CN111686390A - Intelligent fire-fighting robot with self-checking function - Google Patents
Intelligent fire-fighting robot with self-checking function Download PDFInfo
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- CN111686390A CN111686390A CN202010505210.1A CN202010505210A CN111686390A CN 111686390 A CN111686390 A CN 111686390A CN 202010505210 A CN202010505210 A CN 202010505210A CN 111686390 A CN111686390 A CN 111686390A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
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Abstract
The invention provides an intelligent fire-fighting robot with a self-checking function, which comprises a robot main body, a water mist sprayer, a high-pressure water gun and a self-checking module, wherein the water mist sprayer is arranged on the robot main body; the water spray injector is provided with a first pressure water interface; the high-pressure water gun is provided with a second pressure water interface; the self-checking module comprises a first pressure sensor, a second pressure sensor, a temperature sensor, a data processing module, a wireless data transmission module and a mobile control terminal; the first pressure sensor detects the water pressure at the first pressure water interface and transmits data to the data processing module; the second pressure sensor detects the water pressure at the second pressure water interface and transmits the data to the data processing module; the temperature sensor detects the temperature of the robot main body and transmits data to the data processing module; the data processing module transmits the data to the mobile control terminal through the wireless data transmission module. The invention can carry out self-checking feedback on the running state of the unit before use and in the working process.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to an intelligent fire-fighting robot with a self-checking function.
Background
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. Especially oil gas and toxic gas leakage explosion, tunnel, subway collapse and other disasters, has the characteristics of strong burst property, complex disposal process, huge harm, difficult prevention and treatment and the like, and has become a chronic disease. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites such as inflammable, explosive, toxic, anoxic and dense smoke for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire-fighting personnel in the places. The field commander can make scientific judgment on the disaster situation in time according to the feedback result and make correct and reasonable decision on the field work of the disaster accident.
However, the existing fire-fighting robot needs to manually check faults before starting and using, and meanwhile, the running state of the self-checking robot cannot be subjected to self-checking feedback in the working process; therefore, the existing requirements are not met, and an intelligent fire-fighting robot system with a self-checking function is provided for the requirements.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent fire-fighting robot system with a self-checking function, which can perform self-checking feedback on the running state of a unit before starting and in the working process.
The technical scheme is as follows: the invention provides an intelligent fire-fighting robot with a self-checking function, which comprises
A robot main body; a rotary platform is arranged on the upper end face of the robot main body; the rotating shaft of the rotating platform is vertical to the ground;
a walking crawler mechanism; the walking crawler mechanism is positioned at the bottom of the robot main body and is used for driving the robot main body to move forwards or backwards on the ground;
a first climbing crawler mechanism; the rotating shaft of the first climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the first climbing crawler mechanism is connected with the front side of the robot main body, and the other end of the first climbing crawler mechanism extends towards the front upper direction;
a second climbing crawler mechanism; the rotating shaft of the second climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the second climbing crawler mechanism is connected with the rear side of the robot main body, and the other end of the second climbing crawler mechanism extends towards the upper rear direction;
a water mist sprayer; the water mist sprayer comprises a water cannon diffusion pipe, an air duct and an atomizing nozzle; the middle part of the water cannon diffusion pipe is provided with a first pressure water interface; one end of the water cannon diffusion pipe is connected with the air cylinder, and the other end of the water cannon diffusion pipe is connected with the atomizing nozzle; the air duct is connected to the rotary platform through a rotary shaft piece; the rotating shaft of the rotating shaft piece is parallel to the ground; the water cannon diffusion tube is connected to the rotary platform through a lifting rod;
a high pressure water gun; the high-pressure water gun is fixed above the water mist sprayer; one end of the high-pressure water gun is provided with a water gun nozzle, and the other end of the high-pressure water gun is provided with a second pressure water interface;
a self-checking module; the self-checking module comprises a first pressure sensor, a second pressure sensor, a temperature sensor, a data processing module, a wireless data transmission module and a mobile control terminal; the first pressure sensor detects the water pressure at the first pressure water interface and transmits data to the data processing module; the second pressure sensor detects the water pressure at a second pressure water interface and transmits data to the data processing module; the temperature sensor detects the temperature of the robot body and transmits data to the data processing module; and the data processing module transmits the data to the mobile control terminal through the wireless data transmission module.
Further, the model of the water pressure sensor is ZCH304, and the model of the temperature sensor is GWD 75.
Further, the walking crawler mechanism comprises a walking driving wheel, a walking driven wheel, a walking thrust wheel, a walking transmission crawler and a balance shaft lever; the walking transmission crawler belt surrounds the peripheries of the walking driving wheel, the walking driven wheel and the walking thrust wheel; the walking driving wheel is meshed and connected with the front end of the walking transmission crawler belt; the walking driven wheel is meshed and connected with the rear end of the walking transmission crawler; the walking thrust wheel is positioned between the walking driving wheel and the walking driven wheel and is used for supporting part of the walking transmission crawler belt between the walking driving wheel and the walking driven wheel; the balance shaft lever is fixed on the robot main body; the rotating shafts of the walking driving wheel, the walking driven wheel and the walking thrust wheel are connected between the balance shaft lever and the robot main body;
the first climbing crawler mechanism comprises a first climbing driving wheel, a first climbing driven wheel, a first climbing thrust wheel, a first climbing transmission crawler and a first fixed shaft plate; the first climbing transmission crawler belt surrounds the peripheries of the first climbing driving wheel, the first climbing driven wheel and the first climbing thrust wheel; the first climbing driving wheel is meshed with one end of the first climbing transmission crawler; the first climbing driven wheel is meshed and connected with the other end of the first climbing transmission crawler; the first climbing thrust wheel is positioned between the first climbing driving wheel and the first climbing driven wheel and is used for supporting a part of first climbing crawler between the first climbing driving wheel and the first climbing driven wheel; the first climbing driving wheel is connected with the walking driving wheel through a first coupler assembly; the first fixed shaft plate is fixed on the robot main body; the rotating shafts of the first climbing driving wheel, the first climbing driven wheel and the first climbing thrust wheel are connected to a first fixed shaft plate;
the second climbing crawler mechanism comprises a second climbing driving wheel, a second climbing driven wheel, a second climbing thrust wheel, a second climbing transmission crawler and a second fixed shaft plate; the second climbing transmission crawler belt surrounds the periphery of the second climbing driving wheel, the second climbing driven wheel and the second climbing thrust wheel; the second climbing driving wheel is meshed with one end of the second climbing transmission crawler; the second climbing driven wheel is meshed and connected with the other end of the second climbing transmission crawler; the second climbing supporting wheel is positioned between the second climbing driving wheel and the second climbing driven wheel and is used for supporting part of a second climbing crawler between the second climbing driving wheel and the second climbing driven wheel; the second climbing driving wheel is connected with the walking driven wheel through a second coupler assembly; the second fixed shaft plate is fixed on the robot main body; and the rotating shafts of the second climbing driving wheel, the second climbing driven wheel and the second climbing supporting wheel are connected to a second fixed shaft plate.
Furthermore, the outside of drive track is provided with the side shield, and side shield fixed connection is on the balance shaft pole.
Furthermore, the periphery of the robot main body is provided with a camera observation probe and an illumination assembly.
Further, tempered glass is arranged on the outer surface of the camera observation probe; and anti-collision stop levers are arranged on the left side and the right side of the upper end surface of the robot main body.
Has the advantages that: 1. According to the invention, the water pressure at the first pressure water interface is detected by the first pressure sensor, the water pressure at the second pressure water interface is detected by the second pressure sensor, and data are transmitted to the data processing module; the intelligent fire-fighting robot enters a fire scene, and can be damaged by long-time operation in a high-temperature environment, the temperature value of the intelligent fire-fighting robot is detected in real time through the temperature sensor, and data are transmitted to the data processing module; and the data processing module transmits the data to the mobile control terminal through the wireless data transmission module, so that an operator can visually know the running state of the machine, and self-checking is realized.
2. The invention has two groups of fire extinguishing modes, firstly, the wind pressure is generated by the wind barrel during fire extinguishing, and the water in the water cannon diffusion pipe is sprayed out in a mist shape from the atomizing nozzle, thereby realizing large-area fire extinguishing, and the method can effectively inhibit the spread of fire; secondly, the high-pressure water gun generates a high-pressure water column with certain pressure to extinguish the fire in the building.
3. The robot main body is driven to move forwards or backwards on the ground through the walking crawler mechanism, and the robot is suitable for various terrains; when intelligent fire-fighting robot meets some higher barriers when marcing, can meet with the barrier through first crawler that climbs, perhaps the second climbs crawler and meets with the barrier, produces the interaction, and the auxiliary machinery people main part removes, ensures the work efficiency of organism.
4. The periphery of the robot main body is provided with a camera observation probe and an illumination assembly; the camera observation probes can simultaneously feed back the conditions around the machine body, and each probe can be slightly adjusted in angle, so that observation dead angles and reaction time can be avoided; the outer surface of the camera observation probe is provided with toughened glass for protecting the camera observation probe.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the robot body of the present invention;
fig. 4 is a schematic diagram of a self-checking process according to the present invention.
Detailed Description
The invention provides an intelligent fire-fighting robot with a self-checking function, which comprises a robot main body 1, a walking crawler mechanism, a first climbing crawler mechanism, a second climbing crawler mechanism, a water mist sprayer, a high-pressure water gun 15 and a self-checking module.
A rotary platform 26 is arranged on the upper end surface of the robot main body 1; the rotation axis of the rotating platform 26 is perpendicular to the ground. The left side and the right side of the upper end face of the robot main body 1 are also provided with anti-collision stop levers 12, so that the robot main body 1 and the rotary platform 26 are prevented from being damaged due to impact of hard objects.
The water mist sprayer comprises a water cannon diffusion pipe 14, an air duct 13 and an atomizing nozzle 19; a first pressure water interface 18 is arranged in the middle of the water cannon diffusion pipe 14; one end of the water cannon diffusion pipe 14 is connected with the air duct 13, and the other end of the water cannon diffusion pipe is connected with the atomizing nozzle 19. Wind pressure is generated by the wind barrel 13, and water in the water cannon diffusion pipe 14 is sprayed out in a mist shape from the atomizing nozzle 19, so that large-area fire extinguishment is realized, and the method can effectively inhibit the spread of fire.
One end of the high-pressure water gun 15 is provided with a water gun nozzle 16, and the other end is provided with a second pressure water connector 17. The high pressure water pipe of the second pressure water connector 17 is connected to generate a high pressure water column with a certain pressure to extinguish the fire inside the building.
The air duct 13 is connected to the rotary platform 26 through a hinge shaft member 21; the rotation axis of the hinge shaft member 21 is parallel to the ground; the water cannon diffuser 14 is attached to a rotating platform 26 by a lifting rod 20. By rotating the rotary platform 26, the horizontal spraying direction of the water mist sprayer and the high-pressure water gun 15 can be adjusted; the vertical spray angle of the water mist sprayer and the high-pressure water gun 15 can be adjusted by the telescopic lifting rod 20.
The self-checking module comprises a first pressure sensor, a second pressure sensor, a temperature sensor, a data processing module, a wireless data transmission module and a mobile control terminal; the first pressure sensor detects the water pressure at the first pressure water interface 18 and transmits data to the data processing module; the second pressure sensor detects the water pressure at the second pressure water interface 17 and transmits data to the data processing module; the temperature sensor detects the temperature of the robot main body 1 and transmits data to the data processing module; and the data processing module transmits the data to the mobile control terminal through the wireless data transmission module.
The model of the water pressure sensor is ZCH304, and the model of the temperature sensor is GWD 75.
The walking crawler mechanism is located at the bottom of the robot main body 1 and used for driving the robot main body 1 to move forwards or backwards on the ground. The walking crawler mechanism comprises a walking driving wheel 22, a walking driven wheel 9, a walking thrust wheel 23, a walking transmission crawler 2 and a balance shaft lever 24; the walking transmission crawler 2 surrounds the peripheries of the walking driving wheel 22, the walking driven wheel 9 and the walking thrust wheel 23; the walking driving wheel 22 is meshed with the front end of the walking transmission crawler 2; the walking driven wheel 9 is meshed and connected with the rear end of the walking transmission crawler 2; the walking thrust wheel 23 is positioned between the walking driving wheel 22 and the walking driven wheel 9, and is used for supporting part of the walking transmission crawler 2 between the walking driving wheel 22 and the walking driven wheel 9, bearing the weight of the robot main body 1 and normalizing the walking transmission crawler 2; the balance shaft lever 24 is fixed on the robot main body 1; and the rotating shafts of the walking driving wheel 22, the walking driven wheel 9 and the walking thrust wheel 23 are connected between the balance shaft lever 24 and the robot main body 1.
The rotating shaft of the first climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the first climbing crawler mechanism is connected with the front side of the robot main body 1, and the other end extends towards the front upper direction. When intelligent fire-fighting robot runs into some higher barriers when advancing, can meet with the barrier through first crawler that climbs, produce the interaction, auxiliary robot main part 1 removes, ensures the work efficiency of organism. The first climbing crawler mechanism comprises a first climbing driving wheel 4a, a first climbing driven wheel 7a, a first climbing supporting wheel 6a, a first climbing transmission crawler 8a and a first fixed shaft plate 5 a; the first climbing transmission crawler 8a surrounds the periphery of the first climbing driving wheel, the first climbing driven wheel 7a and the first climbing supporting wheel 6 a; the first climbing driving wheel 4a is meshed and connected with one end of a first climbing transmission crawler 8 a; the first climbing driven wheel 7a is meshed and connected with the other end of the first climbing transmission crawler 8 a; the first climbing thrust wheel 6a is positioned between the first climbing driving wheel 4a and the first climbing driven wheel 7a, is used for supporting part of the first climbing crawler between the first climbing driving wheel 4a and the first climbing driven wheel 7a, bears the weight of the robot main body 1 and regulates the first climbing transmission crawler 8 a; the first climbing driving wheel 4a is connected with the walking driving wheel 22 through a first coupling component 27a, and the walking driving wheel 22 drives the first climbing driving wheel 4a to synchronously rotate; the first fixed shaft plate 5a is fixed on the robot main body 1; the rotating shafts of the first climbing driving wheel 4a, the first climbing driven wheel 7a and the first climbing supporting wheel 6a are connected to a first fixed shaft plate 5 a.
The rotating shaft of the second climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the second climbing crawler mechanism is connected with the rear side of the robot body 1, and the other end extends towards the upper rear direction. When intelligent fire-fighting robot meets some higher barriers during the backspacing, can meet with the barrier through first crawler that climbs, produce the interaction, auxiliary robot main part 1 removes, the work efficiency of guarantee organism. The second climbing crawler mechanism comprises a second climbing driving wheel 4b, a second climbing driven wheel 7b, a second climbing supporting wheel 6b, a second climbing transmission crawler 8b and a second fixed shaft plate 5 b; the second climbing transmission crawler 8b surrounds the periphery of the second climbing driving wheel, the second climbing driven wheel 7b and the second climbing supporting wheel 6 b; the second climbing driving wheel 4b is meshed with one end of a second climbing transmission crawler 8 b; the second climbing driven wheel 7b is meshed and connected with the other end of the second climbing transmission crawler 8 b; the second climbing thrust wheel 6b is positioned between the second climbing driving wheel 4b and the second climbing driven wheel 7b, and is used for supporting part of the second climbing crawler between the second climbing driving wheel 4b and the second climbing driven wheel 7b, bearing the weight of the robot main body 1 and regulating the second climbing transmission crawler 8 b; the second climbing driving wheel 4b is connected with the walking driven wheel 9 through a second coupler assembly 27b, and the walking driven wheel 9 drives the second climbing driving wheel 4b to synchronously rotate; the second fixed shaft plate 5b is fixed on the robot main body 1; and the rotating shafts of the second climbing driving wheel 4b, the second climbing driven wheel 7b and the second climbing supporting wheel 6b are connected to a second fixed shaft plate 5 b.
The outside of transmission track is provided with side shield 3, protects walking crawler attachment's inside, prevents that too much entering into of dust under the adverse circumstances from causing gear drive to receive the influence. The side shield 3 is fixedly connected to the balance shaft 24.
The periphery of the robot main body 1 is provided with a camera observation probe 11 and an illumination assembly 25. The camera observation probes 11 can simultaneously feed back the conditions around the machine body, and each probe can slightly adjust the angle, so that the observation dead angle and the reaction time can be avoided; the outer surface of the camera observation probe 11 is provided with toughened glass 10 for protecting the camera observation probe 11.
When the fire extinguishing device is used, the first pressure water connector 18 and the first pressure water connector 17 are both connected with a high-pressure water pipe on a fire engine, wind pressure is generated by the wind cylinder 13 during fire extinguishing, and water in the water cannon diffusion pipe 14 is sprayed out in a mist shape from the atomizing nozzle 19, so that large-area fire extinguishing is realized, and the method can effectively inhibit the spread of fire; the high-pressure water gun 15 generates a high-pressure water column with certain pressure to extinguish the fire in the building;
the first pressure sensor detects the water pressure at the first pressure water interface 18, the second pressure sensor detects the water pressure at the second pressure water interface 17, and data are transmitted to the data processing module; the intelligent fire-fighting robot enters a fire scene, and can be damaged by long-time operation in a high-temperature environment, the temperature value of the intelligent fire-fighting robot is detected in real time through the temperature sensor, and data are transmitted to the data processing module; and the data processing module transmits the data to the mobile control terminal through the wireless data transmission module, so that an operator can visually know the running state of the machine, and self-checking is realized.
Claims (6)
1. The utility model provides an intelligence fire-fighting robot that possesses self-checking function which characterized in that: comprises that
A robot main body (1); a rotary platform (26) is arranged on the upper end face of the robot main body (1); the rotating shaft of the rotating platform (26) is vertical to the ground;
a walking crawler mechanism; the walking crawler mechanism is positioned at the bottom of the robot main body (1) and is used for driving the robot main body (1) to move forwards or backwards on the ground;
a first climbing crawler mechanism; the rotating shaft of the first climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the first climbing crawler mechanism is connected with the front side of the robot main body (1), and the other end of the first climbing crawler mechanism extends towards the front upper direction;
a second climbing crawler mechanism; the rotating shaft of the second climbing crawler mechanism is parallel to the rotating shaft of the walking crawler mechanism; one end of the second climbing crawler mechanism is connected with the rear side of the robot main body (1), and the other end of the second climbing crawler mechanism extends towards the upper rear direction;
a water mist sprayer; the water mist sprayer comprises a water cannon diffusion pipe (14), an air duct (13) and an atomizing nozzle (19); the middle part of the water cannon diffusion pipe (14) is provided with a first pressure water interface (18); one end of the water cannon diffusion pipe (14) is connected with the air duct (13), and the other end of the water cannon diffusion pipe is connected with the atomizing nozzle (19); the air duct (13) is connected to the rotary platform (26) through a hinge shaft piece (21); the rotating shaft of the hinged shaft piece (21) is parallel to the ground; the water cannon diffusion pipe (14) is connected to a rotary platform (26) through a lifting rod (20);
a high pressure water gun (15); the high-pressure water gun (15) is fixed above the water mist sprayer; one end of the high-pressure water gun (15) is provided with a water gun nozzle (16), and the other end is provided with a second pressure water connector (17);
a self-checking module; the self-checking module comprises a first pressure sensor, a second pressure sensor, a temperature sensor, a data processing module, a wireless data transmission module and a mobile control terminal; the first pressure sensor detects the water pressure at the first pressure water interface (18) and transmits data to the data processing module; the second pressure sensor detects the water pressure at the second pressure water interface (17) and transmits data to the data processing module; the temperature sensor detects the temperature of the robot main body (1) and transmits data to the data processing module; and the data processing module transmits the data to the mobile control terminal through the wireless data transmission module.
2. The intelligent fire-fighting robot with the self-checking function according to claim 1, characterized in that: the model of the water pressure sensor is ZCH304, and the model of the temperature sensor is GWD 75.
3. The intelligent fire-fighting robot with the self-checking function according to claim 1 or 2, characterized in that: the walking crawler mechanism comprises a walking driving wheel (22), a walking driven wheel (9), a walking thrust wheel (23), a walking transmission crawler (2) and a balance shaft lever (24); the walking transmission crawler belt (2) surrounds the peripheries of the walking driving wheel (22), the walking driven wheel (9) and the walking thrust wheel (23); the walking driving wheel (22) is meshed and connected with the front end of the walking transmission crawler belt (2); the walking driven wheel (9) is meshed and connected with the rear end of the walking transmission crawler belt (2); the walking thrust wheel (23) is positioned between the walking driving wheel (22) and the walking driven wheel (9) and is used for supporting part of the walking transmission crawler belt (2) between the walking driving wheel (22) and the walking driven wheel (9); the balance shaft lever (24) is fixed on the robot main body (1); the rotating shafts of the walking driving wheel (22), the walking driven wheel (9) and the walking thrust wheel (23) are connected between the balance shaft lever (24) and the robot main body (1);
the first climbing crawler mechanism comprises a first climbing driving wheel (4 a), a first climbing driven wheel (7 a), a first climbing thrust wheel (6 a), a first climbing transmission crawler (8 a) and a first fixed shaft plate (5 a); the first climbing transmission crawler belt (8 a) surrounds the periphery of the first climbing driving wheel, the first climbing driven wheel (7 a) and the first climbing thrust wheel (6 a); the first climbing driving wheel (4 a) is meshed and connected with one end of a first climbing transmission crawler (8 a); the first climbing driven wheel (7 a) is meshed and connected with the other end of the first climbing transmission crawler (8 a); the first climbing thrust wheel (6 a) is positioned between the first climbing driving wheel (4 a) and the first climbing driven wheel (7 a) and is used for supporting a part of the first climbing crawler between the first climbing driving wheel (4 a) and the first climbing driven wheel (7 a); the first climbing driving wheel (4 a) is connected with the walking driving wheel (22) through a first coupling component (27 a); the first fixed shaft plate (5 a) is fixed on the robot main body (1); the rotating shafts of the first climbing driving wheel (4 a), the first climbing driven wheel (7 a) and the first climbing thrust wheel (6 a) are connected to a first fixed shaft plate (5 a);
the second climbing crawler mechanism comprises a second climbing driving wheel (4 b), a second climbing driven wheel (7 b), a second climbing supporting wheel (6 b), a second climbing transmission crawler (8 b) and a second fixed shaft plate (5 b); the second climbing transmission crawler belt (8 b) surrounds the periphery of the second climbing driving wheel, the second climbing driven wheel (7 b) and the second climbing thrust wheel (6 b); the second climbing driving wheel (4 b) is meshed and connected with one end of a second climbing transmission crawler (8 b); the second climbing driven wheel (7 b) is meshed and connected with the other end of the second climbing transmission crawler (8 b); the second climbing supporting wheel (6 b) is positioned between the second climbing driving wheel (4 b) and the second climbing driven wheel (7 b) and is used for supporting part of a second climbing crawler between the second climbing driving wheel (4 b) and the second climbing driven wheel (7 b); the second climbing driving wheel (4 b) is connected with the walking driven wheel (9) through a second coupling component (27 b); the second fixed shaft plate (5 b) is fixed on the robot main body (1); and rotating shafts of the second climbing driving wheel (4 b), the second climbing driven wheel (7 b) and the second climbing thrust wheel (6 b) are connected to a second fixed shaft plate (5 b).
4. The intelligent fire-fighting robot with self-checking function of claim 3, characterized in that: the outer side of the transmission crawler is provided with a side baffle (3), and the side baffle (3) is fixedly connected to the balance shaft lever (24).
5. The intelligent fire-fighting robot with self-checking function of claim 4, characterized in that: the periphery of the robot main body (1) is provided with a camera observation probe (11) and an illumination assembly (25).
6. The intelligent fire-fighting robot with self-checking function according to claim 5, characterized in that: tempered glass (10) is arranged on the outer surface of the camera observation probe (11); the left side and the right side of the upper end face of the robot main body (1) are provided with anti-collision stop levers (12).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296461A (en) * | 2021-04-15 | 2021-08-24 | 杭州铄石流金科技有限公司 | Programmable robot master controller with control self-checking function and use method thereof |
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| CN106693248A (en) * | 2017-02-27 | 2017-05-24 | 山东国泰科技有限公司 | Intelligent remote-control fire-fighting robot |
| CN209221382U (en) * | 2018-11-17 | 2019-08-09 | 山东交通职业学院 | A kind of long-range control firefighting robot in industrial working |
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| CN113296461A (en) * | 2021-04-15 | 2021-08-24 | 杭州铄石流金科技有限公司 | Programmable robot master controller with control self-checking function and use method thereof |
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Application publication date: 20200922 |