CN115445128A - Fire-fighting robot capable of removing obstacles - Google Patents
Fire-fighting robot capable of removing obstacles Download PDFInfo
- Publication number
- CN115445128A CN115445128A CN202211144988.XA CN202211144988A CN115445128A CN 115445128 A CN115445128 A CN 115445128A CN 202211144988 A CN202211144988 A CN 202211144988A CN 115445128 A CN115445128 A CN 115445128A
- Authority
- CN
- China
- Prior art keywords
- rotating
- sliding
- motor
- fire
- fighting robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 230000001681 protective effect Effects 0.000 claims abstract description 23
- 239000007921 spray Substances 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000005012 migration Effects 0.000 claims description 4
- 238000013508 migration Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000012720 thermal barrier coating Substances 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 2
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000012876 topography Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 238000000576 coating method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B5/00—Other devices for rescuing from fire
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
Landscapes
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fire-fighting robot capable of clearing obstacles, which comprises a movable base, a protective cover, a fire monitor structure and an obstacle clearing structure, wherein the protective cover is fixed on the movable base, and the fire monitor structure and the obstacle clearing structure are arranged on the protective cover; the obstacle removing structure comprises a sliding mechanism, an arm rod and a clamping mechanism, the sliding end of the sliding mechanism can be vertically moved and arranged on the protective cover, the arm rod capable of horizontally rotating is arranged on the sliding mechanism, and one end, far away from the sliding mechanism, of the arm rod is connected with the clamping mechanism capable of rotating. The clamping mechanism has the advantages that the clamping mechanism is used for clamping the obstacle, the sliding mechanism is arranged to realize vertical movement of the clamping mechanism, the arm rod is arranged in a rotating mode to realize horizontal movement of the clamping mechanism, and the mechanism and the rotatable clamping mechanism are arranged in a matching mode to realize movement of the clamping mechanism at any angle and realize cleaning of the obstacle.
Description
Technical Field
The invention relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot capable of clearing obstacles.
Background
With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident probability is correspondingly improved. In case of disaster accidents, when the firemen face high temperature, darkness, toxicity, dense smoke and other harmful environments, if no corresponding equipment rushes into the scene, the firemen can not complete the task and can also casualties in vain.
At present, a fire-fighting robot is taken as one of special robots and plays a role of great importance in reconnaissance, fire extinguishment and emergency rescue. The on-site commander can use the fire-fighting robot to carry out early suppression and timely make scientific judgment on the disaster situation according to the feedback result, so that correct and reasonable decision can be made on the field work of the disaster accident, and the application of the fire-fighting robot obviously improves the capability of handling the malignant accident and greatly reduces the casualties of the personnel.
For example, the chinese patent publication No. CN111617415a discloses an autonomous fire-fighting robot operating system in a complex environment and a working method thereof, which are used for improving rescue efficiency in disaster sites and fire-fighting safety. However, when the obstacle blocks the rescue scene, the obstacle occupies the operation space of the fire-fighting robot, which affects the fire-fighting operation of the fire-fighting robot and cannot achieve the effect of quickly extinguishing the fire.
Disclosure of Invention
The invention aims to provide a fire-fighting robot capable of cleaning obstacles.
In order to solve the technical problems, the invention provides the following technical scheme:
a fire-fighting robot capable of clearing obstacles comprises a movable base, a protective cover, a fire monitor structure and an obstacle clearing structure, wherein the protective cover is fixed on the movable base, and the fire monitor structure and the obstacle clearing structure are arranged on the protective cover;
the obstacle removing structure comprises a sliding mechanism, an arm rod and a clamping mechanism, wherein the sliding end of the sliding mechanism can be vertically arranged on the protective cover, the arm rod capable of horizontally rotating is arranged on the sliding mechanism, and one end, far away from the sliding mechanism, of the arm rod is connected with the clamping mechanism capable of rotating.
The barrier is clamped through the clamping mechanism, the vertical movement of the clamping mechanism is realized through the arrangement of the sliding mechanism, the horizontal movement of the clamping mechanism is realized through the rotation arrangement of the arm rod, and the movement of any angle of the clamping mechanism is realized through the matching arrangement of the mechanism and the clamping mechanism capable of rotating, so that the barrier is cleaned.
Preferably, slide mechanism includes sliding seat, slip subassembly and first cylinder, first cylinder is fixed in the safety cover side, the output of first cylinder is connected the sliding seat, the setting that the sliding seat can vertical migration through slip subassembly is in the safety cover side, the drive first cylinder drives the sliding seat is at the vertical migration of safety cover side.
Preferably, the arm lever is rotatably arranged at the sliding end of the sliding mechanism through a driving mechanism, a first hinge portion and a second hinge portion are arranged at the sliding end of the sliding mechanism at intervals along the vertical direction, one end of the arm lever is rotatably connected to the first hinge portion, the driving mechanism comprises a second cylinder, a shaft sleeve and a fixing column, the fixed end of the second cylinder is rotatably connected to the second hinge portion, the output end of the second cylinder is rotatably connected with the fixing column through the shaft sleeve, one end, far away from the shaft sleeve, of the fixing column is fixedly connected with the arm lever, and the arm lever rotates around the central axis of the first hinge portion under the driving of the second cylinder.
Preferably, fixture includes grip slipper, centre gripping motor, lead screw, first grip block and second grip block, the grip slipper can the pivoted set up in armed lever one end, fix on the grip slipper the centre gripping motor, lead screw one end is connected to the output of centre gripping motor, the lead screw other end can the pivoted set up on the grip slipper, first grip block and second grip block all with lead screw threaded connection, the screw direction of first grip block and second grip block is opposite, the lead screw is in under the drive of centre gripping motor, drive first grip block and second grip block move in opposite directions or dorsad.
Preferably, the clamping mechanism is rotatably arranged at one end of the arm rod through a rotating mechanism; slewing mechanism includes first rotation motor, first action wheel, sleeve and first from the driving wheel, first rotation motor is fixed on the armed lever, the output of first rotation motor is connected first action wheel, the sleeve can the pivoted cover establish at the armed lever tip, sleeve outer wall cup joints and is fixed with the first from the driving wheel with first action wheel meshing, the sleeve rigid coupling fixture.
Preferably, the fire monitor structure includes horizontal rotating device, big gun seat, vertical rotating device, shower nozzle, hose and water tank, the big gun seat can the pivoted setting at the protective cover top through horizontal rotating device, the shower nozzle can vertical pivoted setting on the big gun seat through vertical rotating device, the shower nozzle passes through the hose and communicates with the water tank that sets up in the protective cover.
The gun seat is driven to rotate through the horizontal rotating device to drive the horizontal rotation of the spray head, and the vertical rotating device drives the vertical rotation of the spray head to realize the adjustment of any angle of the spray head.
Preferably, horizontal rotating device includes that the second rotates motor, second action wheel, pivot and second from the driving wheel, the second rotates the motor and fixes on safety cover top inner wall, the second action wheel is connected to the output that the second rotated the motor, the pivot can the pivoted set up at the safety cover top, pivot one end is connected with the second with second action wheel meshing from the driving wheel, the pivot other end runs through the safety cover and connects the gun seat.
Preferably, the vertical rotating device comprises a third rotating motor and a rotating disc, the fixed end of the third rotating motor is fixed on the gun seat, the output end of the third rotating motor is connected with the rotating disc, and the spray head is fixed on the rotating disc.
Preferably, the protective cover is transparent, and transparent thermal insulation coatings are arranged on the inner wall of the protective cover.
Preferably, still include controller, radar sensor and camera, radar sensor with the camera is installed respectively in the safety cover outside, radar sensor with the camera respectively with controller communication connection.
Through radar sensor's setting for this robot can follow peripheral omnidirectional detection barrier and give the controller with signal transmission, and this robot is controlled behind the controller received signal and initiatively avoids the barrier, through the setting of camera, makes this robot can carry out all-round shooting and give the controller for peripheral topography, and the remote operation personnel of being convenient for in time know the site conditions. .
Compared with the prior art, the invention has the beneficial effects that:
1. the barrier is clamped through the clamping mechanism, the vertical movement of the clamping mechanism is realized through the arrangement of the sliding mechanism, the horizontal movement of the clamping mechanism is realized through the rotation arrangement of the arm rod, and the movement of any angle of the clamping mechanism is realized through the matching arrangement of the mechanism and the clamping mechanism capable of rotating, so that the barrier is cleaned.
2. The gun seat is driven to rotate through the horizontal rotating device to drive the horizontal rotation of the spray head, and the vertical rotating device drives the vertical rotation of the spray head to realize the adjustment of any angle of the spray head.
3. Through radar sensor's setting for this robot can follow peripheral omnidirectional detection barrier and give the controller with signal transmission, and this robot is controlled behind the controller received signal and initiatively avoids the barrier, through the setting of camera, makes this robot can carry out all-round shooting and give the controller for peripheral topography, and the remote operation personnel of being convenient for in time know the site conditions.
Drawings
Fig. 1 is a schematic structural diagram of a fire-fighting robot capable of clearing obstacles according to an embodiment of the invention;
FIG. 2 is an enlarged view of A in FIG. 1;
FIG. 3 is a schematic structural view of a slide mechanism and a drive mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a rotating mechanism and a clamping mechanism according to an embodiment of the invention.
Detailed Description
In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless explicitly stated or limited otherwise, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, the embodiment discloses a fire-fighting robot capable of clearing obstacles, which includes a mobile base 1, a protective cover 2, a fire monitor structure 3 and an obstacle clearing structure 4, wherein the protective cover 2 is fixed on the mobile base 1, and in the embodiment, the mobile base 1 is a crawler-type base or a wheel-type base; and the protective cover 2 is provided with a fire monitor structure 3 and a barrier clearing structure 4.
The safety cover 2 is transparent, the safety cover 2 comprises a cylindrical cover at the bottom and a hemispherical cover at the top, and transparent heat-insulating coatings are arranged on the inner walls of the cylindrical safety cover and the hemispherical safety cover. A handrail is fixed on the inner wall of the cylindrical protection cover, and a touch screen is fixed on the inner wall of the cylindrical protection cover; prevent fire door is installed to the side of cylinder safety cover, be fixed with the receiver on the inner wall of cylinder safety cover, portable oxygen respirator has been placed to the inside of receiver.
Through the setting of transparent safety cover 2, guarantee that the inside operating personnel of safety cover 2 has wide field of vision, be convenient for observe the topography, transparent thermal barrier coating can reduce outside heat transfer to the inside of safety cover 2, and the handrail is used for inside personnel to support, and operating personnel accessible touch screen carries out field control to the whole, realizes that remote control and artifical field control combine together.
A plurality of radar sensor 5 are installed in the cylinder safety cover outside, camera 6 and controller (not shown in the figure), every radar sensor 5 and the outside controller (not shown in the figure) of this robot of camera 6 communication connection, setting through radar sensor 5, make this robot can follow peripheral omnidirectional detection barrier and give the controller with signal transmission, this robot of control behind the controller received signal initiatively avoids the barrier, setting through camera 6, make this robot can carry out all-round shooting and give the controller to peripheral topography, the remote operation personnel of being convenient for in time know the site conditions.
Referring to fig. 1 and 2, the fire monitor structure 3 includes horizontal rotating device 31, gun seat 32, vertical rotating device 33, shower nozzle 34, hose 35, water pump 36 and water tank 37, gun seat 32 can the pivoted setting at hemisphere type safety cover top through horizontal rotating device 31, shower nozzle 34 can vertical pivoted setting on gun seat 32 through vertical rotating device 33, shower nozzle 34 passes through hose 35 and sets up the water tank 37 intercommunication in the cylinder safety cover, be equipped with water pump 36 on the hose.
The horizontal rotating device 31 drives the gun seat 32 to rotate so as to drive the spray head 34 to horizontally rotate, and the vertical rotating device 33 drives the spray head 34 to vertically rotate, so that the spray head 34 can be adjusted at any angle.
The vertical rotating device 33 comprises a third rotating motor 331 and a rotating disc 332, the fixed end of the third rotating motor 331 is fixed on the gun seat 32, the output end of the third rotating motor 331 is connected with the rotating disc 332, and the spray head 34 is fixed on the rotating disc 332.
The obstacle removing structure 4 comprises a sliding mechanism 41, an arm 42, a driving mechanism 43, a rotating mechanism 44 and a clamping mechanism 45.
Referring to fig. 3, the sliding mechanism 41 includes a sliding seat 411, a sliding assembly (not shown), and a first cylinder 412, the sliding seat 411 is disposed on a side surface of the cylindrical protection cover and can move vertically through the sliding assembly, the first cylinder 412 is fixed on the side surface of the cylindrical protection cover above the sliding seat 411, and an output end of the first cylinder 412 is connected to the sliding seat 411. The first cylinder 412 is driven to drive the sliding seat 411 to move vertically on the side of the protecting cover.
The sliding seat 411 is provided with a first hinge portion and a second hinge portion which are vertically arranged at intervals, one end of the arm rod 42 is rotatably connected to the first hinge portion of the sliding seat 411, and one end of the arm rod 42, which is far away from the sliding seat 411, is connected to the clamping mechanism 45 through a rotating mechanism 44.
The driving mechanism 43 comprises a second cylinder 431, a shaft sleeve 432 and a fixed column 433, the fixed end of the second cylinder 431 is hinged to a second hinge part on the sliding seat 411, the output end of the second cylinder 431 is rotatably connected with the fixed column 433 through the shaft sleeve 432, one end, far away from the shaft sleeve 432, of the fixed column 433 is fixedly connected with the arm rod 42, and under the driving of the second cylinder 431, the arm rod 42 rotates around the central axis of the first hinge part, so that the clamping mechanism 45 is driven to move horizontally.
Referring to fig. 4, the rotating mechanism 44 includes a first rotating motor 441, a first driving wheel 442, a sleeve 443, and a first driven wheel 444, the first rotating motor 441 is fixed on the arm 42, an output end of the first rotating motor 441 is connected to the first driving wheel 442, the sleeve 443 is rotatably sleeved on an end portion of the arm 42, the first driven wheel 444 engaged with the first driving wheel 442 is sleeved and fixed on an outer wall of the sleeve 443, and the sleeve 443 is fixedly connected to the clamping mechanism 45. The first rotating motor 441 is driven to rotate the driven wheel 444 via the first driving wheel 442, so as to rotate the sleeve 443 on the end of the arm 42, and further rotate the clamping mechanism 45.
The clamping mechanism 45 comprises a clamping seat 451, a clamping motor 452, a screw 453, a first clamping plate 454 and a second clamping plate 455, wherein the clamping seat 451 is fixed at one end of the sleeve 443 far away from the arm 42, and in this embodiment, the clamping seat 451 is a U-shaped seat. The clamping motor 452 is fixed on the clamping seat 451, an output end of the clamping motor 452 is connected with one end of a screw rod 453, the other end of the screw rod 453 is rotatably arranged on the clamping seat 451, the first clamping plate 454 and the second clamping plate 455 are both in threaded connection with the screw rod 453, the thread directions of the first clamping plate 454 and the second clamping plate 455 are opposite, and the screw rod 453 drives the first clamping plate 454 and the second clamping plate 455 to move oppositely or reversely under the driving of the clamping motor 452, so that the clamping or the releasing of the obstacle is realized.
The obstacle is clamped by the clamping mechanism 45, the vertical movement of the clamping mechanism 45 is realized through the arrangement of the sliding mechanism 41, the horizontal movement of the clamping mechanism is realized through the rotation arrangement of the arm rod 42, the rotation of the clamping mechanism 45 is realized through the rotating mechanism 44, the movement of the clamping mechanism 45 at any angle is realized through the matching arrangement of the mechanisms, and the obstacle is cleaned.
The working principle of the embodiment is as follows: the movable base 1 is driven to move the protective cover 2 to a fire scene, the first rotating motor 441 is driven according to the position of an obstacle, the driven wheel 444 is driven to rotate through the first driving wheel 442, so that the sleeve 443 is driven to rotate at the end of the arm rod 42, the clamping mechanism 45 is driven to rotate to an angle capable of clamping the obstacle, the first air cylinder 412 is driven to drive the sliding seat 411 to vertically move on the side face of the protective cover, the clamping mechanism 45 is driven to vertically move to the upper side of the obstacle through the arm rod 42, then the second air cylinder 431 is driven, the arm rod 42 is driven to horizontally rotate on the sliding seat 411 through the fixed column 433, the clamping mechanism 45 is driven to horizontally move to the top of the obstacle, the first air cylinder 412 is driven to drive the clamping mechanism 45 to downwards move to a position capable of clamping the obstacle, the clamping motor 452 is driven again, the first clamping plate 454 and the second clamping plate 455 move in opposite directions to clamp the obstacle, the structure is driven again after clamping is completed, the obstacle is cleaned to a position not affecting fire extinguishing operation of the robot, the horizontal rotating device drives the nozzle 454 and drives the nozzle seat 34 to rotate, and the nozzle 34 to rotate vertically and adjust the angle of the nozzle 34.
According to the invention, the clamping mechanism 45 is used for clamping the obstacle, the sliding mechanism 41 is arranged to realize the vertical movement of the clamping mechanism 45, the arm rod 42 is rotatably arranged to realize the horizontal movement of the clamping mechanism 45, and the mechanism and the rotatable clamping mechanism 45 are matched to realize the movement of the clamping mechanism 45 at any angle, so that the obstacle can be cleaned. In addition, the horizontal rotating device 31 drives the gun seat 32 to rotate so as to drive the spray head 34 to horizontally rotate, and the vertical rotating device 33 drives the spray head 34 to vertically rotate, so that the spray head 34 can be adjusted at any angle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not to be construed as limiting the claims.
The above-mentioned embodiments only represent embodiments of the present invention, and the scope of the present invention is not limited to the above-mentioned embodiments, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the present invention, and these embodiments are all within the scope of the present invention.
Claims (10)
1. The utility model provides a fire-fighting robot that can clear up barrier which characterized in that: the fire monitor device comprises a movable base, a protective cover, a fire monitor structure and a barrier clearing structure, wherein the protective cover is fixed on the movable base, and the fire monitor structure and the barrier clearing structure are arranged on the protective cover;
the obstacle removing structure comprises a sliding mechanism, an arm rod and a clamping mechanism, the sliding end of the sliding mechanism can be vertically moved and arranged on the protective cover, the arm rod capable of horizontally rotating is arranged on the sliding mechanism, and one end, far away from the sliding mechanism, of the arm rod is connected with the clamping mechanism capable of rotating.
2. A fire fighting robot as recited in claim 1, wherein: slide mechanism includes sliding seat, slip subassembly and first cylinder, first cylinder is fixed in the safety cover side, the output of first cylinder is connected the sliding seat, the setting that the sliding seat can vertical migration through slip subassembly is in the safety cover side, the drive first cylinder drives the sliding seat is at the vertical migration of safety cover side.
3. A fire fighting robot as recited in claim 1, wherein: the arm rod can be arranged on the sliding end of the sliding mechanism in a rotating mode through the driving mechanism, a first hinged portion and a second hinged portion are arranged on the sliding end of the sliding mechanism at intervals along the vertical direction, one end of the arm rod is connected to the first hinged portion in a rotating mode, the driving mechanism comprises a second air cylinder, an axle sleeve and a fixing column, the fixed end of the second air cylinder is connected to the second hinged portion in a rotating mode, the output end of the second air cylinder is connected with the fixing column in a rotating mode through the axle sleeve, one end, far away from the axle sleeve, of the fixing column is fixedly connected with the arm rod, and under the driving of the second air cylinder, the arm rod rotates around the central axis of the first hinged portion.
4. A fire fighting robot as recited in claim 1, wherein: fixture includes grip slipper, centre gripping motor, lead screw, first grip block and second grip block, the grip slipper can the pivoted set up in armed lever one end, fix on the grip slipper the centre gripping motor, lead screw one end is connected to the output of centre gripping motor, the lead screw other end can the pivoted set up on the grip slipper, first grip block and second grip block all with lead screw threaded connection, the screw thread opposite direction of first grip block and second grip block, the lead screw is in under the drive of centre gripping motor, drive first grip block and second grip block move in opposite directions or dorsad.
5. A fire fighting robot as recited in claim 1, wherein: the clamping mechanism is rotatably arranged at one end of the arm rod through a rotating mechanism; slewing mechanism includes first rotation motor, first action wheel, sleeve and first from the driving wheel, first rotation motor is fixed on the armed lever, the output of first rotation motor is connected first action wheel, the sleeve can the pivoted cover establish at the armed lever tip, sleeve outer wall cup joints and is fixed with the first from the driving wheel with first action wheel meshing, the sleeve rigid coupling fixture.
6. A fire fighting robot as recited in claim 1, wherein: the fire monitor structure comprises a horizontal rotating device, a monitor seat, a vertical rotating device, a spray head, a hose and a water tank, wherein the monitor seat can be rotatably arranged at the top of the protective cover through the horizontal rotating device, the spray head can be vertically arranged on the monitor seat through the vertical rotating device, and the spray head is communicated with the water tank arranged in the protective cover through the hose.
7. A fire fighting robot as recited in claim 6, wherein: horizontal rotating device includes that the second rotates motor, second action wheel, pivot and second from the driving wheel, the second rotates the motor and fixes on safety cover top inner wall, the second action wheel is connected to the output that the second rotated the motor, the pivot can the pivoted setting at the safety cover top, pivot one end is connected with the second with second action wheel meshing from the driving wheel, the pivot other end runs through the safety cover and connects the gun seat.
8. A fire fighting robot as recited in claim 6, wherein: the vertical rotating device comprises a third rotating motor and a rotating disc, the fixed end of the third rotating motor is fixed on the gun seat, the output end of the third rotating motor is connected with the rotating disc, and the spray head is fixed on the rotating disc.
9. A fire fighting robot as recited in claim 1, wherein: the safety cover is transparent, all be provided with transparent thermal barrier coating on the safety cover inner wall.
10. A fire fighting robot as recited in claim 1, wherein: the radar protection device is characterized by further comprising a controller, a radar sensor and a camera, wherein the radar sensor and the camera are installed outside the protection cover respectively, and the radar sensor and the camera are in communication connection with the controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211144988.XA CN115445128A (en) | 2022-09-20 | 2022-09-20 | Fire-fighting robot capable of removing obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211144988.XA CN115445128A (en) | 2022-09-20 | 2022-09-20 | Fire-fighting robot capable of removing obstacles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115445128A true CN115445128A (en) | 2022-12-09 |
Family
ID=84303945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211144988.XA Pending CN115445128A (en) | 2022-09-20 | 2022-09-20 | Fire-fighting robot capable of removing obstacles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115445128A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09271529A (en) * | 1996-04-05 | 1997-10-21 | Morita:Kk | Device for drawing out fire fighting fluid supply hose and unmanned fire truck |
| US20040089458A1 (en) * | 2002-11-04 | 2004-05-13 | Jones Autry Lee | Vehicle for fighting forest fires |
| US20130112440A1 (en) * | 2011-11-04 | 2013-05-09 | King Saud University | Smart compact Indoor Firefighting Robot for Extinguishing a Fire at an Early Stage |
| CN103331749A (en) * | 2013-06-27 | 2013-10-02 | 江苏有能电气成套有限公司 | Handling manipulator |
| CN204767114U (en) * | 2015-07-21 | 2015-11-18 | 武汉科技大学 | Fire control machine people |
| CN205494747U (en) * | 2016-03-11 | 2016-08-24 | 武汉科技大学 | Crawler -type fire -fighting robot |
| CN107964994A (en) * | 2017-12-26 | 2018-04-27 | 贵州詹阳动力重工有限公司 | A kind of multifunction wireless obstacles removing car |
| CN109999391A (en) * | 2019-03-26 | 2019-07-12 | 辽宁科技大学 | A kind of intelligence fire detection robot and control method |
| CN110587626A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Wall building robot |
| CN112007307A (en) * | 2020-06-12 | 2020-12-01 | 山东国泰科技有限公司 | Special remote control crawler-type decontamination fire-extinguishing rescue robot system for chemical industry park |
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN215618081U (en) * | 2021-09-14 | 2022-01-25 | 黑龙江工程学院 | Firmly-clamped carrying mechanical arm |
| CN216439858U (en) * | 2021-12-09 | 2022-05-06 | 山东理工大学 | Wheel-foot combined forest fire-fighting robot based on buffer power generation |
-
2022
- 2022-09-20 CN CN202211144988.XA patent/CN115445128A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09271529A (en) * | 1996-04-05 | 1997-10-21 | Morita:Kk | Device for drawing out fire fighting fluid supply hose and unmanned fire truck |
| US20040089458A1 (en) * | 2002-11-04 | 2004-05-13 | Jones Autry Lee | Vehicle for fighting forest fires |
| US20130112440A1 (en) * | 2011-11-04 | 2013-05-09 | King Saud University | Smart compact Indoor Firefighting Robot for Extinguishing a Fire at an Early Stage |
| CN103331749A (en) * | 2013-06-27 | 2013-10-02 | 江苏有能电气成套有限公司 | Handling manipulator |
| CN204767114U (en) * | 2015-07-21 | 2015-11-18 | 武汉科技大学 | Fire control machine people |
| CN205494747U (en) * | 2016-03-11 | 2016-08-24 | 武汉科技大学 | Crawler -type fire -fighting robot |
| CN107964994A (en) * | 2017-12-26 | 2018-04-27 | 贵州詹阳动力重工有限公司 | A kind of multifunction wireless obstacles removing car |
| CN109999391A (en) * | 2019-03-26 | 2019-07-12 | 辽宁科技大学 | A kind of intelligence fire detection robot and control method |
| CN110587626A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Wall building robot |
| CN112007307A (en) * | 2020-06-12 | 2020-12-01 | 山东国泰科技有限公司 | Special remote control crawler-type decontamination fire-extinguishing rescue robot system for chemical industry park |
| CN215618081U (en) * | 2021-09-14 | 2022-01-25 | 黑龙江工程学院 | Firmly-clamped carrying mechanical arm |
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN216439858U (en) * | 2021-12-09 | 2022-05-06 | 山东理工大学 | Wheel-foot combined forest fire-fighting robot based on buffer power generation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104800990B (en) | A kind of oil tank storage area fire-fighting fire monitoring and firefighting robot | |
| JP2020531060A (en) | Small mobile robot fire extinguishing unit | |
| CN105999598A (en) | Explosion-proof and fire fighting reconnaissance robot | |
| CN106693248A (en) | Intelligent remote-control fire-fighting robot | |
| KR100840837B1 (en) | Unmanned fire-fighting robot apparatus | |
| KR101530843B1 (en) | fire fighting robot having high waterproof property and high heat resistance | |
| CN104690733A (en) | Explosion-proof fire-fighting detection robot | |
| CN111298344A (en) | Robot is listened to automatic panorama in scene of a fire | |
| CN107913484A (en) | A kind of fire-fighting rescue gear | |
| KR101530704B1 (en) | fire fighting robot having high waterproof property | |
| CN112057787A (en) | Fire-fighting robot convenient to operate | |
| CN112007307A (en) | Special remote control crawler-type decontamination fire-extinguishing rescue robot system for chemical industry park | |
| CN110812747B (en) | Fire extinguishing device of fire-fighting robot | |
| CN108096746A (en) | A kind of fire extinguishing holder vehicle | |
| CN210612762U (en) | Intelligent fire extinguisher, intelligent fire extinguishing vehicle and remote fire extinguishing system | |
| CN111803842A (en) | Automatic aiming device of fire monitor | |
| CN210502924U (en) | Intelligent fire-fighting exploration vehicle | |
| CN108421184B (en) | Fire extinguishing robot for large oil tank | |
| CN208436292U (en) | A kind of height rescue breast-stroke remote-controlled robot | |
| CN115445128A (en) | Fire-fighting robot capable of removing obstacles | |
| CN212817759U (en) | Fire-fighting water monitor convenient to move for fire control | |
| CN110755786B (en) | Fire-fighting robot | |
| CN210335970U (en) | Multifunctional robot for fire fighting and disaster relief | |
| CN204546533U (en) | A kind of explosion-proof type fire-fighting detection robot | |
| CN213823260U (en) | High-altitude fire extinguishing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20221209 |