CN217472620U - Box-based indoor fire rescue and fire fighting robot - Google Patents

Abstract

The utility model discloses an indoor conflagration rescue people fire-fighting robot based on box, include: the water pipe self-balancing device comprises a metal crawler chassis, a composite interlayer box body for carrying people, an intelligent suspension for adjusting the water balance of the box body, and an automatic water pipe winding drum which is positioned at the top of the box body and used for winding and unwinding a water pipe. The utility model discloses the high temperature resistant metal track chassis of well adoption can guarantee the anti high temperature of structure of traveling, adopts compound protection system to guarantee the safety of complete machine and the safety of being rescued, and the intelligent suspension that adopts hydraulic pressure push rod to adjust can guarantee that the incasement is rescued the person and keep the level when going upstairs and downstairs, and the adoption can receive and release the water pipe reel of water pipe automatically and has realized indoor robot's continuous external water supply. The utility model has the advantages that: the direct people rescue and the transportation of firefighting rescue goods in indoor fire are realized.

Description

Box-based indoor fire rescue and fire fighting robot

Technical Field

The utility model belongs to the technical field of the fire rescue robot, more specifically relates to an indoor conflagration rescue fire-fighting robot based on box, this robot is mainly applied to indoor conflagration rescue people.

Background

Along with social development, high-rise buildings are more and more, and a large amount of combustible materials are adopted, so that high-rise fire disasters are increased day by day. In the case of a fire of too violent intensity, fire fighters cannot enter the fire scene in a trade, particularly in the case of fires in high-rise buildings and chemical plants, and are in many cases unburdened. When a fire disaster happens, the common fire fighting truck and the aerial ladder truck are often limited by the operation space and are difficult to work. Sundries in a fire scene, a ceiling falling at any time and the like greatly hinder firefighters and firefighting robots from rescuing. At present, flammable and explosive materials in a fire scene are generally removed and cleaned manually by firemen, and once the flammable and explosive materials explode, the consequences are not imaginable.

After a fire disaster occurs, old people, children and pregnant women with inconvenient actions are difficult to transfer in time, and a certain number of people choose to run to a higher layer, but the fire burns to a high place, and if the fire cannot be rescued in time, the old people, the children and the pregnant women inevitably sink into the fire again; most people can hide in a narrow space, but dense smoke cannot enter the space without holes, so that the hidden space is very difficult to ensure to be completely sealed, doors and windows are easy to burn through due to local deflagration, and the people can also die due to suffocation in a closed space for a long time; some people even choose to jump building to get the live, the success rate of jumping building is quite low, even if the live still falls into the disabled, and therefore the trapped people need to be evacuated from the fire scene as soon as possible.

On the aspect of fire detection, fire scene information such as fire scene temperature, smoke concentration and ignition point distribution is collected in time, so that rescuers can know the internal conditions of the fire scene more visually and deeply, and the fire scene information acquisition system has extremely important significance for formulating correct fire extinguishing schemes and rescue schemes.

Rescue robots, particularly fire rescue robots, have been the key research and development field of experts and scholars at home and abroad. However, most of the outdoor fire-fighting robots are towed water pipes, so that the outdoor fire-fighting robots cannot realize multi-situation rescue like firefighters, and many rescue tasks are finished by firefighters. The robot can only realize outdoor fire extinguishing due to the limitation of self defects, and not to mention people can be rescued in indoor fire places.

The robot for rescuing people needs to deal with key problems of high-temperature heat radiation, dense smoke, explosion danger, combustible deflagration, falling of ceilings and walls, disorder of the ground, difficult positioning, difficult communication and the like in a fire scene, great obstruction is generated to the robot for rescuing people, the outdoor fire scene conditions are far from bad and difficult, and therefore the majority of the existing fire rescue robots are only applied to the peripheral rescue of the outdoor fire scene.

At present, fire-fighting robots in all countries in the world pay attention to fire extinguishment, research on direct fire fighting is relatively few, and the fire-fighting robots are many in types, but at present, no fire-fighting robot which can be really used for directly fighting people in indoor fire exists in the world, the life is higher than all in a people-oriented society, and the research on the fire-fighting robots is urgent.

Fire hydrants are basically arranged in the existing buildings, water sources can be provided for the fire-fighting robots, and the next layer of water sources on a fire layer can be used for fire extinguishment when a fire occurs. However, most of the existing fire-fighting robots pull the water pipe to extinguish fire, and the biggest defects of the existing fire-fighting robots are that the water pipe is easy to bend and the friction force between the water pipe and the ground is too large, so that water cannot be supplied, and the length of the pulled water pipe is very limited. Some fire-extinguishing robots with water storage tanks have a small water storage capacity, and water in the fire-extinguishing robots tends to fall to the rear side when going upstairs or downstairs, which may cause unstable center of gravity and rollover. In addition, a dry powder fire-extinguishing robot is also provided, but the dry powder carried by the dry powder fire-extinguishing robot is less, a special dry powder tank is required, and the dry powder fire-extinguishing robot is difficult to replace quickly.

Based on the above situation, few robots with the function of saving people are researched all over the world, but the indoor rescue effect is not very ideal, especially in the aspect of saving people in indoor fire. For example, the Japanese multifunctional rescue robot, namely a Robotic Crawler 'coffin robot' and a Mini Robotue robot, is in a semi-open type, can not block smoke in a fire scene, and can not keep a manned box horizontal when the box is fixed with a Crawler; mini Robocue uses a conveyor belt and a mechanical arm to load people into a box, but is too large, too expensive, difficult to handle, and easy to hurt people, which greatly limits the scope of rescue application.

In a word, although few indoor fire rescue robots appear at home and abroad, the technical scheme is quite immature and unreliable, and has the defects and problems of large size, difficulty in finding trapped people, difficulty in keeping people horizontal, low rescue speed, low safety, difficulty in replacing batteries, difficulty in supplying oxygen and the like, so that no robot which can be really applied to indoor fire rescue exists up to now.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the utility model aims at providing an indoor conflagration rescue people fire-fighting robot based on box for it is poor to robot self and the protectiveness of person rescued to solve current conflagration rescue people robot, the person of rescueing jolts in rescue robot, can't let the people keep difficult problems such as level when going up and down stairs, provide new thinking for rescue technical field such as conflagration, improve the possibility of finding fast and saving the person of stranded, it is high-efficient, safety and reliability to realize the intelligence of rescue work, in order to overcome the not enough of above-mentioned prior art.

The utility model provides an indoor conflagration rescue people fire-fighting robot based on box includes: the intelligent water pipe automatic adjusting device comprises a metal crawler chassis for walking driving, a box body with composite interlayer protection for carrying people, an intelligent suspension for adjusting the water balance of the box body, and an automatic water pipe winding drum which is positioned at the top of the box body and used for winding and unwinding a water pipe;

the metal track chassis includes: the metal crawler chassis comprises a metal crawler chassis framework, and a crawler, a bottom box, a protective cover layer and a support frame which are arranged on the metal crawler chassis framework, wherein the bottom of the bottom box, two sides and the top of the two crawlers are all surrounded by a first composite interlayer;

the box body comprises a box body, a caterpillar apron board, a posture lifting picture, a box door, a supporting plate, a dry powder fire extinguisher and an angle top plate; the box body is mainly used for carrying a person to be rescued; the caterpillar apron boards are positioned on two sides of the lower portion of the box body and fixed with the side wall of the box body, the posture prompt graph is adhered to the inner wall of the box body, the box door is positioned in the front of the robot, the box door is opened, closed and locked through a door opening and closing mechanism and a door locking mechanism, the sliding-out type supporting plate is arranged on the bottom surface inside the box body, the small dry powder fire extinguisher is arranged at a corner position inside the box body, and the triangular corner top plate is fixed to the top of the box body;

the suspension comprises a pair of front suspensions and a pair of rear suspensions, the front suspensions are composed of a group of symmetrical spring shock absorbers, the bottom ends of the front suspensions are welded and fixed with the chassis framework, and the upper ends of the front suspensions are hinged with the bottom of the box body; the rear suspension is composed of two groups of plate spring dampers and two groups of electric hydraulic push rods, the plate spring dampers are fixedly connected with the box body, the lower parts of the plate spring dampers are hinged with the upper parts of the electric hydraulic push rods through hinged supports, and the bottoms of the electric hydraulic push rods are hinged with the chassis framework through the hinged supports.

As the utility model discloses an optimized structure, first compound intermediate layer is according to from outside to its structural component in proper order for: the high-reflectivity metal foil, the stainless steel thin plate, the zirconium-containing ceramic fiber heat insulation cotton, the aluminum foil, the zirconium-containing ceramic fiber heat insulation cotton and the aluminum alloy plate are arranged on the front end and the rear end of each track respectively, and the first composite interlayer and the track water spray head are used for high-temperature protection of the tracks; a bottom box is arranged between the two tracks, the bottom box is a closed space surrounded by a bottom box wall and a bottom box top, and the bottom box wall and the bottom box top are formed by a first composite interlayer;

a walking motor for driving the crawler chassis to move forwards, a power supply for supplying power to the whole machine, an electric hydraulic pump for supplying power to the hydraulic push rod, a winch for retracting and releasing the support frame, an oxygen supply unit for supplying oxygen to a rescued person and a control box for controlling the whole machine to operate are arranged in the bottom box;

a motor cooling water cover is arranged around the walking motor, the motor cooling water cover is composed of an inner shell and an outer shell, and a cooling water layer is arranged in the middle of the motor cooling water cover; the main switch of the power supply is controlled by a remote control power supply control contactor and is used for preventing the main power supply from being cut off in time when a local circuit fails; the winch has the function of winding and unwinding the steel cable, and the automatic winding and unwinding of the support frame is controlled by winding and unwinding the steel cable through the winch; the oxygen supply unit adopts an oxygen cylinder as an oxygen source and is led to an oxygen mask in the box body through a metal air duct externally provided with a heat insulating material, wherein the middle of the air duct is provided with a solenoid valve for controlling the opening and closing of oxygen, and the box body is internally provided with a one-way valve; the bottom box cover is of a detachable structure; the front half section of the bottom box cover is a turnover cover plate, and the front end of the turnover cover plate is connected with the bottom box through a door nose;

the protective cover layer is composed of zirconium-containing ceramic fiber heat insulation cotton and a high-reflection metal foil, the zirconium-containing ceramic fiber heat insulation cotton is wrapped by the high-reflection metal foil to prevent fire and insulate heat, and the crawler belts, the protective cover layer and the first composite interlayer on two sides of the bottom box protect the bottom box;

the bottom of the support frame is provided with metal wheels, the support frame is fixedly connected with two ends of a steel cable, the steel cable is pulled by a winch through a fixed pulley, the support frame, the steel cable and the winch form a closed loop and are used for pulling the support frame to rotate and automatically retract, the support frame is put down at an inflection point of a robot which is intersected and mutated with a plane through a stair slope, the maximum angle of the put down is limited by a hinged limiting pull rod, and the support frame supports a crawler chassis.

As the preferred structure of the utility model, the box body and the box door take the aluminum alloy as the main material, the aluminum alloy truss as the box framework and the second composite interlayer as the protection to form a closed space; the second composite interlayer sequentially comprises the following structural components from outside to inside: the second composite interlayer is used for increasing the structural strength and the heat insulation performance;

the caterpillar track apron board is made of a stainless steel thin plate and is used for preventing hot waves from impacting the bottom box;

the posture prompt map is used for prompting a trapped person drilling into the box body to adopt a crouching and lying posture;

the rear parts of the box door and the box body main body are in a sharp triangle shape, and the box door is hinged with the box body through a hinge; the door opening and closing mechanism takes an electric push rod as power, the electric push rod makes telescopic motion to drive a rocker in the crank rocker mechanism to make swinging motion, and a box door serving as a crank is pulled by a connecting rod to make rotary motion; the door locking mechanism comprises a lock head and a lock hole, the lock head is arranged at the front position of the inner side wall of the box body, and the wedge-shaped lock rod on the lock head can automatically stretch out and draw back;

the body of the supporting plate is made of aluminum alloy materials, the rubber and plastic heat-preservation cushion is adhered to the upper surface of the supporting plate, a rescued person crouches on the supporting plate, and the rescued person can be quickly moved out of the box body through the supporting plate after being rescued out of a fire scene by the robot;

the small dry powder fire extinguisher is connected with a dry powder electromagnetic valve through a metal corrugated pipe, the dry powder electromagnetic valve is used as an open pipe to control whether dry powder is sprayed or not, the dry powder electromagnetic valve is connected with a dry powder spray head at the top of the robot through the metal corrugated pipe, and the dry powder spray head has two degrees of freedom and can rotate on a horizontal plane and a vertical plane;

the utility model discloses a camera protection device, including the camera protection casing, the camera protection casing is provided with the camera protection casing, the camera protection casing is equipped with the camera protection casing, the camera protection casing passes through the protection casing base and fixes with the box top, including the metal cage, the toughened glass intermediate layer, intermediate layer leads to water to constitute the protection water layer in the middle of two-layer toughened glass, water flows in from the intermediate layer bottom and flows out from the top, set up the combination camera that comprises visible light camera and infrared camera in the camera protection casing, combination camera bottom in the camera protection casing is provided with the LED light and provides the illumination.

As the preferred structure of the utility model, the suspension and the box body adopt a four-point hinge mode for the quick disassembly of the box body, so as to quickly replace the battery in the crawler chassis or debug the control element in the crawler chassis, and four-point damping is realized by two groups of spring dampers and two groups of plate spring dampers, so as to ensure the stability of the box body during operation; in the electric hydraulic push rod, a hydraulic pump is driven by a motor and is matched with a gyroscope inclination angle sensor, an electromagnetic directional valve is used for controlling the extension and the contraction of the push rod, an electric throttle valve is used for adjusting the extension speed, the extension of the push rod drives a box body to rotate around a hinged point on a spring shock absorber, and the electric hydraulic push rod is matched with the gyroscope for measuring the inclination angle and performing feedback control on a single chip microcomputer, so that a person in the box body can be kept horizontal constantly in the process of going upstairs and downstairs of a robot.

As the utility model discloses a preferred structure, automatic water pipe reel is located the box top, automatic water pipe reel includes: the automatic water pipe winding device comprises a winding drum framework, a universal joint, a winding drum rotating mechanism, a winding drum retainer, a water pipe tight-arranging mechanism, a pipe pulling mechanism and an automatic spraying nozzle, wherein the automatic water pipe winding drum is used for winding a water pipe; the winding drum framework is wound by a water pipe, one end of the water pipe penetrates through the universal joint connected to the top of the winding drum framework from a winding drum hollow shaft of the winding drum framework, one end of the universal joint is fixed with the winding drum hollow shaft, the other end of the universal joint is connected with the output pipe, and two end parts of the universal joint can rotate relatively;

the winding drum rotating mechanism comprises a thrust bearing, a ball bearing, a winding drum gear and a winding drum motor, wherein the thrust bearing is positioned at the bottom of a winding drum framework and used for supporting a winding drum, the ball bearing is positioned at the top of the winding drum framework and used for limiting and fixing the winding drum, one of a pair of winding drum gears is fixedly connected with a winding drum hollow shaft, the other one of the pair of winding drum gears is fixedly connected with the winding drum motor through a coupler, the winding drum motor is provided with a first composite interlayer for protection, the winding drum motor drives the winding drum framework to rotate through the meshed winding drum gear, and the winding drum motor gives inward-recovered pulling force to a water pipe when the robot retreats;

the winding drum holder is fixed with the box body through bolts and keeps a relative position relation with the winding drum framework through a bearing, the winding drum framework can rotate relative to the winding drum holder, and a stainless steel sheet is fixed on the holder to surround and protect the winding drum;

the water pipe tight-arranging mechanism is a vertical screw nut mechanism and is positioned at the edge of the winding drum framework and at the rear of the top of the box body, the screw bracket is fixed with the retainer, the nut is fixedly connected with a through pipe ring, a water pipe passes through the through pipe ring, a screw motor positioned at the top of the winding drum rotates, the screw motor is provided with a first composite interlayer protection, the through pipe ring on the nut is driven by a screw to move up and down back, and the water pipe is driven to move up and down;

the pipe pulling mechanism is positioned behind the water pipe tight-arrangement mechanism and used for providing pulling force for outward release of the water pipe when the robot moves forward, the pipe pulling mechanism comprises a pair of pressing wheels with thin middle parts and thick two ends, the water pipe penetrates through the middle of the pressing wheels and is extruded by the pressing wheels, the surfaces of the pressing wheels are rough, the water pipe is pulled by friction, one end of the pressing wheels is fixedly connected with a pair of meshed pipe pulling gears, the pressing wheels and the pipe pulling gears are both erected on a pipe pulling frame, a pipe pulling motor is provided with a first composite interlayer for protection, the first composite interlayer is fixedly connected with one gear, and the pipe pulling gears drive the pair of pressing wheels to rotate relatively so as to pull the water pipe to move outwards;

the self-spraying nozzle is positioned at the top of the water pipe winding drum and is fixed with the winding drum retainer, the self-spraying nozzle is made of hard metal materials, the top of the self-spraying nozzle is sharp, water sprayed out of the self-spraying nozzle can be uniformly sprayed to the top of the robot, and the robot is cooled again along the side wall by flowing downwards from top to bottom.

As the utility model discloses a preferred structure, the water pipe includes the stainless steel braided tube of fire control hose and semi-stereoplasm, and the fire control hose finishes just releasing before not getting into the scene of a fire as the anterior segment water pipe, and the fire control hose can be folded, can lengthen the distance of operation greatly, and the stainless steel braided tube is as the back end water pipe, and its outer layer is stainless steel wire mesh grid, and the inlayer is high temperature resistant rubber tube, has high temperature resistance, semi-stereoplasm, the characteristic that intensity is high, and the winding of stainless steel braided tube can not flatten each other on the water pipe reel, generally weighs down the thing after the scene of a fire release and presses not flat, can guarantee constantly to go out water smoothly.

The utility model has the advantages and positive effects that:

1. compared with the traditional fire rescue robot, the utility model realizes external continuous water supply, solves the problem that the water pipe is bent and does not pass water by dragging the water pipe, realizes the combination of multiple high temperature resistant protection methods, solves the problem of poor protection performance for rescuees, and solves the impact caused when the robot passes through a stair sudden change inflection point; furthermore, the utility model discloses still realized shifting out fast, the quick replacement of battery, the incasement by the person of being saved from the box, the incasement by the person of being saved keeps functions such as level, oxygen from supplying with, the protection of camera when going upstairs and downstairs, improved rescue efficiency, saved the rescue time, provide new high-efficient way for conflagration rescue, let the direct rescue of indoor conflagration become possible, reduced widely because the casualties that the conflagration brought have had extremely important meaning to the fire control rescue field.

2. The utility model discloses it is very extensive to use, and high-rise building, subway, tunnel, chemical plant, warehouse, naval vessel, conflagration emergence places such as market mainly use indoor conflagration rescue people to be the main, can directly carry on entering high temperature scene of a fire such as small-size fire control reconnaissance robot, small-size fire control clearance robot, small-size fire extinguishing robot, can also carry on emergency equipment such as protective clothing, oxygen jar and get into the scene of a fire and give the person of being trapped.

3. The utility model discloses except being used for the conflagration rescue to put out a fire, the utility model discloses can also be used for other rescue fields, for example: the device is used for rescue work after earthquakes, tsunamis and floods, such as carrying by rescued personnel and transporting emergency materials, can be used for transporting military equipment such as shells and bullets, and can also be used for transporting and transferring dangerous goods such as inflammable and explosive materials.

4. The utility model adopts the high temperature resistant metal crawler chassis, which can make it have strong obstacle crossing ability and high temperature resistant ability; the supporting frame can be automatically retracted and extended under the chassis, so that the impact caused when the robot passes through an inflection point of the intersection mutation of the inclined plane and the plane of the stair is avoided; the oxygen supply unit in the bottom box of the chassis can provide clean oxygen for the rescued person. The adopted shock absorber and the hydraulic push rod are combined to be used as an intelligent suspension, so that four-point shock absorption and horizontal adjustment of the box body are realized; the suspension and the box body are hinged by four points, so that the box body is quickly disassembled; the bottom case cover in the chassis adopts a flip cover type, so that the debugging and the maintenance of the control unit are convenient; the bottom case lid is detachable design, has realized the quick replacement of battery.

5. The utility model adopts the box body to carry the rescuee, which realizes the isolation from the outside and ensures the safety of the rescuee; the door opening and closing mechanism is adopted, so that the automatic opening and closing of the door can be realized; the slide-out supporting plate is adopted in the box body, so that the rescued person can be quickly moved out of the box body; the box body is made of aluminum alloy as a main material, so that the mass of the vehicle body is reduced under the condition of ensuring the structural strength; the box body adopts a double-shell composite interlayer design, so that the structural strength and the heat-insulating property can be greatly improved; the stainless steel sheet is used as the case body shell, so that the case body is fireproof, burning-through resistant and rusty resistant; the small dry powder fire extinguisher is arranged at the corner in the box body, so that the emergency fire extinguishing protection under the condition of burst deflagration is realized; the top of the box body adopts a triangular angle top plate, so that excessive burning of a falling fire source can be prevented.

6. The utility model adopts the automatic water pipe reel, which can realize automatic water pipe winding and unwinding and further realize external continuous water supply; the soft water belt is combined with the semi-hard metal braided pipe, so that the working distance can be greatly increased, and the water can be ensured to flow out smoothly; the combination of dry powder emergency fire extinguishing, self-spraying technology and composite interlayer realizes emergency fire extinguishing and high-temperature protection to the vehicle body; the camera is protected by the metal cover and the toughened glass water interlayer, so that the camera is protected and the imaging is clear.

Drawings

Other objects and results of the invention will be more apparent and readily appreciated by reference to the following description taken in conjunction with the accompanying drawings, and as the invention is more fully understood. In the drawings:

fig. 1 is a schematic view of the robot for rescuing a person from the robot.

Fig. 2 is a schematic view of the robot box for a person to be rescued according to the present invention.

Fig. 3 is a flow chart of the fire rescue process of the robot of the present invention.

Fig. 4 is the overall structure schematic diagram of the middle robot of the present invention.

Fig. 5 is the utility model discloses well robot overall structure disassembles the sketch map.

Fig. 6 is a schematic diagram of the utility model discloses after well robot opened the case door.

Fig. 7 is the overall structure skeleton schematic diagram of the middle robot of the present invention.

Fig. 8 is the whole schematic view of the crawler chassis of the robot.

Fig. 9 is a schematic view of the middle robot passing through the inflection point of the intersection sudden change of the stair slope and the plane.

Fig. 10 is a schematic view of a first composite sandwich structure according to the present invention.

Fig. 11 is a schematic view of the bottom box arrangement of the crawler chassis of the robot in the present invention.

Fig. 12 is a schematic view of a second composite sandwich structure according to the present invention.

Fig. 13 is a schematic diagram of the robot bottom box according to the present invention after the flip plate is opened.

Fig. 14 is a schematic diagram of the arrangement of the suspension and the walking motor in the caterpillar chassis of the robot.

Fig. 15 is a schematic view of the support frame structure of the robot and its operation.

Fig. 16 is the schematic diagram of the door opening and closing mechanism on the box body of the robot.

Fig. 17 is a schematic view of a door locking mechanism on the box body of the robot.

Fig. 18 is a rear suspension structure of the robot suspension and its operation diagram.

Fig. 19 is the utility model discloses well robot water pipe reel structure and metal cooling tubule lay the sketch map.

Fig. 20 is a schematic view of the main body frame of the water pipe reel of the robot of the present invention.

Fig. 21 is the water pipe tight-arranging mechanism and the pipe pulling mechanism in the water pipe winding drum of the robot of the utility model.

The attached drawings are annotated: the crawler chassis 1, the box body 2, the water pipe winding drum 3, the suspension 4, the chassis framework 11, the metal crawler 12, the bottom box 13, the protective cover 14, the support frame 15, the first composite interlayer 16, the crawler water nozzle 17, the walking motor 131, the power supply 132, the electric hydraulic pump 133, the winch 134, the oxygen supply unit 135, the control box 136, the motor cooling water cover 137, the bottom box cover 138, the flip cover plate 139, the metal wheel 151, the steel cable 152, the fixed pulley 153, the limit pull rod 154, the box body 21, the crawler apron 22, the box door 23, the supporting plate 24, the dry powder fire extinguisher 25, the angle top plate 26, the second composite interlayer 27, the metal cooling tubule 271, the electric push rod 231, the rocker 232, the connecting rod 233, the lock 234, the 235, the dry powder spray nozzle 38, the camera protective cover 28, the protective cover base 281, the metal cage 282, the toughened glass interlayer 283, the combined camera 284, the LED illuminating lamp 285, the front suspension 41, the front suspension bracket, The device comprises a rear suspension 42, a plate spring shock absorber 421, an electric hydraulic push rod 422, a winding drum framework 31, a universal joint 32, a winding drum rotating mechanism 33, a winding drum holder 34, a water pipe tight-arranging mechanism 35, a pipe pulling mechanism 36, a self-spraying spray head 37, a thrust bearing 331, a ball bearing 332, a winding drum gear 333, a winding drum motor 334, a stainless steel thin plate 335, a lead screw bracket 351, a nut 352, a pipe through ring 353, a lead screw motor 354, a lead screw 355, a pressure wheel 361, a water pipe 362, a pipe pulling gear 363, a pipe pulling bracket 364 and a pipe pulling motor 365.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

Referring to fig. 1-21, the utility model provides an indoor fire rescue fire-fighting robot based on box, include: the device comprises a metal crawler chassis 1 for walking driving, a box body 2 for carrying people and having composite interlayer protection, an intelligent suspension 4 for adjusting the water balance of the box body, and an automatic water pipe winding drum 3 which is positioned at the top of the box body and used for winding and unwinding a water pipe. The basic process of rescuing people is that the robot enters a fire scene, the water pipe winding drum 3 automatically releases the water pipe when the robot enters the fire scene, a trapped person is called by voice after entering the fire scene, the box door 23 is opened, the trapped person drills into the box body 2, the box door 23 is closed, the robot carries people out of the fire scene, and the people are quickly transferred by pulling out the supporting plate 24 in the box.

Referring to fig. 7 to 11, the main body of the metal crawler chassis 1 in this embodiment is made of a high-temperature resistant metal material with a high melting point, and includes a metal crawler chassis framework 11, a metal crawler 12, a bottom box 13, a protective cover layer 14, and a support frame 15, wherein the bottom of the bottom box 13, two sides and top of the two crawlers are surrounded by a first composite interlayer 16, and the first composite interlayer 16 sequentially comprises, from outside to inside: the high-reflection metal foil A, the stainless steel sheet B, the zirconium-containing ceramic fiber heat insulation cotton C, the aluminum foil D, the zirconium-containing ceramic fiber heat insulation cotton C and the aluminum alloy plate E (refer to figure 10 specifically), the front end and the rear end of each metal crawler chassis 1 are respectively provided with a crawler belt water nozzle 17, and the first composite interlayer 16 and the crawler belt water nozzles 17 realize high-temperature protection of the crawler belt; the middle of the two tracks is a bottom box 13, the bottom box 13 is a closed space surrounded by a bottom box wall and a bottom box top, and the bottom box wall and the bottom box top are formed by a first composite interlayer 16.

Referring to fig. 11, a traveling motor 131 for driving the crawler chassis to travel, a power supply 132 for supplying power to the whole machine, an electric hydraulic pump 133 for supplying power to the hydraulic push rod, a winch 134 for storing and releasing the support frame, an oxygen supply unit 135 for supplying oxygen to the rescued person, and a control box 136 for controlling the operation of the whole machine are disposed in the bottom box 13 in the embodiment.

Referring to fig. 13 to 14, a motor cooling water cover 137 is disposed around the traveling motor 131 in this embodiment, the motor cooling water cover 137 is formed by an inner shell and an outer shell, a cooling water layer is disposed in the middle, and heat is taken away by flowing water to dissipate heat of the traveling motor 131; the main switch of the power supply 132 is controlled by a remote-control power supply control contactor so as to prevent the main power supply 132 from being cut off in time when a local circuit fails and avoid the burning of the whole machine; the winch 134 has the function of winding and unwinding the steel cable 152, and the automatic winding and unwinding of the support frame 15 is controlled by winding and unwinding the steel cable 152 through the winch 134; the oxygen supply unit 135 adopts an oxygen tank as an oxygen source and is led to an oxygen mask in the box body 2 through a metal air duct externally added with a heat insulating material, wherein a solenoid valve is arranged in the middle of the air duct to control the opening and closing of oxygen, a one-way valve is arranged in the box body, so that a rescued person can discharge waste gas from the box body 2 and external gas cannot enter, and the oxygen supply unit 135 is utilized to realize the oxygen supply to the rescued person; the bottom box cover 138 is detachably designed, and after one-time rescue work is finished, the bottom box cover 138 can be detached to realize quick replacement of the battery, and the next task is performed again; the front half section of the bottom box cover 138 is a turnover cover plate 139, and the front end of the turnover cover plate 139 is connected with the bottom box 13 through a door nose, so that the control elements in the control box 136 can be conveniently opened for debugging and maintenance when needed.

Referring to fig. 8, the protective cover 14 in this embodiment is located at the top of the crawler chassis, and is fixedly connected with the upper portion of the chassis through a steel wire to form a detachable structure, the protective cover 14 is made of zirconium-containing ceramic fiber heat insulation cotton and a highly reflective metal foil, the zirconium-containing ceramic fiber heat insulation cotton is wrapped by the highly reflective metal foil to prevent fire and insulate heat, and the crawler, the protective cover 14 and the first composite interlayer 16 on two sides of the bottom box 13 are used to protect the bottom box 13.

Referring to fig. 15, the support frame 15 in this embodiment is located below the front portion of the crawler chassis 1, the top of the support frame 15 is hinged to the chassis frame 11 and can rotate in the front-rear direction around the hinge seat, the metal wheels 151 are arranged at the bottom of the support frame 15, the support frame is fixedly connected to two ends of a steel cable 152, the steel cable 152 is pulled by the winch 134 through the fixed pulley 153, the support frame 15, the steel cable 152 and the winch 134 form a closed loop, so that the support frame 15 is pulled to rotate to achieve automatic folding and unfolding, the support frame 15 is unfolded when the robot passes through an inflection point where the inclined plane of the stair and the plane intersect and change suddenly, the maximum unfolding angle is limited by the hinged limiting pull rod 154, and the support frame 15 supports the crawler chassis 1, so that the transition process is stable, and instantaneous impact is avoided.

Referring to fig. 6 and 7, the case 2 in the embodiment includes a case body 21, a caterpillar apron 22, a posture lifting picture, a case door 23, a support plate 24, a dry powder fire extinguisher 25, and a corner top plate 26, and the case 2 is mainly used for carrying a rescuee, thereby realizing isolation of the rescuee in the case 2 from the outside, and ensuring personal safety of the rescuee.

Referring to fig. 6 and 7, in the present embodiment, the box body 21 and the box door 23 are made of aluminum alloy as a main material, an aluminum alloy truss as a box framework, and a second composite interlayer 27 as a protection to form a closed space. The second composite interlayer 27 sequentially comprises the following structural components from outside to inside: the high-light-reflection metal foil A ', the stainless steel thin plate B', the zirconium-containing ceramic fiber heat insulation cotton C ', the aluminum foil D', the metal cooling tubule 271, the aluminum foil D ', the zirconium-containing ceramic fiber heat insulation cotton C', the aluminum alloy plate E ', and the rubber and plastic heat insulation cushion F' (refer to figure 12), so that the structural strength and the heat insulation performance can be greatly improved. The high-reflection metal foil is made of a metal material with high melting point and high reflection rate and can directly reflect a large amount of heat radiation as the outermost layer; the stainless steel sheet is used as an outer shell, has high strength, high melting point, high surface smoothness and excellent fireproof performance, prevents rusting, avoids damage to a shell structure caused by rubbing of an external obstacle, has good thermal conductivity, enables the temperature of the stainless steel sheet layer to approach, and avoids local high-temperature burning-through to a certain extent; the zirconium-containing ceramic fiber heat insulation cotton is made of zirconium-containing ceramic fibers, has excellent heat insulation performance of resisting 1400 ℃ ultrahigh temperature, and effectively blocks heat transfer; the aluminum foils are positioned on two sides of the metal cooling tubule 271, so that the micro air heat convection phenomenon in the interlayer can be prevented, the external heat radiation of a part can be reflected by the aluminum foils due to high light reflection rate, the heat transfer is slowed down, the heat exchange between the aluminum foils and the metal cooling tubule is quicker due to good heat conductivity of the aluminum foils, and the cooling effect is accelerated; the aluminum alloy plate is used as an inner shell, plays a role in keeping the main body structure, and has light weight and high strength; the rubber and plastic heat-insulating cushion is positioned at the innermost layer of the box body, has good heat-insulating property, softness and skin affinity, and has good shock absorption performance. By adopting the design of the aluminum alloy framework and the second composite interlayer 27, the automobile body weight is lightened under the condition of ensuring the structural strength, and the automobile body has good heat insulation and cooling effects.

Referring to fig. 6 and 7, the caterpillar skirt panels 22 of the present embodiment are located at both sides of the lower portion of the tank 2, fixed to the side walls of the tank 2, and made of stainless steel thin plates, so that the caterpillar skirt panels 22 cover the outside when the robot is on a flat surface, and the caterpillar skirt panels 22 cover most of the gap between the tank 2 and the chassis when the robot goes up and down stairs, thereby effectively preventing heat waves from impacting the bottom box 13.

The posture prompt picture (not shown) is adhered to the inner wall of the box body 2 and is used for prompting a trapped person drilling into the box body 2 to adopt a posture of lying on a curved side, the lying on the curved side is relatively stable on the box body 2, and the gravity center of the whole machine is favorably reduced.

Referring to fig. 16 and 17, the box door 23 in this embodiment is located at the front of the robot, the box door 23 is opened and closed and locked by a door opening and closing mechanism and a door locking mechanism, the box door 23 and the rear portion of the box body 21 are in a sharp triangle shape, which is beneficial to collision of the door and blocking of a barrier in front, and the box door 23 is hinged to the box body 21 by a hinge; the door opening and closing mechanism takes the electric push rod 231 as power, the electric push rod 231 performs telescopic motion to drive the rocker 232 in the crank rocker mechanism to perform swinging motion, the connecting rod 233 pulls the door 23 serving as a crank to perform rotary motion, the door 23 is automatically opened when people are detected to drill into the box body 2, and the door 23 is automatically closed after the people drill into the box body 2; the door locking mechanism comprises a locking head 234 and a locking hole 235, the locking head 234 is arranged at the front end of the inner side wall of the box body 2, the wedge-shaped locking rod on the locking head 234 can stretch out and draw back automatically, the locking rod retracts to be separated from the locking hole 235 when the door is opened, the wedge-shaped locking rod extends to be locked with the locking hole 235 after the door is closed, and the wedge-shaped locking rod can press the locking hole 235 to move inwards to lock the box door 23 when the wedge-shaped locking rod extends.

Referring to fig. 6, the slidable supporting plate 24 in this embodiment is disposed on the bottom surface inside the box 2, the main body is made of aluminum alloy, the rubber and plastic heat preservation cushion is adhered to the upper surface of the supporting plate 24, the rescued person can lie on the side of the supporting plate in a curling manner, and after being rescued out of a fire by the robot, the rescued person can be quickly moved out of the box 2 through the supporting plate 24, so that the person can be quickly transferred.

Referring to fig. 7, the small dry powder fire extinguisher 25 in this embodiment is disposed at a corner position in the case 2, the dry powder fire extinguisher 25 is connected to a dry powder electromagnetic valve through a metal corrugated pipe, the dry powder electromagnetic valve is used as an open pipe to control whether dry powder is sprayed, the dry powder electromagnetic valve is connected to a dry powder spray nozzle 38 at the top of the robot through a metal corrugated pipe, the dry powder spray nozzle 38 has two degrees of freedom, and can rotate on a horizontal plane and a vertical plane, when a deflagration condition occurs suddenly in a fire scene and the robot is threatened, the dry powder fire extinguisher 25 is controlled to be opened for emergency fire extinguishing protection.

Referring to fig. 6, 7 and 9, the triangular angle top plate 26 in this embodiment is fixed to the top of the box body 2, the inner side of the triangular angle top plate uses an aluminum alloy truss as a supporting framework, the outer side of the triangular angle top plate is a stainless steel thin plate, and the triangular angle top plate can slide down along the situation when a falling fire source exists, so that the fire source is prevented from burning the fixed point of the box body 2 excessively. 26 top positions in angle roof board are provided with camera protection casing 28, camera protection casing 28 is fixed with box 2 top through protection casing base 281, camera protection casing 28 includes metal cage 282, toughened glass intermediate layer 283, intermediate layer leads to water to constitute the protection water layer in the middle of two-layer toughened glass, water flows in from the top to flow in from the intermediate layer bottom and fills water in order to realize, set up the combination camera 284 that constitutes by visible light camera and infrared camera in the camera protection casing 28, combination camera 284 bottom in the camera protection casing 28 is provided with LED light 285 and provides the illumination.

Referring to fig. 5, 14 and 18, the suspension 4 in the present embodiment includes a pair of front suspensions 41 and a pair of rear suspensions 42, the front suspensions 41 are formed by a set of symmetrical spring shock absorbers, the bottom ends thereof are welded and fixed with the chassis frame, and the upper ends thereof are hinged with the bottom of the case; the rear suspension 42 is composed of two groups of plate spring shock absorbers 421 and two groups of electric hydraulic push rods 422, the plate spring shock absorbers 421 are fixedly connected with the box body 2, the lower parts of the plate spring shock absorbers 421 are hinged with the upper parts of the electric hydraulic push rods 422 through hinged supports, the bottoms of the electric hydraulic push rods 422 are hinged with the chassis framework 11 through hinged supports, the suspension 4 and the box body 2 adopt a four-point hinge mode, the box body 2 is rapidly disassembled, batteries in the crawler chassis 1 can be rapidly replaced or control elements in the crawler chassis 1 can be debugged, four-point shock absorption is realized by the two groups of spring shock absorbers and the two groups of plate spring shock absorbers 421, and the running stability of the box body 2 is ensured; in the electric hydraulic push rod 422, a motor drives a hydraulic pump, the hydraulic pump is matched with a gyroscope inclination angle sensor, an electromagnetic directional valve connected with the electric hydraulic push rod is enabled to realize the extension and contraction control of the push rod, an electric throttle valve connected with the electric hydraulic push rod is enabled to realize the adjustment of the extension speed, the box body is driven to rotate around a hinge point on a spring shock absorber by the extension and contraction of the push rod, and the gyroscope is matched for measuring the inclination angle and performing feedback control on a single chip microcomputer, so that the situation that a person in the box body 2 keeps horizontal constantly in the process of going upstairs and downstairs of the robot is realized.

Referring to fig. 19, 20 and 21, the automatic water pipe reel 3 in the present embodiment is located on the top of the box body 2, and the automatic water pipe reel 3 includes: the automatic water pipe winding drum 3 is used for winding the water pipe 362, and the functions of 'putting while walking and withdrawing' of the water pipe 362 are automatically realized, so that continuous water supply from the outside is realized. The reel skeleton 31 is twined by water pipe 362, and water pipe 362 one end is passed from the reel hollow shaft of reel skeleton 31 and is connected in the top universal joint 32, universal joint 32 one end is fixed with the reel hollow shaft, and the other end links to each other with the output tube, and its both ends part can rotate relatively.

The reel slewing mechanism comprises a thrust bearing 331, a ball bearing 332, a reel gear 333, a reel motor 334, the thrust bearing 331 is located at the bottom of the reel framework 31 and used for supporting a reel, the ball bearing 332 is located at the top of the reel framework 31 and used for limiting and fixing the reel, one of the reel gears 333 is fixedly connected with a reel hollow shaft, the other reel motor 334 is fixedly connected with the reel motor 334 through a coupler, a first composite interlayer 16 is arranged on the reel motor 334 for protection, the reel motor 334 drives the reel framework 31 to rotate through the meshed reel gear 333, and when the robot retreats, a pulling force for inward recovery of a water pipe 362 is given.

The reel holder 34 is fixed to the housing 2 by bolts and is held in a relative position with the reel frame 31 by a bearing, the reel frame 31 is rotatable relative to the reel holder 34, and a stainless steel sheet 335 is fixed to the holder to surround and protect the reel.

The water pipe tight-arranging mechanism 35 is a vertical screw nut mechanism, is located at the edge of the winding drum framework 31 and behind the top of the box body 2, the screw support 351 is fixed with the retainer, the through pipe ring 353 is fixedly connected to the nut 352, the water pipe passes through the through pipe ring 353, the screw motor 354 located at the top of the winding drum rotates, the screw motor 354 is provided with a first composite interlayer 16 for protection, the through pipe ring 353 on the nut 352 is driven by the screw 355 to move back and forth, the water pipe 362 is driven to move up and down, the travelling speed of the robot is matched, the water pipes 362 can be closely arranged layer by layer when being withdrawn, the space is saved, and the water pipes can be sequentially released layer by layer when being released.

The pipe pulling mechanism 36 is located behind the water pipe tight-arranging mechanism 35, and gives a pulling force to the water pipe 362 to be released outwards when the robot moves forward, the pipe pulling mechanism 36 comprises a pair of pressing wheels 361 with thin middle parts and thick two ends, the water pipe 362 penetrates through the middle of the pressing wheels 361 and is extruded by the pressing wheels, the surfaces of the pressing wheels 361 are rough, the water pipe 362 is pulled by friction, one ends of the pressing wheels are fixedly connected with a pair of meshed pipe pulling gears 363, the pressing wheels 361 and the pipe pulling gears 363 are both erected on a pipe pulling frame 364, a pipe pulling motor 365 is provided with a first composite interlayer 16 for protection and is fixedly connected with one of the gears, and the pair of pressing wheels 361 are driven to rotate relatively through the pipe pulling gears 363, so that the water pipe 362 is pulled outwards.

The water pipe 362 comprises a fire-fighting hose and a semi-hard stainless steel woven pipe, the fire-fighting hose is used as a front-section water pipe and is released before entering a fire scene, the fire-fighting hose can be folded, the distance of operation can be greatly increased, the stainless steel woven pipe is used as a rear-section water pipe, the outer layer of the stainless steel woven pipe is a stainless steel wire woven net, the inner layer of the stainless steel woven pipe is a high-temperature-resistant rubber pipe, and the stainless steel woven pipe has the characteristics of high temperature resistance, semi-hardness and high strength, can not be flattened by being wound on a water pipe winding drum 3, can not be flattened by being generally dropped after the fire scene is released, can ensure smooth water outlet constantly, and solves the problem that a common fire-fighting robot pulls a hose to cause the breaking and cannot pass water.

The self-spraying nozzle 37 is located at the top of the water pipe winding drum 3 and fixed with the winding drum retainer 34, is made of hard metal materials, is sharp at the top, can uniformly spray water sprayed from the self-spraying nozzle 37 to the top of the robot, and cools the robot again by flowing from top to bottom along the side wall.

The robot in this embodiment forms: the compound high temperature resistant protection system of the four-in-one of dry chemical extinguisher emergency fire extinguishing-water cooling technique-self-spraying technique-compound intermediate layer protection, the water flow direction in the water cooling technique and the self-spraying technique is: the fire-fighting soft water belt → the stainless steel woven pipe → the universal joint → the camera protective cover → the metal cooling thin pipe → the motor cooling water cover → the caterpillar band water spray head and the self-spraying spray head, so that a set of complete water cooling protection system is formed.

The utility model discloses preferentially save also the trapped person of action ability, generally adopt many rescue robots to get into the scene of a fire rescue together, rescue the unconscious person again after the trapped person of action ability rescues in addition, its rescue method is: the two rescue robots enter a fire scene together, one rescue robot carries a firefighter to enter the fire scene together, when a unconscious person is found, the firefighter goes down from the rescue robot to help the unconscious person to load the unconscious person into the other rescue robot, and then the fire scene is removed together.

The utility model discloses it is very extensive to use, can be applied to almost all environments such as high building, chemical plant, garage, airtight space, subway, tunnel, warehouse, station, naval vessel, steamer, market, hazardous articles transfer, the direct people of rescuing of mainly used indoor conflagration, in addition, can directly carry on huge dry powder fire extinguisher, foam extinguishing agent gets into the scene of a fire and put out a fire by a large scale, still directly be used for carrying on fire-fighting equipment, sub-fire-fighting robot, fire-fighting first aid material gets into the scene of a fire and gets into indoor scene of a fire, carry out other fire rescue work.

It should be noted that, according to the description, drawings and claims of the present invention, various changes and modifications can be easily made by those skilled in the art without departing from the spirit and scope of the present invention defined by the claims. Any modifications and equivalent changes made to the above-described embodiments according to the technical ideas and the essence of the present invention are within the scope of protection defined by the claims of the present invention.

Claims (6)

1. The utility model provides an indoor conflagration rescue people fire-fighting robot based on box which characterized in that includes: the intelligent water pipe automatic adjusting device comprises a metal crawler chassis for walking driving, a box body with composite interlayer protection for carrying people, an intelligent suspension for adjusting the water balance of the box body, and an automatic water pipe winding drum which is positioned at the top of the box body and used for winding and unwinding a water pipe;

the metal track chassis includes: the metal crawler chassis comprises a metal crawler chassis framework, and a crawler, a bottom box, a protective cover layer and a support frame which are arranged on the metal crawler chassis framework, wherein the bottom of the bottom box, two sides and the top of the two crawlers are all surrounded by a first composite interlayer;

the box body comprises a box body, a caterpillar apron board, a posture lifting picture, a box door, a supporting plate, a dry powder fire extinguisher and an angle top plate; the box body is mainly used for carrying a person to be rescued; the caterpillar apron boards are positioned on two sides of the lower portion of the box body and fixed with the side wall of the box body, the posture prompt graph is pasted on the inner wall of the box body, the box door is positioned in the front of the robot, the box door is opened, closed and locked through a door opening and closing mechanism and a door locking mechanism, the sliding-out type supporting plate is arranged on the bottom surface inside the box body, the dry powder fire extinguisher is arranged at a corner position inside the box body, and the triangular corner top plate is fixed to the top of the box body;

the suspension comprises a pair of front suspensions and a pair of rear suspensions, the front suspensions are composed of a group of symmetrical spring shock absorbers, the bottom ends of the front suspensions are welded and fixed with the chassis framework, and the upper ends of the front suspensions are hinged with the bottom of the box body; the rear suspension is composed of two groups of plate spring dampers and two groups of electric hydraulic push rods, the plate spring dampers are fixedly connected with the box body, the lower parts of the plate spring dampers are hinged with the upper parts of the electric hydraulic push rods through hinged supports, and the bottoms of the electric hydraulic push rods are hinged with the chassis framework through the hinged supports.

2. The indoor fire fighting robot based on the box body as claimed in claim 1, wherein the first composite interlayer sequentially comprises from outside to inside: the high-reflection metal foil, the stainless steel sheet, the zirconium-containing ceramic fiber heat insulation cotton, the aluminum foil, the zirconium-containing ceramic fiber heat insulation cotton and the aluminum alloy plate are respectively provided with a crawler belt water nozzle, a first composite interlayer and the crawler belt water nozzles for high-temperature protection of the crawler belt; a bottom box is arranged between the two tracks, the bottom box is a closed space surrounded by a bottom box wall and a bottom box top, and the bottom box wall and the bottom box top are formed by a first composite interlayer;

a walking motor for driving the crawler chassis to move, a power supply for supplying power to the complete machine, an electric hydraulic pump for supplying power to a hydraulic push rod, a winch for retracting and releasing a support frame, an oxygen supply unit for supplying oxygen to a rescued person and a control box for controlling the complete machine to operate are arranged in the bottom box;

a motor cooling water cover is arranged around the walking motor, the motor cooling water cover is composed of an inner shell and an outer shell, and a cooling water layer is arranged in the middle of the motor cooling water cover; the main switch of the power supply is controlled by a remote control power supply control contactor and is used for preventing the main power supply from being cut off in time when a local circuit fails; the winch has the function of winding and unwinding the steel cable, and the automatic winding and unwinding of the support frame is controlled by winding and unwinding the steel cable through the winch; the oxygen supply unit adopts an oxygen cylinder as an oxygen source and is led to an oxygen mask in the box body through a metal air duct externally added with a heat insulating material, wherein the middle of the air duct is provided with an electromagnetic valve for controlling the opening and closing of oxygen, and the box body is internally provided with a one-way valve; the cover of the bottom box is of a detachable structure; the front half part of the cover of the bottom box is a turnover cover plate, and the front end of the turnover cover plate is connected with the bottom box through a door nose;

the protective cover layer is composed of zirconium-containing ceramic fiber heat insulation cotton and a high-reflection metal foil, the zirconium-containing ceramic fiber heat insulation cotton is wrapped by the high-reflection metal foil to prevent fire and insulate heat, and the crawler belts, the protective cover layer and the first composite interlayer on two sides of the bottom box protect the bottom box;

the robot is characterized in that metal wheels are arranged at the bottom of the supporting frame, the supporting frame is fixedly connected with two ends of a steel cable, the steel cable is pulled by a winch through a fixed pulley, the supporting frame, the steel cable and the winch form a closed loop and are used for pulling the supporting frame to rotate and automatically retract, the supporting frame is put down at an inflection point where the robot crosses and mutates with a plane through a stair slope, the maximum angle of the put-down robot is limited by a hinged limiting pull rod, and the supporting frame supports the crawler chassis.

3. The indoor fire fighting robot based on the box body as claimed in claim 1, wherein the box body and the box door are made of aluminum alloy as a main material, an aluminum alloy truss is used as a box body framework, and a second composite interlayer is used as protection to form a closed space; the second composite interlayer sequentially comprises the following structural components from outside to inside: the second composite interlayer is used for increasing the structural strength and the heat insulation performance;

the caterpillar track apron board is made of a stainless steel thin plate and is used for preventing hot waves from impacting the bottom box;

the posture prompt map is used for prompting a trapped person drilling into the box body to adopt a crouching and lying posture;

the rear parts of the box door and the box body main body are in a sharp triangle shape, and the box door is hinged with the box body through a hinge; the door opening and closing mechanism takes an electric push rod as power, the electric push rod makes telescopic motion to drive a rocker in the crank rocker mechanism to make swinging motion, and a box door serving as a crank is pulled by a connecting rod to make rotary motion; the door locking mechanism comprises a lock head and a lock hole, the lock head is arranged at the front position of the inner side wall of the box body, and a wedge-shaped lock rod on the lock head can automatically stretch out and draw back;

the body of the supporting plate is made of aluminum alloy materials, the rubber and plastic heat-preservation cushion is adhered to the upper surface of the supporting plate, a rescued person crouches on the supporting plate, and the rescued person can be quickly moved out of the box body through the supporting plate after being rescued out of a fire scene by the robot;

the dry powder fire extinguisher is connected with a dry powder electromagnetic valve through a metal corrugated pipe, the dry powder electromagnetic valve is used as an open pipe to control whether dry powder is sprayed or not, the dry powder electromagnetic valve is connected with a dry powder spray head at the top of the robot through the metal corrugated pipe, and the dry powder spray head has two degrees of freedom and can rotate on a horizontal plane and a vertical plane;

the utility model discloses a camera protection device, including the camera protection casing, the camera protection casing is provided with the camera protection casing, the camera protection casing is equipped with the camera protection casing, the camera protection casing passes through the protection casing base and fixes with the box top, including the metal cage, the toughened glass intermediate layer, intermediate layer leads to water to constitute the protection water layer in the middle of two-layer toughened glass, water flows in from the intermediate layer bottom and flows out from the top, set up the combination camera that comprises visible light camera and infrared camera in the camera protection casing, combination camera bottom in the camera protection casing is provided with the LED light and provides the illumination.

4. The indoor fire rescue and fire control robot based on the box body as claimed in claim 1, wherein the suspension and the box body are in a four-point hinge mode for quick disassembly of the box body so as to quickly replace batteries in a crawler chassis or debug control elements in the crawler chassis, and four-point damping is realized by the two groups of spring dampers and the two groups of plate spring dampers for ensuring the stability of the box body in operation; in the electric hydraulic push rod, a hydraulic pump is driven by a motor, the hydraulic pump is matched with a gyroscope inclination angle sensor, an electromagnetic directional valve is used for controlling the extension and contraction of the push rod, an electric throttle valve is used for adjusting the extension speed, the extension of the push rod drives a box body to rotate around a hinged point on a spring shock absorber, and the box body is matched with the gyroscope for measuring the inclination angle and performing feedback control on a single chip microcomputer, so that the person in the box body can be kept horizontal all the time in the process of going upstairs and downstairs of the robot.

5. The box-based indoor fire fighting robot of claim 1, wherein the automatic water pipe reel is located at the top of the box, the automatic water pipe reel comprising: the automatic water pipe winding device comprises a winding drum framework, a universal joint, a winding drum rotating mechanism, a winding drum retainer, a water pipe tight-arranging mechanism, a pipe pulling mechanism and an automatic spraying nozzle, wherein the automatic water pipe winding drum is used for winding a water pipe; the winding drum framework is wound by a water pipe, one end of the water pipe penetrates through the universal joint connected to the top of the winding drum framework from a winding drum hollow shaft of the winding drum framework, one end of the universal joint is fixed with the winding drum hollow shaft, the other end of the universal joint is connected with the output pipe, and two end parts of the universal joint can rotate relatively;

the winding drum rotating mechanism comprises a thrust bearing, a ball bearing, a winding drum gear and a winding drum motor, wherein the thrust bearing is positioned at the bottom of a winding drum framework and used for supporting a winding drum, the ball bearing is positioned at the top of the winding drum framework and used for limiting and fixing the winding drum, one of a pair of winding drum gears is fixedly connected with a winding drum hollow shaft, the other one of the pair of winding drum gears is fixedly connected with the winding drum motor through a coupler, the winding drum motor is provided with a first composite interlayer for protection, the winding drum motor drives the winding drum framework to rotate through the meshed winding drum gear, and the winding drum motor gives inward-recovered pulling force to a water pipe when the robot retreats;

the winding drum cage is fixed with the box body through bolts and keeps a relative position relation with the winding drum framework through a bearing, the winding drum framework can rotate relative to the winding drum cage, and a stainless steel sheet is fixed on the cage to surround and protect the winding drum;

the water pipe tight-arranging mechanism is a vertical screw nut mechanism and is positioned at the edge of the winding drum framework and at the rear of the top of the box body, the screw bracket is fixed with the retainer, the nut is fixedly connected with a through pipe ring, a water pipe passes through the through pipe ring, a screw motor positioned at the top of the winding drum rotates, the screw motor is provided with a first composite interlayer protection, the through pipe ring on the nut is driven by a screw to move up and down back, and the water pipe is driven to move up and down;

the pipe pulling mechanism is positioned behind the water pipe tightening and discharging mechanism and used for providing pulling force for outwards releasing the water pipe when the robot moves forward, the pipe pulling mechanism comprises a pair of pressing wheels with thin middle parts and thick two ends, the water pipe penetrates through the middle parts of the pressing wheels and is extruded by the pressing wheels, the surfaces of the pressing wheels are rough, the water pipe is pulled by friction force, one end of the pipe pulling mechanism is fixedly connected with a pair of meshed pipe pulling gears, the pressing wheels and the pipe pulling gears are both erected on a pipe pulling frame, a pipe pulling motor is provided with a first composite interlayer protection and is fixedly connected with one gear, and the pipe pulling gears drive the pair of pressing wheels to rotate relatively, so that the water pipe is pulled to move outwards;

the self-spraying nozzle is positioned at the top of the water pipe winding drum and is fixed with the winding drum retainer, the self-spraying nozzle is made of hard metal materials, the top of the self-spraying nozzle is sharp, water sprayed out of the self-spraying nozzle can be uniformly sprayed to the top of the robot, and the robot is cooled again along the side wall by flowing downwards from top to bottom.

6. The indoor fire fighting robot based on the box body as claimed in claim 1, wherein the water pipe includes a fire fighting hose as a front water pipe and a semi-hard stainless steel woven pipe, the fire fighting hose is completely released before entering a fire scene, the fire fighting hose can be folded, the working distance can be greatly increased, the stainless steel woven pipe as a rear water pipe is provided with an outer layer of a stainless steel wire woven net and an inner layer of a high temperature resistant rubber pipe, the stainless steel woven pipe has the characteristics of high temperature resistance, semi-hard property and high strength, the stainless steel woven pipe is wound on a water pipe reel and cannot be flattened, and after the fire scene is released, objects generally fall and cannot be flattened, and smooth water outlet can be ensured constantly.

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