CN112972953B - Height-lifting type near-attack fire-fighting robot and operation method thereof - Google Patents

Height-lifting type near-attack fire-fighting robot and operation method thereof Download PDF

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Publication number
CN112972953B
CN112972953B CN202110374236.1A CN202110374236A CN112972953B CN 112972953 B CN112972953 B CN 112972953B CN 202110374236 A CN202110374236 A CN 202110374236A CN 112972953 B CN112972953 B CN 112972953B
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lifting
connecting rod
fire
arm
dry powder
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CN112972953A (en
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张琪
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Shenzhen Beike Robot Co ltd
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Shenzhen Beike Robot Co ltd
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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
    • A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • 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
    • F25D31/00—Other cooling or freezing apparatus

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Thermal Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a height lifting type near-attack fire-fighting robot which comprises a movable chassis assembly, a water medium fire-fighting assembly, a dry powder medium fire-fighting assembly and an automatic lifting assembly, wherein the movable chassis assembly is arranged on the movable chassis assembly; the movable chassis assembly comprises a chassis body, crawler belt modules are arranged on two sides of the chassis body, and driving modules for driving the crawler belt modules to move and turn are arranged on the chassis body; the automatic lifting assembly comprises a base, a lifting scissor-type supporting rod, a lifting hydraulic arm and a lifting platform; the aqueous medium fire extinguishing assembly comprises a fire water monitor, a water inlet and a telescopic lifting pipeline; the dry powder medium fire extinguishing assembly comprises a dry powder spray head, a dry powder pipeline and a dry powder tank. The lifting scissor type support rod structure and the like are adopted, so that the lifting platform carrying the fire water monitor, the dry powder nozzle and the like can be controlled to vertically lift, only a cylindrical area above the robot is occupied in the process of executing fire extinguishing operation, the required fire protection space is small, and the fire can be closely attacked and extinguished in a fire area in a narrow space.

Description

Height-lifting type near-attack fire-fighting robot and operation method thereof
Technical Field
The invention relates to the field of special robots, in particular to a height lifting type near-attack fire-fighting robot and an operation method thereof.
Background
At present, with the increasing number of urban high-rise and super high-rise buildings, dozens of meters or even hundreds of meters of high-rise buildings can face the fire-fighting problem once a fire disaster occurs. In addition, some transformer substations, power plants, corresponding transmission lines and the like are externally provided with noise reduction, heat insulation and other protection devices, and are shielded by the external protection devices after fire disasters occur, so that great obstacles are brought to fire fighting work. The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The field commander can use the method to perform early suppression and make scientific judgment on the disaster situation in time according to the feedback result, thereby making a correct and reasonable decision on the field work of the disaster accident.
At present, the traditional crawler-type and wheel-type fire-fighting robots are difficult to reach more than 80 meters for fire extinguishing and fire rescue due to reasons such as water pressure. Therefore, some fire-fighting robots adopt lifting devices to send the jet fire-extinguishing equipment into high-rise buildings, and realize fire extinguishment for the high-rise buildings. However, the lifting devices provided in these fire-fighting robots are extended by means of a folding aerial ladder structure or a boom structure, and the boom structure needs to adopt a structure such as a connecting arm to control the top platform to retract forward or backward when lifting is performed, which not only requires a suitably large deployment space, but also requires a relatively high requirement for the length of a transportation vehicle body and the chassis support performance because the center of gravity of the lifting device is constantly changed, and fire extinguishing cannot be performed in an ignition area (such as a high-voltage line in a transformer substation) in a narrow space, and the time for fire extinguishing is delayed.
Disclosure of Invention
Based on the technical problems, the invention provides a height lifting type near-attack fire-fighting robot and an operation method thereof.
The technical solution adopted by the invention is as follows:
a height lifting type near-attack fire-fighting robot comprises a movable chassis assembly, a water medium fire-fighting assembly, a dry powder medium fire-fighting assembly and an automatic lifting assembly;
the movable chassis assembly comprises a chassis body, crawler belt modules are arranged on two sides of the chassis body, and driving modules for driving the crawler belt modules to move and turn are arranged on the chassis body;
the automatic lifting assembly comprises a base, a lifting scissor-type supporting rod, a lifting hydraulic arm and a lifting platform;
the base comprises a first fixing base, a first guide base and a first guide transverse shaft, the first fixing base and the first guide base are both fixed on the chassis body, a first rear connecting rod is arranged on the first fixing base, the first guide transverse shaft and the first rear connecting rod are arranged in parallel, first guide sliding blocks are arranged at two ends of the first guide transverse shaft, and a first guide sliding groove matched with the first guide sliding blocks is arranged on the first guide base;
the lifting scissor type supporting rods comprise a bottom lifting scissor type supporting rod, a top lifting scissor type supporting rod and at least one middle lifting scissor type supporting rod, the bottom lifting scissor type supporting rod, the top lifting scissor type supporting rod and the middle lifting scissor type supporting rod respectively comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod and the second connecting rod are arranged in a crossed mode, and the middle position of the first connecting rod is hinged to the middle position of the second connecting rod through a first scissor shaft; the third connecting rod and the fourth connecting rod are arranged in a crossed manner, and the middle position of the third connecting rod is hinged with the middle position of the fourth connecting rod through a second shear shaft; the plane where the first connecting rod and the second connecting rod are located is parallel to the plane where the third connecting rod and the fourth connecting rod are located;
the bottoms of a first connecting rod and a third connecting rod in the bottom lifting scissor type supporting rod are respectively and rotatably fixed at two ends of a first rear connecting rod of the base, and the bottoms of a second connecting rod and a fourth connecting rod in the bottom lifting scissor type supporting rod are respectively and rotatably fixed at two ends of a first guide transverse shaft; the top of a first connecting rod and the top of a third connecting rod in the bottom lifting scissor-type support rod are connected through a first hinge shaft, and the bottom of a second connecting rod and the bottom of a fourth connecting rod in the middle lifting scissor-type support rod at the lowest part share the first hinge shaft with the top of the bottom lifting scissor-type support rod; the top of a second connecting rod and the top of a fourth connecting rod in the bottom lifting scissor-type support rod are connected through a second hinge shaft, and the bottom of a first connecting rod and the bottom of a third connecting rod in the middle lifting scissor-type support rod positioned at the lowest part share the second hinge shaft with the top of the bottom lifting scissor-type support rod;
the upper and lower adjacent middle lifting scissor type support rods share the first hinge shaft and the second hinge shaft; the tops of a first connecting rod and a third connecting rod in the uppermost middle lifting scissor type supporting rod and the bottom of the top lifting scissor type supporting rod share a first hinge shaft, and the tops of a second connecting rod and a fourth connecting rod in the uppermost middle lifting scissor type supporting rod and the bottom of the top lifting scissor type supporting rod share a second hinge shaft;
the lifting platform comprises a horizontally arranged supporting frame, a second fixing base and a second guide base are arranged on the supporting frame, a second rear connecting rod is arranged on the second fixing base, a second guide transverse shaft is arranged on the second guide base, the second guide transverse shaft and the second rear connecting rod are arranged in parallel, second guide sliding blocks are arranged at two ends of the second guide transverse shaft, and a second guide sliding groove matched with the second guide sliding blocks is arranged on the second guide base;
the tops of a first connecting rod and a third connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second rear connecting rod, and the tops of a second connecting rod and a fourth connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second guide transverse shaft; or the tops of a first connecting rod and a third connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second guide transverse shaft, and the tops of a second connecting rod and a fourth connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second rear connecting rod;
the lifting hydraulic arms are at least arranged in one group, the lifting hydraulic arms are connected between the bottom lifting scissor type support rod and the middle lifting scissor type support rod, the middle lifting scissor type support rod is arranged between the other middle lifting scissor type support rod above the middle lifting scissor type support rod, or the middle lifting scissor type support rod is arranged between the top lifting scissor type support rod and the middle lifting scissor type support rod;
each group of lifting hydraulic arms comprises a first lifting arm and a second lifting arm which are arranged in parallel, the top ends of the first lifting arm and the second lifting arm are respectively connected with the two ends of a lifting arm top connecting rod, and the bottom ends of the first lifting arm and the second lifting arm are respectively connected with the two ends of a lifting arm bottom connecting rod; the lifting arm top connecting rod is connected between the first connecting rod and the third connecting rod, and the lifting arm bottom connecting rod is connected between the second connecting rod and the fourth connecting rod; or the lifting arm top connecting rod is connected between the second connecting rod and the fourth connecting rod, and the lifting arm bottom connecting rod is connected between the first connecting rod and the third connecting rod;
the water medium fire extinguishing assembly comprises a fire water monitor, a water inlet and a telescopic lifting pipeline, the water inlet is communicated with the fire water monitor through the telescopic lifting pipeline, the water inlet is arranged on the chassis body, the fire water monitor is arranged on the lifting platform, and the telescopic lifting pipeline is vertically arranged in the middle of the chassis body; the telescopic lifting type pipeline comprises a plurality of straight pipes which are communicated in sequence, adjacent straight pipes are connected through a joint, the bottom of the straight pipe at the lowest part of the telescopic lifting type pipeline after being completely stretched is connected with a water inlet through a bent pipe, the top of the straight pipe at the uppermost part is connected with a fire monitor, and the straight pipe at the uppermost part is also connected with a supporting frame of the lifting platform;
the dry powder medium fire extinguishing assembly comprises a dry powder nozzle, a dry powder pipeline and a dry powder tank, the dry powder nozzle is communicated with the dry powder tank through the dry powder pipeline, the dry powder nozzle is arranged on the lifting platform, the dry powder tank is arranged on the chassis body, the dry powder pipeline comprises a plurality of hoses which are sequentially communicated, adjacent hoses are connected through U-shaped joints, the U-shaped joints are fixed on the free rotating arms, and the free rotating arms are connected to the first hinge shaft or the second hinge shaft.
Preferably, a plurality of supporting modules are symmetrically arranged at two ends of the chassis body; the supporting module comprises a first supporting arm, a swinging arm and a swinging arm hydraulic cylinder, the first supporting arm is fixed on the chassis body, the lower portion of the first supporting arm is hinged to one end of the swinging arm, the other end of the swinging arm is connected with the supporting disk through a second supporting arm, the cylinder body of the swinging arm hydraulic cylinder is hinged to the upper portion of the first supporting arm, and the end of the cylinder rod of the swinging arm hydraulic cylinder is hinged to the end portion of the swinging arm connecting supporting disk.
Preferably, the second support arm comprises an external support arm frame, the middle part of the external support arm frame is hinged with the end part of the swing arm through a rotating shaft, the tail end of the external support arm frame is connected with the support disc through a connecting column, the top end of the connecting column is fixedly connected with the external support arm frame, and the bottom end of the connecting column is hinged with the support disc;
the outer portion of the rotating shaft is sleeved with a torsion spring used for providing anticlockwise rotation force of the second support arm along the swing arm, and a limiting sensor is arranged inside the other end of the outer support arm frame.
Preferably, the two sides of the chassis body and the positions above the crawler belt modules are vertically provided with control boxes, a storage space is formed between the two control boxes, and the automatic lifting assembly is just positioned in the storage space after being folded and contracted.
Preferably, the telescopic lifting type pipeline is positioned between a vertical plane where the first connecting rod and the second connecting rod are positioned and a vertical plane where the third connecting rod and the fourth connecting rod are positioned; and the telescopic lifting type pipeline is also positioned between the first hinge shaft and the second hinge shaft.
Preferably, the free rotating arm comprises a strip-shaped fixing piece, the strip-shaped fixing piece is arranged in parallel with the first hinge shaft or the second hinge shaft, two ends of the strip-shaped fixing piece are provided with lugs at the same side, shaft holes are formed in the lugs, the first hinge shaft or the second hinge shaft penetrates through the shaft holes in the two ends of the strip-shaped fixing piece to be connected with the strip-shaped fixing piece, a fixing ring is arranged on the other side of the middle of the strip-shaped fixing piece, and the U-shaped joint is fixedly connected with the strip-shaped fixing piece through the fixing ring;
after the automatic lifting assembly is unfolded, the plurality of free rotating arms and the U-shaped joints fixed on the free rotating arms are arranged in a vertically staggered mode, and the dry powder pipeline is arranged in an S shape.
Preferably, this fire prevention robot that disappears still includes cloud platform fire disaster and trails the subassembly, cloud platform fire disaster trails the subassembly and includes binocular vision camera, infrared tracker, first camera, two-dimensional cloud platform and is used for controlling the lift module that two-dimensional cloud platform goes up and down, and binocular vision camera, infrared tracker and first camera all set up on two-dimensional cloud platform, and two-dimensional cloud platform is connected with lift module's top, and lift module's bottom is connected in lift platform's one end.
Preferably, the fire-fighting robot further comprises an observation sensing assembly and an energy assembly, wherein the observation sensing assembly comprises a second camera, a third camera, a light module and an obstacle avoidance module, the second camera and the third camera are respectively arranged at the front end and the rear end of the chassis body, and the light module and the obstacle avoidance module are arranged at the end part of the control box;
the energy component comprises a hydraulic station and a lithium battery pack, wherein the hydraulic station is used for controlling the lifting hydraulic arm and the swing arm hydraulic cylinder, the lithium battery pack is used for supplying power, the hydraulic station is arranged in the control box, and the lithium battery pack is arranged on the chassis body.
Preferably, this fire prevention robot that disappears still includes from the cooling subassembly, include automobile body cooling shower nozzle and hang track cooling shower nozzle from the cooling subassembly, automobile body cooling shower nozzle is through first cooling water pipeline and flexible over-and-under type pipeline intercommunication, it is linked together with the water inlet through second cooling water pipeline to hang track cooling shower nozzle.
The height lifting type near-attack fire-fighting operation method adopts the fire-fighting robot, and comprises the following steps:
(1) the robot moves to a target position;
the robot drives the crawler belt module to move forwards, backwards and turn through the chassis driving module and moves to a target position;
(2) the robot is self-fixed, and the automatic lifting assembly is extended to the height required by fire extinguishing;
after the robot reaches a target position, the swing arm is enabled to rotate along the first support arm by controlling the action of a swing arm hydraulic cylinder, the swing arm drives the support plate to move to a position completely attached to the ground, and four corners are leveled and fixed;
meanwhile, the lifting hydraulic arm is controlled to gradually extend out, so that the first connecting rod rotates relative to the second connecting rod, the third connecting rod rotates relative to the fourth connecting rod, the first guide sliding block slides along the first guide sliding groove, the second guide sliding block slides along the second guide sliding groove, the lifting scissor-type supporting rod is gradually unfolded, and the lifting platform gradually rises along with the unfolding of the lifting scissor-type supporting rod;
the fire water monitor and the dry powder spray head are driven to synchronously move upwards along with the rising of the lifting platform;
the telescopic lifting type pipeline connected with the fire water monitor extends out section by section;
the dry powder pipeline connected with the dry powder spray head is gradually pulled apart and is S-shaped, and the U-shaped joints arranged at intervals on the dry powder pipeline rotate to a proper angle along with the free rotating arm under the action of pulling external force;
(3) the robot extinguishes fire through dry powder and water jet;
the dry powder in the dry powder tank is conveyed to a dry powder spray head through a dry powder pipeline, is sprayed out by the dry powder spray head and is sprayed towards a fire point area;
the water source entering from the water inlet is conveyed to the fire water monitor through the telescopic lifting pipeline, and is sprayed out of the fire water monitor and sprayed to the fire point area;
(4) after the fire extinguishing task is finished, the robot resets;
after the earlier ignition point pressing task is completed or the fire extinguishing task is completed, the lifting scissor type supporting rod retracts and is accommodated by controlling the retraction of the lifting hydraulic arm;
meanwhile, the supporting plate is separated from the ground by controlling the action of the swing arm hydraulic cylinder;
the robot drives the crawler belt module to move to the initial position through the chassis driving module.
The beneficial technical effects of the invention are as follows:
the lifting scissor type support rod structure and the like are adopted, so that the lifting platform carrying the fire water monitor, the dry powder nozzle and the like can be controlled to vertically lift, only a cylindrical area above the robot is occupied in the process of executing fire extinguishing operation, the required fire protection space is small, and the fire can be closely attacked and extinguished in a fire area in a narrow space.
According to the invention, the four-corner leveling is carried out by adopting the vertically lifting scissor-type supporting rod structure and matching with the plurality of supporting modules, the center of gravity is always stable in the fire extinguishing distribution process, so that the requirements on the length of a transport vehicle body and the chassis supporting performance can be correspondingly reduced integrally, and greater safety is provided for fire fighting operation during lifting.
The supporting module structure adopted by the invention also has the advantages of large supporting area of the chassis, suitability for the operation in complex environments such as soft and muddy environments, small sinking degree and the like.
The water supply pipe of the fire water monitor adopts a vertical telescopic lifting type pipeline, and can be gradually extended along with the lifting of the lifting platform, so that the water flow of the fire water monitor is sufficient, the range is long, the fire extinguishing requirements of a transformer substation and the like can be met, and the problem that the existing water delivery hose is inconvenient to store is also avoided.
The U-shaped joints are arranged on the dry powder pipeline at intervals and fixed on the free rotating arms, and can rotate freely along with the pulling of the dry powder pipeline, and the structure is matched with the lifting shear type supporting rod structure to be unfolded, so that the dry powder conveying hose is ensured to float only in parallel, the large-angle bending of the dry powder hose is avoided, the normal conveying of the dry powder is ensured, and the dry powder hose is more regularly stored along with the retraction of the lifting shear type supporting rod.
The fire-fighting robot is also provided with a self-cooling assembly, and can be used for cooling water cannon platforms, scissor arms, chassis and the like, and the robot can still work normally in a high-temperature environment.
Drawings
The invention will be further described with reference to the following detailed description and drawings:
FIG. 1 is a first angular view of the fire fighting robot of the present invention in an extended state;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is another side view of FIG. 1;
FIG. 4 is a second perspective view of the fire fighting robot of the present invention in an extended state;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a third perspective view of the fire fighting robot of the present invention in an extended state;
FIG. 7 is an enlarged view of a portion of FIG. 6;
FIG. 8 is a fourth angular view of the fire fighting robot of the present invention in an extended state;
FIG. 9 is an enlarged view of a portion of FIG. 8;
FIG. 10 is a fifth angular view of the fire fighting robot of the present invention in an extended state;
FIG. 11 is an enlarged view of a portion of FIG. 10;
FIG. 12 is a schematic view showing the overall structure of a support module in the fire fighting robot according to the present invention;
FIG. 13 is a schematic structural diagram of a support module of the fire-fighting robot of the present invention, mainly illustrating the structure inside the second arm;
FIG. 14 is a bottom view of the fire fighting robot of the present invention;
FIG. 15 is a schematic structural view of the fire fighting robot according to the present invention in a folded state;
FIG. 16 is a side view of FIG. 15;
fig. 17 is a front view of fig. 15.
In the figure: 1-a movable chassis component, 2-an aqueous medium fire extinguishing component, 3-a dry powder medium fire extinguishing component, 4-an automatic lifting component, 5-a supporting module, 6-a control box, 7-a holder fire source tracking component, 8-an observation sensing component, 9-an energy component and 10-a vehicle body cooling spray head;
101-track module, 102-chassis driving module, 103-chassis body;
401-base, 402-lifting scissor type support rod, 403-lifting hydraulic arm, 404-lifting platform;
4011-a first fixed base, 4012-a first guide base, 4013-a first guide cross shaft, 4014-a first rear connecting rod, 4015-a first guide slider, 4016-a first guide chute;
4021-bottom lifting scissor type support rod, 4022-top lifting scissor type support rod, 4023-middle lifting scissor type support rod, 41-first connecting rod, 42-second connecting rod, 43-third connecting rod, 44-fourth connecting rod, 45-first shearing shaft, 46-second shearing shaft, 47-first hinge shaft and 48-second hinge shaft;
4031-first lifting arm, 4032-second lifting arm, 4033-lifting arm top link, 4034-lifting arm bottom link;
4041-support frame, 4042-second fixed base, 4043-second guide base, 4044-second rear connecting rod, 4045-second guide cross shaft, 4046-second guide slider, 4047-second guide chute;
201-fire water monitor, 202-water inlet, 203-telescopic lifting pipeline, 2031-straight pipe, 2032-joint, 2033-bent pipe and 2034-disc;
301-dry powder spray head, 302-dry powder pipeline, 303-dry powder tank, 304-U-shaped joint and 305-free rotating arm;
501-a first support arm, 502-a swing arm, 503-a swing arm hydraulic cylinder, 504-a second support arm, 505-a support plate, 5041-an external support arm frame, 5042-a rotating shaft, 5043-a connecting column, 5044-a universal ball, 5045-a limit sensor and 5046-a torsion spring; 506-swing arm control battery valve;
601-a receiving space;
3051-a strip-shaped fixing piece, 3052-a lug and 3053-a fixing ring;
701-a binocular vision camera, 702-an infrared tracker, 703-a first camera, 704-a two-dimensional tripod head, 705-a lifting module;
801-a second camera, 802-a third camera, 803-a light module, 804-an obstacle avoidance module;
901-hydraulic station, 902-lithium battery pack.
Detailed Description
With the combination of the attached drawings, the height lifting type near-attack fire-fighting robot comprises a mobile chassis assembly 1, a water medium fire-extinguishing assembly 2, a dry powder medium fire-extinguishing assembly 3 and an automatic lifting assembly 4. The mobile chassis component 1 is used for realizing power advancing and steering driving of a robot, and comprises: suspension modules, track modules 101, chassis drive modules 102 and chassis bodies 103. The traveling function drives the left and right suspension modules and the crawler belt module 101 to move forwards and backwards by means of the chassis driving module 102, and the steering function adopts differential speed or reverse driving. The two sides of the chassis body 103 are provided with suspension modules, the outer sides of the suspension modules are provided with crawler belt modules 101, and the chassis driving module 102 is arranged in the chassis body 103. The chassis body 103 is a body supporting fixture of the mobile chassis assembly 1.
The automatic lifting assembly 4 comprises a base 401, a lifting scissor jack 402, a lifting hydraulic arm 403 and a lifting platform 404. The base 401 includes a first fixed base 4011, a first guide base 4012, and a first guide lateral axis 4013, and the first fixed base 4011 and the first guide base 4012 are fixed to the chassis body 103. Be provided with first back connecting rod 4014 on first fixed baseplate 4011, first direction cross axle 4013 and first back connecting rod 4014 parallel arrangement are provided with first direction slider 4015 at the both ends of first direction cross axle, are provided with the first direction spout 4016 with first direction slider 4015 matched with on first direction base. The first guide base comprises two strip-shaped blocks which are arranged in parallel, and the first guide sliding grooves 4016 are formed on the opposite inner sides of the strip-shaped blocks.
The lifting scissor struts 402 include a bottom lifting scissor strut 4021, a top lifting scissor strut 4022, and at least one middle lifting scissor strut 4023, and the bottom lifting scissor strut 4021, the top lifting scissor strut 4022, and the middle lifting scissor strut 4023 each include a first link 41, a second link 42, a third link 43, and a fourth link 44. Wherein the first link 41 and the second link 42 are arranged crosswise, and the middle position of the first link and the middle position of the second link are hinged through a first shear shaft 45. The third link 43 and the fourth link 44 are arranged crosswise, and the middle position of the third link and the middle position of the fourth link are hinged through a second shear shaft 46. And the planes of the first connecting rod and the second connecting rod are parallel to the planes of the third connecting rod and the fourth connecting rod, and the two planes are vertical planes.
The bottoms of a first connecting rod and a third connecting rod in the bottom lifting scissor type supporting rod 4021 are respectively and rotatably fixed at the two ends of a first rear connecting rod 4014 of the base, and the bottoms of a second connecting rod and a fourth connecting rod in the bottom lifting scissor type supporting rod are respectively and rotatably fixed at the two ends of a first guide transverse shaft 4013. The tops of the first and third links in the bottom lifting scissor struts 4021 are connected by a first hinge axis 47, and the bottoms of the second and fourth links in the lowermost middle lifting scissor strut share the first hinge axis 47 with the top of the bottom lifting scissor strut. The tops of the second and fourth links in the bottom lifting scissor-type strut are connected by a second hinge axis 48, and the bottoms of the first and third links in the lowermost middle lifting scissor-type strut share the second hinge axis 48 with the top of the bottom lifting scissor-type strut.
The upper and lower adjacent middle lifting scissor type supporting rods share the first hinge shaft and the second hinge shaft. The tops of the first and third links in the uppermost intermediate lifting scissor strut 4023 share a first hinge axis with the bottom of the top lifting scissor strut 4022, and the tops of the second and fourth links in the uppermost intermediate lifting scissor strut share a second hinge axis with the bottom of the top lifting scissor strut.
The lifting platform 404 includes a horizontally disposed supporting frame 4041, a second fixing base 4042 and a second guiding base 4043 are disposed on the supporting frame, a second rear connecting rod 4044 is disposed on the second fixing base, a second guiding cross shaft 4045 is disposed on the second guiding base, and the second guiding cross shaft 4045 and the second rear connecting rod 4044 are disposed in parallel. A second guide sliding block 4046 is arranged at two ends of the second guide transverse shaft, and a second guide sliding groove 4047 matched with the second guide sliding block is arranged on the second guide base. The arrangement of the structure is the same as or similar to that of the base.
The tops of the first connecting rod and the third connecting rod in the top lifting scissor type supporting rod 4022 are respectively and rotatably fixed at two ends of the second rear connecting rod 4044, and the tops of the second connecting rod and the fourth connecting rod in the top lifting scissor type supporting rod are respectively and rotatably fixed at two ends of the second guide transverse shaft 4045. Or the tops of the first connecting rod and the third connecting rod in the top lifting scissor type supporting rod 4022 are respectively and rotatably fixed at the two ends of the second guide transverse shaft 4045, and the tops of the second connecting rod and the fourth connecting rod in the top lifting scissor type supporting rod are respectively and rotatably fixed at the two ends of the second rear connecting rod 4044.
The lifting hydraulic arms 403 are at least provided in one group, and the lifting hydraulic arms 403 are connected between a bottom lifting scissor type support rod and a middle lifting scissor type support rod, between the middle lifting scissor type support rod and another middle lifting scissor type support rod positioned above the middle lifting scissor type support rod, or between the middle lifting scissor type support rod and a top lifting scissor type support rod. Each group of lifting hydraulic arms comprises a first lifting arm 4031 and a second lifting arm 4032 which are arranged in parallel, the top ends of the first lifting arm 4031 and the second lifting arm 4032 are respectively connected with two ends of a lifting arm top connecting rod 4033, and the bottom ends of the first lifting arm 4031 and the second lifting arm 4032 are respectively connected with two ends of a lifting arm bottom connecting rod 4034. The lifting arm top connecting rod is connected between the first connecting rod and the third connecting rod, and the lifting arm bottom connecting rod is connected between the second connecting rod and the fourth connecting rod; or the top connecting rod of the lifting arm is connected between the second connecting rod and the fourth connecting rod, and the bottom connecting rod of the lifting arm is connected between the first connecting rod and the third connecting rod.
The figure only shows the situation that the middle lifting scissor type supporting rod 4023 and the lifting hydraulic arm 403 are arranged as one, and the principle is schematic, and in a specific application process, according to the lifting height requirement, the middle lifting scissor type supporting rod 4023 is arranged in a plurality, namely the plurality of middle lifting scissor type supporting rods 4023 are arranged in an up-and-down stacking mode. Specifically, the connection mode of the middle lifting scissor type support rod and the middle lifting scissor type support rod positioned above the middle lifting scissor type support rod is as follows: the top end of a first connecting rod of the middle lifting scissor type supporting rod is hinged with the bottom end of a second connecting rod of the upper adjacent middle lifting scissor type supporting rod, and the top end of the second connecting rod of the middle lifting scissor type supporting rod is hinged with the bottom end of the first connecting rod of the upper adjacent middle lifting scissor type supporting rod; correspondingly, the top end of the third connecting rod of the middle lifting scissor type supporting rod is hinged with the bottom end of the fourth connecting rod of the upper adjacent middle lifting scissor type supporting rod, and the top end of the fourth connecting rod of the middle lifting scissor type supporting rod is hinged with the bottom end of the third connecting rod of the upper adjacent middle lifting scissor type supporting rod. In addition, the top of the first connecting rod and the top of the third connecting rod of the middle lifting scissor type supporting rod are connected through a first hinge shaft, the top of the second connecting rod and the top of the fourth connecting rod of the middle lifting scissor type supporting rod are connected through a second hinge shaft, and the middle lifting scissor type supporting rod positioned above the middle lifting scissor type supporting rod share the first hinge shaft and the second hinge shaft.
The middle lifting scissor type supporting rods can be vertically connected end to end in series, and the number of the middle lifting scissor type supporting rods can be set to be 5, 12, 15 and the like; correspondingly, with the increase of the number of the middle lifting scissor type supporting rods, a plurality of lifting hydraulic arms 403 also need to be configured, and the plurality of lifting hydraulic arms 403 are arranged in parallel at a certain distance from top to bottom. In addition, the lifting hydraulic arm 403 is in an inclined and expanded arrangement state, and the arrangement mode has the advantages of large stroke, high bearing capacity and the like.
The water medium fire extinguishing assembly 2 mainly utilizes water jet to realize the fixed-point accurate fire extinguishing of a front common fire point. The water medium fire extinguishing assembly 2 comprises a fire water monitor 201, a water inlet 202 and a telescopic lifting type pipeline 203, wherein the water inlet 202 is communicated with the fire water monitor 201 through the telescopic lifting type pipeline 203. The fire monitor 201 can realize the transformation of the angle and the injection form of the fire monitor. The water inlet 202 is disposed at the rear of the chassis body 103 to connect an external water supply pipe. The fire water monitor 201 is arranged on the lifting platform 404, and the telescopic lifting type pipeline 203 is vertically arranged in the middle of the chassis body 103. The telescopic lifting type pipeline 203 comprises a plurality of straight pipes 2031 which are communicated in sequence, the adjacent straight pipes 2031 are connected through a joint 2032, the bottom of the lowest straight pipe of the telescopic lifting type pipeline after being completely stretched is connected with a water inlet 202 through an elbow 2033, the top of the highest straight pipe is connected with a fire water monitor 201, a disc 2034 is arranged outside the highest straight pipe, the disc 2034 is connected with a support frame 4041 of a lifting platform, and the telescopic lifting type pipeline 203 synchronously stretches along with the lifting of the support frame 4041.
The dry powder medium fire extinguishing component 3 can realize the extinguishing of special fire sources by using the dry powder medium. The dry powder medium fire extinguishing assembly 3 comprises a dry powder spray nozzle 301, a dry powder pipeline 302 and a dry powder tank 303, wherein the dry powder spray nozzle 301 is communicated with the dry powder tank 303 through the dry powder pipeline 302. The dry powder spray head 301 is arranged on the lifting platform 404, the dry powder tank 303 is arranged on the chassis body 103, the dry powder pipeline comprises a plurality of hoses which are sequentially communicated, adjacent hoses are connected through a U-shaped joint 304, the U-shaped joint 304 is fixed on a free rotating arm 305, and the free rotating arm 305 is connected to a first hinge shaft or a second hinge shaft.
According to the invention, the lifting platform 404 carrying the fire water monitor 201, the dry powder spray nozzle 301 and the like can be controlled to vertically lift by adopting the lifting scissor type support rod structure 402 and the like, only a cylindrical area above the robot is occupied in the process of executing fire extinguishing operation, the required fire protection space is small, and the fire can be closely attacked and extinguished in a fire area in a narrow space.
The water supply pipe of the fire water monitor adopts the vertical telescopic lifting type pipeline 203, and can be gradually extended along with the rising of the lifting platform, so that the water flow of the fire water monitor is sufficient, the range is long, the fire extinguishing requirements of a transformer substation and the like can be met, and the problem that the existing water delivery hose is inconvenient to store is also avoided. According to the invention, the U-shaped joints 304 are arranged on the dry powder pipeline at intervals, the U-shaped joints 304 are fixed on the free rotating arms 305, and can rotate freely along with the pulling of the dry powder pipeline, and the structure is matched with the opening of the lifting shear type supporting rod structure 402, so that the condition that the dry powder conveying hose only floats in parallel is ensured, the large-angle bending of the dry powder hose is avoided, the normal conveying of the dry powder is ensured, and the dry powder hose is more regularly stored along with the retraction of the lifting shear type supporting rod.
As a further design of the present invention, a plurality of support modules 5 are symmetrically disposed at both ends of the chassis body. The support module 5 comprises a first support arm 501, a swing arm 502 and a swing arm hydraulic cylinder 503, the first support arm 501 is fixed on the chassis body, the lower part of the first support arm 501 is hinged with one end of the swing arm 502, the other end of the swing arm 502 is connected with a support plate 505 through a second support arm 504, the cylinder body of the swing arm hydraulic cylinder 503 is hinged with the upper part of the first support arm, and the end of the rod of the swing arm hydraulic cylinder 503 is hinged with the end of the swing arm close to the connection support plate. A swing arm control battery valve 506 is disposed in the swing arm hydraulic cylinder 503.
More specifically, the second support arm 504 includes an external support arm 5041, the middle portion of the external support arm is hinged to the end of the swing arm through a rotating shaft 5042, the end of the external support arm is connected to the support plate 505 through a connecting column 5043, the top end of the connecting column 5043 is fixedly connected to the external support arm, and the bottom end of the connecting column is hinged to the support plate through a universal ball 5044. And a torsion spring 5046 for providing anticlockwise rotation force of the second support arm along the swing arm is sleeved outside the rotating shaft, and a limit sensor 5045 is arranged inside the other end of the external support arm frame. The limit sensor can be connected with a control device, the control device is connected with the swing arm control battery valve 506, and the swing arm hydraulic cylinder 503 can be controlled to stop acting after the support plate 505 is tightly attached to the ground through the limit sensor 5045.
The lifting scissor type support rod structure capable of vertically lifting is adopted, and the four corners of the lifting scissor type support rod structure are leveled by matching with the plurality of support modules, so that the center of gravity is always stable in the fire extinguishing distribution process, and the requirements on the length of a transport vehicle body and the chassis support performance can be correspondingly reduced integrally. In addition, the supporting module structure adopted by the invention also has the advantages of large supporting area of the chassis, suitability for the operation in complex environments such as soft and muddy environments, small sinking degree and the like.
The invention also provides a height lifting type near attack fire fighting operation method, which adopts the fire fighting robot and roughly comprises the following steps:
(1) the robot moves to a target position;
the robot drives the crawler belt module 101 to move forward, backward and turn through the chassis driving module 102, and moves to a target position.
(2) The robot is self-fixed, and the automatic lifting component extends to the height required by fire extinguishing.
After the robot reaches the target position, the swing arm is enabled to rotate along the first support arm by controlling the action of the swing arm hydraulic cylinder 503, the swing arm 502 drives the support plate 505 to move to the position completely attached to the ground, and four corners are leveled and fixed.
Meanwhile, the lifting hydraulic arm 403 is controlled to gradually extend, so that the first connecting rod rotates relative to the second connecting rod, the third connecting rod rotates relative to the fourth connecting rod, the first guide slider 4015 slides along the first guide sliding groove, the second guide slider 4046 slides along the second guide sliding groove, the lifting scissor-type strut is gradually unfolded, and the lifting platform 404 gradually rises along with unfolding of the lifting scissor-type strut.
Along with the rising of the lifting platform 404, the fire water monitor 201 and the dry powder spray nozzle 301 are driven to synchronously move upwards.
The telescopic lifting type pipeline 203 connected with the fire water monitor extends out section by section.
The dry powder pipeline connected with the dry powder spray head is gradually pulled apart to form an S shape, and the U-shaped joints 304 arranged at intervals on the dry powder pipeline rotate to a proper angle along with the free rotating arm under the action of pulling external force.
(3) The robot extinguishes the fire by the dry powder and the water jet.
The dry powder in the dry powder tank 303 is conveyed to the dry powder spray head 301 through the dry powder pipeline 302, and is sprayed out by the dry powder spray head to the fire point area.
The water source entering from the water inlet 202 is conveyed to the fire water monitor 201 through the telescopic lifting type pipeline 203, is sprayed out of the fire water monitor 201 and is sprayed to the fire point area.
(4) And after the fire extinguishing task is finished, the robot resets.
After the task of suppressing the ignition point in the early stage is finished or the task of extinguishing the fire is finished, the lifting scissor type supporting rod retracts and is stored by controlling the retraction of the lifting hydraulic arm 403. Meanwhile, the support plate 505 is separated from the ground by controlling the swing arm hydraulic cylinder 503 to act. The robot drives the track module 101 to move to the initial position by the chassis driving module 102.
As a further design of the invention, the control boxes 6 are vertically arranged at the positions, located above the crawler belt modules 101, on the two sides of the chassis body, a storage space 601 is formed between the two control boxes 6, and the automatic lifting assembly is just in the storage space after being folded and contracted, so that the automatic lifting assembly is compact in overall structure and small in occupied space.
Furthermore, the telescopic lifting pipe 203 is positioned between a vertical plane where the first connecting rod and the second connecting rod are positioned and a vertical plane where the third connecting rod and the fourth connecting rod are positioned; and the telescopic lifting type pipeline is also positioned between the first hinge shaft and the second hinge shaft. I.e. the telescopic elevating pipe 203 is in the center of the elevating scissor-type strut.
Further, the free rotation arm 305 includes a bar-shaped fixing piece 3051, the bar-shaped fixing piece 3051 is arranged in parallel with the first hinge shaft or the second hinge shaft, a lug 3052 is arranged on the same side of the two ends of the bar-shaped fixing piece, a shaft hole is formed in the lug, and the first hinge shaft or the second hinge shaft penetrates through the shaft holes at the two ends of the bar-shaped fixing piece to be connected with the bar-shaped fixing piece. A fixing ring 3053 is arranged on the other side of the middle of the strip-shaped fixing piece, and the U-shaped joint 304 is fixedly connected with the strip-shaped fixing piece through the fixing ring 3053. After the automatic lifting assembly is unfolded, the plurality of free rotating arms and the U-shaped joints fixed on the free rotating arms are arranged in a vertically staggered mode, and the dry powder pipeline is arranged in an S shape. The structure is matched with the lifting shear type supporting rod structure to be unfolded, so that the condition that the dry powder conveying hose is only parallel and floating is ensured, and the condition that the dry powder conveying hose is bent at a large angle is avoided.
Furthermore, the fire-fighting robot further comprises a pan-tilt fire source tracking assembly 7, wherein the pan-tilt fire source tracking assembly 7 comprises a binocular vision camera 701, an infrared tracker 702, a first camera 703, a two-dimensional pan-tilt 704 and a lifting module 705 for controlling the two-dimensional pan-tilt to lift. The binocular vision camera 701, the infrared tracker 702 and the first camera 703 are all arranged on the two-dimensional pan-tilt 704, and the existence and position identification of flame can be realized through the binocular vision camera 701, the infrared tracker 702 and the like. The two-dimensional cradle head 704 is connected with the top end of the lifting module 705, and the bottom end of the lifting module 705 is connected with one end of the lifting platform 404. The lifting module 705 may be configured as a hydraulic lifting cylinder.
Further, the fire-fighting robot further comprises an observation sensing assembly 8 and an energy assembly 9, wherein the observation sensing assembly 8 comprises a second camera 801, a third camera 802, a light module 803 and an obstacle avoidance module 804. The second camera 802 and the third camera 803 are respectively arranged at the front end and the rear end of the chassis body 103, and the light module 803 and the obstacle avoidance module 804 are arranged at the end of the control box 6. The first camera 703, the second camera 801, and the like can capture a scene of a fire and the surrounding environment. The lighting module 803 can be used for lighting, and the obstacle avoidance module 804 can be used for ensuring that the collision is avoided when an obstacle is met. The energy source assembly 9 comprises a hydraulic station 901 for controlling the hydraulic lifting arm and the hydraulic swing arm cylinder and a lithium battery pack 902 for supplying power, the hydraulic station 901 is arranged in the control box, and the lithium battery pack 902 is arranged on the chassis body 103.
Furthermore, this fire control fire-fighting robot still includes from the cooling module, can carry out from the cooling in scene of a fire or the higher place of temperature through from the cooling module to guarantee automobile body normal operating. The self-cooling assembly comprises an automobile body cooling sprayer 10 and a hanging crawler cooling sprayer, wherein the automobile body cooling sprayer 10 is communicated with the telescopic lifting type pipeline through a first cooling water pipeline, and the hanging crawler cooling sprayer is communicated with the water inlet through a second cooling water pipeline. The number and the installation positions of the vehicle body cooling spray heads 10 and the suspension crawler cooling spray heads can be properly adjusted according to requirements. If the number of the vehicle body cooling spray heads 10 can be 6, the vehicle body cooling spray heads are uniformly arranged on the lifting platform 404, the number of the suspended crawler cooling spray heads can be 4, and 2 are arranged above each crawler. Meanwhile, the vehicle body cooling spray head 10 and the suspension crawler cooling spray head can be set to be automatically opened after the temperature is higher than 60 degrees, and can also be manually opened.
Parts not described in the above modes can be realized by adopting or referring to the prior art.
It is intended that any equivalents, or obvious variations, which may be made by those skilled in the art in light of the teachings herein, be considered within the scope of the present invention.

Claims (8)

1. The utility model provides a height over-and-under type nearly attacks fire control fire extinguishing robot which characterized in that: comprises a movable chassis component, a water medium fire extinguishing component, a dry powder medium fire extinguishing component and an automatic lifting component;
the movable chassis assembly comprises a chassis body, crawler belt modules are arranged on two sides of the chassis body, and driving modules for driving the crawler belt modules to move and turn are arranged on the chassis body;
the automatic lifting assembly comprises a base, a lifting scissor-type supporting rod, a lifting hydraulic arm and a lifting platform;
the base comprises a first fixing base, a first guide base and a first guide transverse shaft, the first fixing base and the first guide base are both fixed on the chassis body, a first rear connecting rod is arranged on the first fixing base, the first guide transverse shaft and the first rear connecting rod are arranged in parallel, first guide sliding blocks are arranged at two ends of the first guide transverse shaft, and a first guide sliding groove matched with the first guide sliding blocks is arranged on the first guide base;
the lifting scissor type supporting rods comprise a bottom lifting scissor type supporting rod, a top lifting scissor type supporting rod and at least one middle lifting scissor type supporting rod, the bottom lifting scissor type supporting rod, the top lifting scissor type supporting rod and the middle lifting scissor type supporting rod respectively comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod and the second connecting rod are arranged in a crossed mode, and the middle position of the first connecting rod is hinged to the middle position of the second connecting rod through a first scissor shaft; the third connecting rod and the fourth connecting rod are arranged in a crossed manner, and the middle position of the third connecting rod is hinged with the middle position of the fourth connecting rod through a second shear shaft; the plane where the first connecting rod and the second connecting rod are located is parallel to the plane where the third connecting rod and the fourth connecting rod are located;
the bottoms of a first connecting rod and a third connecting rod in the bottom lifting scissor type supporting rod are respectively and rotatably fixed at two ends of a first rear connecting rod of the base, and the bottoms of a second connecting rod and a fourth connecting rod in the bottom lifting scissor type supporting rod are respectively and rotatably fixed at two ends of a first guide transverse shaft; the top of a first connecting rod and the top of a third connecting rod in the bottom lifting scissor-type support rod are connected through a first hinge shaft, and the bottom of a second connecting rod and the bottom of a fourth connecting rod in the middle lifting scissor-type support rod at the lowest part share the first hinge shaft with the top of the bottom lifting scissor-type support rod; the top of a second connecting rod and the top of a fourth connecting rod in the bottom lifting scissor-type support rod are connected through a second hinge shaft, and the bottom of a first connecting rod and the bottom of a third connecting rod in the middle lifting scissor-type support rod positioned at the lowest part share the second hinge shaft with the top of the bottom lifting scissor-type support rod;
the upper and lower adjacent middle lifting scissor type support rods share the first hinge shaft and the second hinge shaft; the tops of a first connecting rod and a third connecting rod in the uppermost middle lifting scissor type supporting rod and the bottom of the top lifting scissor type supporting rod share a first hinge shaft, and the tops of a second connecting rod and a fourth connecting rod in the uppermost middle lifting scissor type supporting rod and the bottom of the top lifting scissor type supporting rod share a second hinge shaft;
the lifting platform comprises a horizontally arranged supporting frame, a second fixing base and a second guide base are arranged on the supporting frame, a second rear connecting rod is arranged on the second fixing base, a second guide transverse shaft is arranged on the second guide base, the second guide transverse shaft and the second rear connecting rod are arranged in parallel, second guide sliding blocks are arranged at two ends of the second guide transverse shaft, and a second guide sliding groove matched with the second guide sliding blocks is arranged on the second guide base;
the tops of a first connecting rod and a third connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second rear connecting rod, and the tops of a second connecting rod and a fourth connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second guide transverse shaft; or the tops of a first connecting rod and a third connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second guide transverse shaft, and the tops of a second connecting rod and a fourth connecting rod in the top lifting scissor-type supporting rod are respectively and rotatably fixed at two ends of a second rear connecting rod;
the lifting hydraulic arms are at least arranged in one group, the lifting hydraulic arms are connected between the bottom lifting scissor type support rod and the middle lifting scissor type support rod, the middle lifting scissor type support rod is arranged between the other middle lifting scissor type support rod above the middle lifting scissor type support rod, or the middle lifting scissor type support rod is arranged between the top lifting scissor type support rod and the middle lifting scissor type support rod;
each group of lifting hydraulic arms comprises a first lifting arm and a second lifting arm which are arranged in parallel, the top ends of the first lifting arm and the second lifting arm are respectively connected with the two ends of a lifting arm top connecting rod, and the bottom ends of the first lifting arm and the second lifting arm are respectively connected with the two ends of a lifting arm bottom connecting rod; the lifting arm top connecting rod is connected between the first connecting rod and the third connecting rod, and the lifting arm bottom connecting rod is connected between the second connecting rod and the fourth connecting rod; or the lifting arm top connecting rod is connected between the second connecting rod and the fourth connecting rod, and the lifting arm bottom connecting rod is connected between the first connecting rod and the third connecting rod;
the water medium fire extinguishing assembly comprises a fire water monitor, a water inlet and a telescopic lifting pipeline, the water inlet is communicated with the fire water monitor through the telescopic lifting pipeline, the water inlet is arranged on the chassis body, the fire water monitor is arranged on the lifting platform, and the telescopic lifting pipeline is vertically arranged in the middle of the chassis body; the telescopic lifting type pipeline comprises a plurality of straight pipes which are communicated in sequence, adjacent straight pipes are connected through a joint, the bottom of the straight pipe at the lowest part of the telescopic lifting type pipeline after being completely stretched is connected with a water inlet through a bent pipe, the top of the straight pipe at the uppermost part is connected with a fire monitor, and the straight pipe at the uppermost part is also connected with a supporting frame of the lifting platform;
the dry powder medium fire extinguishing assembly comprises a dry powder nozzle, a dry powder pipeline and a dry powder tank, the dry powder nozzle is communicated with the dry powder tank through the dry powder pipeline, the dry powder nozzle is arranged on the lifting platform, the dry powder tank is arranged on the chassis body, the dry powder pipeline comprises a plurality of hoses which are sequentially communicated, adjacent hoses are connected through U-shaped joints, the U-shaped joints are fixed on the free rotating arms, and the free rotating arms are connected to the first hinge shaft or the second hinge shaft;
a plurality of supporting modules are symmetrically arranged at two ends of the chassis body; the supporting module comprises a first supporting arm, a swinging arm and a swinging arm hydraulic cylinder, the first supporting arm is fixed on the chassis body, the lower part of the first supporting arm is hinged with one end of the swinging arm, the other end of the swinging arm is connected with a supporting plate through a second supporting arm, the cylinder body of the swinging arm hydraulic cylinder is hinged with the upper part of the first supporting arm, and the tail end of a cylinder rod of the swinging arm hydraulic cylinder is hinged with the end part of the swinging arm connecting supporting plate;
the second support arm comprises an external support arm frame, the middle part of the external support arm frame is hinged with the end part of the swing arm through a rotating shaft, the tail end of the external support arm frame is connected with the support plate through a connecting column, the top end of the connecting column is fixedly connected with the external support arm frame, and the bottom end of the connecting column is hinged with the support plate;
the outer portion of the rotating shaft is sleeved with a torsion spring used for providing anticlockwise rotation force of the second support arm along the swing arm, and a limiting sensor is arranged inside the other end of the outer support arm frame.
2. The near attack fire fighting robot with elevated height according to claim 1, wherein: the chassis comprises a chassis body, wherein control boxes are vertically arranged on two sides of the chassis body and above the crawler belt modules, a storage space is formed between the two control boxes, and the automatic lifting assembly is just positioned in the storage space after being folded and contracted.
3. The near attack fire fighting robot with elevated height according to claim 1, wherein: the telescopic lifting type pipeline is positioned between a vertical plane where the first connecting rod and the second connecting rod are positioned and a vertical plane where the third connecting rod and the fourth connecting rod are positioned; and the telescopic lifting type pipeline is also positioned between the first hinge shaft and the second hinge shaft.
4. The near attack fire fighting robot with elevated height according to claim 1, wherein: the free rotating arm comprises a strip-shaped fixing piece, the strip-shaped fixing piece is arranged in parallel with a first hinge shaft or a second hinge shaft, two ends of the strip-shaped fixing piece are provided with lugs at the same side, shaft holes are formed in the lugs, the first hinge shaft or the second hinge shaft penetrates through the shaft holes in the two ends of the strip-shaped fixing piece to be connected with the strip-shaped fixing piece, a fixing ring is arranged on the other side of the middle of the strip-shaped fixing piece, and the U-shaped joint is fixedly connected with the strip-shaped fixing piece through the fixing ring;
after the automatic lifting assembly is unfolded, the plurality of free rotating arms and the U-shaped joints fixed on the free rotating arms are arranged in a vertically staggered mode, and the dry powder pipeline is arranged in an S shape.
5. The near attack fire fighting robot with elevated height according to claim 1, wherein: this fire-fighting robot still includes cloud platform fire source and trails subassembly, cloud platform fire source trails subassembly includes binocular vision camera, infrared tracker, first camera, two-dimensional cloud platform and is used for controlling the lift module that two-dimensional cloud platform goes up and down, and binocular vision camera, infrared tracker and first camera all set up on two-dimensional cloud platform, and two-dimensional cloud platform is connected with lift module's top, and lift module's bottom is connected in lift platform's one end.
6. The near attack fire fighting robot with elevated height according to claim 2, wherein: the fire-fighting robot also comprises an observation sensing assembly and an energy assembly, wherein the observation sensing assembly comprises a second camera, a third camera, a light module and an obstacle avoidance module, the second camera and the third camera are respectively arranged at the front end and the rear end of the chassis body, and the light module and the obstacle avoidance module are arranged at the end part of the control box;
the energy component comprises a hydraulic station and a lithium battery pack, wherein the hydraulic station is used for controlling the lifting hydraulic arm and the swing arm hydraulic cylinder, the lithium battery pack is used for supplying power, the hydraulic station is arranged in the control box, and the lithium battery pack is arranged on the chassis body.
7. The near attack fire fighting robot with elevated height according to claim 1, wherein: this fire-fighting robot still includes from the cooling subassembly, include automobile body cooling shower nozzle and hang track cooling shower nozzle from the cooling subassembly, automobile body cooling shower nozzle is through first cooling water pipeline and flexible over-and-under type pipeline intercommunication, it is linked together with the water inlet through second cooling water pipeline to hang track cooling shower nozzle.
8. A method for a high elevation type near attack fire fighting operation using the fire fighting robot according to any one of claims 1 to 7, characterized by comprising the steps of:
(1) the robot moves to a target position;
the robot drives the crawler belt module to move forwards, backwards and turn through the chassis driving module and moves to a target position;
(2) the robot is self-fixed, and the automatic lifting assembly is extended to the height required by fire extinguishing;
after the robot reaches a target position, the swing arm is enabled to rotate along the first support arm by controlling the action of a swing arm hydraulic cylinder, the swing arm drives the support plate to move to a position completely attached to the ground, and four corners are leveled and fixed;
meanwhile, the lifting hydraulic arm is controlled to gradually extend out, so that the first connecting rod rotates relative to the second connecting rod, the third connecting rod rotates relative to the fourth connecting rod, the first guide sliding block slides along the first guide sliding groove, the second guide sliding block slides along the second guide sliding groove, the lifting scissor-type supporting rod is gradually unfolded, and the lifting platform gradually rises along with the unfolding of the lifting scissor-type supporting rod;
the fire water monitor and the dry powder spray head are driven to synchronously move upwards along with the rising of the lifting platform;
the telescopic lifting type pipeline connected with the fire water monitor extends out section by section;
the dry powder pipeline connected with the dry powder spray head is gradually pulled apart and is S-shaped, and the U-shaped joints arranged at intervals on the dry powder pipeline rotate to a proper angle along with the free rotating arm under the action of pulling external force;
(3) the robot extinguishes fire through dry powder and water jet;
the dry powder in the dry powder tank is conveyed to a dry powder spray head through a dry powder pipeline, is sprayed out by the dry powder spray head and is sprayed towards a fire point area;
the water source entering from the water inlet is conveyed to the fire water monitor through the telescopic lifting pipeline, and is sprayed out of the fire water monitor and sprayed to the fire point area;
(4) after the fire extinguishing task is finished, the robot resets;
after the earlier ignition point pressing task is completed or the fire extinguishing task is completed, the lifting scissor type supporting rod retracts and is accommodated by controlling the retraction of the lifting hydraulic arm;
meanwhile, the supporting plate is separated from the ground by controlling the action of the swing arm hydraulic cylinder;
the robot drives the crawler belt module to move to the initial position through the chassis driving module.
CN202110374236.1A 2021-04-07 2021-04-07 Height-lifting type near-attack fire-fighting robot and operation method thereof Active CN112972953B (en)

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