CN113018748A - Patrol and examine fire control integration intelligent robot - Google Patents
Patrol and examine fire control integration intelligent robot Download PDFInfo
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- CN113018748A CN113018748A CN202110395702.4A CN202110395702A CN113018748A CN 113018748 A CN113018748 A CN 113018748A CN 202110395702 A CN202110395702 A CN 202110395702A CN 113018748 A CN113018748 A CN 113018748A
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- fixedly connected
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an inspection and fire-fighting integrated intelligent robot, which consists of a wheel type chassis, a fire-fighting injection system and a holder, wherein the robot adopts a six-wheel type chassis, is independently steered and flexibly maneuverable, improves inspection efficiency, can accurately early warn abnormal conditions through the mutual matching between a visible light camera and an infrared thermal imager, realizes ultrahigh-precision dual-mode positioning through the combined inertial navigation of a three-dimensional laser scanner and a GNSS, is convenient for the robot to normally work under complex conditions, can perform intelligent path planning, navigation and obstacle avoidance, reduces manual intervention to the maximum extent, can eliminate fire conditions at the highest speed through double-machine linkage by designing the fire-fighting injection system, adopts 5G communication, has high and stable data transmission, and can adjust the visible light camera according to conditions through the mutual matching between a third motor and a fourth motor, And the positions of the infrared thermal imager and the three-dimensional laser scanner on an X-Y-Z plane.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an inspection and fire-fighting integrated intelligent robot.
Background
Robots are the common name for automatic control machines, which include all machines that simulate human behavior or thought and other creatures. There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
The existing inspection robot generally adopts a holder preset position mode in the aspect of acquisition of the readings of inspection equipment, and the inspection robot goes to a specified place to stop according to a planned route, but can not perform fire extinguishing operation when a fire occurs.
Disclosure of Invention
The invention provides an inspection and fire-fighting integrated intelligent robot and aims to solve the problems in the prior art.
In order to solve the problems, the invention adopts the following technical scheme:
an inspection and fire-fighting integrated intelligent robot comprises a wheel type chassis, a fire extinguishing injection system and a holder.
Wherein, wheeled chassis is as the bearing structure of each equipment, the battery has been placed to wheeled chassis including the power module storehouse in the power module storehouse, makes things convenient for this robot's normal operating, the left and right sides in power module storehouse all is provided with electric box, electric box's front is provided with the front panel, the bottom of front panel is provided with the bumper, the back of front panel is provided with the riser, the equal fixedly connected with in the left and right sides of riser hangs the mechanism, it is provided with the removal wheel on the outer wall of mechanism to hang, and the quantity that removes the wheel is six, electric box's bottom fixedly connected with steering mechanism, this robot adopts six rounds of wheeled chassis, independently turns to, and is flexible, has improved and has patrolled and examined efficiency.
Wherein, the injection system that puts out a fire fixed connection in the upper end of wheeled chassis, through the design to the injection system that puts out a fire, the convenience is put out a fire to the place that takes place the condition of a fire and is handled.
Wherein, the cloud platform is located fire extinguishing injection system's the back, and cloud platform fixed connection is in the upper end on wheeled chassis, the upper end of cloud platform is provided with three-dimensional laser scanner, is used to lead through three-dimensional laser scanner and GNSS's combination, realizes super high accuracy bimodulus location, makes things convenient for this robot can normally work under the complex circumstance, one side of three-dimensional laser scanner is provided with visible light camera, three-dimensional laser scanner's opposite side is provided with infrared thermal imager, through the design to infrared thermal imager, can accurate early warning abnormal conditions.
According to a preferable scheme of the invention, the suspension mechanism comprises a first connecting plate, the upper end and the lower end of the first connecting plate are respectively welded with an A-shaped arm, the other end of the A-shaped arm is connected with a pair of ear plates through a pin shaft, and the pair of ear plates are fixedly connected with a vertical plate.
As a preferable scheme of the present invention, a first housing is welded to a side wall of the first connecting plate, a first motor is fixedly connected to an inner wall of the first housing, an outlet end of the first motor is fixedly connected to a first rotating shaft through a coupling, the first rotating shaft penetrates through the first connecting plate, the first rotating shaft and the first connecting plate are rotatably connected together through a bearing, and the other end of the first rotating shaft is fixedly connected to the moving wheel.
As a preferable scheme of the invention, the steering mechanism comprises a second housing, a second motor is fixedly connected to the inner wall of the second housing, the outlet end of the second motor is fixedly connected with a second rotating shaft through a coupler, the second rotating shaft penetrates through the second housing, the second rotating shaft and the second housing are rotatably connected together through a bearing, a second connecting plate is welded to the lower end of the second rotating shaft, and one side wall of the second connecting plate is welded to the first housing.
According to a preferable scheme of the invention, the fire extinguishing injection system comprises a mixing bin, fire extinguishing tanks are fixedly connected to the left side and the right side of the mixing bin through fixing seats, pipelines are fixedly connected to the outlet ends of the fire extinguishing tanks, and injection guns are arranged at the upper ends of the mixing bin.
As a preferable scheme of the present invention, the pan/tilt head includes a third housing, the inner wall of the third housing is fixedly connected with a fourth motor, an outlet end of the fourth motor is fixedly connected with a fourth rotating shaft through a coupling, an outlet end of the fourth rotating shaft is welded with a third bevel gear, and a lower end of the third bevel gear is connected with a fourth bevel gear in a meshing manner.
As a preferable scheme of the present invention, a fifth rotating shaft is coaxially welded to an upper end of the fourth bevel gear, the fifth rotating shaft penetrates through the third housing, the fifth rotating shaft and the third housing are rotatably connected together through a bearing, a concave plate is welded to an upper end of the fifth rotating shaft, a rotating rod is rotatably connected to an inner wall of the concave plate through a bearing, and a support plate is welded to an outer wall of the rotating rod.
As a preferable scheme of the present invention, a third motor is fixedly connected to an inner bottom of the third housing, an outlet end of the third motor is fixedly connected to a third rotating shaft through a coupling, the third rotating shaft penetrates through the fifth rotating shaft and the concave plate, the third rotating shaft and the concave plate are rotatably connected together through a bearing, a first bevel gear is welded to an upper end of the third rotating shaft, a second bevel gear is engaged and connected to one side wall of the first bevel gear, and the second bevel gear is fixedly connected to an outer wall of the rotating rod.
Compared with the prior art, the invention has the advantages that:
this robot adopts six round wheeled chassis, independently turns to, it is flexible, the efficiency of patrolling and examining is improved, through visible light camera, mutually support between the infrared thermal imager, can accurate early warning abnormal conditions, be used to lead through the combination of three-dimensional laser scanner and GNSS, realize super high accuracy bimodulus location, make things convenient for this robot can normal work under the complex conditions, can carry out intelligent route planning, the navigation, keep away the barrier, furthest reduces artificial intervention, through the design to injection system that puts out a fire, adopt the double-engine linkage, can eliminate the condition of a fire at utmost speed, this robot adopts 5G communication, data transmission is high-efficient, stable.
And starting a fourth motor to drive a fourth rotating shaft to rotate, driving a third bevel gear to rotate by the rotation of the fourth rotating shaft, driving a fourth bevel gear to rotate by the rotation of the third bevel gear, driving a fifth rotating shaft to rotate by the rotation of the fourth bevel gear, driving a concave plate to rotate by the rotation of the fifth rotating shaft, starting a third motor to drive a third rotating shaft to rotate, driving a first bevel gear to rotate by the rotation of the third rotating shaft, driving a second bevel gear to rotate by the rotation of the first bevel gear, driving a rotating rod to rotate by the rotation of the second bevel gear, and accordingly adjusting the positions of the visible light camera, the infrared thermal imager and the three-dimensional laser scanner on the X-Y-Z plane according to the conditions.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the internal structures of the first housing and the second housing according to the embodiment of the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2 according to the present invention;
FIG. 4 is a schematic top view of FIG. 2 according to the present invention;
fig. 5 is a schematic structural diagram of a first adjusting mechanism in the embodiment of the present invention.
The reference numbers in the figures illustrate:
1. a visible light camera; 2. an infrared thermal imager; 3. a three-dimensional laser scanner; 4. a wheeled chassis; 41. a power module bin; 42. an electrical box; 43. a bumper; 44. a front panel; 45. a suspension mechanism; 451. a first connector tile; 452. a first housing; 453. an A-shaped arm; 454. a pair of ear plates; 455. a first motor; 456. a first rotating shaft; 46. a steering mechanism; 461. a second housing; 462. a second motor; 463. a second rotating shaft; 464. a second connector tile; 47. a moving wheel; 48. a vertical plate; 5. a fire suppression spray system; 51. a fire extinguishing tank; 52. a spray gun; 53. a pipeline; 54. a mixing bin; 55. a fixed seat; 6. a holder; 61. a third housing; 62. a third motor; 63. a third rotating shaft; 64. a first bevel gear; 65. a concave plate; 66. a rotating rod; 67. a second bevel gear; 68. a support plate; 69. a fourth motor; 610. a fourth rotating shaft; 611. a third bevel gear; 612. a fourth bevel gear; 613. and a fifth rotating shaft.
Detailed Description
The technical solution 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. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1-5, an inspection and fire-fighting integrated intelligent robot is composed of a wheel type chassis 4, a fire-extinguishing spraying system 5 and a cloud deck 6.
Wherein, wheeled chassis 4 is as the bearing structure of each equipment, wheeled chassis 4 includes power module storehouse 41, the battery has been placed in the power module storehouse 41, make things convenient for this robot's normal operating, the left and right sides in power module storehouse 41 all is provided with electric box 42, electric box 42's front is provided with front panel 44, front panel 44's bottom is provided with bumper 43, front panel 44's the back is provided with riser 48, the equal fixedly connected with in the left and right sides of riser 48 hangs mechanism 45, it is provided with removal wheel 47 on mechanism 45's the outer wall to hang, the quantity that removes wheel 47 is six, electric box 42's bottom fixedly connected with steering mechanism 46, this robot adopts six rounds of wheeled chassis 4, independent steering, it is flexible, the efficiency of patrolling and examining is improved.
Wherein, the spraying system 5 of putting out a fire fixed connection is in the upper end of wheeled chassis 4, through the design to spraying system 5 of putting out a fire, conveniently puts out a fire to the place that takes place the condition of a fire and handles.
Wherein, cloud platform 6 is located the back of fire extinguishing injection system 5, cloud platform 6 fixed connection is in the upper end of wheeled chassis 4, the upper end of cloud platform 6 is provided with three-dimensional laser scanner 3, be used to lead through the combination of three-dimensional laser scanner 3 and GNSS, realize super high accuracy bimodulus location, make things convenient for this robot can be normal operation under the complex situation, one side of three-dimensional laser scanner 3 is provided with visible light camera 1, the opposite side of three-dimensional laser scanner 3 is provided with infrared thermal imager 2, through the design to infrared thermal imager 2, can accurate early warning abnormal conditions.
Specifically, the suspension mechanism 45 includes a first connection plate 451, a-shaped arms 453 are welded to the upper and lower ends of the first connection plate 451, the other end of the-shaped arms 453 is connected with a pair of ear plates 454 through a pin, the pair of ear plates 454 is fixedly connected with the vertical plate 48, a first housing 452 is welded to one side wall of the first connection plate 451, a first motor 455 is fixedly connected to the inner wall of the first housing 452, an outlet end of the first motor 455 is fixedly connected with a first rotating shaft 456 through a coupler, the first rotating shaft 456 penetrates through the first connection plate 451, the first rotating shaft 456 is rotatably connected with the first connection plate 451 through a bearing, and the other end of the first rotating shaft 456 is fixedly connected with the moving wheel 47.
In a further embodiment, the a-arm 453 is independently suspended to effectively fix the moving wheel 47, the first cover 452 protects the first motor 455, the first motor 455 is a forward/reverse motor, the first motor 455 is started to drive the first rotating shaft 456 to rotate, and the rotation of the first rotating shaft 456 drives the moving wheel 47 to rotate, so as to drive the robot to move forward or backward.
Specifically, the steering mechanism 46 includes a second housing 461, a second motor 462 is fixedly connected to an inner wall of the second housing 461, an outlet end of the second motor 462 is fixedly connected to a second rotating shaft 463 through a coupler, the second rotating shaft 463 penetrates through the second housing 461, the second rotating shaft 463 and the second housing 461 are rotatably connected together through a bearing, a second connecting plate 464 is welded to a lower end of the second rotating shaft 463, and a side wall of the second connecting plate 464 is welded to the first housing 452.
In a further embodiment, the second housing 461 protects the second motor 462, the second motor 462 is started to drive the second rotating shaft 463 to rotate, the second rotating shaft 463 rotates to drive the second connecting plate 464 to rotate, and the second connecting plate 464 rotates to drive the first housing 452 to rotate, so as to achieve the steering function of the robot.
Specifically, fire extinguishing injection system 5 is including mixing storehouse 54, and the left and right sides of mixing storehouse 54 all is through fixing base 55 fixedly connected with fire pot 51, fire pot 51's exit end fixedly connected with pipeline 53, and the upper end of mixing storehouse 54 is provided with spray gun 52.
In a further embodiment, a suction pump is fixedly connected to the mixing chamber 54, the inlet end of the suction pump is fixedly connected to the pipe 53, the outlet end of the suction pump is fixedly connected to the spray gun 52, and when the infrared thermal imaging camera 2 detects an abnormal condition, the suction pump is activated to spray the fire extinguishing agent in the fire extinguishing tank 51 to a fire.
Specifically, the holder 6 includes a third housing 61, a fourth motor 69 is fixedly connected to an inner wall of the third housing 61, an outlet end of the fourth motor 69 is fixedly connected to a fourth rotating shaft 610 through a coupling, a third bevel gear 611 is welded to an outlet end of the fourth rotating shaft 610, and a fourth bevel gear 612 is engaged with a lower end of the third bevel gear 611.
In a further embodiment, the fourth motor 69 is a forward/reverse rotation motor, and when the fourth motor 69 is started, the fourth rotating shaft 610 is driven to rotate, the rotation of the fourth rotating shaft 610 drives the third bevel gear 611 to rotate, and the rotation of the third bevel gear 611 drives the fourth bevel gear 612 to rotate.
Specifically, the upper end of the fourth bevel gear 612 is coaxially welded with a fifth rotating shaft 613, the fifth rotating shaft 613 penetrates through the third housing 61, the fifth rotating shaft 613 and the third housing 61 are rotatably connected together through a bearing, the upper end of the fifth rotating shaft 613 is welded with a concave plate 65, the inner wall of the concave plate 65 is rotatably connected with a rotating rod 66 through a bearing, and the outer wall of the rotating rod 66 is welded with a support plate 68.
In a further embodiment, the visible light camera 1, the infrared thermal imager 2, and the three-dimensional laser scanner 3 are all fixedly connected to the surface of the supporting plate 68, the rotation of the fourth bevel gear 612 drives the fifth rotating shaft 613 to rotate, the rotation of the fifth rotating shaft 613 drives the concave plate 65 to rotate, and the rotation of the concave plate 65 drives the supporting plate 68 to rotate, so as to adjust the positions of the visible light camera 1, the infrared thermal imager 2, and the three-dimensional laser scanner 3 on the X-Y plane according to the situation.
Specifically, the third motor 62 is fixedly connected to the inner bottom of the third housing 61, an outlet end of the third motor 62 is fixedly connected to a third rotating shaft 63 through a coupler, the third rotating shaft 63 penetrates through the fifth rotating shaft 613 and the concave plate 65, the third rotating shaft 63 and the concave plate 65 are rotatably connected together through a bearing, a first bevel gear 64 is welded to the upper end of the third rotating shaft 63, a second bevel gear 67 is engaged and connected to one side wall of the first bevel gear 64, and the second bevel gear 67 is fixedly connected to the outer wall of the rotating rod 66.
In a further embodiment, the third motor 62 is a forward-reverse motor, the third motor 62 is started to drive the third rotating shaft 63 to rotate, the rotation of the third rotating shaft 63 drives the first bevel gear 64 to rotate, the rotation of the first bevel gear 64 drives the second bevel gear 67 to rotate, and the rotation of the second bevel gear 67 drives the rotating rod 66 to rotate, so as to adjust the positions of the visible light camera 1, the infrared thermal imager 2, and the three-dimensional laser scanner 3 on the Y-Z plane.
The working principle of the embodiment is as follows:
the fire extinguishing spraying system 5, the visible light camera 1, the infrared thermal imaging camera 2, the three-dimensional laser scanner 3, the first motor 455, the second motor 462, the third motor 62 and the fourth motor 69 are all electrically connected with the central controller, and the GNSS and the central controller are connected together by 5G communication, the first motor 455 is started to drive the first rotating shaft 456 to rotate, the rotation of the first rotating shaft 456 drives the moving wheel 47 to rotate, thereby driving the robot to move forward or backward, starting the second motor 462 to drive the second rotating shaft 463 to rotate, driving the second connecting plate 464 to rotate by the rotation of the second rotating shaft 463, driving the first housing 452 to rotate by the rotation of the second connecting plate 464, thereby realizing the steering function of the robot, when the infrared thermal imager 2 detects abnormal conditions, starting the suction pump to spray the fire extinguishing agent in the fire extinguishing tank 51 at the fire;
starting a fourth motor 69 to drive a fourth rotating shaft 610 to rotate, wherein the rotation of the fourth rotating shaft 610 drives a third bevel gear 611 to rotate, the rotation of the third bevel gear 611 drives a fourth bevel gear 612 to rotate, the rotation of the fourth bevel gear 612 drives a fifth rotating shaft 613 to rotate, the rotation of the fifth rotating shaft 613 drives a concave plate 65 to rotate, and the rotation of the concave plate 65 drives a support plate 68 to rotate, so that the positions of the visible light camera 1, the infrared thermal imager 2 and the three-dimensional laser scanner 3 on an X-Y plane are adjusted according to conditions;
and starting the third motor 62 to drive the third rotating shaft 63 to rotate, wherein the rotation of the third rotating shaft 63 drives the first bevel gear 64 to rotate, the rotation of the first bevel gear 64 drives the second bevel gear 67 to rotate, and the rotation of the second bevel gear 67 drives the rotating rod 66 to rotate, so that the positions of the visible light camera 1, the infrared thermal imager 2 and the three-dimensional laser scanner 3 on the Y-Z plane are adjusted.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a patrol and examine fire control integration intelligent robot which characterized in that includes:
the wheel type chassis (4), the wheel type chassis (4) comprises a power module bin (41), electrical boxes (42) are arranged on the left side and the right side of the power module bin (41), a front panel (44) is arranged on the front side of the electrical boxes (42), a bumper (43) is arranged at the bottom of the front panel (44), a vertical plate (48) is arranged on the back of the front panel (44), suspension mechanisms (45) are fixedly connected to the left side and the right side of the vertical plate (48), movable wheels (47) are arranged on the outer wall of each suspension mechanism (45), and steering mechanisms (46) are fixedly connected to the bottom of each electrical box (42);
the fire extinguishing spraying system (5) is fixedly connected to the upper end of the wheel type chassis (4);
cloud platform (6), be located the back of fire extinguishing injection system (5), fixed connection be in the upper end of wheeled chassis (4), the upper end of cloud platform (6) is provided with three-dimensional laser scanner (3), one side of three-dimensional laser scanner (3) is provided with visible light camera (1), the opposite side of three-dimensional laser scanner (3) is provided with infrared thermal imaging appearance (2).
2. The inspection and fire-fighting integrated intelligent robot according to claim 1, wherein: the suspension mechanism (45) comprises a first connection plate (451), A-shaped arms (453) are welded to the upper end and the lower end of the first connection plate (451), the other ends of the A-shaped arms (453) are connected with a pair of ear plates (454) through pin shafts, and the pair of ear plates (454) are fixedly connected with a vertical plate (48).
3. The inspection and fire-fighting integrated intelligent robot according to claim 2, characterized in that: a first housing (452) is welded on one side wall of the first connecting plate (451), a first motor (455) is fixedly connected to the inner wall of the first housing (452), the outlet end of the first motor (455) is fixedly connected with a first rotating shaft (456) through a coupler, the first rotating shaft (456) penetrates through the first connecting plate (451), the first rotating shaft (456) is rotatably connected with the first connecting plate (451) through a bearing, and the other end of the first rotating shaft (456) is fixedly connected with the moving wheel (47).
4. The inspection and fire-fighting integrated intelligent robot according to claim 1, wherein: the steering mechanism (46) comprises a second housing (461), a second motor (462) is fixedly connected to the inner wall of the second housing (461), the outlet end of the second motor (462) is fixedly connected with a second rotating shaft (463) through a coupler, the second rotating shaft (463) penetrates through the second housing (461), the second rotating shaft (463) is rotatably connected with the second housing (461) through a bearing, a second connecting plate (464) is welded to the lower end of the second rotating shaft (463), and one side wall of the second connecting plate (464) is welded with the first housing (452).
5. The inspection and fire-fighting integrated intelligent robot according to claim 1, wherein: the fire extinguishing spraying system (5) comprises a mixing bin (54), the left side and the right side of the mixing bin (54) are fixedly connected with fire extinguishing pots (51) through fixing seats (55), the outlet ends of the fire extinguishing pots (51) are fixedly connected with pipelines (53), and the upper end of the mixing bin (54) is provided with a spraying gun (52).
6. The inspection and fire-fighting integrated intelligent robot according to claim 1, wherein: the cloud platform (6) includes third housing (61), fixedly connected with fourth motor (69) on the inner wall of third housing (61), shaft coupling fixedly connected with fourth pivot (610) is passed through to the exit end of fourth motor (69), the exit end welding of fourth pivot (610) has third bevel gear (611), the lower extreme meshing of third bevel gear (611) is connected with fourth bevel gear (612).
7. The inspection and fire-fighting integrated intelligent robot according to claim 6, wherein: the upper end coaxial welding of fourth conical gear (612) has fifth pivot (613), fifth pivot (613) run through third housing (61), and rotate through the bearing between fifth pivot (613) and third housing (61) and link together, the upper end welding of fifth pivot (613) has concave board (65), rotate through the bearing on the inner wall of concave board (65) and be connected with bull stick (66), the welding has backup pad (68) on the outer wall of bull stick (66).
8. The inspection and fire-fighting integrated intelligent robot according to claim 7, wherein: interior bottom fixedly connected with third motor (62) of third housing (61), the exit end of third motor (62) passes through shaft coupling fixedly connected with third pivot (63), fifth pivot (613) and concave template (65) are run through in third pivot (63), and rotate through the bearing between third pivot (63) and concave template (65) and link together, the upper end welding of third pivot (63) has first conical gear (64), the meshing is connected with second conical gear (67) on the lateral wall of first conical gear (64), second conical gear (67) fixed connection is on the outer wall of bull stick (66).
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| CN202110395702.4A CN113018748A (en) | 2021-04-13 | 2021-04-13 | Patrol and examine fire control integration intelligent robot |
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| CN202110395702.4A CN113018748A (en) | 2021-04-13 | 2021-04-13 | Patrol and examine fire control integration intelligent robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467346A (en) * | 2021-08-11 | 2021-10-01 | 中国矿业大学 | Automatic driving robot for underground railway vehicle and control method thereof |
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| CN113467346A (en) * | 2021-08-11 | 2021-10-01 | 中国矿业大学 | Automatic driving robot for underground railway vehicle and control method thereof |
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Application publication date: 20210625 |