CN111068216B - Wheel-foot hybrid fire-fighting robot - Google Patents
Wheel-foot hybrid fire-fighting robot Download PDFInfo
- Publication number
- CN111068216B CN111068216B CN202010047734.0A CN202010047734A CN111068216B CN 111068216 B CN111068216 B CN 111068216B CN 202010047734 A CN202010047734 A CN 202010047734A CN 111068216 B CN111068216 B CN 111068216B
- Authority
- CN
- China
- Prior art keywords
- travelling
- wheel
- bottom plate
- steering engine
- fire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 51
- 238000005507 spraying Methods 0.000 claims description 16
- 238000004401 flow injection analysis Methods 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 8
- 239000007924 injection Substances 0.000 claims description 8
- 238000010191 image analysis Methods 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000009970 fire resistant effect Effects 0.000 description 1
- 239000003779 heat-resistant material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a wheel-foot hybrid fire-fighting robot, which comprises a body, wherein two travelling mechanisms for realizing bipedal travelling are arranged at the lower part of the body, and two travelling wheel assemblies are arranged at the lower part of each travelling mechanism; the relative height of the travelling wheel assembly and the travelling mechanism can be adjusted so that: when the lower end of the travelling wheel assembly is lower than the bottom plate, the travelling wheel assembly drives the body to realize wheeled travelling; conversely, the walking mechanism drives the body to realize bipedal walking; the lowest end of the travelling mechanism is a bottom plate, and a fire extinguishing assembly is arranged on the upper surface of the bottom plate; the upper surface of bottom plate has set firmly the support frame, the support frame is fixed with biax motor, the output shaft of biax motor has linked firmly a lead screw respectively.
Description
Technical Field
The invention belongs to the technical field of fire-fighting robots, and particularly relates to a wheel-foot hybrid fire-fighting robot.
Background
The fire-fighting robot can replace human beings to perform a lot of complex dangerous environment work, so that fire fighters can realize fire-extinguishing operation without going deep into a fire scene. The fire-fighting robot is generally formed by adding fire-extinguishing components to a self-walking robot, and the traditional wheeled robot, the crawler-type robot and the bipedal fire-extinguishing robot are greatly limited by the environment, and particularly, the traditional wheeled robot has poor obstacle-crossing capability, poor terrain adaptability, large turning outer radius, easy slipping and inadequately stable; the crawler robot is influenced by the height drop of the terrain, and the stability of the movement is poor and the crawler robot is easy to roll over; the biped fire-extinguishing robot has the advantages that the biped fire-extinguishing robot is required to imitate the joint movement of a person, the movement speed is low, the steering engine is adopted to control walking, the control precision is low, and the four-wheel obstacle avoidance robot is flexible and convenient.
The inventor knows that a wheel-foot hybrid robot exists in the prior art, such as a wheel-foot switching robot based on electrohydraulic hybrid driving in patent document CN 201910917406.9; CN201510061791.3 is a four-foot robot with mixed wheel feet, and the content of the four-foot robot is related in the middle, but the inventor considers that the prior fire-fighting robot with mixed wheel feet has the following disadvantages:
(1) Adopt the running gear of imitative people foot, the height of robot when standing up is great, and installs extinguishing device in running gear top, and the focus is high, leads to the robot to appear empting unstable condition easily.
(2) The mode of realizing the motion conversion of the robot between the walking wheels and the walking feet is that the walking feet actively deform, so that the lowest point of the walking wheels can be higher than the lowest point of the walking feet; in the mode, the requirement on the deformation range of the walking foot is high, and the size design of the walking foot is limited.
Meanwhile, as the self height of the travelling wheels cannot be adjusted, two groups of travelling wheels on two sides of the robot are at the same height and cannot adapt to different requirements on the heights of the two groups of travelling wheels under complex road conditions.
Disclosure of Invention
The invention aims to provide a wheel-foot hybrid fire-fighting robot, which can solve the problems that the existing wheel-group hybrid robot is high in gravity center and easy to topple after being provided with fire-fighting equipment; when the walking mode is changed through the deformation of the walking foot, the walking foot has limited size design, and the walking wheels of different groups can only keep the same horizontal height.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the wheel-foot hybrid type fire-fighting robot comprises a body, wherein two travelling mechanisms for realizing bipedal travelling are arranged at the lower part of the body, and two travelling wheel assemblies are arranged at the lower part of each travelling mechanism; the relative height of the travelling wheel assembly and the travelling mechanism can be adjusted so that: when the lower end of the travelling wheel assembly is lower than the bottom plate, the travelling wheel assembly drives the body to realize wheeled travelling; otherwise, the walking mechanism drives the body to realize bipedal walking. The bottom of the travelling mechanism is a bottom plate, and a fire extinguishing assembly is arranged on the upper surface of the bottom plate.
The upper surface of bottom plate has set firmly the support frame, the support frame is fixed with biax motor, the output shaft of biax motor has linked firmly a lead screw respectively, the lead screw rotates with the support frame to be connected in order to realize supporting, is provided with a nut spare on every lead screw, the nut spare is articulated with the one end of connecting rod, the other end and the walking wheel subassembly of connecting rod are articulated.
The distance between the two traveling wheel assemblies positioned on the same side of the traveling mechanism is a fixed value, so that the rotation of the screw rod can quantitatively change the distance between the traveling wheel assemblies and the screw rod.
Further, the upper surface of bottom plate has set firmly the horizontal steering wheel that the axis level set up, horizontal steering wheel axis direction is the same with the extending direction of bottom plate.
The horizontal steering engine externally mounted has the U-shaped frame, two plates that are parallel to each other in the U-shaped frame are fixed with two output shafts of horizontal steering engine respectively, the connecting plate of U-shaped frame sets up, the output shaft fixed connection of connecting plate and vertical steering engine, the casing and the body fixed connection of vertical steering engine.
Further, the walking wheel assembly comprises a mounting frame, a rotary driving mechanism is arranged on the mounting frame, and an output shaft of the rotary driving mechanism is fixed with the walking wheel. The two mounting frames positioned on the same side of the travelling mechanism are fixed through the connecting rod, so that the distance between the two travelling wheels on the same side of the travelling mechanism is a fixed value
Further, the rotation directions of the two lead screws positioned on the same side of the travelling mechanism are opposite, and the upper end of the connecting rod is arranged towards the double output shafts; at the same side of the travelling wheel, two lead screws, a double-shaft motor, a travelling wheel assembly and a connecting rod form an isosceles trapezoid structure, so that the two travelling wheels at the same side can synchronously lift.
Further, the upper surface of the bottom plate is provided with a jet adjusting device, the jet adjusting device is connected with the water flow jet device, and the jet adjusting device can adjust the jet direction of the water flow jet device.
Further, the body is provided with a control device and a shooting mechanism, the shooting mechanism can shoot pictures and transmit the pictures to the control device, and the control device can transmit the shot pictures or video information to the image analysis module in real time so as to complete image analysis.
The invention has the beneficial effects that:
(1) The walking mechanism and the walking wheel assembly are matched for use, and the relative height of the walking wheel mechanism and the walking wheel assembly can be adjusted so that the robot can finish the switching between wheel type walking and humanoid biped walking.
(2) The fire extinguishing equipment is arranged on the bottom plate at the bottom of the travelling mechanism, so that the center height of the robot in a use state is reduced, and the stability of the robot in transportation is improved.
(3) Adopt the combination of lead screw nut, biax motor and connecting rod, under the condition that distance between two walking wheel assemblies of same side is the setting value, the rotation of biax motor can drive two nuts of same side and follow the axis direction synchronous motion of lead screw, and then drive the drive wheel assembly of same side through the drive of connecting rod and can rise or descend in step for walking wheel assembly's lower extreme can be less than running gear's lower extreme, and realize wheeled walking process with walking wheel.
(4) Under the premise that two traveling wheel assemblies on two sides of the traveling mechanism are in contact with the ground so as to realize wheeled traveling, because the traveling wheel assemblies on two sides are independently adjusted, under the condition that the ground is uneven, the double-shaft motor on one side can continue to rotate, so that the traveling wheel assemblies on the side continue to descend relative to the traveling wheel assemblies. Finally, the walking wheel assemblies on the two sides are at different horizontal heights, so that the walking function of the walking wheel assemblies on uneven ground is met, and the phenomenon of overturning during wheel walking caused by the existence of the ground gradient is avoided.
(5) By adopting the combination of the horizontal steering engine, the U-shaped frame and the vertical steering engine, the biped walking function can be completed only by arranging two joints at each walking mechanism, compared with the existing mode of arranging at least 3 joints by using the foot-imitating walking mechanism, the use quantity of joint motors or steering engines is saved, the cost is reduced, and meanwhile, the complexity of a control program is reduced.
(6) The two installation frames positioned on the same side of the travelling mechanism are fixed through the connecting rod, so that the distance between the travelling wheel assemblies on the same side forms a fixed value, at the moment, the screw nut rotates along the set direction, the movement track of the connecting rod and the travelling wheel assemblies is determined, and the travelling wheel assemblies can finish the lifting process relative to the bottom plate.
(7) At the same side of the travelling wheel, two lead screws, a double-shaft motor, a travelling wheel assembly and a connecting rod form an isosceles trapezoid structure: when the travelling wheels are in contact with the ground, the bottom plate is lifted; the gravity of running gear, body and fire extinguishing apparatus is listened and is evenly distributed to two walking wheel assemblies of homonymy through isosceles trapezoid structure, guarantees two walking wheel assemblies even atress, can guarantee the stability when wheeled walking simultaneously, reduces the probability of toppling.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not limit the application.
FIG. 1 is a front view of an overall structure of an embodiment of the present invention;
FIG. 2 is a side view of the overall structure of an embodiment of the present invention;
FIG. 3 is a top view of the overall structure of an embodiment of the present invention;
FIG. 4 is an isometric view of an embodiment of the invention with the storage tank and other mechanisms removed;
fig. 5 is a schematic structural diagram of a gear motor and a mounting frame in an embodiment of the present invention;
FIG. 6 is a schematic view of the structure of the traveling wheel assembly and the connecting rod according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a bipedal walking mechanism formed by two walking mechanisms in an embodiment of the invention.
In the figure: 1. a bottom plate; 101. a first base plate; 102. a second base plate; 2. a walking wheel; 3. a speed reducing motor; 4. a steering platform; 5. a platform steering engine; 6. a steering engine connecting rod; 7. an image pickup mechanism; 8. a water flow injection device; 9. a steering engine is adjusted by the water spraying height; 10. a bolt connecting rod; 11. a biaxial motor; 12. a threaded hole; 13. a nut member; 15. a water storage tank; 16. a control device; 17. a mounting frame; 18. a connecting rod; 19. a support frame; 21. a U-shaped frame; 901. the first horizontal steering engine; 902. the first vertical steering engine; 903. the second vertical steering engine; 904. and the second horizontal steering engine.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "upper, lower, left, right" in the present invention, if any, merely denote an upper, lower, left, right direction consistent with the accompanying drawings themselves, and do not limit the structure, but merely facilitate description of the present invention and simplify description, without indicating or implying that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In an exemplary embodiment of the present invention, as shown in fig. 1 to 7, there is provided a wheel-foot hybrid fire-fighting robot, including a body, the lower part of which is provided with two traveling mechanisms for implementing bipedal traveling, and the lower part of each traveling mechanism is provided with two traveling wheel assemblies; the relative height of the travelling wheel assembly and the travelling mechanism can be adjusted so that: when the lower end of the travelling wheel assembly is lower than the bottom plate 1, the travelling wheel assembly drives the body to realize wheeled travelling; otherwise (namely, when the lower end of the travelling wheel assembly is higher than the bottom plate 1), the travelling mechanism drives the body to realize bipedal travelling.
The bottom of the travelling mechanism is a bottom plate 1, and a fire extinguishing assembly is arranged on the upper surface of the bottom plate 1. The upper surface of bottom plate 1 and support frame 19 fixed connection, support frame 19 is fixed with biax motor 11, the output shaft of biax motor 11 has linked firmly a lead screw respectively, the lead screw rotates with support frame 19 to be connected in order to realize supporting, is provided with a nut spare on every lead screw, the nut spare articulates with the one end of connecting rod 18, the other end of connecting rod 18 articulates with the walking wheel subassembly.
The distance between the two traveling wheel assemblies positioned on the same side of the traveling mechanism is a fixed value, so that the rotation of the screw rod can quantitatively change the distance between the traveling wheel assemblies and the screw rod.
And a traveling mechanism: the upper surface of the bottom plate 1 is fixedly provided with a horizontal steering engine with an axis arranged horizontally, and the axis direction of the horizontal steering engine is the same as the extending direction of the bottom plate 1.
The horizontal steering engine externally mounted has U-shaped frame 21, two plates that are parallel to each other in the U-shaped frame 21 are fixed with two output shafts of horizontal steering engine respectively, the connecting plate of U-shaped frame 21 sets up, and the output shaft fixed connection of connecting plate and vertical steering engine, the casing and the body fixed connection of vertical steering engine.
Specifically, the base plate 1 comprises a first base plate 101 and a second base plate 102, a first horizontal steering engine 901 is installed on the first base plate 101, the first horizontal steering engine 901 is connected with a first vertical steering engine 902, a second horizontal steering engine 904 is installed on the second base plate 102, and the second horizontal steering engine 904 is connected with a second vertical steering engine 903.
And the walking wheel assembly: the walking wheel assembly comprises a mounting frame 17, a rotary driving mechanism is arranged on the mounting frame 17, and an output shaft of the rotary driving mechanism is fixed with the walking wheel 2; the two mounting frames 17 positioned on the same side of the travelling mechanism are fixed through a connecting rod (not shown in the figure) so that the distance between the two travelling wheels 2 on the same side of the travelling mechanism is a fixed value. The rotation driving mechanism includes a gear motor 3. In other embodiments, the rotary drive mechanism may be a pneumatic motor, which may be set by one skilled in the art.
In some embodiments, the road wheels 2 may be macbeclom wheels, and in other embodiments, other forms of road wheels 2 may be used, such as wheels in the form of ordinary tires made of fire-resistant, heat-resistant materials.
The rotation directions of the two lead screws positioned on the same side of the travelling mechanism are opposite, and the upper end of the connecting rod 18 is arranged towards the double output shafts;
the two lead screws, the double-shaft motor 11, the travelling wheel assembly and the connecting rod 18 form an isosceles trapezoid structure on the same side of the travelling wheel 2, so that the two travelling wheels 2 on the same side can synchronously lift.
Fire extinguishing assembly: the fire extinguishing mechanism comprises a water storage tank 15 arranged on the upper surface of the bottom plate 1 and a water pump, wherein the water pump can pressurize water flow in the water storage tank 15 and then spray the water flow from the water flow spraying device 8.
The upper surface of the bottom plate 1 is provided with a jet adjusting device which is connected with a water jet device 8 and can adjust the jet direction of the water jet device 8.
The jet adjusting device comprises a plurality of steering gears which are connected with each other, and the jet adjusting device changes the water spraying direction of the water flow jet device 8 through the rotation of the steering gears.
Specifically, the steering engine steering platform 4 is supported by four bolt connecting rods 10, and the bolt connecting rods 10 are fixed on the bottom plate 1 through threaded holes 12. Steering engine 5 and water spray height adjustment steering engine 99 are equipped with on steering engine steering platform 4: the steering engine 5 can control the water spraying device to rotate 180 degrees in a X, Y plane, and the water spraying height adjusting steering engine 99 can control the water flow spraying device 8 to spray water flow of 90 degrees in the Z coordinate direction. The water flow spraying device 8 adopts double-head spraying and is respectively arranged in front of the two bottom plates 1.
Steering wheel reversing device: the steering wheel reversing device comprises a steering wheel rotating platform, a steering wheel connecting rod 6, a platform steering wheel 5 and a water spraying height adjusting steering wheel. The platform steering engine 5 is connected with the water flow spraying device 8, when the robot receives a fire source point signal processed by the camera, the robot starts to move, reaches a fire scene, and starts the water flow spraying device 8 to perform fire extinguishing operation. The platform steering engine 5 controls the water flow injection device 8 to realize 180 degrees free water injection.
Control and camera system:
the body is provided with a control device 16 and an image pickup mechanism 7, the image pickup mechanism 7 can take pictures and transmit the pictures to the control device 16, and the control device 16 can transmit the taken pictures or video information to an image analysis module in real time to complete image analysis.
Specifically, the image analysis module processes and analyzes the fire scene photo by adopting a flame identification method of an RGB-HSI mixed color model, and for flames, the red component R and the green component G are large, and the green component G is larger than the blue component B. The HSI color model describes color characteristics by using H (chromaticity), S (saturation) and I (brightness) respectively, and in flame detection, the S saturation is mainly utilized to judge flame, the position of a fire source point is correctly detected, and signals are fed back to the singlechip. The control device 16 comprises an STMF103C8T6 main control module, a sensor module, a gear motor driving module, a steering engine driving module and a power supply. The STMF103C8T6 main control module is connected with a gear motor driving module, a sensor module and a steering engine driving module. And the gear motor driving module and the steering engine driving module are in signal connection with a steering engine in the travelling mechanism or a gear motor 3 in a travelling wheel assembly. The steering engine driving module is in signal connection with a steering engine in the injection adjusting device to control the water flow injection direction.
Compared with the traditional mode of detecting the fire source point by adopting the temperature and flame sensor, the fire extinguishing robot has the advantages that the real-time performance of detecting the fire source point when performing fire extinguishing operation is improved, the fire detection range and the detection distance are greatly increased, and the accuracy of detecting the fire source point is greatly improved.
The water flow injection device 8 is provided with the platform steering engine 5 and the water spray height control steering engine, and 180-degree omnibearing fire extinguishment in the horizontal direction can be realized through the cooperation of the water flow injection device 8 and the steering engine; the water flow injection device 8 is matched with the water spray height control steering engine to realize 90-degree omnibearing fire extinguishment in the vertical direction. In addition, the invention adopts the double-nozzle design, and the water spraying efficiency and the strength are greatly improved.
The robot adopts light aluminum profile and fireproof plastic pipe, is high temperature resistant and corrosion resistant, and ensures that the structural design is more reliable.
Working principle: firstly, the robot shoots a fire disaster place through the shooting mechanism 7, analyzes the fire source of the fire disaster according to the RGB-HSI mixed color model, and sends a fire extinguishing instruction back to the singlechip after determining the fire source point. The robot issues instructions to the motion control module through signals received by the singlechip main control module, and the shortest distance is calculated to perform fire extinguishing operation. At the moment, the robot receives the electric signals transmitted by the singlechip and performs cross-country and stair climbing movements through the wheel-foot hybrid walking device. When the robot reaches a safe position nearest to the fire scene, the robot stops moving and the water flow spraying device 8 is started. The water pump starts pumping water, the water flow injection device 8 starts spraying water to extinguish fire, and at the moment, the camera can take pictures of fire source points at intervals and analyze the fire source points in real time. After all the fire sources are extinguished, the water pump device is turned off, and the water flow injection device 8 stops working. The singlechip gives an instruction to enable the robot to exit the fire scene and return to the original position.
The four gear motors 3 at the walking wheel assembly control the four walking wheels 2 to realize rapid movement on the road, when the robot encounters a rugged road, the corresponding double-shaft motor 11 is controlled by the singlechip to rotate, and the two connecting rods 18 at the same side drive the two mounting frames 17 to synchronously ascend or descend through the lead screw nuts 13, so that the robot stably and rapidly reaches the target.
When climbing stairs is needed: in the initial state, the bottom plates 1 of the two travelling mechanisms are respectively positioned on the same step, and both the two bottom plates are contacted with the step surface. The first horizontal steering engine 901 rotates, so that the body deflects towards the direction of the first horizontal steering engine 901, and the second bottom plate 102 is separated from the ground until the height of the second bottom plate is the same as that of the upper step; then the first vertical steering engine 902 rotates to drive the second bottom plate 102 of the body mechanism and the like to rotate by taking the rotating shaft of the first vertical steering engine 902 as the center, and the second bottom plate 102 swings to the position right above the upper step; the first horizontal steering engine 901 is then reset so that the second floor 102 falls down and contacts the upper step.
The second horizontal steering engine 904 rotates, so that the body deflects towards the direction of the second horizontal steering engine 904, and the first bottom plate 101 is separated from the ground until the height of the step where the second bottom plate 102 is positioned is the same; then the second vertical steering engine 903 rotates to drive the body mechanism, the first bottom plate 101 and the like to rotate by taking the rotating shaft of the second vertical steering engine 903 as a center, the first bottom plate 101 swings to the position right above the step where the second bottom plate 102 is located, and meanwhile, the first vertical steering engine 902 resets; the second horizontal steering engine 904 is then reset so that the first floor 101 falls down and contacts the upper step. Through the process, the stair climbing process of the travelling mechanism is completed sequentially.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (8)
1. The wheel-foot hybrid fire-fighting robot is characterized by comprising a body, wherein two travelling mechanisms for realizing biped travelling are arranged at the lower part of the body, and two travelling wheel assemblies are arranged at the lower part of each travelling mechanism; the relative height of the travelling wheel assembly and the travelling mechanism can be adjusted so as to realize the switching between wheeled travelling and bipedal travelling;
the lowest end of the travelling mechanism is a bottom plate, and a fire extinguishing assembly is arranged on the upper surface of the bottom plate; the upper surface of the bottom plate is fixedly provided with a support frame, the support frame is fixed with a double-shaft motor, the output shafts of the double-shaft motor are respectively fixedly connected with a screw rod, the screw rods are rotatably connected with the support frame to realize support, each screw rod is provided with a nut piece, the nut pieces are hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with a travelling wheel assembly;
the distance between the two travelling wheel assemblies positioned on the same side of the travelling mechanism is a fixed value, so that the rotation of the screw rod can quantitatively change the distance between the travelling wheel assemblies and the screw rod;
the upper surface of the bottom plate is fixedly provided with a horizontal steering engine with a horizontally arranged axis, and the axis direction of the horizontal steering engine is the same as the extending direction of the bottom plate;
the U-shaped frame is arranged outside the horizontal steering engine, two plates which are parallel to each other in the U-shaped frame are respectively fixed with two output shafts of the horizontal steering engine, a connecting plate of the U-shaped frame is arranged upwards, the connecting plate is fixedly connected with an output shaft of the vertical steering engine, and a shell of the vertical steering engine is fixedly connected with the body;
the walking wheel assembly comprises a mounting frame, a rotary driving mechanism is arranged on the mounting frame, and an output shaft of the rotary driving mechanism is fixed with the walking wheel;
the two mounting frames positioned on the same side of the travelling mechanism are fixed through the connecting rod, so that the distance between the two travelling wheels on the same side of the travelling mechanism is a fixed value.
2. The wheel and foot hybrid fire robot of claim 1 wherein the rotary drive mechanism comprises a gear motor.
3. The wheel and foot hybrid fire robot of claim 1, wherein the road wheels are mecanum wheels.
4. The wheel-foot hybrid fire-fighting robot according to claim 1, wherein the rotation directions of two screw rods positioned on the same side of the travelling mechanism are opposite, and the upper ends of the connecting rods are arranged towards the double output shafts;
at the same side of the travelling wheel, two lead screws, a double-shaft motor, a travelling wheel assembly and a connecting rod form an isosceles trapezoid structure, so that the two travelling wheels at the same side can synchronously lift.
5. The wheel-foot hybrid fire fighting robot according to claim 1, wherein the fire extinguishing assembly comprises a water storage tank installed on the upper surface of the base plate and a water pump capable of pressurizing water flow in the water storage tank and spraying the water flow from the water flow spraying device.
6. The wheel-foot hybrid fire fighting robot according to claim 5, wherein the upper surface of the bottom plate is provided with an injection adjusting device, the injection adjusting device is connected with a water flow injection device, and the injection adjusting device can adjust the injection direction of the water flow injection device.
7. The wheel-foot hybrid fire robot of claim 6, wherein the injection adjusting means comprises a plurality of steering gears connected to each other, and the injection adjusting means changes the direction of water spray from the water flow injecting means by rotation of the steering gears.
8. The wheel-foot hybrid fire fighting robot according to claim 1, wherein the body is provided with a control device and a camera mechanism, the camera mechanism can take pictures and transmit the pictures to the control device, and the control device can transmit the taken pictures or video information to the image analysis module in real time to complete image analysis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010047734.0A CN111068216B (en) | 2020-01-16 | 2020-01-16 | Wheel-foot hybrid fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010047734.0A CN111068216B (en) | 2020-01-16 | 2020-01-16 | Wheel-foot hybrid fire-fighting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111068216A CN111068216A (en) | 2020-04-28 |
| CN111068216B true CN111068216B (en) | 2024-03-01 |
Family
ID=70323499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010047734.0A Active CN111068216B (en) | 2020-01-16 | 2020-01-16 | Wheel-foot hybrid fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111068216B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212588A (en) * | 2021-04-30 | 2021-08-06 | 马慧芬 | Rescue of two walking forms surveys robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205574095U (en) * | 2016-05-10 | 2016-09-14 | 苏州工业职业技术学院 | Sufficient dual purpose robot of wheel |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN106741276A (en) * | 2016-12-31 | 2017-05-31 | 歌尔科技有限公司 | Biped robot's foot retractor device deformation mechanism |
| WO2017181311A1 (en) * | 2016-04-19 | 2017-10-26 | 滨州学院 | Assault robot having four wheel-legs |
| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| CN209535274U (en) * | 2018-12-10 | 2019-10-25 | 西安缔造者机器人有限责任公司 | A kind of multi-foot robot that gait is advanced with wheeled conversion of advancing |
| CN211835958U (en) * | 2020-01-16 | 2020-11-03 | 聊城大学 | Wheel-foot hybrid fire-fighting robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100073438A (en) * | 2008-12-23 | 2010-07-01 | 삼성전자주식회사 | Robot and control method thereof |
| US8381826B2 (en) * | 2010-03-29 | 2013-02-26 | Hadi A. Al-Azemi | Fire fighting robot |
-
2020
- 2020-01-16 CN CN202010047734.0A patent/CN111068216B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| WO2017181311A1 (en) * | 2016-04-19 | 2017-10-26 | 滨州学院 | Assault robot having four wheel-legs |
| CN205574095U (en) * | 2016-05-10 | 2016-09-14 | 苏州工业职业技术学院 | Sufficient dual purpose robot of wheel |
| CN106741276A (en) * | 2016-12-31 | 2017-05-31 | 歌尔科技有限公司 | Biped robot's foot retractor device deformation mechanism |
| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| CN209535274U (en) * | 2018-12-10 | 2019-10-25 | 西安缔造者机器人有限责任公司 | A kind of multi-foot robot that gait is advanced with wheeled conversion of advancing |
| CN211835958U (en) * | 2020-01-16 | 2020-11-03 | 聊城大学 | Wheel-foot hybrid fire-fighting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111068216A (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211835958U (en) | Wheel-foot hybrid fire-fighting robot | |
| US8316972B2 (en) | Reconfigurable balancing robot and method for moving over large obstacles | |
| US4977971A (en) | Hybrid robotic vehicle | |
| CN105035192A (en) | Traveling mechanism for wheel-track inspection robot and working method thereof | |
| TWI601614B (en) | Rescue and relief primary-secondary robot | |
| KR20170048247A (en) | Running gear and electric vehicles and toys equipping the same | |
| CN111068216B (en) | Wheel-foot hybrid fire-fighting robot | |
| CN113478455A (en) | Outdoor environment disinfection robot based on two-degree-of-freedom balance holder | |
| CN107745375A (en) | Explosive-removal robot and remote control robot | |
| CN110507936A (en) | Four-wheel foot formula investigates rescue robot | |
| CN110395328A (en) | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder | |
| KR100596483B1 (en) | Transformable Track-Type Mobile System | |
| CN111437551A (en) | Multifunctional intelligent fire-fighting equipment | |
| CN207970375U (en) | A kind of mobile chassis of fire-fighting robot | |
| CN117506916A (en) | Petrochemical enterprise intelligent inspection and danger-removing robot | |
| CN109925629A (en) | A kind of mobile chassis of fire-fighting robot | |
| CN112977665A (en) | All-directional self-adaptive stair climbing transportation robot for high-rise building | |
| CN215155104U (en) | Fire-fighting robot based on crawler-type Mecanum wheels | |
| CN2536261Y (en) | Adjustable self-lifting extinguishers | |
| CN109018066B (en) | Biped fire extinguishing robot | |
| JP2003320052A (en) | Fire-extinguishing appliance | |
| CN212789515U (en) | Fire-fighting robot based on guide rail type | |
| CN113401244A (en) | Automatic jack jacking disaster relief system based on sufficient robot | |
| CN114683300B (en) | Multifunctional barrier-free explosion-removing robot and barrier-crossing explosion-removing method | |
| CN220053991U (en) | Novel compound wheel leg type stair climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |