CN111956989B - Auxiliary robot for fire fighting - Google Patents
Auxiliary robot for fire fighting Download PDFInfo
- Publication number
- CN111956989B CN111956989B CN202010866162.9A CN202010866162A CN111956989B CN 111956989 B CN111956989 B CN 111956989B CN 202010866162 A CN202010866162 A CN 202010866162A CN 111956989 B CN111956989 B CN 111956989B
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- Prior art keywords
- sandbox
- groove
- sand
- bearing
- rotating shaft
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 244000035744 Hura crepitans Species 0.000 claims abstract description 52
- 239000004576 sand Substances 0.000 claims abstract description 28
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000007599 discharging Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000011010 flushing procedure Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000002485 combustion reaction Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims 2
- 230000010485 coping Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 10
- 239000011324 bead Substances 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction 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
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- 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
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
-
- 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
Abstract
The invention discloses an auxiliary robot for fire fighting, and relates to the technical field of auxiliary robots for fire fighting. This auxiliary robot is used in fire control, sand through servo motor two clockwise turning in with the sandbox is carried to the left side in following the through-hole, the sand is leading downwards temporarily through the lower silo, it is domatic to the guide board of bottom to fall through lower silo two, thereby spill the sand through the guide board and fall on ground, the operation through the water pump will prestore water or liquid fire extinguishing material in the water tank and take out, and guide to the inside of shunting box through the aqueduct, spout from each sprinkler bead, can strike the edge of liquid burning thing, thereby make the device improve certain effect to the choked flow of liquid burning thing.
Description
Technical Field
The invention relates to the technical field of auxiliary fire-fighting robots, in particular to an auxiliary fire-fighting robot.
Background
The robot is a machine device for automatically executing work, can accept human commands, can run programs arranged in advance, and can also move according to principles formulated by artificial intelligence technology, and the types of the robot are various, wherein the crawler robot has the characteristics of strong terrain adaptability, strong obstacle crossing capability, strong load bearing capability and the like, and can be widely applied to the fields of transportation, routing inspection, fire fighting and the like.
When putting out a fire to liquid burning article, because the circulation of liquid, the area in easy increase scene of a fire, when the reply, can slow down the circulation speed of liquid through the mode of spilling sand, more be favorable to increasing the reply time, spill sand through artificial mode, need the fire fighter to enter into the scene of a fire, cause the danger that increases the fire fighter easily, consequently just need supplementary sand operation with the robot.
Disclosure of Invention
The invention aims to make up for the defects of the prior art and provides an auxiliary robot for fire fighting, which has the advantages of blocking the circulation of liquid combustion bodies and having good effects of sanding and fire resistance.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an auxiliary robot is used in fire control, includes the chassis, the last fixed surface of chassis installs the sandbox, the outside fixed mounting of chassis has actuating mechanism, conveying mechanism is installed to the lower part of sandbox, the left surface fixed mounting of sandbox has bath mechanism, the upper portion fixed mounting of sandbox right flank has adjustment mechanism.
Actuating mechanism includes drive wheel, track, servo motor one and bearing one, a servo motor fixed mounting is both sides around the chassis bottom surface, and is two sets of bearing one is fixed the left and right sides of inlaying in the chassis bottom respectively, the stiff end of drive wheel is fixed the inner circle of inlaying at every bearing one respectively, two the output of servo motor one is respectively with the stiff end fixed connection of two drive wheels on right side, and is two sets of all connect through the track transmission between the drive wheel.
The conveying mechanism comprises a limiting frame, a servo motor II, a driving gear, an auxiliary gear, through holes, a bearing II, a feeding groove I, a communicating groove, a bearing III, a fixing groove, a material conveying shaft, a rotating shaft, a feeding groove II, a guide plate and a connecting block, wherein the limiting frame is fixedly arranged on the front side and the rear side of the bottom surface of the chassis through the connecting block, the through holes are arranged on the lower portion of the left side surface of the sandbox at equal intervals, the communicating grooves are arranged on the inner bottom wall of the sandbox at equal intervals, each communicating groove is communicated with each through hole respectively, the rotating shaft is arranged inside each through hole respectively, the bearing II is fixedly arranged on the left side inside each through hole respectively, the left end of each rotating shaft penetrates through each bearing II and extends to the left side of the sandbox respectively, the outer surface of the left end of each rotating shaft is fixedly connected with the inner ring of each bearing II respectively, and the bearing III is fixedly arranged on the right side inside of each through hole respectively, every the right-hand member of pivot runs through every bearing three respectively and extends to the right side of bearing three, and the surface of pivot right-hand member and the inner circle fixed connection of bearing three, the lower part at the sandbox right flank is seted up to the fixed slot, two fixed mounting of servo motor are in the inside of fixed slot, and the output of servo motor two and the pivot right-hand member fixed connection in the middle of.
The utility model discloses a sandbox, including drive gear, auxiliary gear, defeated material axle, lower silo one, chassis upper surface, drive gear is fixed mounting respectively at the left end of pivot, auxiliary gear articulates in the lower part of sandbox left surface through the round pin axle is fixed respectively, and every auxiliary gear meshes with two adjacent drive gear respectively mutually, defeated material axle is fixed mounting respectively and is located the inside surface of through-hole in every pivot, the left side at every through-hole diapire is seted up respectively to lower silo one, the left side at the chassis upper surface is seted up to two equidistance arrangements of lower silo, and every lower silo two is linked together with every lower silo one respectively.
The flushing mechanism comprises a water guide pipe, a water tank, a mounting groove, a water pump, a flow distribution box, a water spraying head and a connecting pipe, wherein the water tank is fixedly mounted on the right side face of the sandbox through a connecting piece, the mounting groove is formed in the lower portion inside the water tank, the water pump is fixedly mounted in the mounting groove, the water guide pipe is fixedly mounted at the output end of the water pump, the flow distribution box is fixedly mounted at one end, away from the water pump, of the water guide pipe, the flow distribution box is fixedly connected with the back face of a limiting frame at the rear side, the water spraying heads are fixedly mounted at the back face of the flow distribution box in an equidistant mode, the connecting pipe is fixedly mounted at.
Adjustment mechanism includes articulated piece, camera body, electric putter, articulated seat and apical groove, the apical groove is seted up on the upper portion of sandbox left surface, articulated piece fixed mounting is on the upper portion of apical groove inside wall, the stiff end of camera body is through the fixed hinge joint in the inside of articulated piece of round pin axle, articulated seat fixed mounting is in the lower part of apical groove inside wall, electric putter's stiff end is through the fixed hinge joint in the inside of articulated seat of round pin axle, and electric putter's flexible end is fixed articulated in the left side of camera body bottom surface.
Furthermore, a protection frame is fixedly mounted on the lower portion of the left side face of the sandbox, and a gap is reserved between the inner side wall of the protection frame and the outer surfaces of the driving gear and the auxiliary gear.
Through adopting above-mentioned technical scheme, better protecting drive gear and auxiliary gear through the protection frame to can avoid drive gear and auxiliary gear to take place the problem of interference collision when rotating with the protection frame.
Further, guide board fixed mounting is in the left side of chassis bottom surface, and the domatic of guide board is located silo two under down.
Through adopting above-mentioned technical scheme, better guide the sand that falls through the guide board to make better the concentrating of sand through the curb plate on the guide board.
Furthermore, the length value of the feeding groove II is equal to that of the feeding groove I, and the width value of the feeding groove II is equal to that of the feeding groove I.
Through adopting above-mentioned technical scheme, better messenger's sand is more smooth and easy when the whereabouts, avoids causing the problem of jam.
Furthermore, a gap is reserved between the right side face of the driving gear and the left side face of the sandbox.
Through adopting above-mentioned technical scheme, avoid drive gear to cause the problem of friction interference with sandbox left surface when rotatory.
Furthermore, the horizontal plane where the bottom surface of the limiting frame is located is higher than the bottom surface of the crawler.
Through adopting above-mentioned technical scheme, avoid the problem of spacing and ground interference at the antecedent in-process.
Compared with the prior art, this auxiliary robot for fire control possesses following beneficial effect:
1. the driving mechanism is arranged, in the using process, the servo motor I is operated to drive the two driving wheels on the right side to rotate, so that the two driving wheels on the left side are matched to drive the crawler belt to rotate to drive the device to move forwards or backwards, and the two single servo motors I are used for realizing the turning effect through the rotating speed difference between the two servo motors I during turning, so that the moving turning effect of the device during sand scattering is better improved.
2. The invention is provided with the sand box, in use, prepared sand is filled in the sand box, the middle rotating shaft is driven to rotate by the clockwise rotation of the servo motor II, so that the driving gear at the left end of the middle rotating shaft synchronously rotates, the driving gears at two sides are driven to synchronously rotate by the auxiliary gears, the rotation directions of the driving gears are kept consistent by the transmission of the auxiliary gears, the conveying shafts on the rotating shafts are driven to clockwise rotate, the sand in the sand box is conveyed to the left side from the through hole in the rotating process, the sand is firstly led out downwards through the discharging groove, falls to the slope surface of the guide plate at the bottom through the discharging groove II, the sand is scattered on the ground through the guide plate, and is extruded by the two limiting frames to be close to the middle part and generate the bulge, better circulation to liquid burning thing is hindered, increases the response time for the fire control is put out a fire, has improved the device's effect of spilling sand.
3. By arranging the flushing mechanism, in the advancing process of the device, water or liquid fire extinguishing materials prestored in the water tank can be pumped out through the operation of the water pump, and are guided to the interior of the flow distribution box through the water guide pipe and sprayed out from each water spray head, and the edge of the liquid combustion object can be impacted, so that the device can improve certain effect on the flow resistance of the liquid combustion object.
4. According to the invention, the adjusting mechanism is arranged, when the device moves, the front of the device is observed through the camera body, so that the device is better controlled to advance along a favorable running route, the angle of the camera body is adjusted through the extension of the extension end of the electric push rod, and the picture obtaining effect of the device is improved.
5. The fire-fighting auxiliary robot is internally provided with a main control box, a rechargeable power supply and a controller which can be used for the auxiliary robot to run are arranged in the control box, the controller can control the starting, closing, rotating direction, rotating speed, rotating angle and response time of a servo motor I and a servo motor II, the main control box can transmit pictures acquired by a camera body in real time, the controller can control the starting, closing, stretching and stretching lengths of an electric push rod, and the controller can control the running state of a water pump, so that the fire-fighting auxiliary robot can be better controlled and managed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a view showing the mounting position of a second servo motor according to the present invention;
FIG. 4 is a view showing the mounting positions of the driving gear and the auxiliary gear according to the present invention;
FIG. 5 is a schematic view of the sandbox of the present invention;
FIG. 6 is a cross-sectional view of a sandbox in accordance with the present invention;
FIG. 7 is a bottom view of the sandbox of the present invention;
FIG. 8 is a schematic view of a feeding shaft according to the present invention;
FIG. 9 is a schematic view of the outer structure of the chassis of the present invention;
FIG. 10 is a view of an inlay position of the bearing of the present invention;
FIG. 11 is a schematic view of the structure of the guide plate according to the present invention;
FIG. 12 is a schematic view of a spacing frame according to the present invention;
FIG. 13 is a view showing an installation position of a water guide duct according to the present invention;
FIG. 14 is a schematic view of the flush mechanism of the present invention;
FIG. 15 is a view showing the installation position of the connection pipe of the present invention.
In the figure: 1-underframe, 2-sandbox, 3-driving mechanism, 301-driving wheel, 302-crawler belt, 303-servomotor I, 304-bearing I, 4-conveying mechanism, 401-limiting frame, 402-servomotor II, 403-driving gear, 404-auxiliary gear, 405-through hole, 406-bearing II, 407-blanking groove I, 408-communicating groove, 409-bearing III, 410-fixing groove, 411-conveying shaft, 412-rotating shaft, 413-blanking groove II, 414-guide plate, 415-connecting block, 5-flushing mechanism, 501-water guide pipe, 502-water tank, 503-mounting groove, 504-water pump, 505-flow dividing box, 506-water spray head, 507-connecting pipe and 6-adjusting mechanism, 601-hinging block, 602-camera body, 603-electric push rod, 604-hinging seat, 605-top groove and 7-protective frame.
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.
Referring to fig. 1-15, the present invention provides a technical solution: the utility model provides an auxiliary robot for fire control, includes chassis 1, and the last fixed surface of chassis 1 installs sandbox 2, and the outside fixed mounting of chassis 1 has actuating mechanism 3, and conveying mechanism 4 is installed to the lower part of sandbox 2, and the left surface fixed mounting of sandbox 2 has bath mechanism 5, and the upper portion fixed mounting of the 2 right flank of sandbox has adjustment mechanism 6.
The driving mechanism 3 comprises a driving wheel 301, a caterpillar track 302, a first servo motor 303 and a first bearing 304, the first servo motor 303 is fixedly installed on the front side and the rear side of the bottom surface of the underframe 1, the first two sets of bearings 304 are respectively fixedly embedded on the left side and the right side of the bottom end of the underframe 1, the fixed end of the driving wheel 301 is respectively fixedly embedded in the inner ring of the first bearing 304, the output ends of the first two servo motors 303 are respectively fixedly connected with the fixed ends of the two driving wheels 301 on the right side, and the two sets of driving wheels 301 are all in transmission connection through the caterpillar track 302.
The conveying mechanism 4 comprises a limiting frame 401, a servo motor II 402, a driving gear 403, an auxiliary gear 404, through holes 405, a bearing II 406, a blanking groove I407, a communicating groove 408, a bearing III 409, a fixing groove 410, a material conveying shaft 411, a rotating shaft 412, a blanking groove II 413, a guide plate 414 and a connecting block 415, the limiting frame 401 is fixedly arranged at the front side and the rear side of the bottom surface of the underframe 1 through the connecting block 415, the through holes 405 are arranged at the lower part of the left side surface of the sand box 2 at equal intervals, the communicating grooves 408 are arranged at the inner bottom wall of the sand box 2 at equal intervals, each communicating groove 408 is respectively communicated with each through hole 405, the rotating shaft 412 is respectively arranged in each through hole 405, the bearing II 406 is respectively fixedly arranged at the left side in each through hole 405, the left end of each rotating shaft 412 respectively penetrates through each bearing II 406 and extends to the left side of the sand box 2, and the outer surface of the left end of each rotating shaft 412 is respectively fixedly connected with the inner ring of each bearing II 406, the bearing three 409 is fixedly installed on the right side inside each through hole 405, the right end of each rotating shaft 412 penetrates through the bearing three 409 and extends to the right side of the bearing three 409, the outer surface of the right end of the rotating shaft 412 is fixedly connected with the inner ring of the bearing three 409, the fixing groove 410 is formed in the lower portion of the right side face of the sandbox 2, the servo motor two 402 is fixedly installed inside the fixing groove 410, and the output end of the servo motor two 402 is fixedly connected with the right end of the rotating shaft 412 in the middle.
The driving gears 403 are respectively and fixedly installed at the left ends of the rotating shafts 412, the auxiliary gears 404 are respectively and fixedly hinged to the lower portion of the left side face of the sandbox 2 through pin shafts, each auxiliary gear 404 is respectively meshed with two adjacent driving gears 403, the conveying shafts 411 are respectively and fixedly installed on the outer surface, located inside the through holes 405, of each rotating shaft 412, the first discharging grooves 407 are respectively arranged on the left side of the inner bottom wall of each through hole 405, the second discharging grooves 413 are arranged on the left side of the upper surface of the chassis 1 at equal intervals, and each second discharging groove 413 is respectively communicated with each first discharging groove 407.
Furthermore, protection frame 7 is fixedly installed on the lower portion of the left side face of sandbox 2, a gap is reserved between the inner side wall of protection frame 7 and the outer surfaces of driving gear 403 and auxiliary gear 404, driving gear 403 and auxiliary gear 404 are better protected through protection frame 7, and the problem of interference and collision between driving gear 403 and auxiliary gear 404 during rotation and protection frame 7 can be avoided.
Further, the guide plate 414 is fixedly installed on the left side of the bottom surface of the underframe 1, the slope surface of the guide plate 414 is located under the lower trough two 413, falling sand is better guided by the guide plate 414, and the sand is better concentrated by the side plate on the guide plate 414.
Further, the length value of the second discharging groove 413 is equal to the length value of the first discharging groove 407, and the width value of the second discharging groove 413 is equal to the width value of the first discharging groove 407, so that sand can fall more smoothly, and the problem of blockage is avoided.
Further, a gap is reserved between the right side face of the driving gear 403 and the left side face of the sandbox 2, and the problem that the driving gear 403 and the left side face of the sandbox 2 are in friction interference when rotating is avoided.
Further, the horizontal plane of the bottom surface of the limiting frame 401 is higher than the bottom surface of the crawler belt 302, so that the problem of interference between the limiting frame 401 and the ground in the advancing process is avoided.
The working principle is as follows: sand is led into the sand box 2, water or fire extinguishing liquid is led into the water tank 502, the first servo motor 303, the second servo motor 402, the camera body 602, the electric push rod 603 and the water pump 504 are connected with a power supply through a controller, the first servo motor 303 is driven by the controller to rotate anticlockwise to drive the two driving wheels 301 on the right side to rotate, so that the two driving wheels 301 on the left side are matched to drive the crawler belt 302 to rotate to drive the device to move forwards, when turning is needed, the first servo motor 303 on the turning side is controlled by the controller to reduce the rotating speed, so that the turning effect is realized through the rotating speed difference, the front of the device is observed through the camera body 602, a front picture is better obtained through the main control box, when the picture angle needs to be adjusted, the telescopic end of the electric push rod 603 is driven by the controller to stretch, thereby adjusting the angle of the camera body 602, the clockwise rotation of the second servo motor 402 is driven by the controller to drive the middle rotating shaft 412 to rotate, the driving gear 403 at the left end of the middle rotating shaft 412 rotates synchronously, the driving gears 403 at two sides are driven by the auxiliary gears 404 to rotate synchronously, the transmission of the auxiliary gears 404 ensures that the rotating direction of each driving gear 403 is consistent, the material conveying shaft 411 on each rotating shaft 412 is driven to rotate clockwise, the sand in the sand box 2 is conveyed to the left side from the through hole 405 in the rotating process, the sand is led out downwards when passing through the first discharging groove 407, falls to the slope surface of the guide plate 414 at the bottom through the second discharging groove 413, the sand is scattered on the ground through the guide plate 414, and is extruded through the two limiting frames 401, so that the sand is close to the middle part and generates a bulge, better circulation to liquid burning thing hinders, increase the reply time for fire control puts out a fire, the device's sand effect that spills has been improved, go forward the in-process at the device, operate through controller drive water pump 504, thereby will prestore the water or the liquid fire extinguishing material in water tank 502 and take out, and guide to the inside of shunting box 505 through aqueduct 501, spout from each sprinkler head 506, can strike the edge of liquid burning thing, thereby make the device improve certain effect to the choked flow of liquid burning thing.
In the description of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. It is noted that, herein, relational terms such as "first," "second," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an auxiliary robot is used in fire control, includes chassis (1), its characterized in that: a sandbox (2) is fixedly mounted on the upper surface of the underframe (1), a driving mechanism (3) is fixedly mounted on the outer side of the underframe (1), a conveying mechanism (4) is mounted on the lower portion of the sandbox (2), a flushing mechanism (5) is fixedly mounted on the left side surface of the sandbox (2), and an adjusting mechanism (6) is fixedly mounted on the upper portion of the right side surface of the sandbox (2);
the driving mechanism (3) comprises driving wheels (301), a crawler belt (302), first servo motors (303) and first bearings (304), the first servo motors (303) are fixedly installed on the front side and the rear side of the bottom surface of the chassis (1), the two groups of first bearings (304) are fixedly embedded on the left side and the right side of the bottom end of the chassis (1) respectively, the fixed ends of the driving wheels (301) are fixedly embedded in the inner ring of each first bearing (304) respectively, the output ends of the two first servo motors (303) are fixedly connected with the fixed ends of the two driving wheels (301) on the right side respectively, and the two groups of driving wheels (301) are in transmission connection through the crawler belt (302);
the conveying mechanism (4) comprises a limiting frame (401), a servo motor II (402), a driving gear (403), an auxiliary gear (404), through holes (405), a bearing II (406), a feeding groove I (407), communicating grooves (408), a bearing III (409), fixing grooves (410), a feeding shaft (411), a rotating shaft (412), a feeding groove II (413), a guide plate (414) and a connecting block (415), wherein the limiting frame (401) is fixedly arranged on the front side and the rear side of the bottom surface of the bottom frame (1) through the connecting block (415), the through holes (405) are arranged on the lower portion of the left side surface of the sandbox (2) at equal intervals, the communicating grooves (408) are arranged on the inner bottom wall of the sandbox (2) at equal intervals, each communicating groove (408) is respectively communicated with each through hole (405), the rotating shaft (412) is respectively arranged inside each through hole (405), the bearing II (406) is respectively fixedly arranged on the left side inside each through hole (405), the left end of each rotating shaft (412) penetrates through each bearing II (406) and extends to the left side of the sandbox (2), the outer surface of the left end of each rotating shaft (412) is fixedly connected with the inner ring of each bearing II (406), the bearing III (409) is fixedly installed on the right side of the inside of each through hole (405), the right end of each rotating shaft (412) penetrates through each bearing III (409) and extends to the right side of the bearing III (409), the outer surface of the right end of each rotating shaft (412) is fixedly connected with the inner ring of the bearing III (409), the fixing groove (410) is formed in the lower portion of the right side face of the sandbox (2), the servo motor II (402) is fixedly installed inside the fixing groove (410), the output end of the servo motor II (402) is fixedly connected with the right end of the rotating shaft (412) in the middle, the horizontal plane where the bottom face of the limiting frame (401) is located is higher than the bottom face of the crawler belt (302), the sand in the sand box (2) is conveyed to the left side from the inside of the through hole (405) in the rotating process of the conveying shaft (411), the sand is downwards guided out when passing through the first discharging groove (407), and falls to the slope surface of the guide plate (414) at the bottom through the second discharging groove (413), so that the sand is scattered on the ground through the guide plate (414), and the sand is extruded through the two limiting frames (401) and is drawn close to the middle part to generate a bulge, so that the liquidity of liquid combustion materials is better blocked, and the coping time is increased for fire fighting;
the driving gears (403) are fixedly arranged at the left ends of the rotating shafts (412), the auxiliary gears (404) are fixedly hinged to the lower portion of the left side face of the sandbox (2) through pin shafts respectively, each auxiliary gear (404) is meshed with two adjacent driving gears (403) respectively, the conveying shafts (411) are fixedly arranged on the outer surface, located inside the through holes (405), of each rotating shaft (412), the first discharging grooves (407) are arranged on the left side of the inner bottom wall of each through hole (405) respectively, the second discharging grooves (413) are arranged on the left side of the upper surface of the underframe (1) at equal intervals, and each second discharging groove (413) is communicated with each first discharging groove (407) respectively;
the flushing mechanism (5) comprises a water guide pipe (501), a water tank (502), a mounting groove (503), a water pump (504), a shunting box (505), a water spraying head (506) and a connecting pipe (507), wherein the water tank (502) is fixedly mounted on the right side surface of the sandbox (2) through a connecting piece, the mounting groove (503) is formed below the inside of the water tank (502), the water pump (504) is fixedly mounted inside the mounting groove (503), the water guide pipe (501) is fixedly mounted at the output end of the water pump (504), the shunting box (505) is fixedly mounted at one end, far away from the water pump (504), of the water guide pipe (501), the shunting box (505) is fixedly connected with the back surface of a limiting frame (401) at the rear part, the water spraying heads (506) are fixedly mounted on the back surface of the shunting box (505) at equal intervals, and the connecting pipe (507) is fixedly mounted at the input end of the water pump (504), the top end of the connecting pipe (507) is fixedly communicated with the lower part of the inner side wall of the water tank (502);
adjustment mechanism (6) are including articulated piece (601), camera body (602), electric putter (603), articulated seat (604) and top groove (605), the upper portion at sandbox (2) left surface is seted up in top groove (605), articulated piece (601) fixed mounting is on the upper portion of top groove (605) inside wall, the stiff end of camera body (602) is through the fixed hinge joint of round pin axle in the inside of articulated piece (601), articulated seat (604) fixed mounting is in the lower part of top groove (605) inside wall, the stiff end of electric putter (603) is through the fixed hinge joint of round pin axle in the inside of articulated seat (604), and the flexible end of electric putter (603) is fixed articulated with the left side of camera body (602) bottom surface.
2. A fire fighting auxiliary robot as defined in claim 1, wherein: the lower part of the left side surface of the sandbox (2) is fixedly provided with a protective frame (7), and a gap is reserved between the inner side wall of the protective frame (7) and the outer surfaces of the driving gear (403) and the auxiliary gear (404).
3. A fire fighting auxiliary robot as defined in claim 1, wherein: the guide plate (414) is fixedly arranged on the left side of the bottom surface of the bottom frame (1), and the slope surface of the guide plate (414) is positioned right below the discharging groove II (413).
4. A fire fighting auxiliary robot as defined in claim 1, wherein: the length value of the second feeding groove (413) is equal to that of the first feeding groove (407), and the width value of the second feeding groove (413) is equal to that of the first feeding groove (407).
5. A fire fighting auxiliary robot as defined in claim 1, wherein: a gap is reserved between the right side face of the driving gear (403) and the left side face of the sandbox (2).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010866162.9A CN111956989B (en) | 2020-08-25 | 2020-08-25 | Auxiliary robot for fire fighting |
| CN202110617435.0A CN113332645B (en) | 2020-08-25 | 2020-08-25 | Auxiliary robot for fire fighting and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010866162.9A CN111956989B (en) | 2020-08-25 | 2020-08-25 | Auxiliary robot for fire fighting |
Related Child Applications (1)
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Citations (8)
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| US6798343B2 (en) * | 2000-05-19 | 2004-09-28 | Carba Fire Technologies Inc | Mobile emergency response platform |
| US20140231106A1 (en) * | 2013-02-15 | 2014-08-21 | Nathanial Henry Lewis | Assist unit for large outdoor fires background of the invention |
| CN106267643A (en) * | 2016-07-31 | 2017-01-04 | 丁乃祥 | Field extinguishing device |
| CN107233680A (en) * | 2017-05-19 | 2017-10-10 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
| CN206924288U (en) * | 2017-07-11 | 2018-01-26 | 江西荣和特种消防设备制造有限公司 | A kind of Novel firefighting sandbox |
| CN107899165A (en) * | 2017-10-31 | 2018-04-13 | 成都起能起重设备技术服务有限公司 | A kind of multifunctional fire-fighting sandbox |
| CN210170724U (en) * | 2019-04-28 | 2020-03-24 | 徐工集团工程机械有限公司 | Spiral scattering container and fire engine |
| CN210793393U (en) * | 2019-11-04 | 2020-06-19 | 中国计量大学 | Six sufficient C type leg track compound robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8973671B2 (en) * | 2011-11-04 | 2015-03-10 | King Abdulaziz City For Science And Technology | Smart compact indoor firefighting robot for extinguishing a fire at an early stage |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN108379762A (en) * | 2018-03-30 | 2018-08-10 | 梁慧薇 | A kind of multifunctional fire-fighting firefighting robot |
| CN109568850A (en) * | 2018-11-08 | 2019-04-05 | 湖南新业态智慧消防科技有限公司 | A kind of auxiliary support apparatus of fire-fighting robot |
| CN109568853A (en) * | 2018-11-29 | 2019-04-05 | 宁夏庄周梦蝶科技有限公司 | A kind of indoor rescue fire-fighting equipment and its smoke exhaust method discharged fume |
| CN109501879B (en) * | 2018-12-28 | 2020-01-24 | 尚一盛世(北京)科技有限公司 | Trackable tracked crawler robot with strong anti-collision capacity |
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2020
- 2020-08-25 CN CN202110617435.0A patent/CN113332645B/en active Active
- 2020-08-25 CN CN202010866162.9A patent/CN111956989B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6798343B2 (en) * | 2000-05-19 | 2004-09-28 | Carba Fire Technologies Inc | Mobile emergency response platform |
| US20140231106A1 (en) * | 2013-02-15 | 2014-08-21 | Nathanial Henry Lewis | Assist unit for large outdoor fires background of the invention |
| CN106267643A (en) * | 2016-07-31 | 2017-01-04 | 丁乃祥 | Field extinguishing device |
| CN107233680A (en) * | 2017-05-19 | 2017-10-10 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
| CN206924288U (en) * | 2017-07-11 | 2018-01-26 | 江西荣和特种消防设备制造有限公司 | A kind of Novel firefighting sandbox |
| CN107899165A (en) * | 2017-10-31 | 2018-04-13 | 成都起能起重设备技术服务有限公司 | A kind of multifunctional fire-fighting sandbox |
| CN210170724U (en) * | 2019-04-28 | 2020-03-24 | 徐工集团工程机械有限公司 | Spiral scattering container and fire engine |
| CN210793393U (en) * | 2019-11-04 | 2020-06-19 | 中国计量大学 | Six sufficient C type leg track compound robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113332645B (en) | 2022-07-29 |
| CN111956989A (en) | 2020-11-20 |
| CN113332645A (en) | 2021-09-03 |
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