CN111840869B - Fire-fighting robot - Google Patents
Fire-fighting robot Download PDFInfo
- Publication number
- CN111840869B CN111840869B CN202010762647.3A CN202010762647A CN111840869B CN 111840869 B CN111840869 B CN 111840869B CN 202010762647 A CN202010762647 A CN 202010762647A CN 111840869 B CN111840869 B CN 111840869B
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- water
- pressure
- fire
- supporting leg
- water tank
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- Expired - Fee Related
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 165
- 238000010248 power generation Methods 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 239000003595 mist Substances 0.000 claims abstract description 14
- 210000001503 joint Anatomy 0.000 claims abstract description 13
- 239000007921 spray Substances 0.000 claims abstract description 11
- 238000005507 spraying Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000009970 fire resistant effect Effects 0.000 claims description 10
- 230000001502 supplementing effect Effects 0.000 claims description 10
- 238000001816 cooling Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 230000003020 moisturizing effect Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B3/00—Machines or engines of reaction type; Parts or details peculiar thereto
- F03B3/02—Machines or engines of reaction type; Parts or details peculiar thereto with radial flow at high-pressure side and axial flow at low-pressure side of rotors, e.g. Francis turbines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D1/00—Devices using naturally cold air or cold water
- F25D1/02—Devices using naturally cold air or cold water using naturally cold water, e.g. household tap water
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to the technical field of fire fighting equipment, in particular to a fire fighting robot, which comprises a machine shell body, a water tank body, a high-pressure spray head device, a water pipe, a water replenishing butt joint device, a control module, an energy conversion unit, a crawler belt driving module and a mobile water station system, wherein water mist generators are arranged on the periphery of the lower part of the machine shell body, the water tank body is fixedly arranged in the machine shell body, and the top of the water tank body is connected with a first high-pressure water supply system. The invention synchronously realizes the external high-pressure water spraying fire extinguishing function, the internal hydrodynamic force driving function and the self temperature-reducing fire-proof function through the three paths of high-pressure water supply systems, and meanwhile, the external high-pressure spray head device not only can extinguish fire, but also can realize continuous rotation by utilizing the reaction force in a high-pressure water spraying mode, thereby having the power generation function.
Description
Technical Field
The invention relates to the technical field of fire fighting equipment, in particular to a fire fighting robot.
Background
Among various urban natural disasters, a fire disaster is one of the most common and most harmful disasters, and generally, the occurrence of the fire disaster is accompanied by a severe rescue environment, so that a fireman also becomes one of the most dangerous industries. At present, along with the development of special robots, robots capable of working in high-risk special environments appear, including fire-fighting robots, which need to have high fire resistance and permeability, and have high requirements on environmental adaptability of disaster sites, but the robots driven and controlled by an electronic control mode are difficult to meet high-temperature protection requirements in severe environments. An adaptive fire-fighting robot with high fire resistance is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a fire-fighting robot.
The invention aims to solve the technical problems and realize the technical scheme that the fire-fighting robot comprises a machine shell body, a water tank body, a high-pressure spray head device, a water pipe, a water supplementing butt joint device, a control module, an energy conversion unit, a crawler driving module and a mobile water station system, wherein a water mist generator is arranged on the periphery of the lower part of the machine shell body, the water tank body is fixedly arranged in the machine shell body, the top of the water tank body is connected with a first high-pressure water supply system, the bottom of the water tank body is connected with a second high-pressure water supply system and a third high-pressure water supply system, a water tank pipe sleeve is arranged at the top of the water tank body, the top of the water tank pipe sleeve is connected with the top of the machine shell body, a liftable water supplementing butt joint device is arranged in the water tank pipe sleeve, a rotary high-pressure spray head device is arranged at the top of the machine shell body, and the high-pressure spray head device is connected with the first high-pressure water supply system through the water pipe, the control module and the energy conversion unit are arranged at the bottom of the water tank body, the front part and the rear part of the machine shell body are respectively provided with a front driving supporting leg and a rear driving supporting leg, the upper ends of the front driving supporting leg and the rear driving supporting leg are both connected with a posture driving rotating shaft, the front driving supporting leg and the rear driving supporting leg are both connected with the machine shell body through the posture driving rotating shaft, the bottoms of the front driving supporting leg and the rear driving supporting leg are respectively provided with a crawler driving module, the second high-pressure water supply system is connected with the crawler driving modules through water pipes, the front driving supporting leg and the rear driving supporting leg are in pendulum bob shapes, the posture driving rotating shaft is connected with a stepping motor driving device, the water mist generator is connected with the third high-pressure water supply system through a water pipe to realize autonomous water mist cooling, and the mobile water station system is used for matching the water supplementing butt joint device to realize automatic water supplementing operation.
Further, the water supplementing butt joint device comprises an elastic fire-resistant hose and an electromagnetic control device, a funnel-shaped butt joint part is arranged at the top of the elastic fire-resistant hose, and the electromagnetic control device locks the telescopic state of the elastic fire-resistant hose through electromagnetic adsorption.
Further, high pressure nozzle device includes rotatory power generation module, rotary disk and high pressure nozzle, the inside of rotatory power generation module is equipped with the watertight rotary joint, the rotary disk passes through rotatory power generation module and rotates to be connected on the casing body, the inside of rotary disk is equipped with the rivers passageway, the rivers passageway of rotary disk passes through the watertight rotary joint is connected to first high pressure water supply system's water pipe, high pressure nozzle establishes on the rotary disk.
Further, the rotating disc comprises a disc body, a radial outer extension pipe is arranged on the outer side of the disc body, and the spraying direction of the high-pressure nozzle is the perpendicular direction of the tail end of the outer extension pipe.
Furthermore, the rotary power generation module is electrically connected with the energy conversion unit, and the energy conversion unit is used for storing electric energy generated by the rotary power generation module.
Further, the track driving module comprises a metal track travelling mechanism, a power water wheel mechanism, a speed reducing mechanism, a supporting leg shell and a power nozzle, wherein the power nozzle is connected with the second high-pressure water supply system through a water pipe, the power water wheel mechanism is arranged in the front of the power nozzle, the power water wheel mechanism is stirred through a high-pressure water column ejected by the power nozzle to realize constant rotation, and the power water wheel mechanism passes through the speed reducing mechanism and the metal track travelling mechanism.
Furthermore, a drainage channel is arranged at the bottom of the supporting leg shell, the water inlet direction of the drainage channel is consistent with the spraying direction of the power nozzle, a drainage hole is formed in the water outlet of the drainage channel, and the drainage hole is communicated with the outer surface of the bottom of the supporting leg shell.
Further, remove water station system including mend the squirt fast and counterpoint response piece, mend the outer end of squirt fast be used for with moisturizing interfacing apparatus's outer end cooperation contact, counterpoint response piece is used for responding to remove water station system with relative position between the casing body.
Compared with the prior art, the invention has the following advantages:
according to the invention, through the three paths of high-pressure water supply systems, an external high-pressure water spraying fire extinguishing function, an internal hydrodynamic force driving function and a self temperature-reducing fire-preventing function are synchronously realized, and meanwhile, the external high-pressure spray head device not only can extinguish fire, but also can realize continuous rotation by utilizing a reaction force in a high-pressure water spraying manner, so that a power generation function is realized, and the energy is recycled; the internal hydrodynamic driving process can realize all-terrain crawler driving, and meanwhile, the bottom walking fire extinguishing and cooling process is also provided, so that the safety of the crawler walking device can be effectively protected; the adopted water mist generator can generate the functions of cooling and drying around the outer side of the equipment, and the use reliability of the equipment is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is an internal structure view of the cabinet body 1 of the present invention;
FIG. 3 is a block diagram of the mobile water station system 9 of the present invention;
1-a machine shell body, 11-a water mist generator, 12-a front driving leg, 13-a rear driving leg, 14-a posture driving rotating shaft, 2-a water tank body, 21-a first high-pressure water supply system, 22-a second high-pressure water supply system, 23-a third high-pressure water supply system, 24-a water tank pipe sleeve, 3-a high-pressure spray head device, 31-a rotary power generation module, 311-a watertight rotary joint, 32-a high-pressure nozzle, 33-a rotary disc, 4-a water pipe, 5-a water replenishing butt joint device, 51-an elastic fire-resistant hose, 52-an electromagnetic control device, 6-a control module, 7-an energy conversion unit, 8-a crawler driving module, 81-a metal crawler traveling mechanism, 82-a power water wheel mechanism and 83-a speed reduction mechanism, 84-supporting leg shell, 85-power nozzle, 9-mobile water station system, 91-quick water replenishing gun and 92-alignment induction block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the invention discloses a fire-fighting robot, which comprises a machine shell body 1, a water tank body 2, a high-pressure spray head device 3, a water pipe 4, a water replenishing docking device 5, a control module 6, an energy conversion unit 7, a crawler drive module 8 and a mobile water station system 9, wherein a water mist generator 11 is arranged on the periphery of the lower part of the machine shell body 1, the water tank body 2 is fixedly arranged inside the machine shell body 1, the top of the water tank body 2 is connected with a first high-pressure water supply system 21, the bottom of the water tank body 2 is connected with a second high-pressure water supply system 22 and a third high-pressure water supply system 23, the top of the water tank body 2 is provided with a water tank pipe sleeve 24, the top of the water tank pipe sleeve 24 is connected with the top of the machine shell body 1, the water replenishing docking device 5 capable of lifting is arranged in the water tank pipe sleeve 24, the top of the machine shell body 1 is provided with a rotary high-pressure spray head device 3, the high-pressure sprayer device 3 is connected with the first high-pressure water supply system 21 through the water pipe 4, the control module 6 and the energy conversion unit 7 are installed at the bottom of the water tank body 2, the front part and the rear part of the casing body 1 are respectively provided with a front driving supporting leg 12 and a rear driving supporting leg 13, the upper ends of the front driving supporting leg 12 and the rear driving supporting leg 13 are both connected with a posture driving rotating shaft 14, the front driving supporting leg 12 and the rear driving supporting leg 13 are both connected with the casing body 1 through the posture driving rotating shaft 14, the bottoms of the front driving supporting leg 12 and the rear driving supporting leg 13 are both provided with a crawler driving module 8, the second high-pressure water supply system 22 is connected with the crawler driving module 8 through the water pipe 4, the front driving supporting leg 12 and the rear driving supporting leg 13 are both pendulum-shaped, and the posture driving rotating shaft 14 is connected with a stepping motor driving device, the water mist generator 11 is connected with the third high-pressure water supply system 23 through a water pipe 4 to realize autonomous water mist cooling, and the mobile water station system 9 is used for matching the water supplementing butt joint device 5 to realize automatic water supplementing operation.
The water supplementing butt joint device 5 comprises an elastic fire-resistant hose 51 and an electromagnetic control device 52, a funnel-shaped butt joint part is arranged at the top of the elastic fire-resistant hose 51, and the electromagnetic control device 52 locks the telescopic state of the elastic fire-resistant hose 51 through electromagnetic adsorption. The high-pressure sprayer device 3 comprises a rotary power generation module 31, a rotary disc 33 and high-pressure nozzles 32, a watertight rotary joint 311 is arranged inside the rotary power generation module 31, the rotary disc 33 is rotatably connected to the machine shell body 1 through the rotary power generation module 31, a water flow channel is arranged inside the rotary disc 33, the water flow channel of the rotary disc 33 is connected to the water pipe 4 of the first high-pressure water supply system 21 through the watertight rotary joint 311, and the high-pressure nozzles 32 are arranged on the rotary disc 33. The rotating disc 33 includes a disc body, a radial outer extension pipe is arranged on the outer side of the disc body, and the spraying direction of the high-pressure nozzle 32 is the perpendicular direction of the tail end of the outer extension pipe. The rotary power generation module 31 is electrically connected to the energy conversion unit 7, and the energy conversion unit 7 is configured to store electric energy generated by the rotary power generation module 31. Crawler drive module 8 includes metal track running gear 81, power water wheel mechanism 82, reduction gears 83, landing leg shell 84 and power nozzle 85, power nozzle 85 passes through water pipe 4 and connects second high pressure water supply system 22, power water wheel mechanism 82 establishes power nozzle 85's the place ahead, power water wheel mechanism 82 stirs through the high-pressure water column that power nozzle 85 erupted and realizes the invariable rotation, power water wheel mechanism 82 passes through reduction gears 83 with metal track running gear 81 connects. A drainage channel is arranged at the bottom of the supporting leg shell 84, the water inlet direction of the drainage channel is consistent with the spraying direction of the power nozzle 85, a drainage hole is arranged at the water outlet of the drainage channel, and the drainage hole is communicated with the outer surface of the bottom of the supporting leg shell 84. Remove water station system 9 including mend squirt 91 fast and counterpoint response piece 92, mend squirt 91 fast the outer end be used for with moisturizing interfacing apparatus 5's outer end cooperation contact, counterpoint response piece 92 is used for responding to remove water station system 9 with relative position between casing body 1.
In actual use, the control system controls the posture to drive the rotating shaft 14 to rotate, so that a certain walking posture is generated, of course, the control process can be completed by a machine vision system, automatic posture adjustment is realized by automatically observing obstacles, the front driving support leg 12 and the rear driving support leg 13 are driven by the crawler driving module 8, specifically, two front driving support legs 12 and two rear driving support legs 13 can be provided, meanwhile, the crawler belt driving module 8 can be provided with a steering function, and a person skilled in the art can make corresponding specific configurations according to actual needs, realize driving through hydrodynamic force provided by the second high-pressure water supply system 22, meanwhile, water flow can flow out of the supporting leg shell 84 after being driven, the functions of cooling and fire extinguishing are achieved, the high-pressure spray head device 3 on the upper portion continuously rotates, surrounding high-pressure fire extinguishing is achieved, and meanwhile kinetic energy can be recycled to generate electric energy for internal control driving power supply. In the whole process, the water mist generator 11 can carry out water mist cooling protection on the outer side of the machine shell body 1. When the robot needs to be replenished with water, the control system can be automatically driven to move to the mobile water station system 9, so that the automatic water replenishing process is realized, the inconvenience of manual water replenishing is avoided, the self-adaptive fire-extinguishing system has the characteristics of self-adaption and sustainable fire extinguishing, and is convenient for firefighters to use.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A fire-fighting robot is characterized in that: the water tank comprises a machine shell body, a water tank body, a high-pressure spray head device, a water pipe, a water supplementing butt joint device, a control module, an energy conversion unit, a track driving module and a mobile water station system, wherein a water mist generator is arranged on the periphery of the lower portion of the machine shell body, the water tank body is fixedly installed inside the machine shell body, the top of the water tank body is connected with a first high-pressure water supply system, the bottom of the water tank body is connected with a second high-pressure water supply system and a third high-pressure water supply system, a water tank pipe sleeve is installed on the top of the water tank body, the top of the water tank pipe sleeve is connected with the top of the machine shell body, a liftable water supplementing butt joint device is installed in the water tank pipe sleeve and comprises an elastic fire-resistant hose and an electromagnetic control device, a funnel-shaped butt joint portion is arranged on the top of the elastic fire-resistant hose, and the electromagnetic control device locks the telescopic state of the elastic fire-resistant hose through electromagnetic adsorption effect, the top of the machine shell body is provided with a rotary high-pressure sprayer device, the high-pressure sprayer device is connected with the first high-pressure water supply system through the water pipe, the high-pressure sprayer device comprises a rotary power generation module, a rotary disk and a high-pressure nozzle, a watertight rotary joint is arranged in the rotary power generation module, the rotary disk is rotatably connected to the machine shell body through the rotary power generation module, a water flow channel is arranged in the rotary disk, the water flow channel of the rotary disk is connected to the water pipe of the first high-pressure water supply system through the watertight rotary joint, the high-pressure nozzle is arranged on the rotary disk, a control module and an energy conversion unit are arranged at the bottom of the water tank body, the front part and the rear part of the machine shell body are respectively provided with a front driving support leg and a rear driving support leg, and the upper ends of the front driving support leg and the rear driving support leg are both connected with a posture driving rotating shaft, the front driving supporting leg and the rear driving supporting leg are all connected through the attitude driving rotating shaft and the shell body, the bottoms of the front driving supporting leg and the rear driving supporting leg are both provided with a crawler driving module, the second high-pressure water supply system is connected through a water pipe to the crawler driving module, the front driving supporting leg and the rear driving supporting leg are both in pendulum shape, the attitude driving rotating shaft is connected with a stepping motor driving device, a water mist generator is connected through a water pipe to the third high-pressure water supply system to realize autonomous water mist cooling, and a mobile water station system is used for matching the water replenishing butt-joint device to realize automatic water replenishing operation.
2. A fire fighting robot as recited in claim 1, wherein: the rotating disc comprises a disc body, a radial outer extension pipe is arranged on the outer side of the disc body, and the spraying direction of the high-pressure nozzle is the perpendicular direction of the tail end of the outer extension pipe.
3. A fire fighting robot as recited in claim 1, wherein: the rotary power generation module is electrically connected with the energy conversion unit, and the energy conversion unit is used for storing electric energy generated by the rotary power generation module.
4. A fire fighting robot as recited in claim 1, wherein: the crawler driving module comprises a metal crawler traveling mechanism, a power water wheel mechanism, a speed reducing mechanism, a supporting leg shell and a power nozzle, wherein the power nozzle is connected with the second high-pressure water supply system through a water pipe, the power water wheel mechanism is arranged in the front of the power nozzle, the power water wheel mechanism is stirred through a high-pressure water column ejected by the power nozzle to realize constant rotation, and the power water wheel mechanism passes through the speed reducing mechanism and the metal crawler traveling mechanism is connected.
5. A fire fighting robot as recited in claim 4, wherein: the bottom of the supporting leg shell is provided with a drainage channel, the water inlet direction of the drainage channel is consistent with the spraying direction of the power nozzle, a drainage hole is formed in the water outlet of the drainage channel, and the drainage hole is communicated with the outer surface of the bottom of the supporting leg shell.
6. A fire fighting robot as recited in claim 1, wherein: remove water station system including mend the squirt fast and counterpoint response piece, mend the outer end of squirt fast be used for with moisturizing interfacing apparatus's outer end cooperation contact, counterpoint response piece is used for responding to remove water station system with relative position between the casing body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010762647.3A CN111840869B (en) | 2020-07-31 | 2020-07-31 | Fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010762647.3A CN111840869B (en) | 2020-07-31 | 2020-07-31 | Fire-fighting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111840869A CN111840869A (en) | 2020-10-30 |
| CN111840869B true CN111840869B (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010762647.3A Expired - Fee Related CN111840869B (en) | 2020-07-31 | 2020-07-31 | Fire-fighting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111840869B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006239215A (en) * | 2005-03-04 | 2006-09-14 | Hitachi Constr Mach Co Ltd | Fire-fighting system |
| CN103182943A (en) * | 2011-12-28 | 2013-07-03 | 黄云伯 | Electric power four-wheeled vehicle |
| CN103245157A (en) * | 2013-04-16 | 2013-08-14 | 任曲波 | Liquid circulation cooling device for fire-fighting robot |
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| CN205198758U (en) * | 2015-11-05 | 2016-05-04 | 安徽大学 | Crawler -type fire control machine people |
| CN105749461A (en) * | 2016-04-18 | 2016-07-13 | 安徽沪宁智能科技有限公司 | Tracked firefighting rescue robot applicable to complex terrain and high-risk environments |
| CN209900509U (en) * | 2019-05-15 | 2020-01-07 | 台州职业技术学院 | Mobile robot with environment modeling function |
-
2020
- 2020-07-31 CN CN202010762647.3A patent/CN111840869B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006239215A (en) * | 2005-03-04 | 2006-09-14 | Hitachi Constr Mach Co Ltd | Fire-fighting system |
| CN103182943A (en) * | 2011-12-28 | 2013-07-03 | 黄云伯 | Electric power four-wheeled vehicle |
| CN103245157A (en) * | 2013-04-16 | 2013-08-14 | 任曲波 | Liquid circulation cooling device for fire-fighting robot |
| CN205198758U (en) * | 2015-11-05 | 2016-05-04 | 安徽大学 | Crawler -type fire control machine people |
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| CN105749461A (en) * | 2016-04-18 | 2016-07-13 | 安徽沪宁智能科技有限公司 | Tracked firefighting rescue robot applicable to complex terrain and high-risk environments |
| CN209900509U (en) * | 2019-05-15 | 2020-01-07 | 台州职业技术学院 | Mobile robot with environment modeling function |
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| Publication number | Publication date |
|---|---|
| CN111840869A (en) | 2020-10-30 |
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