CN105944257B - Fire-fighting robot and control method thereof - Google Patents
Fire-fighting robot and control method thereof Download PDFInfo
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- CN105944257B CN105944257B CN201610091164.9A CN201610091164A CN105944257B CN 105944257 B CN105944257 B CN 105944257B CN 201610091164 A CN201610091164 A CN 201610091164A CN 105944257 B CN105944257 B CN 105944257B
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- 238000005507 spraying Methods 0.000 claims abstract description 24
- 241000876443 Varanus salvator Species 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 239000007921 spray Substances 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000003063 flame retardant Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 description 14
- 230000003014 reinforcing effect Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 6
- 210000004907 gland Anatomy 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 3
- 239000004699 Ultra-high molecular weight polyethylene Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 229920000785 ultra high molecular weight polyethylene Polymers 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
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- 230000003211 malignant effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The invention provides a fire-fighting robot and a control method thereof, wherein the fire-fighting robot comprises: the chassis frame is used for bearing and connecting various components; the fire water monitor is arranged on the chassis frame and used for spraying fire extinguishing medium; the thrust wheel assembly is arranged below the chassis frame and used for supporting the mass of the whole vehicle; the driving wheel is arranged at the front part of the chassis frame and is positioned above the thrust wheel assembly and used for outputting power; the tensioning wheel is arranged at the rear part of the chassis frame and is positioned above the supporting wheel assembly; the crawler belt is arranged on the driving wheel, the thrust wheel assembly and the tension wheel and is used for power transmission; the tensioning device is arranged on the chassis frame and used for pushing the tensioning wheel to adjust the tightness of the crawler; the power device is arranged on the chassis frame and used for providing power for the driving wheels; and the electric control device is arranged on the chassis frame and used for detecting, communicating and controlling the robot. The fire-fighting robot has a more stable overall structure and better passing performance and working performance.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a fire-fighting robot and a control method thereof.
Background
With the development of science and technology, robots are increasingly appearing in people's lives to replace people to do some work, and for some work with relatively high danger degree, the robots are more advantageous.
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The fire-fighting robots increasingly replace firefighters to enter a fire scene for fire fighting, the actual combat capability of fire-fighting troops for extinguishing extremely-large malignant fire is obviously improved, and the fire-fighting robots play an important role in reducing national property loss and casualties of fire-fighting rescue workers.
However, the environment and the terrain of a fire scene are complex, and the existing fire-fighting robot has poor adaptability to the complex terrain of the fire scene, so that the popularization and the use of the fire-fighting robot are limited to a great extent.
The invention aims to provide a fire-fighting robot for extinguishing fire, which solves the problems of weak fire-fighting capacity and low intelligent degree of the existing fire-fighting equipment.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to solve the above problems, a first object of the present invention is to provide a fire-fighting robot, specifically, the following technical solutions are adopted:
a fire fighting robot comprising:
the chassis frame is used for bearing and connecting various components;
the fire water monitor is arranged on the chassis frame and used for spraying fire extinguishing medium;
the thrust wheel assembly is arranged below the chassis frame and used for supporting the mass of the whole vehicle;
the driving wheel is arranged at the front part of the chassis frame and is positioned above the thrust wheel assembly and used for outputting power;
the tensioning wheel is arranged at the rear part of the chassis frame and is positioned above the supporting wheel assembly;
the crawler belt is arranged on the driving wheel, the thrust wheel assembly and the tension wheel and is used for power transmission;
the tensioning device is arranged on the chassis frame and used for pushing the tensioning wheel to adjust the tightness of the crawler;
the power device is arranged on the chassis frame and used for providing power for the driving wheels;
and the electric control device is arranged on the chassis frame and used for detecting, communicating and controlling the robot.
Further, the thrust wheel assembly comprises a plurality of wheels, at least a front part, a middle part and a rear part which are arranged below the chassis frame.
Furthermore, a first supporting wheel assembly is respectively arranged at the front part and the rear part below the chassis frame, and a second supporting wheel assembly is arranged in the middle part below the chassis frame; the first supporting wheel assembly comprises a first supporting wheel, the second supporting wheel assembly comprises a second supporting wheel, and the outer diameter of the first supporting wheel is larger than that of the second supporting wheel.
Further, the electric control device comprises an electric cabinet and a controller arranged in the electric cabinet:
the battery is used for providing power for the fire-fighting robot electrical element;
the radar obstacle avoidance sensor is used for detecting obstacles encountered in the advancing process;
the temperature sensor is used for detecting the temperature inside the electric cabinet and on the working site;
the communication device is used for transmitting the data and the image information detected by the sensor to the robot control end in real time;
the central processing unit is used for collecting and transmitting data detected by the sensor, and receiving and sending instructions to control the movement of the robot;
and the power device driver is used for controlling the work of the power device.
Furthermore, the electric cabinet is a box body which is made of fire retardant and high temperature resistant materials and is internally provided with a hollow cavity.
Furthermore, the fire water monitor comprises a main nozzle for fire extinguishing and an automatic spraying nozzle for robot automatic spraying.
Furthermore, a tee joint is arranged on a water inlet pipe of the fire water monitor, and two water outlets of the tee joint are respectively communicated with the main spray head and the self-spraying spray head; the self-spraying spray head comprises a plurality of spray heads which are uniformly distributed at each part on the chassis frame.
Further, the robot comprises an attitude detection sensor for monitoring the attitude of the robot body in real time.
Furthermore, the attitude detection sensor is an inclinometer, and the inclinometer judges whether the working site meets the safe working requirement of the fire water monitor or not by detecting the inclination angle of the robot relative to the horizontal plane.
The second invention of the present invention is to provide a control method for a fire-fighting robot, specifically, the following technical solutions are adopted:
according to the control method of the fire-fighting robot, the remote control end is in communication connection with the fire-fighting robot, the remote control end controls the fire-fighting robot to start and enter a fire-fighting working area, the fire-fighting robot detects data and collects images through the sensor and sends the images to the remote control end, the remote control end analyzes the data and the images and sends related instructions to the fire-fighting robot, and the fire-fighting robot receives the instructions to execute corresponding actions.
According to the fire-fighting robot, a crawler belt, a driving wheel, a supporting wheel assembly, a tension wheel, a tension device, a power device and an electric control device are assembled on a chassis frame to form an intelligent motion chassis carrying a fire-fighting water cannon, the chassis motion is controlled through a control system, and in the process of traveling, obstacles on the traveling path of the robot are monitored in real time through a radar obstacle avoidance sensor and image data in front of the robot, so that the robot is ensured to safely reach a fire-fighting operation site, and the passing performance of the robot is improved; after the robot arrives at the operation site, the current posture of the robot is monitored in real time through the posture sensor, whether the current operation site meets the safe working requirement of the fire water monitor or not is ensured, and the working performance of the robot is improved.
Therefore, the fire-fighting robot has a more stable overall structure, realizes advancing and working by matching with the electric control device, and has better passing performance and working performance.
The control method of the fire-fighting robot receives the real-time transmission data and images of the fire-fighting robot through the remote control end, realizes the instruction control of the fire-fighting robot, is simple and effective, and greatly improves the adaptability of the fire-fighting robot to fire scene.
Drawings
Fig. 1 is a schematic structural view of a fire fighting robot of the present invention.
Fig. 2 is a plan view of the fire fighting robot of the present invention.
Fig. 3 is a schematic structural view of a tensioning device of the fire-fighting robot.
Fig. 4 is a sectional view of a bogie wheel assembly of the fire fighting robot according to the present invention.
Fig. 5 is a side view of the bogie wheel assembly of the fire fighting robot of the present invention.
Fig. 6 is another side view of the bogie wheel assembly of the fire fighting robot according to the present invention.
Detailed Description
A fire fighting robot and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a fire fighting robot includes:
a chassis frame 2 for carrying and connecting various components;
the fire water monitor 1 is arranged on the chassis frame 2 and is used for spraying fire extinguishing medium;
the thrust wheel assembly 5 is arranged below the chassis frame 2 and used for supporting the mass of the whole vehicle;
the driving wheel 4 is arranged at the front part of the chassis frame 2 and is positioned above the thrust wheel assembly 5 and used for outputting power;
the tension wheel 8 is arranged at the rear part of the chassis frame 2 and is positioned above the supporting wheel assembly 5;
the crawler 3 is arranged on the driving wheel 4, the supporting wheel assembly 5 and the tension wheel 8 and is used for power transmission;
the tensioning device 7 is arranged on the chassis frame 2 and used for pushing the tensioning wheel 8 to adjust the tightness of the crawler;
the power device 9 is arranged on the chassis frame 2 and used for providing power for the driving wheel 4;
and the electric control device 11 is arranged on the chassis frame 2 and is used for detecting, communicating and controlling the robot.
The fire-fighting robot can replace people to play a fire extinguishing role in a fire disaster, and casualties are reduced.
The chassis frame 2 of the present invention is a frame structure made of a metal plate material, and various devices can be carried on the chassis frame. Therefore, the chassis frame needs to be made of high-strength metal plates and has high-temperature resistance so as to adapt to the environment of a fire scene.
As a preferred embodiment of the present invention, the bogie wheel assembly 5 includes a plurality of wheels installed at least at the front, middle and rear portions below the chassis frame 2. The plurality of thrust wheel assemblies are arranged, so that the bearing capacity of each thrust wheel assembly is reduced, and the working condition of each thrust wheel assembly is more stable. In addition, the bogie wheel assemblies 5 are mounted at the front, middle and rear portions below the chassis frame 2, so that the entire lower portion of the chassis frame 2 can be effectively supported.
Furthermore, a first supporting wheel assembly is respectively arranged at the front part and the rear part below the chassis frame, and a second supporting wheel assembly is arranged in the middle part below the chassis frame; the first supporting wheel assembly comprises a first supporting wheel, the second supporting wheel assembly comprises a second supporting wheel, and the outer diameter of the first supporting wheel is larger than that of the second supporting wheel.
The outer diameter of the first thrust wheel is larger than that of the second thrust wheel, so that the first thrust wheel assembly is a main supporting member, and the second thrust wheel assembly is an auxiliary thrust wheel assembly. The first supporting wheel assembly plays a main supporting role and ensures the stability of the support. The second thrust wheel assembly carries out auxiliary supporting at the position that first thrust wheel assembly can't support, can reduce holistic cost on the one hand, and on the other hand compares with the miniaturization of discharge capacity robot automobile body more.
As a preferred embodiment of the present invention, the electric control device 11 of the present invention includes an electric control box and, disposed inside the electric control box:
the battery is used for providing power for the fire-fighting robot electrical element;
the radar obstacle avoidance sensor is used for detecting obstacles encountered in the advancing process;
the temperature sensor is used for detecting the temperature inside the electric cabinet and in a working site;
the communication device is used for transmitting the data and the image information detected by the sensor to the robot control end in real time;
the central processing unit is used for collecting and transmitting data detected by the sensor, and receiving and sending instructions to control the movement of the robot;
and the power device driver is used for controlling the work of the power device.
The electric control device 11 of the invention is the heart of the fire-fighting robot, and plays a role in detecting the environment condition in real time on one hand, and plays a role in receiving and executing data communication and commands on the other hand. Therefore, the electric control device has higher integration level and is provided with a barrier system, and the electric control device can automatically turn or stop when the front side has an obstacle.
The electric cabinet is also internally provided with a high-temperature alarm system. When the automobile body closes to the work in the scene of a fire, high temperature alarm system inspects the inside temperature of electric cabinet in real time to high temperature alarm system can report to the police when inside temperature closes to safe temperature, in order to protect electronic components.
Furthermore, the electric cabinet is a box body which is made of fire retardant and high temperature resistant materials and is internally provided with a hollow cavity. The electric cabinet provides effective guarantee for various devices arranged in the electric cabinet, and when the electric cabinet enters a fire scene, the robot can be ensured to work normally.
As a preferred embodiment of the invention, the fire water monitor 1 comprises a main nozzle for fire extinguishing and an automatic spraying nozzle for robot self-spraying. The fire-fighting nozzle disclosed by the invention can realize spraying on the robot while extinguishing fire, so that the robot is prevented from catching fire on the fire scene.
Specifically, a tee joint is arranged on a water inlet pipe of the fire water monitor 1, and two water outlets of the tee joint are respectively communicated with a main spray head and an automatic spraying spray head; the self-spraying spray head comprises a plurality of spray heads which are uniformly distributed at each part on the chassis frame. According to the invention, the self-spraying nozzles are arranged at all positions on the chassis frame, so that the fire-fighting robot can realize the self-spraying effect integrally, and the robot is prevented from catching fire to the maximum extent.
Place the electron hydrostatic pressure meter on the fire water monitor 1, the water pressure of showing fire water monitor 1 in real time on the remote controller avoids causing the automobile body to slide because the too big recoil of fire water monitor 1 that leads to of water pressure.
In addition, through adjusting structural rational design, make fire water monitor 1 leading through focus adjustment, increase the security of during operation.
As a preferred embodiment of the present invention, the fire-fighting robot further includes an attitude detection sensor 12 for monitoring the attitude of the robot body in real time.
Specifically, the attitude detection sensor is an inclinometer, and the inclinometer judges whether the working site meets the safe working requirements of the fire water monitor or not by detecting the inclination angle of the robot relative to the horizontal plane. The fire-fighting robot is provided with the inclinometer, so that the posture of the vehicle body can be checked, and an operator is reminded when the vehicle body is close to the tipping angle, so that the danger is avoided.
The preparation work of the fire-fighting robot before working is that ① fully fills the battery power in the electric cabinet, and ② starts a central power switch of the fire-fighting robot.
The operation process of the fire-fighting robot comprises the following steps: after the preparation work is finished, starting a real-time monitoring picture of the remote control end, transmitting the real-time picture shot by the camera to the remote control end through wireless transmission, sending an instruction from the remote control end by an operator according to a traveling route, transmitting a signal command to a central processing unit of the fire-fighting robot through a wireless data transmission system, controlling a power device driver to start, controlling the power device driver to control a power device 9 to operate, driving two driving wheels by the power device 9 respectively, and enabling the operator to move forward and backward by the fire-fighting robot.
The direction of the operating handle is controlled to control the power unit driver.
When the fire water monitor reaches the designated position, the stop button on the operating handle controls the power device driver to stop, and the operator judges whether to carry out the spraying action of the fire water monitor according to the field condition in the real-time monitoring picture. If the spraying operation is needed, the fire water monitor is operated through a fire water monitor control button on the operating handle, an operating command is transmitted to a central processing unit of the fire-fighting robot through a wireless transmission system by a remote control end, and the central processing unit controls the spraying rotation angle and the pitching angle of the fire water monitor. Through the monitoring of the real-time monitoring picture, after the position is proper, an operator sends a starting command through the operating handle. And meanwhile, the self-spraying is started, water flow is divided from the water inlet of the fire water monitor through the tee joint, and the water flow passes through the hose and the hard pipe to the plurality of spray heads to cool the vehicle body.
After the fire is extinguished, the control handle is operated by an operator to stop spraying, and meanwhile, the self-spraying is stopped.
The control system comprises:
the fire-fighting robot is operated by a fire fighter through remote control, the radar obstacle avoidance sensor reminds an operator of the road condition in front of the robot by detecting obstacles in front of the robot in the traveling process, and the operator is assisted to complete the safe operation of the robot by combining images of a front camera.
The attitude sensor judges whether the current working place meets the safe working requirement of the water cannon or not by monitoring the inclination angle of the current robot relative to the horizontal plane in real time, and prevents the robot from tilting accidents caused by overlarge recoil in the working process of the water cannon.
The temperature sensor sends out a high-temperature alarm by acquiring the internal temperature of the robot and the fire site temperature in real time, and controls the work of the self-spraying cooling system.
The invention provides a control method of the fire-fighting robot, wherein a remote control end is in communication connection with the fire-fighting robot, the remote control end controls the fire-fighting robot to start and enter a fire-fighting working area, the fire-fighting robot detects data and acquires images through a sensor and sends the images to the remote control end, the remote control end sends related instructions to the fire-fighting robot after analyzing the data and the images, and the fire-fighting robot receives the instructions to execute corresponding actions.
Example one
As shown in fig. 3, the tension wheel 8 presses against the track 3, and the track 3 is tensioned by moving the tension wheel 8 away from the robot chassis frame.
One end of the first sliding unit 702 is connected to the center of the tension roller 8 through a rotating shaft. When the robot travels, the tension wheel 8 is driven to rotate around the rotating shaft through friction between the crawler 3 and the tension wheel 8. In addition, when the first sliding unit 702 moves, the tension roller 8 can move together with the first sliding unit 702. According to the present embodiment, the first sliding unit 702 may be formed with a cylindrical outer surface.
The second sliding unit 703 is fitted over the first sliding unit 702 and is slidably engaged with the first sliding unit 702. The first sliding unit 702 can slide in the second sliding unit 703 relative to the second sliding unit 703, so as to drive the tension roller 8 to move together. According to this embodiment, the second sliding unit 703 is configured as a bracket, preferably a rectangular bracket. The support includes framework and a plurality of baffles of interval parallel arrangement in the framework. For example, as shown in fig. 3, the number of baffles is one. The shutter is formed with a through hole (e.g., a circular through hole) for receiving the first sliding unit 702. A through hole (for example, a circular through hole) for accommodating the first slide unit 702 is also opened in the first frame side of the frame facing one end of the first slide unit 702. Preferably, a through hole is opened at a middle lower portion of the baffle and the first frame side to ensure rigidity of the bracket. According to this embodiment, the second sliding unit 703 is provided with a mounting portion for mounting the tensioner to a chassis frame of the tracked robot. For example, the mounting portion may be a through hole opened on the frame of the second sliding unit 703, and a bolt is passed through the through hole to fix the second sliding unit 703 to the chassis frame of the robot.
The first adjusting unit 706 is installed at the other end opposite to the one end on the first sliding unit 702, and an outer surface of the first adjusting unit 706 is formed with an external thread. A through hole for accommodating the second adjustment unit 705 is provided on a second housing side of the housing opposite to the first housing side. The through hole is internally provided with a female screw to form the second adjusting unit 705 or a nut is mounted at a position opposite to the through hole on the side of the second frame to form the second adjusting unit 705. The first adjusting unit 706 is screw-coupled with the second adjusting unit 705. The locking unit 707 is installed outside the first adjusting unit 706 and is in threaded connection with the first adjusting unit 705 to lock the positions of the first adjusting unit 706, the first sliding unit 702 and the tension roller 8.
Preferably, the first adjusting unit 706 is a screw, the second adjusting unit 705 is a nut, and is fixedly installed on a side of the second frame facing the tension roller, and corresponds to a position of the through hole allowing the first adjusting unit to extend out, and the locking unit 707 is a lock nut, and is installed on an outer circumference of the screw and located on an outer circumference of a portion of the screw that extends out of the second frame.
When the robot is used for a period of time, the track can be lengthened, when the track is lengthened and loosened, the locking nut is firstly rotated to a position far away from the second frame body side, then the screw rod is rotated by the wrench, the screw rod pushes the first sliding unit 72 and the tension wheel 8 to push the track forwards until the track is tensioned to a proper degree, the screw rod stops rotating, the locking nut is rotated, and the locking nut is locked until the locking nut abuts against the second frame body side, so that tensioning adjustment is realized.
The supporting device 701 is provided at one end of the first sliding unit 702, and is configured with a supporting portion that abuts against one end of the first sliding unit 702 and is parallel to the sliding direction of the first sliding unit 702. When the first sliding unit 702 slides relative to the second sliding unit 703, the supporting device 701 can prevent one end of the first sliding unit 702 from being inclined to the side where the supporting device 701 is located. As shown in fig. 1, the supporting device 701 limits the downward movement of one end of the first sliding unit 702, thereby ensuring the stability of the tensioning device. The supporting device 701 is provided with an assembling part for mounting the supporting device 701 on a chassis frame of the tracked robot. For example, the assembling portion may be a through hole opened on the support device 701, and a bolt is passed through the through hole to fix the support device 701 to a chassis frame of the robot.
According to the present embodiment, one end of the first sliding unit 702 is provided with a roller connected to the first sliding unit 702 and abutting against the supporting device 701, and the roller rolls along the supporting portion when the first sliding unit 702 slides with respect to the second sliding unit 703. In this way, the frictional force between the first sliding unit 702 and the supporting portion is reduced, so that the operation of the tensioner is facilitated.
According to the present embodiment, the other end of the first sliding unit 702 is provided with a stopper 704, and the stopper 704 protrudes outward from the outer surface of the first sliding unit 702. In this way, when the stopper 704 comes into contact with the shutter, the first sliding unit 702 can be blocked from continuing to slide relative to the second sliding unit 703, thereby ensuring that the first sliding unit 702 does not come out of the second sliding unit 703.
Example two
As shown in fig. 4, the bogie wheel assembly includes an axle 506 and two wheels 501.
The axle 506 is connected to the robot chassis frame directly or indirectly. The wheel body 501 has a central hole in its center for receiving the axle 506, and the wheel body 501 is mounted on the axle 506 through the central hole. A bearing 504 for supporting an axle 506 is mounted in the central bore. Preferably, the wheel body 501 is made of an ultra-high molecular weight polyethylene material, which has not only excellent wear resistance and impact resistance, but also excellent self-lubricity and non-stick properties.
As shown in fig. 4, the wheel body 501 further includes a bearing limiting part 507, a bearing gland 503 and a wheel body reinforcing part 502.
A bearing stop feature 507 is provided on a first side 509 of the wheel body 501 facing the axle 506 and is at least partially located within the central bore. A bearing stop 507 abuts an end of the bearing 504 for limiting the axial position of the bearing 504 in the axle 506 such that the bearing 504 does not come out in a direction from the central bore to the first side 509 of the axle 506.
A bearing cover 503 is disposed on a second side 510 of the wheel body 501 facing away from the axle 506 and is at least partially located within the central bore. A bearing gland 503 abuts the other end of the bearing 504 for limiting the axial position of the bearing 504 in the axle 506 such that the bearing 504 does not come out in a direction from the central bore to the second side 510 of the axle 506. In addition, the bearing gland 503 can also seal off the center hole.
The wheel body reinforcing member 507 is a member having a strength greater than that of the wheel body 501. A wheel reinforcing member 507 is provided on a first side 509 of the wheel 501, and the bearing cover 503 is connected to the wheel reinforcing member 507 by a fixing member 508 passing through the wheel 501. The fixing part 508 is connected to the wheel body reinforcing part 507 rather than the wheel body 501 itself, so that when the wheel body is connected to the bearing gland, a threaded hole is prevented from being formed in the wheel body made of the ultra-high molecular weight polyethylene material. On the one hand, the strength of the wheel body can be improved; on the other hand, the problems of screw connection failure and bearing gland dropping caused by a large lateral force when the bogie wheel turns are prevented, and the use failure rate of the robot is reduced.
According to this embodiment, the wheel body stiffening member 502 is an annular metal sleeve. The annular metal sleeve is embedded in the first side 509 of the wheel body 501 and is flush with the first side 509 of the wheel body 501. For example, a metal sleeve is embedded in the wheel body 501 by stamping. The wheel body reinforcing member 502 does not affect the outer shape of the wheel body 501. Preferably, the first side 509 of the wheel body 501 is provided with an annular groove at a position corresponding to the annular metal sleeve, and the annular metal sleeve is disposed in the groove. For example, an annular metal sleeve is secured by bonding to a recess in wheel body 501.
According to the present embodiment, a first mounting portion is provided on the annular metal sleeve, and a second mounting portion is provided on the bearing cover 503, and the first mounting portion and the second mounting portion are connected by a fixing member 508 to connect the annular metal sleeve and the bearing cover 503 together.
According to the present embodiment, the fixing member 508 is a screw, the first mounting portion is a threaded hole, and the second mounting portion is a mounting hole. For example, the mounting hole is a light hole or a hole provided with an internal thread. The wheel body 1 is provided with a through hole for allowing a screw to pass through. The screws penetrate through the mounting holes and the through holes to be in threaded connection with the threaded holes, so that the bearing gland 503 and the annular metal sleeve are connected into a whole, and the strength of the wheel body is improved.
According to the embodiment, the bearing limiting part 507 is a limiting step arranged in a central hole, the diameter of the central hole close to the first side 509 of the wheel body 501 is smaller than the diameter of the central hole far from the first side 509 of the wheel body 501, and the diameter changes suddenly to form the limiting step. One end of the bearing 504 abuts against the limit step to achieve the positioning of the bearing 4. According to the present embodiment, the bearing stopper 507 is integrally formed with the wheel body 1, as shown in fig. 4.
According to this embodiment, at least two bearings 504 are disposed within the central bore. A bearing retainer ring 505 is arranged between adjacent bearings to prevent the bearings 504 from being worn away from each other during operation. Furthermore, an axial end stop is preferably also provided between the bearing 504 and the bearing cover 503.
According to this embodiment, the wheel body reinforcing member 502 is an annular metal sleeve, wherein the annular metal sleeve is embedded in the first side 509 of the wheel body 501 and is flush with the first side 509 of the wheel body 1, and the diameter of the inner ring of the annular metal sleeve is smaller than that of the central hole, so that the step formed by the inner ring and the central hole forms the bearing limiting member 507. The wheel body reinforcing member 502 and the bearing stopper member 507 are provided integrally, and the processing of the center hole is simplified.
Install above the wheel body of the robot of thrust wheel subassembly long service life, the use fault rate of robot is low.
Fig. 2 and 3 show side views of the wheel body 1 according to the present embodiment.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A fire fighting robot, comprising:
the chassis frame is used for bearing and connecting various components;
the fire water monitor is arranged on the chassis frame and used for spraying fire extinguishing medium;
the thrust wheel assembly is arranged below the chassis frame and used for supporting the mass of the whole vehicle;
the driving wheel is arranged at the front part of the chassis frame and is positioned above the thrust wheel assembly and used for outputting power;
the tensioning wheel is arranged at the rear part of the chassis frame and is positioned above the supporting wheel assembly;
the crawler belt is arranged on the driving wheel, the thrust wheel assembly and the tension wheel and is used for power transmission;
the tensioning device is arranged on the chassis frame and used for pushing the tensioning wheel to adjust the tightness of the crawler;
the power device is arranged on the chassis frame and used for providing power for the driving wheels;
an electric control device arranged on the chassis frame and used for the detection, communication and control of the robot, wherein,
the tensioning device comprises
A first sliding unit having one end connected to the center of the tension roller through a rotating shaft, the tension roller being configured to be rotatable about the rotating shaft and movable together with the first sliding unit;
the second sliding unit is sleeved outside the first sliding unit and is in sliding fit with the first sliding unit, the second sliding unit is provided with an installation part for installing the tensioning device on the crawler-type robot, the second sliding unit is constructed into a support, the support comprises a frame body and a plurality of baffle plates which are arranged in parallel at intervals in the frame body, and a through hole for accommodating the first sliding unit is formed in the first frame body side of one end, facing the first sliding unit, of the frame body;
a first adjusting unit installed at the other end of the first sliding unit opposite to the one end and formed with an external thread, and the first adjusting unit at least partially protrudes out of the second sliding unit to adjust the position of the first sliding unit;
the second adjusting unit is formed by arranging a through hole for accommodating the second adjusting unit on the side of a second frame body of the frame body opposite to the side of the first frame body, and arranging internal threads in the through hole for accommodating the second adjusting unit or arranging a nut at a position, opposite to the through hole for accommodating the second adjusting unit, of the second frame body side;
a locking unit installed outside the first adjusting unit and in threaded connection with the first adjusting unit for locking positions of the first adjusting unit, the first sliding unit and the tension pulley, and
and a support device provided at one end of the first sliding unit and configured with a support portion abutting against the one end of the first sliding unit and being parallel to a sliding direction of the first sliding unit, the support device being capable of preventing the one end of the first sliding unit from being deflected to a side where the support device is located when the first sliding unit slides relative to the second sliding unit.
2. A fire fighting robot as recited in claim 1, wherein the bogie wheel assembly includes a plurality of wheels mounted at least at a front portion, a middle portion and a rear portion below the chassis frame.
3. A fire fighting robot as recited in claim 1 or 2, wherein a first bogie wheel assembly is mounted at the front and rear portions below the chassis frame, respectively, and a second bogie wheel assembly is mounted at the middle portion below the chassis frame; the first supporting wheel assembly comprises a first supporting wheel, the second supporting wheel assembly comprises a second supporting wheel, and the outer diameter of the first supporting wheel is larger than that of the second supporting wheel.
4. A fire fighting robot as recited in claim 1, wherein the electrical control device includes an electrical cabinet and, disposed within the electrical cabinet:
the battery is used for providing power for the fire-fighting robot electrical element;
the radar obstacle avoidance sensor is used for detecting obstacles encountered in the advancing process;
the temperature sensor is used for detecting the temperature inside the electric cabinet and on the working site;
the communication device is used for transmitting the data and the image information detected by the sensor to the robot control end in real time;
the central processing unit is used for collecting and transmitting data detected by the sensor, and receiving and sending instructions to control the movement of the robot;
and the power device driver is used for controlling the work of the power device.
5. A fire fighting robot as recited in claim 4, wherein the electrical cabinet is a box body made of fire retardant, high temperature resistant material with a hollow chamber inside.
6. A fire fighting robot as recited in claim 1, wherein the fire fighting monitor includes a main sprinkler for fire fighting and a self-sprinkling sprinkler for robot self-sprinkling.
7. A fire fighting robot as recited in claim 6, wherein a tee is installed on the water inlet pipe of the fire fighting monitor, and two water outlets of the tee are respectively communicated with the main spray head and the self-spraying spray head; the self-spraying spray head comprises a plurality of spray heads which are uniformly distributed at each part on the chassis frame.
8. A fire fighting robot as recited in claim 1, further comprising an attitude detection sensor for monitoring the robot body attitude in real time.
9. The fire-fighting robot of claim 8, wherein the attitude detection sensor is an inclinometer, and the inclinometer can detect the inclination angle of the robot relative to the horizontal plane to judge whether the working site meets the safe working requirements of the fire water monitor.
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| CN107124840A (en) * | 2017-05-19 | 2017-09-01 | 芜湖普唯特智能装备有限公司 | A kind of sandwich construction cooling device for board |
| CN111544813B (en) * | 2020-05-14 | 2021-04-27 | 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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