CN109303993B

CN109303993B - Crawler-type fire-fighting robot

Info

Publication number: CN109303993B
Application number: CN201811043622.7A
Authority: CN
Inventors: 黄田; 许益民
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2018-09-07
Filing date: 2018-09-07
Publication date: 2020-10-30
Anticipated expiration: 2038-09-07
Also published as: CN109303993A

Abstract

The invention relates to a crawler-type fire-fighting robot, which comprises a left walking assembly, a right walking assembly, a vehicle body and a suspension system, wherein the left walking assembly and the right walking assembly respectively comprise a guide wheel and a plurality of bogie wheels, the guide wheel is fixed on the vehicle body through a pre-tensioning mechanism, the pre-tensioning mechanism comprises a guide wheel supporting piece, a hydraulic buffer and a torsion bar, the guide wheel is arranged on the guide wheel supporting piece, an included angle of 29-32 degrees is formed between the guide wheel and the bogie wheels, the guide wheel supporting piece is fixed on the vehicle body through the torsion bar, and the hydraulic buffer is connected with the suspension system and the guide wheel supporting piece; the fire extinguishing device is arranged on the vehicle body. The robot can walk across obstacles in a complex environment, investigate disasters on site and drag rescue equipment such as a fire monitor and the like to the site to carry out rescue operation.

Description

Crawler-type fire-fighting robot

Technical Field

The invention belongs to the field of fire fighting equipment, and particularly relates to a crawler-type fire fighting robot.

Background

When dangerous situations such as oil gas explosion, toxic gas leakage, geological disasters and the like are handled, a fireman is often exposed to severe environments such as high temperature, toxicity and dense smoke, so that the design of the fire-fighting robot capable of replacing the fireman to enter the dangerous environment is extremely urgent.

Disclosure of Invention

The invention aims to provide a crawler-type fire-fighting robot, which comprises a left walking assembly, a right walking assembly, a vehicle body and a suspension system, wherein the left walking assembly and the right walking assembly respectively comprise a guide wheel and a plurality of bogie wheels, the guide wheel is fixed on the vehicle body through a pre-tensioning mechanism, the pre-tensioning mechanism comprises a guide wheel supporting piece, a hydraulic buffer and a torsion bar, the guide wheel is arranged on the guide wheel supporting piece, an included angle of 29-32 degrees is formed between the guide wheel and the bogie wheels, the guide wheel supporting piece is fixed on the vehicle body through the torsion bar, the guide wheel supporting piece is connected to the suspension system through the hydraulic buffer, and the hydraulic buffer is connected with the suspension system and the guide wheel supporting piece; the fire extinguishing device is arranged on the vehicle body.

In foretell crawler-type fire-fighting robot, the suspension system includes hangs the supporting component, hangs the supporting component and includes first support piece, second support piece and third support piece, and wherein first support piece is located the bogie wheel top of front end, and second support piece is located the bogie wheel top of intermediate position, and third support piece is located the bogie wheel top of rear end, and first support piece, second support piece and third support piece are equipped with hydraulic shock absorber respectively rather than between the corresponding bogie wheel in below.

The crawler-type fire-fighting robot is characterized in that an infrared thermal imager and a camera are mounted on a vehicle body.

The crawler-type fire-fighting robot can walk across obstacles in a complex environment, investigate disasters on site and drag rescue equipment such as fire water cannons, fire extinguishers and the like to the site for rescue operation. The hydraulic damper between the suspension support assembly and the bogie wheels effectively reduces the vibration of the fire-fighting robot in the longitudinal direction, and plays a role in damping. Formed between the guide wheel and the loading wheel

And due to the specific included angle, the obstacle crossing driving performance of the robot is improved. At the scene of a fire, equipment such as a camera, an infrared thermal imager and the like on the robot can effectively identify and search a fire source, and the efficiency of the fire-extinguishing robot is improved.

Drawings

Fig. 1 and 2 are external views of a crawler-type fire-fighting robot according to an embodiment of the present invention.

Fig. 3 and 4 are schematic structural diagrams of chassis of a crawler-type fire-fighting robot according to one embodiment of the invention.

Fig. 5 is a schematic view of a driving wheel structure according to an embodiment of the present invention.

Fig. 6 to 8 are schematic structural views of a guide wheel tensioning mechanism according to an embodiment of the invention.

Detailed Description

The invention is described in further detail below with reference to the figures and the detailed description.

A crawler-type fire-fighting robot comprises a left walking assembly 1, a right walking assembly 2 and a vehicle body 3. Left walking assembly 1

And the right traveling assembly 2 each include a driving wheel 6, a guide wheel 8, a bogie wheel 12, a carrier roller 14, and the like.

The driving mechanism of the driving wheel 6 comprises a motor 4, a speed reducer 5, a transmission device 7 and the like, the transmission device 7 comprises a coupler 18, a flange 19 and the like, the servo motor 4 transmits power to a rotating shaft 20 of the driving wheel 6 through the coupler 18 after being reduced by the speed reducer 5, the speed reducer 5 and the coupler 18 are connected through the flange 19 fixed on the vehicle body 3, and the motor 4 and other electric devices are powered through a battery 21.

The bogie wheels 12 are provided in plural, and are provided with a suspension system fixed to the vehicle body 3. The suspension system has a three-segment suspension support assembly 11, and the suspension support assembly 11 includes a first support 11a, a second support 11b, and a third support 11c, wherein the first support 11a is located above the front bogie 12, the second support 11b is located above the intermediate bogie 12 (e.g., the bogie 12 located between the front and rear bogie 12), and the third support 11c is located above the rear bogie 12. Hydraulic shock absorbers 10 are provided between the first support 11a, the second support 11b, and the third support 11c and the corresponding bogie wheels 12 therebelow, respectively. As shown in fig. 1 to 4, the left walking assembly 1 and the right walking assembly 2 of the crawler-type fire-fighting robot are respectively provided with 5 bogie wheels 12, but other numbers are also possible, and a hydraulic shock absorber 10 is arranged between each bogie wheel 12 and the suspension support component 11 above the bogie wheel 12. Hang supporting component 11 and adopt syllogic structural design, the structure is compacter, and the bogie wheel 12 of front end and the hydraulic shock absorber 10 between the first support piece 11a are connected with leading wheel straining device 9, and the shock absorber 10 of front end bogie wheel 12 top is conducted to the impact force when receiving the impact with fire-fighting robot in, can effectively reduce the vibration when fire-fighting robot walks under rugged and uneven road conditions.

The suspension system is provided with a torsion bar 17, one end of the torsion bar 17 is fixedly connected with the vehicle body 3, the other end of the torsion bar 17 is fixedly connected with one end of a balance elbow 16, the other end of the balance elbow 16 is fixedly connected with a shaft 13 of the bogie wheel 12, the shaft 13 of the bogie wheel 12 is a stepped shaft, the shaft 13 is hinged with a bearing base 27 of the bogie wheel 12, the bearing base 27 is fixed on the bogie wheel 12, and the lower end of the shock absorber 10 can be fixed at a reserved groove of the shaft 13 through an inner screw.

The guide wheels 8 are fixed to the vehicle body by a pretensioner mechanism 9, and the pretensioner mechanism 9 includes a guide wheel support 9a, a hydraulic shock absorber 9b, a torsion bar 9c, and the like. The guide wheel 8 is arranged on the guide wheel supporting piece 9, and an included angle of 29-32 degrees is formed between the guide wheel 8 and the bogie wheel 12, wherein the obstacle crossing running performance of the fire-fighting robot is the best when the included angle is 31.24 degrees. The guide wheel support 9 is fixed to the vehicle body 3 by a torsion bar 9c, and the torsion bar 9c plays a role of buffering and avoiding. The guide wheel support 9a is connected to the first support 11a by means of a hydraulic buffer 9b, so that the impact is transmitted to the suspension system of the bogie wheel 12 by means of the hydraulic buffer 9b, which contributes to the resistance to larger impacts.

The carrier wheel 14 is fixed to the side of the vehicle body 3 by a fixing member 15, and as shown in fig. 1 to 4, the carrier wheel 14 is located in a gap between the first support 11a and the second support 11b and a gap between the second support 11b and the third support 11 c.

The top of the vehicle body 3 is provided with a rotary holder 24 and a fire extinguishing device 26. The camera 23 and the infrared thermal imager 22 are mounted on the rotary holder 24, the camera 23 and the infrared thermal imager 22 sense the surrounding environment information, so that the robot can be controlled to walk remotely and grasp the surrounding image information in real time conveniently, the data acquisition, processing, transmission and utilization of the camera 23 and the infrared thermal imager 22 and the remote control of the robot are realized through the prior art, and in addition, the camera 23 can be a low-illumination camera. A fire extinguishing device 26 is also mounted on the other rotating head 25, the extinguishing device 26 being a water cannon.

Claims

1. A crawler-type fire-fighting robot comprises a left walking assembly (1), a right walking assembly (2), a vehicle body (3) and a suspension system, wherein the left walking assembly (1) and the right walking assembly (2) both comprise guide wheels (8) and a plurality of bogie wheels (12), the device is characterized in that a guide wheel (8) is fixed on a vehicle body (3) through a pre-tensioning mechanism (9), the pre-tensioning mechanism (9) comprises a guide wheel support part (9a), a hydraulic buffer (9b) and a torsion bar (9c), the guide wheel (8) is installed on the guide wheel support part (9a), an included angle between a connecting line of centers of the guide wheel (8) and a bogie wheel (12) and a horizontal line is 29-32 degrees, the guide wheel support part (9a) is fixed on the vehicle body (3) through the torsion bar (9c), and the hydraulic buffer (9b) connects the guide wheel support part (9a) to a suspension system; the vehicle body (3) is provided with a fire extinguishing device (26).

2. The tracked fire-fighting robot according to claim 1, wherein the suspension system comprises a suspension support assembly (11), the suspension support assembly (11) comprising a first support (11a), a second support (11b) and a third support (11c), wherein the first support (11a) is located above the front bogie wheel (12), the second support (11b) is located above the middle bogie wheel (12), the third support (11c) is located above the rear bogie wheel (12), and hydraulic shock absorbers (10) are provided between the first support (11a), the second support (11b) and the third support (11c) and the bogie wheels (12) corresponding to the respective lower sides thereof.

3. A tracked fire-fighting robot as claimed in claim 1, characterised in that the car body (3) is fitted with an infra-red thermal imager (22) and a camera (23).