CN108969943B - Fire rescue robot - Google Patents
Fire rescue robot Download PDFInfo
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- CN108969943B CN108969943B CN201811047076.4A CN201811047076A CN108969943B CN 108969943 B CN108969943 B CN 108969943B CN 201811047076 A CN201811047076 A CN 201811047076A CN 108969943 B CN108969943 B CN 108969943B
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- electric push
- push rod
- side plate
- rack
- plate
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- 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 fire rescue robot, which comprises a rack, wherein crawler traveling wheels are arranged on two sides of the rack, and a driving device is arranged on the rack; the front end of the rack is provided with a front side plate, the rear end of the rack is provided with a rear side plate, the left side of the rack is provided with a left side plate, the right side of the rack is provided with a right side plate, the upper end of the left side plate is hinged with a left cover plate, and the upper end of the right side plate is hinged with a right cover plate; a first electric push rod and a second electric push rod are respectively arranged in the machine frame and close to the left side plate and the right side plate; a shovel cleaning mechanism is arranged in the machine frame and close to the front side plate; a protection box system is arranged in the machine frame and close to the rear side plate along the length direction of the machine frame; an intelligent camera used for controlling the driving device, the shovel cleaning mechanism, the obstacle crossing auxiliary mechanism and the protection box system to work is installed at the telescopic end of the sixth electric push rod; the fire rescue robot can adapt to complex terrains of fire scenes, clear roads, prevent weights from being smashed and pressed, simply extinguish fire, pull out a coma and escape from the fire scene by a trapped person.
Description
Technical Field
The invention relates to the technical field of fire fighting equipment, in particular to a fire rescue robot.
Background
The robot is a product combining modern electronic technology and traditional mechanical structure science, is a comprehensive high-tech product of multiple disciplines such as computer science, cybernetics, structure science, information science, sensing technology and the like, and is automation equipment with human operation simulation, high-speed operation, repeated operation and high precision. With the development of the existing technologies, robots have been gradually applied to the industries of construction, fire protection, petrochemical industry, and the like. More and more high-rise buildings are developed in the existing city, the high-rise buildings also have many potential safety hazards, and once a fire disaster happens, the fire condition is difficult to control, so that the development of the intelligent rescue robot meets the actual and practical needs of the modern times.
Disclosure of Invention
The invention aims to provide an automatic device which can adapt to complex terrains of fire scenes, clear roads, prevent weights from being smashed and pressed, simply extinguish fire, and pull stupor people to escape from the fire scene.
To achieve the above purpose, the invention adopts the technical scheme that:
a fire rescue robot comprises a frame, wherein crawler traveling wheels are mounted on two sides of the frame, and a driving device for driving the crawler traveling wheels to rotate is mounted on the frame; the front end of the rack is provided with a front side plate, the rear end of the rack is provided with a rear side plate, the left side of the rack is provided with a left side plate, the right side of the rack is provided with a right side plate, the upper end of the left side plate is hinged with a left cover plate, and the upper end of the right side plate is hinged with a right cover plate; a first electric push rod and a second electric push rod which are arranged along the vertical direction and used for controlling the opening and closing of the left cover plate and the right cover plate are respectively arranged in the machine frame and close to the left side plate and the right side plate;
a shovel cleaning mechanism is arranged in the machine frame and close to the front side plate; the shovel cleaning mechanism comprises a push shovel and two bearing frames arranged in the rack, a cross rod is rotatably connected between the two bearing frames along the length direction vertical to the rack, push rods extending out of the front side plate are arranged on the cross rod at positions close to the two ends of the cross rod, and the push shovel is arranged on the push rods; third electric push rods are arranged on the inner side surface of the left side plate and the inner side surface of the right side plate, and the telescopic ends of the third electric push rods are hinged with the rod bodies of the push rods through connecting blocks and are used for controlling the push shovel to be lifted or put down through the push rods;
an obstacle crossing auxiliary mechanism is arranged in the rack and close to the rear side plate, the obstacle crossing auxiliary mechanism comprises fourth electric push rods which are symmetrically arranged in the rack along the length direction of the rack and close to the left side plate and the right side plate respectively, and the telescopic ends of the fourth electric push rods extend out of the rear side plate and are provided with horizontally arranged support rods; the rod body of the fourth electric push rod is hinged to the rack near the telescopic end of the fourth electric push rod; a fifth electric push rod for driving the fourth electric push rod to rotate around a hinged point of the fourth electric push rod and the rack is arranged below the fourth electric push rod in the rack;
a protection box system is arranged in the machine frame and close to the rear side plate along the length direction of the machine frame; a support frame is arranged in the machine frame and close to the front side plate, a sixth electric push rod arranged along the vertical direction is connected to the support frame in a rotating mode, a rotating gear is arranged at the lower end of the sixth electric push rod, a rotating motor is arranged on the support frame, and a driving gear meshed with the rotating gear is arranged on an output shaft of the rotating motor; and an intelligent camera for controlling the driving device, the shovel cleaning mechanism, the obstacle crossing auxiliary mechanism and the protection box system to work is installed at the telescopic end of the sixth electric push rod.
Through the technical scheme, when the fire rescue robot works, the rotating motor drives the rotating gear to rotate left and right through the driving gear, so as to drive the sixth electric push rod to rotate left and right, the intelligent camera at the upper end of the rotating motor controls the work of the fire rescue robot, when an obstacle with a certain height is met, the height of the intelligent camera is adjusted by the sixth electric push rod, the adjusted intelligent camera judges the height of the obstacle, if the intelligent camera can climb over, the third electric push rod contracts, the push shovel is lifted through the push rod, so that the crawler traveling wheel of the fire rescue robot can contact the obstacle, then the fire rescue robot starts climbing upwards due to the friction force of the crawler traveling wheel, when the front end of the crawler traveling wheel of the fire rescue robot exceeds the top end of the obstacle, the fifth electric push rod changes the length, the angle of the fourth electric push rod is adjusted, the fourth electric push rod stretches out to lift the rear end of the crawler traveling wheel of the fire rescue robot, then the fire rescue robot continues to advance until the fire rescue robot reaches the upper end of the barrier, then the fourth electric push rod contracts, the fire rescue robot cannot be hindered from continuing to advance, so that the fire rescue robot can cross the barrier in the fire scene, is more suitable for the complex terrain of the fire scene, and is beneficial to quickly rescuing trapped people. When the fire rescue robot is smashed by the weight or is pressed by the weight to be stranded, the first electric push rod and the second electric push rod stretch out to push the left cover plate and the right cover plate open, the left cover plate can turn outwards around the left side plate due to the connection effect of the hinge, the right cover plate can turn outwards around the right side plate, the weight pressed on the fire rescue robot is pushed away from the fire rescue robot, and the fire rescue robot is enabled to realize self-stranded escape. After catching the person who is stranded when fire rescue robot's intelligent camera, fire rescue robot is close to the person who is stranded immediately, judges the person who is stranded state through intelligent camera simultaneously to through the guard box system according to the clear-headed degree of the person who is stranded personnel rescue out safely.
In a further technical scheme, the protective box system comprises a box body and a dragging mechanism, a supporting block is arranged on the rack close to a rear side plate, the rear end of a bottom plate of the box body is hinged to the supporting block, and an overturning electric push rod for pushing the box body to rotate around the supporting block is arranged below the box body on the rack; openings are formed in the upper end, the front end and the rear end of the box body, an upper box plate is hinged to the upper end of a left side plate of the box body, and a seventh electric push rod for controlling the upper box plate to open and close is installed on the outer side of the left side plate of the box body; a front box plate is hinged to an opening at the front end of the box body, and an eighth electric push rod for controlling the opening and closing of the front box plate is installed on the outer side of the left side plate of the box body; a rear box plate is hinged to an opening at the rear end of the box body, and a ninth electric push rod for controlling the opening and closing of the rear box plate is installed on the outer side of the left side plate of the box body;
the dragging mechanism comprises a first rack, a first sliding rail and a first sliding block; the first rack and the first slide rail are both arranged on the outer side of the right side plate of the box body along the length direction of the box body, and the first slide rail is positioned above the first rack; the first sliding block is connected to the first sliding rail in a sliding mode; a first driving motor is arranged on the first sliding block, and a first gear meshed with the first rack is arranged on an output shaft of the first driving motor; a tenth electric push rod which is arranged along the length direction vertical to the first slide rail is arranged on the first slide block; a connecting rod is arranged at the telescopic end of the tenth electric push rod along the length direction parallel to the tenth electric push rod, a supporting rod is fixedly mounted at one end, far away from the first slide rail, of the connecting rod, a dragging frame is hinged to the supporting rod, a second gear is fixedly mounted on the supporting rod, a second driving motor is mounted on the dragging frame, and a third gear meshed with the second gear is mounted on an output shaft of the second driving motor; and a clamping mechanism is arranged on a side plate of the dragging frame.
Through the technical scheme, when the intelligent camera judges that the trapped person is in a waking state, the first electric push rod and the second electric push rod extend out to open the left cover plate and the right cover plate, then the overturning electric push rod extends out to push the box body to rotate around the supporting block, the seventh electric push rod contracts to open the upper box plate of the box body, after the trapped person automatically enters the box body, when the intelligent camera detects that the trapped person enters the box body, the seventh electric push rod extends out to close the upper box plate of the box body, the overturning electric push rod contracts to level the whole box body, the first electric push rod and the second electric push rod contract to close the left cover plate and the right cover plate, and the trapped person escapes from a fire scene along with the trapped person in the fire rescue robot; when the intelligent camera judges that the trapped person is unconscious, the first electric push rod and the second electric push rod extend out to open the left cover plate and the right cover plate, the second drive motor drives the third gear to rotate, the dragging frame is driven to rotate around the support rod by the cooperation of the third gear and the second gear, the tenth electric push rod extends out, the first drive motor drives the first gear to rotate, the first slide block moves along the first slide rail by the cooperation of the first gear and the first rack, meanwhile, the eighth electric push rod and the ninth electric push rod extend out to open the front box plate and the rear box plate, the second drive motor drives the third gear to continue to rotate, the dragging frame is driven to continue to rotate around the support rod by the cooperation of the third gear and the second gear until the clamping mechanism stretches beside the trapped person, the trapped person is clamped by the clamping mechanism, and then the first drive motor and the reverse rotation are controlled to drag the trapped person into the box body by the dragging frame, when the intelligent camera detects that a trapped person enters the box body, the seventh electric push rod stretches out to close the upper box plate of the box body, the eighth electric push rod and the ninth electric push rod contract to close the front box plate and the rear box plate, the first electric push rod and the second electric push rod contract to close the left cover plate and the right cover plate, and the trapped person escapes from a fire scene along with the trapped person in the fire rescue robot. When escaping from the fire scene, the third electric push rod extends out to put down the push shovel and remove the stones and other hard objects on the escaping route.
In a further technical scheme, the clamping mechanism comprises a left shovel plate, a right shovel plate, a left driving motor and a right driving motor; a second sliding rail is arranged on a side plate of the dragging frame along the direction parallel to the support rod, and a left sliding block and a right sliding block are arranged on the second sliding rail; the left shovel plate is arranged on the left sliding block, and the right shovel plate is arranged on the right sliding block; a left rack is arranged on the left shovel plate along the length direction of the second slide rail, and a right rack is arranged on the right shovel plate along the length direction of the second slide rail; the left driving motor and the right driving motor are both arranged on a side plate of the dragging frame and are respectively positioned below the left sliding block and the right sliding block, and output shafts of the left driving motor and the right driving motor are respectively provided with a left gear and a right gear which are meshed with the left rack and the right rack; a left clamping plate and a right clamping plate are respectively arranged on the left shovel plate and the right shovel plate along the direction vertical to the second slide rail; a left clamping electric push rod is arranged on the left shovel plate beside the left clamping plate, and a left compression block is arranged at the telescopic end of the left clamping electric push rod; and a right clamping electric push rod is arranged beside the right clamping plate on the right shovel plate, and a right compression block is installed at the telescopic end of the right clamping electric push rod.
Through the technical scheme, when the clamping mechanism works, the left driving motor and the right driving motor respectively drive the left gear and the right gear to rotate, the left shovel plate and the right shovel plate are driven to be separated towards two sides along the second sliding rail through the left rack and the right rack, meanwhile, the left clamping electric push rod and the right clamping electric push rod extend out to lift the left compression block and the right compression block, the left shovel plate and the right shovel plate are symmetrically distributed at two sides of the head of the trapped person and then shovel into the position below the back of the trapped person by the movement of the fire rescue robot, the left driving motor and the right driving motor rotate to drive the left shovel plate and the right shovel plate to fold, when the left clamping plate and the right clamping plate clamp the trapped person, the electric pole of the left clamping electric push rod and the right clamping electric push rod is contracted to drive the left pressing block and the right pressing block to press downwards, because the compressing positions of the left compressing block and the right compressing block are positioned below the chest of the human body, the breathing of the trapped person can not be influenced.
In a further technical scheme, a dry powder extinguishing spray head is arranged at the telescopic end of the sixth electric push rod below the intelligent camera; the dry powder fire extinguishing nozzle can extinguish open fire in a small range, and is convenient for the fire rescue robot to rescue.
Has the advantages that:
the obstacle can be crossed, and the device is suitable for complex terrains; the robot is prevented from being crushed and pressed by a heavy object in a fire scene; the fire extinguisher can simply extinguish fire, and extinguishes fire in a small range of escape routes when dragging trapped people to escape from a fire scene, so that the fire extinguisher is safer; can drag the comatose person to escape from the fire scene.
Drawings
Fig. 1 is a first perspective view of a first fire rescue robot according to the present invention;
FIG. 2 is a second perspective view of a fire rescue robot according to the present invention;
FIG. 3 is a three-dimensional structure diagram of a fire rescue robot according to the present invention;
FIG. 4 is a partial perspective view of a first fire rescue robot according to the present invention;
FIG. 5 is a partial perspective view of a second fire rescue robot according to the present invention;
fig. 6 is a main sectional structure view of a fire rescue robot according to the present invention;
FIG. 7 is a first perspective view of the protection box system of the present invention;
FIG. 8 is a second perspective view of the protective enclosure system of the present invention;
FIG. 9 is a partial perspective view of the first protective enclosure system of the present invention;
FIG. 10 is a partial perspective view of the second embodiment of the protection box system of the present invention;
fig. 11 to 15 are schematic views illustrating a process in which a fire rescue robot according to the present invention climbs over an obstacle;
FIG. 16 is a schematic structural diagram of a fire rescue robot for rescuing awake trapped persons in accordance with the present invention;
fig. 17-21 are schematic views illustrating a process of rescuing a comatose person by a fire rescue robot according to the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1 to 10, a fire rescue robot comprises a frame 1, crawler traveling wheels 1a are mounted on two sides of the frame 1, and a driving device 1b for driving the crawler traveling wheels 1a to rotate is mounted on the frame 1; the front end of the rack 1 is provided with a front side plate 1a1, the rear end is provided with a rear side plate 1a2, the left side is provided with a left side plate 1a3, the right side is provided with a right side plate 1a4, the upper end of the left side plate 1a3 is hinged with a left cover plate 5a, and the upper end of the right side plate 1a4 is hinged with a right cover plate 5 b; a first electric push rod 7a1 and a second electric push rod 7a2 which are arranged along the vertical direction and used for controlling the opening and closing of the left cover plate 5a and the right cover plate 5b are respectively arranged in the frame 1 and close to the left side plate 1a3 and the right side plate 1a 4.
A shovel cleaning mechanism is arranged in the frame 1 and close to the front side plate 1a 1; the shovel cleaning mechanism comprises a push shovel 2 and two bearing frames 2a arranged in the rack 1, a cross rod 2b is rotatably connected between the two bearing frames 2a along the length direction vertical to the rack 1, push rods 2c extending out of the front side plate 1a1 are arranged on the cross rod 2b at positions close to the two ends of the cross rod 2b, and the push shovel 2 is arranged on the push rods 2 c; third electric push rods 7b are mounted on the inner side surface of the left side plate 1a3 and the inner side surface of the right side plate 1a4, and the telescopic ends of the third electric push rods 7b are hinged to the rod body of the push rod 2c through connecting blocks 7b1 and used for controlling the push shovel 2 to be lifted or put down through the push rod 2 c.
An obstacle crossing auxiliary mechanism is arranged in the machine frame 1 and close to the rear side plate 1a2, the obstacle crossing auxiliary mechanism comprises fourth electric push rods 7d which are symmetrically arranged in the machine frame 1 along the length direction of the machine frame 1 and are respectively close to the left side plate 1a3 and the right side plate 1a4, and the telescopic ends of the fourth electric push rods 7d extend out of the rear side plate 1a2 and are provided with horizontally arranged support rods 7d 1; the rod body of the fourth electric push rod 7d is hinged on the frame 1 near the telescopic end thereof; and fifth electric push rods 7e for driving the fourth electric push rods 7d to rotate around hinged points of the fourth electric push rods 7d and the rack 1 are arranged below the fourth electric push rods 7d in the rack 1.
A protection box system is arranged in the machine frame 1 at a position close to the rear side plate 1a2 along the length direction of the machine frame 1; a support frame 7c1 is installed at a position, close to a front side plate 1a1, in the rack 1, a sixth electric push rod 7c arranged along the vertical direction is connected to the support frame 7c1 in a rotating mode, a rotating gear 6a is installed at the lower end of the sixth electric push rod 7c, a rotating motor 8a is installed on the support frame 7c1, and a driving gear 6b meshed with the rotating gear 6a is installed on an output shaft of the rotating motor 8 a; the telescopic end of the sixth electric push rod 7c is provided with an intelligent camera 4 for controlling the driving device, the shovel cleaning mechanism, the obstacle crossing auxiliary mechanism and the protective box system to work; and the telescopic end of the sixth electric push rod 7c is arranged below the intelligent camera 4 and is provided with a dry powder fire extinguishing nozzle 3.
The protective box system comprises a box body 10 and a dragging mechanism 10a, a supporting block 1001 is arranged on the rack 1 at a position close to a rear side plate 1a2, the rear end of a bottom plate of the box body 10 is hinged to the supporting block 1001, and a turnover electric push rod 7g for pushing the box body 10 to rotate around the supporting block 1001 is arranged below the box body 10 on the rack 1; openings are formed in the upper end, the front end and the rear end of the box body 10, an upper box plate 9 is hinged to the upper end of a left side plate of the box body 10, and a seventh electric push rod 7j for controlling the upper box plate 9 to open and close is mounted on the outer side of the left side plate of the box body 10; a front box plate 17 is hinged to an opening at the front end of the box body 10, and an eighth electric push rod 7i for controlling the opening and closing of the front box plate 17 is installed on the outer side of the left side plate of the box body 10; the rear end opening of box 10 articulates there is back boxboard 18, the ninth electric putter 7k that is used for controlling back boxboard 18 and opens and shuts is installed to the left side board outside of box 10.
The dragging mechanism 10a comprises a first rack 12b, a first slide rail 13b and a first slide block 13 c; the first rack 12b and the first slide rail 13b are both installed on the outer side of the right side plate of the box body 10 along the length direction of the box body 10, and the first slide rail 13b is located above the first rack 12 b; the first sliding block 13c is connected to the first sliding rail 13b in a sliding manner; a first driving motor 8d is mounted on the first sliding block 13c, and a first gear 6f meshed with the first rack 12b is mounted on an output shaft of the first driving motor 8 d; a tenth electric push rod 7h arranged along the length direction vertical to the first slide rail 13b is arranged on the first slide block 13 c; a connecting rod 7h1 is arranged at the telescopic end of the tenth electric push rod 7h along the length direction parallel to the tenth electric push rod 7h, a supporting rod 7h2 is fixedly mounted at one end, far away from the first slide rail 13b, of the connecting rod 7h1, a dragging frame 11 is hinged to the supporting rod 7h2, a second gear 6e is fixedly mounted on the supporting rod 7h2, a second driving motor 8b is mounted on the dragging frame 11, and a third gear 6d meshed with the second gear 6e is mounted on an output shaft of the second driving motor 8 b; and a clamping mechanism 10b is arranged on a side plate of the dragging frame 11.
The clamping mechanism 10b comprises a left shovel plate 14a, a right shovel plate 14b, a left driving motor 8c1 and a right driving motor 8c 2; a second slide rail 13a is arranged on a side plate of the dragging frame 11 along a direction parallel to the strut 7h2, and a left slide block 13a1 and a right slide block 13a2 are arranged on the second slide rail 13 a; the left shovel plate 14a is installed on the left slide block 13a1, and the right shovel plate 14b is installed on the right slide block 13a 2; a left rack 12a1 is arranged on the left shovel plate 14a along the length direction of the second slide rail 13a, and a right rack 12a2 is arranged on the right shovel plate 14b along the length direction of the second slide rail 13 a; the left driving motor 8c1 and the right driving motor 8c2 are both mounted on a side plate of the towing bracket 11 and are respectively located below the left slider 13a1 and the right slider 13a2, and the output shafts of the left driving motor 8c1 and the right driving motor 8c2 are respectively provided with a left gear 6c1 and a right gear 6c2 which are meshed with the left rack 12a1 and the right rack 12a 2; a left clamping plate 14a1 and a right clamping plate 14b1 are respectively arranged on the left shovel plate 14a and the right shovel plate 14b along the direction perpendicular to the second sliding rail 13 a; a left clamping electric push rod 7c1 is arranged on the left shovel plate 14a beside the left clamping plate 14a1, and a left compression block 16a is installed at the telescopic end of the left clamping electric push rod 7f 1; a right clamping electric push rod 7f2 is arranged beside the right clamping plate 14b1 on the right shovel plate 14b, and a right pressing block 16b is installed at the telescopic end of the right clamping electric push rod 7f 2.
When the fire rescue robot works, the rotating gear 6a is driven to rotate left and right by the rotating motor 8a through the driving gear 6b, the sixth electric push rod 7c is further driven to rotate left and right, and the intelligent camera 4 at the upper end of the sixth electric push rod controls the fire rescue robot to work; as shown in fig. 11 to 15, when an obstacle with a certain height is encountered, the height of the intelligent camera 4 is adjusted by the sixth electric push rod 7c, the adjusted intelligent camera 4 judges the height of the obstacle, if the intelligent camera 4 can be overturned, the third electric push rod 7b is contracted, the push shovel 2 is lifted by the push rod 2c, so that the crawler traveling wheel 1a of the fire rescue robot can contact the obstacle, then the fire rescue robot starts to climb upwards due to the friction force of the crawler traveling wheel 1a, when the front end of the crawler traveling wheel 1a of the fire rescue robot exceeds the top end of the obstacle, the length of the fifth electric push rod 7e is changed, the angle of the fourth electric push rod 7d is adjusted, the fourth electric push rod 7d is extended to lift the rear end of the crawler traveling wheel 1a of the fire rescue robot, then the fire rescue robot continues to advance until the fire rescue robot reaches the upper end of the obstacle, and then the fourth electric push rod 7d is contracted, so that the fire rescue robot cannot be hindered from continuing to move forward, and thus the fire rescue robot can cross over obstacles in a fire scene, is more suitable for the complex terrain of the fire scene, and is helpful for quickly rescuing trapped people.
When the fire rescue robot is smashed by a heavy object or is pressed by the heavy object to be trapped, the first electric push rod 7a1 and the second electric push rod 7a2 extend out to push the left cover plate 5a and the right cover plate 5b open, the left cover plate 5a can turn outwards around the left side plate 1a3 and the right cover plate 5b can turn outwards around the right side plate 1a4 due to the connection effect of the hinge, and the heavy object pressed on the fire rescue robot is pushed away from the fire rescue robot, so that the fire rescue robot can automatically escape from the trap.
When the intelligent camera 4 of the fire rescue robot catches the trapped person, the fire rescue robot immediately approaches the trapped person, and the dry powder fire extinguishing nozzle 3 is used for simply extinguishing the fire around the trapped person to ensure temporary safety; meanwhile, the intelligent camera 4 judges the state of the trapped person, as shown in fig. 16, when the intelligent camera 4 judges that the trapped person is in a waking state, the first electric push rod 7a1 and the second electric push rod 7a2 are extended, the left cover plate 5a and the right cover plate 5b are opened, then the turning electric push rod 7g extends out to push the box body 10 to rotate around the supporting block 1001, the seventh electric push rod 7j contracts to open the upper box plate 9 of the box body 10, after the trapped person enters the box body 10 by self, when the intelligent camera 4 detects that the trapped person enters the box body 10, the seventh electric push rod 7j extends out, the upper box plate 9 of the box body 10 is closed, the electric push rod 7g is turned over to contract, the whole box body 10 is laid flat, the first electric push rod 7a1 and the second electric push rod 7a2 contract, the left cover plate 5a and the right cover plate 5b are closed, and the trapped person escapes from a fire scene along with the trapped person in the fire rescue robot.
When the intelligent camera 4 determines that the trapped person is unconscious, as shown in fig. 17-21, the first electric push rod 7a1 and the second electric push rod 7a2 extend out to open the left cover plate 5a and the right cover plate 5b, the second driving motor 8b drives the third gear 6d to rotate, the dragging frame 11 rotates around the support rod 7h2 due to the cooperation of the third gear 6d and the second gear 6e, and the tenth electric push rod 7h extends out, the first driving motor 8d drives the first gear 6f to rotate, the first sliding block 13c moves along the first sliding rail 13b due to the cooperation of the first gear 6f and the first rack 12b, meanwhile, the eighth electric push rod 7i and the ninth electric push rod 7k extend out to open the front box plate 17 and the rear box plate 18, the second driving motor 8b drives the third gear 6d to continue to rotate, and the dragging frame 11 continues to rotate around the support rod 7h2 due to the cooperation of the third gear 6d and the second gear 6e, until the left shovel plate 14a and the right shovel plate 14b are attached to the ground horizontally, then the left driving motor 8c1 and the right driving motor 8c2 respectively drive the left gear 6c1 and the right gear 6c2 to rotate, further the left shovel plate 14a and the right shovel plate 14b are driven to separate to two sides along the second sliding rail 13a by the left rack 12a1 and the right rack 12a2, meanwhile, the left clamping electric push rod 7f1 and the right clamping electric push rod 7f2 extend out to lift the left pressing block 16a and the right pressing block 16b, the fire rescue robot moves to symmetrically distribute the left shovel plate 14a and the right shovel plate 14b on two sides of the head of the trapped person and then shovel the trapped person under the back of the trapped person, the left driving motor 8c1 and the right driving motor 8c2 rotate to drive the left shovel plate 14a and the right shovel plate 14b to fold, when the left clamping plate 14a1 and the right clamping plate 14b2 clamp the trapped person, the left clamping electric push rod 1 f and the right electric pole 46 2 f are retracted, the left compression block 16a and the right compression block 16b are driven to press downwards, and the compression positions of the left compression block 16a and the right compression block 16b are located below the chest of the human body, so that the breathing of the trapped person is not influenced. After a trapped person is fixed by the clamping mechanism 10b for the fire rescue robot, the first driving motor 8d and the reverse rotation are controlled to drag the trapped person into the box body 10 through the dragging frame 11, when the intelligent camera 4 detects that the trapped person enters the box body 10, the electric poles of the left clamping electric push rod 7f1 and the right clamping electric push rod 7f2 are controlled to extend out to drive the left pressing block 16a and the right pressing block 16b to move upwards, and meanwhile, the left driving motor 8c1 and the right driving motor 8c2 respectively drive the left gear 6c1 and the right gear 6c2 to rotate, so that the left shovel plate 14a and the right shovel plate 14b are driven to be separated towards two sides along the second sliding rail 13a through the left rack 12a1 and the right rack 12a 2; the second driving motor 8b drives the third gear 6d to rotate reversely, and the third gear 6d and the second gear 6e are matched to drive the dragging frame 11 to rotate reversely around the supporting rod 7h2, and the tenth electric push rod 7h contracts to store the dragging frame 11 in the rack 1; then the seventh electric push rod 7j extends to close the upper box plate 9 of the box body 10, simultaneously the eighth electric push rod 7i and the ninth electric push rod 7k contract to close the front box plate 78 and the rear box plate 18, the first electric push rod 7a1 and the second electric push rod 7a2 contract to close the left cover plate 5a and the right cover plate 5b, and the trapped person escapes from the fire scene in the fire rescue robot along with the first electric push rod and the second electric push rod. When escaping from the fire scene, the third electric push rod 7d extends out, and the push shovel is put down to remove hard objects such as stones on the escaping route.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A fire rescue robot comprises a frame, wherein crawler traveling wheels are mounted on two sides of the frame, and a driving device for driving the crawler traveling wheels to rotate is mounted on the frame; the front end of the rack is provided with a front side plate, the rear end of the rack is provided with a rear side plate, the left side of the rack is provided with a left side plate, and the right side of the rack is provided with a right side plate; a first electric push rod and a second electric push rod which are arranged along the vertical direction and used for controlling the opening and closing of the left cover plate and the right cover plate are respectively arranged in the machine frame and close to the left side plate and the right side plate;
a shovel cleaning mechanism is arranged in the machine frame and close to the front side plate; the shovel cleaning mechanism comprises a push shovel and two bearing frames arranged in the rack, a cross rod is rotatably connected between the two bearing frames along the length direction vertical to the rack, push rods extending out of the front side plate are arranged on the cross rod at positions close to the two ends of the cross rod, and the push shovel is arranged on the push rods; third electric push rods are arranged on the inner side surface of the left side plate and the inner side surface of the right side plate, and the telescopic ends of the third electric push rods are hinged with the rod bodies of the push rods through connecting blocks and are used for controlling the push shovel to be lifted or put down through the push rods;
an obstacle crossing auxiliary mechanism is arranged in the rack and close to the rear side plate, the obstacle crossing auxiliary mechanism comprises fourth electric push rods which are symmetrically arranged in the rack along the length direction of the rack and close to the left side plate and the right side plate respectively, and the telescopic ends of the fourth electric push rods extend out of the rear side plate and are provided with horizontally arranged support rods; the rod body of the fourth electric push rod is hinged to the rack near the telescopic end of the fourth electric push rod; a fifth electric push rod for driving the fourth electric push rod to rotate around a hinged point of the fourth electric push rod and the rack is arranged below the fourth electric push rod in the rack;
a protection box system is arranged in the machine frame and close to the rear side plate along the length direction of the machine frame; a support frame is arranged in the machine frame and close to the front side plate, a sixth electric push rod arranged along the vertical direction is connected to the support frame in a rotating mode, a rotating gear is arranged at the lower end of the sixth electric push rod, a rotating motor is arranged on the support frame, and a driving gear meshed with the rotating gear is arranged on an output shaft of the rotating motor; the telescopic end of the sixth electric push rod is provided with an intelligent camera for controlling the driving device, the shovel cleaning mechanism, the obstacle crossing auxiliary mechanism and the protection box system to work;
when an obstacle with a certain height is met, firstly, the height of the intelligent camera is adjusted by the sixth electric push rod, the intelligent camera judges the height of the obstacle after adjustment, if the intelligent camera can climb over, the third electric push rod is contracted, the push shovel is lifted by the push rod to enable the crawler belt traveling wheel to be in contact with the obstacle, then the crawler belt traveling wheel begins to climb upwards due to the friction force of the crawler belt traveling wheel, when the front end of the crawler belt traveling wheel exceeds the top end of the obstacle, the length of the fifth electric push rod is changed, the angle of the fourth electric push rod is adjusted, the fourth electric push rod stretches out to lift the rear end of the crawler belt traveling wheel, then the fourth electric push rod continues to advance until the upper end of the obstacle is reached, and then the fourth electric push rod contracts.
2. A fire rescue robot as claimed in claim 1, wherein the protection box system comprises a box body and a dragging mechanism, the frame is provided with a supporting block near the rear side plate, the rear end of the bottom plate of the box body is hinged on the supporting block, and a turning electric push rod for pushing the box body to rotate around the supporting block is arranged below the box body on the frame; openings are formed in the upper end, the front end and the rear end of the box body, an upper box plate is hinged to the upper end of a left side plate of the box body, and a seventh electric push rod for controlling the upper box plate to open and close is installed on the outer side of the left side plate of the box body; a front box plate is hinged to an opening at the front end of the box body, and an eighth electric push rod for controlling the opening and closing of the front box plate is installed on the outer side of the left side plate of the box body; a rear box plate is hinged to an opening at the rear end of the box body, and a ninth electric push rod for controlling the opening and closing of the rear box plate is installed on the outer side of the left side plate of the box body;
the dragging mechanism comprises a first rack, a first sliding rail and a first sliding block; the first rack and the first slide rail are both arranged on the outer side of the right side plate of the box body along the length direction of the box body, and the first slide rail is positioned above the first rack; the first sliding block is connected to the first sliding rail in a sliding mode; a first driving motor is arranged on the first sliding block, and a first gear meshed with the first rack is arranged on an output shaft of the first driving motor; a tenth electric push rod which is arranged along the length direction vertical to the first slide rail is arranged on the first slide block; a connecting rod is arranged at the telescopic end of the tenth electric push rod along the length direction parallel to the tenth electric push rod, a supporting rod is fixedly mounted at one end, far away from the first slide rail, of the connecting rod, a dragging frame is hinged to the supporting rod, a second gear is fixedly mounted on the supporting rod, a second driving motor is mounted on the dragging frame, and a third gear meshed with the second gear is mounted on an output shaft of the second driving motor; and a clamping mechanism is arranged on a side plate of the dragging frame.
3. A fire rescue robot as recited in claim 2, wherein the clamping mechanism includes a left blade, a right blade, a left drive motor, a right drive motor; a second sliding rail is arranged on a side plate of the dragging frame along the direction parallel to the support rod, and a left sliding block and a right sliding block are arranged on the second sliding rail; the left shovel plate is arranged on the left sliding block, and the right shovel plate is arranged on the right sliding block; a left rack is arranged on the left shovel plate along the length direction of the second slide rail, and a right rack is arranged on the right shovel plate along the length direction of the second slide rail; the left driving motor and the right driving motor are both arranged on a side plate of the dragging frame and are respectively positioned below the left sliding block and the right sliding block, and output shafts of the left driving motor and the right driving motor are respectively provided with a left gear and a right gear which are meshed with the left rack and the right rack; a left clamping plate and a right clamping plate are respectively arranged on the left shovel plate and the right shovel plate along the direction vertical to the second slide rail; a left clamping electric push rod is arranged on the left shovel plate beside the left clamping plate, and a left compression block is arranged at the telescopic end of the left clamping electric push rod; and a right clamping electric push rod is arranged beside the right clamping plate on the right shovel plate, and a right compression block is installed at the telescopic end of the right clamping electric push rod.
4. A fire rescue robot as claimed in claim 1, wherein a dry powder fire extinguishing nozzle is installed below the intelligent camera at the telescopic end of the sixth electric push rod.
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 CN108969943A (en) | 2018-12-11 |
| CN108969943B true CN108969943B (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811047076.4A Active CN108969943B (en) | 2018-09-08 | 2018-09-08 | Fire rescue robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172648B (en) * | 2021-05-11 | 2022-11-22 | 郑州铁路职业技术学院 | Intelligent self-running obstacle removing robot |
| CN113332646B (en) * | 2021-06-17 | 2022-04-01 | 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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| CN104874142A (en) * | 2015-06-04 | 2015-09-02 | 中国石油大学(北京) | Automatic firefighting robot |
| US9751459B1 (en) * | 2016-04-06 | 2017-09-05 | Hme, Incorporated | Firefighting or rescue apparatus including an integrated grab handle and signal light |
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| CN108969943A (en) | 2018-12-11 |
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Effective date of registration: 20210416 Address after: Room 303-1, building 3, 9 Taihu East Road, Xinbei District, Changzhou City, Jiangsu Province 213000 Patentee after: Changzhou haitianyi Intelligent Technology Co.,Ltd. Address before: No. 508, Yanling East Road, Changzhou City, Jiangsu Province Patentee before: Changzhou Hai en de intelligent power Polytron Technologies Inc. |
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