CN115958612A

CN115958612A - Fire-fighting robot with obstacle removing function

Info

Publication number: CN115958612A
Application number: CN202211514447.1A
Authority: CN
Inventors: 洪清泉; 蔡晶菁; 沈旭钊; 郭锦杰; 左政�; 洪俊龙; 童超; 谢建兴
Original assignee: Guoanda Co ltd
Current assignee: Guoanda Co ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-04-14

Abstract

The invention discloses a fire-fighting robot with an obstacle clearing function, which comprises a movable base, wherein a cylindrical protective cover is arranged on the movable base, a transparent hemispherical protective cover is fixed at the top of the cylindrical protective cover, a U-shaped seat is rotatably arranged at the top of the hemispherical protective cover, a fourth motor is arranged on the U-shaped seat, an output shaft of the fourth motor is sleeved with a rotary table, an annular pipe is sleeved on the rotary table, the annular pipe is communicated with a spray head, a water tank is arranged in the cylindrical protective cover, a hose is communicated between the water tank and the spray head, and a liquid pump is arranged on a pipe section of the hose. The invention has comprehensive functions, meets the complex working conditions on site and improves the capability of processing problems on site.

Description

Fire-fighting robot with obstacle removing function

Technical Field

The invention relates to the technical field of fire safety, in particular to a fire-fighting robot with an obstacle clearing function.

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. The fire-fighting robot is one of special robots and plays a role in increasing the weight of the fire-fighting robot in fire extinguishing and rescue. The common fire-fighting robot is generally used for fighting fire, but no good method is available for rescuing and treating obstacles on site, the using function is not comprehensive enough, and the technology needs to be upgraded, so that the fire-fighting robot with the obstacle clearing function is provided.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a fire-fighting robot with an obstacle clearing function.

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

the utility model provides a fire-fighting robot with clearance barrier function, includes portable base, install the cylinder safety cover on the portable base, the top of cylinder safety cover is fixed with transparent hemisphere type safety cover, the top of hemisphere type safety cover is rotated and is installed U type seat, install the fourth motor on the U type seat, the carousel has been cup jointed to the output shaft of fourth motor, the ring pipe has been cup jointed on the carousel, the ring pipe intercommunication has the shower nozzle, the internally mounted of cylinder safety cover has the water tank, the intercommunication has the hose between water tank and the shower nozzle, install the drawing liquid pump on the pipeline section of hose, the side of cylinder safety cover is installed a plurality of and is the radar sensor that the circumference array was arranged, the side of cylinder safety cover is installed a plurality of and is the camera that the circumference array was arranged, first pneumatic cylinder is installed to the side of cylinder safety cover, the piston rod of first pneumatic cylinder is fixed with the slider, slider slidable mounting is on the cylinder safety cover, the side of slider is rotated and is installed armed lever and second pneumatic cylinder, the piston rod of second pneumatic cylinder is fixed with the axle sleeve, the fixed column is cup jointed in the axle sleeve, the one end of fixed column is fixed on the armed lever, the one end is rotated and is installed the mount pad, install centre gripping mechanism on the mount pad.

Preferably, the internally mounted of hemisphere type safety cover has the third motor, the output shaft of third motor has cup jointed the third gear, the bottom of U type seat is fixed with the pivot, the pivot is rotated and is cup jointed on hemisphere type safety cover, cup jointed the fourth gear with third gear looks meshing in the pivot.

Preferably, a sleeve is fixed on the side edge of the mounting seat, the sleeve is rotatably sleeved on the arm rod, a second gear is sleeved on the sleeve, a second motor is installed on the arm rod, and an output shaft of the second motor is sleeved with a first gear meshed with the second gear.

Preferably, fixture includes first motor, lead screw, splint, first motor is installed on the mount pad, the output shaft of first motor has the lead screw, two splint have been cup jointed through rotating to opposite screw on the lead screw, splint slidable mounting is on the mount pad.

Preferably, transparent heat insulation coatings are arranged on the inner walls of the cylindrical protective cover and the hemispherical protective cover.

Preferably, the inner wall of the cylindrical protection cover is fixed with a handrail, and the inner wall of the cylindrical protection cover is fixed with a touch screen.

Preferably, a fireproof door is installed on the side edge of the cylindrical protection cover.

Preferably, a storage box is fixed on the inner wall of the cylindrical protection cover, and a portable oxygen respirator is placed inside the storage box.

Preferably, the movable base is a crawler-type base or a wheel-type base.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the transparent hemispherical protective cover is used for keeping an operator in the cylindrical protective cover to have a wide visual field, so that the landform can be observed conveniently, the transparent heat insulation coating can reduce external heat from being transferred to the interior of the cylindrical protective cover, the handrail is used for supporting the operator in the cylindrical protective cover, the operator can carry out on-site control on the whole body through the touch screen, the combination of remote control and manual on-site control is realized, the cylindrical protective cover can also carry out rescue on-site personnel, and rescued personnel can supplement oxygen through the portable oxygen respirator, so that normal breathing can be ensured on site;

2. according to the invention, a first hydraulic cylinder can drive a sliding block to move in the vertical direction, a second hydraulic cylinder can drive an arm rod to rotate through a shaft sleeve and a fixed column, so that the horizontal position of the arm rod is adjusted, a second motor drives a first gear to rotate, the first gear can drive a sleeve to rotate through meshing with a second gear, the sleeve drives an installation seat to synchronously rotate, the first motor drives a lead screw to rotate, the lead screw drives two clamping plates to mutually approach and clamp an object through threads with opposite rotation directions, and thus the operations of clearing obstacles and the like are realized;

3. according to the invention, the third motor drives the third gear to rotate, the third gear drives the rotating shaft to rotate through meshing with the fourth gear, the rotating shaft can drive the U-shaped seat to rotate, the fourth motor can drive the rotating disc to rotate, the rotating disc drives the annular pipe to synchronously rotate, the annular pipe drives the spray head to synchronously rotate, so that the spraying angle of the spray head can be adjusted, and the liquid pump can pump water in the water tank out and then convey the water to the spray head through the hose to spray the water;

4. according to the invention, the radar sensors arranged in the circumferential array can detect obstacles in all directions from the periphery and actively avoid the obstacles, and the cameras arranged in the circumferential array can shoot the surrounding terrain in all directions and transmit the surrounding terrain to remote operators, so that the remote operators can know the field situation in time.

Drawings

Fig. 1 is a schematic structural diagram of a fire-fighting robot with an obstacle clearing function according to the present invention;

fig. 2 is a schematic view of an installation structure of a spray head of a fire-fighting robot with an obstacle clearing function according to the present invention;

fig. 3 is a schematic view of an installation structure of a sliding block of a fire-fighting robot with an obstacle clearing function according to the present invention;

fig. 4 is a schematic view of an installation structure of a splint of a fire-fighting robot with an obstacle clearing function according to the present invention.

In the figure: the portable oxygen respirator comprises a movable base 1, a cylindrical protective cover 2, a water tank 3, a storage box 4, a radar sensor 5, a portable oxygen respirator 6, a handrail 7, a touch screen 8, a liquid pump 9, a hose 10, a camera 11, a fireproof door 12, a hemispherical protective cover 13, a nozzle 14, a first hydraulic cylinder 15, a slider 16, a second hydraulic cylinder 17, an arm lever 18, a first motor 19, a mounting seat 20, a clamping plate 21, a fixed column 22, a shaft sleeve 23, a second motor 24, a first gear 25, a screw rod 26, a sleeve 27, a second gear 28, a U-shaped seat 29, a ring-shaped pipe 30, a rotating disk 31, a nozzle 32, a rotating shaft 33, a third motor 34, a third gear 35, a fourth gear 36 and a fourth motor 37.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a fire-fighting robot with obstacle clearing function comprises a movable base 1, the movable base 1 is a crawler-type base or a wheel-type base, and can be configured according to actual needs, a cylindrical protective cover 2 is installed on the movable base 1, a transparent hemispherical protective cover 13 is fixed on the top of the cylindrical protective cover 2, the transparent hemispherical protective cover 13 is used for keeping an operator inside to have a wide visual field and facilitating to observe the terrain, a U-shaped seat 29 is rotatably installed on the top of the hemispherical protective cover 13, a third motor 34 is installed inside the hemispherical protective cover 13, an output shaft of the third motor 34 is sleeved with a third gear 35, a rotating shaft 33 is fixed on the bottom of the U-shaped seat 29, the rotating shaft 33 is rotatably sleeved on the protective cover 13, a fourth gear 36 meshed with the third gear 35 is sleeved on the rotating shaft 33, the third motor 34 drives the third gear 35 to rotate, the third gear 35 drives the rotating shaft 33 to rotate through the engagement with the fourth gear 36, the rotating shaft 33 can drive the U-shaped seat 29 to rotate, the U-shaped seat 29 is provided with a fourth motor 37, the output shaft of the fourth motor 37 is sleeved with a rotating disc 31, the rotating disc 31 is sleeved with a ring-shaped pipe 30, the ring-shaped pipe 30 is communicated with a spray head 32, the fourth motor 37 can drive the rotating disc 31 to rotate, the rotating disc 31 drives the ring-shaped pipe 30 to synchronously rotate, the ring-shaped pipe 30 drives the spray head 32 to synchronously rotate, so that the spraying angle of the spray head 32 can be adjusted, the cylindrical protective cover 2 is internally provided with a water tank 3, a hose 10 is communicated between the water tank 3 and the spray head 32, the pipe section of the hose 10 is provided with a liquid pump 9, the liquid pump 9 can pump water in the water tank 3 out and then convey the water to the spray head 32 through the hose 10 to spray out, the side edge of the cylindrical protective cover 2 is provided with a plurality of radar sensors 5 which are arranged in a circumferential array, the radar sensors 5 arranged in a circumferential array can detect obstacles in an all-around manner from the periphery and actively avoid the obstacles, a plurality of cameras 11 arranged in the circumferential array are installed on the side edge of the cylindrical protective cover 2, the cameras 11 arranged in the circumferential array can shoot the surrounding terrain in all-around manner and transmit the photographed images to a remote operator, so that the remote operator can know the field situation in time, a first hydraulic cylinder 15 is installed on the side edge of the cylindrical protective cover 2, a sliding block 16 is fixed on a piston rod of the first hydraulic cylinder 15, the sliding block 16 can drive the sliding block 16 to move in the vertical direction, the sliding block 16 is slidably installed on the cylindrical protective cover 2, an arm rod 18 and a second hydraulic cylinder 17 are rotatably installed on the side edge of the sliding block 16, a shaft sleeve 23 is fixed on a piston rod of the second hydraulic cylinder 17, a fixing column 22 is rotatably sleeved in the shaft sleeve 23, and the fixing column 22 is fixed on the arm rod 18, the second hydraulic cylinder 17 can drive the arm lever 18 to rotate through the shaft sleeve 23 and the fixed column 22, thereby adjusting the horizontal position of the arm lever 18, one end of the arm lever 18 is rotatably provided with the mounting seat 20, the side of the mounting seat 20 is fixed with the sleeve 27, the sleeve 27 is rotatably sleeved on the arm lever 18, the sleeve 27 is sleeved with the second gear 28, the arm lever 18 is provided with the second motor 24, the output shaft of the second motor 24 is sleeved with the first gear 25 engaged with the second gear 28, the second motor 24 drives the first gear 25 to rotate, the first gear 25 can drive the sleeve 27 to rotate through the engagement between the first gear 25 and the second gear 28, the sleeve 27 drives the mounting seat 20 to synchronously rotate, the mounting seat 20 is provided with the clamping mechanism, the clamping mechanism comprises the first motor 19, the screw rod 26 and the clamping plate 21, the first motor 19 is installed on the mounting seat 20, the output shaft of the first motor 19 is connected with the screw rod 26, two splint 21 have been cup jointed through the opposite screw thread of revolve to on the lead screw 26, and splint 21 slidable mounting is on mount pad 20, and first motor 19 drives lead screw 26 and rotates, and lead screw 26 drives two splint 21 through revolving to opposite screw thread and is close to each other and carry out the centre gripping to the object, realizes operations such as clearance barrier.

Cylinder safety cover 2, all be provided with transparent thermal barrier coating on the 13 inner walls of hemisphere type safety cover, transparent thermal barrier coating can reduce the inside that outside heat transmitted cylinder safety cover 2, be fixed with handrail 7 on cylinder safety cover 2's the inner wall, handrail 7 is used for inside personnel to support, be fixed with touch-control screen 8 on cylinder safety cover 2's the inner wall, operating personnel accessible touch-control screen 8 carries out field control to the whole, realize that remote control and artifical field control combine together, fire door 12 is prevented in installing to cylinder safety cover 2's side, be fixed with receiver 4 on cylinder safety cover 2's the inner wall, portable oxygen respirator 6 has been placed to receiver 4's inside, cylinder safety cover 2 also can rescue field personnel, it can carry out oxygen supplementation through portable oxygen respirator 6 to be rescued personnel, be convenient for guarantee normal breathing at the scene.

When the portable oxygen respirator is used, the transparent hemispherical protective cover 13 is used for keeping an operator in the cylindrical protective cover to have a wide visual field and facilitating observation of terrain, the transparent heat insulation coating can reduce external heat transmitted to the inside of the cylindrical protective cover 2, the handrails 7 are used for supporting the operator in the cylindrical protective cover, the operator can perform field control on the whole through the touch screen 8 to realize combination of remote control and manual field control, the cylindrical protective cover 2 can also rescue the field personnel, and rescuees the rescuee through the portable oxygen respirator 6 to supplement oxygen, so that normal breathing can be guaranteed on the field;

the first hydraulic cylinder 15 can drive the sliding block 16 to move in the vertical direction, the second hydraulic cylinder 17 can drive the arm lever 18 to rotate through the shaft sleeve 23 and the fixed column 22, so as to adjust the horizontal position of the arm lever 18, the second motor 24 drives the first gear 25 to rotate, the first gear 25 can drive the sleeve 27 to rotate through the engagement between the first gear 25 and the second gear 28, the sleeve 27 drives the mounting seat 20 to synchronously rotate, the first motor 19 drives the screw rod 26 to rotate, the screw rod 26 drives the two clamping plates 21 to mutually approach and clamp an object through threads with opposite rotation directions, and therefore the operations of clearing obstacles and the like are achieved;

the third motor 34 drives the third gear 35 to rotate, the third gear 35 drives the rotating shaft 33 to rotate through the meshing with the fourth gear 36, the rotating shaft 33 can drive the U-shaped seat 29 to rotate, the fourth motor 37 can drive the rotating disc 31 to rotate, the rotating disc 31 drives the annular pipe 30 to synchronously rotate, the annular pipe 30 drives the spray head 32 to synchronously rotate, so that the spraying angle of the spray head 32 can be adjusted, and the liquid pump 9 can pump out water in the water tank 3 and then convey the water to the spray head 32 through the hose 10 to spray the water;

the radar sensors 5 arranged in the circumferential array can detect obstacles in all directions from the periphery and actively avoid the obstacles, and the cameras 11 arranged in the circumferential array can shoot the surrounding terrain in all directions and transmit the surrounding terrain to remote operators, so that the remote operators can know the field situation in time.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides a fire-fighting robot with clearance barrier function, includes portable base (1), its characterized in that, install cylinder safety cover (2) on portable base (1), the top of cylinder safety cover (2) is fixed with transparent hemisphere type safety cover (13), the top of hemisphere type safety cover (13) is rotated and is installed U type seat (29), install fourth motor (37) on U type seat (29), the output shaft of fourth motor (37) has cup jointed carousel (31), annular pipe (30) has been cup jointed on carousel (31), annular pipe (30) intercommunication has shower nozzle (32), the internally mounted of cylinder safety cover (2) has water tank (3), the intercommunication has hose (10) between water tank (3) and shower nozzle (32), install drawing liquid pump (9) on the pipeline section of hose (10), the side of cylinder safety cover (2) is installed a plurality of radar sensor (5) that are the circumference array and arrange, the side of cylinder safety cover (2) is installed a plurality of cameras (11) that the circumference array was arranged, the cylinder safety cover (2) install the first slider (15) and the pneumatic cylinder slider (16) is installed on the side of cylinder safety cover (15) slip, the side of slider (16) rotates and installs armed lever (18) and second pneumatic cylinder (17), the piston rod of second pneumatic cylinder (17) is fixed with axle sleeve (23), fixed column (22) have been cup jointed in axle sleeve (23) internal rotation, fixed column (22) are fixed on armed lever (18), mount pad (20) are installed in the rotation of one end of armed lever (18), install fixture on mount pad (20).

2. A fire fighting robot with obstacle clearance function, according to claim 1, characterized in that a third motor (34) is installed inside the hemispherical protection cover (13), a third gear (35) is sleeved on an output shaft of the third motor (34), a rotating shaft (33) is fixed at the bottom of the U-shaped seat (29), the rotating shaft (33) is rotatably sleeved on the hemispherical protection cover (13), and a fourth gear (36) meshed with the third gear (35) is sleeved on the rotating shaft (33).

3. A fire fighting robot with obstacle clearance function as claimed in claim 1, characterized in that a sleeve (27) is fixed on the side of the mounting base (20), the sleeve (27) is rotatably sleeved on the arm (18), a second gear (28) is sleeved on the sleeve (27), a second motor (24) is installed on the arm (18), and an output shaft of the second motor (24) is sleeved on a first gear (25) engaged with the second gear (28).

4. A fire-fighting robot with obstacle clearing function as claimed in claim 1, characterized in that the clamping mechanism comprises a first motor (19), a screw rod (26) and clamping plates (21), the first motor (19) is mounted on the mounting seat (20), the screw rod (26) is connected to an output shaft of the first motor (19), two clamping plates (21) are sleeved on the screw rod (26) through threads with opposite rotation directions, and the clamping plates (21) are slidably mounted on the mounting seat (20).

5. A fire-fighting robot with obstacle clearing function as claimed in claim 1, characterized in that the inner walls of the cylindrical protective cover (2) and the hemispherical protective cover (13) are provided with transparent heat insulation coatings.

6. A fire fighting robot with obstacle clearing function as recited in claim 1, characterized in that a handrail (7) is fixed on the inner wall of the cylindrical protection cover (2), and a touch screen (8) is fixed on the inner wall of the cylindrical protection cover (2).

7. A fire fighting robot with obstacle clearance function, according to claim 1, characterized in that a fire door (12) is installed at the side of the cylindrical protection cover (2).

8. A fire fighting robot with obstacle clearing function as claimed in claim 1, characterized in that a storage box (4) is fixed on the inner wall of the cylindrical protection cover (2), and a portable oxygen respirator (6) is placed inside the storage box (4).

9. A fire fighting robot with obstacle clearing function as recited in claim 1, characterized in that the movable base (1) is a crawler base or a wheel base.