CN209927298U - Reconnaissance robot for fire control - Google Patents
Reconnaissance robot for fire control Download PDFInfo
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- CN209927298U CN209927298U CN201921391453.6U CN201921391453U CN209927298U CN 209927298 U CN209927298 U CN 209927298U CN 201921391453 U CN201921391453 U CN 201921391453U CN 209927298 U CN209927298 U CN 209927298U
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- robot
- reconnaissance robot
- heat insulation
- fire
- housing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
A fire-fighting reconnaissance robot comprises a sensor system, a control system, an actuating mechanism, a heat insulation shell and a cooling system, wherein the sensor system comprises a sensor, a sensor and a sensor; the heat insulation shell is arranged outside the reconnaissance robot, and a heat insulation layer is arranged on the heat insulation shell; the cooling system is positioned in the heat insulation shell and used for cooling the interior of the reconnaissance robot; the sensor system and the control system are located inside the insulated housing. The utility model discloses a reconnaissance robot is used in fire control, both can work alone, also can with the carrying robot collaborative work, get into the high temperature scene and carry out the operation to better mobility has.
Description
Technical Field
The utility model relates to a robotechnology field especially relates to a robot for fire control.
Background
The fire-fighting robot is used as a tool for assisting a fireman to execute dangerous tasks, and needs to rush to a fire scene along with the fireman after a fire occurs, and assist or replace the fireman to perform operations such as information collection, auxiliary fire extinguishing, personnel search and rescue and the like on the fire scene.
Due to the uncertainty of the time and place of fire occurrence and the rapid diffusion characteristic of the fire, the robot needs to be rapidly deployed to an incident area along with a fireman, so that high requirements are provided for the flexibility of the robot in the environment where large transport vehicles such as narrow roadways and stairs cannot go deep; meanwhile, the robot can work in a high-temperature fire scene when the robot is required for collecting fire scene information, extinguishing a fire source on the scene, searching and rescuing personnel and the like, the protection performance of the robot is very high, and the robot needs to move slowly due to the complex environment in the fire scene, so that the requirement on mobility is lower. It can be seen that the fire-fighting robot needs to work in two environments with greatly different working conditions, one is transported quickly outside the fire scene, and at the moment, the requirement on maneuverability is high, and the requirement on protection is low; one is to perform the task in the fire, where the requirements for protection are high and the requirements for mobility are low.
A lot of fire control robots of current realize rapid transit mainly to first operating mode to carry out auxiliary work such as long-range fire extinguishing or haulage hosepipe at the scene of a fire periphery. Because the existing products cannot achieve the protection function of penetrating into a fire scene, the fire-fighting protection device is difficult to provide substantial help for firefighters in tasks of collecting scene information, extinguishing fire sources, searching and rescuing personnel and the like.
For protection against high-temperature environment, although industrial application of the related art is available at present, a thermal protection layer needs to be covered on the whole outside the machine, so that reliable protection is difficult to provide for auxiliary transmission mechanisms such as a crawler-type chassis and the like adopted by the high-mobility fire-fighting robot at present.
For the reasons, no fire-fighting robot capable of penetrating into a high-temperature fire scene and operating on the fire scene exists in the market at present.
Disclosure of Invention
In order to solve the deficiencies in the prior art, the utility model aims to provide a reconnaissance robot is used in fire control replaces special type operation personnel, gets into high temperature hazardous environment, carries out reconnaissance work such as information acquisition and danger source discernment such as image acquisition, gas detection under scenes such as scene of fire scene, metallurgical stove.
In order to achieve the above object, the utility model provides a reconnaissance robot for fire control, which comprises a sensor system, a control system and an actuating mechanism, wherein the reconnaissance robot for fire control also comprises a heat insulation shell and a cooling system;
the heat insulation shell is arranged outside the reconnaissance robot, and a heat insulation layer is arranged on the heat insulation shell;
the cooling system is positioned in the heat insulation shell and used for cooling the interior of the reconnaissance robot;
the sensor system and the control system are located inside the insulated housing.
Further, the sensor system is used for image acquisition, hazard source identification and gas detection of a high-temperature field;
the control system is used for controlling the work of the reconnaissance robot and the communication of the outside;
and the executing mechanism is used for executing the movement or obstacle crossing operation of the reconnaissance robot.
Further, the sensor system is one or more of a thermal imager assembly, a binocular camera and a gas sensor.
Further, the external shell further comprises a thermal imager cloud platform shell, a shell upper cover and a thermal protection shell, wherein the thermal imager cloud platform shell, the shell upper cover and the thermal protection shell are respectively provided with a heat insulation layer.
Further, on the heat protection shell, a butt joint locking block is arranged for carrying the robot positioning and locking reconnaissance robot.
Further, the actuating mechanism further comprises a high-temperature resistant transmission system, a direct current motor and a high-temperature resistant wheel, wherein,
the direct current motor is fixedly arranged on the heat insulation shell;
and the high-temperature-resistant transmission system is in transmission connection with the direct current motor and is in driving connection with the high-temperature-resistant wheels.
Further, each high-temperature-resistant wheel independently moves under the driving of the high-temperature-resistant transmission system.
Still further, the cooling system further comprises a cold source tank, a cooling liquid and a circulation system thereof for cooling the inside of the heat insulating housing.
The utility model discloses a reconnaissance robot is used in fire control, both can work alone, also can with the carrying robot collaborative work, get into the high temperature scene and carry out the operation to better mobility has.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, together with the embodiments of the invention for the purpose of explanation and not limitation of the invention. In the drawings:
fig. 1 is an external structural view of a reconnaissance robot according to the present invention;
fig. 2 is an internal structure diagram of the reconnaissance robot according to the present invention.
101 is a thermal imager holder shell, 102 is a shell upper cover, 103 is a power switch, 104 is an antenna opening, 105 is a shell upper cover lock, 106 is a thermal protection shell, 107 is a butt joint locking block, and 108 is a high-temperature resistant wheel; 201 is a thermal imager assembly, 202 is a vehicle body framework, 203 is a cold source box, 204 is a control system, 205 is a motor driving assembly, 206 is a cooling system, 207 is a gas sensor, 208 is a battery pack, 209 is a high-temperature resistant transmission system, 210 is a motor, and 211 is a binocular sensor.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Fig. 1 is a schematic view showing an external structure of a reconnaissance robot according to the present invention, and fig. 2 is a schematic view showing an internal structure of a reconnaissance robot according to the present invention, as shown in fig. 1 and 2, the reconnaissance robot of the present invention, including,
in the figure, a thermal imager pan-tilt housing 101, a thermal imager assembly 101, a housing upper cover 102, a vehicle body framework 202, a cold source box 203, a power switch 103, an antenna opening 104, a housing upper cover lock 105, a thermal protection housing 106, a butt-joint locking block 107, high-temperature resistant wheels 108, a control system 204, a motor driving assembly 205, a cooling system 206, a gas sensor 207, a battery pack 208, a high-temperature resistant transmission system 209, a direct current motor 210, and a binocular camera 211, wherein,
thermal imager cloud platform casing 101, casing upper cover 102 and thermal protection casing 106 all are provided with the insulating layer, have formed together with automobile body skeleton 202 the utility model discloses a thermal insulation casing.
An upper housing cover lock 105 is mounted on the heat shield housing 106 for locking the heat shield housing 106 with the upper housing cover 102;
an antenna opening 104 is located on the housing upper cover 102 for accommodating an antenna;
the butt joint locking block 107 is positioned on the heat protection shell 106 and used for carrying the robot positioning and locking reconnaissance robot;
the thermal imager assembly 101 is arranged on the vehicle body framework 202;
the battery pack 208 is arranged on the vehicle body framework 202 and used for providing energy for the system;
the control system 204 is arranged inside the vehicle body framework 202 and used for controlling the reconnaissance robot to communicate with the outside;
the direct current motor 210 is fixedly arranged on the vehicle body framework 202 and is electrically connected with the battery pack 208;
the high-temperature resistant transmission system 209 is arranged on the vehicle body framework 202 and is in transmission connection with the direct current motor 210;
the four high-temperature resistant wheels 108 are in driving connection with a high-temperature resistant transmission system 209;
four high temperature resistant wheels 108, high temperature resistant transmission system 209 and direct current motor 210 have constituted the utility model discloses an actuating mechanism for the execution reconnaissance robot removes or hinders the operation more. A cooling system 206 is disposed between the control system 204 and the thermal imager assembly 201;
the motion of the reconnaissance robot is driven by four high-temperature resistant wheels 108 together, and each high-temperature resistant wheel 108 is connected with a direct current motor 210 through a high-temperature resistant transmission system 109 and can be controlled to move independently.
The sensor system is mainly used for external information acquisition and comprises a thermal imager holder shell 201, a thermal imager assembly 101, a binocular camera 211, a gas sensor 207 and the like.
The gas sensors 207 are each arranged inside the housing. The thermal imager and the binocular camera need to use a lens group which penetrates through the heat insulation shell and is provided with a heat insulation structure to ensure smooth light path, and the lens group cannot be damaged due to high environmental temperature.
The gas sensor 207 requires a separate gas line to draw outside air through the thermal shield and cool the outside air for proper operation of the sensor. The cloud platform is used for driving the sensor and moves so that the detection range of sensor is increased, and the cloud platform itself has independent heat protection and inside refrigeration function to the protection sensor normally works under high temperature.
The cooling system 206 is used for cooling heat generating elements such as a motor and a circuit board inside the housing, and includes a cold source box 203 for absorbing heat, a cooling liquid for transferring the heat of the heat generating elements to the cold source, and a circulating system thereof.
The control system 204 is used for controlling the robot to communicate with the outside, and the battery is used for providing energy.
Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A fire-fighting reconnaissance robot comprises a sensor system, a control system and an actuating mechanism, and is characterized by further comprising a heat insulation shell and a cooling system;
the heat insulation shell is arranged outside the reconnaissance robot, and a heat insulation layer is arranged on the heat insulation shell;
the cooling system is positioned in the heat insulation shell and used for cooling the interior of the reconnaissance robot;
the sensor system and the control system are located inside the insulated housing.
2. The firefighting scout robot of claim 1, wherein the sensor system is used for image acquisition, hazard source identification and gas detection in high temperature fields;
the control system is used for controlling the work of the reconnaissance robot and the communication of the outside;
and the executing mechanism is used for executing the movement or obstacle crossing operation of the reconnaissance robot.
3. A fire fighting reconnaissance robot as defined in claim 1 wherein the sensor system is one or more of a thermal imager assembly, a binocular camera, a gas sensor.
4. The fire-fighting reconnaissance robot as recited in claim 1, wherein the thermal insulation housing further comprises a thermal imager pan-tilt housing, a housing upper cover and a thermal protection housing, and thermal insulation layers are respectively disposed on the thermal imager pan-tilt housing, the housing upper cover and the thermal protection housing.
5. A fire fighting reconnaissance robot as defined in claim 4 wherein docking lock blocks are provided on the heat shielding shell for carrying the robot position locking reconnaissance robot.
6. The fire scout robot of claim 1, wherein the actuator further comprises a high temperature resistant drive train, a DC motor, and high temperature resistant wheels, wherein,
the direct current motor is fixedly arranged on the heat insulation shell;
and the high-temperature-resistant transmission system is in transmission connection with the direct current motor and is in driving connection with the high-temperature-resistant wheels.
7. The firefighting scout robot of claim 6 wherein each of the refractory wheels is independently movable by the refractory drive train.
8. A fire fighting reconnaissance robot as defined in claim 1 wherein the cooling system further comprises a cold source tank, a cooling liquid and a circulation system thereof for cooling the interior of the insulated housing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145273X | 2018-09-29 | ||
| CN201811145273.XA CN109141650A (en) | 2018-09-29 | 2018-09-29 | A kind of fire-fighting reconnaissance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209927298U true CN209927298U (en) | 2020-01-10 |
Family
ID=64813384
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911050501.XA Pending CN110696013A (en) | 2018-09-29 | 2018-09-29 | Reconnaissance robot for fire control |
| CN201811145273.XA Pending CN109141650A (en) | 2018-09-29 | 2018-09-29 | A kind of fire-fighting reconnaissance robot |
| CN201921391453.6U Active CN209927298U (en) | 2018-09-29 | 2019-08-26 | Reconnaissance robot for fire control |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911050501.XA Pending CN110696013A (en) | 2018-09-29 | 2018-09-29 | Reconnaissance robot for fire control |
| CN201811145273.XA Pending CN109141650A (en) | 2018-09-29 | 2018-09-29 | A kind of fire-fighting reconnaissance robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (3) | CN110696013A (en) |
| WO (1) | WO2020062623A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110180113B (en) * | 2019-06-05 | 2020-11-24 | 山东国兴智能科技股份有限公司 | Cluster type fire-fighting robot cooperative reconnaissance fire-extinguishing method |
| CN111388920B (en) * | 2020-03-25 | 2021-03-09 | 北京力升高科科技有限公司 | High-temperature-resistant fire-extinguishing robot and working method thereof |
| CN111982177A (en) * | 2020-10-26 | 2020-11-24 | 北京力升高科科技有限公司 | Sensor thermal protection device and method and fire-fighting robot |
| CN112589811A (en) * | 2020-12-07 | 2021-04-02 | 苏州阿甘机器人有限公司 | Fire rescue robot and working method thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8381826B2 (en) * | 2010-03-29 | 2013-02-26 | Hadi A. Al-Azemi | Fire fighting robot |
| CN205059776U (en) * | 2015-10-15 | 2016-03-02 | 唐晓南 | Fire control is with high temperature resistant tracked vehicle track |
| CN205216015U (en) * | 2015-11-28 | 2016-05-11 | 重庆成吉消防材料有限公司 | Fire -fighting robot's cooling cooling device |
| CN105963885A (en) * | 2016-06-27 | 2016-09-28 | 刘磊 | Intelligent fire patrol fire-fighting robot |
| CN106267645B (en) * | 2016-08-16 | 2019-04-26 | 中国科学技术大学 | A kind of hydrodynamic force fire-fighting robot |
| CN106964090A (en) * | 2017-04-28 | 2017-07-21 | 苏州亮磊知识产权运营有限公司 | The fire-fighting robot and its control method of a kind of automatic switchover firing-fighting medium |
| CN107233680A (en) * | 2017-05-19 | 2017-10-10 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
| CN107087379A (en) * | 2017-05-19 | 2017-08-22 | 芜湖普唯特智能装备有限公司 | A kind of electric cabinet cooling system |
| CN107626063A (en) * | 2017-10-25 | 2018-01-26 | 佛山赛威光电技术有限公司 | A kind of energy purifying smoke and practical fire-fighting robot |
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2018
- 2018-09-29 CN CN201911050501.XA patent/CN110696013A/en active Pending
- 2018-09-29 CN CN201811145273.XA patent/CN109141650A/en active Pending
- 2018-12-19 WO PCT/CN2018/121928 patent/WO2020062623A1/en active Application Filing
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2019
- 2019-08-26 CN CN201921391453.6U patent/CN209927298U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109141650A (en) | 2019-01-04 |
| WO2020062623A1 (en) | 2020-04-02 |
| CN110696013A (en) | 2020-01-17 |
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