CN113562092A

CN113562092A - Wall advancing device of multifunctional robot

Info

Publication number: CN113562092A
Application number: CN202110992584.5A
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 wall advancing device of a multifunctional robot, which comprises a shell, wherein a bullet supply bin capable of placing wall fixing anchors in batches is arranged in the shell, an upper bullet bin is arranged at one side of the bullet supply bin, a firing rotating wheel capable of loading the wall fixing anchors is arranged at one side of the upper bullet bin, a firing structure for ejecting the wall fixing anchors in the firing rotating wheel is arranged at one side of the bullet supply bin, an anchor firing pipe is arranged at one side of the firing structure, an air guide device is arranged at one side of the anchor firing pipe, and an advancing foot part is arranged at one side of the shell. Causing machine loss or rescue personnel casualty.

Description

Wall advancing device of multifunctional robot

Technical Field

The invention relates to the field of fire fighting equipment, in particular to a wall travelling device of 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;

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;

to accomplish the robot and can play key effect in the fire control, its functional nature is absolutely necessary, but its stability is the weight of putting seriously, thereby avoid the robot in use stability not enough to drop in the high altitude, cause unnecessary loss and injures and deaths, obviously, can not accomplish this in the modern science and technology yet.

Therefore, the existing fire rescue robot needs to be further improved.

Disclosure of Invention

Aiming at the prior art, the technology to be realized by the invention is as follows: so that the fire-fighting robot can climb on the wall.

The invention further aims to solve the technical problems that: the climbing process has good stability.

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

the utility model provides a wall advancing device of multi-functional robot, including the shell the inside feed magazine that can place solid wall anchor in batches that is equipped with of shell feed magazine one side is provided with the magazine go up magazine one side is provided with the percussion runner that can load solid wall anchor feed one side be equipped with the percussion structure that solid wall anchor in the magazine jets out percussion structure one side is provided with the anchor percussion pipe one side is provided with the air guide device the shell one side is provided with foot spare of marcing.

Furthermore, the shell of the invention comprises a shell body, and an upper cover and a lower cover which are respectively arranged on the upper side and the lower side of the shell body.

Furthermore, the cartridge magazine comprises a cartridge clip arranged in a shell, a cartridge inlet is arranged at the top of the cartridge clip, a wave wheel motor capable of driving a wall fixing anchor nail to move downwards is arranged in the cartridge clip, an inclined baffle is fixedly arranged in the cartridge clip, the inclined baffle is narrowed from top to bottom, a lug and a cartridge sliding groove capable of enabling the wall fixing anchor nail to rotate 90 degrees are arranged at the lower part of the cartridge clip, a cartridge outlet is arranged on the side wall of the lower part of the cartridge clip, and a plurality of observation holes are arranged on the cartridge clip and the shell in a penetrating manner.

Furthermore, a supporting frame is arranged in the shell body, the supporting frame is cylindrical, an inner cavity is formed in the supporting frame, the upper magazine is arranged between the supporting frame and the cartridge clip and communicated with the support frame and the cartridge clip, a cartridge separating frame is arranged in the upper magazine, and the firing rotating wheel is arranged in the supporting frame and clings to the inner wall of the supporting 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 reduction gear 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 of the wall fixing anchor is arranged on the supporting frame, and a perforation capable of allowing the wall fixing anchor to penetrate through is arranged at the bottom of the supporting frame.

Furthermore, the support frame is provided with an empty groove which can throw out residues of the wall fixing anchors.

Furthermore, the anchor triggering pipe comprises a first pipe body fixedly arranged at the bottom of the support frame and concentrically arranged with the perforation, and a second pipe body communicated with the first pipe body is fixedly arranged at the bottom of the lower cover.

Further, the air guide device comprises a first fixing piece and a second fixing piece which are respectively arranged on the upper side and the lower side of the first pipe body, an L-shaped pipeline communicated with the inside of the first pipe body is arranged in the second fixing piece, a piston rod is inserted into the first fixing piece, a piston head is fixedly arranged at the bottom of the piston rod, the piston head is arranged in the L-shaped pipeline in a limiting mode and moves, and a reset spring sleeved on the piston rod is arranged between the top wall of the piston head and the bottom wall of the first fixing piece.

Furthermore, the advancing foot part comprises an L-shaped frame fixedly sleeved on the second pipe body, climbing feet are hinged to the bottom of the L-shaped frame, an air cylinder capable of driving the climbing feet to rotate is arranged between the side wall of the climbing feet and the side wall of the L-shaped frame, anti-skidding lines are arranged at the bottoms of the climbing feet, nail releasing grooves capable of being clamped on wall fixing anchors are formed in the climbing feet, and the nail releasing grooves are horn-shaped.

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

the invention has simple structure and convenient use, solves the defect of difficult fire extinguishing and rescue when a high-rise building has a fire in the prior art, can greatly reduce the rescue pressure of rescuers by using the ground-air dual-purpose robot, reduces the use of personnel, thereby reducing the casualty rate of the rescuers, ensures that the robot can stably walk on the wall by mounting the device on the rescue robot, facilitates the fire extinguishing and rescue work such as water sprinkling and the like on the fire scene by fixing the robot on the wall, can finish the climbing action without other tools, is suitable for various wall surfaces, such as cement, wood plates and other wall surfaces, can also achieve wall climbing by using the device, has small integral light volume, and prevents the robot from falling off the wall due to overlarge weight when climbing the wall, thereby causing machine loss or rescue casualty.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a schematic exploded view of the present invention.

Fig. 3 is a second exploded perspective view of the present invention.

Fig. 4 is a third exploded perspective view of the present invention.

FIG. 5 is a fourth exploded perspective view of the present invention.

FIG. 6 is a fifth exploded perspective view of the present invention.

FIG. 7 is a schematic perspective view of the present invention.

FIG. 8 is a sixth exploded perspective view of the present invention.

Fig. 9 is a seventh exploded perspective view 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 9, a wall traveling device of a multifunctional robot comprises a housing 1, a magazine 2 capable of placing wall-fixing anchors in batches is arranged in the housing 1, an upper magazine 3 is arranged on one side of the magazine 2, a percussion wheel 4 capable of loading the wall-fixing anchors is arranged on one side of the upper magazine 3, a percussion structure 5 for shooting out the wall-fixing anchors in the percussion wheel 4 is arranged on one side of the magazine 2, an anchor percussion tube 6 is arranged on one side of the percussion structure 5, an air guide device 7 is arranged on one side of the anchor percussion tube 6, a traveling foot part 8 is arranged on one side of the housing 1, the device is mounted on the foot part of a robot body of the robot, when the device is mounted on a plurality of foot parts of the robot body, the wall climbing on the wall is realized through the mutual matching of the plurality of foot parts, when in use, a plurality of wall-fixing anchors are put into the magazine in advance, the robot body of the robot supplies the bullet cabin to supply the wall fixing anchor nails to the upper bullet cabin when climbing the wall, the upper bullet cabin further supplies the wall fixing anchor nails to the firing rotating wheel, at the moment, the wall fixing anchor nails positioned in the firing rotating wheel are to be fired, the firing structure drives the firing rotating wheel to continuously rotate, when the firing rotating wheel rotates to a set position, the fire core of the wall fixing anchor nails is cut, the wall fixing anchor nails are ejected out from the anchor nail firing pipe, the gas generated when gunpowder burns is released by the gas guide device, the wall fixing anchor nails are ejected onto the wall at the moment, the wall fixing anchor nails are clamped and fixed on the wall fixing anchor nails through the advancing foot parts, the wall fixing anchor nails are continuously ejected into the wall through a plurality of the devices, and the advancing foot parts on the feet of the robot body are matched with the wall fixing anchor nails, so that the whole robot can crawl on the wall, in addition, the whole robot can only realize walking on the land through the movement of the advancing foot parts under the condition of not using the wall fixing anchor nails, the device has the characteristic of dual purposes of land and air.

The shell 1 comprises a shell body 11, an upper cover 12 and a lower cover 13 which are respectively arranged on the upper side and the lower side of the shell body 11, wherein the upper cover can be detached to place the wall fixing anchors into the cartridge clip in batches, and the shell body can also be detached from the lower cover, so that the interior can be maintained conveniently.

The cartridge magazine 2 of the invention comprises a cartridge clip 21 arranged in a shell body 11, a cartridge inlet 22 is arranged at the top of the cartridge clip 21, a wave wheel motor 23 which can drive a wall fixing anchor to move downwards is arranged in the cartridge clip 21, an inclined baffle 24 is fixedly arranged in the cartridge clip 21, the inclined baffle 24 is narrowed from top to bottom, a lug 25 and a slide cartridge slot 26 which can enable the wall fixing anchor to rotate 90 degrees are arranged at the lower part of the cartridge clip 21, a cartridge outlet 27 is arranged on the side wall at the lower part of the cartridge clip 21, a plurality of observation holes 28 are arranged on the cartridge clip 21 and the shell body 11 in a penetrating way, the wall fixing anchor is filled in batches from the cartridge inlet, so that multi-path or single-path filling of the wall fixing anchor can be realized, the wall fixing anchor is supplied downwards through the wave wheel motor in the cartridge clip, when the wall fixing anchor moves to the inclined anchor baffle, the inclined baffle converges multi-path wall fixing anchor at the lower side of the inclined baffle, when the wall fixing anchor enters the slide cartridge slot, at the moment, the wall fixing anchor is pressed against the head of the wall fixing anchor through the convex block, so that the wall fixing anchor rotates 90 degrees by taking the anchor head as a central point, the wall fixing anchor after rotating 90 degrees is supplied to the upper elastic cabin from the ejection outlet, and the rear side of the sliding elastic groove is an arc-shaped inner wall, thereby facilitating the rotation of the wall fixing anchor.

In the invention, a supporting frame 9 is arranged in a shell body 11, the supporting frame 9 is cylindrical, an inner cavity 91 is arranged in the supporting frame 9, an upper cartridge magazine 3 is arranged between the supporting frame 9 and a cartridge clip 21 and is communicated with the cartridge clip, a cartridge separating frame 31 is arranged in the upper cartridge magazine 3, a firing rotating wheel 4 is arranged in the supporting frame 9 and is tightly attached to the inner wall of the supporting frame 9, when the device works, the supporting frame is fixed at one side of the upper cartridge magazine, when wall fixing anchors are supplied to the upper cartridge magazine from a cartridge outlet, the supplied wall fixing anchors are separated by the cartridge separating frame in the upper cartridge magazine and are loaded into the firing rotating wheel in the inner cavity, the firing rotating wheel can rotate in the inner cavity, so that the wall fixing anchors loaded into the firing rotating wheel move along with the wall fixing anchors until the wall fixing anchors are shot out, and the wall fixing anchors can be continuously shot by the continuous shooting of the wall fixing anchors and new wall fixing anchors continuously supplied from the upper cartridge magazine, until the wall-fixing anchor is shot empty.

The percussion rotating wheel 4 comprises a rotating shaft 41 and a plurality of fins 42 fixedly arranged on the rotating shaft 41, an elastic containing groove 43 is formed between two adjacent fins 42, the intervals between the fins on the percussion rotating wheel are consistent, the elastic containing groove is formed at the interval between the fins, a wall fixing rivet can be loaded into the elastic containing groove from an upper magazine through a separate bracket, after the wall fixing rivet is loaded, the rotating shaft is driven to rotate by a percussion structure, the wall fixing rivet is driven to move along until the wall fixing rivet is shot out, and the outer wall of the percussion rotating wheel is tightly attached to the inner wall of an inner cavity of a support frame, so that the wall fixing rivet cannot fall out of the elastic containing groove in the rotating process.

The invention is characterized in that the triggering structure 5 comprises an inner gear ring 51 fixedly arranged at the top of a rotating shaft 41, a brushless motor 52 is arranged above the inner gear ring 51, a speed reduction gear 53 meshed with the inner gear ring 51 is arranged at the lower side of a rotor of the brushless motor 52, one side of the brushless motor 52 is fixedly connected with a lower cover 13 through a connecting rod 54, a cutting groove 55 capable of cutting a fire core of a wall fixing anchor is arranged on a support frame 9, a perforation 56 capable of allowing the wall fixing anchor to penetrate is arranged at the bottom of the support frame 9, when in use, the speed reduction gear is driven to rotate by starting of the brushless motor, the speed reduction gear drives the inner gear ring to continuously rotate so as to rotate the rotating shaft, when the rotating shaft rotates, the wall fixing anchor follows displacement at a triggering rotating wheel, and when the fire core protruding from the tail of the wall fixing anchor rotates to the cutting groove, the fire core is cut and extruded by the cutting groove, and the wall fixing anchor is ignited, the wall-anchoring anchors will be ejected downwards from the perforation.

The support frame 9 is provided with the vacant slot 92 capable of throwing out the wall fixing anchor residue, after the wall fixing anchor is fired, the produced wall fixing anchor residue is thrown out from the vacant slot, the residue cannot be produced when the wall fixing anchor is fired, and in order to prevent the residue from blocking the firing rotating wheel when the residue is accidentally produced, the residue can be thrown out from the vacant slot in advance.

The anchor triggering tube 6 comprises a first tube body 61 fixedly arranged at the bottom of the support frame 9 and concentrically arranged with the perforation 56, a second tube body 62 communicated with the first tube body 61 is fixedly arranged at the bottom of the lower cover 13, and after the wall fixing anchor is triggered from the triggering rotating wheel, the wall fixing anchor is shot into the first tube body through the perforation and then into the second tube body, and further shot out from the second tube body and shot into the wall.

The air guide 7 of the present invention includes a first fixing member 71 and a second fixing member 72 respectively provided at upper and lower sides of the first tube 61, an L-shaped pipe 73 communicating with the inside of the first pipe 61 is provided in the second fixing member 72, a piston rod 74 is inserted into the first fixing member 71, a piston head 75 is fixedly arranged at the bottom of the piston rod 74, the piston head 75 is arranged in the L-shaped pipeline 73 for limiting movement, a return spring 76 is arranged between the top wall of the piston head 75 and the bottom wall of the first fixing piece 71 and is sleeved on the piston rod 74, when the wall fixing anchor is fired, the generated combustion gas enters the L-shaped pipeline to enable the piston head to be upwards pressed until the piston head is separated from the L-shaped pipeline, at the moment, the combustion gas is released in the outside air, and the piston head is driven by the return spring to return through the piston rod and is inserted into the L-shaped pipeline again to wait for next exhaust.

The advancing foot part 8 comprises an L-shaped frame 81 fixedly sleeved on the second pipe body 62, an climbing foot 82 is hinged at the bottom of the L-shaped frame 81, an air cylinder 83 capable of driving the climbing foot 82 to rotate is arranged between the side wall of the climbing foot 82 and the side wall of the L-shaped frame 81, anti-skid grains 84 are arranged at the bottom of the climbing foot 82, a nail-removing groove 85 capable of being clamped on a wall-fixing anchor is arranged on the climbing foot 82, the nail-removing groove 85 is horn-shaped, when the wall-fixing anchor is shot into a wall, the position of a groove of the nail-removing groove can not block the shooting position of the wall-fixing anchor, so that after the wall-fixing anchor is shot out and embedded into the wall, the wall-fixing anchor is positioned in the nail-removing groove and is clamped on the wall-fixing anchor through the nail-removing groove to realize fixation, the climbing foot can move through the driving of the air cylinder, and the device is installed on a plurality of feet of the robot body to be matched with the wall-fixing anchor, and the foot part is clamped on the wall fixing anchor nail to realize creeping on the wall.

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. The utility model provides a wall advancing device of multi-functional robot which characterized in that: including shell (1) inside feed magazine (2) that can place solid wall anchor nail in batches of being equipped with of shell (1) feed magazine (2) one side is provided with magazine (3) go up magazine (3) one side and be provided with percussion runner (4) that can load solid wall anchor nail supply magazine (2) one side is equipped with percussion structure (5) that the solid wall anchor nail in with percussion runner (4) jets out percussion structure (5) one side is provided with anchor percussion pipe (6) rivet percussion pipe (6) one side is provided with air guide device (7) shell (1) one side is provided with foot spare (8) of marcing.

2. The wall traveling apparatus of a multi-function robot according to claim 1, wherein the housing (1) comprises a housing body (11) and an upper cover (12) and a lower cover (13) respectively provided at upper and lower sides of the housing body (11).

3. The wall traveling device of the multifunctional robot according to claim 2, wherein the magazine (2) comprises a cartridge clip (21) disposed inside the housing (11), the top of the cartridge clip (21) is provided with a cartridge inlet (22), the cartridge clip (21) is internally provided with a pulsator motor (23) capable of driving the wall-fixing anchor to move downward, the cartridge clip (21) is internally and fixedly provided with an inclined baffle (24), the inclined baffle (24) is narrowed from top to bottom, the lower portion of the cartridge clip (21) is provided with a projection (25) and a cartridge sliding slot (26) capable of rotating the wall-fixing anchor by 90 degrees, the side wall of the lower portion of the cartridge clip (21) is provided with a cartridge outlet (27), and the cartridge clip (21) and the housing (11) are provided with a plurality of observation holes (28) in a penetrating manner.

4. The wall traveling device of the multifunctional robot as claimed in claim 3, wherein a support frame (9) is provided inside the housing (11), the support frame (9) is cylindrical, an inner cavity (91) is provided inside the support frame (9), the upper magazine (3) is provided between the support frame (9) and the cartridge clip (21) and is communicated with each other, a cartridge separating frame (31) is provided inside the upper magazine (3), and the percussion wheel (4) is provided inside the support frame (9) and clings to the inner wall of the support frame (9).

5. The wall traveling device of a multi-function robot according to claim 4, wherein the firing wheel (4) comprises a rotating shaft (41) and a plurality of fins (42) fixed to the rotating shaft (41), and a loading slot (43) is formed between two adjacent fins (42).

6. The wall traveling device of the multi-function robot as claimed in claim 5, wherein the striking structure (5) comprises an inner gear ring (51) fixed to the top of the rotating shaft (41), a brushless motor (52) is provided above the inner gear ring (51), a reduction gear (53) engaged with the inner gear ring (51) is provided on the lower side of the rotor of the brushless motor (52), one side of the brushless motor (52) is fixedly connected to the lower cover (13) by a connecting rod (54), a cutting groove (55) capable of cutting a fire core of a wall-fixing anchor is provided on the supporting frame (9), and a perforation (56) capable of allowing the wall-fixing anchor to pass through is provided on the bottom of the supporting frame (9).

7. The wall traveling apparatus of a multifunctional robot as claimed in claim 5, wherein the supporting frame (9) is provided with a vacant slot (92) for throwing out residues of the anchoring bolts.

8. The wall traveling device of the multi-purpose robot as claimed in claim 6, wherein the anchor firing tube (6) comprises a first tube (61) fixed to the bottom of the supporting frame (9) and concentrically arranged with the perforation (56), and a second tube (62) connected to the first tube (61) is fixed to the bottom of the lower cap (13).

9. The wall traveling device of the multifunctional robot according to claim 8, wherein the air guide device (7) comprises a first fixing member (71) and a second fixing member (72) which are respectively arranged at the upper side and the lower side of the first pipe body (61), an L-shaped pipeline (73) communicated with the inside of the first pipe body (61) is arranged in the second fixing member (72), a piston rod (74) is inserted into the first fixing member (71), a piston head (75) is fixedly arranged at the bottom of the piston rod (74), the piston head (75) is arranged in the L-shaped pipeline (73) for limiting movement, and a return spring (76) sleeved on the piston rod (74) is arranged between the top wall of the piston head (75) and the bottom wall of the first fixing member (71).

10. The wall traveling device of the multifunctional robot according to claim 8, wherein the traveling foot member (8) comprises an L-shaped frame (81) fixedly sleeved on the second pipe body (62), an climbing foot (82) is hinged to the bottom of the L-shaped frame (81), an air cylinder (83) capable of driving the climbing foot (82) to rotate is arranged between the side wall of the climbing foot (82) and the side wall of the L-shaped frame (81), anti-slip threads (84) are arranged at the bottom of the climbing foot (82), nail releasing grooves (85) capable of being clamped on wall fixing anchors are arranged on the climbing foot (82), and the nail releasing grooves (85) are horn-shaped.