KR20160136756A

KR20160136756A - Fire robots with high-rise buildings facades driving functions and fire-fighting water injection capabilities

Info

Publication number: KR20160136756A
Application number: KR1020150070728A
Authority: KR
Inventors: 박대경
Original assignee: 박대경
Priority date: 2015-05-21
Filing date: 2015-05-21
Publication date: 2016-11-30

Abstract

The present invention provides a high-rise building firefighting robot with an outer wall driving function, and a firefighting water spraying function which can not only suppress fire by placing the robot in a dense building area where firefighters are difficult to access during a firefighting operation; but can also travel on an outer wall of a high-rise building using an adsorption surface thereof wherein the robot has a traveling device unit to which a track system capable of protruding protection is applied, a fire suppression device capable of rotational driving, and a swivel joint to prevent a hose from twisting.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a fire-fighting robot having a high-rise building exterior wall driving function and a fire-fighting water injection function,

The present invention relates to a fire fighting robot for fire fighting, and more particularly, to a fire fighting robot for fire fighting, and more particularly, to a fire fighting robot for fire fighting, which is capable of suppressing a fire easily by putting the fire fighting robot into a high- High-rise building with swivel joint that has a fire suppression device that can be driven in the adsorption state of fire-fighting robot and has a function of outer wall driving and fire-fighting function with fire-fighting water spraying function Robot.

In the event of a fire, the hot and flammable gases usually cause significant damage, especially when high temperature flames occur and the field of view due to flame and combustion gases is limited. Firefighters use an emergency stairway to the high-rise building fire site Not only are there obstacles, but if the height of the building is high, the time available to reach the fire site is delayed and the fire may become large.

Especially, the fire point in the high position has a limitation in the maximum height of the fire escape ladder of the fire fighting vehicle, so that the fire can not be effectively suppressed in approaching the fire extinguisher.

In order to solve these problems, various fire fighting robots or fire fighting devices have been invented which can be put in place of people in a fire scene, but various fire fighting robots invented so far are not effective in suppressing fire of high-rise buildings Therefore, it is not used in the environment of big cities.

The track-type mobile robot disclosed in Japanese Patent Application No. 10-1033245 includes a body in which a driving motor is housed and side plates are provided on both sides; A ring-shaped rim having a predetermined width; a hub having a width smaller than the rim; and a plurality of spokes extending from the hub to the rim, wherein at least one of the spokes is provided on both sides of the body, A drive sprocket wheel driven and rotated by the drive motor; Wherein the driving sprocket wheel is wound on the outer circumferential surface of the driving sprocket wheel

A track driven by the track; A driving gear to which a driving driving shaft for transmitting a driving force of the driving motor to the driving sprocket wheel is accommodated, and a driving gear for driving the driving sprocket wheel by a side surface of the side plate, the driving sprocket wheel and an inner peripheral surface of a rim of the driving sprocket wheel But is different from the present invention

A radial wheel arrangement with an overturnable travelable radial wheel arrangement disclosed in Registration Practical Utility Model No. 20-0220820, a plurality of wing axles radially attached to the outer surface of the frame in a longitudinal direction, auxiliary poly and driven poly, A driving motor for driving the belt-type wheels, the driving pulley being provided for each of the wing shafts; and a driving motor for driving the driving motors, Of the belt type wheels mounted on each of the wing shafts are not able to continue to be driven by wheels grounded on the ground, but are not the fire fighting robots of the caterpillar, even if the frame is overturned.

The fire fighting fire fighting robot disclosed in Japanese Patent Application No. 10-0770655 includes a mobile platform provided with traveling equipment for supporting the device of the robot and capable of self-moving, and a robot installed at both edges of the mobile platform for smooth running, An infinite-orbit driving device for allowing the robot to easily pass through the robot, an anti-fire gun installed at the top of the mobile platform for spraying fire water at a fire point, a sensor unit for detecting a scene and securing a view, A cooling system for cooling the operation unit by supplying a compressed inert refrigerant when the temperature rises above a predetermined value, and a free system for forming a water film in order to prevent the temperature of the robot body from rising at the time of fire suppression A robot capable of traveling on the outer wall of a high-rise building with a spray nozzle No.

[0008] In order to solve the above-described problems, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a fire- High-rise building with swivel joint that has fire suppression device capable of rotation drive over 90 degrees and which has a traveling unit to which a track system capable of protruding protection is possible and which can be rotated by 90 degrees or more, To provide a robot.

The fire-fighting robot having the high-rise building outer-wall running function and the fire-fighting water spraying function of the present invention can be put in a dense building area of a high-rise building, A frame part having the same shape as the upper part and the lower part based on the center so as to be able to travel on the outer wall of the high-rise building; A traveling unit installed on both sides of the frame unit to travel the fire fighting robot; And a fire extinguishing device installed inside and outside the frame part, and the fire fighting water is drawn in and the fire is suppressed.

The traveling unit includes a main track unit that rotates and travels back and forth by receiving a rotational force; An auxiliary track part for assisting the main track part and increasing the attraction force and the traction force and for evenly distributing the center of gravity of the fire fighting robot by adjusting the angle with the attraction surface of the fire fighting robot; Two drive motors for driving the left and right main track portions and auxiliary track portions, respectively; Two main spindles for transmitting the rotational force of the driving motor to each of the main track portion and the auxiliary track portion for running; An angle adjusting motor for adjusting an angle of the auxiliary track part; And an angle adjusting shaft for adjusting the angle by transmitting the rotational force of the angle adjusting motor to the auxiliary track portion.

Wherein a worm is formed on a rotary shaft of the driving motor and the tandem adjustment motor, and a worm wheel is formed on the main shaft and the angle adjusting shaft, and the worm gear is composed of the worm and the worm wheel. And the main shaft is formed with a main shaft hole through which the angle adjusting shaft passes, thereby reducing an area of the angle adjusting shaft and preventing the angle adjusting shaft from being exposed to the inside.

Wherein the main track portion includes a caterpillar adsorption track connected to a track shoe in the form of a chain and having a vacuum adsorption plate mounted between the chains and contacting and rotating with the adsorption surface to rotate the adsorption surface in contact with the adsorption surface, A front roller that receives the rotational force of the main shaft and rotates the endless track, and a rear roller inserted in the rear roller idle shaft coupled to the frame portion to apply tension to the endless track and to freely rotate and support the endless track A plurality of lower idle rollers which are coupled to the frame and are disposed between the front roller and the rear roller and rotate freely and disperse the weight of the equipment evenly on the adsorption surface; Upper child supporting the weight of the infinite orbital absorption track Roller.

The auxiliary track part includes an auxiliary endless track adsorption track for moving the equipment by rotating the track shoe in a chain-like fashion, attaching a vacuum adsorption plate between the chains and rotating in contact with the adsorption surface; An auxiliary track rear roller inserted at an end of the main shaft to receive the rotational force of the main shaft to return the auxiliary endless track; A side frame installed on the inner side of the inner side of the auxiliary endless track adsorption track and on both sides of the auxiliary track rear roller and connected to the angle adjusting shaft to adjust the angle of the auxiliary track part by the rotational force of the angle adjusting shaft; An auxiliary track front roller installed on the roller shaft formed between the front end of the auxiliary endless track adsorption track and the side frames and provided to support the auxiliary endless track adhered track by giving tension to the auxiliary endless track adsorption track, And a plurality of auxiliary track idle rollers disposed between the auxiliary track rear roller and the auxiliary track front roller and freely rotating to evenly distribute the weight of the auxiliary track to the attraction surface.

The auxiliary track portion is a triangular track type in which the diameter of the auxiliary track front roller is smaller than the diameter of the auxiliary track rear roller in order to improve the transfer of torque and improve the movement of the auxiliary track portion.

The fire suppression device includes a fire-fighting water inlet (31) to which a fire hose is connected to supply fire fighting water from a fire truck or an outdoor fire fighting device; (32) having a waterproof nozzle (321) capable of being vertically rotated up and down by 90 or more so that the fire-fighting water can be sprayed to the upper part even when the fire-fighting robot is attracted to the adsorption surface, and water for fire fighting water is waterproofed; And a vertical rotation unit (not shown) for driving the fire-fighting water-proofing unit 32 by the electric motor 332 so as to drive the fire-fighting water- 33 and a single pipe portion 34 for connecting the water purifying water inlet portion and the vertical rotation portion.

The fire-fighting water inlet portion is supplied with water for fire fighting when the fire-fighting robot moves left and right

And a swivel joint unit for rotating the fire-fighting water inlet connected to the fire hose in the same direction so as not to be resisted by the movement of the fire-fighting robot, and an inlet swivel body coupled with the single-pipe unit.

Wherein the fire-fighting water-proofing portion includes a fire-fighting nozzle that waterproofs the fire-fighting water; And a waterproof part swivel body having a swivel joint part and a flange gear part that allow the water purifying waterproof part to be vertically rotated 90 or more by the vertical rotation part and coupled with the vertical rotation part.

The vertical rotation part 33 includes a water port 331 coupled to the single pipe part 34 to receive the water for fire fighting and connected to the waterproof part swivel body 322 to discharge the water for fire fighting; An electric motor (332) for supplying rotational force to the water-purifying water-proofing portion (32) so that the water-purifying water-proofing portion (32) And is coupled to the output shaft of the electric motor 332 and is engaged with the flange gear portion 3222 to rotate the flange gear portion 3222 when the electric motor 332 rotates to rotate the water- And a rotating shaft gear 333 for rotating the rotating shaft.

Wherein a bearing is provided in the main shaft to prevent friction between the main shaft and the angle adjusting shaft, and a side bearing housing and a side bearing are installed in each of the side frames so that even if the main shaft passes, .

And a roller shaft bearing is installed at both ends of the roller shaft of the side frame so that the auxiliary roller front roller is freely rotatably supported by the side frame, So that it can be rotated.

The upper part of the frame part is clogged with the detachable cover part, the lower part is covered with the lower plate, and the lower plate is provided with a rotary opening for rotating the fire-fighting waterproof part by 90 or more.

The lower idle roller engaging portion is formed with a plurality of idler roller shaft insertion holes into which the shaft of the lower idler roller is inserted. do.

And an upper idle roller engaging portion to which the upper idle roller is engaged is formed at a predetermined upper center length of both sides of the frame portion, and a plurality of idler roller shaft inserting holes into which the shaft of the upper idle roller is inserted are formed in the upper idle roller engaging portion do.

Wherein the rear axle is formed with an axle passage hole through which the main shaft passes, both ends of the side surface of the frame portion being formed with idle shaft coupling holes through which the rear roller idle shaft is inserted and coupled, A water inlet hole is formed in the water inlet.

The cover portion is provided with a check door for inspecting and maintenance of the inside of the frame portion, a waterproof opening for rotating the waterproof waterproof portion for 90 degrees or more, a spindle passage opening through which the spindle passes, And an idle roller shaft through hole through which the idle roller shaft passes is formed.

The lower idler roller is of a type that absorbs torsional impact and vertical impact. The lower idler roller is provided with a roller body which is in contact with the inner surface of the endless track adsorption track and is installed outside the inner surface projection of the endless track absorption track, A roller shaft portion provided at the center in the axial direction and fixed to the frame portion and fixed to the body and receiving the load of the fire fighting robot transmitted from the body, and a roller shaft portion provided between the roller body and the roller shaft portion to absorb a vertical impact and a warping impact And a second bearing disposed on an outer circumferential surface of the roller shaft portion and in direct sliding contact with the roller shaft portion to reduce frictional resistance when the roller body rotates on the roller shaft portion, and; A second bearing installed on both sides of the first bearing for fixing the first bearing and making a direct sliding contact with the roller shaft portion and a guide for preventing deviation of the anti-vibration means, The first bearing and the second bearing are installed at opposite ends of the roller body to prevent the first bearing and the second bearing from being separated from the roller body. End cap.

A fire fighting robot having the above-mentioned high-rise building outer wall running function and fire fighting water spraying function can solve the problem to be solved by the present invention.

According to the fire-fighting robot having the high-rise building outer-wall running function and the fire-fighting water spraying function of the present invention, it is possible to use a fire-extinguishing device in a state of being attracted to the attracting surface, It is possible to prevent kinking of the hose and the auxiliary track is provided on the side of the front side of the main track portion to assure the attraction force during traveling and stably adhere to the suction surface.

Fig. 1 is a perspective view of a fire extinguishing robot according to the present invention,

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the following description, the terms used in the present invention are defined in consideration of the functions of the present invention. These terms may vary depending on the intention or custom of the user, operator, and the like. Quot; a fire fighting robot having a fire fighting robot ".

Hereinafter, a preferred embodiment of the "fire-fighting robot having a high-rise building outer-wall running function and a fire-fighting water spraying function" according to the present invention will be described in detail.

The following examples are merely illustrative of the present invention and are not intended to limit the scope of the present invention.

2: Driving unit 20: Vacuum suction plate
21: main track portion 211: endless track adsorption track
22: Auxiliary track part 221: Auxiliary endless track adsorption track
23: drive motor 3: fire suppression unit
31: Fire-fighting water inlet part 32: Fire-fighting water-proof part
4: control unit 5: battery unit

Claims

The present invention relates to a fire-fighting robot for fire extinguishing of a fire-fighting robot, which is installed in a dense area of a high-rise building, (2) which is installed on both sides of the frame part (1) and which travels the fire fighting robot, and a fire extinguisher which is installed inside and outside the frame part, And the traveling unit is rotated by using the vacuum suction plate 20 to receive the rotating force to assist the main track unit traveling on the surface of the adsorption surface and to increase the attraction force and the pulling force by widening the adsorption plane, It is possible to easily adjust the angle between the adsorbing surface of the fire-fighting robot and the center of gravity of the fire-fighting robot evenly on the adsorbing surface Two drive motors for driving the main track portion and the auxiliary track portion on the left and right sides, respectively, and two main spindles for transmitting the rotational force of the drive motor to each of the main track portion and the auxiliary track portion, An angle adjusting motor for adjusting an angle of the auxiliary track part, and an angle adjusting shaft for adjusting the angle by transmitting the rotational force of the angle adjusting motor to the auxiliary track part.
The traveling unit 2 receives the rotational force and rotates using the vacuum adsorption plate 20 to assist the main track unit 21 traveling on the surface of the adsorption surface. The traveling unit unit 2 assists the main track unit 21, An auxiliary track part (22) for increasing the traction force and facilitating an even distribution of the center of gravity of the fire fighting robot by adjusting an angle with the attraction surface of the fire fighting robot, a main track part (21) Two main spindles 24 for transmitting the rotational force of the driving motor 23 to the left and right main track portions and the auxiliary track portion for running, An angle adjusting motor 25 for adjusting the angle of the auxiliary track part 22 and an angle adjusting motor 25 for transmitting the rotational force of the angle adjusting motor 25 to the auxiliary track part 22 on both left and right sides, And a shaft 26. The drive motor 23 and the tiller adjustment motor 2 Worm gears 241 and 261 are formed on the main shaft 24 and the angle adjusting shaft 26 to form worm gears composed of the worms 232 and 252 and the worm wheels 241 and 261, The driving motor 23 and the angle adjusting motor 25 transmit the power at right angles to the main shaft 24 and the angle adjusting shaft 26 while the main shaft 24 passes through the angle adjusting shaft 26 A main shaft hollow 242 is formed to reduce an area of the angle adjusting shaft 26 and prevent the angle adjusting shaft 26 from being exposed to the inside, And an endless track adsorption track (211) for advancing the equipment by contacting and rotating the vacuum adsorption plate between the chains and rotating with the adsorption surface. The auxiliary track part (22) is connected to the track shoes By attaching a vacuum adsorption plate and rotating it in contact with the adsorption surface, Secondary includes a caterpillar track adsorption 221, the fire suppression device unit 3 The water inlet 31 is connected to the fire hose to the fire hydrants to be supplied from the fire engine or the outdoors and
(32) having a waterproof nozzle (321) capable of vertical rotation driving up and down more than 90 so that the fire-fighting water can be sprayed to the upper part even when the fire-fighting robot is adsorbed on the adsorption surface, Which is driven by an electric motor 332 to drive the fire-fighting water-repellent water-shielding portion 32 in a vertical rotation (vertical rotation) of 90 or more up and down, and the other side is connected to the water- And a single pipe portion 34 for connecting the driving portion 33 and the water purifier water inlet portion 31 to the vertical rotation drive portion 33. The water purifier water inlet portion 31 is provided with a water inlet portion 31, (31) connected to the fire hose to which the fire fighting water is supplied is also rotated in the same direction so as not to be resisted by the movement of the fire fighting robot, and the swivel joint part The water purifier according to claim 1, wherein the fire extinguishing waterproofing part (32) comprises a fire prevention nozzle (321) for waterproofing the fire fighting water, A waterproof swivel body 322 having a swivel joint portion 3221 and a flange gear portion 3222 that allow the waterproof portion 32 to be vertically rotated 90 or more in the vertical direction and coupled to the vertical rotation drive portion 33 And the vertical rotation driving part 33 is connected to the single pipe part 34 to connect the water discharge port 331 to the water discharge part swivel body 322 to discharge the water discharge water, And an electric motor 332 coupled to the output shaft of the electric motor 332 and gear-coupled with the flange unit 3222 to drive the electric motor 332 The flange portion 3222 is rotated Group consisting of a high-rise building with the rotation axis gear 333 for rotating the water The water section 32 outer wall running function and fire fighting water robot having an injection function.

3. The apparatus according to claim 1, wherein the main shaft hollow (242) is provided with a bearing to prevent friction between the main shaft (24) and the angle adjusting shaft (26), and each side frame (222) And the side bearings 2224 are provided to prevent the rotational force of the main shaft 24 from being transmitted to the side frame 222 even if the main shaft 24 passes through the side frames 222. When the angle adjusting motor 25 is driven, Both ends of the angle regulating shaft 26 are coupled to the side frame 222 so that the angle of the track portion 22 can be adjusted and the roller shaft 2221 of the side frame 222 is provided with roller shaft bearings And the auxiliary track front roller (224) is freely rotatable by installing the auxiliary track forward roller (222).

2. The water treatment system according to claim 1, wherein the upper part of the frame part (1) is clogged with a removable cover part (6), the lower part is covered with a lower plate (11) The lower idle roller 214 is coupled to the lower idle roller 214. The lower idle roller 214 is coupled to the lower idle roller 214. The lower idle roller 214 is coupled to the lower idle roller 214, A plurality of idler roller shaft insertion holes 121 into which the shaft of the lower idler roller 214 is inserted are formed in the lower idler roller engaging portion 12, The upper idle roller engaging portion 13 is formed with an upper idle roller engaging portion 13 to which the upper idle roller 215 is engaged and the upper idle roller engaging portion 13 is provided with a plurality There are formed idler roller shaft insertion holes 131, A main shaft through hole 14 through which the main shaft 24 passes is formed at the front side of both side surfaces of the leg portion 1 and a rear roller idler shaft 2131 is inserted and coupled to both side lateral rear ends of the frame portion 1 The frame portion 1 is formed with an idle shaft coupling portion 15 and a rear portion of the frame portion 1 is formed with a water inlet hole 16 for a fire extinguishing water into which the fire extinguishing water is introduced, (62) for rotating the water-proofing water-proofing portion (32) so that the water-proofing water-proofing portion (32) can be rotated by 90 degrees or more, and a spindle passage opening An idle roller passage opening 65 through which the idle roller shaft 2222 passes and an idle roller shaft opening hole 65 through which the idle roller shaft 2222 passes, (66) is formed through which the water discharge hole (31) passes. Exterior wall running water feature and fire firefighting robot having an injection function.

2. The endless belt according to claim 1, wherein the lower idle roller (214) is of a type that absorbs a torsional impact and a vertical impact, and abuts against the inner surface of the endless track adsorption track A roller body 2141 rotatably installed in the frame body 2141 and a roller body 2141 fixed to the frame body 1 in the axial center of the roller body 2141 and fixed to the frame body 1, A vibration proof rubber 2143 provided between the roller body 2141 and the roller shaft 2142 for absorbing a vertical impact and a warping impact and a vibration absorbing rubber 2143 disposed on the outer peripheral surface of the roller shaft 2142 And the first bearing is installed on the outer circumferential surface of the roller shaft portion 2142 so as to reduce frictional resistance when the roller body 2141 is rotated on the roller shaft portion 2142, (2144) and the first bearing (2144) The second bearings 2145 are installed on both sides of the first bearing 2144 to fix the first bearing 2144 and make a sliding contact with the roller shaft portion 2142 and a guide for preventing the separation of the vibration proof rubber 2143 A guide block 2146 coupled to both sides of the roller body 2141 and a roller body 2141 provided with the first bearing 2144 and the second bearing 2145, And an end cap (2147) for preventing the first bearing (2144) and the second bearing (2145) from being separated from the roller body (2141) and coming into direct contact with the inner wall of the frame part (1) A fire-fighting robot with outer wall driving function and fire-fighting water spraying function.

The apparatus according to claim 1, wherein the main track part (21) comprises a front roller (212) inserted into the main shaft (24) and receiving the rotational force of the main shaft (24) to rotate the endless track A rear roller 213 inserted into the rear roller idler shaft 2131 coupled to the frame part 1 and installed to support the endless track adsorption track 211 freely rotating with tension applied to the endless track adsorption track 211 A plurality of lower idle rollers 214 coupled to the frame part 1 and disposed between the front rollers 212 and the rear rollers 213 to freely rotate and evenly distribute the weight of the equipment to the adsorption surface, And an upper idle roller 215 for supporting the weight of the caterpillar adsorption track so that the upper side of the caterpillar adsorption track 211 is not splayed. The auxiliary track part 22 is inserted into the end of the main shaft 24 And receives the rotational force of the main shaft 24, An auxiliary track rear roller 223 which rotates the track adsorption track 221 and an outside of the inside of the auxiliary endless track adsorption track 221 and outside both sides of the auxiliary track rear roller 223, 26) to adjust the angle of the auxiliary track part (22) by the rotational force of the angle regulating shaft (26), and a front frame (222) inside the front end of the auxiliary endless track An auxiliary track front roller 221 installed on a roller shaft 2221 formed between the side frames 222 to provide tension to the auxiliary endless track adsorption track 221 and to freely rotate and support the auxiliary endless track adsorption track 221, (224), an auxiliary track rear roller (223), and an auxiliary track front roller (224)
And a plurality of auxiliary track idle rollers 225 for uniformly dispersing the weight of the auxiliary track 22 on the adsorption surface,
The auxiliary track portion 22 is formed so as to have a larger diameter than the diameter of the auxiliary track rear roller 223 in order to improve the torque transmitting force and improve the movement of the auxiliary track portion 22 in adjusting the angle of the auxiliary track portion 22. [ ) Having a diameter smaller than that of the outer wall of the high-rise building, and a fire-extinguishing water spraying function.