CN206526433U - A kind of intelligent distant control fire-fighting robot - Google Patents
A kind of intelligent distant control fire-fighting robot Download PDFInfo
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- CN206526433U CN206526433U CN201720179721.2U CN201720179721U CN206526433U CN 206526433 U CN206526433 U CN 206526433U CN 201720179721 U CN201720179721 U CN 201720179721U CN 206526433 U CN206526433 U CN 206526433U
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- fighting robot
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Abstract
A kind of intelligent distant control fire-fighting robot of the present utility model, including car body, car body both sides are provided with crawler type walking mechanism, Vehicular body front upper end is provided with water cannon panoramic table, water cannon panoramic table bottom is provided with swivel coupling, swivel coupling drive connection has direct current turning motor, swivel coupling is connected with bend pipe, bend pipe upper end is connected with water cannon big gun head by joint ball head, water cannon big gun head is connected with push-rod electric machine and realized with turntable opposing oscillatory to be stretched, bend pipe lower end is connected with water cannon connecting tube, car body inner bottom part is applied in before and after water cannon connecting tube and is fixedly connected with the vehicle body, water cannon connecting tube rear end is connected with the fire hose coupling for being fixed on body rear end, the camera with head is provided with the middle of car body top.The beneficial effects of the utility model are：Fire-fighting robot has good environmental suitability, can find burning things which may cause a fire disaster rapidly under dense smoke mist adverse circumstances, fast approaching target is put out a fire.
Description
Technical field
The utility model is related to a kind of intelligent distant control fire-fighting robot.
Background technology
With the development of the society, robot technology is continued to develop so that the application field of robot constantly extends, from
Toward many lives for incorporating people gradually applied to industrial circle.Natural calamity multiple in recent years such as earthquake, fire, flood,
Artificial terrified damage such as terrorist activity, armed conflict, and by the biochemical virus such as anthrax, bird flu and noxious material, spoke
The terror that penetrating property material etc. is brought, threatens the safety of people, arouses widespread concern.Although people are to various disasters
Vigilance and respond increase, but still prepare not enough fully in the destructive disaster event of processing, many people are still
Die from rescue activity unprofessional, not in time.
By taking urban environment as an example, Population Urbanization and the aggravation of urban population intensive phenomenon are skyscraper, underground engineering, big
Type commerce and trade place, the fast development of entertainment place, City Building are continuously increased so that the fire extinguishing in urban architecture environment is rescued
Help operation sufficiently complex.In some dangerous big disasters, such as it can trigger scene of fire-world-shaking day of blast at any time
, with the presence of the scene of inflammable, explosive or hypertoxic gas, there is showing for easy secondary collapsed building after earthquake in Tianjin fire huge explosion
, rescuer can not go deep into being scouted or being sued and laboured, and people are eager to find out the inside dangerous situation of disaster scene, but dare not or nothing
Method is proximal or into disaster scene.Now, the participation of robot can effectively improve the efficiency of rescue and reduce rescuer
Injures and deaths, they can help staff perform rescue work of extinguishing fire, and can replace staff perform search and rescue task,
More and more important effect is played in disaster relief.
The content of the invention
For technical deficiency more than solving, the utility model provides a kind of environmental suitability by force, and handling is good, goes out
The good intelligent distant control fire-fighting robot of fiery effect.
The utility model is realized by following measures：
A kind of intelligent distant control fire-fighting robot of the present utility model, including car body, the vehicle bottom are provided with crawler type
Power supply, movable motor, drive assembly, electronic control system and radio communication unit, the electricity are provided with walking mechanism, car body
Sub-control system is connected with remote control by radio communication unit signal, and the car body top front end is provided with water cannon panoramic table,
The water cannon panoramic table bottom is provided with swivel coupling, and the swivel coupling drive connection has direct current turning motor, swivel coupling
Bend pipe is connected with, the bend pipe upper end is connected with the adjustable water cannon big gun head of flow by joint ball head, and water cannon big gun head is returned with water cannon
Push-rod electric machine is connected between turntable, bend pipe lower end is applied in car body before and after being connected with water cannon connecting tube, the water cannon connecting tube
Inner bottom part is simultaneously fixedly connected with the vehicle body, and water cannon connecting tube rear end is connected with the fire hose coupling for being fixed on body rear end, car body
Crown center, which is provided with the camera with head, the car body, is provided with electronic compass unit and ultrasonic ranging unit, institute
Electronic compass unit, camera and ultrasonic ranging unit is stated to be connected with electronic control system signal.
Self-shield spraying cooling system is provided with above-mentioned car body, the self-shield spraying cooling system includes symmetrical connection
Water spray transverse tube in the water cannon connecting tube left and right sides, the water spray transverse tube be connected be arranged on the car body left and right sides water spray erect
Pipe, the water spray riser upper end is provided with fog-spray nozzle, water spray vertical tube and is provided with y-type filter.
It is provided with above-mentioned rear vehicle left and right sidewall at detection chambers, the detection chambers opening and is provided with cover plate, cover plate
On be provided with air admission hole, detection chambers and be provided with asepwirator pump and poisonous gas detection instrument, the poisonous gas detection instrument and electricity
Sub-control system signal is connected.
Above-mentioned also to include control casing, the remote control is arranged in control cabinet body, and water cannon is provided with the remote control
Display screen is provided with control button, brake protection button, cradle head control button and traveling control stick, control cabinet body.
Car body top described above is provided with the audible-visual annunciator being connected with electronic control system, laser range finder, heat
The temperature sensor being connected with electronic control system, hydraulic pressure sensor, electricity are additionally provided with imager, lighting device, car body
Current voltage detection unit.
Above-mentioned car body front end is provided with preceding camera, and body rear end, which is provided with, to be provided with high definition on rear camera, head and take the photograph
As head and infrared thermography, the preceding camera, rear camera, high-definition camera and infrared thermography pass through changeable
Four road transmission of video passages are connected with the high-definition display screen with HDMI, and the transmission of video passage uses HDMI wireless images
Transport module.
Above-mentioned traveling control stick includes Horll's Handle and rotates in place button.
Above-mentioned remote control and electronic control system employ the STM32F407 high-performance based on ARM-CortexM4 kernels
Control chip, control signal transmission uses 433MHz digital communications modules.
Above-mentioned crawler type walking mechanism includes crawler belt and support load-carrying train, and the support load-carrying train is provided with spring certainly
Dynamic governor motion, the crawler belt is manufactured using flame retardant rubber, and track outer surface protrudes three sections of rectangle decorative patterns, recessed next rectangular flower
Line, rectangle decorative pattern bumps equi-spaced apart is set, and internal track surfaces are provided with trapezoidal synchronous band structure.
Above-mentioned car body use aluminium alloy, stainless steel and high polymer material, a height of 1350mm of the fire-fighting robot length and width ×
815mm × 800mm, power supply uses lithium battery.
The beneficial effects of the utility model are：1. fire-fighting robot has good environmental suitability, it can keep straight on, climb
Slope, turn, rotate in place, obstacle detouring, avoidance and anti-tipping；2. with spray cooling protection certainly, face a danger to automatically power off and stop
Car self-protection function；3. burning things which may cause a fire disaster can be found rapidly under dense smoke mist adverse circumstances, fast approaching target is put out a fire.4. fire-fighting
Robot has good handling, and easy to operate, flexible, extinguishing ability is strong., can 5. fire-fighting robot uses modular manufacturing
With quick assembling, simplify manufacturing process.6. make to disappear using wireless communication technique, multiple sensors element and control technology application
Anti- robot is more intelligent.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is side structure schematic diagram of the present utility model.
Fig. 3 is water cannon structural representation of the present utility model.
Fig. 4 is self-shield spraying cooling system structural representation of the present utility model.
Wherein：1 car body, 2 crawler type walking mechanisms, 3 water cannon big gun heads, 4 cameras, 5 fire hose couplings, 6 detection chambers,
7 fog-spray nozzles, 8 audible-visual annunciators, 9 joint ball heads, 10 push-rod electric machines, 11 bend pipes, 12 water cannon panoramic tables, 13 swivel couplings, 14 is straight
Flow back to rotating motor, 15 water cannon connecting tubes, 16Y type filters, 17 water spray vertical tubes.
Embodiment
Further detailed description is done to the utility model below in conjunction with the accompanying drawings：
As shown in Figure 1, 2, 3, a kind of intelligent distant control fire-fighting robot of the present utility model, including car body 1, the bottom of car body 1
It is provided with crawler type walking mechanism 2, car body 1 and is provided with power supply, movable motor, drive assembly, electronic control system and wireless
Communication unit, electronic control system is connected with remote control by radio communication unit signal, and the top nose of car body 1 is provided with water cannon
Panoramic table 12, the bottom of water cannon panoramic table 12 is provided with swivel coupling 13, and the drive connection of swivel coupling 13 has direct current turning motor 14,
Swivel coupling 13 is connected with bend pipe 11, and the upper end of bend pipe 11 is connected with water cannon big gun first 3, water cannon big gun first 3 and water cannon by joint ball head 9
Panoramic table 12 is rotatably connected to push-rod electric machine 10, and the lower end of bend pipe 11 is passed through before and after being connected with water cannon connecting tube 15, water cannon connecting tube 15
It is through the inner bottom part of car body 1 and is fixedly connected with car body 1, the rear end of water cannon connecting tube 15 is connected with the fire-fighting for being fixed on the rear end of car body 1
Hose coupling 5, the crown center of car body 1 is provided with the camera 4 with head, car body 1 and is provided with electronic compass unit and ultrasound
Ripple range cells, electronic compass unit, camera 4 and ultrasonic ranging unit are connected with electronic control system signal.Using electricity
Sub- compass unit, in real time by vehicle body state transfer to backstage display screen.When robot runs into slope >=30 °, there is danger of toppling
When, audible-visual annunciator 8 is glittering.Display distance obstacle distance is measured using ultrasonic ranging unit in real time；When robot obstacle detouring
During obstacle height >=180mm when can not go beyond, supersonic finding range；290-1400mm, robot is from barrier
Signal alarm lamp is glittering during≤1200mm, and on real-time Transmission to backstage display screen.
Water cannon can realize the flexion-extension of big gun head swing, left rotation and right rotation and direct current spray, by current at different angles or directly
Stream or the mode of spraying are ejected into ignition point；First 3 flow of water cannon big gun is adjustable, by push-rod electric machine 10 is flexible and water cannon on install
Joint ball head 9 swings around axle and realizes that water cannon big gun first 3 is pitched.Direct current turning motor 14 is arranged on swivel coupling 13, passes through turbine
Worm screw drives water cannon big gun first 3 and water cannon panoramic table 12 to rotate.It is fixed on below water cannon barrel in the middle of car body 1 above, terrain clearance
Only 188mm, realizes operation center of gravity low, it is ensured that vehicle body is stable during high-pressure high-flow water spray work, and fire water monitor
First 3 flow is adjustable, it is ensured that in range of flow, is needed to ensure water cannon in the range of the specified maximum working pressure (MWP) of water cannon according to fire extinguishing
Range, i.e. energy-conservation are again efficient.Barrel is installed above pressure sensor, can be with the rated operating pressure of Real Time Observation current.
As shown in figure 4, being provided with self-shield spraying cooling system on car body 1, self-shield spraying cooling system includes symmetrical
The water spray transverse tube of the left and right sides of water cannon connecting tube 15 is connected to, water spray transverse tube is connected with the water spray for being arranged on the left and right sides of car body 1
Vertical tube 17, water spray vertical tube 17 upper end is provided with fog-spray nozzle 7, water spray vertical tube 17 and is provided with y-type filter 16.Spray system material
Constituted using aluminium alloy and stainless steel, low temperature resistant and high temperature, impurity prevents from blocking spraying nozzle in energy automatic fitration pipeline.Fire-fighting
Robot spray system effectively can be cooled by spraying to fire-fighting robot in hot environment, it is ensured that the normal work of fire-fighting robot
Make.
It is provided with detection chambers 6, the opening of detection chambers 6 to be provided with cover plate, cover plate in the rear portion left and right sidewall of car body 1 and sets
Have and asepwirator pump and poisonous gas detection instrument, poisonous gas detection instrument and electronic control system are provided with air admission hole, detection chambers 6
Signal is connected.Data can be wirelessly transmitted to backstage remote control, carry out analysis in real time and disposal in time, to human body beyond harmful value report
It is alert to remind.
The utility model also includes control casing, and remote control is arranged in control cabinet body, and water cannon control is provided with remote control
Display screen is provided with button processed, brake protection button, cradle head control button and traveling control stick, control cabinet body.Traveling is manipulated
Bar Horll's Handle and rotate in place button, it is individually designed to rotate in place button, rotating in place for robot can be realized with a key,
Robot is facilitated to be rotated in narrow space.Fire-fighting robot control section is controlled using single-chip microcomputer remote manual control, robot
Remote control is mainly made up of wireless launcher, signal receiver etc., is mainly used to be remotely controlled robot operation, straight trip,
Retreat, turn to, can flexibly control fire-fighting robot straight trip, turning, climbing, obstacle detouring, rotate in place and fire-fighting robot fire-fighting
Water cannon revolution, flexion-extension, direct current, spraying.
The top of car body 1 is provided with audible-visual annunciator 8, laser range finder, the thermal imaging system being connected with electronic control system,
The temperature sensor being connected with electronic control system, hydraulic pressure sensor, voltage and current detecting unit are additionally provided with car body 1.
The monitoring system of robot is mainly made up of high-definition camera 4, infrared thermography display screen, it is observed that the monitoring in the scene of a fire
Picture, by wireless transmission and reception system operate fire-fighting robot.Fire-fighting robot is furnished with laser range finder,
The distance of sniffing robot and target lead object.Front camera and rear camera 4, the ranging of ultrasonic wave obstacle, electronic compass supervisory-controlled robot row
Direction avoids overturning safely when walking.High-definition camera 4, thermal imaging system, gas sensor, TEMP are installed using multiple location
The a variety of environmental informations in scene of fire and vehicle body status are acquired and returned by device, pressure sensor, voltage-current sensor etc.；
Barrier in displaying scene burning things which may cause a fire disaster on the remote control platform of back court, pernicious gas, object distance, traveling, firefighting robot temperature,
Gradient, the information such as fire monitor hydraulic pressure etc. is comprehensive can simultaneously be handled in real time.Car body front end is provided with preceding camera, and body rear end is set
It is equipped with rear camera, head and is provided with high-definition camera and infrared thermography, the preceding camera, rear camera, high definition
Camera and infrared thermography are connected with the high-definition display screen with HDMI by four changeable road transmission of video passages,
Transmission of video passage uses HDMI wireless image transmission modules.Any video image all the way can be switched to by remote control.
The utility model is passed using high-end chip, number, is ensured accurate control and is transmitted：Systemic-function is various, integrated level is high,
Technical sophistication, multinomial state-of-the-art technology is employed, be reliable to realize remote accurate control and the transmission of multiple types information bidirectional, remote control
Device and machine employ the STM32F407 high performance control chips based on ARM-CortexM4 kernels per capita, and controlling transmission is used
Newest 433MHz digital communications modules.
Digital communication is used using 4 road videos, clearly, stably：Forward and backward, high definition, the tunnel of thermal imaging 4 has been initiated at home to regard
Frequency display switching and transmission technology.Shown using 7 cun of highlighted HDMIs of resolution ratio 1080*1024 high definitions, video image is clear,
Reliably, stably.Wireless image transmission has used high definition（HDMI）Figure transmission module, makes the shooting of four tunnels is clear on the remote control of backstage to show simultaneously
Energy real-time recording, transmission range is up to more than 200 meters.
Lithium battery power supply is adopted, dc motor provides power, powerful；Good speed adjustment features electrical machine energy-saving-motor
Corresponding power is exported according to payload, load sensing is longer without power, efficiency high, working time is wasted.Fire-fighting fire extinguishing machine
People's support load-carrying train uses spring automatic adjusting mechanism, and support wheel can be automatically adjusted by running into rugged and rough complex road condition, be kept
Fire-fighting robot is balanced；Good structural damping function, cross-country ability is good.Its train crawler belt is manufactured using flame retardant rubber, is resistant to
High temperature, the unique convex three sections of rectangle decorative patterns in outside of crawler belt, recessed is a rectangle, is spaced equidistant concave-convex design；The trapezoidal timing belt in inner side
Structure.Attachment coefficient is big, and big with ground contact area, cross-country ability is good；Fire-fighting robot is set to adapt in different road conditions, traveling not
Skidding crawler belt tighting uses tensioner governor motion, and crawler belt convenient disassembly is quick.Its material agent structure selects aluminium alloy and high score
Sub- material.So that firefighting fire extinguishing robot has small volume profile length, width and height 1350 × 815 × 800, lightweight 180Kg.Reduce
Robot power consumption, runs more longlasting.
Described above is only the preferred embodiment of this patent, it is noted that for the ordinary skill people of the art
For member, on the premise of the art of this patent principle is not departed from, some improvement and replacement can also be made, these improve and replaced
Also it should be regarded as the protection domain of this patent.
Claims (10)
1. a kind of intelligent distant control fire-fighting robot, including car body, the vehicle bottom are provided with crawler type walking mechanism, car body
Power supply, movable motor, drive assembly, electronic control system and radio communication unit are provided with, the electronic control system passes through
Radio communication unit signal is connected with remote control, it is characterised in that：The car body top front end is provided with water cannon panoramic table, described
Water cannon panoramic table bottom is provided with swivel coupling, and the swivel coupling drive connection has direct current turning motor, swivel coupling connection
There is bend pipe, the bend pipe upper end is connected with the adjustable water cannon big gun head of flow, water cannon big gun head and water cannon panoramic table by joint ball head
Between be connected with push-rod electric machine, bend pipe lower end is applied in bottom in car body before and after being connected with water cannon connecting tube, the water cannon connecting tube
Portion is simultaneously fixedly connected with the vehicle body, and water cannon connecting tube rear end is connected with the fire hose coupling for being fixed on body rear end, car body top
Centre, which is provided with the camera with head, the car body, is provided with electronic compass unit and ultrasonic ranging unit, the electricity
Sub- compass unit, camera and ultrasonic ranging unit are connected with electronic control system signal.
2. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：Self-shield spray is provided with the car body
Cooling system is drenched, the self-shield spraying cooling system includes the water spray transverse tube for being symmetrically connected to the water cannon connecting tube left and right sides,
The water spray transverse tube is connected with the water spray vertical tube for being arranged on the car body left and right sides, and the water spray riser upper end is provided with fog-spray nozzle,
Y-type filter is provided with water spray vertical tube.
3. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：Opened in the rear vehicle left and right sidewall
Have to be provided with cover plate, cover plate at detection chambers, the detection chambers opening and be provided with air admission hole, suction is provided with detection chambers
Air pump and poisonous gas detection instrument, the poisonous gas detection instrument are connected with electronic control system signal.
4. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：Also include control casing, the remote control
Device is arranged in control cabinet body, be provided with the remote control water cannon control button, brake protection button, cradle head control button and
Travel in control stick, control cabinet body and be provided with display screen.
5. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：The car body top is provided with and electronics
It is additionally provided with and electronics on audible-visual annunciator that control system is connected, laser range finder, thermal imaging system, lighting device, car body
Temperature sensor that control system is connected, hydraulic pressure sensor, avoiding obstacles by supersonic wave sensor, voltage and current detecting unit.
6. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：The car body front end is provided with proactive picture
Head, body rear end, which is provided with rear camera, head, is provided with high-definition camera and infrared thermography, the preceding camera,
Camera, high-definition camera and infrared thermography are connected with band HDMI by four changeable road transmission of video passages afterwards
High-definition display screen, the transmission of video passage use HDMI wireless image transmission modules.
7. intelligent distant control fire-fighting robot according to claim 4, it is characterised in that：The traveling control stick includes Hall hand
Handle and rotate in place button.
8. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：The remote control and electronic control system
The STM32F407 high performance control chips based on ARM-CortexM4 kernels are employed, control signal transmission uses 433MHz
Digital communications module.
9. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：The crawler type walking mechanism includes carrying out
Band and support load-carrying train, the support load-carrying train are provided with spring automatic adjusting mechanism, there is obstacle detouring shock-absorbing function, the shoe
Band protrudes three sections of rectangle decorative patterns, recessed next rectangle decorative pattern, rectangle decorative pattern bumps etc. using flame retardant rubber manufacture, track outer surface
Away from interval setting, internal track surfaces are provided with trapezoidal synchronous band structure.
10. intelligent distant control fire-fighting robot according to claim 1, it is characterised in that：The car body is using aluminium alloy, stainless
Steel and high polymer material, a height of 1350mm × 815mm of the fire-fighting robot length and width × 800mm, power supply use lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720179721.2U CN206526433U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent distant control fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720179721.2U CN206526433U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent distant control fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206526433U true CN206526433U (en) | 2017-09-29 |
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ID=59916900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720179721.2U Active CN206526433U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent distant control fire-fighting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206526433U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303993A (en) * | 2018-09-07 | 2019-02-05 | 武汉科技大学 | Crawler type fire-fighting robot |
| CN110830688A (en) * | 2019-09-24 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot video acquisition system based on android system development |
| CN111437551A (en) * | 2020-04-23 | 2020-07-24 | 梁家富 | Multifunctional intelligent fire-fighting equipment |
-
2017
- 2017-02-27 CN CN201720179721.2U patent/CN206526433U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303993A (en) * | 2018-09-07 | 2019-02-05 | 武汉科技大学 | Crawler type fire-fighting robot |
| CN110830688A (en) * | 2019-09-24 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot video acquisition system based on android system development |
| CN111437551A (en) * | 2020-04-23 | 2020-07-24 | 梁家富 | Multifunctional intelligent fire-fighting equipment |
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