CN109303994A - A kind of fire inspection firefighting robot and its working method - Google Patents
A kind of fire inspection firefighting robot and its working method Download PDFInfo
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- CN109303994A CN109303994A CN201811138538.3A CN201811138538A CN109303994A CN 109303994 A CN109303994 A CN 109303994A CN 201811138538 A CN201811138538 A CN 201811138538A CN 109303994 A CN109303994 A CN 109303994A
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- wheel
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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
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
Abstract
The invention discloses a kind of fire inspection firefighting robots, including crawler body, fire-fighting fire extinguishing water cannon and reconnaissance agent, fire-fighting fire extinguishing water cannon and reconnaissance agent are all set on crawler body, crawler body by chassis body, chassis housing, suspension crossbeam, driving wheel, driven wheel group, carrier wheel group, carrying roller group, damping board group, elastic element, close to wheel group, strainer, avoidance component, warning component, driving assembly, controller, wireless transmission component, track assembly, dust cover, searchlight, lithium battery group at.Solves the problems such as band is fallen in the skidding between driving wheel and crawler belt, realize efficient driving between driving wheel and crawler belt, it ensure that coating performance of the suspension obstacle detouring in the process with crawler belt, the stability when climbing of robot obstacle detouring can also be improved, realize the tensioning function to suspension in robot, further hoisting machine people's sports safety stability, reduces robot maintenance difficulties and application cost.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of fire inspection firefighting robot and its working method.
Background technique
There are many disadvantages, fire inspection fire extinguishing machines in the scenes of the accident such as the high-risk scene of a fire are rescued or reconnoitred by fire fighter
People applies and gives birth to.The alternative fire fighter of fire inspection firefighting robot realizes fire-extinguishing function concurrently in periphery, while dismantling water band then
It can replace fire fighter and enter hazards scene of the accident realization scouting even rescue function, therefore development prospect is wide.
However, on the one hand, site environment is extremely severe under the scenes such as fire, there are many barriers especially in ground or space
Hinder object, this proposes huge challenge to the obstacle performance and obstacle avoidance ability of robot.Crawler-type mobile chassis work is generallyd use at present
For fire-fighting robot (the fire-fightings class robot such as fire inspection machine people, fire-fighting fire extinguishing people and fire control smoke exhausting machine people general designation)
Mobile platform realizes robot in high-risk complex road surface locomotive function.Still further aspect, since fire-fighting robot is in scene of fire
When periphery dragging water band fire extinguishing, water-filled fire hose need to be dragged and advanced, this brings load to the suspension of fire-fighting robot
Lotus challenge；When fire-fighting robot enters field rescue as scouting rescue aid, also needs the more people of load-carrying and withdraw scene, machine
Device people need to equally have stronger carrying weight ability.
The suspension on overwhelming majority crawler-type mobile chassis is real using the single carrying roller cooperation elastic element of multiple groups at present
Existing load-bearing and obstacle crossing function, but this structure exists when barrier is touched in suspension front end, crawler belt is easy to happen excessively
Deformation and occur crawler belt slip problem；Or using between driven wheel and carrying roller, increase close to car body close to the position of barrier
The load-bearing wheel construction that is fixed realizes obstacle crossing function, but stability of the robot of this class formation when climbing obstacle detouring it is poor,
Vibration acutely, is unfavorable for robot even running.On driving wheel and crawler belt fit system, driving wheel and track drive are more at present
Using moving tooth structure, the class formation is sensitive to crawler belt Deformation Anomalies, when on robot fuselage load occur large variation when or machine
When device people's suspension obstacle detouring, the deformation factor of crawler belt easily falls crawler belt failure.Corresponding, to reduce track machines
People falls crawler belt risk, usually increases track tension device in suspension, most common is to squeeze sliding block using spring
Form or using Hydraulic Cylinder sliding block realize tensioned tracks function.For track takeup, using traditional spring
Tensioning apparatus can make spring change with complex working condition and change, and cannot keep crawler belt normality tensioning state；And with using the time
Increase, fatigue can occur for the spring in spring-loaded tensioners, lead to slack of track to slip.For principal characteristic
Robot, this crawler belt or chain tension mode are obviously improper.And use the tensioning apparatus performance of hydraulic cylinder type stronger, but
Structure is more complex, needs to rely on hydraulic system, is unfavorable for minimizing fire-fighting people integrated installation and application.
At present caterpillar mobile robot in the related technology, the transmission first in drive configuration, between driving wheel and crawler belt
Mode mostly uses moving tooth structure, it may be assumed that wheel group with groove is typically provided on driving wheel, crawler belt inner wall is provided with convex block, driving
The convex block that wheel stirs crawler belt inner wall realizes track drive function, so that crawler belt be driven to be laid with traveling forward.Typical technical solution
As follows: application No. is a kind of mobile systems for firefighting fire extinguishing robot of 201520714972.7 patent disclosure, a kind of
For the mobile system of firefighting fire extinguishing robot, forward mounting, intersection suspension and rear suspension are sequentially connected, and chassis body passes through upper axis
It is connected with the upper block in crawler belt；The forward mounting includes: forearm, preceding middle arm, the connection forearm and preceding being connected by front axle
The preceding spring of middle arm, the front jocket wheel being connected with forearm and rear guide wheel；Driving wheel and crawler belt are driven by moving tooth structure.Similar technique
There are also such as application No. is a kind of fire-fighting robot of 201610091164.9 patent disclosure and its control methods for scheme；Application
Number for 201610303161.7 patent disclosure crawler type fire-fighting robot；Application No. is 201610622972.3 patent public affairs
A kind of explosion-proof fire-fighting fire extinguishing reconnaissance robot of cloth；The disclosed wheel of patent 201610677978.0 is carried out transformation mobile chassis and is had
Its fire-fighting sniffing robot；Application No. is a kind of 201611048497.X crawler type firefighting fire extinguishing robot announced and its behaviour
Make method etc..
Secondly it is realizing robot crawler tensioning technical aspect, is generalling use the support technology of spring or hydraulic cylinder type:
Such as application No. is a kind of explosion-proof fire-fighting fire extinguishing reconnaissance robot track rail assemblies of 201721131694.8 patent disclosure, including
Crawler belt, connection frame, carrying roller, shock absorbing apparatus, driving wheel, carrier wheel, side plate, tensioning apparatus and directive wheel, connection frame, load-bearing
Wheel, shock absorbing apparatus, driving wheel, carrier wheel, side plate, tensioning apparatus and directive wheel are arranged in the flexible chain link of crawler belt, and are carried out
Band is sequentially connected with directive wheel, carrying roller, driving wheel and carrier wheel, and tensioning apparatus is connect far from the side of side plate with directive wheel.
Tensioning apparatus includes that compressed spring and adjusting bolt and telescopic rod, tensioning apparatus are adapted with crawler belt.There are also apply for such patent
Number be 201710681176.1 a kind of track tension device of crawler tractor of patent of invention；Application No. is
201711445105.8 the patent of invention a kind of track takeup and crawler type traveling machine announced；Application No. is
201720909718.1 utility model patent discloses a kind of track takeup and creeper truck and Shen with the device
Please number for 201310224671.1 patent of invention disclosed in track takeup and its tensioning method etc..
Finally, typically directly using between driven wheel and carrying roller, being approached close to car body in the remittance of robot suspension assembly
The position of barrier increases fixed load-bearing wheel construction and realizes that obstacle crossing function, typical patent formula have: application No. is
201720886004.3 a kind of firefighting fire extinguishing robot that can climb obstacle detouring, creeper undercarriage include be fixed on fire-fighting fire extinguishing
The track beam of robot body bottom, the tensioning wheel positioned at track beam rear end, is located at driving at the driving wheel positioned at track beam front end
Fixed thrust wheel and floating type thrust wheel between wheel and tensioning wheel, and fixed thrust wheel and floating type thrust wheel and tensioning
Wheel is on same ground plane.There are also a kind of intelligent distant controls announced application No. is 201710109232.4 to disappear for similar construction
Anti- robot, application No. is 201610622972.3 announce a kind of explosion-proof fire-fighting fire extinguishing reconnaissance robot, application No. is
201320414471.8 a kind of improved firefighting fire extinguishing robot of patent disclosure etc..
Summary of the invention
The purpose of the present invention is to provide a kind of fire inspection firefighting robots, for the driving of current driving wheel and crawler belt
Efficiency and stable problem realize efficient driving function between driving wheel and crawler belt by gear shaping driving wheel and matched crawler belt；
For the climbing obstacle performance deficiency problem of current suspension, by designing, a kind of double biserial is compound to guarantee suspension close to wheel
Coating performance during system obstacle detouring with crawler belt, is obviously improved robot obstacle detouring climbing capacity；For robot suspension
Strainer there are the drawbacks of, realized by wedge-shaped strainer to the tensioning function of suspension in robot, guarantee machine
The elasticity of people's caterpillar drive, so that further hoisting machine people's sports safety stability, reduces robot maintenance difficulties.
The technical solution adopted by the present invention to solve the technical problems is: a kind of fire inspection firefighting robot, including carries out
Band chassis, fire-fighting fire extinguishing water cannon and reconnaissance agent, fire-fighting fire extinguishing water cannon and reconnaissance agent are all set on crawler body, track bottom
Disk is by chassis body, chassis housing, suspension crossbeam, driving wheel, driven wheel group, carrier wheel group, carrying roller group, damping board group, bullet
Property element, close to wheel group, strainer, avoidance component, warning component, driving assembly, controller, wireless transmission component, crawler belt
Component, dust cover, searchlight, lithium battery group are at fire-fighting fire extinguishing water cannon is by water cannon big gun head, injection conversion assembly, vertical transformation
Component, be horizontally diverted component, water cannon guide pipe, water cannon ontology, water belt lacing, spray assemblies composition, reconnaissance agent by video camera,
Gas sensor, lifting assembly and reconnaissance agent ontology composition.
Specifically, the controller is the control core of robot, and controller connects avoidance component, warning component, drive respectively
Dynamic component, searchlight, the vertical conversion assembly in fire-fighting fire extinguishing water cannon, is horizontally diverted component, spray assemblies at wireless transmission component
And video camera, gas sensor and lifting assembly in reconnaissance agent.
Specifically, in the crawler body, suspension crossbeam includes long slab rake and suspension connecting shaft, and driving wheel includes that gear shaping drives
Driving wheel and drive shaft, driven wheel group include driven wheel, driven wheel shaft and driven displaceable slide plate, carrier wheel group include carrier wheel and
Track supporting wheel shaft, carrying roller group include carrying roller, carrying roller shaft, and damping board group includes vibration damper plate and vibration damper plate balance staff, and elastic group
Part includes elastic element and elastic parts shaft, close to wheel group by close to carrying roller, close to wheel, close to wheel shaft and close to wheel wobble plate
Composition, strainer is by tensioning screw, displacement fastening screw, main wedge block, secondary wedge block, front apron, rear baffle and tight
Solid plate composition, avoidance component includes avoidance video camera and ultrasonic distance measuring module, and warning component includes warning lamp and siren, driving group
Part includes driving motor and differential box, and wireless transmission component includes electrical module and antenna, track assembly include track body and
Shifting block；In the fire-fighting fire extinguishing water cannon, spray assemblies include spray thrower and relay.
Specifically, the lower semisection of crawler body is arranged in the chassis body, to support connection suspension and automatically controlled
The upper semisection of crawler body is arranged in system, chassis housing, cooperatively forms closing solid space with chassis body；
Totally two sets of crossbeam of suspension, is separately positioned on chassis body two sides, and every set suspension crossbeam includes two long slabs rake, and two
Plate interval stacks, and two pieces of protrusions are arranged shaft is arranged to fixed carrier wheel group in long slab upper end rake；Long slab lower end rake
Four pieces of protrusions are set shaft is arranged to fixed damping board group, is uniformly arranged four in the closely central transverse direction of long slab rake and leads to
Hole hangs connecting shaft to fixed, hangs connecting shaft totally eight, is divided into two groups of left and right, is fixed on long slab rake on the outside of every group of suspension connecting shaft
On, inside is then fastened in chassis body, realizes being connected and fixed for suspension and car body；
Driving wheel is single gear structure, and quantity is two, and the gear shaping driving wheel of driving wheel is arranged by drive shaft the bottom of at
Disk ontology rearmost two sides, drive shaft are connect to obtain power resources, the rear rim of gear shaping driving wheel with differential box output revolving shaft
It is inserted into track assembly, teeth and the shifting block cooperation of gear shaping driving wheel are stirred；
Driven wheel group is biserial single-wheel structure, and the driven wheel of driven wheel group is across driven wheel both ends of the shaft, driven wheel shaft
The two sides of driven displaceable slide plate front end are applied in, driven displaceable slide plate is rectangular slab, and quantity is four, and two are an intussusception
It puts, the inside of suspension crossbeam forefront is set, driven displaceable slide plate is connected and fixed strainer, and driven wheel front wheel felloe and shoe
Band component inner wall contacts；
Carrier wheel group is biserial single-wheel structure, quantity totally eight, is divided into two sets, and two sets of left and right is arranged symmetrically, and every set four is right,
The carrier wheel of carrier wheel group is fixed on long slab upper end rake by track supporting wheel shaft, and wheel rim connects with track assembly inner wall on carrier wheel
Touching；
Carrying roller group is biserial single wheel, and totally eight groups, the carrying roller of carrying roller group is set to damping by carrying roller shaft
Plate lower end, and carrying roller lower rim and the contact of track assembly inner wall；
Totally eight groups of damping board group, every group of damping board group includes two vibration damper plates, and vibration damper plate is strip plate, and two are stacked as one
Group, upper end are connected and fixed by vibration damper plate balance staff and long slab rake, and lower end connects carrying roller group, and vibration damper plate can be put around vibration damper plate
Axis is swung；In the case of no-load, damping board group and suspension crossbeam angle are between 30 °~70 °, and the angle is mainly by elastic group
Part and robot payload size determine.
The upper end of the elastic element of elastic parts is fixed on long slab rake by elastic parts shaft, under elastic element
End is fixed on vibration damper plate centre by elastic parts shaft, elastic element totally ten, wherein eight cooperate with vibration damper plate, passes through
Pressure between pressure-bearing long slab rake and carrying roller carries out letting out power, to realize vibration damper, two other elastic element and close
The cooperation of wheel group；
The avoidance video camera and ultrasonic distance measuring module of avoidance component are symmetrically mounted on chassis body forefront close to center
Place, the warning lamp and siren of warning component are separately mounted to chassis housing rear end sides, the driving motor and differential box of driving assembly
It matches, driving motor is mounted on rear inside chassis body, and driving motor connects controller, and differential box exports axis connection and drives
Moving axis；
Electrical module of the component in controller, antenna and wireless transmission component is wirelessly transferred to connect to improve information hair
Penetrate and receive distance；Dust cover be circle wheel construction, be provided with screw hole and by bolt and all driven wheels, carrying roller it is solid
It is fixed；Searchlight is a pair of altogether, is mounted on the two sides of chassis body forefront；Lithium battery is mounted on inside chassis body, and lithium battery exists
It is electrically connected respectively with the power consuming device in robot and provides electric energy for it.
Specifically, the close wheel group include close to carrying roller, close to wheel, close to wheel shaft and close to wheel wobble plate, close to holding
Roller and close wheel are biserial single-wheel structure, and close to carrying roller as carrying roller, internal diameter is greater than close to wheel, close wheel wobble plate
For sickle shaped plate, two are stacked as one group, laterally disposed, topmost by being fixed on long slab front end rake close to wheel shaft, and
It can be swung around long slab rake, the outermost end close to the central bending place of wheel wobble plate is mounted on by shaft close to wheel, close to wheel
Front wheel felloe contact track component inner wall reduces when robot advances and meets with barrier and even avoids track assembly deformation, approaches
Carrying roller lower rim contact track component inner wall is arranged at the upper middle close to wheel wobble plate and has elastic component, and realizes close
The resilient support of wheel group and suspension crossbeam；
Specifically, totally two sets of the strainer are separately positioned on the driven displaceable slide plate and long slab rake of the left and right sides
Between, tensioning screw, which runs through and passes through nut, is fixed on long front edge of board two sides rake, is socketed with main wedge block on tensioning screw；
Displacement fastening screw totally six, is divided into two sets, every three presentations angular distribution, before a displacement fastening screw pass through
Wear driven displaceable slide plate and long slab rake, behind two displacement fastening screws run through long slab rake and front apron, displacement fastening spiral shell
Silk tail portion is fixed by fastening plates；
Main wedge block and secondary wedge block are trapezoidal slide block, have open-work among main wedge block, are provided in open-work
With the screw thread of tensioning screw cooperation, main wedge block is socketed on tensioning screw, the inclined-plane of main wedge block and secondary wedge block
Contact of incline plane cooperation, by the rotation of tensioning screw drive main wedge block along the axis direction perpendicular to tensioning screw into
It moves back；
It being provided at the rear end face of secondary wedge block through open-work, open-work diameter is greater than the diameter of displacement fastening screw,
The preceding end in contact of secondary wedge block simultaneously connects front apron, when secondary wedge block slides back and forth, front apron can be driven to be moved forward and backward；
Front apron is square plate, vertically and is across between long slab rake, and rear baffle structure and shape are identical as front apron, is hung down
Direct join is across between long slab rake；
Fastening plates are triangular plate, are provided with threaded hole, are matched with displacement fastening screw.
Specifically, described track assembly or so each one is hung, and the track body of track assembly is closing flat-shaped structure,
Track body center is horizontally arranged with shifting block, and shifting block is cube structure, is provided with chamfering, and shifting block and gear shaping driving wheel cooperate, lead to
Shifting block stress is stirred in the rotation for crossing gear shaping driving wheel, and then drives track body rotation.
Specifically, the water cannon big gun head, water cannon guide pipe, water cannon ontology and water belt lacing link into an integrated entity, and water cannon is led
It is bend pipe to pipe, to connect each component of water cannon, injection conversion assembly is arranged between water cannon big gun head and water cannon guide pipe, vertical
It conversion assembly and being horizontally diverted component and passes through water cannon guide pipe and be connected on water cannon ontology, water belt lacing connects water cannon ontology,
Water cannon ontology is set in chassis housing, and water belt lacing is set to the rear of the chassis housing of robot, and spray assemblies are set to
Water cannon guide pipe topmost, spray assemblies include spray thrower and relay, and spray thrower is fetched water by water cannon guide pipe, cooperate relay
Device realizes that the spraying cooling to robot, relay connect controller.
Specifically, the video camera and gas sensor are arranged side by side, and video camera setting is on lifting assembly, lifting assembly
Outside is provided with reconnaissance agent ontology.
Another object of the present invention is to provide a kind of working methods of fire inspection firefighting robot, including following step
It is rapid:
(1) robot motion's walking and perception avoidance step:
Controller is received by wireless transmission component and comes from distant place wireless instructions, is controlled after instructing via controller analysis decision
Driving assembly in robot is realized to rotate driving wheel and be controlled, so that the motion control of robot is realized, including robot
Front and back, retrogressing, turning and emergency stop；
When robot is during advance, controller also real-time control avoidance component operation acquires the figure in front of robot
As video information, ambient parameter information, and be sent on the console of distant place by wireless transmission component and checked for fire fighter,
Analysis and decision；
When in short distance in front of controller detects by ultrasonic distance measuring module robot there are when barrier, if at this time
Barrier is less than preset secure threshold at a distance from robot, and controller direct controlling and driving component is realized to robot at this time
Emergency brake behavior, and it is not controlled by stopping control instruction of the distant place console from fire fighter；It is above-mentioned to carry out barrier
When judgement, to improve error correction redundancy, avoidance video camera can also cooperate ultrasonic distance measuring module to work, and realize in front of robot
The auxiliary judgement of barrier；
(2) step is scouted by robot:
Controller controls video camera, gas sensor in reconnaissance agent and works, to image/video around situ machine people
It is acquired with specific gas parameter, and the parameter of acquisition is sent on the console of distant place by being wirelessly transferred component, supplied
Fire fighter analyzes site environment state further to make decisions, in this process, for the range for improving parameter acquisition, control
Device processed can also control lifting assembly realize elevating function, thus complete in robot different height space environmental parameter or
Image/video information collection；The duty parameter of robot itself can also be transmitted to the console of distant place by controller, for manipulating people
Member's real time inspection and analysis robot working condition；Controller also can control avoidance camera operation to low level in front of robot
Image/video is acquired；Controller can also control searchlight, and parameter acquisition and when field rescue provide enough at the scene
Ambient lighting brightness；
(3) Robot Extinguishing Fire step:
After controller receives fire-fighting fire extinguishing instruction by being wirelessly transferred component, the vertical conversion assembly of controller control,
It is horizontally diverted component and carries out the adjustment of water cannon angle, distant place console carries out real-time control according to the image of reconnaissance agent acquisition in real time
Adjustment is put out a fire so that the water column for spraying fire-fighting fire extinguishing water cannon is fallen into fire source；
According to scene fire extinguishing needs, controller also can control injection conversion assembly work and become to the spray pattern of water cannon
It changes, in addition, controller, which also can control spray assemblies work, realizes that water curtain injection is that machine human organism cools down；
(4) robot crawler tensioning step:
When fire-fighting robot factory or after a period of work, tension or relaxation problem can occur for track assembly, adjust
Journey is as follows: by displacement fastening screw tune pine, rotating tensioning screw, the relatively main wedge block of secondary wedge block moves back or moves forward, real
Existing front apron drives driven wheel and driven displaceable slide plate to move back or move forward, to realize that crawler belt tighting adjusts, after adjustment, twists
Tight displacement fastening screw.
The invention has the following advantages:
Fire inspection firefighting robot of the invention uses gear shaping driving wheel and matched crawler belt, solves driving wheel
The problems such as band is fallen in skidding between crawler belt realizes efficient driving between driving wheel and crawler belt, reduces the system of crawler belt and driving wheel
Make difficulty, significantly reduces the manufacturing cost of robot critical component；
It not only ensure that coating performance of the suspension obstacle detouring in the process with crawler belt close to wheel using double biserial is compound,
The stability when climbing of robot obstacle detouring can also be improved, crawler belt is reduced and slips risk, is obviously improved robot obstacle detouring climbing energy
Power；
Using wedge-shaped strainer, the tensioning function to suspension in robot is realized, guarantees robot crawler belt fortune
Dynamic elasticity, so that further hoisting machine people's sports safety stability, reduces robot maintenance difficulties and be applied to
This.
Detailed description of the invention
Fig. 1 is a kind of fire inspection firefighting robot three-dimensional structure diagram of the present invention.
Fig. 2 is a kind of fire inspection firefighting robot main structure figure of the present invention.
Fig. 3 is a kind of fire inspection firefighting robot left view structure chart of the present invention.
Fig. 4 is a kind of right view structure chart of fire inspection firefighting robot of the present invention.
Fig. 5 is a kind of fire inspection firefighting robot backsight structure chart of the present invention.
Fig. 6 is a kind of fire inspection firefighting robot face upwarding assumption diagram of the present invention.
Fig. 7 is a kind of crawler body local structural graph of fire inspection firefighting robot of the present invention.
Fig. 8 is a kind of crawler body local structural graph of fire inspection firefighting robot of the present invention.
Fig. 9 is a kind of strainer local structural graph of fire inspection firefighting robot of the present invention.
Specific embodiment
The following is specific embodiments of the present invention, is described further to technical solution of the present invention, but of the invention
Protection scope is not limited to these examples.It is all to be included in the present invention without departing substantially from the change of present inventive concept or equivalent substitute
Protection scope within.
As shown in Figure 1, a kind of fire inspection firefighting robot, including crawler body 1, fire-fighting fire extinguishing water cannon 2 and reconnaissance plane
Structure 3, fire-fighting fire extinguishing water cannon 2 and reconnaissance agent 3 are all set on crawler body 1.
As shown in figures 2-6, crawler body 1 by chassis body 1-1, chassis housing 1-2, suspension crossbeam 1-3, driving wheel 1-4,
Driven wheel group 1-5, carrier wheel group 1-6, carrying roller group 1-7, damping board group 1-8, elastic element 1-9, close to wheel group 1-10, tensioning
Mechanism 1-11, avoidance component 1-12, warning component 1-13, driving assembly 1-14, controller 1-15, wireless transmission component 1-16,
Track assembly 1-17, dust cover 1-18, searchlight 1-19, lithium battery 1-20 composition.
The lower semisection of crawler body 1 is arranged in chassis body 1-1, to support connection suspension and electric-control system, bottom
The upper semisection of crawler body 1 is arranged in disk shell 1-2, is similarly hollow thin-slab structure, cooperatively forms closing with chassis body 1-1
Solid space.
Totally two sets of crossbeam 1-3 of suspension is separately positioned on the two sides chassis body 1-1, and every set suspension crossbeam 1-3 includes two rakes
Shape long slab 1-3a, two plate intervals stack, and two pieces of protrusions are arranged shaft is arranged to which fixation is entrusted in the upper end long slab 1-3a rake
Wheel group 1-6；Four pieces of protrusions are arranged shaft is arranged to fixed damping board group 1-8, in length rake in the lower end long slab 1-3a rake
Four through-holes, which are uniformly arranged, in the closely central transverse direction of plate 1-3a hangs connecting shaft 1-3b to fixed.Suspension connecting shaft 1-3b totally eight, point
For two groups of left and right, every group of outside suspension connecting shaft 1-3b is fixed on long slab 1-3a rake, and inside is then fastened on chassis body
On 1-1, being connected and fixed for suspension and car body is realized.
Driving wheel 1-4 is single gear structure, and quantity is two, and driving wheel 1-4 includes gear shaping driving wheel 1-4a, drive shaft
The gear shaping driving wheel 1-4a of 1-4b, driving wheel 1-4 are arranged by drive shaft 1-4b in chassis body 1-1 rearmost two sides, driving
Axis 1-4b is connect to obtain power resources with differential box 1-14b output revolving shaft, and the rear rim of gear shaping driving wheel 1-4a is inserted into crawler belt
In component 1-17, teeth and the shifting block 1-17b cooperation of gear shaping driving wheel 1-4a is stirred.
Driven wheel group 1-5 is biserial single-wheel structure, including driven wheel 1-5a, driven wheel shaft 1-5b, driven displaceable slide plate
1-5c.Driven wheel 1-5a is applied in driven displaceable slide plate 1-5c most across the both ends driven wheel shaft 1-5b, driven wheel shaft 1-5b
The two sides of front end, driven displaceable slide plate 1-5c are rectangular slab, and quantity is four, and two stack to be a set of, and setting is in suspension crossbeam
The inside of the forefront 1-3.Driven displaceable slide plate 1-5c is connected and fixed strainer 1-11, and driven wheel 1-5a front wheel felloe and crawler belt
The contact of component 1-17 inner wall.
Carrier wheel group 1-6 is biserial single-wheel structure, quantity totally eight, is divided into two sets, two sets of left and right is arranged symmetrically, every set four
It is right.Carrier wheel group 1-6 includes carrier wheel 1-6a, track supporting wheel shaft 1-6b, and carrier wheel 1-6a is fixed on rake by track supporting wheel shaft 1-6b
The upper end shape long slab 1-3a, wheel rim is contacted with track assembly 1-17 inner wall on carrier wheel 1-6a.
Carrying roller group 1-7 is biserial single wheel, and totally eight groups, carrying roller group 1-7 includes carrying roller 1-7a, carrying roller shaft 1-
7b.Carrying roller 1-7a is set to the lower end vibration damper plate 1-8a, and carrying roller 1-7a lower rim and crawler belt by carrying roller shaft 1-7b
The contact of component 1-17 inner wall.
Totally eight groups of damping board group 1-8, every group of damping board group 1-8 includes two vibration damper plate 1-8a, and vibration damper plate 1-8a is strip
Plate, two are stacked as one group, and upper end is connected and fixed by vibration damper plate balance staff 1-8b and long slab 1-3a rake, and lower end connects carrying roller
1-7 is organized, vibration damper plate 1-8a can be swung around vibration damper plate balance staff 1-8b.In the case of no-load, damping board group 1-8 and suspension crossbeam
Between 30 °~70 °, which is mainly determined by elastic parts 1-9 and robot payload size 1-3 angle.
As shown in figure 8, elastic parts 1-9 includes elastic element 1-9a and elastic parts shaft 1-9b, elastic element 1-9a
Upper end be fixed on long slab 1-3a rake by elastic parts shaft 1-9b, the lower end of elastic element 1-9a passes through elastic parts
Shaft 1-9b is fixed on vibration damper plate 1-8a centre.Elastic element 1-9a totally ten, wherein eight cooperate with vibration damper plate 1-8a, lead to
The pressure crossed between pressure-bearing long slab 1-3a rake and carrying roller 1-7a carries out letting out power, thus realize vibration damper, two other elasticity
Element 1-9a cooperates with close to wheel group 1-10.
Close to wheel group 1-10 include close to carrying roller 1-10a, close to wheel 1-10b, close to wheel shaft 1-10c and close to wheel wobble plate
1-10d.It is biserial single-wheel structure close to carrying roller 1-10a and close to wheel 1-10b, close to carrying roller 1-10 and carrying roller 1-7a
Equally, internal diameter is greater than close to wheel 1-10b.It is sickle shaped plate close to wheel wobble plate 1-10d, two are stacked as one group, and it is laterally disposed, most
Upper end can be swung by being fixed on the front end long slab 1-3a rake close to wheel shaft 1-10c around long slab 1-3a rake.Close to wheel
1-10b is mounted on the outermost end close to the central bending place of wheel wobble plate 1-10d by shaft, close to wheel 1-10b front wheel felloe contact
Track assembly 1-17 inner wall reduces when robot advances and meets with barrier and even avoids track assembly 1-17 deformation.It is close to hold
Roller 1-10a lower rim contact track component 1-17 inner wall, plays the role of load bearing support.In the centre close to wheel wobble plate 1-10d
The 1-9a that has elastic component is arranged in place on the upper side, realizes close to the resilient support of wheel group 1-10 and suspension crossbeam 1-3, improves close to wheel group
Damping, avoidance and the obstacle performance of 1-10.
As shown in Fig. 7, Fig. 9, strainer 1-11 includes tensioning screw 1-11a, displacement fastening screw 1-11b, main wedge shape
Sliding block 1-11c, secondary wedge block 1-11d, front apron 1-11e, rear baffle 1-11f, fastening plates 1-11g.Strainer 1-11 is total
It two sets, is separately positioned between the driven displaceable slide plate 1-5c and long slab 1-3a rake of the left and right sides.
Tensioning screw 1-11a, which runs through and passes through nut, is fixed on the front end long slab 1-3a rake two sides, on tensioning screw 1-11a
It is socketed with main wedge block 1-11c.
Displacement fastening screw 1-11b totally six, is divided into two sets, every three presentation angular distribution, before a displacement fasten
Screw 1-11b runs through driven displaceable slide plate 1-5c and long slab 1-3a rake, behind two displacement fastening screw 1-11b run through rake
Long slab 1-3a and front apron 1-11e, the displacement tail portion fastening screw 1-11b are fixed by fastening plates 1-11g.
Main wedge block 1-11c and pair wedge block 1-11d is trapezoidal slide block, is had among main wedge block 1-11c
Hole, the screw thread with tensioning screw 1-11a cooperation is provided in open-work, and main wedge block 1-11c is socketed in tensioning screw 1-11a
On, the contact of incline plane of the inclined-plane of main wedge block 1-11c and secondary wedge block 1-11d cooperate, and pass through turning for tensioning screw 1-11a
It is dynamic that main wedge block 1-11c is driven to retreat along the axis direction perpendicular to tensioning screw 1-11a.
It is provided at the rear end face of secondary wedge block 1-11d through open-work, open-work diameter is greater than displacement fastening screw 1-
The diameter of 11b, the preceding end in contact of secondary wedge block 1-11d simultaneously connect front apron 1-11e, sliding before and after secondary wedge block 1-11d
When dynamic, front apron 1-11e can be driven to be moved forward and backward.
Front apron 1-11e is square plate, vertically and is across between long slab 1-3a rake, rear baffle 1-11f structure and shape
It is identical as front apron 1-11e, vertically and it is across between long slab 1-3a rake；Fastening plates 1-11g is triangular plate, is arranged thereon
There is threaded hole, is matched with displacement fastening screw 1-11b.
Avoidance component 1-12 includes avoidance video camera 1-12a and ultrasonic distance measuring module 1-12b.Avoidance video camera 1-12a
The forefront chassis body 1-1 is symmetrically mounted on close to centre with ultrasonic distance measuring module 1-12b, can acquire robot respectively
Forward image video information, robot front obstacle information.Avoidance video camera 1-12a, ultrasonic distance measuring module 1-12b and control
The information of acquisition is transferred to control centre for data analysis and decision by device 1-15 connection processed.
Warning component 1-13 includes warning lamp 1-13a and siren 1-13b, and warning lamp 1-13a and siren 1-13b are separately mounted to bottom
Disk shell 1-2 rear end sides, serve as warning.Warning lamp 1-13a and siren 1-13b are also connect with controller 1-15, and are controlled by it
Production is with carrying out on-off work.
Driving assembly 1-14 includes driving motor 1-14a, differential box 1-14b, driving motor 1-14a and differential box 1-14b
It matching, driving motor 1-14a is mounted on rear inside chassis body 1-1, driving motor 1-14a connection controller 1-15,
Differential box 1-14b exports axis connection drive shaft 1-4b.
Controller 1-15 is the control core of robot, is arranged inside the chassis body 1-1, controller 1-15 difference
Even avoidance component 1-12, warning component 1-13, driving assembly 1-14, wireless transmission component 1-16, searchlight 1-19, fire-fighting fire extinguishing
Vertical conversion assembly 2-3 in water cannon 2, the video camera 3- being horizontally diverted in component 2-4, spray assemblies 2-8 and reconnaissance agent 3
1, gas sensor 3-2 and lifting assembly 3-3.Controller 1-15 connection driving motor 1-14a realizes the movement control to robot
Function processed, connection avoidance component 1-12 realize the monitoring to robot front obstacle signal, connection wireless transmission component 1-16
Realization transmits wirelessly the environmental parameter of robot inherent parameters and acquisition, receives the control from distant place console and refer to
Enable and realize that Intellisense and control, connection warning component 1-13 realize alarm and alarm function, connection searchlight 1-19 control
Searchlight 1-19 light on and off are realized to live illumination compensation function, are controlled relay 2-8b and are realized spraying cooling opening and closing function, control
Video camera 3-1, gas sensor 3-2 realization are acquired live image video and gas parameter.
Component 1-16 is wirelessly transferred close to controller 1-15, mainly joins robotary parameter and the ambient enviroment of acquisition
Number is sent on console, and wireless transmission component 1-16 includes electrical appliance module and a pair of of antenna 1-16a, respectively to Transfer Parameters
Information and image/video information, antenna 1-16a are connect with the electrical module in wireless transmission component 1-16 to improve information transmitting
With reception distance.
Track assembly 1-17 or so each one is hung, and track assembly 1-17 includes track body 1-17a, shifting block 1-17b, crawler belt master
Body 1-17a is closing flat-shaped structure, is horizontally arranged with shifting block 1-17b in the center track body 1-17a, shifting block 1-17b is
Cube structure is provided with chamfering, and shifting block 1-17b and gear shaping driving wheel 1-4a cooperate, and is dialled by the rotation of gear shaping driving wheel 1-4a
Dynamic shifting block 1-17b stress, and then drive track body 1-17a rotation.
Dust cover 1-18 is circle wheel construction, is provided with screw hole and by bolt and all driven wheel 1-5a, carrying roller
1-7a is fixed.
Searchlight 1-19 is a pair of altogether, is mounted on the two sides of the forefront chassis body 1-1, plays searchlighting, improves live light
Degree of illuminating.
Lithium battery 1-20 is mounted on inside chassis body 1-1, lithium battery 1-20 electrically respectively with the consumption in robot
Electrical part connects and provides electric energy for it.
As shown in Figure 4, Figure 5, fire-fighting fire extinguishing water cannon 2 is by water cannon big gun head 2-1, injection conversion assembly 2-2, vertical conversion assembly
2-3, component 2-4, water cannon guide pipe 2-5, water cannon ontology 2-6, water belt lacing 2-7, spray assemblies 2-8 composition are horizontally diverted.
Water cannon big gun head 2-1, water cannon guide pipe 2-5, water cannon ontology 2-6 and water belt lacing 2-7 link into an integrated entity, and water cannon is led
It is bend pipe to pipe 2-5, to connect each component of water cannon, injection conversion assembly 2-2 is arranged in water cannon big gun head 2-1 and water cannon guide pipe
Between 2-5, injection water formal argument function is realized.It vertical conversion assembly 2-3 and is horizontally diverted component 2-4 and is led by water cannon
It is connected on water cannon ontology 2-6 to pipe 2-5, and realizes vertical angle and level angle adjustment function respectively.Water belt lacing 2-7 connects
Water receiving big gun ontology 2-6, water cannon ontology 2-6 are set in chassis housing 1-2, and water belt lacing 2-7 is set to the chassis shell of robot
The rear of body 1-2.Spray assemblies 2-8 is set to water cannon guide pipe 2-5 topmost, spray assemblies 2-8 include spray thrower 2-8a and
Relay 2-8b, spray thrower 2-8a are fetched water by water cannon guide pipe 2-5, and cooperation relay 2-8b, which is realized, drops the spray of robot
Temperature, relay 2-8b connection controller 1-15.
As shown in Figure 3, Figure 4, reconnaissance agent 3 is by video camera 3-1, gas sensor 3-2, lifting assembly 3-3 and reconnaissance plane
Structure ontology 3-4 composition.Video camera 3-1 and gas sensor 3-2 is arranged side by side, and video camera 3-1 and gas sensor 3-2 are real respectively
Now to the detection function of image/video around robot and gas parameter.Video camera 3-1 and gas sensor 3-2 is all connected with described
Controller 1-15 transmits the information of acquisition to control mechanism.Video camera 3-1 is set on lifting assembly 3-3, lifting assembly 3-
Containing elevating lever etc., it can be achieved that the elevating control to the video camera 3-1, gas sensor 3-2 acts on, to realize inside 3
To the image/video and gas parameter detecting function on robot different height.Reconnaissance agent is provided with outside lifting assembly 3-3
Ontology 3-4 realizes support protective effect.
The present invention does not only disclose a kind of fire inspection firefighting robot, but also including corresponding robot motion, disappear
The working method of fire extinguishing, scouting and its own correspondence types of functionality, it is specific as follows.It should be noted that in the above process
In, technical solution of the present invention is described in detail, connection relationship, working method including each component or module are very
To working effect, simple elaboration only is done to robot substantially function realization below.
The working method of above-mentioned fire inspection firefighting robot, comprising the following steps:
(1) robot motion's walking and perception avoidance step:
Controller 1-15 is received by wireless transmission component 1-16 and is come from distant place wireless instructions, and via controller 1-15 points of instruction
The driving assembly 1-14 controlled in robot after decision is analysed to realize to driving wheel 1-4 rotation control, to realize the fortune of robot
Dynamic control, front and back, retrogressing, turning and emergency stop including robot.
When robot is during advance, controller 1-15 also real-time control avoidance component 1-12 work acquires robot
The image/video information in front, ambient parameter information, and be sent on the console of distant place and supplied by wireless transmission component 1-16
Fire fighter checks, analysis and decision.
When controller 1-15 detects that there are barriers in short distance in front of robot by ultrasonic distance measuring module 1-12b
When, if barrier is less than preset secure threshold, at this time controller 1-15 direct controlling and driving group at a distance from robot at this time
Part 1-14 is realized to robot emergency brake behavior, and is not controlled by distant place console and is referred to from the stopping control of fire fighter
It enables.
Preferably, above-mentioned when carrying out barrier judgement, to improve error correction redundancy, avoidance video camera 1-12a can also
Cooperate ultrasonic distance measuring module 1-12b work, realizes the auxiliary judgement to robot front obstacle.
(2) step is scouted by robot:
Controller 1-15 controls video camera 3-1, gas sensor the 3-2 work in reconnaissance agent 3, to situ machine people's week
It encloses image/video and specific gas parameter is acquired, and the parameter of acquisition is sent at a distance by being wirelessly transferred component 1-16
Console on, analyze site environment state for fire fighter further to make decisions.It in this process, is raising parameter
The range of acquisition, controller 1-15 can also control lifting assembly 3-3 and realize elevating function, to complete different to robot high
Spend the environmental parameter or image/video information collection in space.
Preferably, the duty parameter of robot itself can also be transmitted to the console of distant place by controller 1-15, such as
The parameters such as robot itself operating rate, temperature, executing agency's working condition are transmitted to the console of distant place, for operator's reality
When check and analysis robot working condition.
Preferably, in order to improve the rich of parameter acquisition, controller 1-15 also can control avoidance video camera 1-12a work
Make to be acquired the image/video of low level in front of robot.In order to improve outside when robot acquires ambient parameters
Illumination condition, controller 1-15 can also control searchlight 1-19, improve environment light when robot carries out on-site parameters acquisition
Degree of illuminating, while highlighted environment can also be provided for rescue operations, improve rescue efficiency.
(3) Robot Extinguishing Fire step:
After controller 1-15 receives fire-fighting fire extinguishing instruction by being wirelessly transferred component 1-16, controller 1-15 control is hung down
To conversion assembly 2-3, it is horizontally diverted component 2-4 progress water cannon angle adjustment, distant place console is acquired according to reconnaissance agent 3 in real time
Image carry out real-time control adjustment, thus make fire-fighting fire extinguishing water cannon 2 spray water column fall into fire source, put out a fire, improve
Fire-fighting efficiency.
According to scene fire extinguishing needs, controller 1-15 also can control injection conversion assembly 2-2 work to the injection shape of water cannon
Formula is converted, such as controllable fire-fighting fire extinguishing water cannon 2 ejects water mist, realize to live small fire, a wide range of or dense smoke into
Row fire extinguishing or dissipation dense smoke.
In addition, for protection robot itself work safety stability, controller 1-15 also can control spray assemblies 2-8 work
Make to realize that water curtain injection is that machine human organism cools down, ensures the safety of robot in the high temperature environment.
(4) robot crawler tensioning step:
When fire-fighting robot factory or after a period of work, tension or relaxation problem can occur for track assembly 1-17, carry out
Band component 1-17 tension will cause serious wear, robot maintenance time and cost increase, and track assembly 1-17 crosses Song Zerong
Easily occur to slip crawler belt problem, seriously affects robot security.Adjustment process is as follows: displacement fastening screw 1-11b tune is loose,
Tensioning screw 1-11a is rotated, the relatively main wedge block 1-11c of secondary wedge block 1-11d moves back or moves forward, and realizes front apron 1-
11e drives driven wheel 1-5a and driven displaceable slide plate 1-5c to move back or move forward, to realize that crawler belt tighting adjusts, adjustment is finished
Afterwards, displacement fastening screw 1-11b is tightened.
The present invention is not limited to the above-described embodiments, anyone should learn that the structure made under the inspiration of the present invention becomes
Change, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.
Technology not described in detail in the present invention, shape, construction portion are well-known technique.
Claims (10)
1. a kind of fire inspection firefighting robot, which is characterized in that including crawler body, fire-fighting fire extinguishing water cannon and reconnaissance agent,
Fire-fighting fire extinguishing water cannon and reconnaissance agent are all set on crawler body, and crawler body is horizontal by chassis body, chassis housing, suspension
Beam, driving wheel, driven wheel group, carrier wheel group, carrying roller group, damping board group, elastic element, close to wheel group, strainer, avoidance
Component, warning component, driving assembly, controller, wireless transmission component, track assembly, dust cover, searchlight, lithium battery group
At, fire-fighting fire extinguishing water cannon by water cannon big gun head, injection conversion assembly, vertical conversion assembly, be horizontally diverted component, water cannon guide pipe,
Water cannon ontology, water belt lacing, spray assemblies composition, reconnaissance agent is by video camera, gas sensor, lifting assembly and reconnaissance agent
Ontology composition.
2. fire inspection firefighting robot as described in claim 1, which is characterized in that the controller is the control of robot
Core, controller connect avoidance component, warning component, driving assembly, wireless transmission component, searchlight, fire-fighting fire extinguishing water cannon respectively
In vertical conversion assembly, the video camera, gas sensor and the lifting that are horizontally diverted in component, spray assemblies and reconnaissance agent
Component.
3. fire inspection firefighting robot as claimed in claim 1 or 2, which is characterized in that in the crawler body, suspension is horizontal
Beam includes long slab rake and suspension connecting shaft, and driving wheel includes gear shaping driving wheel and drive shaft, and driven wheel group includes driven wheel, driven
Shaft and driven displaceable slide plate are taken turns, carrier wheel group includes carrier wheel and track supporting wheel shaft, and carrying roller group includes carrying roller, load-bearing rotation
Axis, damping board group include vibration damper plate and vibration damper plate balance staff, and elastic parts includes elastic element and elastic parts shaft, close to wheel group
By close to carrying roller, close to wheel, close to wheel shaft and close to wheel wobble plate form, strainer by tensioning screw, displacement fastening screw,
Main wedge block, secondary wedge block, front apron, rear baffle and fastening plates composition, avoidance component includes avoidance video camera and ultrasound
Wave range finder module, warning component include warning lamp and siren, and driving assembly includes driving motor and differential box, are wirelessly transferred component packet
Electrical module and antenna are included, track assembly includes track body and shifting block；
In the fire-fighting fire extinguishing water cannon, spray assemblies include spray thrower and relay.
4. fire inspection firefighting robot as claimed in claim 3, which is characterized in that the chassis body is arranged in track bottom
The lower semisection of disk, to support connection suspension and electric-control system, chassis housing that the upper semisection of crawler body is arranged in, the bottom of with
Disk body fits form closing solid space；
Totally two sets of crossbeam of suspension, is separately positioned on chassis body two sides, and every set suspension crossbeam includes two long slabs rake, between two plates
Every stacking, two pieces of protrusions are arranged shaft is arranged to fixed carrier wheel group in long slab upper end rake；Long slab lower end setting rake
Four pieces of protrusions are uniformly arranged four through-holes in the closely central transverse direction of long slab rake and use shaft is arranged to fixed damping board group
Connecting shaft is hung with fixed, hangs connecting shaft totally eight, is divided into two groups of left and right, is fixed on long slab rake on the outside of every group of suspension connecting shaft,
Inside is then fastened in chassis body, realizes being connected and fixed for suspension and car body；
Driving wheel is single gear structure, and quantity is two, and the gear shaping driving wheel of driving wheel is arranged by drive shaft in chassis sheet
Body rearmost two sides, drive shaft are connect to obtain power resources, the rear rim insertion of gear shaping driving wheel with differential box output revolving shaft
In track assembly, teeth and the shifting block cooperation of gear shaping driving wheel are stirred；
Driven wheel group is biserial single-wheel structure, and across driven wheel both ends of the shaft, driven wheel shaft runs through the driven wheel of driven wheel group
In the two sides of driven displaceable slide plate front end, driven displaceable slide plate is rectangular slab, and quantity is four, and two stack to be a set of, if
The inside in suspension crossbeam forefront is set, driven displaceable slide plate is connected and fixed strainer, and driven wheel front wheel felloe and crawler belt group
The contact of part inner wall；
Carrier wheel group is biserial single-wheel structure, quantity totally eight, is divided into two sets, two sets of left and right is arranged symmetrically, and every set four is right, entrusts
The carrier wheel of wheel group is fixed on long slab upper end rake by track supporting wheel shaft, and wheel rim is contacted with track assembly inner wall on carrier wheel；
Carrying roller group is biserial single wheel, and totally eight groups, the carrying roller of carrying roller group is set under vibration damper plate by carrying roller shaft
End, and carrying roller lower rim and the contact of track assembly inner wall；
Totally eight groups of damping board group, every group of damping board group includes two vibration damper plates, and vibration damper plate is strip plate, and two are stacked as one group,
Upper end is connected and fixed by vibration damper plate balance staff and long slab rake, and lower end connects carrying roller group, and vibration damper plate can be around vibration damper plate balance staff
It swings；In the case of no-load, damping board group and suspension crossbeam angle are between 30 °~70 °, and the angle is mainly by elastic parts
It is determined with robot payload size；
The upper end of the elastic element of elastic parts is fixed on long slab rake by elastic parts shaft, and the lower end of elastic element is logical
It crosses elastic parts shaft and is fixed on vibration damper plate centre, elastic element totally ten, wherein eight cooperate with vibration damper plate, pass through pressure-bearing
Pressure between long slab and carrying roller rake carries out letting out power, to realize vibration damper, two other elastic element with close to wheel group
Cooperation；
The avoidance video camera and ultrasonic distance measuring module of avoidance component are symmetrically mounted on chassis body forefront close to centre, police
Show that the warning lamp of component and siren are separately mounted to chassis housing rear end sides, the driving motor of driving assembly with differential box is mating makes
With driving motor is mounted on rear inside chassis body, and driving motor connects controller, and differential box exports axis connection drive shaft；
Component is wirelessly transferred close to controller, antenna connect with the electrical module in wireless transmission component with improve information emit and
Receive distance；Dust cover is circle wheel construction, is provided with screw hole and is fixed by bolt and all driven wheels, carrying roller；It visits
Illuminator is a pair of altogether, is mounted on the two sides of chassis body forefront；Lithium battery is mounted on inside chassis body, and lithium battery is electrically
It is connected respectively with the power consuming device in robot and provides electric energy for it.
5. fire inspection firefighting robot as claimed in claim 3, which is characterized in that the close wheel group close to carrying roller
It is biserial single-wheel structure with close wheel, close to carrying roller as carrying roller, internal diameter is greater than close to wheel, and close wheel wobble plate is sickle
Knife-like plate, two are stacked as one group, laterally disposed, topmost by being fixed on long slab front end rake close to wheel shaft, and can
It is swung around long slab rake, the outermost end close to the central bending place of wheel wobble plate is mounted on by shaft close to wheel, close to wheel front-wheel
Edge contact track component inner wall reduces when robot advances and meets with barrier and even avoids track assembly deformation, close to load-bearing
Lower rim contact track component inner wall is taken turns, is arranged at the upper middle close to wheel wobble plate and has elastic component, is realized close to wheel group
With the resilient support of suspension crossbeam.
6. fire inspection firefighting robot as claimed in claim 3, which is characterized in that totally two sets of the strainer, respectively
It is arranged between the driven displaceable slide plate of the left and right sides and long slab rake, tensioning screw, which runs through and passes through nut, is fixed on length rake
Front edge of board two sides are socketed with main wedge block on tensioning screw；
Displacement fastening screw totally six, is divided into two sets, every three presentation angular distribution, before a displacement fastening screw through from
Dynamic displaceable slide plate and long slab rake, behind two displacement fastening screws run through long slab rake and front apron, displacement fastening screw tail
Portion is fixed by fastening plates；
Main wedge block and secondary wedge block are trapezoidal slide block, there is open-work among main wedge block, are provided with and open in open-work
The screw thread of tight screw cooperation, main wedge block are socketed on tensioning screw, and the inclined-plane of main wedge block is oblique with secondary wedge block
Face contact cooperation drives main wedge block to retreat along the axis direction perpendicular to tensioning screw by the rotation of tensioning screw；
It is provided at the rear end face of secondary wedge block through open-work, open-work diameter is greater than the diameter of displacement fastening screw, secondary wedge
The preceding end in contact of shape sliding block simultaneously connects front apron, when secondary wedge block slides back and forth, front apron can be driven to be moved forward and backward；
Front apron is square plate, vertically and is across between long slab rake, rear baffle structure and shape are identical as front apron, vertically simultaneously
It is across between long slab rake；
Fastening plates are triangular plate, are provided with threaded hole, are matched with displacement fastening screw.
7. fire inspection firefighting robot as claimed in claim 3, which is characterized in that described track assembly or so each one is hung,
The track body of track assembly is closing flat-shaped structure, is horizontally arranged with shifting block in track body center, shifting block is cube
Structure is provided with chamfering, and shifting block and gear shaping driving wheel cooperate, and stirs shifting block stress, and then band by the rotation of gear shaping driving wheel
Dynamic track body rotation.
8. fire inspection firefighting robot as claimed in claim 3, which is characterized in that the water cannon big gun head, water cannon guide pipe,
Water cannon ontology and water belt lacing link into an integrated entity, and water cannon guide pipe is bend pipe, to connect each component of water cannon, spray transformation group
Part is arranged between water cannon big gun head and water cannon guide pipe, vertical conversion assembly and is horizontally diverted component and passes through water cannon guide pipe and connect
It is connected on water cannon ontology, water belt lacing connects water cannon ontology, and water cannon ontology is set in chassis housing, and water belt lacing is set to machine
The rear of the chassis housing of device people, spray assemblies are set to water cannon guide pipe topmost, and spray assemblies include spray thrower and relay
Device, spray thrower are fetched water by water cannon guide pipe, and cooperation relay realizes the spraying cooling to robot, relay connection control
Device.
9. fire inspection firefighting robot as described in claim 1, which is characterized in that the video camera and gas sensor are simultaneously
Row's setting, video camera setting is in being provided with reconnaissance agent ontology on lifting assembly, outside lifting assembly.
10. a kind of working method of fire inspection firefighting robot, which comprises the following steps:
(1) robot motion's walking and perception avoidance step:
Controller is received by wireless transmission component and comes from distant place wireless instructions, controls machine after instructing via controller analysis decision
Driving assembly on people is realized to rotate driving wheel and be controlled, to realize the motion control of robot, front and back including robot,
Retrogressing, turning and emergency stop；
When robot is during advance, controller also real-time control avoidance component operation acquires the image view in front of robot
Frequency information, ambient parameter information, and be sent on the console of distant place by wireless transmission component and check, analyze for fire fighter
And decision；
When in short distance in front of controller detects by ultrasonic distance measuring module robot there are when barrier, if obstacle at this time
Object is less than preset secure threshold at a distance from robot, and controller direct controlling and driving component is realized urgent to robot at this time
Brake behavior, and it is not controlled by stopping control instruction of the distant place console from fire fighter；It is above-mentioned to carry out barrier judgement
When, to improve error correction redundancy, avoidance video camera can also cooperate ultrasonic distance measuring module to work, and realize to robot preceding object
The auxiliary judgement of object；
(2) step is scouted by robot:
Controller controls video camera, gas sensor in reconnaissance agent and works, to image/video and spy around situ machine people
Determine gas parameter to be acquired, and the parameter of acquisition is sent on the console of distant place by being wirelessly transferred component, for fire-fighting
Personnel analyze site environment state further to make decisions, in this process, for the range for improving parameter acquisition, controller
Lifting assembly can also be controlled and realize elevating function, to complete to the environmental parameter or image in robot different height space
Video information acquisition；The duty parameter of robot itself can also be transmitted to the console of distant place by controller, for operator's reality
When check and analysis robot working condition；Controller also can control avoidance camera operation to the image of low level in front of robot
Video is acquired；Controller can also control searchlight, and parameter acquisition and when field rescue provide enough environment at the scene
Illumination brightness；
(3) Robot Extinguishing Fire step:
After controller receives fire-fighting fire extinguishing instruction by being wirelessly transferred component, controller controls vertical conversion assembly, level
Steering assembly carries out the adjustment of water cannon angle, and distant place console carries out real-time control tune according to the image of reconnaissance agent acquisition in real time
It is whole, so that the water column for spraying fire-fighting fire extinguishing water cannon is fallen into fire source, put out a fire；
According to scene fire extinguishing needs, controller also can control injection conversion assembly work and convert to the spray pattern of water cannon,
In addition, controller, which also can control spray assemblies work, realizes that water curtain injection is that machine human organism cools down；
(4) robot crawler tensioning step:
When fire-fighting robot factory or after a period of work, tension or relaxation problem can occur for track assembly, and adjustment process is such as
Under: by displacement fastening screw tune pine, tensioning screw is rotated, the relatively main wedge block of secondary wedge block moves back or moves forward, before realization
Baffle drives driven wheel and driven displaceable slide plate to move back or move forward, to realize that crawler belt tighting adjusts, after adjustment, tightens shifting
Position fastening screw.
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| CN110406603A (en) * | 2019-08-09 | 2019-11-05 | 北京凌天世纪控股股份有限公司 | It is a kind of collection tire, crawler belt, the three-in-one walking mechanism of swing arm multi-function robot |
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| CN113332644A (en) * | 2021-05-08 | 2021-09-03 | 江苏大学 | Small-size intelligent fire engine in city |
| CN113501058A (en) * | 2021-07-14 | 2021-10-15 | 胡天琦 | Detection robot with stable walking mechanism |
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