CN113476768A - Fire-fighting robot - Google Patents
Fire-fighting robot Download PDFInfo
- Publication number
- CN113476768A CN113476768A CN202110706039.5A CN202110706039A CN113476768A CN 113476768 A CN113476768 A CN 113476768A CN 202110706039 A CN202110706039 A CN 202110706039A CN 113476768 A CN113476768 A CN 113476768A
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- China
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- fire
- plate
- rack
- balancing device
- balancing unit
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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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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to a fire-fighting robot, which comprises a body, wherein the body comprises a box body formed by a shell, a partition plate is arranged in the box body, the box body is divided into an upper box body and a lower box body by the partition plate, a control module is arranged in the upper box body, a balancing device for balancing the robot is arranged in the lower box body, the balancing device is electrically connected with the control module, the balancing device comprises a left balancing device, a right balancing device and a front balancing device, the front balancing device and the rear balancing device are arranged on the left balancing device and the right balancing device, the left balancing device and the right balancing device can drive the front balancing device and the rear balancing device to move leftwards or rightwards, the front balancing device and the rear balancing device are used for preventing the robot from toppling forwards and backwards, and the left balancing device and the right balancing device are used for preventing the robot from toppling leftwards and rightwards.
Description
Technical Field
The invention relates to a fire fighting device, in particular to a fire fighting robot.
Background
The fire-fighting robot is one of special robots and plays an important role in fire extinguishing and emergency rescue.
With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident probability is correspondingly improved. Along with the development of the current society, the robot technology has the development of leaping and leaping, so that the fire-fighting robot is born at the same time, more and more fire-fighting robots replace firefighters to enter the first line of a fire scene for fire fighting, and the injury of personnel is reduced.
The existing fire-fighting robots are generally provided with a gravity balance system so as to prevent the fire-fighting robots from toppling over, but on some large slopes, the fire-fighting robots still topple over, so that the fire-fighting efficiency of the fire-fighting robots is affected.
Disclosure of Invention
The invention mainly aims to provide a fire-fighting robot, wherein a set of balancing device is arranged in a vehicle body of the fire-fighting robot, so that the fire-fighting robot can carry out balancing operation when passing through a large slope, and the robot is prevented from toppling.
In order to achieve the purpose, the invention provides a fire-fighting robot, which comprises a body, wherein the body comprises a box body formed by a shell, a partition plate is arranged in the box body and divides the box body into an upper box body and a lower box body, a control module is arranged in the upper box body, a balancing device used for balancing the robot is arranged in the lower box body, the balancing device is electrically connected with the control module, the balancing device comprises a left balancing device, a right balancing device and a front balancing device, the front balancing device and the rear balancing device are arranged on the left balancing device and the right balancing device, the left balancing device and the right balancing device can drive the front balancing device and the rear balancing device to move leftwards or rightwards, the front balancing device and the rear balancing device are used for preventing the robot from toppling forwards and backwards, and the left balancing device and the right balancing device are used for preventing the robot from toppling leftwards and rightwards.
Preferably, the left and right balancing device comprises a first driving motor, a threaded rod, a left mounting base, a right mounting base and a guide rod, the first driving motor is mounted on the left mounting base, the left mounting base is mounted on the left side of the lower box body, the right mounting base is mounted on the right side of the lower box body, one end of the threaded rod penetrates through the left mounting base and then is connected with the first driving motor, the other end of the threaded rod is rotatably connected with the right mounting base, one end of the guide rod is fixedly connected with the left mounting base, and the other end of the guide rod is fixedly connected with the right mounting base.
Further preferably, the front and back balancing device comprises an installation block, a second driving motor, a driving gear and a gear strip, wherein a threaded hole and a through hole are formed in the installation block, the other end of the threaded rod penetrates through the threaded hole of the installation block and then is rotatably connected with the right installation base, the other end of the guide rod penetrates through the through hole of the installation block and then is fixedly connected with the right installation base, the second driving motor is installed on one side of the installation block, the driving gear is installed on the second driving motor and is meshed with the gear strip, the gear strip is connected with the installation block in a sliding mode, the gear strip is installed outside the lower box body, and rollers are installed at two ends of the gear strip.
More preferably, the mounting block is provided with a right supporting plate, and the second driving motor is fixedly mounted on the right supporting plate.
More preferably, the front and rear balancing devices further comprise a driven gear, a left supporting plate is arranged on the mounting block, the driven gear is mounted on the left supporting plate, and the driven gear is meshed with the gear rack.
More preferably, the left supporting plate is provided with a left inserting plate, the right supporting plate is provided with a right inserting plate, the left inserting plate penetrates through the gear rack and then is connected with the bottom plate, the right inserting plate penetrates through the gear rack and then is connected with the bottom plate, the gear rack can be connected with the left inserting plate and the right inserting plate in a sliding mode, and the gear rack can slide on the bottom plate.
More preferably, the gear strip is provided with a strip-shaped hole, and the left inserting plate and the right inserting plate respectively penetrate through the strip-shaped hole and then are connected with the bottom plate.
More preferably, the left inserting plate is provided with a left inserting hole, the left fixing plate is inserted into the left inserting hole, and the left fixing plate is used for supporting the bottom plate.
Preferably, the right inserting plate is provided with a right inserting hole, the right fixing plate is inserted into the right inserting hole, and the right fixing plate is used for supporting the bottom plate.
The invention has the beneficial effects that: the space in the vehicle body is divided into an upper box body and a lower box body by the partition plate, wherein electronic components such as a control module and the like are arranged in the upper box body, and the balance device is arranged in the lower box body so as to assist the gravity balance system, so that the fire-fighting robot cannot topple over when climbing a steep slope. Specifically, through adjusting the front and back balancing devices, the fire-fighting robot is prevented from toppling over front and back. Through adjusting the left and right balancing devices, the fire-fighting robot is prevented from toppling left and right. In addition, in the present invention, the front-rear balancing device is mounted on the left-right balancing device, and the position of the front-rear balancing device is adjusted so as to prevent the fire fighting robot from toppling left and right.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the overall structure of the fire fighting robot of the present invention;
FIG. 2 is a schematic view showing the internal structure of a vehicle body of the fire fighting robot of the present invention;
FIG. 3 is a right side view of FIG. 2;
FIG. 4 is a bottom view of FIG. 2;
FIG. 5 is a schematic structural view of a balancing device of the fire fighting robot of the present invention;
FIG. 6 is a top view of FIG. 5;
fig. 7 is a schematic structural view of a front-rear balancing device of the fire fighting robot according to the present invention.
Description of the reference numerals
100. A box body; 110. a crawler belt; 120. an upper box body; 130. a lower box body; 140. a balancing device;
101. a front through hole; 102. a rear through hole;
10. a left and right balancing device; 11. a first drive motor; 12. a fixed seat is arranged on the left side;
13. a fixed seat is arranged on the right side; 14. a threaded rod; 15. a guide bar;
20. a front and rear balancing device; 21. mounting blocks; 211. a left support plate; 2111. a left insert plate;
212. a right fascia; 2121. a right insert plate; 22. a driven gear; 23. a drive gear;
24. a gear rack; 241. a strip-shaped hole;
25. a base plate; 26. a right fixing plate; 27. a left fixing plate;
28. a roller; 29. a second drive motor.
Detailed Description
The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the drawings in the embodiments of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1, the embodiment provides a fire-fighting robot, which comprises a box 100, a water spraying device installed on the top of the box 100, caterpillar tracks 110 installed on both sides of the box 100, and a water pipe connected with the water spraying device for spraying fire-fighting liquid through the water spraying device.
Specifically, in the present embodiment, as shown in fig. 2 and 3, a partition is provided in the box 100, the partition divides the box 100 into an upper box 120 and a lower box 130, electronic components such as a control module, a positioning module, and a level module are installed in the upper box 120, and a balancing device 140 for balancing the robot is installed in the lower box 130. Specifically, in the present embodiment, the balancing device 140 is electrically connected to the control module, the balancing device 140 includes a left balancing device 10, a right balancing device 10, and a front balancing device 20 and a rear balancing device 20, wherein the front balancing device 20 and the rear balancing device 20 are installed on the left balancing device 20 and the right balancing device 10 can drive the front balancing device 20 and the rear balancing device 20 to move leftwards or rightwards, the front balancing device 20 and the rear balancing device 20 are used for preventing the robot from toppling forwards and backwards, and the left balancing device 10 and the rear balancing device 10 are used for preventing the robot from toppling leftwards and rightwards.
In the present embodiment, as shown in fig. 5 and 6, the left and right balancing means 10 includes a first driving motor 11, a threaded rod 14, a left mounting base 12, a right mounting base 13, and a guide rod 15. First driving motor 11 installs on left installation frame 12, and left installation frame 12 installs the left side of box 130 down, right installation frame 13 installs the right side of box 130 down, the one end of threaded rod 14 is passed left installation frame 12 and is connected with first driving motor 11, by first driving motor 11 drive threaded rod 14 rotation, the other end of threaded rod 14 and right installation frame 13 rotate and be connected, the one end and the left installation frame 12 fixed connection of guide arm 15, the other end and the right installation frame 13 fixed connection of guide arm 15.
In this embodiment, as shown in fig. 4, 5 and 7, the front-back balancing device 20 includes a mounting block 21, a second driving motor 29, a driving gear 23 and a gear rack 24, the mounting block 21 is provided with a threaded hole and a through hole, the other end of the threaded rod 14 passes through the threaded hole of the mounting block 21 and then is rotatably connected to the right mounting base 13, so that the mounting block 21 is threadedly connected to the threaded rod 14, and the other end of the guide rod 15 passes through the through hole of the mounting block 21 and then is fixedly connected to the right mounting base 13, so that when the threaded rod 14 is driven to rotate by the first driving motor 11, the mounting block 21 can move left and right along the guide rod 15. The second driving motor 29 is installed at one side of the installation block 21, specifically, a right supporting plate 212 is arranged on the installation block 21, the second driving motor 29 is fixedly installed on the right supporting plate 212, the driving gear 23 is installed on the second driving motor 29, the driving gear 23 is in meshed connection with the gear rack 24, and when the second driving motor 29 drives the driving gear 23 to rotate, the driving gear 23 can drive the gear rack 24 to move back and forth. The gear rack 24 is slidably connected to the mounting block 21, the gear rack 24 is mounted outside the lower case 130, and the gear rack 24 is mounted with rollers 28 (the rollers 28 are mounted at the front and rear ends of the gear rack 24, respectively). In addition, in the present embodiment, in order to keep the rack 24 moving linearly, the front-rear balancing device 20 further includes a driven gear 22, a left support plate 211 is provided on the mounting block 21, the driven gear 22 is to be mounted on the left support plate 211 through a gear seat, and the driven gear 22 is in meshed connection with the rack 24. When the rack gear 24 is moved forward or backward, the driven gear 22 will be rotated.
In the present embodiment, as shown in fig. 5 and 7, a left insert plate 2111 is provided on the left support plate 211, a right insert plate 2121 is provided on the right support plate 212, the left insert plate 2111 passes through the rack gear 24 and then is connected to the bottom plate 25, the right insert plate 2121 passes through the rack gear 24 and then is connected to the bottom plate 25, the rack gear 24 can be slidably connected to the left insert plate 2111 and the right insert plate 2121, and the rack gear 24 can be slid on the bottom plate 25. That is, the left insert plate 2111, the right insert plate 2121, and the bottom plate 25 collectively hold the rack gear 24, preventing the rack gear 24 from falling. Specifically, a bar-shaped hole 241 is formed in the gear bar 24, and the left insert plate 2111 and the right insert plate 2121 penetrate through the bar-shaped hole 241 and then are connected with the bottom plate 25.
In this embodiment, as shown in fig. 4, a left insertion hole is provided in the left insertion plate 2111, a left fixing plate 27 is inserted into the left insertion hole, and the left fixing plate 27 is used for supporting the bottom plate 25. A right insertion hole is formed in the right insertion plate 2121, a right fixing plate 26 is inserted into the right insertion hole, and the right fixing plate 26 is used for supporting the bottom plate 25. That is, the bottom plate 25 and, therefore, the rack 24 are supported by the left and right fixing plates 27 and 26.
The specific working method of the balancing device in this embodiment is as follows: when the fire-fighting robot will go up a slope, the control module sends a signal to the second driving motor 29, the second driving motor 29 drives the driving gear 23 to rotate (the driving gear 23 corotation at the moment), so that the gear rack 24 moves backwards, the roller 28 at the rear end plays a role in supporting the fire-fighting robot, and the fire-fighting robot is prevented from toppling backwards. When the fire-fighting robot goes downhill, the control module sends a signal to the second driving motor 29, the second driving motor 29 drives the driving gear 23 to rotate (the driving gear 23 rotates reversely at the moment), so that the gear rack 24 moves forwards, the roller 28 at the front end plays a role in supporting the fire-fighting robot, and the fire-fighting robot is prevented from toppling forwards after being extinguished. When the left side position of fire prevention robot is higher, control module signals to first driving motor 11 for first driving motor 11 rotates (first driving motor 11 corotation this moment), and drive threaded rod 14 rotates, makes installation piece 21 move to the left side, thereby makes the whole left side removal of balancing unit around to, thereby increases left weight, prevents that fire prevention robot from taking place to turn on one's side. When the right side position of fire-fighting robot is higher, control module signals to first driving motor 11 for first driving motor 11 rotates (first driving motor 11 reversal this moment), and drive threaded rod 14 rotates, makes installation piece 21 move to the right side, thereby makes the whole right side that moves of balancing unit around to make, thereby increases the weight on right side, prevents that fire-fighting robot from taking place to turn on one's side. In actual work, the positions of the left and right balancing devices and the front and rear balancing devices can be adjusted according to actual needs, and then the fire-fighting robot is prevented from toppling.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a fire-fighting robot, a serial communication port, which comprises a body, the body includes the box that is formed by the shell, be equipped with the baffle in the box, the baffle separates the box for last box and lower box, upward install control module in the box, install the balancing unit who is used for balanced robot in the lower box, balancing unit is connected with the control module electricity, balancing unit is including controlling balancing unit and front and back balancing unit, around balancing unit installs balancing unit controls on the balancing unit, just balancing unit can drive around the balancing unit perhaps moves right, front and back balancing unit is used for preventing empty around the robot, it is used for preventing to control balancing unit control the robot is emptyd.
2. A fire-fighting robot as recited in claim 1, wherein the left and right balancing device comprises a first driving motor, a threaded rod, a left mounting base, a right mounting base and a guide rod, the first driving motor is mounted on the left mounting base, the left mounting base is mounted on the left side of the lower box body, the right mounting base is mounted on the right side of the lower box body, one end of the threaded rod passes through the left mounting base and then is connected with the first driving motor, the other end of the threaded rod is rotatably connected with the right mounting base, one end of the guide rod is fixedly connected with the left mounting base, and the other end of the guide rod is fixedly connected with the right mounting base.
3. A fire-fighting robot as recited in claim 2 wherein the front and rear balancing device includes an installation block, a second driving motor, a driving gear and a rack, the installation block is provided with a threaded hole and a through hole, the other end of the threaded rod passes through the threaded hole of the installation block and then is rotatably connected to the right installation base, the other end of the guide rod passes through the through hole of the installation block and then is fixedly connected to the right installation base, the second driving motor is installed on one side of the installation block, the driving gear is installed on the second driving motor, the driving gear is engaged with the rack and is connected to the rack, the rack is slidably connected to the installation block, the rack is installed outside the lower box, and rollers are installed at both ends of the rack.
4. A fire fighting robot as recited in claim 3 wherein the mounting block has a right support plate, the second drive motor being fixedly mounted to the right support plate.
5. A fire-fighting robot as recited in claim 4 wherein the front and rear counterbalancing means further comprises a driven gear, the mounting block is provided with a left support plate, the driven gear is mounted on the left support plate, and the driven gear is engaged with the gear rack.
6. A fire-fighting robot as recited in claim 5 wherein the left pallet has a left insert plate and the right pallet has a right insert plate, the left insert plate is connected to the base plate after passing through the rack, the right insert plate is connected to the base plate after passing through the rack, the rack is slidably connected to the left insert plate and the right insert plate, and the rack is slidable on the base plate.
7. A fire-fighting robot as recited in claim 6 wherein the rack has a strip-shaped hole, and the left and right insertion plates are connected to the base plate after passing through the strip-shaped hole, respectively.
8. A fire-fighting robot as recited in claim 6 wherein the left insert plate has a left insertion hole, and a left fixing plate is inserted into the left insertion hole and supports the bottom plate.
9. A fire fighting robot as recited in claim 8 wherein the right insert plate has a right insertion hole, a right fixing plate is inserted into the right insertion hole, and the right fixing plate is used to support the bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110706039.5A CN113476768A (en) | 2021-06-24 | 2021-06-24 | Fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110706039.5A CN113476768A (en) | 2021-06-24 | 2021-06-24 | Fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113476768A true CN113476768A (en) | 2021-10-08 |
Family
ID=77937604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110706039.5A Withdrawn CN113476768A (en) | 2021-06-24 | 2021-06-24 | Fire-fighting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113476768A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU85827U1 (en) * | 2008-10-01 | 2009-08-20 | Открытое акционерное общество "Варгашинский завод ППСО" | NORTHERN FIRE CAR |
| CN205216018U (en) * | 2015-12-28 | 2016-05-11 | 长沙师范学院 | Self -balancing intelligence firefighting robot |
| CN205651360U (en) * | 2016-04-19 | 2016-10-19 | 青岛开元新天机械装备有限公司 | Robot that speedily carries out rescue work is rescued to intelligence |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN110507936A (en) * | 2019-08-14 | 2019-11-29 | 燕山大学 | Four-wheel foot formula investigates rescue robot |
| CN110787388A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Forest fire-fighting robot |
| CN112337015A (en) * | 2020-10-29 | 2021-02-09 | 张娟萍 | Self-stability fire-fighting robot |
-
2021
- 2021-06-24 CN CN202110706039.5A patent/CN113476768A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU85827U1 (en) * | 2008-10-01 | 2009-08-20 | Открытое акционерное общество "Варгашинский завод ППСО" | NORTHERN FIRE CAR |
| CN205216018U (en) * | 2015-12-28 | 2016-05-11 | 长沙师范学院 | Self -balancing intelligence firefighting robot |
| CN205651360U (en) * | 2016-04-19 | 2016-10-19 | 青岛开元新天机械装备有限公司 | Robot that speedily carries out rescue work is rescued to intelligence |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN110507936A (en) * | 2019-08-14 | 2019-11-29 | 燕山大学 | Four-wheel foot formula investigates rescue robot |
| CN110787388A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Forest fire-fighting robot |
| CN112337015A (en) * | 2020-10-29 | 2021-02-09 | 张娟萍 | Self-stability fire-fighting robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211008 |
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| WW01 | Invention patent application withdrawn after publication |