CN111001106B - Urban comprehensive pipe rack intelligent fire-fighting robot - Google Patents
Urban comprehensive pipe rack intelligent fire-fighting robot Download PDFInfo
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- CN111001106B CN111001106B CN201911264954.2A CN201911264954A CN111001106B CN 111001106 B CN111001106 B CN 111001106B CN 201911264954 A CN201911264954 A CN 201911264954A CN 111001106 B CN111001106 B CN 111001106B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 21
- 239000010959 steel Substances 0.000 claims abstract description 21
- 239000007789 gas Substances 0.000 claims description 10
- 239000000779 smoke Substances 0.000 claims description 10
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 9
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 8
- 229910000037 hydrogen sulfide Inorganic materials 0.000 claims description 8
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000011160 research Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent fire-fighting robot for an urban comprehensive pipe rack, which comprises an infrared camera (2), an environment monitoring module (4), an ultrasonic ranging device (5), a track traveling device (6) and a central controller, wherein the infrared camera is arranged at the front part of a machine body (1), the fire-fighting device (3) is mounted at the bottom of the machine body (1), the track traveling device (6) is arranged in the machine body (1), the track traveling device (6) comprises a roller mechanism (601) and a ball compressing mechanism (602), the roller mechanism (601) comprises a plurality of rollers, the rollers are horizontally arranged in an upper layer and a lower layer, the rollers on the upper layer and the rollers on the lower layer are symmetrically arranged, a gap between the rollers on the upper layer and the rollers on the lower layer is used for clamping the horizontal wall surface of the bottom of an I-steel track, and the ball compressing mechanism (602) is used for clamping the vertical wall surface of the I-steel track. The invention has the beneficial effects that: the air data in the gallery can be timely and multifaceted monitored, the machine body is stable in operation, the structure is simple and reliable, and the universality is strong.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an intelligent fire-fighting robot for an urban comprehensive pipe rack.
Background
The utility tunnel is characterized in that a tunnel space integrating various pipelines is built underground so as to realize unified planning and management of electric power, communication, fuel gas, water supply and drainage and the like. With the large investment of countries to urban underground utility tunnel, the inspection and fire control requirements in the tunnel become more and more important.
For a long time, for the inspection of urban underground comprehensive pipe racks, a manual mode is mainly used, namely a fixed fire-fighting, alarming and monitoring system is adopted, and then patrol is taken charge of by workers. Because of the special environment in the underground pipe gallery, the mode can bring repeated investment, the operation and maintenance are complex, the service cycle is short, the workload of the staff is heavy, the efficiency of fire monitoring is low, the personal safety of the staff is threatened greatly, and therefore, the research of the fire-fighting robot of the urban underground pipe gallery becomes a research hotspot of various universities and enterprises. Because of the environmental characteristics of the urban underground utility tunnel, most urban underground utility tunnel fire robots finish inspection work by utilizing the tracks paved in the pipe tunnels, but part of cities do not have planning and paved with tracks for the urban underground utility tunnel fire robots to walk when constructing the underground pipe tunnels, and the urban underground utility tunnel is limited in size and underground space, and the cost and difficulty for later refitting the underground utility tunnel paving tracks are high.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the problems existing in the prior art, the intelligent fire-fighting robot for the urban comprehensive pipe rack is provided, can monitor environmental factors such as smoke, gas, temperature and the like in the pipe rack, carries a fire-fighting device to perform fire-fighting emergency treatment, adopts a mode that a track running device and a pipeline running device work cooperatively, can utilize paved tracks and can also utilize pipelines in the gallery, and the walking inspection function is realized.
The technical problems to be solved by the invention are realized by adopting the following technical scheme: the utility model provides an urban comprehensive pipe rack intelligent fire-fighting robot, includes infrared camera, environmental monitoring module, ultrasonic ranging device, track running gear and the central controller of installing in the organism front portion, fire extinguishing device is hung to the bottom of organism, track running gear establishes the inside at the organism, and track running gear includes cylinder mechanism and ball hold-down mechanism, cylinder mechanism includes a plurality of cylinders, two-layer horizontal arrangement about a plurality of cylinders divide, and upper cylinder and lower floor's cylinder all symmetry set up, and the clearance between upper cylinder and the lower floor's cylinder is used for clamping the horizontal wall of I-steel track bottom, ball hold-down mechanism includes pedestal, ball and tensioning spring, the pedestal symmetry sets up the both sides at I-steel track vertical wall, the ball inlays on the pedestal, is equipped with tensioning spring between ball and the pedestal.
Preferably, a position adjusting seat is arranged between the environment monitoring module and the machine body, and the position adjusting seat can adjust the angle and the height of the environment monitoring module relative to the ground.
Preferably, the environment monitoring module comprises a carbon monoxide monitoring module, an air quality monitoring module, a temperature and humidity monitoring module, a smoke monitoring module, a liquefied gas monitoring module and a hydrogen sulfide monitoring module, wherein the hydrogen sulfide monitoring module is arranged at the top of the machine body, and the carbon monoxide monitoring module, the air quality monitoring module, the temperature and humidity monitoring module, the smoke monitoring module and the liquefied gas monitoring module are symmetrically arranged at two sides of the machine body.
Preferably, the bilateral symmetry of organism is equipped with pipeline running gear, pipeline running gear includes flexible pivot, reversing device, rocking arm and spacing running gear, the one end of flexible pivot passes through the gear and installs the step motor cooperation at the organism, and the other end is equipped with reversing device, reversing device includes sleeve, deflector and a pair of meshing bevel gear, the T-shaped logical groove has been seted up on the deflector, the sleeve includes sleeve and cartridge pivot in the sleeve, telescopic outer wall symmetry has set firmly the spacer pin, and the spacer pin cartridge is in the T-shaped logical inslot of deflector, but be equipped with key and the groove of cooperation cartridge on the terminal surface of a pair of meshing bevel gear respectively, one of them bevel gear sets firmly the tip at flexible pivot, and another bevel gear articulates the tip at the sleeve, the other end of sleeve and the middle part fixed connection of rocking arm, the both ends of rocking arm articulate spacing running gear, spacing running gear is split type annular structure, and its annular structure's inside is equipped with a plurality of walking wheels along circumferencial direction.
Preferably, the spacing running gear includes outer annular body, interior annular body and a plurality of spacing blade, outer annular body and interior annular body are two lamella split structure, and interior annular body nestification is in outer annular body and interior annular body can rotate for outer annular body, a plurality of spacing blades set up in the both sides of inner annular body along the circumference is crisscross, the circumference equipartition has a plurality of arc logical grooves on the interior annular body, the tip of spacing blade is equipped with rotation spacing round pin axle and sliding pin axle, rotation spacing pin articulates on outer annular body, sliding pin axle cartridge in the arc logical inslot, be equipped with a plurality of walking wheels on the medial surface of spacing blade, interior annular body rotates the time limit blade along the arc logical groove slides and rotates with rotation spacing round pin axle as the centre of a circle.
Preferably, an opening and closing mechanism is arranged between the rocker arm and the limiting walking mechanism, the opening and closing mechanism comprises a guide post, a sliding block, a supporting rod and a hinge mechanism, one end of the guide post is hinged to the rocker arm, the other end of the guide post is fixedly provided with the hinge mechanism, the hinge mechanism is respectively hinged to the two-lobe structure of the outer annular body, one end of the supporting rod is hinged to the sliding block, the other end of the supporting rod is hinged to the outer annular body, and the sliding block is sleeved on the guide post.
Preferably, the outer circumference of the inner annular body is provided with a plurality of straight teeth, a gear is hinged between the outer annular body and the inner annular body, and the gear is meshed with the straight teeth.
Preferably, the rocker arm is shaped like a Chinese character 'men', the rocker arm comprises a cross arm and a vertical arm, the middle part of the cross arm is hinged with a sleeve shaft of the reversing device, the two ends of the cross arm are respectively hinged with the vertical arm, and the vertical arm is hinged with a guide pillar of the opening and closing mechanism.
Preferably, the rocker arm, the stay bar and the telescopic rotating shaft are all telescopic structures; the infrared camera, the fire extinguishing device, the environment monitoring module, the ultrasonic ranging device, the track traveling device and the pipeline traveling device are all electrically connected with the central controller, and the central controller is connected with the upper computer through the wireless communication device.
Preferably, detachable end covers are arranged at the front end and the rear end of the machine body, I-shaped steel track through holes are formed in the detachable end covers, and brushes are arranged on the hole walls of the I-shaped steel track through holes.
Compared with the prior art, the invention has the beneficial effects that:
(1) The carbon monoxide monitoring module, the air quality monitoring module, the temperature and humidity monitoring module, the smoke monitoring module, the liquefied gas monitoring module and the hydrogen sulfide monitoring module are arranged on the machine body, so that air data in the corridor can be timely monitored in multiple aspects; the rail traveling device can limit the rail in the vertical direction and the horizontal direction, namely, the roller mechanism is used for limiting the I-shaped steel rail in the vertical direction, and the ball pressing mechanism is used for limiting the I-shaped steel rail in the horizontal direction, and meanwhile, the ball pressing mechanism has a tensioning function, so that the vibration of a machine body caused by uneven surfaces of the rail can be reduced, and the running stability of the machine body is ensured.
(2) The fire extinguishing device is mounted at the bottom of the machine body, so that fire emergency treatment can be carried out on sudden fire.
(3) The track running gear and the pipeline running gear cooperate, so that the running inspection function can be realized by utilizing the paved track and the pipeline in the corridor, and the cost of the existing corridor for reforming and installing the running track can be saved.
(4) The running gear of pipeline running gear wholly adopts split type and internally mounted to have along its inside spout pivoted spacing blade's structure, not only can be spacing utilize a plurality of walking wheels to walk along the pipeline on the pipeline, but the spacing relative position of adjustable is suitable for the pipeline of different pipe diameters simultaneously, controls conveniently, and the commonality is strong.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic structural view of a first embodiment of the present invention.
Fig. 2 is a schematic structural view of an internal track running device according to a first embodiment of the present invention.
Fig. 3 is a front view of an internal track running gear of a first embodiment of the invention.
Fig. 4 is a schematic structural view of a second embodiment of the present invention.
Fig. 5 is a front view of a second embodiment of the present invention.
Fig. 6 is a schematic structural view of a pipe running gear according to a second embodiment of the present invention.
Fig. 7 is a schematic structural view of an inner ring body according to a second embodiment of the present invention.
Fig. 8 is a cross-sectional view of the front-rear symmetry plane of the pipe running gear according to the second embodiment of the present invention.
Fig. 9 is a cross-sectional view of the left and right symmetry planes of a pipe running gear according to a second embodiment of the present invention.
The marks in the figure: the intelligent fire-extinguishing system comprises a machine body, a 2-infrared camera, a 3-fire extinguishing device, a 4-environment monitoring module, a 401-carbon monoxide monitoring module, a 402-air quality monitoring module, a 403-temperature and humidity monitoring module, a 404-smoke monitoring module, a 405-liquefied gas monitoring module, a 406-hydrogen sulfide monitoring module, a 5-ultrasonic ranging device, a 6-track traveling device, a 601-roller mechanism, a 602-ball pressing mechanism, a 7-pipeline traveling device, a 701-telescopic rotating shaft, a 702-reversing device, a 703-rocker arm, a 704-limit traveling mechanism, a 7041-outer annular body, a 7042-inner annular body, a 7043-plurality of limit blades, a 705-traveling wheel and a 706-opening and closing mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 2 and fig. 3, an intelligent fire-fighting robot for urban comprehensive pipe rack comprises an infrared camera 2 arranged at the front part of a machine body 1, a fire extinguishing device 3 mounted at the bottom of the machine body, an environment monitoring module 4, an ultrasonic ranging device 5, a track traveling device 6 and a central controller, wherein the infrared camera 2, the fire extinguishing device 3, the environment monitoring module 4, the ultrasonic ranging device 5, the track traveling device 6 and the pipeline traveling device 7 are all electrically connected with the central controller, the central controller is connected with an upper computer through a wireless communication device, and a remote monitoring platform connected with the upper computer can collect environmental data (temperature and humidity, smoke, concentration of liquefied gas, concentration of carbon monoxide and the like) transmitted by each module of the robot in real time. The environmental monitoring module 4 includes carbon monoxide monitoring module 401, air quality monitoring module 402, humiture monitoring module 403, smog monitoring module 404, liquefied gas monitoring module 405 and hydrogen sulfide monitoring module 406, hydrogen sulfide monitoring module 406 sets up at the top of organism 1, carbon monoxide monitoring module 401, air quality monitoring module 402, humiture monitoring module 403, smog monitoring module 404 and liquefied gas monitoring module 405 all symmetry set up in the both sides of organism 1. When the smoke amount in the corridor exceeds the threshold value of the smoke monitoring module 404, the infrared camera 2 is used for judging the position of the fire, and the fire extinguishing device 3 is started to implement emergency fire control treatment. In order to ensure the accuracy of the monitoring data of the environment monitoring module 4, a position adjusting seat is arranged between the environment monitoring module 4 and the machine body 1, and the position adjusting seat can adjust the angle and the height of the environment monitoring module 4 relative to the ground so as to adapt to corridor monitoring of different sizes and environments.
The front end and the rear end of the machine body 1 are provided with detachable end covers, I-shaped steel track through holes are formed in the detachable end covers, brushes are arranged on the hole walls of the I-shaped steel track through holes, the I-shaped steel tracks adopted by the intelligent fire-fighting robot walking track of the urban comprehensive pipe rack penetrate through the machine body 1, and dust on the tracks can be removed through the brushes on the I-shaped steel track through holes. The track running gear 6 is established in the inside of organism 1, and preferably, the front end and the rear end of organism 1 are equipped with a track running gear 6 respectively, and track running gear 6 includes cylinder mechanism 601 and ball hold-down mechanism 602, cylinder mechanism 601 includes a plurality of cylinders, a plurality of cylinders divide upper and lower two-layer horizontal arrangement, and upper cylinder and lower floor's cylinder all symmetry set up, and preferably, the cylinder quantity is four, and two cylinders horizontal symmetry sets up on the upper layer promptly, and two cylinders horizontal symmetry sets up on the lower floor, and the clearance between upper cylinder and the lower floor's cylinder is used for pressing from both sides the horizontal wall of I-steel track bottom. The ball hold-down mechanism 602 comprises a base, balls and tension springs, wherein the base is symmetrically arranged on two sides of the vertical wall surface of the I-shaped steel track, the balls are embedded on the base, and the tension springs are arranged between the balls and the base. When the roller mechanism 601 rolls, friction force is generated between the roller and the horizontal part of the bottom of the I-shaped steel rail to drive the machine body 1 to advance or retreat, meanwhile, the ball pressing mechanism 602 presses balls against the vertical wall surface of the I-shaped steel rail under the action of a tensioning spring of the ball pressing mechanism, the function of positioning and stabilizing the machine body is achieved, and the tensioning function of the ball pressing mechanism 602 can also play a role in fine adjustment of a certain position when the surface of the I-shaped steel rail is uneven.
As shown in fig. 4 and 5, in the second embodiment of the present invention, pipe running devices 7 are symmetrically disposed on two sides of a machine body 1, the pipe running devices 7 include a telescopic rotating shaft 701, a reversing device 702, a rocker 703 and a limiting running mechanism 704, one end of the telescopic rotating shaft 701 is matched with a stepping motor mounted on the machine body 1 through a gear, the other end of the telescopic rotating shaft is provided with the reversing device 702, the reversing device 702 includes a sleeve shaft, a guide plate and a pair of engaged bevel gears, the guide plate is provided with a t-shaped through groove, the sleeve shaft includes a sleeve and a rotating shaft inserted in the sleeve, the outer wall surface of the sleeve is symmetrically and fixedly provided with a limiting pin, the limiting pin is inserted in the t-shaped through groove of the guide plate, the end surfaces of the pair of engaged bevel gears are respectively provided with a key and a groove capable of being matched and inserted, one bevel gear is fixedly disposed at the end of the telescopic rotating shaft 701, the other bevel gear is hinged at the end of the sleeve shaft, the other end of the sleeve is fixedly connected with the middle part of the rocker 703, the two ends of the rocker 703 are hinged with the limiting running mechanism 704, the limiting running mechanism is in a split type annular structure, and the inside of the annular structure is provided with a plurality of travelling wheels 705 along the circumferential direction, preferably in a split annular split type annular structure.
As shown in fig. 6, 7, 8 and 9, the spacing running mechanism 704 includes an outer ring 7041, an inner ring 7042 and a plurality of spacing blades 7043, the outer ring 7041 and the inner ring 7042 are both two-piece split structures, the inner ring 7042 is nested in the outer ring 7041 and the inner ring 7042 can rotate relative to the outer ring 7041, preferably, a plurality of straight teeth are arranged on the outer circumference of the inner ring 7042, a gear is hinged between the outer ring 7041 and the inner ring 7042, the gear is meshed with the straight teeth, and the inner ring 7042 is driven to rotate relative to the outer ring 7041 through rotation of the gear. The limiting blades 7043 are arranged on two sides of the inner annular body 7042 in a staggered mode along the circumferential direction, a plurality of arc through grooves are uniformly distributed on the circumference of the inner annular body 7042, a rotation limiting pin shaft and a sliding pin shaft are arranged at the end portion of the limiting blade 7043, the rotation limiting pin shaft is hinged to the outer annular body 7041, the sliding pin shaft is inserted into the arc through grooves, a plurality of travelling wheels 705 are arranged on the inner side face of the limiting blade 7043, and the limiting blade 7043 slides along the arc through grooves when the inner annular body 7042 rotates and rotates by taking the rotation limiting pin shaft as the circle center. An opening and closing mechanism 706 is arranged between the rocker 703 and the limiting running mechanism 704, the opening and closing mechanism 706 comprises a guide post, a sliding block, a supporting rod and a hinge mechanism, one end of the guide post is hinged to the rocker 703, the rocker 703 is shaped like a Chinese character 'men', the rocker 703 comprises a cross arm and a vertical arm, the middle part of the cross arm is hinged to a sleeve shaft of the reversing device 702, two ends of the cross arm are respectively hinged to the vertical arm, the vertical arm is hinged to the guide post of the opening and closing mechanism 706, the hinge mechanism is fixedly arranged at the other end of the guide post, the hinge mechanism is respectively hinged to two-flap structures of the outer ring 7041, one end of the supporting rod is hinged to the sliding block, the other end of the supporting rod is hinged to the outer ring 7041, and the sliding block is sleeved on the guide post. The rocker arm 703, the stay bar and the telescopic rotating shaft 701 are all of telescopic structures, the length of the telescopic rotating shaft can be adjusted according to the structural condition of a gallery, meanwhile, independently controlled motors are arranged on moving parts and hinged positions of the travelling wheel 705, the sliding block, the gear between the outer annular body 7041 and the inner annular body 7042, the reversing device 702 and the like, and the movement control signals of the motors are all from a central controller.
When the reversing device 702 is operated, firstly, the angle of the reversing device 702 is adjusted according to the hoisting form of a pipeline in a gallery, if the pipeline is installed in a bottom support mode, a bevel gear connected with a sleeve shaft in the reversing device 702 moves horizontally along a T-shaped through groove of a guide plate of the reversing device 702 along with the sleeve shaft, and when the bevel gear moves to be in close contact with the end face of another bevel gear (fixedly arranged at the end part of the telescopic rotating shaft 701) of the reversing device 702 (as the end faces of the pair of meshed bevel gears are respectively provided with a key and a groove which can be matched and inserted, namely, key grooves on the end faces of the two bevel gears are in insertion fit, so that power transmission is realized); secondly, the sliding block of the opening and closing mechanism 706 moves along the guide post, the supporting rod is pulled, the supporting rod is linked to enable the two-flap structure of the outer annular body 7041 to rotate by taking the hinged position as an axis, the outer annular body 7041 drives the inner annular body 7042 inside the outer annular body 7041 to realize integral opening, and the opening angle is controlled according to the size of the pipe diameter; then, the position of the robot is adjusted to enable the pipeline to be placed inside the limit running mechanism 704, the sliding block of the opening and closing mechanism 706 moves reversely along the guide post to push the supporting rod, after the outer annular body 7041 and the inner annular body 7042 are closed, the hinged gear between the outer annular body 7041 and the inner annular body 7042 rotates, as the gear is meshed with the straight teeth on the circumferential surface of the inner annular body 7042, the inner annular body 7042 is driven to rotate relative to the outer annular body 7041, the rotation limiting pin of the limiting blade 7043 is hinged to the outer annular body 7041, the sliding pin of the limiting blade 7043 is inserted into the arc-shaped through groove of the inner annular body 7042, the limiting blade 7043 slides along the arc-shaped through groove and rotates with the rotation limiting pin as the circle center, so that the limiting blades 7043 simultaneously clamp the pipeline in a ring shape, and at the moment, the inner side surface on which the limiting blade 7043 is installed is provided with a plurality of travelling wheels 705 to be in contact with the pipeline, and the travelling wheels 705 rotate under the driving of the built-in motor, so that the whole robot walks along the pipeline to finish inspection. When the support or the fixture of the pipeline is encountered in the walking process, the limiting walking mechanism 704 at the rear end of the walking direction of the machine body 1 loosens the pipeline which is held tightly, the limiting walking mechanism 704 at the front end of the walking direction of the machine body 1 still holds the pipeline, and meanwhile, the telescopic rotating shaft 701 and the rocker 703 rotate to drive the limiting walking mechanism 704 which loosens the pipeline to pass over the support or the fixture of the pipeline, and then the action of holding the pipeline tightly is completed. The above-mentioned actions are repeated to make the limit running mechanism 704 positioned at the front end of running direction of machine body 1 pass over the support or fixed object of pipeline so as to implement smooth running of whole robot along the pipeline.
If the pipeline is supported by the top hoisting, the bevel gear connected with the sleeve shaft in the reversing device 702 moves horizontally along the sleeve shaft along the horizontal groove at the upper part of the T-shaped through groove of the guide plate of the reversing device 702, then moves vertically along the vertical groove at the middle part of the T-shaped through groove, and then moves horizontally along the horizontal groove at the lower part of the T-shaped through groove, so that the bevel gear is meshed with the other bevel gear of the reversing device 702, at this time, the rocker 703 and the limit running mechanism 704 rotate 90 degrees relative to the former case, and the subsequent operation actions such as the pipeline clamping and the running of the machine body 1 are consistent with the former case. The whole robot adopts a mode of cooperative work of the track traveling device and the pipeline traveling device, so that the paved track can be utilized, the pipeline in the corridor can be utilized, the traveling inspection function is realized, and the cost of the existing corridor for modifying and installing the traveling track can be saved. Meanwhile, the running mechanism of the pipeline running device is integrally of a split type structure, the inner part of the running mechanism is provided with limiting blades rotating along the inner sliding grooves of the running mechanism, the running mechanism can not only be limited on a pipeline and run along the pipeline by utilizing a plurality of running wheels, but also can adjust the limiting and limiting relative positions to be suitable for pipelines with different pipe diameters, and the running mechanism is convenient to operate and high in universality.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The utility model provides an urban utility tunnel intelligent fire control robot, including installing infrared camera (2), environmental monitoring module (4), ultrasonic ranging device (5), track running gear (6) and central controller in organism (1) front portion, its characterized in that: the bottom of the machine body (1) is provided with a fire extinguishing device (3), the track traveling device (6) is arranged in the machine body (1), the track traveling device (6) comprises a roller mechanism (601) and a ball compressing mechanism (602), the roller mechanism (601) comprises four rollers, the four rollers are horizontally arranged in an upper layer and a lower layer, the upper layer of two rollers are horizontally and symmetrically arranged, the lower layer of two rollers are horizontally and symmetrically arranged, a gap between the upper layer of rollers and the lower layer of rollers is used for clamping the horizontal wall surface at the bottom of an I-steel track, the ball compressing mechanism (602) comprises a seat body, balls and a tensioning spring, the seat body is symmetrically arranged on two sides of the vertical wall surface of the I-steel track, the balls are embedded on the seat body, a tensioning spring is arranged between the ball and the seat body, two sides of the machine body (1) are symmetrically provided with a pipeline running gear (7), the pipeline running gear (7) comprises a telescopic rotating shaft (701), a reversing device (702), a rocker arm (703) and a limiting running gear (704), one end of the telescopic rotating shaft (701) is matched with a stepping motor arranged on the machine body (1) through a gear, the other end of the telescopic rotating shaft is provided with the reversing device (702), the reversing device (702) comprises a sleeve shaft, a guide plate and a pair of meshed bevel gears, the guide plate is provided with a T-shaped through groove, the sleeve shaft comprises a sleeve and a rotating shaft inserted in the sleeve, the outer wall surface of the sleeve is symmetrically fixedly provided with a limiting pin, the limiting pin is inserted in the T-shaped through groove of the guide plate, the end faces of the pair of meshed bevel gears are respectively provided with a key and a groove which can be matched and inserted, one bevel gear is fixedly arranged at the end part of the telescopic rotating shaft (701), the other bevel gear is hinged at the end part of the sleeve shaft, the other end of the sleeve shaft is fixedly connected with the middle part of the rocker arm (703), two ends of the rocker arm (703) are hinged with a limiting running mechanism (704), the limiting running mechanism (704) is of a split type annular structure, and a plurality of running wheels (705) are arranged in the annular structure along the circumferential direction.
2. The urban utility tunnel intelligent fire-fighting robot of claim 1, wherein: a position adjusting seat is arranged between the environment monitoring module (4) and the machine body (1), and the position adjusting seat can adjust the angle and the height of the environment monitoring module (4) relative to the ground.
3. The urban comprehensive pipe rack intelligent fire-fighting robot according to claim 1 or 2, wherein: the environment monitoring module (4) comprises a carbon monoxide monitoring module (401), an air quality monitoring module (402), a temperature and humidity monitoring module (403), a smoke monitoring module (404), a liquefied gas monitoring module (405) and a hydrogen sulfide monitoring module (406), wherein the hydrogen sulfide monitoring module (406) is arranged at the top of the machine body (1), and the carbon monoxide monitoring module (401), the air quality monitoring module (402), the temperature and humidity monitoring module (403), the smoke monitoring module (404) and the liquefied gas monitoring module (405) are symmetrically arranged at two sides of the machine body (1).
4. The urban utility tunnel intelligent fire-fighting robot of claim 1, wherein: the limiting walking mechanism (704) comprises an outer annular body (7041), an inner annular body (7042) and a plurality of limiting blades (7043), wherein the outer annular body (7041) and the inner annular body (7042) are of two-piece split structures, the inner annular body (7042) is nested in the outer annular body (7041) and can rotate relative to the outer annular body (7041), the plurality of limiting blades (7043) are arranged on two sides of the inner annular body (7042) in a staggered mode along the circumferential direction, a plurality of arc through grooves are uniformly distributed in the inner annular body (7042) in the circumferential direction, rotating limiting pins and sliding pins are arranged at the end portions of the limiting blades (7043), the rotating limiting pins are hinged to the outer annular body (7041), the sliding pins are inserted in the arc through grooves, a plurality of travelling wheels (705) are arranged on the inner side face of the limiting blades (7043), and the limiting blades (7043) rotate along the arc through grooves and rotate to serve as circle centers.
5. The intelligent fire-fighting robot for the urban comprehensive pipe rack according to claim 4, wherein: the novel sliding block is characterized in that an opening and closing mechanism (706) is arranged between the rocker arm (703) and the limiting traveling mechanism (704), the opening and closing mechanism (706) comprises a guide post, a sliding block, a supporting rod and a hinge mechanism, one end of the guide post is hinged to the rocker arm (703), the other end of the guide post is fixedly provided with the hinge mechanism, the hinge mechanism is respectively hinged to two-flap structures of the outer annular body (7041), one end of the supporting rod is hinged to the sliding block, the other end of the supporting rod is hinged to the outer annular body (7041), and the sliding block is sleeved on the guide post.
6. The intelligent fire-fighting robot for the urban comprehensive pipe rack according to claim 4 or 5, wherein: the outer circumferential surface of the inner annular body (7042) is provided with a plurality of straight teeth, a gear is hinged between the outer annular body (7041) and the inner annular body (7042), and the gear is meshed with the straight teeth.
7. The intelligent fire-fighting robot for the urban comprehensive pipe rack according to claim 6, wherein: the rocker arm (703) is in a shape of a door, the rocker arm (703) comprises a cross arm and a vertical arm, the middle part of the cross arm is hinged with a sleeve shaft of the reversing device (702), the two ends of the cross arm are respectively hinged with the vertical arm, and the vertical arm is hinged with a guide pillar of the opening and closing mechanism (706).
8. The intelligent fire-fighting robot for the urban comprehensive pipe rack according to claim 7, wherein: the rocker arm (703), the stay bar and the telescopic rotating shaft (701) are all telescopic structures; the intelligent fire extinguishing device is characterized in that the infrared camera (2), the fire extinguishing device (3), the environment monitoring module (4), the ultrasonic ranging device (5), the track traveling device (6) and the pipeline traveling device (7) are all electrically connected with the central controller, and the central controller is connected with the upper computer through the wireless communication device.
9. The urban comprehensive pipe rack intelligent fire-fighting robot according to claim 1, 2 or 8, wherein: the machine body (1) is characterized in that detachable end covers are arranged at the front end and the rear end of the machine body, I-shaped steel track through holes are formed in the detachable end covers, and brushes are arranged on the hole walls of the I-shaped steel track through holes.
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| CN113304427B (en) * | 2021-06-11 | 2023-04-07 | 碧途科技(河北)有限公司 | Object abnormity monitoring and removing system and method |
| CN113696164B (en) * | 2021-08-20 | 2023-03-24 | 中铁第四勘察设计院集团有限公司 | Stay-free charging rotatable pipe gallery inspection robot and inspection system |
| CN114646750B (en) * | 2022-05-13 | 2022-10-14 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Soil environment real-time supervision device |
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