CN113561205A

CN113561205A - Multifunctional robot

Info

Publication number: CN113561205A
Application number: CN202110992758.8A
Authority: CN
Inventors: 李世龙
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-10-29

Abstract

The invention discloses a multifunctional robot, which comprises a robot body, wherein a multifunctional platform is arranged in the robot body, a multifunctional mechanical arm is arranged on the multifunctional platform, a detachable water shooting structure and a transportation structure are arranged on the multifunctional mechanical arm, a wall advancing device is arranged on the robot body, a cartridge magazine is arranged in the wall advancing device, a plurality of wall fixing ground bolts are arranged in the cartridge magazine, fire cores are arranged in the wall fixing ground bolts, a firing rotating wheel capable of loading the wall fixing ground bolts is arranged in the wall advancing device, a firing structure capable of cutting the fire cores to shoot the wall fixing ground bolts is arranged in the wall advancing device, an advancing foot part is arranged in the wall advancing device, a plurality of flying modules are movably arranged on the robot body, and the robot is used as an air-ground dual-purpose robot, the robot can stably walk on the wall.

Description

Multifunctional robot

Technical Field

The invention relates to the field of fire fighting equipment, in particular to a multifunctional robot.

Background

When a fire disaster occurs, the existing fire fighting technology is to use an aerial ladder and a fire-fighting lance to extinguish and rescue the fire, due to the limitations of fire-fighting equipment, modern fire-fighting technologies also require manual fire fighting, especially at the fire scene of large multi-story buildings, the fire scene is put out at high altitude by the cooperation of the aerial ladder and the fire-fighting lance by hands, the existing fire-fighting rescue mode has great disadvantages, thereby causing difficulty in fire extinguishing and rescue, for example, a large number of hands are generally needed in large-scale fire rescue, and rescuers generally need to be close to a fire scene within a certain distance to extinguish fire and rescue, the rescue workers are easy to be injured or even sacrificed due to various accidents on the site with large fire, in China, hundreds of rescue workers who are casualty caused by fire rescue every year exist, and the traditional rescue mode does not meet the modern requirements;

the existing rescue robot generally only has a single fixed function, such as a water-shooting function, but also cannot carry more functions on the robot body, so that the existing rescue robot cannot cope with more emergency situations during rescue, and because the existing rescue robot generally takes the shape of a vehicle, under the condition of different use environments, the mode of using wheels to advance is not flexible enough, the applicability of the existing rescue robot is also influenced, the flexibility of the existing rescue robot is reduced when the existing rescue robot is used on uneven road surfaces, grasslands and muddy lands, and the existing rescue robot cannot cope with various walking environments and influence the rescue process;

in addition, fire extinguishing and rescuing equipment needed by rescuers is various, the fire extinguishing preparation time needed by the equipment is long, and the rescuing time is easily influenced, so that the fire spread is caused, therefore, in the modern fire fighting equipment, a fire fighting and rescuing robot is developed, the existing fire fighting equipment is provided with a robot special for fire fighting and rescuing, the work of the rescuers can be lightened to a certain extent, the existing fire fighting and rescuing robot does not have the function of stably and efficiently climbing a wall surface, is generally only suitable for spraying water on the ground, has small function in a fire scene of a high-rise building, is insufficient in functionality, and is difficult to realize land-air dual-use;

the robot can realize high-altitude rescue only by means of a lifting appliance or installing a sucker at the foot of the robot due to the fact that a technology capable of enabling the robot to stably climb on a wall is not available, obviously, resources are consumed by using the lifting appliance, the effect is not obvious, the technology for realizing wall climbing by utilizing the sucker is only suitable for being used on a smooth wall, such as glass and ceramic, the climbing of walls such as cement and wood cannot be met, the efficiency is low, time delay is caused to rescue, and the method has great defects.

Disclosure of Invention

Aiming at the prior art, the technology to be realized by the invention is as follows: the robot has the capability of efficiently and stably climbing the wall surface.

The invention further aims to solve the technical problems that: the robot can move more flexibly and can walk on different ground.

The invention further aims to solve the technical problems that: the robot can carry various functional tools.

In order to achieve the purpose, the invention adopts the following scheme:

the utility model provides a multifunctional robot, including the robot this internal multifunctional platform that is equipped with of robot multifunctional platform is last to be provided with multifunctional mechanical arm the robot is last to be provided with wall advancing device be provided with in the wall advancing device and supply the magazine be provided with a plurality of solid wall ground studs in the magazine be provided with the fire core in the solid wall ground stud be provided with the percussion runner that can load solid wall ground stud in the wall advancing device be provided with the percussion structure that can cut the fire core thereby will penetrate solid wall ground stud in the wall advancing device be provided with the foot spare of marcing in the wall advancing device the last activity of robot is provided with a plurality of flight modules.

Furthermore, the robot body comprises a robot base, a plurality of feet for crawling are arranged on the robot base, and an electronic control hydraulic sub-controller connected with the feet is arranged on the robot base.

Furthermore, the multifunctional platform is movably arranged on the upper side of the robot base, the image transmission device is arranged on the multifunctional platform, the multifunctional mechanical arm is provided with a detachable water jetting structure and a transportation structure, and the foot part is provided with a plurality of movable probes.

Further, the wall advancing device comprises a shell hinged to the foot, the cartridge magazine is arranged in the shell, an upper cartridge magazine is arranged on one side of the cartridge magazine, the firing rotating wheel is arranged on one side of the upper cartridge magazine, the firing structure is arranged on one side of the firing rotating wheel, an anchor firing pipe is arranged on one side of the firing structure, an air guide device is arranged on one side of the anchor firing pipe, and the advancing foot part is arranged on the lower side of the shell.

Furthermore, a support frame is arranged inside the shell, the upper magazine is arranged between the support frame and the magazine and communicated with the magazine, a bullet distributing frame is arranged in the upper magazine, and the firing rotating wheel is arranged inside the support frame.

Furthermore, the firing rotating wheel comprises a rotating shaft and a plurality of fins fixedly arranged on the rotating shaft, and a bullet containing groove is formed between two adjacent fins.

Furthermore, the triggering structure comprises an inner gear ring fixedly arranged at the top of the rotating shaft, a brushless motor is arranged above the inner gear ring, a reduction gear meshed with the inner gear ring is arranged on the lower side of a rotor of the brushless motor, one side of the brushless motor is fixedly connected with the lower cover through a connecting rod, a cutting groove capable of cutting a fire core is arranged on the supporting frame, and a perforation capable of allowing a fixed wall rivet to penetrate through is arranged at the bottom of the supporting frame.

Furthermore, the advancing foot part comprises an L-shaped frame on a fixed anchor nail firing pipe, the bottom of the L-shaped frame is hinged with an crawling foot, an air cylinder capable of driving the crawling foot to rotate is arranged between the side wall of the crawling foot and the side wall of the L-shaped frame, the air cylinder is connected with an electronic control hydraulic branch controller, a nail releasing groove capable of being clamped on a fixed wall anchor nail is formed in the crawling foot, the nail releasing groove is horn-shaped, and anti-skid grains are arranged at the bottom of the crawling foot.

Furthermore, the wall fixing anchor comprises an anchor body, a wall fixing part is movably arranged on the anchor body, an anchor cap is arranged on one side of the anchor body, a linkage structure capable of driving the wall fixing part to extend outwards and open is arranged on the anchor cap, and a fire core capable of driving the anchor cap to move is arranged on the anchor cap.

Furthermore, the flight module comprises a flight swing frame hinged on the robot base, a flight rotating frame is movably arranged on the flight swing frame, and a turbojet engine is hinged on the flight rotating frame.

In summary, compared with the prior art, the invention has the beneficial effects that:

the robot is simple in structure and convenient to use, solves the problem that fire extinguishment and rescue are difficult when a high-rise building is in a fire disaster in the prior art, can greatly reduce rescue pressure of rescuers by using a land-air dual-purpose robot, reduces the use of personnel, reduces the casualty rate of the rescuers, enables the robot to stably walk on a wall, facilitates the fire extinguishment and rescue work such as sprinkling water on the fire scene by fixing the robot on the wall, can finish climbing actions without other tools, is suitable for various wall surfaces, such as cement, wood plates and other materials, can climb on the wall, is small in overall light and small in size, and prevents the robot from falling off the wall due to overlarge weight when climbing the wall, and causes machine loss or rescue casualty;

and when the robot is used on land, the robot can flexibly and stably walk on various road surfaces, and can carry out fire-fighting rescue work such as sprinkling water and the like on a fire scene through various tools, various rescue tools can be replaced according to the emergency situation on the scene, the robot is very convenient to assemble and disassemble, the whole body is light and small, the action is flexible, and the robot can be used for dealing with changeable rescue scenes.

Drawings

Fig. 1 is a perspective view of the multi-function robot of the present invention.

Fig. 2 is a perspective view of the robot body according to the present invention.

Fig. 3 is an exploded view of the robot body according to the present invention.

Fig. 4 is a second exploded view of the robot body according to the present invention.

Fig. 5 is a third exploded view of the robot body according to the present invention.

FIG. 6 is a fourth exploded view of the robot body according to the present invention.

Fig. 7 is a schematic exploded view of the robot body according to the present invention.

Fig. 8 is a perspective view illustrating the wall traveling apparatus according to the present invention.

Fig. 9 is an exploded view of the wall traveling apparatus according to the present invention.

Fig. 10 is a second exploded view of the wall traveling device of the present invention.

Fig. 11 is a third exploded view of the wall traveling apparatus according to the present invention.

FIG. 12 is a fourth exploded view of the wall traveling apparatus according to the present invention.

Fig. 13 is a fifth exploded view of the wall traveling device of the present invention.

Fig. 14 is a schematic exploded view of the wall traveling apparatus according to the present invention.

Fig. 15 is a sixth exploded view of the wall traveling apparatus according to the present invention.

Fig. 16 is a seventh exploded view of the wall traveling device according to the present invention.

Fig. 17 is a perspective view of the wall anchor according to the present invention.

Fig. 18 is a second perspective view of the wall-fixing anchor according to the present invention.

Fig. 19 is a schematic exploded view of the wall anchor according to the present invention.

Fig. 20 is an exploded view of the wall anchor of the present invention.

Detailed Description

The invention will be further described with reference to the following description and embodiments in conjunction with the accompanying drawings:

as shown in fig. 1 to 20, the multifunctional robot includes a robot body 1, a multifunctional platform 2 is disposed in the robot body 1, a multifunctional mechanical arm 3 is disposed on the multifunctional platform 2, a wall traveling device 4 is disposed on the robot body 1, a magazine 41 is disposed in the wall traveling device 4, a plurality of wall anchoring nails 5 are disposed in the magazine 41, a fire core 51 is disposed in the wall anchoring nails 5, a percussion rotating wheel 42 capable of loading the wall anchoring nails 5 is disposed in the wall traveling device 4, a percussion structure 43 capable of cutting the fire core 51 to eject the wall anchoring nails 5 is disposed in the wall traveling device 4, a traveling foot 44 is disposed in the wall traveling device 4, a plurality of flying modules 6 are movably disposed on the robot body 1, and the robot body 1 is a main trunk of a rescue robot, the rescue machine can move in multiple directions through the robot body 1 and crawl on various fields, the rescue machine can crawl on various different ground surfaces through the robot body 1, an upper cartridge magazine 46 is arranged on one side of a cartridge supply 41, an anchor triggering pipe 47 is arranged on one side of a triggering structure 43, an air guide device 48 is arranged on one side of the anchor triggering pipe 47, a wall advancing device 4 is arranged on a foot 12 of the robot body 1 of the robot, the wall advancing devices 4 are arranged on a plurality of feet 12 of the robot body 1, the wall climbing is realized on the wall through the mutual matching of the feet 12, when in use, a plurality of wall fixing anchors 5 are arranged in the cartridge supply 41 in advance, the cartridge magazine 41 supplies the wall fixing anchors 5 to the upper cartridge magazine 46 when the robot body 1 of the robot climbs the wall, the upper cartridge magazine 46 further supplies the wall fixing anchors 5 to the triggering rotating wheel 42, at the moment, the wall fixing anchor 5 in the firing rotating wheel 42 is to be fired, the firing structure 43 drives the firing rotating wheel 42 to rotate continuously, when the firing rotating wheel 42 rotates to a set position, the fire core 51 of the wall fixing anchor 5 is cut, the wall fixing anchor 5 is ejected from the anchor firing pipe 47, the air guide device 48 releases air generated during gunpowder combustion, at the moment, the wall fixing anchor 5 is ejected onto the wall and is clamped on the wall fixing anchor 5 through the advancing foot part 44, the wall fixing anchor 5 is ejected onto the wall through the plurality of wall advancing devices 4 continuously, and then the advancing foot part 44 on the foot part 12 of the robot body 1 is matched with the wall fixing anchor 5, so that the whole robot can crawl on the wall, in addition, the whole robot can walk on the land only through the movement of the advancing foot part 44 under the condition that the wall fixing anchor 5 is not used, and the dual-purpose of land fire-fighting robot is realized, when the wall fixing anchors 5 are used, the plurality of wall fixing anchors 5 are integrally and pre-installed on the wall advancing device 4, the fire core 51 is cut through the starting of the wall advancing device 4, the fire core 51 is extruded to ignite and explode, so that the wall fixing anchors 5 are driven by the explosion force to drive the wall fixing anchors 5 to spray out of the wall surface.

The robot body 1 comprises a robot base 11, a plurality of feet 12 for crawling are arranged on the robot base 11, an electronic control hydraulic branch controller 13 connected with the feet 12 is arranged on the robot base 11, when the robot body 1 is used, the robot can crawl on different grounds by matching the plurality of feet 12 on the robot base 11 with the electronic control hydraulic branch controller 13, and the plurality of feet 12 are uniformly distributed on the robot base 11.

Robot base 11 is including mainboard 111 the mainboard 111 downside sets firmly splint 112 and bottom plate 113 in proper order the interval respectively, is parallel to each other and keeps certain distance between mainboard 111, splint 112, the bottom plate 113.

The foot 12 comprises a plurality of rotating plates 121 hinged between a main plate 111 and a clamping plate 112, a foot cylinder I122 is hinged between the main plate 111 and the clamping plate 112, the movable end of the foot cylinder I122 is hinged on the rotating plate 121, a foot rod I123 is hinged on the upper wall of the rotating plate 121, a foot cylinder II 124 is hinged between the side wall of the foot rod I123 and the upper wall of the rotating plate 121, a foot rod II 125 is hinged at the outer end of the foot rod I123, a foot cylinder III 126 is hinged between the foot rod I123 and the foot rod II 125, a foot bottom frame 127 is hinged at the outer end of the foot rod II 125, the feet 12 are arranged between the clamping plate 112 and the bottom plate 113 and are provided in a plurality, the rotating plate 121 can be driven to rotate by the foot cylinder I122 during movement, the foot rod I123 is driven to swing by the foot cylinder II 124, the foot rod II 125 is driven to swing by the foot cylinder III 126, so that the rotating plate 121, the rotating plate 112, The cooperation between the first foot rod 123 and the second foot rod 125 can enable the foot 12 to climb on the ground, the whole foot 12 can be provided with the wall advancing device 4 to enable the robot body 1 to advance on the wall, in particular, the wall advancing device 4 is arranged on the foot bottom frame 127, the foot bottom frame 127 can rotate on the second foot rod 125, the flexibility is further improved, a connecting cylinder 81 is arranged between the second foot rod 125 and the wall advancing device 4, the connecting cylinder 81 is used for driving the wall advancing device 4 to rotate integrally, the connecting cylinder 81 is connected with an electronic control hydraulic sub-controller 13, the first foot rod 123 and the second foot rod 125 are telescopic rods, and are composed of a first pipe fitting 91, a second pipe fitting 92, a telescopic motor 93, a threaded rod 94, a threaded sleeve 95 and a polished rod 96, for the existing common telescopic rod technology, when in use, the telescopic motor 93 and the threaded rod 96 are fixed on the first pipe fitting 91, the polished rod 94 is arranged at the movable end of the telescopic motor 93, the threaded sleeve 95 is fixed on the second pipe fitting 92, the threaded rod 94 is in threaded connection with internal threads of the threaded sleeve 95, and the polish rod 96 is movably inserted into the threaded sleeve 95, so that the first pipe fitting 91 can stretch and move on the second pipe fitting 92.

The water jet head 82 is fixedly arranged on the foot underframe 127, the water jet head 82 can be externally connected with a water pipe, the water jet direction of the water jet head 82 is aligned with the ejection position of the wall fixing anchor 5 on the pin removing groove 444, after the pin removing groove 444 is clamped on the wall fixing anchor 5, a gap is formed above the connection position of the wall fixing anchor 5 and the wall, the water jet head 82 jets water into the gap on the upper side of the wall fixing anchor 5, and water is injected into the heat insulation layer of the wall to extinguish fire or dissipate heat of the heat insulation layer.

The multifunctional platform 2 is movably arranged on the upper side of a robot base 11, an image transmission device 21 is arranged on the multifunctional platform 2, the multifunctional mechanical arm 3 is arranged on the multifunctional platform 2, a detachable water jet structure 31 and a transportation structure 32 are arranged on the multifunctional mechanical arm 3, a plurality of movable probes 8 are arranged on the foot 12, the image transmission device 21 is arranged on the multifunctional platform 2, photoelectric radars are arranged on the image transmission device 21 and the probes 8, the terrain can be detected, data such as terrain materials and the like are transmitted to a ground station through an antenna, image data are displayed on a master control table of the ground station, the probes 8 have the functions of terrain surveying and mapping and infrared thermal imaging, the thermal imaging function can detect the conditions in smoke, the images can be transmitted to the master control table in a wireless connection mode so as to manage the robot in real time, the multifunctional mechanical arm 3 is arranged on the multifunctional platform 2, the water jetting structure 31 and the transportation structure 32 can be freely arranged on the multifunctional mechanical arm 3 through a user, so that the rescue robot has the functions of water jetting and object transportation, in addition, other functional accessories, such as a distributed water jetting head, a convergent water jetting head or accessories of other water jetting modes, fire extinguishing spray and the like can be arranged on the multifunctional mechanical arm 3 besides the water jetting structure 31 and the transportation structure 32.

The multifunctional platform 2 comprises a rotating platform 201 arranged above a main board 111, a rotating gear 202 is fixedly arranged at the bottom of the rotating platform 201, a rotating platform motor 203 is fixedly arranged on the upper wall of the main board 111, a driving gear 204 meshed with the rotating gear 202 is arranged on a rotor of the rotating platform motor 203, when the rescue robot runs, the rotating platform motor 203 can be started under the control of a user, the rotating platform motor 203 drives the rotating gear 202 to rotate through the driving gear 204, because the rotating gear 202 is fixed on the rotating platform 201, the rotating platform 201 can synchronously rotate, the rotating platform motor 203 is in wireless connection with a main control platform, the user can rotate the rotating platform 201 left and right through the main control platform, so that the omnibearing image monitoring of the image transmission device 21 is realized, side grooves 205 are symmetrically arranged at the left side and the right side of the rotating platform 201, a front groove 206 is arranged at the front side of the rotating platform 201, the side slot 205 is used for placing the multifunction robot arm 3, and the front slot 206 is used for placing the image transfer apparatus 21.

The multifunctional mechanical arm 3 comprises a first movable arm 301 hinged between the front side wall and the rear side wall of the side groove 205, a mechanical arm cylinder I302 is hinged between the movable arm I301 and the rotating platform 201, a second movable arm 303 is hinged on the first movable arm 301, a second mechanical arm cylinder 304 is hinged between the second movable arm 303 and the first movable arm 301, when the multi-stage telescopic arm 305 is arranged in the second movable arm 303, in use, the first movable arm 301 can be driven by the first mechanical arm cylinder 302 to swing, the second movable arm 303 can swing on the first movable arm 301 by the second mechanical arm cylinder 304, the multi-stage telescopic arm 305 is inserted on the second movable arm 303 and can be extended or contracted, multi-stage telescopic is realized by a plurality of annular parts which are overlapped layer by layer, the device is used for adjusting the positions of the water jetting structure 31, the transportation structure 32 or other external functional accessories, and also can be provided with an anti-riot shield to ensure that the device has the anthropomorphic fire-fighting functions such as an anti-riot function and the like.

The water-jetting structure 31 comprises a water-jetting panel 311 embedded on one of the multi-stage telescopic arms 305, a corrugated pipe 312 is fixedly arranged on the outer wall of the water-jetting panel 311, a nozzle 313 is fixedly arranged at the outer end of the corrugated pipe 312, a plurality of nozzle cylinders 314 are arranged between the side wall of the nozzle 313 and the outer wall of the water-jetting panel 311, a water-jetting pipe 315 is arranged on the second movable arm 303, one end of the water-jetting pipe 315 is communicated with the corrugated pipe 312, the other end of the water-jetting pipe 315 is fixedly arranged on the upper wall of the rotary table 201, an elbow 316 is fixedly arranged at the center of the bottom of the rotary gear 202, the elbow 316 is communicated with the water-jetting pipe 315, the elbow 316 is inserted in the center of the main board 111, and when in use, the water-jetting panel 311 is embedded into the multi-stage telescopic arms 305 to realize installation and fixation, the corrugated pipe 312 is a telescopic pipe fitting, which is a prior art and is used for enabling the nozzle 313 to be telescopic after being driven by the nozzle cylinders 314, the water injection pipe 315 is used for supplying water to the nozzle 313 to inject the water, specifically, the elbow 316 is connected with a water pump through the outside of the pipeline, the water is pumped to the elbow 316 through the water pump, then enters the water injection pipe 315 through the elbow 316, and finally is injected from the water injection pipe 315, the elbow 316 is inserted in the center of the main plate 111 and fixed at the bottom of the rotating gear 202, so that the elbow 316 also serves as the rotating axis of the rotating gear 202 besides the water injection function.

The transportation structure 32 comprises a transportation panel 321 embedded on one of the multi-stage telescopic arms 305, a rope wheel frame 322 is fixedly arranged on the outer wall of the transportation panel 321, a rope wheel 323 is movably arranged on the rope wheel frame 322, a rope wheel motor 324 capable of driving the rope wheel 323 to rotate is arranged on the rope wheel frame 322, a rope is wound on the rope wheel 323, the transportation panel 321 is embedded on the multi-stage telescopic arms 305 to realize installation and fixation, the rope wheel frame 322 is used for enabling the rope wheel 323 to rotate at a fixed point, a rope is wound on the rope wheel 323 in advance, when the rope wheel 323 is driven to rotate by the rope wheel motor 324, the rope can be wound on the rope wheel 323, or the rope is discharged by the reverse rotation of the rope wheel motor 324, so that the bound materials are conveniently transported.

The image transmission device 21 is hinged between the left side and the right side of the inner wall of the front groove 206, the image transmission device 21 can swing up and down in a hinged mode, and the image transmission device 21 can monitor in multiple angles by matching with the characteristic that the rotating platform 201 can rotate.

The electronic control hydraulic branch controller 13 is arranged between the clamp plate 112 and the bottom plate 113, the electronic control hydraulic branch controller 13 is respectively connected with the mechanical arm cylinder I302, the mechanical arm cylinder II 304, the nozzle cylinder 314, the foot cylinder I122, the foot cylinder II 124 and the foot cylinder III 126 through hydraulic pipes, the mechanical arm cylinder I302, the mechanical arm cylinder II 304, the nozzle cylinder 314, the foot cylinder I122, the foot cylinder II 124 and the foot cylinder III 126 can be controlled through the electronic control hydraulic branch controller 13, and the electronic control hydraulic branch controller 13 can be remotely controlled through software, so that the overall action of the robot can be carried out according to the requirements of users.

The wall advancing device 4 comprises a shell 45 hinged on the foot 12, the cartridge magazine 41 is arranged in the shell 45, an upper cartridge magazine 46 is arranged on one side of the cartridge magazine 41, the firing rotating wheel 42 is arranged on one side of the upper cartridge magazine 46, the firing structure 43 is arranged on one side of the firing rotating wheel 42, an anchor firing pipe 47 is arranged on one side of the firing structure 43, an air guide device 48 is arranged on one side of the anchor firing pipe 47, the advancing foot part 44 is arranged on the lower side of the shell 45, and a connecting air cylinder 81 is arranged between the wall advancing device 4 and the foot 12.

The shell 45 comprises a shell body 451, an upper cover 452 and a lower cover 453 which are respectively arranged on the upper side and the lower side of the shell body 451, the upper cover 452 can be detached out, so that the wall fixing anchors 5 can be placed in the magazine 41 in batches, and the shell body 451 can also be detached out from the lower cover 453, so that the inside can be maintained conveniently.

The magazine 41 includes a cartridge holder 411 disposed inside a housing 451, a bullet inlet 412 is disposed on the top of the cartridge holder 411, a pulsator motor 413 capable of driving a wall-fixing anchor 5 to move downward is disposed inside the cartridge holder 411, an inclined baffle 414 is fixedly disposed inside the cartridge holder 411, the inclined baffle 414 is narrowed from top to bottom, a protrusion 415 and a sliding slot 416 capable of rotating the wall-fixing anchor 90 ° are disposed on the lower portion of the cartridge holder 411, a bullet outlet 417 is disposed on the lower portion side wall of the cartridge holder 411, a plurality of observation holes 418 are formed on the cartridge holder 411 and the housing 451, the wall-fixing anchor 5 is loaded into the cartridge holder 411 in batch from the bullet inlet 412, so that multiple ways or single ways of the wall-fixing anchor 5 can be loaded, the wall-fixing anchor 5 is supplied downward by the pulsator motor 413 inside, when the wall-fixing anchor 5 moves to the inclined baffle 414, the inclined baffle 414 converges multiple ways of the wall-fixing anchor 5 on the lower side of the inclined baffle 414, when the wall fixing anchor 5 enters the sliding elastic groove 416, the wall fixing anchor 5 presses the head of the wall fixing anchor 5 through the bump 415, so that the wall fixing anchor 5 rotates 90 degrees with the anchor head as a central point, the wall fixing anchor 5 which rotates 90 degrees is supplied to the upper elastic cabin 46 from the ejection outlet 417, and the rear side of the sliding elastic groove 416 is an arc-shaped inner wall, which is convenient for the rotation of the wall fixing anchor 5.

In the invention, the support frame 7 is arranged in the shell 45, the support frame 7 is cylindrical, the inner cavity 72 is arranged in the support frame 7, the upper magazine 46 is arranged between the support frame 7 and the cartridge clip 411 and is communicated with each other, the cartridge separating frame 461 is arranged in the upper magazine 46, the firing rotating wheel 42 is arranged in the support frame 7 and is tightly attached to the inner wall of the support frame 7, when the support frame 7 is fixed at one side of the upper magazine 46 during operation, when the wall fixing anchor 5 is supplied to the upper magazine 46 from the cartridge outlet 417, the part of the cartridge frame 461 in the upper magazine 46 divides the supplied wall fixing anchor 5 and enables the wall fixing anchor 5 to be loaded on the firing rotating wheel 42 in the inner cavity 72, the firing rotating wheel 42 can rotate in the inner cavity 72, so that the wall fixing anchor 5 loaded in the firing rotating wheel 42 moves along with the wall fixing anchor until being shot out, and the new wall fixing anchor 5 is continuously shot out through the wall fixing anchor 5 and continuously supplied from the upper magazine 46, the wall fixing anchoring nail 5 can be continuously triggered until the wall fixing anchoring nail 5 is shot empty.

The triggering rotating wheel 42 comprises a rotating shaft 421 and a plurality of fins 422 fixedly arranged on the rotating shaft 421, an elastic loading groove 423 is formed between two adjacent fins 422, the intervals between the plurality of fins 422 on the triggering rotating wheel 42 are consistent, the elastic loading groove 423 is formed at the interval between the plurality of fins 422, the wall fixing anchoring nail 5 can be loaded into the elastic loading groove 423 from the upper magazine 46 through the branch elastic frame 461, and after the wall fixing anchoring nail 5 is loaded, when the rotating shaft 421 is driven to rotate by the triggering structure 43, the wall fixing anchoring nail 5 is driven to move along with the wall fixing anchoring nail 5 until the wall fixing anchoring nail is shot out, and the outer wall of the triggering rotating wheel 42 is tightly attached to the inner wall of the inner cavity 72 of the supporting frame 7, so that the wall fixing anchoring nail 5 cannot fall out of the elastic loading groove 423 in the rotating process.

The invention is that the firing structure 43 includes an inner gear ring 431 fixed on the top of the rotating shaft 421, a brushless motor 432 is arranged above the inner gear ring 431, a speed reducing gear 433 engaged with the inner gear ring 431 is arranged on the lower side of the rotor of the brushless motor 432, one side of the brushless motor 432 is fixedly connected with a lower cover 453 through a connecting rod 434, a cutting groove 435 capable of cutting the fire core 51 of the wall fixing anchor 5 is arranged on the support frame 7, a perforation 436 capable of allowing the wall fixing anchor 5 to pass through is arranged at the bottom of the support frame 7, when in use, the speed reducing gear 433 is driven to rotate by the starting of the brushless motor 432, the speed reducing gear 433 drives the inner gear ring 431 to continuously rotate so as to rotate the rotating shaft 421, when the rotating shaft 421 rotates, the wall fixing anchor 5 follows the displacement at the firing rotating wheel 42, and when the fire core 51 protruding from the tail of the wall fixing anchor 5 rotates to the cutting groove 435, the cutting groove 435 causes the fire core 51 to be cut and extruded through the impact of the fire core 435, wall anchor 5 will be fired and wall anchor 5 will be projected downwardly from perforation 436.

The support frame 7 is provided with an idle groove 71 capable of throwing out residues of the wall fixing anchors 5, after the wall fixing anchors 5 are fired, the generated residues of the wall fixing anchors 5 are thrown out from the idle groove 71, no residues are generated when the wall fixing anchors 5 are fired, and in order to prevent the residues from being accidentally generated, the firing rotating wheel 42 is prevented from being blocked by the residues, and the residues can be thrown out from the idle groove 71 in advance.

The invention relates to a moving foot part 44, which comprises an L-shaped frame 441 fixedly sleeved on an anchor firing pipe 47, wherein the bottom of the L-shaped frame 441 is hinged with an climbing foot 442, a cylinder 443 capable of driving the climbing foot 442 to rotate is arranged between the side wall of the climbing foot 442 and the side wall of the L-shaped frame 441, the cylinder 443 is connected with an electronic control hydraulic branch controller 13, the climbing foot 442 is provided with a nail-removing groove 444 capable of being clamped on a fixed wall anchor 5, the nail-removing groove 444 is horn-shaped, the bottom of the climbing foot 442 is provided with an anti-slip line 445, when the fixed wall anchor 5 is shot into the wall, since the groove position of the nail-removing groove 444 cannot block the shooting position of the fixed wall anchor 5, after the fixed wall anchor 5 is shot out and embedded into the wall, the fixed wall 5 is positioned in the nail-removing groove 444, and is clamped on the fixed wall anchor 5 through the nail-removing groove 444 to realize fixation, and the climbing foot 442 can move through the driving of the cylinder 443, the device is arranged on a plurality of feet 12 of the robot body 1 and matched with the ejection wall fixing anchors 5, and the feet 12 are clamped on the wall fixing anchors 5 to realize crawling on the wall.

The anchor triggering tube 47 includes a first tube 471 fixedly disposed at the bottom of the supporting frame 7 and concentrically disposed with the perforation 436, a second tube 472 fixedly disposed at the bottom of the lower cover 453 and communicated with the first tube 471, and after the wall fixing anchor 5 is triggered from the triggering wheel 42, the wall fixing anchor 5 will be shot into the first tube 471 through the perforation 436, then shot into the second tube 472, and further shot out from the second tube 472 and shot into the wall.

The gas guide device 48 comprises a first fixing part 481 and a second fixing part 482 which are respectively arranged at the upper side and the lower side of a first tube 471, an L-shaped pipeline 483 communicated with the inside of the first tube 471 is arranged in the second fixing part 482, a piston rod 484 is inserted in the first fixing part 481, a piston head 485 is fixedly arranged at the bottom of the piston rod 484, the piston head 485 is arranged in the L-shaped pipeline 483 for limiting movement, a return spring 486 sleeved on the piston rod 484 is arranged between the top wall of the piston head 485 and the bottom wall of the first fixing part 481, when the wall fixing anchor 5 is triggered, generated combustion gas enters the L-shaped pipeline 483, the piston head 485 is pressed upwards until the piston head 485 is separated from the L-shaped pipeline 483, at the moment, the combustion gas is released in the outside air, the purpose of exhausting is completed, and the piston head 485 is driven to reset by the return spring 486 through the piston rod 484, reinserting into L-shaped pipeline 483 waits for next time to exhaust, this air guide 48 can also play the effect of reducing recoil and control powder power, can adjust recoil and control powder power size through the elasticity that sets up air guide 48, and concrete accessible changes reset spring 486 realizes.

The wall fixing anchor 5 comprises a nail body 52, a wall fixing part 53 is movably arranged on the nail body 52, a nail cap 54 is arranged on one side of the nail body 52, a linkage structure 55 capable of driving the wall fixing part 53 to extend and open outwards is arranged on the nail cap 54, a fire core 51 capable of driving the nail cap 54 to move is arranged on the nail cap 54, when the nail body 52 is inserted into a wall, the whole nail body 52 is positioned in a nail removing groove 444 of a wall advancing device 4, the nail cap 54 is clamped in the nail removing groove 444, the nail body 52 is still in a shooting state in the wall under the impact of explosive force, the stop state of the nail cap 54 drives the wall fixing part 53 to open through the linkage structure 55, the wall fixing part 53 is clamped into the wall like a barb to realize fixing, the nail body 52 is stably fixed in the wall, and then the more stable fixing can be realized through the further deformation of the wall fixing anchor 5, in a concrete operation, since the wall fixing anchor 5 is caught in the nail removing groove 444 of the wall advancing device 4, the climbing foot 442 of the wall advancing device 4 can be turned outwards along the wall, so that the nut 54 is driven to move outwards at the same time, and at this time, the linkage structure 55 will further drive the wall fixing part 53 to open outwards, thereby realizing further stable wall fixing, after the wall fixing anchor 5 is completely and stably embedded in the wall, the robot drives the wall marching device 4 to move, so that the climbing foot 442 of the wall marching device 4 climbs upwards by taking the wall fixing anchor 5 as a supporting point, and then the wall crawling of the robot is realized by matching the wall marching device 4 on a plurality of feet 12 of the robot with the anchor, after the wall fixing anchor 5 is used, the wall-fixing anchor 5 fixed on the wall can be withdrawn by installing a traction structure control in the nail body 52, so that the wall-fixing anchor can be recycled through micro-machining.

The nail body 52 is internally provided with a cavity 521, the top of the cavity 521 is open, the nail body 52 is provided with a plurality of side cavities 522 communicated with the cavity 521, the cavity 521 is concentric with the nail body 52, the cavity 521 is used for matching the linkage structure 55 with the wall fixing part 53, and the side cavities 522 can be arranged in a plurality for hinging with the wall fixing part 53.

The wall fixing part 53 is hinged inside the side cavity 522, and the hinge point of the wall fixing part 53 and the side cavity 522 should be arranged at the lower section, so that the wall fixing part 53 can be clamped into the wall like a barb.

The linkage structure 55 comprises a linkage rod 551 arranged at the bottom of the nail cap 54 and movably inserted into the cavity 521, a groove 552 is arranged on the linkage rod 551, a top block 553 is fixedly arranged at the inner side of the wall fixing part 53, the top block 553 is movably arranged in the groove 552, when the fire core 51 is cut and extruded by the wall travelling device 4, the nail body 52 is embedded into the wall when the nail cap 54 drives the nail body 52 to eject towards the wall, the nail body 52 is still in an ejecting state at the moment because the nail-releasing groove 444 on the climbing foot 442 blocks the nail cap 54, the linkage rod 551 moves in the direction of separating from the cavity 521 because the nail-releasing groove 444 on the nail-climbing foot 442 blocks the nail body 52, the linkage rod 551 moves simultaneously through the displacement of the groove 552 when the linkage rod 551 moves, so that the wall fixing part 53 rotates along the hinge point, therefore, the wall fixing parts 53 are opened and are clamped in the wall like barbs, the wall travelling device 4 is also firmly clamped between the nail cap 54 and the wall, when the robot needs to travel, the climbing feet 442 on the wall travelling device 4 can further rotate, the nail cap 54 is further pulled out by utilizing the lever principle, and accordingly, the wall fixing parts 53 are further overturned through linkage, stronger fixing is realized, the climbing feet 442 are in a movable state at the moment and are matched with the movement of the plurality of feet 12 of the robot, and the purpose of wall climbing travelling is realized.

The top of the nail cap 54 is provided with an embedded groove 541, the embedded groove 541 is used for installing the fire core 51 and preventing the fire core 51 from deviating from the nail cap 54 when being cut and extruded, the embedded groove 541 is preferably used, the cost is low, and the fire core 51 can be fixed by glue or bending aluminum materials.

The fire core 51 comprises a gunpowder box 511 embedded in an embedded groove 541, an ignition object 512 is fixedly arranged on the upper side in the gunpowder box 511, the gunpowder box 511 is filled with gunpowder and covers the ignition object 512, a plurality of protruding columns 513 capable of fixing the gunpowder are fixedly arranged on the bottom wall in the gunpowder box 511, when a firing structure 43 on the wall advancing device 4 cuts the gunpowder box 511, the gunpowder box 511 is instantly extruded and deformed, so that the ignition object 512 in the fire box is instantly extruded, the ignition object 512 is ignited, surrounding gunpowder is driven to ignite, and a nail cap 54 is pushed to eject, and the protruding columns 513 are used for fixing the gunpowder, preventing the gunpowder from randomly moving in the gunpowder box 511 and similar to the action of steel bars in concrete.

The ignition material 512 is saltpeter, has low ignition point and can be combusted after being instantly extruded by force.

The gunpowder box 511 is made of high-temperature-resistant materials, and after the wall advancing device 4 ejects the wall fixing anchor 5 for multiple times, the temperature of the anchor firing tube 47 inside is rapidly increased, so that the gunpowder inside is prevented from being ignited accidentally, and the gunpowder box 511 is made of high-temperature-resistant materials.

The lower end of the nail body 52 is conical, preferably conical, or may be in other sharp shapes, so as to be conveniently embedded into a wall.

The flight module 6 comprises a flight swing frame 61 hinged on a robot base 11, a flight rotating frame 62 is movably arranged on the flight swing frame 61, a turbojet engine 63 is hinged on the flight rotating frame 62, when the flight module is used, the flight swing frame 61 can be manually rotated to adjust the position, the flight rotating frame 62 can be manually rotated to adjust the angle, the turbojet engine 63 is the prior art, when a plurality of turbojet engines 63 are simultaneously started at the periphery of the robot, the whole fire-fighting robot can be driven to ascend, the flight module 6 mainly acts as a function of driving the whole fire-fighting robot to ascend to a certain height and then the whole fire-fighting robot is prone on the wall to climb, so that the fire-fighting robot does not need to climb too long distance, and the climbing time is reduced.

While there have been shown and described the fundamental principles and principal features of the invention and advantages thereof, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention, but is susceptible to various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A multifunctional robot, its characterized in that: comprises a robot body (1), a multifunctional platform (2) is arranged in the robot body (1), a multifunctional mechanical arm (3) is arranged on the multifunctional platform (2), a wall advancing device (4) is arranged on the robot body (1), a magazine (41) is arranged in the wall advancing device (4), a plurality of wall fixing anchors (5) are arranged in the magazine (41), a fire core (51) is arranged in the wall fixing anchor (5), a firing rotating wheel (42) capable of loading the wall fixing anchor (5) is arranged in the wall advancing device (4), a firing structure (43) which can cut the fire core (51) and eject the wall fixing anchor (5) is arranged in the wall advancing device (4), a traveling foot member (44) is provided in the wall traveling device (4), a plurality of flight modules (6) are movably arranged on the robot body (1).

2. The robot of claim 1, wherein the robot body (1) comprises a robot base (11), a plurality of feet (12) for climbing are arranged on the robot base (11), and an electronic control hydraulic sub-controller (13) connected with the feet (12) is arranged on the robot base (11).

3. The multifunctional robot according to claim 2, characterized in that the multifunctional platform (2) is movably arranged on the upper side of the robot base (11), the image transmission device (21) is arranged on the multifunctional platform (2), the multifunctional mechanical arm (3) is provided with the detachable water jet structure (31) and the transportation structure (32), and the foot (12) is provided with the plurality of movable probes (8).

4. The multi-purpose robot of claim 2, wherein the wall traveling device (4) comprises a housing (45) hinged to the foot (12), the magazine (41) is disposed in the housing (45), an upper magazine (46) is disposed on one side of the magazine (41), the trigger wheel (42) is disposed on one side of the upper magazine (46), the trigger structure (43) is disposed on one side of the trigger wheel (42), a trigger anchor tube (47) is disposed on one side of the trigger structure (43), an air guide device (48) is disposed on one side of the trigger anchor tube (47), and the traveling foot (44) is disposed on the lower side of the housing (45).

5. The multi-purpose robot according to claim 4, characterized in that a supporting frame (7) is provided inside said housing (45), said upper magazine (46) is provided between said supporting frame (7) and said magazine supply (41) and is communicated with each other, a magazine separating frame (41) is provided inside said upper magazine (46), and said firing wheel (42) is provided inside said supporting frame (7).

6. The multi-purpose robot of claim 5, wherein the trigger wheel (42) comprises a shaft (421) and a plurality of fins (422) fixed to the shaft (421), and the loading slot (423) is formed between two adjacent fins (422).

7. The multifunctional robot of claim 6, wherein the trigger structure (43) comprises an inner toothed ring (431) fixedly arranged at the top of the rotating shaft (421), a brushless motor (432) is arranged above the inner toothed ring (431), a reduction gear (433) meshed with the inner toothed ring (431) is arranged at the lower side of a rotor of the brushless motor (432), one side of the brushless motor (432) is fixedly connected with the lower cover (435) through a connecting rod (434), a cutting groove (436) capable of cutting the fire core (51) is arranged on the support frame (7), and a perforation (437) capable of allowing the wall fixing anchor (5) to pass through is arranged at the bottom of the support frame (7).

8. The multifunctional robot of claim 4, wherein the traveling foot part (44) comprises an L-shaped frame (441) on a fixed anchor firing pipe (47), a climbing foot (442) is hinged to the bottom of the L-shaped frame (441), a cylinder (443) capable of driving the climbing foot (442) to rotate is arranged between the side wall of the climbing foot (442) and the side wall of the L-shaped frame (441), the cylinder (443) is connected with an electronic control hydraulic branch controller (13), a nail releasing groove (444) capable of being clamped on a fixed wall anchor (5) is arranged on the climbing foot (442), the nail releasing groove (444) is horn-shaped, and an anti-skid line (445) is arranged at the bottom of the climbing foot (442).

9. The multifunctional robot according to claim 8, wherein the wall-fixing anchor (5) comprises a nail body (52), a wall fixing part (53) is movably arranged on the nail body (52), a nail cap (54) is arranged on one side of the nail body (52), a linkage structure (55) capable of driving the wall fixing part (53) to extend outwards and open is arranged on the nail cap (54), and a fire core (51) capable of driving the nail cap (54) to move is arranged on the nail cap (54).

10. The multi-purpose robot according to claim 2, characterized in that said flying module (6) comprises a flying swing frame (61) hinged on the robot base (11), a flying rotating frame (62) is movably arranged on said flying swing frame (61), and a turbojet engine (63) is hinged on said flying rotating frame (62).