CN107233680A - A kind of fire-fighting robot - Google Patents
A kind of fire-fighting robot Download PDFInfo
- Publication number
- CN107233680A CN107233680A CN201710358542.XA CN201710358542A CN107233680A CN 107233680 A CN107233680 A CN 107233680A CN 201710358542 A CN201710358542 A CN 201710358542A CN 107233680 A CN107233680 A CN 107233680A
- Authority
- CN
- China
- Prior art keywords
- fire
- robot
- fighting
- platform
- containment envelope
- 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.)
- Pending
Links
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
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
Abstract
The present invention relates to a kind of fire-fighting robot, including running gear, also include robot platform, the containment envelope on the outside of robot platform, the electric cabinet on robot platform, the monitor tower on robot platform, the Laser rangefinder on monitor tower, hot imager and the video camera being connected with running gear, video camera is installed, the front portion of robot platform is provided with gas sensing device on containment envelope.Fire-fighting robot is additionally provided with water smoke cooling system, relay station.Gas sensing, hot shadow imaging and people search's function can be realized using the present invention；Robot carries the function that cools；Guiding personnel withdraw safer；Remote control dead angle, enhancing transmission remote control distance can be eliminated；Adapt to place ability strong, field operation can be realized；The present invention is using separate modular design simultaneously, and modules can be used cooperatively with other equipment, and whole invention automation and intelligence degree are high.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of fire-fighting robot.
Background technology
Current fire-fighting robot is more based on fire-extinguishing function concurrently, lacks scene of a fire information collecting function, and because of wireless remote control skill
The limitation of art, it is impossible in the spatial operation more than outdoor, barrier.So that current fire-fighting robot is in the use case in the scene of a fire,
All it is the work put out a fire outside the scene of a fire, it is impossible to show the particularity of fire-fighting robot.
During fire-fighting is handled, what fire fighter needed most be in addition to the robot for having fire-extinguishing function concurrently, need to also be
Enter site inspection after fire, it is to avoid fire fighter causes because of building itself fragile structure after fire, or the unburned situation of ash
Secondary fiery difficulty causes fire fighter's injures and deaths thing to occur.
The content of the invention
In order to solve the deficiency in the presence of prior art, the present invention proposes a kind of fire-fighting robot.
A kind of fire-fighting robot, including running gear, the robot platform, flat installed in robot that is connected with running gear
Containment envelope on the outside of platform, the electric cabinet on robot platform, the monitor tower on robot platform, installation
Video camera, the robot platform are installed on Laser rangefinder and hot imager on monitor tower, the containment envelope
Front portion gas sensing device is installed.
Fire-fighting is installed on the monitor tower and takes aim at son, the Laser rangefinder, hot imager are installed in fire-fighting and take aim at son
On.
As a further improvement on the present invention, it is provided with the robot platform and passes through pipeline communication with monitor tower
Number motor-driven valve, a snap joint being connected with a motor-driven valve, a snap joint by pipeline and fire fighting truck or
Fire hydrant is connected, and signal relay station is provided with the pipeline being connected with a snap joint.
As a further improvement on the present invention, the gas sensing device includes being arranged on robot platform front portion and is located at
The gas detecting machine of containment envelope front inner, anterior upside, underside of forward, front left, front portion installed in containment envelope
Fan on right side, is connected between the fan and gas detecting machine by pipeline.
As a further improvement on the present invention, the front end of the containment envelope is provided with water smoke cooling system, the protection
Outer cover is double-deck sheet metal structural.The water smoke cooling system includes the water smoke that several are arranged between the double-deck metal plate of containment envelope
Shower nozzle, the waterfog head is connected by pipeline with a snap joint.
As a further improvement on the present invention, the electric cabinet is internally provided with cooling system, and the cooling system is liquid
State carbon dioxide or cooler, the cooling system are arranged on robot platform, are delivered to coolant by pipeline automatically controlled
Cooled down inside case, the cooling system may also be arranged on outdoor manipulation end and be connected by pipeline with robot carry out it is cold
But.Two are connected between the cold pipeline for going in system to be connected with No. two motor-driven valves, No. two motor-driven valves and electric cabinet
Number snap joint.
As a further improvement on the present invention, the gearshift that the running gear includes walking mechanism, is connected with walking mechanism
Mechanism, the main motor being connected with gearshift, the walking mechanism are any in caterpillar belt structure, wheel-type structure or track structure
Kind.
As a further improvement on the present invention, the gearshift includes frame, rack-mounted input shaft and defeated
Shaft, the first gear group being installed on input shaft and output shaft and second gear group, rack-mounted and middle part are set
Be equipped with the driving lever of rack, rack-mounted gearshift motor, be connected with gearshift motor and be meshed with the rack on driving lever
Little gear, be fixed with the installing plate that rotating disk is mounted in both ends of the surface, the rotating disk on the driving lever and be fixed with pin, it is described
The hole coordinated with pin is provided with first gear group and second gear group.
As a further improvement on the present invention, the caterpillar belt structure of the walking mechanism includes crawler belt, loading plate, installed in holding
Support plate left end and the driving wheel coordinated with crawler belt, the Triangulum group used cooperatively on loading plate and with crawler belt, front jocket wheel
Group, tension mechanism.
As a further improvement on the present invention, the Triangulum group includes being hinged with loading plate the first shock-proof spring, the
The first gusset that two shock-proof springs, middle part and the first shock-proof spring are hinged, the first lever being hinged with one end of the first gusset, with
The other end of the first connected bottom roller of first lever two ends, one end and the first gusset is hinged and middle part is cut with scissors with the second shock-proof spring
The second gusset for connecing, the second lever being hinged with the one end of the second gusset away from the first gusset, it is connected with the second lever two ends
Second bottom roller.
As a further improvement on the present invention, the front jocket wheel group include be hinged with loading plate the 3rd shock-proof spring, with
The 3rd lever that 3rd one end of shock-proof spring away from loading plate is hinged, the guide wheel being connected with the 3rd lever two ends.
As a further improvement on the present invention, the tension mechanism is included in the wheel carrier connected with loading plate and wheel carrier
Portion is hinged and is fixed on the end wall bracket on loading plate, one end away from loading plate and the tension force coordinated with crawler belt on wheel carrier
Wheel.
As a further improvement on the present invention, the containment envelope on LED is installed, it is described to be connected with robot
It is provided with outside fire hose on the LED/light source guide device used cooperatively with LED, the containment envelope and is located at LED
Top is provided with infrared temperature sensor, and the infrared temperature sensor is quickly rung in fire-fighting robot by network service
Should, detect from -30 to 1600 DEG C of the range temperature of environment.
As a further improvement on the present invention, temperature inductor is provided with the electric cabinet, temperature inductor is in machine
The temperature and humidity being used in people in display environment, timely can also be led to every communication handset and smart bluetooth equipment
Letter.
As a further improvement on the present invention, the front of the robot, lower section, be provided with rear position be fixed on it is anti-
The proximity switch protected inside outer cover, the proximity switch includes sensor body, cylindrical bar, and the cylindrical bar is analogue inductive device
Measuring beam.
As a further improvement on the present invention, the fire-fighting, which is taken aim to be provided with son, takes aim at sub-controller.
As a further improvement on the present invention, in the electric cabinet including control system, the battery being connected with control system,
The first wireless transmitter receiver device being connected with control system, the computer and electricity that are connected with battery and the first wireless transmitter receiver device
The connected interface display of brain, the second wireless transmitter receiver device used cooperatively with the first wireless transmitter receiver device and the second nothing
What line transceiver was connected takes aim at sub-controller.
Local network LAN is provided with around the robot, robot realizes information interchange by LAN and operation bench, and
Pass through operation bench Manipulation of the machine people.
The control system is connected with the main motor in running gear, to control the operating all around of running gear, separately
Outer control system is also connected with LED, video camera, motor-driven valve, No. two motor-driven valves, and LED illumination, video camera are controlled respectively
Work, a motor-driven valve and No. two motor-driven valves start.The control system passes through LAN connection the first wireless transmitter receiver devices,
One wireless transmitter receiver device and temperature inductor control infrared temperature sensor, proximity switch to be operated by LAN.
The battery is connected with voltage-stablizer, and the voltage-stablizer is used to maintain voltage stabilization in electric cabinet, described to take aim at sub- control
Device is received by the second wireless transmitter receiver device and instructed, and is connected with fractional motor, and sub- rotated is taken aim in control fire-fighting.
In addition, the robot platform of the present invention is also equipped with the Beacon/RFID receivers for possessing directive property.
The present invention is equipped with Laser rangefinder, hot imager, video camera and gas detecting machine, can realize gas sensing, heat
Shadow is imaged and people search's function；Robot carries the function that cools；LED lamplight is set to guide so that personnel withdraw more
Safety；Using signal relay station, remote control dead angle, enhancing transmission remote control distance can be eliminated；Adapt to place ability strong, can realize
Field operation；The present invention is using separate modular design simultaneously, and modules can be used cooperatively with other equipment, whole invention
Automation and intelligence degree are high.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is stereogram one of the invention；
Fig. 2 removes the stereogram after part body for the present invention；
Fig. 3 is monitor tower stereogram of the invention；
Fig. 4 is gas sensing device stereogram of the invention；
Fig. 5 is part-structure schematic diagram of the present invention；
Fig. 6 is water smoke cooling system stereogram of the invention；
Fig. 7 is electric cabinet cooling system stereogram of the invention；
Fig. 8 for the present invention in proximity switch structure chart；
Fig. 9 is stereogram two of the invention；
Figure 10 is partial enlarged drawing at Fig. 9 B；
Figure 11 is running gear partial perspective view of the invention；
Figure 12 is gearshift stereogram of the invention；
Figure 13 is partial enlarged drawing at Figure 12 A；
Figure 14 is walking mechanism stereogram of the invention；
Figure 15 is Figure 14 Triangulum group stereogram；
Figure 16 is Figure 14 front jocket wheel group stereogram；
Figure 17 is Figure 14 tension mechanism stereogram；
Figure 18 is electric cabinet internal structure block diagram of the invention；
Figure 19 is control block diagram of the invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Fig. 1 to Figure 19, a kind of fire-fighting robot, including running gear 1, the robot that is connected with running gear 1
Platform 2, the containment envelope 3 installed in the outside of robot platform 2, the electric cabinet 4 on robot platform 2, installed in machine
Monitor tower 5 on device people platform 2, the Laser rangefinder 6 on monitor tower 5 and hot imager 7, the containment envelope
Video camera 15 is installed, the front portion of the robot platform 2 is provided with gas sensing device 8 on 3.
Fire-fighting is provided with the monitor tower 5 and takes aim at son 9, the Laser rangefinder 6, hot imager 7 are installed in fire-fighting
Take aim on son 9.Burning things which may cause a fire disaster, thermal source, then Laser rangefinder 6 of arranging in pairs or groups are recognized by hot imager 7, fire-fighting is calculated through control system and takes aim at
The sighting angle and distance of son 9, homing guidance fire-fighting are taken aim at son 9 and put out a fire towards target water spray, and the video camera 15 can be to fire
Field situation carries out implementation record and image is passed into operation bench.
A motor-driven valve 16 and an electricity by pipeline communication with monitor tower 5 are installed on the robot platform 2
A connected snap joint 17 of dynamic valve 16 a, snap joint 17 is connected by pipeline with fire fighting truck or fire hydrant, with
Signal relay station is installed on the connected pipeline of a number snap joint 17.In view of general robot remote manipulation is easily by barrier
Limitation, by setting signal relay station can remove obstacles dead angle, increase long transmission distance, the monitor tower 5 uses mould
Blockization is designed, and detachable install uses with fixed mount, fire fighting truck, motor ladder etc..
The gas sensing device 8 includes being arranged on the front portion of robot platform 2 and positioned at the gas of the front inner of containment envelope 3
Body detector 81, the anterior upside installed in containment envelope 3, underside of forward, front left, on the right side of front portion on fan 82, institute
State and be connected between fan 82 and gas detecting machine 81 by pipeline, because gas has the characteristic of proportion, in order to improve gas sensing
The accuracy of device, fan 82 is arranged in anterior upside, underside of forward, front left, the anterior right side of containment envelope 3
Side, starts after fan 82, and gas is drawn into gas detecting machine 81 and carries out mixed-rectification and detection.
The front end of the containment envelope 3 is provided with water smoke cooling system 10, and the containment envelope 3 is double-deck sheet metal structural.
The water smoke cooling system 10 includes the waterfog head 101 that several are arranged between the double-deck metal plate of containment envelope 3, the water smoke
Shower nozzle 101 is connected by pipeline with snap joint 16.It can be realized to itself fire prevention cooling, and profit using water smoke cooling system 10
Cooled with the water from fire hose, improve the utilization rate of water, while the water of cooling can also recycle fire extinguishing.
The electric cabinet 4 is internally provided with cooling system 20, and the cooling system 20 is liquid carbon dioxide or cooler,
The cooling system 20 is arranged on robot platform 2 to be cooled down by pipeline connection electric cabinet 4, the cooling system 20
It may be provided at outdoor manipulation end and be connected by pipeline with robot and cooled down.It is described cold to go in system 20 to be connected with No. two electricity
No. two snap joints 19 are connected between pipeline on dynamic valve 18, No. two motor-driven valves 18 and electric cabinet 4.
Gearshift 13 and gearshift 13 that the running gear 1 includes walking mechanism 11, is connected with walking mechanism 11
Connected main motor 12, the walking mechanism 11 is any of caterpillar belt structure, wheel-type structure or track structure.
The gearshift 13 includes frame 130, the input shaft 131 in frame 130 and output shaft 132, pacified
First gear group 133 and second gear group 134 on input shaft 131 and output shaft 132, in frame 130 and
Middle part be provided with the driving lever 135 of rack, the gearshift motor 136 in frame 130, with gearshift motor 136 be connected and with
It is fixed with the little gear 136a that rack on driving lever 135 is meshed, the driving lever 135 in both ends of the surface and is mounted on rotating disk 138
Installing plate 137, be fixed with pin 138a, the first gear group 133 and second gear group 134 on the rotating disk 138 and be all provided with
It is equipped with the hole 139 coordinated with pin 138a.
The distance between described first gear group 133 and second gear group 134 be more than two pin 138a top surfaces between away from
From the gearratio of the first gear group 133 is more than the gearratio of second gear group 134.
During gearshift, originally described first gear group 133 and second gear group 134 are in sky under the drive of main motor 12
Turn state, when the gearshift driving pinion 136a of motor 136 is rotated, little gear 136a is engaged with the rack on driving lever 135, makes driving lever
135 along output shaft 132 axis direction horizontal movement, the hole 139 in the pin 138a on rotating disk 138 and first gear group 133
During cooperation, output shaft 132 is connected with first gear group 133, because the gearratio between first gear group 133 is big, running gear 1
One grade of low-speed forward is carried out, when the gear driving driving lever 135 of motor 136 makes on pin 138a and second gear group 134 on rotating disk 138
When hole 139 coordinates, output shaft 132 is connected with second gear group 134, because the gearratio of second gear group 134 is small, running gear
1, which carries out two grades, advances at utmost speed.
The caterpillar belt structure of the walking mechanism include crawler belt 11, loading plate 111, installed in the left end of loading plate 111 and with shoe
With 11 coordinate driving wheels 110, the Triangulum group used cooperatively on loading plate 111 and with crawler belt 11, front jocket wheel group,
Force mechanisms.The driving wheel 110 is connected with output shaft 132 realizes motion.
The Triangulum group includes the first shock-proof spring 112, the second shock-proof spring 113, middle part being hinged with loading plate 111
The first gusset 114 for being hinged with the first shock-proof spring 112, the first lever 115 being hinged with one end of the first gusset 114, with the
The other end of the first connected bottom roller 116 of the two ends of one lever 115, one end and the first gusset 114 is hinged and middle part is kept away with second
The second lever that the second gusset 117 and the one end of the second gusset 117 away from the first gusset 114 that shake spring 113 is hinged are hinged
118th, the second bottom roller 119 being connected with the two ends of the second lever 118.Pass through the first shock-proof spring 112, the second shock-proof spring 113
Realize the elastic buffer of caterpillar belt structure.
The front jocket wheel group includes the 3rd shock-proof spring 121, remote with the 3rd shock-proof spring 121 being hinged with loading plate 111
The 3rd lever 122 being hinged from one end of loading plate 111, the guide wheel 123 being connected with the two ends of the 3rd lever 122, the tensioner
The end wall bracket that middle part of the structure including the wheel carrier 124 being connected with loading plate 111 and wheel carrier 124 is hinged and be fixed on loading plate 111
125th, one end away from loading plate 111 and the straining pulley 126 coordinated with crawler belt on wheel carrier 124.
The front end of the containment envelope 3 is provided with LED 14.LED/light source guide device is provided with outside fire hose,
Cooperatively forming light source line with LED 14 facilitates personnel to confirm Way out and safe escape.It is located at LED on the containment envelope 3
The top of lamp 14 is provided with infrared temperature sensor 22, and the infrared temperature sensor 22 is logical by network in fire-fighting robot
Believe quick response, detect from -30 to 1600 DEG C of the range temperature of environment.
Temperature inductor is provided with the electric cabinet 4, temperature inductor is used in display environment in fire-fighting robot
Temperature and humidity, timely can also be communicated with every communication handset and smart bluetooth equipment.
The front of the robot, lower section, the proximity switch being fixed on inside containment envelope 3 is installed at rear position
21, the proximity switch 21 includes sensor body, cylindrical bar, and the cylindrical bar is analogue inductive device measuring beam.
Proximity switch is additionally provided with the robot, the fire-fighting, which is taken aim to be provided with son 9, takes aim at sub-controller.
As a further improvement on the present invention, the electric cabinet 4 include control system, be connected with control system battery,
The first wireless transmitter receiver device being connected with control system, the computer and electricity that are connected with battery and the first wireless transmitter receiver device
The connected interface display of brain, the second wireless transmitter receiver device used cooperatively with the first wireless transmitter receiver device and the second nothing
What line transceiver was connected takes aim at sub-controller.
Local network LAN is provided with around the robot, robot realizes information interchange by LAN and operation bench, and
Pass through operation bench Manipulation of the machine people.
The control system is connected with the main motor 12 in running gear, to control the operating all around of running gear 1,
Other control system is also connected with LED 14, video camera 15, motor-driven valve 16, No. two motor-driven valves 18, and LED is controlled respectively
14 are illuminated, video camera 15 works, a motor-driven valve 16 and No. two motor-driven valves 18 start.The control system is connected by LAN
The first wireless transmitter receiver device is connect, the first wireless transmitter receiver device and temperature inductor control infrared temperature sensor by LAN
22nd, proximity switch 21 is operated.
The battery is connected with voltage-stablizer, and the voltage-stablizer is used to maintain voltage stabilization in electric cabinet 4, described to take aim at sub- control
Device is received by the second wireless transmitter receiver device and instructed, and is connected with fractional motor 51, and control fire-fighting is taken aim at son 9 and rotated.
In addition, the robot platform of the present invention is also equipped with the Beacon/RFID receivers for possessing directive property.By with disappearing
The Beacon/RFID transmitters configured with anti-personnel coordinate, and can position the position of fire fighter, facilitate scene of a fire people search to manage
System.
The application method further to the present invention is further elaborated below：
The present invention, backstage Zhong Kong command centres control fire-fighting robot, control system control walking dress by control system
1 is put, driving fire-fighting robot enters the scene of a fire, passes through the Laser rangefinder 6 on monitor tower 5, hot imager 7 and video camera 15
Confirm fire location and distance, sub 9 sprinkling fire is taken aim at by fire-fighting, when fire-fighting robot own temperature is too high, water smoke is cold
But system 10 can be cooled down to fire-fighting robot, and the cooling system 20 inside electric cabinet 4 is to the electricity inside electric cabinet 4
Road is cooled, when robot assists to put out a fire at rear, and the Beacon/RFID receivers on fire-fighting robot can receive fire-fighting
The signal of Beacon/RFID transmitters transmitting with personnel, to the scene of a fire, personnel scan for control, complicated when running into situation,
When unsighted serious, the LED 14 on fire-fighting robot is opened, and coordinates the LED/light source guide device on fire hose, the scene of a fire
Personnel can carry out safe escape along light source, and whole fire extinguishing procedure, robot can be real by field condition by video camera 15
Apply record and the synchronous manipulation end for passing to outside will be influenceed.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing is defined.
Claims (7)
1. a kind of fire-fighting robot, including running gear (1), it is characterised in that：Also include the machine being connected with running gear (1)
People's platform (2), the containment envelope (3) on the outside of robot platform (2), the electric cabinet on robot platform (2)
(4) monitor tower (5), on robot platform (2), the Laser rangefinder (6) on monitor tower (5) and heat
Video camera (15) is installed, the front portion of the robot platform (2) is provided with gas on imager (7), the containment envelope (3)
Arrangement for detecting (8).
2. a kind of fire-fighting robot according to claim 1, it is characterised in that：It is provided with the robot platform (2)
A snap joint being connected with monitor tower (5) by a motor-driven valve (16) of pipeline communication, with a motor-driven valve (16)
(17), a snap joint (17) is connected by pipeline with fire fighting truck or fire hydrant, is connected with a snap joint (17)
Pipeline on signal relay station is installed.
3. a kind of fire-fighting robot according to claim 1, it is characterised in that：The gas sensing device (8) includes peace
Mounted in robot platform (2) is anterior and gas detecting machine (81) positioned at containment envelope (3) front inner, installed in containment envelope
(3) anterior upside, underside of forward, front left, on the right side of front portion on fan (82), the fan (82) passes through pipeline respectively
It is connected with gas detecting machine (81).
4. a kind of fire-fighting robot according to claim 1, it is characterised in that：Install the front end of the containment envelope (3)
There is water smoke cooling system (10), the containment envelope (3) is double-deck sheet metal structural, and the electric cabinet (4) is internally provided with cooling
System (20), the cooling system (20) is liquid carbon dioxide or cooler, and the cooling system (20) is arranged on robot
Electric cabinet (4) is connected by pipeline on platform (2), the cooling system (20) may also be arranged on outdoor manipulation end and by pipeline
It is connected with robot.
5. a kind of fire-fighting robot according to claim 1, it is characterised in that：The running gear (1) includes vehicle with walking machine
Structure (11), the gearshift (13) being connected with walking mechanism (11), the main motor (12) being connected with gearshift (13), the row
It is any of caterpillar belt structure, wheel-type structure or track structure to walk mechanism (11).
6. a kind of fire-fighting robot according to claim 5, it is characterised in that：The gearshift (13) includes frame
(130) input shaft (131) and output shaft (132), in frame (130), input shaft (131) and output shaft are installed in
(132) first gear group (133) and second gear group (134) on, in frame (130) and middle part is provided with rack
Driving lever (135), the gearshift motor (136) in frame (130), with gearshift motor (136) be connected and and driving lever
(135) it is fixed with the little gear (136a) that the rack on is meshed, the driving lever (135) in both ends of the surface and is mounted on rotating disk
(138) pin (138a), the first gear group (133) and the second tooth are fixed with installing plate (137), the rotating disk (138)
The hole (139) coordinated with pin (138a) is provided with wheel group (134).
7. a kind of fire-fighting robot according to claim 5, it is characterised in that：The caterpillar belt structure of the walking mechanism includes
Crawler belt (11), loading plate (111), the driving wheel (110) coordinated installed in loading plate (111) left end and with crawler belt (11), are installed
The Triangulum group that is used cooperatively on loading plate (111) and with crawler belt (11), front jocket wheel group, tension mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358542.XA CN107233680A (en) | 2017-05-19 | 2017-05-19 | A kind of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358542.XA CN107233680A (en) | 2017-05-19 | 2017-05-19 | A kind of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107233680A true CN107233680A (en) | 2017-10-10 |
Family
ID=59985089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710358542.XA Pending CN107233680A (en) | 2017-05-19 | 2017-05-19 | A kind of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107233680A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640058A (en) * | 2017-10-31 | 2018-01-30 | 安徽易威斯新能源科技股份有限公司 | A kind of rescue type energy storage charging pile |
| CN110793569A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Fire-fighting robot carries on hazardous gas detecting system |
| WO2020062623A1 (en) * | 2018-09-29 | 2020-04-02 | 北京力升高科科技有限公司 | Fire-fighting reconnaissance robot |
| WO2020154969A1 (en) * | 2019-01-30 | 2020-08-06 | 西门子股份公司 | Crawler-type firefighting robot and control method therefor |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
| CN111956989A (en) * | 2020-08-25 | 2020-11-20 | 何莹莹 | Auxiliary robot for fire fighting |
| CN112372629A (en) * | 2020-09-22 | 2021-02-19 | 九江中船长安消防设备有限公司 | Automatic fire-fighting robot for converter station valve hall |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202491863U (en) * | 2012-04-01 | 2012-10-17 | 益阳民福农机装备有限公司 | Track running device of rice combine |
| CN104776173A (en) * | 2015-04-19 | 2015-07-15 | 李美取 | Automatic transmission for electric tricycles or electric quadricycles |
| CN205287338U (en) * | 2015-11-30 | 2016-06-08 | 袁英峰 | Fire -fighting robot |
| CN106512270A (en) * | 2016-12-29 | 2017-03-22 | 广东寰易消防科技有限公司 | Crawler type multipurpose fire-fighting robot |
| CN206979880U (en) * | 2017-05-19 | 2018-02-09 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
-
2017
- 2017-05-19 CN CN201710358542.XA patent/CN107233680A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202491863U (en) * | 2012-04-01 | 2012-10-17 | 益阳民福农机装备有限公司 | Track running device of rice combine |
| CN104776173A (en) * | 2015-04-19 | 2015-07-15 | 李美取 | Automatic transmission for electric tricycles or electric quadricycles |
| CN205287338U (en) * | 2015-11-30 | 2016-06-08 | 袁英峰 | Fire -fighting robot |
| CN106512270A (en) * | 2016-12-29 | 2017-03-22 | 广东寰易消防科技有限公司 | Crawler type multipurpose fire-fighting robot |
| CN206979880U (en) * | 2017-05-19 | 2018-02-09 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640058A (en) * | 2017-10-31 | 2018-01-30 | 安徽易威斯新能源科技股份有限公司 | A kind of rescue type energy storage charging pile |
| WO2020062623A1 (en) * | 2018-09-29 | 2020-04-02 | 北京力升高科科技有限公司 | Fire-fighting reconnaissance robot |
| WO2020154969A1 (en) * | 2019-01-30 | 2020-08-06 | 西门子股份公司 | Crawler-type firefighting robot and control method therefor |
| CN113518695A (en) * | 2019-01-30 | 2021-10-19 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
| CN113518695B (en) * | 2019-01-30 | 2024-03-22 | 青岛澳西智能科技有限公司 | Crawler-type fire-fighting robot and control method thereof |
| CN110793569A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Fire-fighting robot carries on hazardous gas detecting system |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
| CN111956989A (en) * | 2020-08-25 | 2020-11-20 | 何莹莹 | Auxiliary robot for fire fighting |
| CN111956989B (en) * | 2020-08-25 | 2021-09-03 | 上海同尊企业管理中心 | Auxiliary robot for fire fighting |
| CN112372629A (en) * | 2020-09-22 | 2021-02-19 | 九江中船长安消防设备有限公司 | Automatic fire-fighting robot for converter station valve hall |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107233680A (en) | A kind of fire-fighting robot | |
| CN111617414A (en) | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method | |
| CN206979880U (en) | A kind of fire-fighting robot | |
| CN105056457B (en) | A kind of mobile fire-fighting fire extinguishing method for electric power tunnel | |
| CN107878584B (en) | Explosion-proof type reconnaissance robot and working method | |
| CN102000409B (en) | Remote control system for fire protection | |
| CN109050695B (en) | All-terrain fire-fighting robot and working method | |
| CN106540391A (en) | A kind of crawler type firefighting fire extinguishing robot and its operational approach | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| KR20160139305A (en) | A fire fighting robot | |
| CN112043991B (en) | Tunnel guide rail traveling fire-fighting robot system and use method | |
| JP2020531060A (en) | Small mobile robot fire extinguishing unit | |
| CN111617415A (en) | Fully-autonomous fire-fighting robot operating system in complex environment and working method | |
| KR20100048414A (en) | Method, system, and operation method for providing surveillance to power plant facilities using track-type mobile robot system | |
| CN212569979U (en) | Tunnel guide rail traveling fire-fighting robot system | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| CN113730860A (en) | Autonomous fire extinguishing method of fire-fighting robot in unknown environment | |
| CN107913484A (en) | A kind of fire-fighting rescue gear | |
| CN111388912A (en) | Directional intelligent fire extinguishing system for high-speed rail motor train unit | |
| CN112675459A (en) | Autonomous detection positioning and accurate fire extinguishing robot system and use method | |
| CN114013529B (en) | Inspection robot | |
| CN115708940A (en) | Autonomous traceability fire-fighting robot | |
| CN110201333B (en) | Full-automatic cooperative reconnaissance and fire extinguishing operation method for fire-fighting robot | |
| CN110053047A (en) | A kind of portable fire inspection machine people based on laser radar | |
| KR102430038B1 (en) | System monitoring and removing the abnormality of an object and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171010 |
|
| RJ01 | Rejection of invention patent application after publication |