CN111688826A

CN111688826A - Small-size fire-fighting robot

Info

Publication number: CN111688826A
Application number: CN202010595359.3A
Authority: CN
Inventors: 刘志豪
Original assignee: Anhui Huning Intelligent Technology Co ltd
Current assignee: Anhui Huning Intelligent Technology Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2020-09-22

Abstract

The invention discloses a small-sized fire-fighting robot, which belongs to the technical field of fire-fighting equipment and comprises a supporting mechanism, a traveling mechanism, a vibration damping mechanism, a driving mechanism and a vehicle body, wherein the traveling mechanism comprises a track and a plurality of traveling wheels, the traveling wheels are connected with the supporting mechanism through the vibration damping mechanism, and the driving mechanism drives the track to transmit. Compared with the traditional method that the oil tank is arranged in the vehicle body, the oil tank is arranged into two oil tanks which are respectively arranged at two sides of the vehicle body, and the oil tank frame is fixed in the space enclosed by the crawler belt, so that the space is effectively utilized, the volume is reduced, the weight distribution is balanced, and the gravity center is lowered. The oil tank frame is connected with the main beam of the supporting mechanism, and the oil tank is protected while a certain supporting effect is achieved. The vibration damping mechanism slows down vibration through the expansion of the vibration damping spring and the rotation of the vibration damping side plate by a certain angle. The supporting mechanism is also provided with a tensioning wheel, so that the crawler belt can stably run at a proper tension degree, and a high-speed motor is adopted to timely enter a fire scene.

Description

Small-size fire-fighting robot

Technical Field

The invention relates to the technical field of fire fighting equipment, in particular to a small fire fighting robot.

Background

Fire fighting work is an important component of national economy and social development and is an indispensable guarantee condition for developing socialist market economy. The fire-fighting work is directly related to the safety of people's lives and properties and the stability of society. Therefore, the fire-fighting work is well done, and the fire accidents, particularly the occurrence of the malignant fire accidents caused by the crowd injury, are prevented and reduced, and the fire-fighting protection device has very important significance.

When a fire disaster occurs, fire fighters usually go to the scene to perform fire extinguishing and rescue operations under the general and not serious conditions, but when the fire fighters encounter disasters such as oil gas, toxic gas leakage explosion, forest fire and the like which have strong burstiness, complex treatment process and great harm, in order to ensure the personal safety of the fire fighters, the fire fighting robot is more suitable for performing fire extinguishing and rescue operations under the high-risk environment.

At present, the fire-fighting robot which is put into use at home and abroad generally takes a full-terrain chassis with power as a running and loading base body, and fire extinguishing equipment, lighting equipment, reconnaissance equipment and the like are loaded on the base body to carry out various special rescue operations, so that the capability of the fire-fighting robot for treating malignant accidents is improved, and casualties are reduced. However, robots carrying various fire fighting equipment tend to increase in size, in crowded streets, markets, or harsh field environments where large fire fighting equipment is often difficult to access due to space constraints.

Through retrieval and retrieval, the Chinese patent number ZL2019201215085 has the following inventive and inventive name: the utility model provides a fire control remote control intelligent robot, the authorized announcement day is: year 2019, month 10 and day 8. Remote control fire monitor installs on the fire control automobile body in this application, and fire control automobile body both sides are equipped with the walking track to in the fire control remote-controlled robot marchs in the scene of a fire, the aqua storage tank has still been seted up in the fire control automobile body, the aqua storage tank can also increase whole self weight when storing water, reduces the focus, reduces rocking at the water spray in-process, makes the in-process of whole equipment at the water spray fire extinguishing more stable. The fire engine of this application would be further augmented to facilitate access to confined areas.

Disclosure of Invention

1. Technical problem to be solved by the invention

In order to overcome the defects that the existing fire-fighting robot is large in size and is not easy to enter a complex environment, the invention provides the small fire-fighting robot.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the invention discloses a small-sized fire-fighting robot, which comprises a vehicle body, oil tanks and chassis positioned on two sides of the vehicle body, wherein the oil tanks are positioned on two sides of the vehicle body and are arranged on the chassis, the chassis comprises a driving mechanism, a driving wheel of the driving mechanism adopts a shaft-shaped wheel, and the driving wheel drives a toothed crawler belt to transmit.

Furthermore, the chassis further comprises a supporting mechanism, a traveling mechanism and a vibration damping mechanism, wherein the traveling mechanism comprises a track and a plurality of traveling wheels, the traveling wheels are connected with the supporting mechanism through the vibration damping mechanism, the supporting mechanism comprises a main beam and a connecting plate, and the main beam and the connecting plate are fixed with the vehicle body; the oil tank is fixed with the main beam through an oil tank frame and is integrally arranged in the crawler.

Furthermore, the two oil tanks on the two sides of the vehicle body are communicated by two pipelines, the pipelines are arranged in the vehicle body, and the two pipelines are respectively communicated with the top and the bottom of the oil tanks.

Furthermore, the driving mechanism further comprises a motor, a transition plate and an extension cylinder, the transition plate is fixedly arranged outside the motor, and the driving wheel is sleeved outside the output end of the motor and is connected with the transition plate through the extension cylinder.

Furthermore, the driving wheel comprises a first driving wheel plate, a second driving wheel plate and a connecting cylinder, two ends of the connecting cylinder are fixedly connected with the first driving wheel plate and the second driving wheel plate respectively, a clamping groove matched with the output end of the motor is formed in the upper portion of the inner wall of the connecting cylinder, an inner hole of the connecting cylinder is of a conical structure, and the wall thickness is gradually increased along the direction away from the motor.

Furthermore, the connecting cylinder comprises a cylinder body and a cylinder end plate, the cylinder end plate is positioned at the upper end and the lower end of the cylinder body and is of an integral structure with the cylinder body, and the two driving wheel plates are connected with the cylinder end plate.

Furthermore, the first driving wheel plate and the second driving wheel plate are respectively and correspondingly provided with a gear shaft along the circumferential direction, and the gear shaft is sleeved with a wear-resistant sleeve; the two driving wheel plates are provided with a plurality of holes.

Furthermore, the damping mechanism comprises a damping spring and a damping side plate, one end of the damping spring and one end of the damping side plate are sleeved on the rotating shaft of the travelling wheel, and the other end of the damping spring and the other end of the damping side plate are rotatably connected to the main beam through a pin shaft.

Furthermore, the supporting mechanism is also provided with a tensioning wheel, the tensioning wheel is arranged on the main beam through a tensioning seat, and the tensioning wheel is adjusted through a bolt penetrating through the tensioning seat.

Furthermore, the fire water monitor is installed on the vehicle body, and a plurality of hollow grooves are formed in the vehicle body.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

(1) compared with the traditional fire-fighting robot which arranges the oil tank inside the vehicle body and increases the volume of the robot, the small fire-fighting robot provided by the invention is provided with the two oil tanks which are respectively arranged in the cavity formed by the caterpillar tracks through the oil tank frame and are combined with the supporting mechanism into a whole, so that the space on two sides of the vehicle body is effectively utilized, the volume of the fire-fighting robot is reduced, the weight distribution of the fire-fighting robot is more balanced, the gravity center is reduced compared with the situation that the fire-fighting robot is arranged inside the vehicle body, and the running stability is increased. In addition, the traditional oil tank arrangement mode is adopted, so that a larger oil tank cannot be used for controlling the volume of the fire-fighting robot, and the oil tanks are arranged on two sides of the fire-fighting robot, so that the volume of the fire-fighting robot can be properly increased, and the endurance time of the fire-fighting robot is further prolonged. In addition, the high-speed motor is adopted, the shaft-shaped driving wheel is arranged, and the rubber toothed track is matched, so that a better vibration damping effect is achieved, the recoil force generated when a water cannon is launched is resisted, the fire-fighting robot can be driven to run quickly to extinguish a fire and rescue, and the abrasion phenomenon of the traditional toothed driving wheel is reduced.

(2) The small fire-fighting robot is connected with the oil consumption equipment through the oil tank, and the pipeline in the vehicle body is not required to be greatly changed; in order to communicate the two oil tanks, two pipelines are arranged between the two oil tanks and are arranged in the vehicle body, wherein one pipeline is communicated with the bottoms of the two oil tanks to balance the mutual flow of the oil in the two oil tanks, and the other pipeline is communicated with the tops of the two oil tanks to realize the convection of air and the pressure balance without hindering the mutual flow of the oil.

(3) According to the small fire-fighting robot, the oil tank frame and the main beam are fixed, so that the oil tank frame plays a role in supporting a vehicle body to a certain extent, and a vibration damping mechanism can be connected to the oil tank frame; the fire-fighting robot is small in size and easy to be influenced by recoil to generate a backward tilting phenomenon, and can generate a downward oblique force under the dual actions of recoil and gravity; meanwhile, the damping side plate can rotate by a certain angle when bearing recoil to offset certain force, so that the fire-fighting robot is more stable.

(4) According to the small fire-fighting robot, the tensioning wheel is arranged on the supporting mechanism, so that the track is tensioned by moving the tensioning wheel, and the matching between each wheel and the track is ensured, so that the fire-fighting robot is ensured to stably advance; be provided with various fire control facilities on this fire-fighting robot, weight is great, and consequently the drive burden is great, for lightening weight, has seted up a plurality of fretwork grooves on the automobile body.

Drawings

FIG. 1 is a schematic view of a small fire-fighting robot of the present invention;

FIG. 2 is a schematic view of the chassis of the present invention;

FIG. 3 is a schematic view of the arrangement of an oil tank in the fire-fighting robot according to the present invention;

fig. 4 is a sectional view of a driving mechanism in the fire fighting robot of the present invention;

fig. 5 is a perspective view of a driving mechanism in the fire fighting robot of the present invention.

The reference numerals in the schematic drawings illustrate:

1. a support mechanism; 11. a main beam; 12. a connecting plate; 13. hanging the plate; 14. a tension wheel; 15. a tensioning seat;

2. a traveling mechanism; 21. a crawler belt; 22. a traveling wheel;

3. a vibration reduction mechanism; 31. a damping spring; 32. a vibration damping side plate;

4. a drive mechanism; 41. a motor; 411. a flange; 42. a transition plate; 43. an extension cylinder; 44. a first driving wheel plate; 45. a second driving wheel plate; 46. a connecting cylinder; 461. a barrel; 462. a barrel end plate; 47. a gear shaft; 48. a wear-resistant sleeve;

5. a vehicle body; 51. an oil tank frame; 52. an oil tank; 53. a pipeline; 54. fire water monitor.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example 1

With reference to fig. 1, the small-sized fire-fighting robot of the embodiment includes a supporting mechanism 1, a traveling mechanism 2, a vibration damping mechanism 3, a driving mechanism 4 and a vehicle body 5, wherein the supporting mechanism 1 is used for supporting the vehicle body 5 and fixing each mechanism of a chassis, the traveling mechanism 2 includes a track 21 and a plurality of traveling wheels 22, and the traveling wheels 22 are connected to the supporting mechanism 1 through the vibration damping mechanism 3 and travel under the driving of the driving mechanism 4; the vehicle body 5 is provided with two oil tanks 52 which are fixed with the supporting mechanism 1 through an oil tank frame 51.

Support mechanism 1 include girder 11 and connecting plate 12, the two integral type structure that forms, oil tank frame 51 set up in automobile body 5 both sides, it is fixed with girder 11, wholly is located inside track 21, oil tank 52 sets up inside oil tank frame 51. The communication with the fuel consumption equipment is only through one of the fuel tanks 52, so other arrangements in the vehicle body 5 do not need to be greatly changed, and in combination with fig. 3, the two fuel tanks 52 are communicated through two pipelines 53, and the two pipelines 53 are both arranged in the vehicle body 5 and are respectively communicated with the top and the bottom of the fuel tanks 52. The oil in the oil tanks 52 is communicated with each other through a pipeline 53 at the bottom, when the oil in one oil tank 52 is consumed, the oil in the other oil tank 52 flows in, so that the oil in the two oil tanks 52 is balanced, and the center of gravity of the robot is balanced; the top-located line 53 is designed to allow air to flow through each other, so that the pressures in the two tanks 52 are balanced and the oil flow through each other is not affected.

Make two oil tanks 52 of originally arranging in the inside oil tank 52 of automobile body 5 and place in the both sides of automobile body 5 respectively to utilize the space that track 21 enclosed, reduce this fire-fighting robot's volume, make it change and get into narrow region, still disperse the weight of whole device to both sides, make its weight distribution more balanced, and compare in arranging in inside the automobile body 5, the focus slightly reduces, has increased the stability when traveling.

Compared with the prior art, the fire-fighting robot is usually large in size and inconvenient to enter a narrow and crowded area for fire-fighting and rescue, and the robot of the embodiment is smaller in size. In addition, some manufacturers know that the existing fire-fighting machine is too large in size and not easy to carry out fire rescue, and in order to solve the problem, the sizes of various devices such as the oil tank 52 in the vehicle body are usually reduced, but the mode of reducing the sizes is rough, so that the phenomena of unstable gravity center and poor driving stability of the vehicle can occur. In consideration of the problem, the fire-fighting robot of the embodiment designs the oil tank 52 to ensure the walking stability thereof. In addition, the oil tank 52 is arranged on two sides, so that the volume of the oil tank 52 can be properly increased according to the space surrounded by the crawler belt 21, enough energy is provided for the robot, and the endurance time of the robot is increased.

Referring to fig. 2, the fuel tank frame 51 is connected to the main beam 11, and is connected to the damping mechanism 3 in addition to the protective fuel tank 52, so as to play a certain supporting role. Specifically, the damping mechanism 3 comprises a damping spring 31 and a damping side plate 32, and is connected with three pairs of walking wheels 22, the walking wheels 22 at the front part and the middle part are close to the oil tank frame 51, and the walking wheels 22 can be connected together by matching with the main beam 11. The front and middle traveling wheels 22 are sleeved with a damping spring 31 and a damping side plate 32, the front damping spring 31 is connected to the hanging plate 13 of the oil tank frame 51 through a pin shaft, the front damping side plate 32 is connected to the main beam 11 through a pin shaft, the middle damping spring 31 is connected to the hanging plate 13 on the main beam 11 through a pin shaft, and the middle damping side plate 32 is connected to the oil tank frame 51 through a pin shaft; the upper rotating shaft of the rear traveling wheel 22 is also sleeved with a damping spring 31 and a damping side plate 32, and the damping spring 31 and the damping side plate 32 are respectively connected to the hanging plate 13 on the main beam 11 and the main beam 11 through pin shafts.

Damping spring 31 and damping curb plate 32 all can be through pivot and the rotatory certain angle of round pin axle, and when the fire-fighting robot passed through the bumpy highway section, slowed down the vibration through rotatory certain angle. The directions of the damping springs 31 on the three pairs of walking wheels 22 are inclined towards the gravity center of the vehicle body 5, so that the resultant force of recoil and gravity and vibration in the driving process can be relieved, and the driving stability is further improved.

The supporting mechanism 1 is further provided with a tensioning wheel 14, the tensioning wheel 14 is fixed with the main beam 11 through a tensioning seat 15, a bolt is arranged inside the tensioning seat 15 and connected with the tensioning wheel 14, the position of the tensioning wheel 14 is changed through an adjusting bolt, tensioning of the track 21 is achieved, and stable advancing of the track is guaranteed. The front end of the vehicle body 5 is provided with a fire water monitor 54, the vehicle body 5 is provided with a plurality of hollow grooves, a heat dissipation channel is provided for internal equipment, meanwhile, the weight of the robot is reduced, and the driving burden is reduced.

Example 2

The driving mechanism 4 of this embodiment is applied to the small-sized fire-fighting robot described in embodiment 1, the recoil of the fire monitor 54 occurs at the moment of opening, which causes a certain pressure and damage to each mechanism, and in order to extinguish a fire quickly, the fire-fighting robot needs to arrive at the fire scene in time, which requires that it has the capability of traveling quickly. In combination with the above two points, the driving mechanism 4 of the embodiment adopts a high-speed motor, is provided with a shaft-shaped driving wheel, and is matched with the rubber toothed crawler belt, so that the fire-fighting robot can stably advance by virtue of the good vibration damping capacity of the rubber toothed crawler belt while realizing high-speed traveling.

With reference to fig. 4 and 5, the driving mechanism 4 includes a motor 41, a transition plate 42, an extension cylinder 43, a first driving wheel plate 44, a second driving wheel plate 45 and a connecting cylinder 46, the transition plate 42 is a ring, is sleeved on the motor 41, and is provided with a groove, the size of the groove is matched with that of a flange 411 on the motor 41, and after the flange 411 is combined with the groove, the flange is fixed by bolts, so that on one hand, the assembly difficulty is reduced, and on the other hand, the flange and the groove are mutually clamped, so that the bolt is prevented from being damaged due to relative movement of the flange 411 and the groove.

The extension cylinder 43 is sleeved outside the motor 41, one end of the extension cylinder is connected with the transition plate 42, the other end of the extension cylinder is connected with the first driving wheel plate 44, the first driving wheel plate 44 is a circular ring and sleeved on the motor 41, grooves are formed in opposite sides of the transition plate 42 and the first driving wheel plate 44, the extension cylinder 43 is clamped and fixed through bolts, the extension cylinder 43 can extend the distance between the driving wheel and the motor 41, and the normal operation of the crawler 21 and the stable installation of the motor 41 cannot be influenced; in addition, the motor 41 is matched and the groove is assembled in a groove-to-groove mode, so that the concentricity of the motor 41 and the driving wheel plate I44 during rotation is guaranteed, and the driving performance of the assembly body is better.

The connecting cylinder 46 comprises a cylinder 461 and a cylinder end plate 462 which are of an integral structure, a groove is formed in one section of the interior of the cylinder 461 and is sleeved on the motor 41, the cylinder end plate 462 is in bolted connection with the first driving wheel plate 44, the cylinder end plate 462 at the other end is in bolted connection with the second driving wheel plate 45, the groove is formed in the opposite side of the first driving wheel plate 44 and the second driving wheel plate 45, and the cylinder end plate 462 is clamped with the groove. The connecting cylinder 46 is clamped with the motor 41, the two driving wheel plates are clamped with the connecting cylinder 46, and the grooves formed in the connecting cylinder 46 are matched with the first driving wheel plate 44, the extension cylinder 43 and the transition plate 42 to be connected with the flange 411, so that the section of the motor 41 is clamped, the concentricity is further guaranteed, and the stability of the assembly body is improved. Furthermore, the diameters of the extension tube 43, the connecting tube 46 and the two driving wheel plates are gradually enlarged to finally reach the diameter required by the driving wheel, and the connection is more stable while ensuring the size. In addition, the two ends of the connecting tube 46 are connected to the driving wheel plates, the driving wheel plates are driven by the connecting tube 46 to rotate, and the track 21 is driven to operate, so that the torque resistance is required, the inner part of the tube 461 is arranged to be conical, the wall thickness of the tube is gradually increased in the direction away from the motor 41, the tube is firmer, the rotating power is stably transmitted to the driving wheel plates, and the durability of the driving wheel is improved.

The two driving wheel plates are provided with gear shafts 47 at corresponding positions, the two corresponding gear shafts 47 are sleeved with wear-resistant sleeves 48, and the wear-resistant sleeves 48 can rotate on the gear shafts 47 to block the crawler 21 to drive the crawler to walk. The presence of the wear sleeve 48 allows smoother relative movement between the track 21 and the wheel, reducing wear between the track 21 and the wheel, and extending the useful life of the drive wheel. In addition, the gear shafts 47 on the two sides are spaced at a certain distance, so that the wear-resistant sleeve 48 can be installed, the toothed crawler 21 and the shaft-shaped wheel can be ensured to run in a matched mode, the arrangement saves manufacturing materials, and meanwhile, the weight of the driving wheel is reduced; the driving wheel plate is provided with a plurality of holes, so that the weight of the driving wheel is further reduced, the driving load of the motor 41 is reduced, and high-speed rotation is realized.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. A small-size fire-fighting robot which characterized in that: the automatic transmission device comprises a vehicle body (5), oil tanks (52) and chassis positioned on two sides of the vehicle body (5), wherein the oil tanks (52) are positioned on two sides of the vehicle body (5) and are arranged on the chassis, the chassis comprises a driving mechanism (4), a driving wheel of the driving mechanism (4) adopts a shaft type wheel, and the driving wheel drives a toothed crawler belt (21) to transmit.

2. A small fire fighting robot as recited in claim 1, wherein: the chassis further comprises a supporting mechanism (1), a traveling mechanism (2) and a vibration damping mechanism (3), the traveling mechanism comprises a track (21) and a plurality of traveling wheels (22), the traveling wheels (22) are connected with the supporting mechanism (1) through the vibration damping mechanism (3), the supporting mechanism (1) comprises a main beam (11) and a connecting plate (12), and the main beam (11) and the connecting plate (12) are fixed with the vehicle body (5); the oil tank (52) is fixed with the main beam (11) through an oil tank frame (51) and is integrally arranged in the crawler belt (21).

3. A small fire fighting robot as recited in claim 2, wherein: the two oil tanks (52) on the two sides of the vehicle body (5) are communicated through two pipelines (53), the pipelines (53) are arranged inside the vehicle body (5), and the two pipelines (53) are respectively communicated with the top and the bottom of the oil tanks (52).

4. A small fire fighting robot as recited in claim 3, wherein: the driving mechanism (4) further comprises a motor (41), a transition plate (42) and an extension cylinder (43), the transition plate (42) is fixedly installed outside the motor (41), and the driving wheel is sleeved outside the output end of the motor (41) and connected with the transition plate (42) through the extension cylinder (43).

5. A small fire fighting robot as recited in claim 4, wherein: the driving wheel include driving wheel board (44), driving wheel board two (45) and connecting cylinder (46), the both ends of connecting cylinder (46) respectively with driving wheel board (44) and driving wheel board two (45) fixed linking to each other, the inner wall upper portion of this connecting cylinder (46) seted up with motor (41) output assorted draw-in groove, and its inner hole is the toper structure, the wall thickness is along keeping away from motor (41) direction and increasing gradually.

6. A small fire fighting robot as recited in claim 5, wherein: connecting cylinder (46) include barrel (461) and barrel head board (462), barrel head board (462) are located barrel (461) upper and lower both ends and with barrel (461) structure as an organic whole, two drive wheel boards be connected with barrel head board (462).

7. A small fire fighting robot as recited in claim 6, wherein: the first driving wheel plate (44) and the second driving wheel plate (45) are respectively and correspondingly provided with a gear shaft (47) along the circumferential direction, and the gear shaft (47) is sleeved with a wear-resistant sleeve (48); the two driving wheel plates are provided with a plurality of holes.

8. A small fire fighting robot as recited in claim 7, wherein: damping mechanism (3) include damping spring (31) and damping curb plate (32), the one end of damping spring (31) and damping curb plate (32) all the suit in the pivot of walking wheel (22), its other end all is connected to girder (11) through round pin hub rotation.

9. A small fire fighting robot as recited in claim 8, wherein: the supporting mechanism (1) is further provided with a tensioning wheel (14), the tensioning wheel (14) is arranged on the main beam (11) through a tensioning seat (15) and is adjusted through a bolt penetrating through the tensioning seat (15).

10. A small fire fighting robot as recited in claim 9, wherein: the fire-fighting water cannon is characterized in that a fire-fighting water cannon (54) is installed on the vehicle body (5), and a plurality of hollow grooves are formed in the vehicle body (5).