CN2841275Y - Auti-bursting device of fire-fighting inspection robot - Google Patents
Auti-bursting device of fire-fighting inspection robot Download PDFInfo
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- CN2841275Y CN2841275Y CN 200520045965 CN200520045965U CN2841275Y CN 2841275 Y CN2841275 Y CN 2841275Y CN 200520045965 CN200520045965 CN 200520045965 CN 200520045965 U CN200520045965 U CN 200520045965U CN 2841275 Y CN2841275 Y CN 2841275Y
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Abstract
The utility model belongs to the field of a fire-fighting inspection robot, and particularly relates to an anti-bursting device for a fire-fighting inspection robot. The utility model is composed of a movable carrier, a casing, a positive pressure anti-bursting control device and an anti-bursting component, wherein the casing is positioned on the upper part of the movable carrier; the end surfaces of the movable carrier are provided with grooves for placing sealing rubber strips, and sealing performance between two end surfaces is improved; sealing space is formed between the casing and the movable carrier; the positive pressure anti-bursting control device is composed of a proportional valve and a gas bottle which are respectively fixed on the upper part of the casing; the side surface of the casing is provided with an observation window of a swing rod camera, the front surface of the casing is provided with an observation window of a main camera and the main camera is positioned in the casing. The anti-bursting component is fixed on the upper part of the casing; the outer surface of the casing is provided with an emulator interface and a charging interface, and the interfaces are sealed by panels; the outer surface of the casing is also provided with an antenna and an electric wire outgoing line. The utility model realizes the anti-bursting problem of a robot, and efficiently solves the problems of personal safety, inspection time limitation, insufficient datum collection, impossibility of real-time information feedback, etc. which are met by firefighters in disaster places.
Description
Technical field
The utility model belongs to the fire-fighting reconnoitre robot field, is specifically related to a kind of explosion-protection equipment of fire-fighting reconnoitre robot.
Background technology
In recent years, the inflammable and explosive and hypertoxic chemicals that relates in China's industrial production, the storage and transport process increases sharply, because aspects such as equipment and management cause the accident potential of leakage of Hazardous Chemical Substances and radioactive substance and burning, blast more and more.Not carried out taking action blindly under the situation of abundant detection and analysis in the scene, not only can not achieve the desired result, and tend to cause the sacrifice of innocent life, pay heavy cost.Robot can substitute fire-fighting and rescue personnel remote control and enter inflammable, explosive, poisonous, harmful, the easy indoor and outdoor hazards scenes such as building, bulk storage plant stacking, anoxic, dense smoke, radioactivity that cave in, carry out the scene and survey, scout, and can carry out the instant processing and the real-time Transmission of Information Monitoring (image, voice, data).Solve personal safety that the fire fighter faced in above-mentioned place, restriction reconnaissance time, data acquisition quantity not sufficient and problem such as feedback information in real time effectively.Be starved of such fire-fighting robot at present, but domestic also there is not this series products.
Summary of the invention
The purpose of this utility model provide a kind of simple in structure, cost is not high, the explosion-protection equipment of fire-fighting reconnoitre robot safely and effectively.
The fire-fighting reconnoitre robot explosion-protection equipment that the utility model proposes, form by mobile vehicle 1, housing 2, positive-pressure explosion-proof control device 3, explosion-proof parts 4, wherein, housing 2 is made up of taper type structure and rectangular structure two parts, housing 2 rectangular structure are positioned at mobile vehicle 1 top, and mobile vehicle 1 top is provided with groove 12, and rubber strip 8 is positioned at groove 12, housing 2 and mobile vehicle 1 make 1 of housing 2 and mobile vehicle form seal cavity by bolting; Positive-pressure explosion-proof control device 3 is made up of proportioning valve 5 and gas cylinder 6, and proportioning valve 5 and gas cylinder 6 are fixed in housing 2 rectangular structure tops; The side of the taper type structure of housing 2 is provided with fork camera observation window 13, and fork is observed camera 14 and is positioned at fork camera observation window 13, and is fixed in the housing 2; The front of housing 2 is provided with the place ahead movable observing window 7, and main camera 18 is positioned at the place ahead movable observing window 7, and is fixed in the housing 2; Explosion-proof parts 4 are by the top of bolting in housing 2 taper type structures; Housing 2 outer surfaces are provided with panel 15, are provided with charging connector, emulator joint in the panel 15; Housing 2 is provided with antenna, electric wire leading-out wire, and electric wire, antenna are positioned at explosion-proof every cable end 16.
In the utility model, fork camera observation window 13 and the place ahead movable observing window 7 are formed by glass 17, rubber press 9, pressing plate 10, glass 17 is positioned at the inside of housing 2, rubber press 9 be positioned at glass 17 around, pressing plate 10 is positioned on the rubber press 9, compress by pressing plate 10, pressing plate 10 is fixed on the housing 2 by nut 11.
In the utility model, mobile vehicle is an articulated type four-wheel mobile vehicle, form by escapement 101, fork 102, wheel 103, car body 104, each is a pair of in wheel 103 front and back, lay respectively at car body 104 both sides, two escapements 101 are positioned at the outside of two wheels 103, and 103 of escapement 101 and wheels are connected by fork 102.
In the utility model, explosion-proof parts 4 adopt anti-explosion product commonly used at present, as explosion-proof ultrasonic sensor, explosion-proof camera, explosion-proof toxic and harmful survey meter etc.
In the utility model, in order to guarantee that the seal cavity that mobile vehicle and housing are formed has better sealing effectiveness between the two, be provided with the groove of placing rubber strip at the mobile vehicle place, when housing contacted with the mobile vehicle end face, the cross section of rubber strip was subjected to 15%～30% compression.After being subjected to pressure medium, rubber strip moves on to one side of groove, has sealed the gap that needs sealing, has reached sealing purpose.
In the utility model, employed main camera, thermal radiation sensor, temperature sensor are not explosion-proof parts, therefore can only all be installed in the housing of fire-fighting reconnoitre robot, fork on the mobile vehicle can rotate by the fixed rotating shaft on car body, be mainly the obstacle detouring function that solves robot, when stair climbing or across obstacle, rotate by the turning cylinder of the driven by motor fork in the car body around car body, realize certain attitude, to finish the function of stair climbing better.Though the angle that fork rotates can be controlled by potentiometer, but still needs camera to observe.Camera of the present utility model has 4, one of them is explosion-proof camera, be respectively applied for and observe fork and ambient environmental conditions, collect the data at disaster scene, in order to realize the explosion prevention function of main camera and 2 fork observation cameras, therefore need that main camera and 2 forks are observed cameras and be positioned at observation window, the employed glass of observation window adopts bulletproof glass, the situation that the higher environment of temperature that uses for robot can be not chipping yet.Glass is fixed on the inside of housing, rubber press be fixed on glass around, guaranteed that the gap between glass and the housing is filled, pressing plate is pressed on the rubber press simultaneously, use bolting around the pressing plate, these bolts are welded on the housing, compress in the time of by rubber press and pressing plate, have guaranteed the good seal at glass place substantially.
In the utility model, the energy that fire-fighting reconnoitre robot uses is battery, works as energy depletion, must charge; Also need fire-fighting reconnoitre robot is carried out the debugging of device in addition, these some all belong to normal work to do, can not all open housing at every turn, just these interfaces need be placed on the fire-fighting reconnoitre robot housing, interface uses a panel sealing, just can use these interfaces as long as at this moment open panel, reach the purpose of sealing.
In the utility model, fire-fighting reconnoitre robot need carry out communication with the rear console, and antenna must stretch out housing, in addition the explosion-proof button box on the robot body also live wire to tap in the robot body.Access place of these electric wires and antenna is for realizing sealing, and in cable end inserted robot body, explosion-proof was conventional explosive-proof sealed parts every cable end by explosion-proof.
Hazards scene such as that fire-fighting reconnoitre robot can be used in is inflammable, explosive, poisonous, harmful, easily cave in, carry out on-the-spot detection, reconnaissance mission, therefore itself must meet requirement of explosion proof, the utility model has been realized the explosion-proof problem of robot, solves simultaneously personal safety that the fire fighter faced in above-mentioned place, restriction reconnaissance time, data acquisition quantity not sufficient and problem such as feedback information in real time effectively.
Description of drawings
Fig. 1 is a Facad structure diagram of the present utility model.
Fig. 2 is a left view of the present utility model.
Fig. 3 is the structural diagrams of the utility model with the mobile vehicle end face seal.
Fig. 4 is the structural diagrams of observation window of the present utility model place sealing.
Fig. 5 is the structural diagrams of mobile vehicle of the present utility model.
Number in the figure: 1 is mobile vehicle, and 2 is housing, and 3 is the positive-pressure explosion-proof control device, and 4 is explosion-proof parts, 5 is proportioning valve, and 6 is gas cylinder, and 7 is the place ahead movable observing window, and 8 is rubber strip, 9 is rubber press, and 10 is pressing plate, and 11 is nut, and 12 is groove, 13 is fork camera observation window, and 14 is the fork camera, and 15 is panel, and 16 is explosion-proof every cable end, 17 is glass, and 18 is main camera, and 101 is escapement, 102 is fork, and 103 is wheel, and 104 is car body.
The specific embodiment
Further describe the utility model below by embodiment, but be not limited to present embodiment.
Embodiment 1, and mobile vehicle is an articulated type four-wheel mobile vehicle, mainly is made up of robot escapement 101, fork 102, wheel 103, car body 104.Each is a pair of before and after the wheel, relies on fork to be connected between front and back escapement and front and back wheel.When level walking, escapement is not in contact with the ground, when leaping over obstacles, moves by fork, makes escapement be positioned at different poses and realizes crossing over action.The diameter of escapement 101 is 215cm, and the length of fork is 420cm, and the diameter of wheel is 360cm, and the length of car body * wide * height is 860cm * 500cm * 320cm.
Positive-pressure explosion-proof control device 3 is the equipment that potential explosive mist is separated with electrical equipment.Bubbling air or inert gas in the annular seal space of being made up of housing and mobile vehicle, the pressure that makes annular seal space form malleation greater than outside atmospheric pressure, and outside explosive mist can not be entered.Positive-pressure explosion-proof control device 3 is connected to form through pipeline by proportioning valve 5 and gas cylinder 6, proportioning valve 5 and gas cylinder 6 respectively by bolting in housing 2 rectangular structure tops; The model of proportioning valve is PTB-00, and gas cylinder is the common compressed air gas cylinder of 4L.
Explosion-proof parts 4 adopt anti-explosion product commonly used at present, as explosion-proof ultrasonic sensor, explosion-proof camera, explosion-proof toxic and harmful survey meter etc.Explosion-proof ultrasonic sensor model is P42-O4N-2D-1A1-80E, and explosion-proof camera model is YHQ15 (Ex), and explosion-proof toxic and harmful survey meter model is PGM-5040.
The place ahead of the present utility model movable observing window and fork camera observation window are formed by glass 17, rubber press 9, pressing plate 10, glass 17 adopts bulletproof glass, be positioned at the inside of housing 2, rubber press 9 adopts General Purpose Rubber, be stairstepping, the one end be positioned at glass 17 around, by being bolted on the housing 2, the camera model in the observation window is YHQ15 (Ex) to the other end by pressing plate 10.
Each device is connected by mode shown in Fig. 1-4, and these those skilled in the art all can finish the enforcement of the utility model device smoothly.Housing 2 is loaded in mobile vehicle 1 top, both form a seal case, positive-pressure explosion-proof equipment 4 is positioned on the housing 2, the air pressure that positive-pressure explosion-proof equipment 4 detects in the seal case, in case the air pressure in the seal case is during less than atmospheric pressure, positive-pressure explosion-proof equipment 4 charged pressure air are realized the positive-pressure explosion-proof of seal case in seal case, simultaneously placed explosion-proof parts 5 at housing 2, whole fire-fighting reconnoitre robot realized integrated explosion proof system.
Claims (3)
1, a kind of explosion-protection equipment of fire-fighting reconnoitre robot, it is characterized in that forming by mobile vehicle (1), housing (2), positive-pressure explosion-proof control device (3), explosion-proof parts (4), it is characterized in that housing (2) is made up of taper type structure and rectangular structure two parts, housing (2) rectangular structure is positioned at mobile vehicle (1) top, mobile vehicle (1) top section is provided with groove (12), rubber strip (8) is positioned at groove (12), and housing (2) and mobile vehicle (1) are by bolting; Positive-pressure explosion-proof control device (3) is made up of proportioning valve (5) and gas cylinder (6), and proportioning valve (5) and gas cylinder (6) are fixed in housing (2) rectangular structure top; The side of the taper type structure of housing (2) is provided with fork camera observation window (13), and fork is observed camera (14) and is positioned at fork camera observation window (13), and is fixed in the housing (2); The front of housing (2) is provided with the place ahead movable observing window (7), and main camera (18) is positioned at the place ahead movable observing window (7), and is fixed in the housing (2); Explosion-proof parts (4) are by the top of bolting in housing (2) taper type structure; Housing (2) outer surface is provided with panel (15), is provided with charging connector, emulator joint in the panel (15); Housing (2) is provided with antenna, electric wire leading-out wire, and electric wire, antenna are positioned at explosion-proof every cable end (16).
2, the explosion-protection equipment of fire-fighting reconnoitre robot according to claim 1, it is characterized in that observation window is made up of glass (17), rubber press (9), pressing plate (10), glass (17) is positioned at the inside of housing (2), rubber press (9) be positioned at glass (17) around, pressing plate (10) is positioned on the rubber press (9), and pressing plate (10) is fixed on the housing (2) by nut (11).
3, the explosion-protection equipment of fire-fighting reconnoitre robot according to claim 1, it is characterized in that mobile vehicle is an articulated type four-wheel mobile vehicle, form by escapement (101), fork (102), wheel (103), car body (104), each is a pair of before and after the wheel (103), lay respectively at car body (104) both sides, two escapements (101) are positioned at the outside of two wheels (103), are connected by fork (102) between escapement (101) and wheel (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520045965 CN2841275Y (en) | 2005-10-27 | 2005-10-27 | Auti-bursting device of fire-fighting inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520045965 CN2841275Y (en) | 2005-10-27 | 2005-10-27 | Auti-bursting device of fire-fighting inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN2841275Y true CN2841275Y (en) | 2006-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520045965 Expired - Fee Related CN2841275Y (en) | 2005-10-27 | 2005-10-27 | Auti-bursting device of fire-fighting inspection robot |
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| CN (1) | CN2841275Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694412A (en) * | 2011-05-16 | 2012-09-26 | 黄绍红 | Intelligent-simulation-type IPQC (in-process quality control) electric control (power distribution) cabinet |
| CN104690731A (en) * | 2015-02-06 | 2015-06-10 | 中国人民解放军63908部队 | Control system for explosive-removing robot |
| CN116968053A (en) * | 2023-09-07 | 2023-10-31 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
-
2005
- 2005-10-27 CN CN 200520045965 patent/CN2841275Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694412A (en) * | 2011-05-16 | 2012-09-26 | 黄绍红 | Intelligent-simulation-type IPQC (in-process quality control) electric control (power distribution) cabinet |
| CN104690731A (en) * | 2015-02-06 | 2015-06-10 | 中国人民解放军63908部队 | Control system for explosive-removing robot |
| CN116968053A (en) * | 2023-09-07 | 2023-10-31 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN116968053B (en) * | 2023-09-07 | 2024-01-30 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061129 Termination date: 20141027 |
|
| EXPY | Termination of patent right or utility model |