
A kind of fire-fighting robot the most according to claim 1, it is characterised in that described electric control gear includes electricity
Control case and be arranged in electric cabinet:
Battery, for providing electric power for fire-fighting robot electrical equipment；
Radar avoidance sensor, for detecting the barrier encountered in traveling process；
Temperature sensor, is used for detecting electric cabinet inside and working site temperature；
Communication device, controls end for data and the image information real-time Transmission detected by sensor to robot；
Central processing unit, for gathering and the data of transmission sensor detection, receives and sends instruction and control the fortune of robot
Dynamic；
Power set driver, for controlling the work of power set.
A kind of fire-fighting robot the most according to claim 4, it is characterised in that electric cabinet is by back-fire relief, resistance to height
The inside that adiabator is made has hollow chamber's casing.
A kind of fire-fighting robot the most according to claim 1, it is characterised in that described fire water monitor includes using
In fire-fighting fire extinguishing main jet head and for robot from spray from spray nozzle.
A kind of fire-fighting robot the most according to claim 6, it is characterised in that the water inlet pipe of described fire water monitor
Upper installation threeway, two outlets of threeway are respectively communicated with main jet head and from spray nozzle；Described includes from spray nozzle
Each positions that are multiple, that be distributed on sole.
A kind of fire-fighting robot the most according to claim 1, it is characterised in that also include attitude detecting sensor,
For real-time monitoring robot vehicle body attitude.
A kind of fire-fighting robot the most according to claim 8, it is characterised in that described attitude detecting sensor
For inclinator, the inclinator inclination angle by measuring robots relative level, it is judged that whether job site meets fire water monitor
Trouble free service requirement.
10. the control method of fire-fighting robot as described in claim 1-9 any one, it is characterised in that remotely
Control end carries out communication with fire-fighting robot and is connected, and remote control terminal controls fire-fighting robot and starts and enter fire-fighting work district
Territory, fire-fighting robot by sensor detection data and gather image and be sent to remote control terminal, remote control terminal according to
Data and image send dependent instruction to fire-fighting robot after being analyzed, and fire-fighting robot receives instruction and performs corresponding dynamic
Make.
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| CN105944257B CN105944257B (en) | 2020-07-10 |
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| CN111544813A (en) * | 2020-05-14 | 2020-08-18 | 青岛理工大学 | Intelligent fire extinguishing robot |
| CN114010999A (en) * | 2021-10-27 | 2022-02-08 | 镇江同舟螺旋桨有限公司 | Obstacle crossing structure of self-walking fire-extinguishing robot |
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| CN105944257B (en) | 2020-07-10 |
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