CN213159089U

CN213159089U - Bionic fire extinguishing robot

Info

Publication number: CN213159089U
Application number: CN202120270002.8U
Authority: CN
Inventors: 吴宇鹏; 何展宏
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-05-11
Anticipated expiration: 2031-01-29

Abstract

The utility model provides a bionic fire-extinguishing robot, include: a robot body; the walking mechanism is positioned at the lower part of the robot body and can move and drive the robot body to squat and jump; the fire extinguishing mechanism is positioned at the upper part of the robot body and can spray fire extinguishing medium, the fire extinguishing mechanism comprises a storage bin for containing the fire extinguishing medium, a sprayer for spraying the fire extinguishing medium and an image device, and the image device can shoot and transmit field pictures; and the fire extinguishing mechanism is fixed on the connecting structure. It can accomplish such as bounce and squat various bionic motions of lying prone for the robot can adapt to the complicated ground environment of putting out a fire, has improved fire control effect.

Description

Bionic fire extinguishing robot

Technical Field

The utility model relates to a lamps and lanterns, in particular to bionical fire-extinguishing robot.

Background

In the existing actual fire fighting, the common fire extinguishing mode is that a fire engine is utilized to carry out fixed-point operation on the periphery of a fire disaster and a fire fighter pulls a water source to go deep into a fire scene for moving operation, and the fire fighter can only carry out moving operation on the fire scene with a large range or a complex terrain to extinguish the fire.

But in the scene of putting out a fire, generally all can have the barrier, because ordinary fire-fighting robot generally can only carry out simple gos forward and retreat, can't accomplish actions such as bounce, crouching and lying prone for ordinary fire-fighting robot can't get into the scene at all, has influenced fire control effect greatly.

SUMMERY OF THE UTILITY MODEL

In order to the above problem, the utility model provides a bionical fire-extinguishing robot, its supporting leg structure can make the robot better accomplish such as the spring with squat a lot of bionical actions such as lie prone for the robot can adapt to the complicated ground environment of putting out a fire, has improved fire control effect.

The utility model discloses a rely on following scheme to realize:

the utility model provides a bionic fire-extinguishing robot, include: a robot body; the walking mechanism is positioned at the lower part of the robot body and can move and drive the robot body to squat and jump; the fire extinguishing mechanism is positioned at the upper part of the robot body and can spray fire extinguishing medium, the fire extinguishing mechanism comprises a storage bin for containing the fire extinguishing medium, a sprayer for spraying the fire extinguishing medium and an image device, and the image device can shoot and transmit field pictures; and the fire extinguishing mechanism is fixed on the connecting structure.

Preferably, the ejector includes: the cylinder body is internally provided with a push rod matched with the cylinder body, and the push rod is provided with teeth; the transmission gear is meshed with the push rod and is a half gear; a third drive means for driving said gear train; the transmission gear drives the push rod to move in the cylinder body and extrude the force storage part; a spraying channel, the fire extinguishing medium enters the spraying channel through the storage bin and is sprayed out through the push rod pushing nozzle.

Preferably, the connection structure includes: the fourth driving device is rotationally connected with the robot body; the horizontal rotating frame is fixedly connected to the fourth driving device; the fifth driving device is fixed on the horizontal rotating frame; and the upper rotating frame and the lower rotating frame are fixedly connected to the fifth driving device.

Preferably, the imaging device comprises a camera fixed on the upper rotating frame and the lower rotating frame, the robot body is further provided with a thermal imaging device capable of detecting a fire point when more smoke is shot and an image is unclear, and the thermal imaging device is fixed on the upper rotating frame and the lower rotating frame.

Preferably, the traveling mechanism includes: the support leg structure comprises at least two groups of support leg structures, wherein each group of support leg structure comprises a first support piece and a second support piece which are arranged at intervals, the first support piece comprises a thigh part and a shank part which are connected in a rotating mode, a first joint is formed at the rotating connection position of the thigh part and the shank part, and the second support piece is connected to the shank part in a rotating mode; and the driving assembly comprises at least one driving device and two driving shafts which are in transmission connection, and the second supporting piece and the upper part of the thigh part are respectively connected with the two driving shafts.

Preferably, the upper part of the thigh part further comprises a bent leg part, the lower end of the bent leg part is rotatably connected with the thigh part, a second joint is formed at the rotary connection position of the bent leg part and the thigh part, and the upper end of the bent leg part is connected with the driving shaft.

Preferably, the length of the curved leg portion is smaller than that of the thigh portion, and the length of the thigh portion is smaller than that of the shank portion.

Preferably, the second supporting member is connected to a middle portion of the lower leg portion, the lower leg portion is divided into an upper connecting section, a lower connecting section and a supporting section, an upper end of the connecting section is rotatably connected to the upper leg portion, the lower end of the lower leg portion further includes a sole portion, the sole portion is used for abutting against a walking surface and bearing pressure of the robot, a direction of the pressure applied to the walking surface by the sole portion and the walking surface form an included angle, and if the included angle is a, the included angle is greater than or equal to 45 degrees and less than or equal to 90 degrees.

Preferably, the walking mechanism comprises four groups of supporting leg structures, and the four groups of supporting leg structures are symmetrically distributed on two sides of the robot body.

Preferably, the shank further comprises a connecting section and a supporting section, one end of the connecting section is rotatably connected to the thigh, the other end of the connecting section is connected to the supporting section, and the cross-sectional area of the supporting section is larger than that of the connecting section.

After the technical scheme is adopted, the utility model discloses following beneficial effect has:

the utility model provides a bionic fire-extinguishing robot, its supporting leg structure can realize better completion such as the spring with squat multiple bionic movements such as lying prone for the robot can adapt to complicated ground environment of putting out a fire, has improved the ability through the road surface that has the barrier greatly, thereby improves fire extinguishing efficiency.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent in light of the detailed description of the preferred embodiments of the present invention as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

FIG. 1 is an overall view of a preferred embodiment of the fire-extinguishing robot (an image device and a fire-extinguishing mechanism are integrally arranged);

FIG. 2 is an overall view of the fire-fighting robot (the image device and the fire-fighting mechanism are arranged separately) according to the preferred embodiment of the present invention;

FIG. 3 is an overall view (with a partial shell removed) of the fire-fighting robot according to the preferred embodiment of the present invention;

FIG. 4 is an internal structure view of the fire extinguishing mechanism according to the preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of a robot body according to a preferred embodiment of the present invention;

FIG. 6 is a schematic diagram of a robot body according to a preferred embodiment of the present invention;

FIG. 7 is a view of the supporting leg structure of the preferred embodiment of the present invention;

fig. 8 is a schematic view of the sole of a foot according to the preferred embodiment of the present invention.

Reference numerals: 1. a robot body; 2. a traveling mechanism; 21. a support leg structure; 211. a first support member; 2111. a thigh section; 2112. a leg bending part; 2113. a lower leg portion; 2114. a first joint; 2115. a second joint; 2116. a sole portion; 212. a second support member; 22. a drive assembly; 221. a first driving device; 222. a second driving device; 223. a drive shaft; 3. a fire extinguishing mechanism; 31. a storage bin; 32. an ejector; 321. a cylinder body; 322. a push rod; 323. a transmission gear; 324. a third driving device; 325. a power storage member; 33. an image device; 331. a fourth drive device; 332. a horizontal rotating frame; 333. a fifth driving device; 334. an upper rotating frame and a lower rotating frame; 335. a camera; 34. a thermal imaging device; 4. water bomb

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1 to 8 of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention. It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

See fig. 1-8, the utility model provides a bionical fire-extinguishing robot, including robot 1, running gear 2 and fire-extinguishing mechanism 3, running gear 2 is located robot 1's lower part, can support and remove robot 1, and fire-extinguishing mechanism 3 is located robot 1's upper portion, but spraying fire-extinguishing medium, and running gear 2 includes at least two sets of supporting leg structure 21, and this embodiment is preferred to be included four supporting leg structure 21 of group, and the symmetrical distribution in robot 1's both sides of four supporting leg structure 21 of group. The fire extinguishing robot comprises a connecting structure, wherein the connecting structure is rotationally fixed on the robot body 1, and the fire extinguishing mechanism 3 is fixed on the connecting structure. Each group of supporting leg structures 21 comprises a first supporting piece 211 and a second supporting piece 212 which are arranged at intervals, the first supporting piece 211 comprises a thigh part 2111 and a shank part 2113 which are connected in a rotating way, a first joint 2114 is formed at the rotating connection part of the thigh part 2111 and the shank part 2113, and the second supporting piece 212 is connected in a rotating way to the shank part 2113; the driving assembly 22 comprises at least one driving device and two driving shafts 223 in transmission connection, and the upper parts of the second supporting member 212 and the thigh part 2111 are respectively connected with the two driving shafts 223; the fire extinguishing means comprises a storage compartment 31 for containing an extinguishing medium and a spraying device 32 for spraying the extinguishing medium, and an imaging device 33, which imaging device 33 makes and transmits pictures of the scene. The supporting leg structure 21 is realized through various execution actions, so that the robot body 1 can drive the bionic fire-extinguishing robot to move on more complicated terrains.

The extinguishing medium can be carbon dioxide, dry powder, foam or water, and the embodiment preferably adopts a water bomb 4 or a dry powder bomb, and the water bomb 4 is taken as an example for illustration. The ejector 32 includes: the cylinder body 321, the push rod 322 matched with the cylinder body 321, the push rod 322 is provided with teeth, a transmission gear 323, the transmission gear 323 is used for pushing the push rod 322, a third driving device 324 capable of driving the transmission gear 323, a force storage part 325, the force storage part 325 can adopt a spring, and the transmission gear 323 drives the push rod 322 to move in the cylinder body 321 and extrude the force storage part 325; a spraying channel, the water bomb 4 enters the spraying channel through the storage chamber 31 and is sprayed out through the push rod 322 pushing nozzle. The transmission gear 323 is a half gear, when the power is accumulated, the area with teeth of the transmission gear 323 is meshed with the gear teeth on the push rod 322, when the transmission gear 323 rotates to the section without teeth, the push rod 322 can be quickly reset under the action of the power accumulation part 325, and the water bomb 4 is impacted to be ejected.

The image device 33 may be fixed to the fire extinguishing mechanism, or the image device 33 may be fixed to the robot body 1 separately from the fire extinguishing mechanism, and the image device 33 is provided separately as an example, as shown in fig. 2, 5 and 6. The connection structure includes: the robot body 1 is rotatably connected with a fourth driving device 331, the fourth driving device 331 is fixedly connected with a horizontal rotating frame 332, and the fourth driving device 331 drives the horizontal rotating frame 332 to rotate on a horizontal plane when rotating. A fifth driving device 333 is fixed on the horizontal rotating frame 332, the fifth driving device 333 is fixedly connected with an upper rotating frame 334 and a lower rotating frame 334, and the fifth driving device 333 rotates to drive the upper rotating frame 334 and the lower rotating frame 334 to rotate up and down. The camera 335 is fixed on the upper and lower rotating frames 334, so that the camera 335 can rotate up and down and left and right, and the multi-directional condition of the fire scene can be detected.

In addition, during the conflagration, often can be accompanied by and produce a large amount of smog, camera 335 is difficult to shoot the condition of knowing the scene of a fire like this, and thermal imaging device 34 can adopt traditional infrared thermal imaging technique, passes back to the control personnel, can realize quick location position of catching fire, surveys the scene of a fire whether have stranded personnel, realizes more accurately putting out a fire, improves fire control effect greatly. The thermal imaging device 34 is fixed on the upper and lower rotating frames 334 beside the camera 335, so that the thermal imaging device 34 can also rotate up and down, left and right, and realize multi-directional detection of a fire scene.

The robot body 1 is provided with a power supply. The power supply can be a storage battery, and the robot body 1 is also provided with an interface for charging the storage battery. The power supply may also be connected directly to an external power source. The driving device includes a first driving device 221 and a second driving device 222, and power of the power source is transmitted to the two driving shafts 223 through the two driving devices, so as to drive the first support 211 and the second support 212 to rotate. At the position of the first joint 2114, the calf portion 2113 and the thigh portion 2111 can be rotated to form different angles with respect to each other. The first driving device 221 can drive the thigh portion 2111 to rotate, and the thigh portion 2111 and the lower leg portion 2113 are connected to a first joint 2114, so that when the first driving device 221 drives the thigh portion 2111 to rotate, the first joint 2114 can drive the lower leg portion 2113 to rotate. The shank portion 2113 is used to abut against a walking surface, that is, the shank portion 2113 is used to support the entire gravity of the robot body 1, and the shank portion 2113 is driven to rotate under the combined action of the second driving device 222 and the first driving device 221, so as to provide a sufficient torque force for the shank portion 2113, and further, the robot body 1 moves.

6-7, an end of the second support member 212 is pivotally coupled to the second actuator 222, and an end of the second support member 212 distal from the second actuator 222 is pivotally coupled to the calf portion 2113; the second supporting member 212 is rotatable under the driving of the second driving device 222, and the second supporting member 212 is connected to the lower leg portion 2113, so that the rotation of the second supporting member 212 can drive the lower leg portion 2113 to rotate together. That is, the second driving device 222 can also assist the first driving device 221 to drive the lower leg portion 2113 of the first supporting member 211 to rotate together. The first support 211 also includes a first knuckle 2114 connected to the lower leg portion 2113 and the upper leg portion 2111. That is, the second supporting member 212, the calf portion 2113 and the thigh portion 2111 are sequentially and rotatably connected, and when the second driving device 222 drives the second supporting member 212 to rotate at different angles and the first driving device 221 drives the thigh portion 2111 to rotate at different angles, the second supporting member 212, the calf portion 2113 and the thigh portion 2111 form various shapes, so that multiple execution actions are realized, and the requirements of complex use environments are effectively met. The second driving device 222 and the first driving device 221 are arranged at intervals, the distance between the second driving device 222 and the first driving device 221 is fixed, and the distance between the second driving device 222 and the first driving device 221 is regarded as a fixed section, so that the fixed section, the second supporting member 212, the shank portion 2113 and the thigh portion 2111 form a four-link structure, and the four-link structure is connected in a rotating mode. Under the drive of the mutual cooperation of the second driving device 222 and the first driving device 221, the four-link rod can form various shapes, so that multiple execution actions are realized, and the requirements of complex fire scene environments are effectively met.

In the above embodiment, in order to further increase the simulation action of the bionic structure, the upper portion of the thigh portion 2111 further comprises a leg bending portion 2112, the lower end of the leg bending portion 2112 is rotatably connected with the thigh portion 2111, a second joint 2115 is formed at the rotary connection position of the leg bending portion 2112 and the thigh portion 2111, and the upper end of the leg bending portion 2112 is connected with the driving shaft 223. When the first driving device 221 is operated, the first driving device 221 drives the curved leg portion 2112 to rotate, and the second joint 2115 is connected between the curved leg portion 2112 and the thigh portion 2111, that is, the curved leg portion 2112 and the thigh portion 2111 can also rotate. At this time, when the distance between the second driving device 222 and the first driving device 221 is regarded as a fixed section, the second supporting member 212, the calf portion 2113, the leg curl portion 2112, and the thigh portion 2111 form a five-link structure, and the connection positions of the five links are all rotationally connected. Under the mutually matched driving of the second driving device 222 and the first driving device 221, the five-link rod can form more various structural shapes, and further more execution actions are realized. When the first driving device 221 drives the leg bending portion 2112 to rotate toward the walking surface during fire extinguishing, the torque force of the leg bending portion 2112 is driven to act on the thigh portion 2111 through the transmission action of the second joint 2115, and the thigh portion 2111 also synchronously moves downward. Meanwhile, under the action of the first joint 2114, the thigh portion 2111 transmits a torque to the calf portion 2113, and the calf portion 2113 gradually moves downward. At this time, the second driving device 222 may also drive the second supporting member 212 to move downward, so that the biomimetic fire-extinguishing robot may squat downward when both the lower leg portion 2113 and the second supporting member 212 move downward. The second driving device 222 and the first driving device 221 output torque to control the rotation angle of the second supporting member 212 and the first supporting member 211, so that a lying or half-squatting posture can be realized.

When the first driving device 221 drives the leg bending portion 2112 to rotate away from the walking surface, the torque force of the leg bending portion 2112 is transmitted to the thigh portion 2111 through the second joint 2115, and the thigh portion 2111 also moves upward in synchronization. Meanwhile, under the action of the first joint 2114, the thigh portion 2111 transmits a torsional force to the lower leg portion 2113, and the lower leg portion 2113 gradually moves upward. At this time, the second driving device 222 may drive the second support 212 to move upwards, so that the biomimetic fire-extinguishing robot may perform a standing motion when both the lower leg portion 2113 and the second support 212 move upwards. According to the output torque rate of the second driving device 222 and the first driving device 221, the calf portion 2113 and the second supporting member 212 are rapidly driven to move upwards, and the jumping posture can be realized. Similarly, the speed of the torque output by the second driving device 222 and the first driving device 221 is increased, and the bionic fire-extinguishing robot can move forward or backward quickly.

In the above embodiment, the lower leg portion 2113 is connected to the second supporting member 212, and the lower leg portion 2113 is a part of the first supporting member 211, so that the lower leg portion 2113 receives the force from the second driving device 222 and the first driving device 221 at the same time, and the pressure applied to the lower leg portion 2113 is large. The calf portion 2113 further includes a connecting section and a support section, one end of the connecting section is rotatably connected to the thigh portion 2111, the other end of the connecting section is connected to the support section, the cross-sectional area of the support section is larger than that of the connecting section, and the second support member 212 is rotatably connected to the connecting position between the connecting section and the support section. The supporting section is abutted with the walking surface. The torque of the second drive 222 and the torque of the first drive 221 are released at the support section of the calf portion 2113. The robot body 1 is driven by the bionic fire-extinguishing robot to move for a long time, and the supporting section can be worn and broken due to long-term stress. By designing the cross-sectional area of the support section to be larger than that of the connection section, the support section can be ensured to bear larger torsion, and the lower leg portion 2113 is prevented from being broken. In addition, in order to ensure the entire force of the lower leg portion 2113, the cross-sectional area of the connecting section may also be set larger than that of the upper leg portion 2111.

As shown in fig. 8, the shank portion 2113 further includes a sole portion 2116, the sole portion 2116 is disposed at an end of the supporting section away from the connecting section, the sole portion 2116 is used for abutting against the walking surface and bearing the pressure of the robot body 1, a direction of the pressure applied to the walking surface by the sole portion 2116 and the walking surface form an included angle, where the included angle is α, and then 45 ° or more and α or less than 90 °. In order to improve the stability of the bionic fire-extinguishing robot, the friction force between the sole portion 2116 and the walking surface needs to be increased. As can be seen from the principle of the frictional force, there are two ways of increasing the frictional force, one is to increase the pressure between the sole portion 2116 and the walking surface, and the other is to increase the coefficient of friction between the sole portion 2116 and the walking surface. In this case, the angle between the direction of the pressure applied to the walking surface by the foot part 2116 and the walking surface is set to be 45 ° to 90 °, and it is ensured that more gravity is applied to the walking surface from the robot body 1. For example, if the walking surface is parallel to the horizontal plane, the direction of the pressure applied to the walking surface by the sole portion 2116 and the included angle between the walking surface are set to be equal, that is, the gravity from the robot body 1 is vertically applied to the walking surface through the sole portion 2116, at this time, the gravity from the robot body 1 is not dispersed, the pressure applied to the walking surface is the largest, and therefore the friction force of the bionic fire-extinguishing robot can be improved, and the stability of the bionic fire-extinguishing robot can be improved. For another example, in some complex terrains, there is sometimes an angle of inclination between the walking surface and the horizontal surface. Thus, the bionic structure has an inclination angle with the walking surface when the robot body 1 walks, when the sole portion 2116 contacts with the walking surface, the direction of pressure applied to the walking surface by the sole portion 2116 and the included angle of the walking surface are controlled to be 45 degrees, so that although the gravity from the robot body 1 is dispersed in the direction parallel to the walking surface, the other part of the gravity is still vertically applied to the walking surface, and the bionic fire-extinguishing robot can complete climbing. Therefore, the included angle between the direction of the pressure applied to the walking surface at the sole portion 2116 and the walking surface is 45 degrees to 90 degrees, so that the bionic fire extinguishing robot can be ensured to adapt to various complex terrains, and the walking instruction is completed. In addition, in order to increase the friction coefficient between the sole portion 2116 and the walking surface, the material of the sole portion 2116 facing the walking surface may be rubber, or the texture of the sole portion 2116 may be increased.

In the above embodiment, the calculation of the walking distance of the biomimetic fire-extinguishing robot is performed by calculating the end face moving distance of the sole portion 2116 facing the walking surface. In order to make the sole portion 2116 adaptable to various walking surfaces and also to increase the contact area between the sole portion 2116 and the walking surface, the area of the end surface is generally large. However, the distance between the center point of the sole portion 2116 and the end surface may be different, so that it is difficult to accurately calculate the walking distance of the sole portion 2116, control the walking stride distance of the bionic fire-extinguishing robot, and even have no way to accurately determine the foot landing point of the sole portion 2116. Therefore, the end surface of the sole portion 2116 facing the walking surface is semicircular, and the center position of the sole portion 2116 is the center position of the semicircular end surface. Thus, the distance from any point on the end surface to the walking surface is the same as the distance from the end surface to the center of the sole portion 2116, i.e., the distance from the point on the end surface to the center of the sole portion 2116 is the radius of the semicircular end surface. Therefore, the moving distance of the bionic fire-extinguishing robot can be accurately calculated.

In the above embodiment, the extension lengths of the curved leg portion 2112, the thigh portion 2111, and the shank portion 2113 are increased in order. That is, the length of the lower leg portion 2113 is longer than the thigh portion 2111, and the length of the thigh portion 2111 is longer than the leg curl portion 2112. In daily life, the animals which are contacted by people more are the cats or the dogs, the activities of the two animals are very flexible, the cats or the dogs retreat forcefully, and the squatting or jumping can be realized. In the advancing direction of the bionic fire-extinguishing robot, the second supporting piece 212 is arranged in front, the first supporting piece 211 is arranged in back, the first supporting piece 211 comprises a curved leg portion 2112, a thigh portion 2111 and a shank portion 2113 which are sequentially connected, wherein a first joint 2114 is arranged between the connecting rod and the shank portion 2113, and a second joint 2115 is arranged between the thigh portion 2111 and the curved leg portion 2112. When squatting, the second driving device 222 and the first driving device 221 respectively drive the second supporting piece 212 and the first supporting piece 211 to rotate towards the walking surface. The shank portion 2113 is in contact with the walking surface, the length of the shank portion 2113 is long, and a large contact area with the walking surface can be provided when squatting is performed, so that the stability is improved. The leg curl portion 2112 and the thigh portion 2111 are short in length, so that the moment becomes short, facilitating the transmission of the torque to the calf portion 2113 in turn. In addition, at the time of take-off, since the length of the lower leg portion 2113 is long, a large turning space can be obtained, and the height of take-off is also high. Note that the cross-sectional area of the curved leg portion 2112 gradually increases from the second joint 2115 toward the first driving device 221, so as to increase the strength of the curved leg portion 2112, thereby ensuring that the curved leg portion 2112 can bear a large torsion.

The utility model provides a bionic fire-extinguishing robot, it can accomplish such as the spring with squat a plurality of bionic motions such as lie prone for the robot can adapt to the complicated ground environment of putting out a fire, has improved the ability through the road surface that has the barrier greatly, thereby improves fire extinguishing efficiency. The thermal imaging device can accurately position the ignition position under the condition that the ignition point cannot be seen clearly due to much smoke and common images. The water bomb sprayer has simple structure and good spraying effect, and can improve the fire extinguishing effect.

The above is only the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all of which are in the utility model discloses a conceive, utilize the equivalent structure transform that the content of the specification and the attached drawings did, or directly/indirectly use all to include in other relevant technical fields the patent protection scope of the present invention.

Claims

1. A bionic fire-extinguishing robot is characterized by comprising:

a robot body (1);

a running gear (2), running gear (2) is located the lower part of robot body (1), running gear (2) includes: at least two groups of supporting leg structures (21), wherein each group of supporting leg structures (21) comprises a first supporting piece (211) and a second supporting piece (212) which are arranged at intervals, the first supporting piece (211) comprises a thigh part (2111) and a small leg part (2113) which are connected in a rotating mode, a first joint (2114) is formed at the rotating connection position of the thigh part (2111) and the small leg part (2113), and the second supporting piece (212) is connected to the small leg part (2113) in a rotating mode; the driving assembly (22) comprises at least one driving device and two driving shafts (223) which are in transmission connection, the second supporting piece (212) and the upper parts of the thighs (2111) are respectively connected with the two driving shafts (223), and the walking mechanism (2) can better move and drive the robot body (1) to squat and jump;

a fire extinguishing mechanism (3), fire extinguishing mechanism (3) is located the upper portion of robot body (1), but spraying fire extinguishing medium, fire extinguishing mechanism (3) is including a storage storehouse (31) and an ejector (32) that is used for spraying fire extinguishing medium that are used for holding fire extinguishing medium, and

an image device (33), wherein the image device (33) can shoot and transmit the scene picture;

the connecting structure is rotationally fixed on the robot body (1), and the fire extinguishing mechanism (3) is fixed on the connecting structure.

2. The biomimetic fire suppression robot of claim 1, wherein the ejector (32) comprises:

the cylinder body (321) is internally provided with a push rod (322) matched with the cylinder body (321), and the push rod (322) is provided with teeth;

the transmission gear (323), the said transmission gear (323) engages with said push rod (322), the said transmission gear (323) is a half gear;

a third drive means (324), said third drive means (324) driving said gear disorders;

the power storage part (325), the transmission gear (323) drives the push rod (322) to move in the cylinder body (321) and press the power storage part (325);

a spraying channel, into which the extinguishing medium is introduced via the storage chamber (31) and is sprayed out via a push rod (322) pushing the nozzle.

3. The biomimetic fire suppression robot of claim 1, wherein the connection structure comprises:

a fourth driving device (331), wherein the fourth driving device (331) is rotatably connected to the robot body (1);

the horizontal rotating frame (332), the horizontal rotating frame (332) is fixedly connected to the fourth driving device (331);

a fifth driving device (333), wherein the fifth driving device (333) is fixed on the horizontal rotating frame (332);

and the upper rotating frame and the lower rotating frame (334) are fixedly connected with the fifth driving device (333).

4. The biomimetic fire suppression robot according to claim 3, wherein the image device (33) includes a camera (335) fixed to the upper and lower turrets (334),

the robot is characterized in that the robot body (1) is further provided with a thermal imaging device (34) capable of detecting a fire point when more smoke is shot and an image is unclear, and the thermal imaging device (34) is fixed on the upper rotating frame (334) and the lower rotating frame (334).

5. The biomimetic fire extinguishing robot according to claim 1, wherein the upper portion of the thigh portion (2111) further comprises a curved leg portion (2112), the lower end of the curved leg portion (2112) is rotatably connected with the thigh portion (2111), a second joint (2115) is formed at the rotary connection position of the curved leg portion (2112) and the thigh portion (2111), and the upper end of the curved leg portion (2112) is connected with the driving shaft (223).

6. The biomimetic fire extinguishing robot according to claim 5, wherein a length of the curved leg portion (2112) is smaller than a length of the thigh portion (2111), and a length of the thigh portion (2111) is smaller than a length of the shank portion (2113).

7. The biomimetic fire suppression robot according to claim 1, wherein the second support member (212) is connected to a middle portion of the small leg portion (2113), and divides the small leg portion (2113) into an upper connection section and a lower connection section, the upper connection section is rotatably connected to the large leg portion (2111), the lower end of the small leg portion (2113) further comprises a sole portion (2116), the sole portion (2116) is configured to abut against a walking surface and bear the pressure of the robot, a direction of the pressure applied to the walking surface by the sole portion (2116) and the walking surface form an included angle, and the included angle is a, so that a is 45 ° or more and a is less than 90 °.

8. The bionic fire-extinguishing robot according to claim 1, characterized in that the walking mechanism (2) comprises four groups of supporting leg structures (21), and the four groups of supporting leg structures (21) are symmetrically distributed on two sides of the robot body (1).

9. The biomimetic fire extinguishing robot according to claim 6, wherein the small leg portion (2113) further comprises a connection section and a support section, the connection section is rotatably connected to the large leg portion (2111) at one end, the connection section is connected to the support section at the other end, and the cross-sectional area of the support section is larger than that of the connection section.