CN114699687A

CN114699687A - Fire-fighting robot

Info

Publication number: CN114699687A
Application number: CN202210366202.2A
Authority: CN
Inventors: 陈军印; 高志刚; 梁康
Original assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd; XCMG Fire Fighting Safety Equipment Co Ltd
Current assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd; XCMG Fire Fighting Safety Equipment Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-07-05

Abstract

The present invention relates to a fire fighting robot, comprising: a frame; the running gear is arranged on two opposite sides of the frame and is configured to extend laterally in a direction away from the frame or retract in a direction close to the frame; a leg provided to the frame, the leg being configured to be deployed downward with respect to the frame to support the ground or retracted upward away from the ground; the rotary table is arranged on the frame and can be rotatably arranged relative to the frame; the combined arm support is hinged with the rotary table; and the fire fighting pipeline is arranged on the combined arm support and the frame. The walking device of the fire-fighting robot can laterally extend in the direction away from the frame and can also be retracted in the direction close to the frame, the telescopic chassis structure is adopted to be combined with the supporting legs to support the ground, the fire extinguishing operation can be carried out at a fixed position, the operation of running and water fetching can be realized, and the operation flexibility is high and the operation capacity is high.

Description

Fire-fighting robot

Technical Field

The invention relates to the field of fire-fighting machinery, in particular to a fire-fighting robot.

Background

In recent years, the ultra-high voltage converter station and the transformer substation are exploded and ignited for many times, and high attention is paid to relevant departments. Because a large number of high-voltage, large-current and oil-containing equipment are arranged in a transformer substation and a converter station, the operation temperature is high, once a fire disaster occurs, phenomena such as explosion, deflagration and the like are often caused, if the fire disaster of a single transformer cannot be effectively controlled, serious damage can be caused to a plurality of converter transformers and precision equipment in adjacent valve halls, and the economic loss and the social influence caused by the serious damage are difficult to estimate.

Meanwhile, fire accidents in the petrochemical industry also occur continuously, and because the petrochemical engineering relates to a large amount of flammable, explosive, toxic and harmful substances, the fire accidents have the characteristics of high explosion risk, high combustion speed, high possibility of causing heavy pollution and the like, the fire scene situation is very complex, the fire fighting difficulty is high, the fire fighting force is high, and the fire accidents can bring huge economic loss and social influence.

At present, in order to improve the fire extinguishing effect in the case of the above fire accident, an additional auxiliary fire extinguishing apparatus is generally provided in addition to a fixed fire extinguishing system disposed in an apparatus installation area, and the most widely used is a fire fighting robot. But current fire-fighting robot is mostly ground robot, and the range is short, does not put out a fire high suppression, and the scope of putting out a fire is little, and fire control effect is poor, and current fire-fighting robot adopts manual remote control operation to develop rescue operation greatly simultaneously, and whole operation process autonomy is poor, and intelligent degree is low, can't satisfy the accurate demand of putting out a fire fast of fixed point.

Disclosure of Invention

Some embodiments of the invention provide a fire-fighting robot for alleviating the problem of poor operational flexibility.

In one aspect of the present invention, there is provided a fire fighting robot comprising:

a frame;

the running gear is arranged on two opposite sides of the frame and is configured to extend laterally in a direction away from the frame or retract in a direction close to the frame;

a leg provided to the frame, the leg being configured to be deployed downward with respect to the frame to support the ground or retracted upward away from the ground;

the rotary table is arranged on the frame and can be rotatably arranged relative to the frame;

the combined arm support is hinged with the rotary table; and

and the fire fighting pipeline is arranged on the combined arm support and the frame.

In some embodiments, the vehicle further comprises an oil cylinder, a first end of the oil cylinder is connected to the frame, and a second end of the oil cylinder is connected to the walking device.

In some embodiments, the fire-fighting robot further comprises a first sleeve and a second sleeve, the first sleeve is disposed inside the frame, the second sleeve is disposed on the traveling device and extends toward the frame, the second sleeve is telescopically disposed in the first sleeve, and the first sleeve and the second sleeve surround the radial periphery of the oil cylinder.

In some embodiments, the fire-fighting robot further comprises a mounting seat, the mounting seat is arranged on the walking device, the first end of the oil cylinder is hinged to the frame, and the second end of the oil cylinder is connected to the mounting seat.

In some embodiments, the fire-fighting robot further comprises a pin shaft and a pressing plate, the cylinder end of the oil cylinder is hinged to the frame, the pin shaft is fixedly arranged at the cylinder rod end of the oil cylinder, a groove for accommodating the pin shaft is formed in the mounting seat, the pin shaft is arranged in the groove, the pressing plate is fixedly arranged on the mounting seat, and the pin shaft is limited in the groove.

In some embodiments, the fire-fighting robot further comprises a cooling pipeline, the cooling pipeline is arranged on the frame and the combined arm support and is communicated with the fire-fighting pipeline through a branch pipeline, and the cooling pipeline is configured to spray fire-fighting medium to the frame and the combined arm support.

In some embodiments, the combined arm support comprises a folding arm, a telescopic arm and a crank arm, wherein a first end of the folding arm is hinged with the rotary table, a second end of the folding arm is hinged with a first end of the telescopic arm, and a second end of the telescopic arm is hinged with the crank arm.

In some embodiments, the fire-fighting robot further comprises a fire monitor, the fire monitor being provided at the crank arm.

In some embodiments, the fire fighting robot further comprises an automatic connection device provided at the inlet end of the fire fighting pipeline, the automatic connection device being configured to automatically connect a fire fighting medium supply device.

In some embodiments, the fire-fighting robot further includes a vision device, an angle sensor, a position sensor, a pressure sensor, a flow sensor and a controller, wherein the vision device is respectively disposed on the frame, the traveling device and the combined arm support, the angle sensor and the position sensor are both disposed on the traveling device and are both disposed on the combined arm support, the pressure sensor and the flow sensor are both disposed on the fire-fighting pipeline, the controller is electrically connected to the vision device, the angle sensor, the position sensor, the pressure sensor and the flow sensor, and the controller is configured to implement automatic fire-fighting operation of the fire-fighting robot and automatic early warning of a fire.

In some embodiments, the cylinder comprises a bidirectional mechanical self-locking cylinder, and the cylinder is configured to be automatically mechanically locked after the walking device is far away from the frame or the walking device is close to the frame, so that the position of the walking device and the frame is relatively fixed.

In some embodiments, the fire-fighting robot further includes a first sleeve and a second sleeve, the first sleeve is disposed on the frame and extends toward the traveling device, the second sleeve is disposed inside the traveling device, the first sleeve is telescopically disposed in the second sleeve, and the first sleeve and the second sleeve surround the radial periphery of the oil cylinder.

Based on the technical scheme, the invention at least has the following beneficial effects:

in some embodiments, the walking device of the fire-fighting robot can laterally extend in the direction far away from the frame and can also retract in the direction close to the frame, the telescopic chassis structure is adopted to be combined with the supporting legs to support the ground, fire extinguishing operation can be carried out in a fixed position, water pumping operation while driving can be achieved, operation flexibility is high, and operation capacity is high.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a first perspective structural view of a fire fighting robot according to some embodiments of the present invention;

fig. 2 is a second perspective structural view of a fire fighting robot according to some embodiments of the present invention;

fig. 3 is a schematic view illustrating an expanded state of a walking device of a fire fighting robot according to some embodiments of the present invention;

fig. 4 is a schematic view illustrating an operation state in which a leg of a fire fighting robot supports the ground according to some embodiments of the present invention;

FIG. 5 is an exploded view of a frame and running gear of a fire fighting robot according to some embodiments of the present invention;

FIG. 6 is an enlarged schematic view of the partial structure A of FIG. 5;

fig. 7 is an enlarged schematic view of a partial structure B in fig. 5.

The reference numbers in the drawings illustrate the following:

1-a vehicle frame; 2-a walking device; 3-a support leg; 4-a turntable; 5-a combined arm support; 501-folding arm; 502-telescoping arm; 503-crank arm; 6-fire-fighting pipeline; 7-oil cylinder; 8-a first sleeve; 9-a second sleeve; 10-a mounting seat; 11-a pin shaft; 12-a platen; 13-a cooling circuit; 14-automatic connection means; 15-fire monitor; 16-high temperature resistant camera; 17-infrared camera.

It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the invention, its application, or uses. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and the like, herein does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present invention, when it is described that a specific device is located between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device. When a particular device is described as being coupled to another device, it can be directly coupled to the other device without intervening devices or can be directly coupled to the other device with intervening devices.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

Fig. 1 and 2 are schematic structural views of some embodiments of a fire fighting robot according to the present invention. Referring to fig. 1 and 2, in some embodiments, a fire fighting robot includes a frame 1, a running gear 2, legs 3, a turntable 4, a combined boom 5, and a fire fighting pipeline 6.

The running gear 2 is arranged on two opposite sides of the frame 1, and the running gear 2 is configured to extend laterally in a direction away from the frame 1 or retract in a direction close to the frame 1.

The legs 3 are provided to the frame 1, and the legs 3 are configured to be deployed downward with respect to the frame 1 to support the ground or retracted upward away from the ground.

The turntable 4 is provided on the frame 1 and is rotatably provided with respect to the frame 1.

The combined arm support 5 is hinged with the rotary table 4.

The fire pipeline 6 is arranged on the combined arm support 5 and the frame 1.

The walking device 2 of the fire-fighting robot can extend out laterally in the direction far away from the frame 1 and can be retracted in the direction close to the frame 1, and the walking device 2 is retracted in the direction close to the frame 1 in the running process of the fire-fighting robot, so that the whole robot is small in size and flexible in movement, can pass through a narrow area and can quickly reach a rescue site; in the fire-fighting operation process of the fire-fighting robot, the walking device 2 extends out laterally in the direction far away from the frame 1, the width of the whole chassis is enlarged, the stability of the whole machine is improved, the maximum height A meter can be realized, the operation of lifting and water fetching can be realized while the fire-fighting robot runs, the operation range is wide, the operation flexibility is high, and the fire-fighting efficiency is high; and the whole machine can support the ground through the supporting legs 3, the maximum B m lifting operation is realized at a fixed position, and the stability requirement of the whole machine operation is completely met. Where B is greater than A, typically A is 25m and B is 35 m. Therefore, the fire-fighting robot provided by the embodiment of the disclosure adopts the telescopic chassis structure in combination with the supporting legs 3, not only can carry out fire-fighting operation at a fixed position, but also can realize water-fetching operation while driving, and has high operation flexibility and high operation capacity.

Alternatively, the running gear 2 comprises a crawler track.

In some embodiments, the fire fighting robot further comprises a cylinder 7, a first end of the cylinder 7 is connected to the frame 1, and a second end of the cylinder 7 is connected to the running gear 2.

According to the embodiment of the disclosure, the oil cylinder 7 provides power, the driving walking device 2 can extend out or retract in a lateral direction relative to the frame 1, the adjustment is carried out according to the operation space, and the operation flexibility is high.

In some embodiments, cylinder 7 comprises a bi-directional mechanical self-locking cylinder, and cylinder 7 is configured to be locked by a robot after running gear 2 is far away from frame 1 or running gear 2 is close to frame 1 to a certain position, so that running gear 2 and frame 1 are fixed relatively.

The oil cylinder 7 is a bidirectional mechanical self-locking oil cylinder, after the walking device 2 is far away from the frame 1 in place or the walking device 2 is close to the frame 1 in place, the oil cylinder 7 can realize automatic mechanical locking, and the position reliability of the walking device 2 relative to the frame 1 is ensured when the fire-fighting robot turns or climbs a slope.

Referring to fig. 5, in some embodiments, the fire fighting robot further includes a first sleeve 8 and a second sleeve 9, the first sleeve 8 is disposed inside the frame 1, the second sleeve 9 is disposed on the traveling device 2 and extends toward the frame 1, the second sleeve 9 is telescopically disposed inside the first sleeve 8, and the first sleeve 8 and the second sleeve 9 surround a radial periphery of the cylinder 7.

The oil cylinder 7 is protected by the first sleeve 8 and the second sleeve 9, and the stretching of the oil cylinder 7 can be guided.

In some embodiments, the fire-fighting robot further comprises a first sleeve 8 and a second sleeve 9, the first sleeve 8 is disposed on the frame 1 and extends toward the traveling device 2, the second sleeve 9 is disposed inside the traveling device 2, the first sleeve 8 is telescopically disposed inside the second sleeve 9, and the first sleeve 8 and the second sleeve 9 surround the radial periphery of the cylinder 7.

Alternatively, the first sleeve 8 is of box-type construction and the second sleeve 9 is of box-type construction.

Referring to fig. 5 and 7, in some embodiments, the fire-fighting robot further includes a mounting base 10, the mounting base 10 is disposed on the walking device 2, a first end of the cylinder 7 is hinged to the frame 1, and a second end of the cylinder 7 is connected to the mounting base 10.

The first end of the oil cylinder 7 can be hinged with the frame 1 before being connected with the mounting seat 10, and the walking device 2 is connected with the frame 1 through the oil cylinder 7.

Referring to fig. 6 and 7, in some embodiments, the fire-fighting robot further includes a pin 11 and a pressing plate 12, the cylinder end of the oil cylinder 7 is hinged to the frame 1, the pin 11 is fixed to the cylinder end of the oil cylinder 7, a groove for accommodating the pin 11 is formed in the mounting seat 10, the pin 11 is disposed in the groove, and the pressing plate 12 is fixed to the mounting seat 10 and limits the pin 11 in the groove.

The pin shaft 11 is fixed at the end of the cylinder rod of the oil cylinder 7, the pin shaft 11 is installed in the groove, and then the pressing plate 12 is fixedly connected with the installation seat 10, so that the pin shaft 11 is limited in the groove, and the connection between the cylinder rod end of the oil cylinder 7 and the walking device 2 is realized.

In some embodiments, the fire-fighting robot further comprises a cooling pipeline 13 disposed on the frame 1 and the combined boom 5, the cooling pipeline 13 is communicated with the fire-fighting pipeline 6 through a branch pipeline, and the cooling pipeline 13 is configured to spray a fire-fighting medium to the frame 1 and the combined boom 5.

According to the embodiment of the fire-fighting robot, the cooling pipelines 13 are arranged on the frame 1 and the combined arm support 5, the fire-fighting pipeline 6 is arranged from the frame 1 to the tail end of the combined arm support 5, and each main part of the fire-fighting robot can branch the cooling pipeline 13 from the fire-fighting pipeline 6, so that self cooling in the fire-fighting process is realized, high temperature resistance is good, and the temperature of each part of the whole robot cannot be too high during short-distance and long-time fire-fighting operation, and the high-performance operation capacity of the robot is maintained.

Referring to fig. 3 and 4, in some embodiments, the combined arm support 5 includes a folding arm 501, a telescopic arm 502 and a crank arm 503, wherein a first end of the folding arm 501 is hinged to the turntable 4, a second end of the folding arm 501 is hinged to a first end of the telescopic arm 502, and a second end of the telescopic arm 502 is hinged to the crank arm 503.

The whole combined arm support 5 adopts a mode of combining various arm support forms, so that the fire-fighting robot can realize larger lifting height.

The folding arm 501 can be folded and retracted to the frame 1, the telescopic arm 502 can be extended and retracted, the lifting height of the arm support is improved, and the crank arm 503 can be bent relative to the telescopic arm 502.

In some embodiments, the fire fighting robot further comprises a fire monitor 15, the fire monitor 15 being provided on the crank arm 503.

The fire monitor 15 adopts an electric control foam water dual-purpose fire monitor, and can meet the use requirements of different fire-fighting media.

In some embodiments, the fire fighting robot further comprises an automatic connection device 14, the automatic connection device 14 being provided at an inlet end of the fire fighting pipeline 6, the automatic connection device 14 being configured to automatically connect the fire fighting medium supply device.

The automatic connecting device 14 is installed on the frame 1 in a flexible connection mode, and after the fire-fighting robot runs to a preset track of the fixed fire-fighting medium supply device, the automatic connection of the fire-fighting joint of the fire-fighting pipeline 6 on the fire-fighting robot and the fire-fighting joint of the fixed fire-fighting medium supply device can be realized under the driving of the running device 2.

In some embodiments, the fire fighting robot further comprises a vision device, an angle sensor, a position sensor, a pressure sensor, a flow sensor, and a controller.

Wherein, the visual equipment is respectively arranged on the frame 1, the walking device 2 and the combined arm support 5.

The angle sensor and the position sensor are both arranged on the walking device 2, and are also arranged on the combined arm support 5.

The pressure sensor and the flow sensor are both arranged on the fire-fighting pipeline 6.

The controller is electrically connected with the vision device, the angle sensor, the position sensor, the pressure sensor and the flow sensor, and is configured to realize automatic fire-fighting operation of the fire-fighting robot and automatic early warning of fire.

Optionally, the vision equipment includes a high temperature resistant camera 16 and an infrared camera 17.

The fire-fighting robot provided by the embodiment of the disclosure has three operation methods of line-of-sight remote control operation, remote control operation and autonomous early warning operation, and different intelligent operation methods can be selected according to different application scenes. The chassis, the frame and the combined arm support of the fire-fighting robot are uniformly provided with multi-view visual equipment such as a high-temperature resistant camera and an infrared camera, the walking device and the combined arm support are uniformly provided with an angle sensor and a position sensor, the fire-fighting system and the hydraulic system are uniformly provided with a pressure sensor and a flow sensor, meanwhile, the fire-fighting robot is provided with an automatic connecting device 14, the intelligent configuration of the whole robot can realize the full closed-loop operation of automatic fire extinguishing, the intelligent operation level is high, and the operation process is simple to operate.

The chassis of the fire-fighting robot provided by the embodiment of the disclosure adopts a telescopic crawler and a mode with supporting legs 3, so that the stability of the whole machine is high, and the running and operation flexibility is good; the fire-fighting robot is provided with a cooling protection device, has certain high-temperature-resistant operation capacity and can carry out short-distance and long-time fire extinguishing operation; the fire-fighting robot has three operation methods of sight distance remote control operation, remote control operation and autonomous early warning operation, and can realize full closed-loop operation of automatic fire extinguishing through configured intelligent equipment.

Some specific embodiments of the fire fighting robot are described in detail below with reference to fig. 1 to 7.

As shown in fig. 1 and 2, the chassis assembly includes a frame 1, a running gear 2, a leg 3, and a cylinder 7.

The left side and the right side of the frame 1 are connected with the traveling device 2, and the traveling device 2 can stretch left and right relative to the frame 1 through an oil cylinder 7; the front and the back of the frame 1 are connected with the supporting legs 3, and the four supporting legs 3 are uniformly arranged at four positions of the left front part, the right front part, the left back part and the right back part of the frame 1; the upper part of the frame 1 is connected with a rotary speed reducer to support the rotary speed reducer and relevant installation parts thereof; the frame 1 is also provided with relevant parts such as a fire-fighting system, a hydraulic system, a cooling system, a power system, an electric control system and the like.

The walking devices 2 are symmetrically arranged on two sides of the frame 1 and can be expanded left and right relative to the frame 1, when the fire-fighting robot is in a storage state or a running state, the walking devices 2 are in a complete contraction state, the size of the whole fire-fighting robot is small, the fire-fighting robot can pass through a narrow space, and the flexibility is good; when the fire-fighting robot is in an operating state, the walking device 2 is in a completely extending state, the chassis is wide, the operating stability of the whole machine is good, and the requirements of running and operating at the maximum height A (meter) can be met. The walking device 2 adopts a track chassis form, and the track can be a steel track or a rubber track.

As shown in fig. 5, the first bush 8 is welded to the frame 1, and the second bush 9 is welded to the running gear 2. Two first sleeves 8 are welded on the left side of the frame 1, two first sleeves 8 are also welded on the right side of the frame, two second sleeves 9 are welded on the traveling device 2, and the two first sleeves 8 on one side are installed and used in a matched mode with the two second sleeves 9. The welding of the inside flexible contact surface of first sleeve 8 has the antifriction plate, and the welding has the antifriction plate on the outside flexible contact surface of second sleeve 9, can guarantee less clearance after second sleeve 9 and the installation of first sleeve 8 are accomplished to realize better performance.

The oil cylinder 7 is hidden in the first sleeve 8 and the second sleeve 9, one end of the oil cylinder 7 is hinged with the frame 1, the other end of the oil cylinder 7 is connected with the mounting seat 10 on the walking device 2, and the pin shaft 11 and the end part of the cylinder rod of the oil cylinder 7 are welded into a whole due to the small mounting space of the oil cylinder 7, as shown in fig. 6.

As shown in fig. 7, the mounting seat 10 is formed by a welding plate to form a groove, which may be a semi-waist-shaped hole, so as to facilitate the installation of the pin 11 at the rod end of the oil cylinder 7, and the pin 11 is prevented from moving up and down by the pressing plate 12 after being installed in place.

The oil cylinder 7 can realize mechanical self-locking in a fully-extended state and a fully-retracted state through an internal mechanical steel ball. In the actual use process, the oil cylinder 7 is controlled by the control valve group to stretch, when the traveling device 2 stretches left and right relative to the frame 1 to reach the position, the position sensor detects the in-place information, and the next step of operation is carried out after the crawler belt is expanded or retracted to the position.

The supporting legs 3 are hinged with the frame 1, the supporting legs 3 can adopt a common supporting leg or spider type supporting leg form, when the whole machine is in a storage state or a running state, the supporting legs 3 are in a retraction state, and the running width of the whole machine is not influenced when the supporting legs 3 are completely retracted; when the whole machine performs the operation with the maximum height of B (meter), the supporting legs 3 are in the unfolding state and are supported on the ground, and the walking device 2 is separated from the ground at the moment, so that the stability requirement of the whole machine operation is met. Where B is greater than A, typically A is 25m and B is 35 m.

The rotary speed reducer is connected with the frame 1 and the rotary table 4, and the rotary table 4 can freely rotate on the frame 1 in 360 degrees by adopting a hydraulic drive or motor drive mode.

As shown in fig. 3, the combined arm support 4 includes a folding arm 501, a telescopic arm 502 and a crank arm 503, the folding arm 501 is mounted on the turntable 4 in a hinged manner, the telescopic arm 502 is mounted on the folding arm 501 in a hinged manner, the crank arm 503 is mounted on the telescopic arm 502 in a hinged manner, and the whole combined arm support 4 adopts a combination manner of multiple arm support forms, so that the fire-fighting robot can achieve a larger lifting height.

As shown in fig. 1 and 2, the fire fighting system 5 includes an automatic connecting device 14, a fire fighting pipeline 6 and a fire monitor 15. The automatic connecting device 14 is installed on the frame 1 in a flexible connection mode, and after the fire-fighting robot runs to a preset track of the fixed fire-fighting medium supply device, the automatic connection of the fire-fighting joint of the fire-fighting pipeline 6 on the fire-fighting robot and the fire-fighting joint of the fixed fire-fighting medium supply device can be realized under the driving of the running device 2.

One part of the fire-fighting pipeline 6 is arranged on the frame 1, the other part of the fire-fighting pipeline 6 is arranged on the combined arm support 4, and the fire-fighting pipelines 6 of the two parts rotate relatively at the rotary speed reducer through a central rotary joint. The fire fighting pipeline 6 arranged on the combined arm support 4 can be unfolded and folded along with the combined arm support 4, and comprises folding and unfolding along with a folding arm 501, stretching along with a telescopic arm 502 and swinging along with a curved arm 503. On the fire monitor 15 installed crank arm 503, fire monitor 15 adopted the dual-purpose fire monitor of automatically controlled foam water, can satisfy the use of different fire-fighting mediums, and fire monitor 15 simultaneously can the automatic adjustment fire monitor's of angle through electrical system's control, carries out the operation of independently putting out a fire of intelligence.

The hydraulic system comprises a hydraulic oil tank, a hydraulic pump, a hydraulic main valve, a hydraulic oil cylinder, a central revolving body and other parts, wherein the hydraulic oil tank, the hydraulic pump and the hydraulic main valve are arranged on the frame 1, and the hydraulic oil cylinder is arranged on the frame 1 and the combined arm support 4 according to the whole vehicle arrangement.

As shown in fig. 1 and 2, the cooling system 7 includes a cooling pipeline 13, and the cooling pipeline 13 includes a cooling pipeline 13 disposed on the frame 1, and further includes a cooling pipeline 13 disposed on the combined arm support 5. The cooling pipeline 13 arranged on the frame 1 is connected with the fire-fighting pipeline 6 arranged on the frame 1, and can be extended and contracted along with the running gear 2, so that the cooling of the running gear 2 is ensured. The cooling pipeline 13 arranged on the combined arm support 5 is connected with the fire-fighting pipeline 6 arranged on the combined arm support 4. When the fire-fighting robot carries out the operation of putting out a fire, through with the help of the fire-fighting medium (foam or water) in the fire-fighting pipeline 6, realize the cooling to chassis subassembly and combination cantilever crane 4, can satisfy the fire-fighting robot and carry out the demand of closely, long-time operation of putting out a fire.

The power system is arranged on the frame 1, generally adopts a battery as a power source to drive a battery pump to provide hydraulic power and a driving motor to provide mechanical walking power, and can also adopt an engine as a power source. The electric control system comprises an electric control box, a controller, an intelligent holder, an angle sensor, a position sensor, a pressure sensor, a flow sensor, a high-temperature-resistant camera 16, an infrared camera 17 and the like. And the angle sensor, the position sensor and other electric control parts are used for realizing closed-loop intelligent control of the chassis component, the combined arm support 4 and the fire-fighting system. The high-temperature resistant camera 16 is arranged on the chassis component and the combined arm support 4 and is used for meeting the requirements of 360-degree panoramic images and intelligent control functions of the whole vehicle. An infrared camera 17 is mounted on the crank arm 503 for monitoring the fire scene.

The fire-fighting robot provided by the embodiment of the disclosure has three intelligent operation methods of line-of-sight remote control operation, remote control operation and autonomous early warning operation, and the intelligent operation method is introduced in detail through three embodiments (application scenes):

1. line-of-sight remote control

The fire-fighting robot has the advantages of small overall size and flexible action, is suitable for operation in old districts with crowded roads, and mainly adopts a sight distance remote control intelligentized operation method when rescue operation with complicated roads, small harm of close-distance manual operation and operation positions within a human eye visible range is carried out. The key process in actual operation is as follows:

(1) the fire-fighting robot arrives at a rescue site through other transport vehicles;

(2) the upper fire-fighting joint of the fire-fighting robot is connected with one end of a fire-fighting joint of a fire-fighting medium supply point through manpower, the fire-fighting medium supply point can be a fire truck or a fixed fire hydrant, the other end of the fire-fighting joint of the fire-fighting medium supply point is connected with a fire hose, and the length of the fire hose can meet the use requirement of the fire-fighting robot in fire-fighting operation;

(3) a fireman remotely operates the fire-fighting robot within a sight distance range, drags the fire hose to travel to a rescue position where spray fire extinguishing can be carried out, then the width of the chassis is expanded, and the width of the chassis is changed from the width of a traveling state to the width of an operating state;

(4) according to the height of a fire, the combined arm support 4 is unfolded through remote control operation, when the unfolded height is smaller than A (meter), a fireman can remotely control the fire-fighting robot to drive and pump water to extinguish the fire, and rescue operation is efficiently carried out; when the unfolding height is larger than A (meter) and smaller than B (meter), a fireman can remotely operate the fire-fighting robot to drive to the optimal fire-fighting position, unfold the supporting legs 3 and carry out fire-fighting rescue operation at a fixed position;

(5) in the process of fire extinguishing operation, a specific fire situation is fed back through a high-temperature resistant camera and an infrared camera which are arranged on a crank arm 503, the direction and the angle of the fire monitor 15 are adjusted through remote control operation, and fire extinguishing rescue operation is carried out at the optimal position;

(6) after the rescue operation is completed, the firefighter remotely operates the firefighting robot to retract the supporting legs 3 and the combined arm support 4 and drive the firefighting robot to a firefighting medium supply point to complete the whole firefighting rescue operation.

2. Remote control operation

When the fire-fighting robot is applied to fire rescue of petrochemical enterprises, due to the fact that high-risk risks such as flammability, explosiveness, dense smoke, oxygen deficiency, toxicity and harm exist on the site, rescuers cannot remotely control to carry out fire extinguishing operation at a short sight distance, and only a remote control method can be adopted to carry out rescue operation at a control center far away from the fire site. The fire-fighting robot can realize 360 degrees panoramic image of whole car and intelligent control's function through electrical system, and key process during actual operation is as follows:

(1) the fire-fighting robot always stands by in a petrochemical enterprise factory, and once a fire disaster happens, the fire-fighting robot can be directly and remotely started to carry out operation;

(2) remotely controlling the fire-fighting robot to run to a fixed fire-fighting medium supply point in a control center, running to a preset track for automatically connecting a fire-fighting joint, and operating the fire-fighting robot to linearly move on the preset track until the automatic connection between the upper fire-fighting joint of the fire-fighting robot and the fire-fighting joint of the fixed fire-fighting medium supply point is completed through an automatic connecting device 14, wherein the automatic connection process of the fire-fighting joint can be checked in real time through a high-temperature resistant camera arranged on the frame 1;

(3) after the connection of the fire-fighting joint is completed, the remote control fire-fighting robot drags the fire hose to travel to a rescue position where spray fire extinguishing can be carried out, then the width of the chassis is expanded, and the width of the chassis is changed from the width of a traveling state to the width of an operating state;

(4) according to the fire occurrence height fed back by the on-site fire monitoring system, the combined arm support 4 is unfolded through remote control operation, when the unfolding height is smaller than A (meter), the fire-fighting robot can be operated through remote control to pump water while driving to extinguish fire, and rescue operation is carried out efficiently; when the unfolding height is larger than A (meter) and smaller than B (meter), the fire-fighting robot can be remotely operated to run to the optimal position for fire extinguishment, the supporting legs 3 are unfolded, and the fire-fighting rescue operation at a fixed position is carried out;

(6) after the rescue operation is completed, the fire-fighting robot is remotely operated to retract the supporting legs 3 and the combined arm support 4 and drive to a fire-fighting medium supply point, and the whole fire-fighting rescue operation is completed.

3. Autonomous early warning operation

When the fire-fighting robot is applied to fire rescue of a transformer substation or a converter station, most of the geographical positions of the fire-fighting robot are far away for an unattended transformer substation, once a fire disaster occurs, a professional fire brigade starts to arrive at a fire scene for a certain time, the fire disaster cannot be extinguished in the optimal fire extinguishing period, and a major fire accident is probably caused by small fire. The fire-fighting robot can realize the autonomous intelligent control function of the whole vehicle through the electric control system 9, and the key process during actual operation is as follows:

(1) the fire-fighting robot always stands by in a transformer substation, and can directly receive a fire alarm signal and automatically start to carry out fire extinguishing operation once a fire breaks out;

(2) according to existing infrastructures and data of a wireless network, a monitoring system, a geographical three-dimensional model of a transformer substation and the like of the transformer substation, the fire-fighting robot can receive an accurate fire position, autonomously drives to a fixed fire-fighting medium supply point closest to the fire position according to a built-in walking path, and can autonomously avoid obstacles in the driving process;

(3) the fire-fighting robot autonomously travels to a preset track at a fixed fire-fighting medium supply point and moves linearly on the preset track until the automatic connection of the upper fire-fighting joint and the fire-fighting joint at the fixed fire-fighting medium supply point of the fire-fighting robot is completed through the automatic connecting device 14, whether the connection of the fire-fighting joint is completed or not can be detected through a video monitoring and sensor, and the next action can be carried out after the connection of the fire-fighting joint is completed;

(4) after the connection of the fire-fighting joints is completed, the fire-fighting robot drags the fire hose to autonomously travel to a rescue position where spray fire extinguishment can be carried out, then the width of the chassis is expanded, and the width of the chassis is changed from the width of a traveling state to the width of an operating state;

(5) according to the fire occurrence height fed back by the on-site fire monitoring system, the combined arm support 4 is automatically unfolded, when the unfolding height is smaller than A (meter), the fire-fighting robot can automatically drive and pump water to extinguish fire, and rescue operation is efficiently carried out; when the unfolding height is larger than A (meter) and smaller than B (meter), the fire-fighting robot autonomously drives to the optimal position for fire extinguishment according to the fire position signal and the material environment of the operation site, and unfolds the supporting legs 3 to perform fire-fighting rescue operation at a fixed position;

(6) in the process of fire extinguishing operation, a specific fire situation is fed back through a high-temperature resistant camera and an infrared camera which are arranged on a crank arm 503, and the vehicle control unit automatically adjusts the direction and the angle of the fire monitor 15 according to a feedback signal and implements fire extinguishing rescue operation at the optimal position;

(7) after the rescue operation is completed, the fire-fighting robot automatically withdraws the supporting legs 3 and the combined arm support 4 and drives to a fire-fighting medium supply point to complete the whole fire-fighting rescue operation.

The fire-fighting robot provided by the embodiment of the disclosure at least has the following beneficial effects:

(1) the fire-fighting robot has high overall stability and good running and operation flexibility. The chassis of the fire-fighting robot adopts a telescopic crawler belt and a support leg type. The whole robot is small in size and flexible in movement, can pass through a narrow area and quickly reach a rescue site; the crawler chassis is in an extended state in the operation process, the stability of the whole machine is high, the operation of lifting and watering can be realized while driving when the maximum lifting height A (meter) is realized, and the operation range is wide; meanwhile, the whole machine can support the ground through the supporting legs, the maximum lifting B (meter) operation is realized at a fixed position, and the stability requirement of the whole machine operation is completely met. Where B is greater than A, typically A is 25m and B is 35 m.

(2) The fire-fighting robot has certain high-temperature-resistant operation capability and can carry out short-distance and long-time fire extinguishing operation. The chassis, the frame and the combined arm support of the fire-fighting robot are uniformly provided with cooling protection devices, and as the main pipeline of the fire-fighting system is arranged from the frame to the tail end of the combined arm support, each main component can be branched from the main pipeline to form a water spraying pipeline, so that the self cooling in the fire extinguishing process is realized, the temperature of each component of the whole robot is not too high when the fire extinguishing operation is carried out at a short distance for a long time, and the self high-performance operation capability of the robot is maintained.

(3) The intelligent operation level of the fire-fighting robot is high, and the operation process is simple. The fire-fighting robot has three operation methods of sight distance remote control operation, remote control operation and autonomous early warning operation, and different intelligent operation methods can be selected according to different application scenes. When the rescue operation with complicated road, small harm of close-distance manual operation and operation position within the visual range of human eyes is carried out, a visual distance remote control operation method can be adopted. When high-risk rescue such as explosion is carried out, the rescuers cannot carry out fire extinguishing operation in a short distance, and a remote control operation method can be adopted. And carrying out remote control rescue operation by using the panoramic image and the intelligent control function in the electric control system in a control center far away from the fire scene. In the rescue occasion with unattended operation and remote position, the firemen can not extinguish the fire in the best fire extinguishing period, and an autonomous early warning operation method can be adopted. The fire-fighting robot can utilize the intelligent control function in the electric control system according to the existing infrastructure and data of the rescue occasion, and realize the autonomous intelligent fire-extinguishing rescue operation of the whole vehicle.

(4) The chassis, the frame and the combined arm support of the whole fire fighting robot are respectively provided with a high temperature resistant camera, an infrared camera and other multi-view vision equipment, the chassis walking device and the combined arm are respectively provided with an angle sensor and a position sensor, the fire fighting system and the hydraulic system are respectively provided with a pressure sensor and a flow sensor, the fire fighting robot is provided with an automatic connection fire fighting joint device, and the intelligent configuration of the whole fire fighting robot can realize the full closed loop operation of automatic fire fighting.

Based on the embodiments of the invention described above, the technical features of one of the embodiments can be advantageously combined with one or more other embodiments without explicit negatives or conflicts.

Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A fire fighting robot, comprising:

a frame (1);

the travelling devices (2) are arranged on two opposite sides of the frame (1), and the travelling devices (2) are configured to extend laterally in a direction away from the frame (1) or retract in a direction close to the frame (1);

a leg (3) provided to the frame (1), the leg (3) being configured to be deployed downward with respect to the frame (1) to support the ground or retracted upward away from the ground;

a turntable (4) which is provided on the frame (1) and is rotatably provided with respect to the frame (1);

the combined arm support (5) is hinged with the rotary table (4); and

and the fire fighting pipeline (6) is arranged on the combined arm support (5) and the frame (1).

2. A fire fighting robot as recited in claim 1, characterized in that it further comprises a cylinder (7), a first end of the cylinder (7) being connected to the frame (1) and a second end of the cylinder (7) being connected to the running gear (2).

3. A fire fighting robot as recited in claim 2, characterized by further comprising a first sleeve (8) and a second sleeve (9), the first sleeve (8) being provided inside the frame (1), the second sleeve (9) being provided in the running gear (2) and extending towards the frame (1), the second sleeve (9) being telescopically provided in the first sleeve (8), the first sleeve (8) and the second sleeve (9) surrounding a radial outer periphery of the cylinder (7).

4. A fire fighting robot as defined in any of claims 1 to 3, characterized in that it further comprises a mounting base (10), the mounting base (10) being provided at the running gear (2), a first end of the cylinder (7) being hinged to the frame (1), a second end of the cylinder (7) being connected to the mounting base (10).

5. The fire-fighting robot as recited in claim 4, further comprising a pin (11) and a pressing plate (12), wherein the cylinder end of the cylinder (7) is hinged to the frame (1), the pin (11) is fixedly disposed at the cylinder end of the cylinder (7), a groove for accommodating the pin (11) is formed in the mounting seat (10), the pin (11) is disposed in the groove, and the pressing plate (12) is fixedly disposed in the mounting seat (10) and limits the pin (11) in the groove.

6. A fire fighting robot as recited in claim 1, characterized by further comprising a cooling line (13), the cooling line (13) being provided to the frame (1) and the combined boom (5), the cooling line (13) being in communication with the fire fighting line (6) via a branch line, the cooling line (13) being configured to spray a fire fighting medium to the frame (1) and the combined boom (5).

7. The fire fighting robot of claim 1, characterized in that the combined arm support (5) comprises a folding arm (501), a telescopic arm (502) and a crank arm (503), wherein a first end of the folding arm (501) is hinged to the turntable (4), a second end of the folding arm (501) is hinged to a first end of the telescopic arm (502), and a second end of the telescopic arm (502) is hinged to the crank arm (503).

8. A fire fighting robot as recited in claim 7, characterized by further comprising a fire monitor (15), the fire monitor (15) being provided to the crank arm (503).

9. A fire fighting robot as recited in claim 1, characterized by further comprising an automatic connection device (14), the automatic connection device (14) being provided at an inlet end of the fire fighting pipeline (6), the automatic connection device (14) being configured to automatically connect a fire fighting medium supply device.

10. The fire fighting robot of claim 1, further comprising a vision device, an angle sensor, a position sensor, a pressure sensor, a flow sensor and a controller, wherein the vision device is respectively disposed on the frame (1), the traveling device (2) and the combined arm support (5), the angle sensor and the position sensor are both disposed on the traveling device (2) and both disposed on the combined arm support (5), the pressure sensor and the flow sensor are both disposed on the fire fighting pipeline (6), the controller is electrically connected to the vision device, the angle sensor, the position sensor, the pressure sensor and the flow sensor, and the controller is configured to achieve automatic fire fighting operation and automatic early warning of fire conditions of the fire fighting robot.

11. A fire fighting robot as defined in claim 2, characterized in that the cylinders (7) comprise bidirectional mechanical self-locking cylinders, the cylinders (7) being configured to be automatically mechanically locked after the running gear (2) is positioned away from the frame (1) or the running gear (2) is positioned close to the frame (1) so that the position of the running gear (2) and the frame (1) are relatively fixed.

12. A fire fighting robot as defined in claim 2, characterized by further comprising a first sleeve (8) and a second sleeve (9), the first sleeve (8) being provided at the frame (1) and extending towards the running gear (2), the second sleeve (9) being provided inside the running gear (2), the first sleeve (8) being telescopically provided inside the second sleeve (9), the first sleeve (8) and the second sleeve (9) enclosing a radial outer circumference of the cylinder (7).