CN108969943A - A kind of fire rescue robot - Google Patents
A kind of fire rescue robot Download PDFInfo
- Publication number
- CN108969943A CN108969943A CN201811047076.4A CN201811047076A CN108969943A CN 108969943 A CN108969943 A CN 108969943A CN 201811047076 A CN201811047076 A CN 201811047076A CN 108969943 A CN108969943 A CN 108969943A
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- CN
- China
- Prior art keywords
- electric pushrod
- rack
- plate
- gear
- cabinet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- A62C31/005—Delivery of fire-extinguishing material using nozzles
Abstract
The invention discloses a kind of fire rescue robot, including rack, the two sides of the rack are equipped with crawler belt travel wheel, are equipped with driving device in the rack；The front end of the rack is equipped with front side board, rear end is equipped with back side panel, left side is equipped with left plate, right side is equipped with right side plate, and the upper end of the left plate is hinged with left cover, and the upper end of the right side plate is hinged with right cover plate；The first electric pushrod and the second electric pushrod are being separately installed at left plate and right side plate in the rack；Chipping mechanism is being installed at front side board in the rack；Guard box system is being equipped with along the length direction of rack at back side panel in the rack；The telescopic end of 6th electric pushrod is equipped with the intelligent video camera head for controlling driving device, chipping mechanism, obstacle detouring auxiliary body, the work of guard box system；The fire rescue robot is suitable for scene of a fire complicated landform, Qing Lu, anti-weight and pounds pressure, simple fire extinguishing, pulls stupor captive and escape from the fire scene.
Description
Technical field
The present invention relates to fire-fighting equipment technical fields, and in particular to a kind of fire rescue robot.
Background technique
Robot is the product that modern age electronic technology is combined with traditional mechanical structure, be computer science, cybernetics,
The high-tech product of the multidisciplinary synthesis such as structure, information science and sensing technology and a kind of operation of apery, high speed are transported
Row, repetitive operation and the higher automation equipment of precision.With the development of existing science and technology, robot be gradually applied to building,
The industries such as fire-fighting, petrochemical industry.There are more and more skyscrapers in the development in existing city, and there is also very for skyscraper itself
More security risks, once fire occurs, fire behavior will be difficult to control, therefore the development of intelligent rescue robot is to meet contemporary reality
It is needed with reality.
Summary of the invention
Scene of a fire complicated landform, Qing Lu, anti-weight is suitable for the object of the present invention is to provide one kind to pound pressure, simply put out a fire, drag
Drag the automation equipment that stupor captive escapes from the fire scene.
To object above, the technical solution adopted by the present invention are as follows:
A kind of fire rescue robot, including rack, the two sides of the rack are equipped with crawler belt travel wheel, in the rack
Driving device for driving crawler belt travel wheel to rotate is installed；The front end of the rack is equipped with front side board, rear end is equipped with
Back side panel, left side are equipped with left plate, right side is equipped with right side plate, and the upper end of the left plate is hinged with left cover, the right side
The upper end of side plate is hinged with right cover plate；It is separately installed at close left plate and right side plate in the rack and sets along the vertical direction
That sets is used to control the first electric pushrod and the second electric pushrod of left cover and right cover plate opening-closing；
Chipping mechanism is being installed at front side board in the rack；The chipping mechanism includes shoveling, and installation
Two bearing bracket stands in rack are rotatably connected to cross bar along the length direction perpendicular to rack between two bearing bracket stands, described
The push rod for stretching out the front side board is being mounted at its end positions on cross bar, the shoveling is mounted on the push rod
On；Third electric pushrod, the third are mounted on the medial surface of the left plate and on the medial surface of the right side plate
The shaft that the telescopic end of electric pushrod passes through link block and the push rod is hinged, lifts for controlling the shoveling by push rod
Or it puts down；
Obstacle detouring auxiliary body is being installed at the back side panel in the rack, the obstacle detouring auxiliary body includes edge
The length direction of rack is symmetrically arranged in rack and respectively close to the 4th electric pushrod at left plate and right side plate, and described the
The telescopic end of four electric pushrods stretches out the back side panel, and is equipped with horizontally disposed strut；The bar of 4th electric pushrod
It is hinged in the rack at its telescopic end；It is all provided with below the 4th electric pushrod in the rack useful
In the 5th electric pushrod for driving the 4th electric pushrod to rotate around the hinge joint of itself and rack；
Guard box system is being equipped with along the length direction of rack at back side panel in the rack；It is being leaned in the rack
Support frame is nearby installed at side plate, is rotatably connected to the 6th electric pushrod being arranged along the vertical direction on support frame as described above, it is described
The lower end of 6th electric pushrod is equipped with rotation gear, is equipped with rotating electric machine on support frame as described above, the rotating electric machine it is defeated
The driving gear engaged with the rotation gear is installed on shaft；The telescopic end of 6th electric pushrod is equipped with for controlling
Driving device processed, chipping mechanism, obstacle detouring auxiliary body, the work of guard box system intelligent video camera head.
Through the above technical solutions, the fire rescue machine man-hour, is driven by driving gear by rotating electric machine and is revolved
Rotating disk left-right rotation, and then the 6th electric pushrod left-right rotation is driven, fire is controlled by the intelligent video camera head of the upper end and is rescued
The work for helping robot, when encountering the obstacle of certain altitude, the 6th electric pushrod first adjusts the height of intelligent video camera head, adjusts
Whole good rear intelligent video camera head judges that barrier height, can such as cross, then third electric pushrod is shunk, and is lifted by push rod
Shoveling allows the crawler belt travel wheel of fire rescue robot to touch obstacle, and then fire rescue robot is due to crawler belt traveling
The frictional force of wheel starts to climb, when the front end of the crawler belt travel wheel of fire rescue robot is more than barrier top, the 5th
Electric pushrod changes length, adjusts the angle of the 4th electric pushrod, and the 4th electric pushrod is stretched out the shoe of fire rescue robot
Rear end with travel wheel is lifted, and then fire rescue robot moves on, until fire rescue robot reaches on barrier
End, then the 4th electric pushrod is shunk, and fire rescue robot will not be hindered to continue to move ahead, such fire rescue robot can
To cross the obstacle occurred in the scene of a fire, the complicated landform in the scene of a fire is more adapted to, Quick rescue trapped person is facilitated.Work as fire rescue
Robot is hit or when pushing down stranded by weight by weight, and the first electric pushrod and the second electric pushrod are stretched out left cover and the right side
Cover board is pushed open, and since the connection function left cover of hinge can turn up around left plate, right cover plate can turn up around right side plate, will press
Weight in fire rescue robot pushes away fire rescue robot, achieves and voluntarily gets rid of poverty.When fire rescue robot
Intelligent video camera head after capturing trapped person, fire rescue robot is close to trapped person immediately, while passing through intelligent camera
Head judges trapped person's state, and by guard box system is rescued indicator of trapped personnel safely according to trapped person's degree of regaining consciousness.
In further technical solution, the guard box system includes cabinet and pulls mechanism, close in the rack
Supporting block is equipped at back side panel, the base plate rear end of the cabinet is hinged in the supporting block, in the rack under cabinet
Side is equipped with the overturning electric pushrod for pushing cabinet to rotate around supporting block；Upper end, front end, the rear end of the cabinet are equipped with out
Mouthful, the left plate upper end of the cabinet is hinged with boxboard, is equipped on the outside of the left plate of the cabinet for controlling upper boxboard
7th electric pushrod of folding；Preceding boxboard, installation on the outside of the left plate of the cabinet are hinged at the front opening of the cabinet
There is the 8th electric pushrod for boxboard folding before controlling；Rearing-box plate, the cabinet are hinged at the open rearward end of the cabinet
Left plate on the outside of be equipped with for control rearing-box plate folding the 9th electric pushrod；
The dragging mechanism includes the first rack gear, the first sliding rail, the first sliding block；First rack gear and the first sliding rail are along case
The length direction of body is installed on the outside of the right side plate of cabinet, and the first sliding rail is located at the top of the first rack gear；Described first is sliding
Block is slidably connected on first sliding rail；First driving motor, first driving motor are installed on first sliding block
Output shaft on the first gear engaged with first rack gear is installed；It is equipped on first sliding block along perpendicular to first
Tenth electric pushrod of the length direction setting of sliding rail；The telescopic end edge of tenth electric pushrod is parallel to the tenth electric pushrod
Length direction be equipped with connecting rod, be fixedly installed with strut, the strut in one end far from the first sliding rail in the connecting rod
On be hinged with dragging frame, second gear is fixedly installed on the strut, the second driving motor, institute are installed on the dragging frame
State the third gear for being equipped on the output shaft of the second driving motor and engaging with the second gear；On the side plate for pulling frame
Clamp system is installed.
Through the above technical solutions, when intelligent video camera head judges trapped person for waking state, then the first electric pushrod and
Second electric pushrod stretches out, and left cover and right cover plate are opened, and then overturns electric pushrod and stretches out, cabinet is pushed to turn around supporting block
Dynamic, the 7th electric pushrod is shunk, and the upper boxboard of cabinet is opened, and is waited trapped persons from after being advanced into cabinet, is worked as intelligent video camera head
After detection trapped person enters cabinet, the 7th electric pushrod stretches out, and the upper boxboard of cabinet is closed, and overturning electric pushrod is shunk, will
Entire cabinet is laid flat, and the first electric pushrod and the second electric pushrod are shunk, and left cover and right cover plate is closed, trapped person is in fire
It escapes from the fire scene together in rescue robot in company with it；When intelligent video camera head judges that trapped person remains unconscious, then first is electronic
Push rod and the second electric pushrod stretch out, and left cover and right cover plate are opened, and the second driving motor drives the rotation of third gear, due to
The cooperation of third gear and second gear, which drives, pulls frame around strut rotation, and the tenth electric pushrod stretches out, the first driving
Motor drives first gear rotation, since the cooperation of first gear and the first rack gear moves the first sliding block along the first sliding rail,
The 8th electric pushrod and the 9th electric pushrod, which stretch out, simultaneously opens preceding boxboard and rearing-box plate, and the second driving motor drives third tooth
Wheel continues to rotate, and pulls frame continuation around strut rotation, until making to clamp since the cooperation of third gear and second gear drives
Mechanism is stretched beside trapped person, is clamped trapped person by clamp system, is then controlled the first driving motor and is rotated backward logical
It crosses dragging frame trapped person is dragged in cabinet, after intelligent video camera head detection trapped person enters cabinet, the 7th electric pushrod stretches out
The upper boxboard of cabinet is closed, while the 8th electric pushrod and the 9th electric pushrod shrink and close preceding boxboard and rearing-box plate, the
One electric pushrod and the second electric pushrod are shunk, and left cover and right cover plate are closed, trapped person in fire rescue robot with
It escapes from the fire scene together with it.When escaping from the fire scene, third electric pushrod stretches out, and shoveling is put down, will be in escape route
The hard object such as stone remove.
In further technical solution, the clamp system includes left shovel board, right shovel board, left driving motor, right driving electricity
Machine；Edge is parallel to strut direction and is equipped with the second sliding rail on the side plate for pulling frame, is equipped with left cunning on second sliding rail
Block and right sliding block；The left shovel board is mounted on the left slider, and the right shovel board is mounted on right sliding block；In the left shovel board
Length direction along the second sliding rail is equipped with left rack gear, is equipped with right rack gear along the length direction of the second sliding rail in the right shovel board；Institute
It states left driving motor and right driving motor is installed on the side plate for pulling frame and is located at the lower section of left slider and right sliding block,
The left tooth engaged with the left rack gear and right rack gear is separately installed on the output shaft of the left driving motor and right driving motor
Wheel and right gear；Edge is respectively equipped with left clamp and right clamping plate perpendicular to the second slide direction in the left shovel board and right shovel board；Institute
It states and is equipped with left clamping electric pushrod in left shovel board beside the left clamp, the left telescopic end for clamping electric pushrod is equipped with
Left compact heap；Right clamping electric pushrod is equipped in the right shovel board by the right clamping plate, the right clamping electric pushrod is stretched
Contracting end is equipped with right compact heap.
Through the above technical solutions, clamp system work when left driving motor and right driving motor drive respectively left gear and
Right gear rotation, and then separated along the second sliding rail to two sides by left rack gear and the left shovel board of right rack drives and right shovel board, together
When left clamping electric pushrod and right clamping electric pushrod stretch out, left compact heap and right compact heap are raised, fire rescue robot
It is mobile that left shovel board and right shovel board are symmetrically distributed in trapped person's both sides of the head, then shovel into trapped person back hereinafter, left driving is electric
Machine and right driving motor rotation, drive left shovel board and right shovel board to close up, after left clamp and right clamping plate clamp trapped person, Zuo Jia
Tight electric pushrod and right clamping electric pushrod electric pole are shunk, and drive left compact heap and right compact heap to be pressed downward, due to left compact heap
It is located at human chest with right compact heap compacted position hereinafter, so will not influence trapped person's breathing.
In further technical solution, the telescopic end of the 6th electric pushrod is installed in the lower section of the intelligent video camera head
There is dry-chemical fire extinguishing spray head；Setting dry-chemical fire extinguishing spray head can small range put out open fire, facilitate fire rescue robot implement rescue
Work.
The utility model has the advantages that
Can crossing over blockage, adapt to complicated landform；It is anti-to pound against pressure, avoid robot from being pushed down in the scene of a fire by weight stranded；It can
It is simply put out a fire, the small-scale fire extinguishing of escape route is carried out when pulling trapped person and fleeing from the scene of a fire, it is safer；It can pull
Stupor trapped person escapes from the fire scene.
Detailed description of the invention
Fig. 1 is a kind of three-dimensional structure diagram one of fire rescue robot in the present invention；
Fig. 2 is a kind of three-dimensional structure diagram two of fire rescue robot in the present invention；
Fig. 3 is a kind of three-dimensional structure diagram three of fire rescue robot in the present invention；
Fig. 4 is a kind of part isometric structure chart one of fire rescue robot in the present invention；
Fig. 5 is a kind of part isometric structure chart two of fire rescue robot in the present invention；
Fig. 6 is a kind of principal section structure chart of fire rescue robot in the present invention；
Fig. 7 is the three-dimensional structure diagram one of guard box system in the present invention；
Fig. 8 is the three-dimensional structure diagram two of guard box system in the present invention；
Fig. 9 is the part isometric structure chart one of guard box system in the present invention；
Figure 10 is the part isometric structure chart two of guard box system in the present invention；
Figure 11-15 is a kind of process schematic of fire rescue robot throwing over barrier in the present invention；
Figure 16 be in the present invention a kind of fire rescue rescuing robot regain consciousness indicator of trapped personnel when structural schematic diagram；
Figure 17-21 be in the present invention a kind of fire rescue rescuing robot remain unconscious personnel when process schematic.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.Reality in being described below
It applies example to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.
As Figure 1-10 shows, the two sides of a kind of fire rescue robot, including rack 1, the rack 1 are equipped with crawler belt row
Into wheel 1a, the driving device 1b for driving crawler belt travel wheel 1a to rotate is installed in the rack 1；The front end of the rack 1
Front side board 1a1 is installed, rear end is equipped with back side panel 1a2, left side is equipped with left plate 1a3, right side is equipped with right side plate 1a4,
The upper end of the left plate 1a3 is hinged with left cover 5a, and the upper end of the right side plate 1a4 is hinged with right cover plate 5b；The rack 1
It is inherent be separately installed at left plate 1a3 and right side plate 1a4 be arranged along the vertical direction for controlling left cover 5a and the right side
The the first electric pushrod 7a1 and the second electric pushrod 7a2 of cover board 5b folding.
Chipping mechanism is being installed at front side board 1a1 in the rack 1；The chipping mechanism includes shoveling 2, and
It is rotatably connected between two bearing bracket stands 2a, two bearing bracket stand 2a being mounted in rack 1 along the length direction perpendicular to rack 1
The push rod 2c for stretching out the front side board 1a1 is being mounted at its end positions on cross bar 2b, the cross bar 2b, it is described to push away
Shovel 2 is mounted on the push rod 2c；Pacify on the medial surface of the left plate 1a3 and on the medial surface of the right side plate 1a4
Equipped with third electric pushrod 7b, the telescopic end of the third electric pushrod 7b passes through the bar of link block 7b1 Yu the push rod 2c
Body is hinged, lifts or puts down for controlling the shoveling 2 by push rod 2c.
Obstacle detouring auxiliary body, the obstacle detouring auxiliary body packet are being installed at the back side panel 1a2 in the rack 1
The length direction included along rack 1 is symmetrically arranged in rack 1 and respectively close to the 4th electricity at left plate 1a3 and right side plate 1a4
The telescopic end of dynamic push rod 7d, the 4th electric pushrod 7d stretch out the back side panel 1a2, and are equipped with horizontally disposed strut
7d1；The shaft of the 4th electric pushrod 7d is hinged in the rack 1 at its telescopic end；In institute in the rack 1
It states and is equipped with the of the hinge joint rotation for driving the 4th electric pushrod 7d around itself and rack 1 below the 4th electric pushrod 7d
Five electric pushrod 7e.
Guard box system is being equipped with along the length direction of rack 1 at back side panel 1a2 in the rack 1；The rack 1
It is inherent that the be arranged along the vertical direction is rotatably connected on the installation of the place front side board 1a1 support frame 7c1, support frame as described above 7c1
Six electric pushrod 7c, the lower end of the 6th electric pushrod 7c are equipped on rotation gear 6a, support frame as described above 7c1 and are equipped with rotation
Rotating motor 8a is equipped with the driving gear 6b engaged with the rotation gear 6a on the output shaft of the rotating electric machine 8a；It is described
The telescopic end of 6th electric pushrod 7c is equipped with for controlling driving device, chipping mechanism, obstacle detouring auxiliary body, guard box system
The intelligent video camera head 4 of work；The telescopic end of the 6th electric pushrod 7c is equipped with dry powder in the lower section of the intelligent video camera head 4
Fire extinguishing sprayer 3.
The guard box system includes cabinet 10 and pulls mechanism 10a, is set in the rack 1 at back side panel 1a2
There is supporting block 1001, the base plate rear end of the cabinet 10 is hinged in the supporting block 1001, in cabinet 10 in the rack 1
Lower section is equipped with the overturning electric pushrod 7g for pushing cabinet 10 to rotate around supporting block 1001；The upper end of the cabinet 10, front end,
Rear end is equipped with opening, and the left plate upper end of the cabinet 10 is hinged with boxboard 9, installation on the outside of the left plate of the cabinet 10
There is the 7th electric pushrod 7j opened and closed for controlling upper boxboard 9；Boxboard 17 before being hinged at the front opening of the cabinet 10, institute
State the 8th electric pushrod 7i for being equipped on the outside of the left plate of cabinet 10 and opening and closing for boxboard 17 before controlling；After the cabinet 10
It is hinged with rearing-box plate 18 at end opening, the 9th for controlling the folding of rearing-box plate 18 is installed on the outside of the left plate of the cabinet 10
Electric pushrod 7k.
The dragging mechanism 10a includes the first rack gear 12b, the first sliding rail 13b, the first sliding block 13c；First rack gear
12b and the first sliding rail 13b is installed on the outside of the right side plate of cabinet 10 along the length direction of cabinet 10, and the first sliding rail 13b
In the top of the first rack gear 12b；The first sliding block 13c is slidably connected on the first sliding rail 13b；First sliding block
First driving motor 8d is installed on 13c, is equipped with and the first rack gear 12b on the output shaft of the first driving motor 8d
The first gear 6f of engagement；The along the length direction setting perpendicular to the first sliding rail 13b is equipped on the first sliding block 13c
Ten electric pushrod 7h；The telescopic end of the tenth electric pushrod 7h is equipped with along the length direction for being parallel to the tenth electric pushrod 7h to be connected
Strut 7h2 is fixedly installed in one end far from the first sliding rail 13b on extension bar 7h1, the connecting rod 7h1, on the strut 7h2
It is hinged with and pulls frame 11, be fixedly installed with second gear 6e on the strut 7h2, second driving is installed on the dragging frame 11
Motor 8b is equipped with the third gear 6d engaged with the second gear 6e on the output shaft of the second driving motor 8b；Institute
It states and clamp system 10b is installed on the side plate for pulling frame 11.
The clamp system 10b includes left shovel board 14a, right shovel board 14b, left driving motor 8c1, right driving motor 8c2；Institute
It states and installs on the side plate for pulling frame 11 along being parallel to the direction strut 7h2 and be equipped on the second sliding rail 13a, the second sliding rail 13a
There are left slider 13a1 and right sliding block 13a2；The left shovel board 14a is mounted on the left slider 13a1, the right shovel board 14b peace
On right sliding block 13a2；Left rack gear 12a1, the right side are equipped with along the length direction of the second sliding rail 13a on the left shovel board 14a
Right rack gear 12a2 is equipped with along the length direction of the second sliding rail 13a on shovel board 14b；The left driving motor 8c1 and right driving motor
8c2 is installed on the side plate for pulling frame 11 and is located at the lower section of left slider 13a1 and right sliding block 13a2, the left driving
It is separately installed on the output shaft of motor 8c1 and right driving motor 8c2 and engages with the left rack gear 12a1 and right rack gear 12a2
Left gear 6c1 and right gear 6c2；Edge is set respectively perpendicular to the second direction sliding rail 13a on the left shovel board 14a and right shovel board 14b
There are left clamp 14a1 and right clamping plate 14b1；Electronic push away is clamped equipped with left beside the left clamp 14a1 on the left shovel board 14a
Bar 7c1, the left telescopic end for clamping electric pushrod 7f1 are equipped with left compact heap 16a；On the right side on the right shovel board 14b
Right clamping electric pushrod 7f2 is equipped with by clamping plate 14b1, the right telescopic end for clamping electric pushrod 7f2 is equipped with right compact heap
16b。
The fire rescue machine man-hour passes through driving gear 6b driving rotation gear 6a left/right rotation by rotating electric machine 8a
It is dynamic, and then the 6th electric pushrod 7c left-right rotation is driven, fire rescue robot is controlled by the intelligent video camera head 4 of the upper end
Work；As shown in figs. 11 and 15, when encountering the obstacle of certain altitude, the 6th electric pushrod 7c first adjusts intelligent video camera head 4
Highly, it adjusts rear intelligent video camera head 4 to judge barrier height, can such as cross, then third electric pushrod 7b is shunk, and is led to
Crossing push rod 2c and lifting shoveling 2 allows the crawler belt travel wheel 1a of fire rescue robot to touch obstacle, then fire rescue machine
Device people is since the frictional force of crawler belt travel wheel 1a starts to climb, when the front end of the crawler belt travel wheel 1a of fire rescue robot is super
When crossing barrier top, the 5th electric pushrod 7e changes length, adjusts the angle of the 4th electric pushrod 7d, the 4th electric pushrod 7d
The rear end of the crawler belt travel wheel 1a of fire rescue robot is lifted in stretching, and then fire rescue robot moves on, until
Fire rescue robot reach barrier upper end, then the 4th electric pushrod 7d shrink, will not hinder fire rescue robot after
Continuous to move ahead, such fire rescue robot can cross the obstacle occurred in the scene of a fire, more adapt to the complicated landform in the scene of a fire, have
Help Quick rescue trapped person.
When fire rescue robot by weight hit or when pushing down stranded by weight, the electricity of the first electric pushrod 7a1 and second
Left cover 5a and right cover plate 5b are pushed in dynamic push rod 7a2 stretching open, since the connection function left cover 5a of hinge can be around left plate
1a3 turns up, and right cover plate 5b can turn up around right side plate 1a4, and the weight that will bear against in fire rescue robot pushes away fire rescue
Robot is achieved and is voluntarily got rid of poverty.
When the intelligent video camera head 4 of fire rescue robot is after capturing trapped person, fire rescue robot immediately to by
Tired person is close, ensures temporary safety to simple fire extinguishing is carried out around trapped person by dry-chemical fire extinguishing spray head 3；It is taken the photograph simultaneously by intelligence
As first 4 pairs of trapped person's states judge, as shown in figure 16, when intelligent video camera head 4 judges trapped person for waking state, then
One electric pushrod 7a1 and the second electric pushrod 7a2 stretches out, and left cover 5a and right cover plate 5b is opened, electric pushrod is then overturn
7g stretches out, and cabinet 10 is pushed to rotate around supporting block 1001, and the 7th electric pushrod 7j is shunk, and the upper boxboard 9 of cabinet 10 is opened, etc.
Trapped person is from after being advanced into cabinet 10, and after intelligent video camera head 4, which detects trapped person, enters cabinet 10, the 7th electric pushrod 7j stretches
Out, the upper boxboard 9 of cabinet 10 is closed, overturning electric pushrod 7g is shunk, and entire cabinet 10 is laid flat, the first electric pushrod 7a1
It shrinks, left cover 5a and right cover plate 5b is closed, trapped person is in fire rescue robot in company with it with the second electric pushrod 7a2
It escapes from the fire scene together.
When intelligent video camera head 4 judges that trapped person remains unconscious, as shown in Figure 17-21, then the first electric pushrod 7a1 and
Two electric pushrod 7a2 stretch out, and left cover 5a and right cover plate 5b is opened, and the second driving motor 8b drives third gear 6d rotation,
Since the cooperation of third gear 6d and second gear 6e drive dragging frame 11 to rotate around strut 7h2, and the tenth electric pushrod
7h stretches out, and the first driving motor 8d drives first gear 6f rotation, since the cooperation of first gear 6f and the first rack gear 12b make the
One sliding block 13c is moved along the first sliding rail 13b, while the 8th electric pushrod 7i and the 9th electric pushrod 7k is stretched out preceding boxboard 17
It is opened with rearing-box plate 18, the second driving motor 8b drives third gear 6d to continue to rotate, due to third gear 6d and second gear
The cooperation of 6e, which drives, pulls the continuation of frame 11 around strut 7h2 rotation, until making left shovel board 14a and right shovel board 14b level be affixed on ground
Face, then left driving motor 8c1 and right driving motor 8c2 drives left gear 6c1 and right gear 6c2 to rotate respectively, and then passes through
Left rack gear 12a1 and right rack gear 12a2 drives left shovel board 14a and right shovel board 14b to separate along the second sliding rail 13a to two sides, simultaneously
Left clamping electric pushrod 7f1 and right clamping electric pushrod 7f2 stretches out, and left compact heap 16a and right compact heap 16b is raised, fire
Rescue robot is mobile to be symmetrically distributed in trapped person's both sides of the head for left shovel board 14a and right shovel board 14b, then shovels and carry on the back into trapped person
Portion drives left shovel board 14a and right shovel board 14b to close up, works as left clamp hereinafter, left driving motor 8c1 and right driving motor 8c2 rotation
After 14a1 and right clamping plate 14b2 clamps trapped person, left clamping electric pushrod 7f1 and right clamping electric pushrod 7f2 electric pole are shunk,
Left compact heap 16a and right compact heap 16b is driven to be pressed downward, since left compact heap 16a and right compact heap 16b compacted position are located at people
Body chest is hereinafter, so will not influence trapped person's breathing.Trapped person is fixed with clamp system 10b in fire rescue robot
Afterwards, it then controls the first driving motor 8d and rotates backward and trapped person is dragged in cabinet 10 by pulling frame 11, taken the photograph when intelligently
After entering cabinet 10 as first 4 detection trapped person, controls left clamping electric pushrod 7f1 and right clamping electric pushrod 7f2 electric pole stretches out,
Left compact heap 16a and right compact heap 16b is driven to move upwards, while left driving motor 8c1 and right driving motor 8c2 drive respectively
Left gear 6c1 and right gear 6c2 rotation, and then left shovel board 14a and right shovel board are driven by left rack gear 12a1 and right rack gear 12a2
14b is separated along the second sliding rail 13a to two sides；Second driving motor 8b drives third gear 6d to rotate backward, due to third tooth
The cooperation of wheel 6d and second gear 6e drives dragging frame 11 to rotate backward around strut 7h2, and the tenth electric pushrod 7h is shunk,
Frame 11 will be pulled to be received into rack 1；Then the upper boxboard 9 of cabinet 10 is closed in the 7th electric pushrod 7j stretching, while the 8th
Preceding boxboard 78 and rearing-box plate 18 are closed in electric pushrod 7i and the 9th electric pushrod 7k contraction, the first electric pushrod 7a1 and second
Electric pushrod 7a2 is shunk, and left cover 5a and right cover plate 5b is closed, and trapped person escapes in fire rescue robot in company with it together
From scene of fire.When escaping from the fire scene, third electric pushrod 7d stretches out, and shoveling is put down the stone etc. in escape route
Hard object is removed.
The basic principles, main features and advantages of the present invention have 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 what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (4)
1. a kind of fire rescue robot, including rack, the two sides of the rack are equipped with crawler belt travel wheel, pacify in the rack
Equipped with the driving device for driving crawler belt travel wheel to rotate；After the front end of the rack is equipped with front side board, rear end is equipped with
Side plate, left side are equipped with left plate, right side is equipped with right side plate, which is characterized in that the upper end of the left plate is hinged with left cover
Plate, the upper end of the right side plate are hinged with right cover plate；Edge is being separately installed at left plate and right side plate in the rack
The first electric pushrod and the second electric pushrod for being used to control left cover and right cover plate opening-closing of vertical direction setting；
Chipping mechanism is being installed at front side board in the rack；The chipping mechanism includes shoveling, and is mounted on machine
Two bearing bracket stands in frame are rotatably connected to cross bar, the cross bar along the length direction perpendicular to rack between two bearing bracket stands
On the push rod for stretching out the front side board is being mounted at its end positions, the shoveling is mounted on the push rod；Institute
It states on the medial surface of left plate and is mounted on third electric pushrod on the medial surface of the right side plate, the third is electronic to be pushed away
The shaft that the telescopic end of bar passes through link block and the push rod is hinged, lifts or puts for controlling the shoveling by push rod
Under；
Obstacle detouring auxiliary body is being installed at the back side panel in the rack, the obstacle detouring auxiliary body includes along rack
Length direction be symmetrically arranged in rack and respectively close to the 4th electric pushrod at left plate and right side plate, the 4th electricity
The telescopic end of dynamic push rod stretches out the back side panel, and is equipped with horizontally disposed strut；The shaft of 4th electric pushrod exists
It is hinged in the rack at its telescopic end；It is equipped with below the 4th electric pushrod for driving in the rack
The 5th electric pushrod that dynamic 4th electric pushrod is rotated around the hinge joint of itself and rack；
Guard box system is being equipped with along the length direction of rack at back side panel in the rack；By nearby in the rack
Support frame is installed at side plate, is rotatably connected to the 6th electric pushrod being arranged along the vertical direction on support frame as described above, the described 6th
The lower end of electric pushrod is equipped with rotation gear, and rotating electric machine, the output shaft of the rotating electric machine are equipped on support frame as described above
On be equipped with and the driving gear that engages of rotation gear；The telescopic end of 6th electric pushrod is equipped with to be driven for controlling
The intelligent video camera head that dynamic device, chipping mechanism, obstacle detouring auxiliary body, guard box system work.
2. fire rescue robot as described in claim 1, which is characterized in that the guard box system includes cabinet and dragging
Mechanism is being equipped with supporting block in the rack at back side panel, and the base plate rear end of the cabinet is hinged in the supporting block,
The overturning electric pushrod for pushing cabinet to rotate around supporting block is equipped in the lower section of cabinet in the rack；The cabinet it is upper
End, front end, rear end are equipped with opening, and the left plate upper end of the cabinet is hinged with boxboard, the left plate outside of the cabinet
The 7th electric pushrod for controlling upper boxboard folding is installed；Preceding boxboard is hinged at the front opening of the cabinet, it is described
The 8th electric pushrod for boxboard folding before controlling is installed on the outside of the left plate of cabinet；It is cut with scissors at the open rearward end of the cabinet
It is connected to rearing-box plate, the 9th electric pushrod for controlling rearing-box plate folding is installed on the outside of the left plate of the cabinet；
The dragging mechanism includes the first rack gear, the first sliding rail, the first sliding block；First rack gear and the first sliding rail are along cabinet
Length direction is installed on the outside of the right side plate of cabinet, and the first sliding rail is located at the top of the first rack gear；First sliding block is sliding
It is dynamic to be connected on first sliding rail；First driving motor is installed on first sliding block, first driving motor it is defeated
The first gear engaged with first rack gear is installed on shaft；It is equipped on first sliding block along perpendicular to the first sliding rail
Length direction setting the tenth electric pushrod；The telescopic end of tenth electric pushrod is along the length for being parallel to the tenth electric pushrod
It spends direction and is equipped with connecting rod, be fixedly installed with strut in one end far from the first sliding rail in the connecting rod, cut with scissors on the strut
It is connected to dragging frame, second gear is fixedly installed on the strut, the second driving motor is installed on the dragging frame, described
The third gear engaged with the second gear is installed on the output shaft of two driving motors；It is installed on the side plate for pulling frame
There is clamp system.
3. fire rescue robot as claimed in claim 2, which is characterized in that the clamp system includes left shovel board, right shovel
Plate, left driving motor, right driving motor；Edge is parallel to strut direction and is equipped with the second sliding rail, institute on the side plate for pulling frame
It states and left slider and right sliding block is installed on the second sliding rail；The left shovel board is mounted on the left slider, the right shovel board installation
On right sliding block；It is equipped with left rack gear along the length direction of the second sliding rail in the left shovel board, along the second sliding rail in the right shovel board
Length direction be equipped with right rack gear；The left driving motor and right driving motor are installed on the side plate for pulling frame and difference position
In the lower section of left slider and right sliding block, it is separately installed on the output shaft of the left driving motor and right driving motor and the left side
The left gear and right gear of rack gear and the engagement of right rack gear；Distinguish in the left shovel board and right shovel board along perpendicular to the second slide direction
Equipped with left clamp and right clamping plate；Left clamping electric pushrod, the left clamping are equipped in the left shovel board beside the left clamp
The telescopic end of electric pushrod is equipped with left compact heap；Right clamping electric pushrod is equipped in the right shovel board by the right clamping plate,
The right telescopic end for clamping electric pushrod is equipped with right compact heap.
4. fire rescue robot as described in claim 1, which is characterized in that the telescopic end of the 6th electric pushrod is in institute
It states and dry-chemical fire extinguishing spray head is installed below intelligent video camera head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811047076.4A CN108969943B (en) | 2018-09-08 | 2018-09-08 | Fire rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811047076.4A CN108969943B (en) | 2018-09-08 | 2018-09-08 | Fire rescue robot |
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| Publication Number | Publication Date |
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| CN108969943A true CN108969943A (en) | 2018-12-11 |
| CN108969943B CN108969943B (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811047076.4A Active CN108969943B (en) | 2018-09-08 | 2018-09-08 | Fire rescue robot |
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| CN113172648A (en) * | 2021-05-11 | 2021-07-27 | 郑州铁路职业技术学院 | Intelligent self-running obstacle removing robot |
| CN113332646A (en) * | 2021-06-17 | 2021-09-03 | 仁安建设科技集团有限公司 | Barrier removing device of fire-fighting emergency rescue tank |
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|---|---|
| CN108969943B (en) | 2020-10-02 |
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