CN218961642U - Fire-fighting robot capable of climbing and surmounting obstacle - Google Patents

Abstract

The utility model discloses a fire-fighting robot capable of climbing a slope and surmounting an obstacle, which comprises a machine shell and an obstacle surmounting unit; a casing: be equipped with the spray pipe in the installation mouth that its upper surface middle part set up, the water inlet of spray pipe runs through the rear surface of casing and extends to outside, the bellows delivery port department that the spray pipe upper end set up is equipped with the nozzle, the left and right sides surface rear end of casing all rotates through the bearing and is connected with the drive wheel, the left and right sides surface front end of casing all rotates through the bearing and is connected with a rotation section of thick bamboo, the outer cambered surface outside end of a rotation section of thick bamboo all is equipped with the front pulley, the left and right sides surface lower extreme of casing all is equipped with longitudinal evenly distributed's first mounting panel, the surface lower extreme of first mounting panel all is connected with the support walking wheel through the bearing rotation, the inner chamber rear end of casing is equipped with transverse symmetric distribution's motor one through the mount pad, this can climb the fire control robot that the obstacle crossing, make the climbing of robot and obstacle crossing ability improve greatly, reduce fire control robot to the dependence of motor quantity.

Description

Fire-fighting robot capable of climbing and surmounting obstacle

Technical Field

The utility model relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot capable of climbing a slope and surmounting an obstacle.

Background

Along with the rapid development of society and economy, the special production of buildings and enterprises causes the leakage of chemical dangerous goods and radioactive substances and the increase of accident hidden dangers of burning, explosion and collapse, the probability of accident occurrence is correspondingly increased, once disaster accidents occur, fire fighters can not only finish tasks but also increase casualties when facing high temperature, darkness, toxicity, dense smoke and other harmful environments without corresponding equipment rushing into the scene, and the fire fighter robot can replace firefighters to approach to fire sites as special fire fighter equipment to implement effective fire fighting rescue, chemical inspection, fire scene investigation and other operations, thereby playing an important role in reducing national property loss and casualties of fire fighter rescue personnel, however, the situation of disaster accident scene is complex, the fire fighter robot can possibly touch road barriers or places with raised ground during walking, if the fire-fighting robot chooses to travel around, time is wasted, the progress of fire rescue is affected, in order to meet the traveling requirement of complex road conditions, the existing fire-fighting robot usually uses a crawler traveling mechanism to correspond to some smaller obstacles, when encountering large obstacles, the fire-fighting robot is lifted up in sequence through a connecting rod by a motor or an electric push rod which are arranged at four corners, so that the fire-fighting robot passes over the larger obstacle, but in the mode, the cost is high, a plurality of groups of motors and the electric push rod are needed to cooperate to climb a slope and surmount the obstacle, the quantity of driving structures is dependent, and the fire-fighting robot is heavy due to excessive driving structure, so that the flexibility in the working process is affected.

Disclosure of Invention

The utility model aims to overcome the existing defects, and provides the fire-fighting robot capable of climbing and surmounting the obstacle, so that the climbing and obstacle surmounting capabilities of the robot are greatly improved, the fire-fighting robot can be driven to climb and surmounting the obstacle by only one driving structure, the dependence of the fire-fighting robot on the number of motors is reduced, and the problems in the background art can be effectively solved.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a fire-fighting robot capable of climbing a slope to surmount an obstacle comprises a machine shell and an obstacle surmounting unit;

a casing: a water spray pipe is arranged in a mounting port arranged in the middle of the upper surface of the machine shell, a water inlet of the water spray pipe penetrates through the rear surface of the machine shell and extends to the outside, a nozzle is arranged at a water outlet of a corrugated pipe arranged at the upper end of the water spray pipe, the rear ends of the left and right surfaces of the machine shell are all rotationally connected with driving wheels through bearings, the front ends of the left and right surfaces of the machine shell are all rotationally connected with rotating cylinders through bearings, front guide wheels are arranged at the outer side ends of the outer cambered surfaces of the rotating cylinders, first mounting plates which are longitudinally and uniformly distributed are arranged at the lower ends of the left and right surfaces of the machine shell, supporting travelling wheels are rotationally connected with the lower ends of the outer surfaces of the first mounting plates through bearings, a first motor which is transversely and symmetrically distributed is arranged at the rear end of an inner cavity of the machine shell, an output shaft of the first motor is fixedly connected with the inner side end of a corresponding driving wheel respectively, and driving wheels in the same vertical plane, the front guide wheels and the supporting travelling wheels are all in transmission connection through a crawler;

obstacle surmounting unit: the device comprises second mounting plates, rotating rods and assembly plates, wherein the second mounting plates are transversely and symmetrically arranged at the front end of an inner cavity of a shell, the rotating rods are connected between the two second mounting plates through bearings in a rotating mode, the left end and the right end of each rotating rod respectively penetrate through the middle of a rotating cylinder and extend to the outside, and the assembly plates are arranged at the left end and the right end of an extrados surface of each rotating rod;

wherein: still include the PLC controller, the PLC controller sets up in the diapire front end of casing, and the external power source is connected to the input electricity of PLC controller, and the output of PLC controller is connected to the input electricity of motor one for climbing and obstacle crossing ability of robot improves greatly, just can drive fire-fighting robot through a drive structure moreover and climb and obstacle crossing, reduces fire-fighting robot to the dependence of motor quantity.

Further, obstacle crossing unit still includes action wheel and follow driving wheel, the action wheel sets up in the outer end of the extrados of rotating the section of thick bamboo respectively, and the medial surface upper end of assembly plate all rotates through the pivot and is connected with from the driving wheel, lies in the same vertical in-plane follow driving wheel and action wheel and all pass through track two transmission connection, has reached quick driven purpose.

Further, obstacle crossing unit still includes worm wheel, motor two and worm, the worm wheel sets up in the extrados middle part of dwang, and the diapire front end of casing is equipped with motor two through the mount pad, and motor two's output shaft front end is equipped with the worm, and the worm is connected with the worm wheel meshing, and the output of PLC controller has been played high-efficient driven purpose to motor two's input electricity.

Further, the front end of the upper surface of the shell is provided with a camera, and the camera is electrically connected with the PLC in a bidirectional mode, so that workers can observe the live environment around the fire-fighting robot in real time.

Further, the outer cambered surface lower extreme of nozzle is equipped with the connecting seat, and the upper surface front end of casing is equipped with electric putter, and electric putter's flexible end is connected through the inner chamber rotation of pivot and connecting seat, and PLC controller's output is connected to electric putter's input electricity, has increased the accurate degree of putting out a fire.

Further, the rear end of the bottom wall surface of the shell is provided with a wireless data transmitter, and the wireless data transmitter is in bidirectional electric connection with the PLC controller to play a role in wireless communication.

Furthermore, the shell is an aluminum shell, and the self weight is reduced when the protection capability is provided.

Compared with the prior art, the utility model has the beneficial effects that: the fire-fighting robot capable of climbing and surmounting the obstacle has the following advantages:

the fire-fighting robot utilizes the camera to shoot the fire situation in real time after entering the scene of fire and simultaneously transmits shot data to the PLC controller, then the PLC controller is integrated with data processing and then transmits the shot data to the background through the transmitting end of the wireless data transmitter, the front end of the fire-fighting robot is conveniently observed in real time, in the advancing process of the fire-fighting robot, if meeting a slope or an obstacle, the fire fighter sends out an operation instruction through wireless communication established by the remote controller and the wireless data transmitter, the PLC controller can regulate and control the operation of the motor II after receiving the operation instruction, the motor II output shaft rotates to drive the worm to synchronously rotate, the worm then drives the rotating rod, the assembly plate and the driven wheel to synchronously swing through the worm wheel which is meshed with the worm, the worm can be contacted with the obstacle in the swinging process of the track II and then is propped against the obstacle, so that the front end of the fire-fighting robot is lifted, and the driving wheel is synchronously rotated while the front guide wheel is rotated, and the driving wheel is synchronously rotated through the track II, so that the front end of the fire-fighting robot is lifted up while providing forward power to cross the obstacle, and the motor II can greatly drive the fire-fighting robot to climb the obstacle through the climbing robot.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of the obstacle surmounting unit according to the present utility model;

FIG. 3 is a schematic plan sectional view of the present utility model;

fig. 4 is an enlarged schematic view of the structure of the present utility model at a.

In the figure: 1 casing, 2 spray pipes, 3 drive wheels, 4 rotating cylinders, 5 front guide wheels, 6 first mounting plates, 7 supporting travelling wheels, 8 motor I, 9 obstacle crossing units, 91 second mounting plates, 92 rotating rods, 93 mounting plates, 94 driving wheels, 95 driven wheels, 96 worm wheels, 97 motor II, 98 worms, 10 cameras, 11 nozzles, 12 connecting seats, 13 electric push rods, 14 wireless data transmitters and 15PLC controllers.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the present embodiment provides a technical solution: a fire-fighting robot capable of climbing a slope to surmount an obstacle comprises a machine shell 1 and an obstacle surmounting unit 9;

the casing 1: the shell 1 provides a mounting supporting place for the accessory mechanism unit, a water spraying pipe 2 is arranged in a mounting port arranged in the middle of the upper surface of the shell, a water inlet of the water spraying pipe 2 penetrates through the rear surface of the shell 1 and extends to the outside, a nozzle 11 is arranged at a water outlet of the corrugated pipe arranged at the upper end of the water spraying pipe 2, the nozzle 11 plays a role in spraying water, the rear ends of the left and right surfaces of the shell 1 are respectively connected with a driving wheel 3 through bearing rotation, the front ends of the left and right surfaces of the shell 1 are respectively connected with a rotating cylinder 4 through bearing rotation, front guide wheels 5 are respectively arranged at the outer end of the extrados surface of the rotating cylinder 4, first mounting plates 6 which are longitudinally and uniformly distributed are respectively arranged at the lower ends of the left and right surfaces of the shell 1, supporting travelling wheels 7 are respectively connected with the lower ends of the outer surfaces of the first mounting plates 6 through bearing rotation, the supporting travelling wheels 7 play a role in supporting the travelling wheels 7 and the accessory mechanism thereof, the rear end of the inner cavity of the casing 1 is provided with a motor I8 which is transversely and symmetrically distributed through a mounting seat, an output shaft of the motor I8 is fixedly connected with the inner side end of a corresponding driving wheel 3 respectively, the driving wheel 3, a front guide wheel 5 and a supporting travelling wheel 7 in the same vertical plane are all in transmission connection through a crawler I, a firefighter firstly conveys the firefighting robot to a fire scene, then a system of the firefighting robot is deployed in a safety area of the fire scene, a water outlet pipe on the firefighting truck is communicated with a water inlet of a water spraying pipe 2, then a worker regulates and controls the motor I8 through a remote controller to operate simultaneously, the output shaft of the motor I8 rotates to drive the driving wheel 3 to synchronously rotate, and the driving wheel 3 rotates to drive the corresponding front guide wheel 5 and the supporting travelling wheel 7 through the crawler I to synchronously rotate, so that the firefighting robot moves;

obstacle surmounting unit 9: the fire-fighting device comprises second mounting plates 91, rotating rods 92 and assembling plates 93, wherein the second mounting plates 91 are transversely and symmetrically arranged at the front end of an inner cavity of a machine shell 1, the rotating rods 92 are rotatably connected between the two second mounting plates 91 through bearings, the left end and the right end of each rotating rod 92 respectively penetrate through the middle of a rotating cylinder 4 and extend to the outside, the assembling plates 93 are arranged at the left end and the right end of the outer cambered surface of each rotating rod 92, the obstacle crossing unit 9 further comprises a driving wheel 94 and a driven wheel 95, the driving wheel 94 is respectively arranged at the outer end of the outer cambered surface of each rotating cylinder 4, the upper ends of the inner side surfaces of the assembling plates 93 are rotatably connected with driven wheels 95 through rotating shafts, the driven wheels 95 and the driving wheels 94 positioned in the same vertical plane are rotatably connected with the driving wheels 94 through a second crawler belt, the worm wheel 96 is arranged at the middle of the outer cambered surface of each rotating rod 92, the front end of the bottom wall of the machine shell 1 is provided with a second motor 97 through an assembling seat, the front end of the output shaft of the second motor 97 is provided with the worm 98, the worm 98 is meshed with the worm 98, the input end of the second motor 97 is electrically connected with the output end of a PLC 15, in the process of the robot running, the driving wheel 94 is driven wheel 95 is in the process of the driving wheel, the driving wheel 95 is rotatably, the second crawler 95 is rotatably contacts with the second crawler 95 through the second crawler 95 when the second crawler 95 is in the same vertical plane, and the front of the second crawler 95 is in the process of the same plane, the front of the crawler 95 is synchronously and the front of the crawler 95 is synchronously driven to the fire-fighting device is synchronously and rotatably and contacted with the second crawler 95 in the front of the front controller through the crawler 95 through the second crawler 95 and the front controller through the second crawler 98 and the front controller. The front end of the fire-fighting robot is lifted and simultaneously provides forward power to cross the obstacle, so that the climbing and obstacle crossing capabilities of the robot are greatly improved, the fire-fighting robot can be driven to climb and surmount the obstacle through only one driving structure, and the dependence of the fire-fighting robot on the number of motors is reduced;

wherein: the intelligent electric motor also comprises a PLC (programmable logic controller) 15, wherein the PLC 15 is arranged at the front end of the bottom wall of the shell 1, the input end of the PLC 15 is electrically connected with an external power supply, the input end of the motor I8 is electrically connected with the output end of the PLC 15, and the operation of each electric element is regulated and controlled.

Wherein: the front end of the upper surface of the casing 1 is provided with a camera 10, the camera 10 is electrically connected with a PLC (programmable logic controller) 15 in a bidirectional manner, after entering a fire scene, a fire-fighting robot shoots a fire situation in real time by using the camera 10 and transmits shot data to the PLC 15 at the same time, and then the PLC 15 integrates data processing and then transmits the integrated data to the background through the transmitting end of a wireless data transmitter 14, so that a worker can observe the live environment around the fire-fighting robot in real time.

Wherein: the outer cambered surface lower extreme of nozzle 11 is equipped with connecting seat 12, the upper surface front end of casing 1 is equipped with electric putter 13, electric putter 13's flexible end rotates through the inner chamber of pivot and connecting seat 12 and is connected, PLC controller 15's output is connected to electric putter 13's input electricity, when needs adjust the water spray angle, the fire fighter sends operating command through the wireless communication that remote controller and wireless data transmitter 14 establish, PLC controller 15 receives the operating command after can regulating and controlling electric putter 13 function, electric putter 13 flexible end is flexible drives nozzle 11 and plants first or perk, thereby the accurate degree of putting out a fire has been increased.

Wherein: the rear end of the bottom wall surface of the casing 1 is provided with a wireless data transmitter 14, the wireless data transmitter 14 is electrically connected with a PLC (programmable logic controller) 15 in a two-way, a worker establishes wireless communication with the wireless data transmitter 14 through a remote controller, after the preparation work is finished, a fire fighter opens the remote controller to send an operation instruction, and the wireless data transmitter 14 receives the operation instruction sent by the remote controller and synchronizes the operation instruction to the PLC 15 in real time, so that the wireless communication function is realized.

Wherein: the casing 1 is made of aluminum and reduces its weight when providing protection.

The utility model provides a fire-fighting robot capable of climbing a slope and surmounting an obstacle, which has the following working principle: firstly, a fire fighter transports a fire fighter robot to a fire scene, then deploys a system of the fire fighter robot in a safety zone of the fire scene, a water outlet pipe on the fire fighter is communicated with a water inlet of a water spray pipe 2, then a worker establishes wireless communication with a wireless data transmitter 14 through a remote controller, after the preparation work is finished, the fire fighter opens the remote controller to send an operation command, the wireless data transmitter 14 receives the operation command sent by the remote controller and synchronously sends the operation command to a PLC (programmable logic controller) 15 in real time, the PLC 15 regulates and controls a motor I8 to operate simultaneously after receiving the operation command, an output shaft of the motor I8 rotates to drive a driving wheel 3 to synchronously rotate, the driving wheel 3 rotates to synchronously rotate through a corresponding front guide wheel 5 and a supporting travelling wheel 7 driven by a crawler I, so that the fire fighter moves, the fire-fighting robot utilizes the camera 10 to pick up the fire situation in real time after entering the fire scene and simultaneously transmits the shot data to the PLC 15, then the PLC 15 integrates the data processing and transmits the data to the background through the transmitting end of the wireless data transmitter 14, so that workers can conveniently observe the live environment around the fire-fighting robot in real time, when the fire-fighting robot runs, if the fire-fighting robot encounters a slope or an obstacle, the fire fighter can send out an operation command through the wireless communication established by the remote controller and the wireless data transmitter 14, the PLC 15 can regulate the operation of the motor II 97 after receiving the operation command, the output shaft of the motor II 97 rotates to drive the worm 98 to synchronously rotate, the worm 98 drives the rotating rod 92, the assembly plate 93 and the driven wheel 95 to synchronously swing through the worm gear 96 which is in meshed connection with the worm 98, the worm can contact with the obstacle in the swinging process of the track II and can be propped against the obstacle after contacting, the front end of the fire-fighting robot is lifted up, the front guide wheel 5 drives the driving wheel 94 to synchronously rotate while rotating, the driving wheel 94 drives the driven wheel 95 to synchronously rotate through the second crawler belt, so that forward power is provided while the front end of the fire-fighting robot is lifted up, the front end of the fire-fighting robot passes over obstacles, climbing and obstacle crossing capabilities of the robot are greatly improved, the fire-fighting robot can be driven to climb and cross obstacles only through one driving structure, dependence of the fire-fighting robot on the number of motors is reduced, after the fire-fighting robot moves to a fire low point, a fire fighter opens a valve of the fire-fighting truck, high-pressure water is sprayed out through a fire-fighting water pipe and a water spraying pipe 2, finally, when a water spraying angle needs to be regulated, the fire fighter sends out an operation command through wireless communication established by a remote controller and a wireless data transmitter 14, the PLC controller 15 can regulate and control the operation of the electric push rod 13, and the telescopic end of the electric push rod 13 drives the nozzle 11 to carry out head planting or lift up, and further the accurate degree of fire extinguishment is increased.

It should be noted that, in the above embodiment, the core chip of the PLC controller 15 is selected from a PLC single chip microcomputer, the specific model is S7-200, the first motor 8, the second motor 97, the camera 10, the electric putter 13 and the wireless data transmitter 14 can be freely configured according to the practical application scenario, the first motor 8 and the second motor 97 can be motors with the model 130M-09520C5-E, the camera 10 can be a camera with the model GTN-D50C, the electric putter 13 can be an electric putter with the model JC35N8, the wireless data transmitter 14 can be a wireless transmitter with the model SeDTU300, and the PLC controller 15 controls the operation of the first motor 8, the second motor 97, the camera 10, the electric putter 13 and the wireless data transmitter 14 by methods commonly used in the prior art.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.

Claims (7)

1. Fire-fighting robot that can climb the slope and surmount the obstacle, its characterized in that: comprises a shell (1) and a obstacle surmounting unit (9);

casing (1): a water spray pipe (2) is arranged in a mounting port arranged in the middle of the upper surface of the water spray pipe (2), a water inlet of the water spray pipe (2) penetrates through the rear surface of the casing (1) and extends to the outside, a nozzle (11) is arranged at a water outlet of the corrugated pipe arranged at the upper end of the water spray pipe (2), the rear ends of the left and right surfaces of the casing (1) are respectively connected with a driving wheel (3) through bearing rotation, the front ends of the left and right surfaces of the casing (1) are respectively connected with a rotating cylinder (4) through bearing rotation, the outer side ends of the outer cambered surfaces of the rotating cylinders (4) are respectively provided with a front guide wheel (5), the lower ends of the left and right surfaces of the casing (1) are respectively provided with a first mounting plate (6) which is uniformly distributed longitudinally, the lower ends of the outer surfaces of the first mounting plate (6) are respectively connected with a supporting travelling wheel (7) through bearing rotation, the rear ends of the inner cavities of the casing (1) are respectively provided with a motor I (8) which is symmetrically distributed transversely, and the output shafts of the motor I (8) are respectively fixedly connected with the inner side ends of the corresponding driving wheels (3) through a transmission connection;

obstacle surmounting unit (9): the device comprises second mounting plates (91), rotating rods (92) and assembly plates (93), wherein the second mounting plates (91) are transversely and symmetrically arranged at the front end of an inner cavity of a machine shell (1), the rotating rods (92) are rotatably connected between the two second mounting plates (91) through bearings, the left end and the right end of each rotating rod (92) respectively penetrate through the middle part of a rotating cylinder (4) and extend to the outside, and the assembly plates (93) are arranged at the left end and the right end of an extrados surface of each rotating rod (92);

wherein: the motor is characterized by further comprising a PLC (programmable logic controller) 15, wherein the PLC 15 is arranged at the front end of the bottom wall of the casing 1, the input end of the PLC 15 is electrically connected with an external power supply, and the input end of the motor I8 is electrically connected with the output end of the PLC 15.

2. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the obstacle crossing unit (9) further comprises a driving wheel (94) and a driven wheel (95), the driving wheel (94) is respectively arranged at the outer end of the outer cambered surface of the rotating cylinder (4), the upper end of the inner side face of the assembly plate (93) is rotationally connected with the driven wheel (95) through a rotating shaft, and the driven wheel (95) and the driving wheel (94) which are positioned in the same vertical plane are in transmission connection through a second crawler belt.

3. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the obstacle crossing unit (9) further comprises a worm wheel (96), a second motor (97) and a worm (98), the worm wheel (96) is arranged in the middle of the extrados surface of the rotating rod (92), the second motor (97) is arranged at the front end of the bottom wall of the casing (1) through an assembly seat, the worm (98) is arranged at the front end of the output shaft of the second motor (97), the worm (98) is meshed with the worm wheel (96), and the input end of the second motor (97) is electrically connected with the output end of the PLC (15).

4. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the front end of the upper surface of the shell (1) is provided with a camera (10), and the camera (10) is electrically connected with a PLC (programmable logic controller) 15 in a bidirectional manner.

5. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the outer cambered surface lower extreme of nozzle (11) is equipped with connecting seat (12), and the upper surface front end of casing (1) is equipped with electric putter (13), and the flexible end of electric putter (13) is rotated through the inner chamber of pivot and connecting seat (12) and is connected, and the output of PLC controller (15) is connected to the input electricity of electric putter (13).

6. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the rear end of the bottom wall surface of the shell (1) is provided with a wireless data transmitter (14), and the wireless data transmitter (14) is electrically connected with a PLC (programmable logic controller) 15 in a bidirectional manner.

7. The fire-fighting robot capable of climbing up a slope and surmounting an obstacle according to claim 1, wherein: the shell (1) is an aluminum shell.

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