An indoor fire-fighting and inspection robot

Abstract

The invention discloses an indoor fire fighting and inspection robot, comprising an electric turntable mounted on a column, a moving mechanism and an actuator, wherein the electric turntable is provided with a track, the moving mechanism comprises a chassis and an electric lifting push rod, the chassis slides along the track through a busbar, the electric lifting push rod is fixed to the chassis, and the actuator is located at the end of the electric lifting push rod. Through the composite motion between the electric turntable and the moving mechanism, the actuator can accurately reach any position in the room to realize the inspection of indoor equipment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots, and more specifically, to an indoor fire-fighting and inspection robot. Background Art

[0002] The following background art is used to help readers understand the present invention and is not to be regarded as prior art.

[0003] At present, the application of indoor inspection robots is becoming more and more common, and they have begun to be promoted and applied in the fields of production institutions, intelligent warehousing materials, transportation, substations, etc.

[0004] The most representative one is the indoor S-track inspection robot (application number: 201410563491.0), which is currently used in batches in substations, but the robot needs to circle a large number of tracks on the indoor ceiling or wall; when a fixed-point special patrol is required, the robot is less efficient. A substation indoor inspection robot (application number 201610391100.0) discloses an inspection robot based on a cross-combination track, which overcomes many shortcomings of the S-track robot, but when the robot is used for inspection, a certain amount of tracks still need to be arranged indoors, which is relatively costly.

[0005] As for monitoring areas such as production workshops and material storage, multiple fixed-point cameras are currently deployed. This method has large blind spots and cannot achieve all-round monitoring of equipment. To achieve the function of all-round detection indoors, the robot needs to be able to achieve a large range of movement in both horizontal and vertical spaces, and can also achieve indoor fire extinguishing functions when necessary. Due to the limitations of indoor space and the layout of other work equipment, it is obvious that the existing wheel drive or crawler drive methods are difficult to achieve, the inspection efficiency is low, and there are certain inspection blind spots. Summary of the invention

[0006] The object of the present invention is to provide an indoor inspection robot. Through the composite motion between an electric turntable and a moving mechanism, an actuator can accurately reach any position in the room to realize the inspection of indoor equipment.

[0007] In order to solve the problems existing in the prior art, the present invention provides an indoor fire-fighting and inspection robot, including an electric turntable, a moving mechanism and an actuator installed on a column. The electric turntable is provided with a track, the moving mechanism includes a chassis and an electric lifting push rod, the chassis slides along the track through a busbar, the electric lifting push rod is fixed to the chassis, and the actuator is located at the end of the electric lifting push rod.

[0008] As a preferred solution, the electric turntable includes a base, a motor and a turntable, the base is fixed to the column, the motor is fixed to the base, and the motor output shaft is connected to the turntable.

[0009] As a preferred solution, a third fixed bracket is provided between the column and the electric turntable, the base is fixed to the column through the third fixed bracket, and the track is fixed to the turntable through the first fixed bracket.

[0010] As a preferred solution, the robot is provided with control cables and power cables, the column is provided with a control box, a slip ring is provided inside the turntable, one end of the control cable and the power cable is connected to the control box, and the other end is connected to the input end of the slip ring, the busbar is laid on the track, one end of the busbar is connected to the output end of the slip ring through a connecting cable, and the other end is connected to the chassis. Preferably, the turntable is provided with a channel adapted to the slip ring, the outer surface of the slip ring is fixed to the inner wall of the turntable channel, and the top of the slip ring is flush with the top of the turntable. Preferably, the column, the third fixed bracket and the base are all provided with channels, the channels are connected, the control cable and the power cable are led out from the power box, pass through the channels of the column, the third fixed bracket, the base and the turntable in turn, and then are connected to the input end of the slip ring. Preferably, the channels are all opened at the center of the column, the third fixed bracket, the base and the turntable.

[0011] As a preferred solution, the actuator includes a detection component and a fire extinguishing bomb. The detection component includes a pan-tilt head, a visible light camera and an infrared thermal imager. One end of the pan-tilt head is fixed to the bottom of the electric lifting push rod, and the other end is fixed to the fire extinguishing bomb. The visible light camera and the infrared thermal imager are respectively fixed to the two ends of the pan-tilt head.

[0012] As a preferred solution, an elastic cable is provided inside the electric lifting push rod, one end of the elastic cable is connected to the busbar, and the other end is respectively connected to the pan / tilt head, infrared thermal imager, visible light camera and fire extinguishing bomb.

[0013] As a preferred solution, the robot is provided with a recovery mechanism, which is fixed to the first fixed bracket by a second fixed bracket, and the recovery mechanism includes a winding drum and a pull wire, one end of the pull wire is wound on the winding drum, and the other end is fixed to the chassis. Preferably, the recovery mechanism and the moving mechanism are located on opposite sides of the electric turntable. Preferably, the recovery mechanism and the track are located on the same straight line. Preferably, the first fixed bracket is provided with a channel, and the pull wire passes through the channel and is connected to the chassis. Preferably, the pull wire is a steel wire rope. Preferably, the winding drum is a spring-type winding drum.

[0014] As a preferred solution, the first fixing bracket, the second fixing bracket and the track are located in the same straight line.

[0015] As a preferred solution, the second fixed bracket is provided with a counterweight mechanism, and the counterweight mechanism is a counterweight block. Preferably, the counterweight block and the track are located in the same straight line. Preferably, the first fixed bracket, the counterweight block, the second fixed bracket, the track and the actuator are located in the same straight line. Preferably, the second fixed bracket has a plurality of mounting holes. Preferably, the second fixed bracket is provided with a slide rail, and the counterweight block can move along the slide rail.

[0016] As a preferred solution, the third fixed bracket is provided with a temperature and humidity detection sensor and a smoke sensor, and the third fixed bracket or the first fixed bracket is provided with a flame sensor.

[0017] Beneficial Effects

[0018] (1) The present invention realizes real-time online, all-round, and no-dead-angle inspection of indoor equipment through the composite movement of the electric telescopic push rod, the electric lifting push rod, and the electric turntable, and is suitable for the inspection of indoor three-dimensional space equipment.

[0019] (2) The robot of the present invention can not only inspect both sides of the equipment, but also move above the equipment when the electric lifting push rod is retracted, and can inspect the part directly above the equipment. It is advantageous when inspecting large equipment and GIS equipment in the substation room.

[0020] (3) The present invention adopts a winding mechanism, and the electric telescopic push rod and the electric lifting push rod are of an internal wiring structure, which not only prevents the cables from being exposed to the outside and causing wear, but also avoids the problem of insufficient aesthetics caused by relying on the movement of the cables.

[0021] (4) The present invention realizes real-time online, all-round, and no-dead-angle inspection of indoor equipment through the combined motion of the moving mechanism and the electric turntable, and is suitable for the inspection of indoor three-dimensional space equipment.

[0022] (5) The present invention is provided with a recovery mechanism. When the mobile mechanism fails, the recovery mechanism can be used to drag the mobile mechanism to the vicinity of the rotary mechanism for easy maintenance.

[0023] (6) The present invention can monitor indoor environmental information online and also has a fire extinguishing function to ensure the safety of indoor personnel and equipment.

[0024] (7) The present invention can comprehensively determine whether a fire occurs indoors by using a flame sensor or a smoke sensor; when any sensor sends an alarm, the robot will execute a fire extinguishing command to ensure indoor fire safety.

[0025] (8) When installing the present invention, it is only necessary to fix the pillars on the ground, which greatly reduces the damage to the wall and other building structures during construction.

[0026] (9) The present invention can be equipped with different detection equipment to meet the inspection requirements of different rooms.

[0027] (10) When the actuator is far away from the electric rotary plate, a counterweight is added to the second fixed bracket to balance the large eccentric torque caused to the electric rotary plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of Example 1.

[0029] Figure 2 This is a schematic diagram of the structure in which the slip ring is installed inside the electric turntable.

[0030] Figure 3 This is a wiring diagram of Example 1.

[0031] Figure 4 This is a control block diagram of Example 1.

[0032] Figure 5-Figure 7 This is a schematic diagram of the working process of Example 1.

[0033] Figure 8 This is a schematic diagram of the structure of the first solution in Example 2.

[0034] Fig. 9 This is a schematic diagram of the structure of the second solution in Example 2.

[0035] Fig.10 This is a schematic diagram of the structure of the winding cable passing through the first fixed bracket and the electric telescopic push rod channel in Example 2.

[0036] Fig.11 This is a schematic diagram of the structure of the winding cable passing through the electric lifting push rod channel in Example 2.

[0037] Fig.12 This is a control block diagram of Example 2.

[0038] Figure 13-Figure 17 This is a schematic diagram of the working process of Example 2.

[0039] Fig.18 This is a schematic diagram of the structure of Example 3.

[0040] Fig.19 This is a wiring diagram of Example 3.

[0041] Fig. 20 This is a schematic diagram of the wiring of the pull line.

[0042] Fig.21 This is another wiring diagram for the pull wire.

[0043] Fig. 22 This is a control block diagram of Example 3.

[0044] Figure 23-27 This is a schematic diagram of the working process of Example 3.

[0045] Fig.28 The schematic diagram is a structural diagram of a counterweight mechanism installed on a robot with an electric telescopic push rod.

[0046] Fig.29It is a structural schematic diagram of a counterweight mechanism installed on a robot with a track.

[0047] Fig.30 It is a schematic diagram of the structure in which the second fixing bracket has a mounting hole.

[0048] Fig.31 It is a schematic diagram of the structure in which the second fixed bracket has a slide rail.

[0049] Labels in the figure: column 1, power box 101, electric turntable 2, base 201, motor 202, turntable 203, third fixed bracket 204, first fixed bracket 205, slip ring 206, second fixed bracket 207, mounting hole 2071, slide rail 2072, temperature and humidity detection sensor 208, smoke sensor 209, counterweight mechanism 210, flame sensor 211, electric telescopic push rod 3, fixed pulley 301, electric telescopic push rod motor 302, actuator 4, fire extinguishing bomb 401, detection component 402, pan / tilt head 403, visible light camera 404, infrared thermal imager 405, control cable and power cable 5, control box 6, main control box 601, auxiliary control box 602, main control cable 603, power cable 604, winding mechanism 7, winding reel 701, winding cable 702, first channel 703, second channel 704, electric lifting push rod 8, third channel 801, track 9, busbar 901, chassis 902, connecting cable 903, recovery mechanism 10, winding reel 1001, pull wire 1002. Detailed description

[0050] The following further describes the structures involved in the present invention or the technical terms used in these descriptions. These descriptions are only used as examples to illustrate how the methods of the present invention are implemented, and cannot constitute any limitation to the present invention.

[0051] At present, the application of indoor inspection robots is becoming more and more common, and they have begun to be promoted and applied in the fields of production institutions, intelligent storage materials, handling, substations, etc. The existing inspection robots are track-based and must rely on tracks, so a large number of tracks need to be set up on the indoor ceiling or wall, which is costly. In addition, since track-based robots can only move along the designed tracks, not only are there bound to be inspection blind spots, but also it is impossible to perform special inspections at fixed points. Therefore, when special inspections are required, the inspection robots are inefficient. An indoor inspection robot is now provided that does not need to rely on tracks to move, and can realize real-time online, all-round, and no-dead-angle inspections of indoor equipment.

[0052] Example 1

[0053] Indoor inspection robots, such as Figure 1As shown, it includes a column 1, an electric rotary plate 2, an electric telescopic push rod 3 and an actuator 4. The electric rotary plate 2 is installed on the column 1, the electric telescopic push rod 3 is installed on the electric rotary plate 2, the electric rotary plate 2 drives the electric telescopic push rod 3 to rotate, and the actuator 4 is located at the end of the electric telescopic push rod 3. The electric rotary plate 2 can rotate 360° around the center of the column 1 in the horizontal plane, thereby driving the electric telescopic push rod 3 to rotate 360° in the horizontal plane, so as to realize all-round and no-dead-angle inspection of indoor equipment.

[0054] As a specific example, Figure 2 As shown, the electric turntable 2 includes a base 201, a motor 202 and a turntable 203. The base 201 is fixed to the column 1, the motor 202 is fixed to the base 201, and the output shaft of the motor 202 is connected to the turntable 203. The electric turntable 2 is small in size and sensitive in rotation, and is suitable for indoor use. Specifically, a third fixed bracket 204 is provided between the column 1 and the electric turntable 2, the base 201 is fixed to the column 1 through the third fixed bracket 204, a first fixed bracket 205 is provided above the electric turntable 2, the top of the turntable is fixed to the first fixed bracket 205, and the electric telescopic push rod 3 is fixed to the first fixed bracket 205. Preferably, the column 1 is a cylinder or a cube, and the bottom of the column 1 is fixed to the ground.

[0055] Preferably, Figure 3 As shown, the electric telescopic push rod 3 adopts an internal wiring type multi-section electric telescopic push rod. The use of the multi-section electric telescopic push rod not only has a larger contraction stroke ratio, but also adopts an internal wiring structure, which not only avoids the cable being exposed to the outside world and causing wear, but also avoids the problem of insufficient aesthetics caused by relying on cable movement.

[0056] As a specific example, Figure 1 and 3 As shown, an actuator 4 is fixed at the end of the electric telescopic push rod 3, and the actuator includes a fire extinguishing bomb 401 and a detection component 402. The detection component 402 includes a pan-tilt 403, a visible light camera 404 and an infrared thermal imager 405. The pan-tilt 403 is fixed to the end of the electric telescopic push rod 3, and the visible light camera 404 and the infrared thermal imager 405 are respectively fixed to the two ends of the pan-tilt 403. The fire extinguishing bomb 401 is located at the bottom of the pan-tilt 403. The visible light camera 404 is used to monitor the indoor conditions, and the fire extinguishing bomb 401 is used for indoor fire fighting. As another embodiment, the actuator can be replaced by a manipulator, which can complete the grasping and carrying of indoor debris, workpieces, etc.

[0057] like Figure 1 and 3As shown, a temperature and humidity sensor 208 is installed on one side of the third fixing bracket 204, and a smoke sensor 209 is installed on the other side. The temperature and humidity sensor 208 is used to detect the temperature, humidity and other environmental information in the room. The smoke sensor 209 is mainly used to detect possible smoking, fire and the like in the room.

[0058] The robot's working mode can be set to automatic inspection, special inspection or manual operation, such as Figure 5-7 As shown, the working mode of the robot can be set to automatic inspection, special inspection or manual operation. The working method of Example 1 is as follows:

[0059] (1) The electric telescopic push rod 3 is retracted to its shortest position, such as Figure 5 As shown;

[0060] (2) After the above actions are completed, the electric rotary plate 2 performs a rotation action, driving the electric telescopic push rod 3 to move to the target position, such as Figure 6 As shown;

[0061] (3) After the above actions are completed, the electric telescopic push rod 3 performs an extension action and reaches the front of the target, such as Figure 7 As shown;

[0062] (4) After the above actions are completed, the robot executes the detection command and realizes the inspection of indoor equipment in combination with the rotation of the pan-tilt head 403. At the same time, the robot records the current posture state of the robot and transmits the collected data back to complete the data processing and automatic fault alarm.

[0063] Example 2

[0064] The difference between Example 2 and Example 1 is that the electric rotary disk 2 of Example 2 is provided with an electric lifting push rod 8, and the actuator is arranged at the end of the electric lifting push rod 8. The electric rotary disk 2 can rotate 360° around the center of the column 1 in the horizontal plane, and the electric rotary disk 2 drives the electric lifting push rod 8 to rotate, so as to realize multi-directional inspection of indoor equipment.

[0065] As a specific example, Figure 8 and 9 As shown, an electric telescopic push rod 3 is provided between the electric rotary disk 2 and the electric lifting push rod 8, the electric lifting push rod 8 is fixed to the end of the electric telescopic push rod 3, and the actuator 4 is fixed to the electric lifting push rod 8. The electric rotary disk 2 can rotate 360° around the center of the column 1 in the horizontal plane, the electric telescopic push rod 3 can be extended and retracted in the horizontal direction, and the electric lifting push rod 8 can be lifted and lowered in the vertical direction, so as to realize all-round and no-dead-angle inspection of indoor equipment, which is suitable for the detection of indoor three-dimensional space equipment.

[0066] Specifically, the electric lifting push rod 8 adopts an inner-wire type multi-section electric lifting push rod, which has a large contraction stroke ratio.

[0067] As a specific example, Figure 1 As shown, the robot is provided with a flame sensor 211, and the flame sensor 211 is fixed above the first fixing bracket 205, or fixed on one side of the third fixing bracket 204, see Figure 8 and 9 The flame sensor 211 is used to detect open flames in the room. When a fire occurs, the robot will give an audible and visual alarm. At the same time, the electric turntable 2, the electric telescopic push rod 3 and the electric lifting push rod 8 perform a combined movement to send the fire extinguishing bomb 401 to the location of the fire occurrence, and throw the fire extinguishing bomb 401 to extinguish the fire.

[0068] like Figure 13-17 As shown, the working mode can be set to automatic inspection or special inspection. The working method of embodiment 2 for detecting a target or extinguishing a fire on a target is as follows:

[0069] (1) The robot's electric lifting push rod 8 rises to the limit position, and the electric telescopic push rod 3 shrinks to the shortest position;

[0070] (2) After the above actions are completed, the electric rotary table 2 performs a rotation action, driving the electric lifting push rod 8 and the electric telescopic push rod 3 to move to the target position;

[0071] (3) After the above actions are completed, the electric telescopic push rod 3 performs an extension action and reaches the front of the target;

[0072] (4) After the above actions are completed, the electric lifting push rod 8 performs a descending action, driving the end actuator to descend to the equipment inspection position;

[0073] (5) After the above actions are completed, the robot executes the detection command or fire extinguishing command, and records the current position and state of the moving body. The collected data is transmitted back to complete data processing and automatic fault alarm.

[0074] Example 3

[0075] The electric rotary plate 2, the electric telescopic push rod 3 and the electric lifting push rod 8 all require control cables and power cables 5 for transmission of power and control signals. If the control cables and power cables 5 are arranged outside the mechanism, they are easy to be entangled with each other and are easy to wear.

[0076] The robot is provided with a control cable and a power cable 5, and there are two arrangements of the control cable and the power cable 5:

[0077] The first option:

[0078] like Figure 3 and 8 As shown, the column 1 is provided with a control box 6, and a slip ring 206 is provided inside the turntable 203. One end of the control cable and the power cable 5 are connected to the control box 6, and the other end passes through the column 1, the third bracket 204, the base 201 and the turntable 203 in sequence, and is connected to the slip ring 206. Specifically, the column 1, the third bracket 204, the base 201 and the turntable 203 are all provided with channels at the center position, and the channels are connected. The outer surface of the slip ring 206 is fixed to the inner wall of the channel of the turntable 203. When the turntable 203 rotates, the slip ring 206 also rotates. The control cable and the power cable 5 pass through the base 201 and are connected to the slip ring 206, which can prevent the cable from rotating with the turntable. Preferably, the top of the slip ring 206 is flush with the top of the turntable 203 to prevent the cable from being worn due to friction with the edge of the turntable 203.

[0079] As a specific embodiment, the first fixed bracket 205 is installed with the second fixed bracket 207, and the second fixed bracket 207 is fixed with the winding mechanism 7, the winding mechanism 7 includes a winding drum 701 and a winding cable 702 wound on the winding drum 701, and the winding drum 701 is fixed to the top of the second fixed bracket 207. The use of the winding mechanism 7 can effectively avoid the winding of the winding cable 702 when the robot rotates. The first fixed bracket 205, the electric telescopic push rod 3 and the electric lifting push rod 8 all have channels, and the channels are connected. One end of the winding cable 702 is connected to the slip ring 206, and the other end passes through the channels of the first fixed bracket 205, the electric telescopic push rod 3 and the electric lifting push rod 8 in sequence. When the winding cable 702 is led out from the slip ring 206, the winding cable 702 can pass through the outside of the first fixed bracket 205 and be wound on the winding drum 701, or a vertical channel is opened in the first fixed bracket 205, and the winding cable 702 passes through the vertical channel and is wound on the winding drum 701, so as to avoid the winding cable 702 being exposed to the outside. Specifically, the winding drum 701 is a coil spring type winding drum, and when the electric telescopic push rod 3 or / and the electric lifting push rod 8 are extended, the winding drum 701 drives the winding cable 702 to overcome the elastic force of the coil spring to extend; otherwise, the winding cable 702 contracts under the action of the elastic force of the coil spring. Specifically, the first fixed bracket 205 is provided with a first channel 703, the electric telescopic push rod 3 is provided with a second channel 704, the electric lifting push rod 8 is provided with a third channel 801, the winding cable 702 passes through the winding drum 701, the first channel 703, the second channel 704 and the third channel 801 in sequence, and then is connected to the actuator 4, see Figure 10-11The routing path of the control cable and the power cable 5 is as follows: the control cable and the power cable 5 are led out from the control box 6, pass through the column 1, the third fixed bracket 204, the base 201 and the channel of the turntable 203 in sequence, and then are connected to the input end of the slip ring 206. One end of the winding cable 702 is electrically connected to the output end of the slip ring 206, and the other end is connected to the actuator 4 through the winding disk 701, the first channel 703, the second channel 704 and the third channel 801 in sequence, that is, they are respectively connected to the fire extinguishing bomb 401, the pan-tilt head 403, the visible light camera 404 and the infrared thermal imager 405, which are used for the transmission of power and control signals of the electric turntable 2, the electric telescopic rod 3, the electric lifting rod 8 and the actuator 4, as shown in FIG. Figure 4 and 12 The arrangement of the slip ring 206 and the winding mechanism 7 can avoid entanglement between cables.

[0080] Second option:

[0081] like Fig. 9 and 12 As shown, the column 1 is fixed with a power box 101, the second fixed bracket 207 is fixed with a main control box 601, the end of the electric telescopic push rod 3 is provided with an auxiliary control box 602, the actuator 4 is installed in the auxiliary control box 602, the actuator 4 includes a detection component 402 and a fire extinguishing bomb 401, the detection component 402 includes a pan-tilt 403, a visible light camera 404 and an infrared thermal imager 405, the visible light camera 404 and the infrared thermal imager 405 are respectively fixed to the two ends of the pan-tilt 403, one end of the pan-tilt 403 is connected to the auxiliary control box 602, and the other end is connected to the fire extinguishing bomb 401. The main control box 601 is used to control the movement of the electric telescopic push rod 3 and the electric lifting push rod 8.

[0082] As a specific embodiment, a slip ring 206 is provided inside the turntable 203, one end of the control cable and the power cable 5 are connected to the power box 101, and the other end is connected to the input end of the slip ring 206; a winding mechanism 7 is fixed at one end of the second fixed bracket 207, the main control box 601 is connected to the main control cable 603, and the main control cable 603 is electrically connected to the output end of the slip ring 206. The slip ring 206 is installed inside the turntable 203, and the control cable and the power cable 5 electrically connect the power box 101 and the main control box 601 together through the slip ring 206, thereby avoiding the entanglement of the winding cable when the robot rotates. When the main control cable 603 is led out from the slip ring 206, the main control cable 603 can pass from the outside of the first fixed bracket 205 and be connected to the main control box 601, or a vertical channel is opened in the first fixed bracket 205, and the main control cable 603 passes through the vertical channel and the first channel 703 in turn and is connected to the main control box 601, thereby avoiding the main control cable 603 from being exposed to the outside. Fig. 9 shown.

[0083] The winding mechanism 7 includes a winding drum 701 and a winding cable 702 wound on the winding drum 701. The first fixed bracket 205 has a first channel 703, and the electric telescopic push rod 3 has a second channel 704. The first channel 703, the second channel 704 and the third channel 801 are connected in sequence. One end of the winding cable 702 is connected to the main control box 601, and the other end passes through the winding drum 701, the first channel 703, the second channel 704 and the third channel 801 in sequence, and is respectively connected to the fire extinguishing bomb 401, the pan / tilt 403, the visible light camera 404 and the infrared thermal imager 405, see Figure 4 . Specifically, the winding drum 701 is a coil spring type winding drum. When the electric telescopic push rod 3 and / or the electric lifting push rod 8 are extended, the winding cable 702 is driven to overcome the elastic force of the coil spring to extend; conversely, the winding cable 702 is contracted under the elastic force of the coil spring. Specifically, the first channel 703 is arranged at the center position of the first fixed bracket 205, the second channel 704 is arranged at the center position of the electric telescopic push rod 3, and the third channel 801 is arranged at the center position of the electric lifting push rod 8. The column 1, the third fixed bracket 204, the base 201 and the turntable 203 are all provided with channels, and the channels are connected.

[0084] The routing path of the control cable and the power cable 5 is as follows: the control cable and the power cable 5 are led out from the power box 101, pass through the column 1, the third fixed bracket 204, the base 201 and the channel of the turntable 203 in sequence, and then are connected to the input end of the slip ring 206. One end of the winding cable 702 is electrically connected to the output end of the slip ring 206, and the other end is connected to the actuator 4 through the winding disk 701, the first channel 703, the second channel 704 and the third channel 801 in sequence, that is, they are respectively connected to the fire extinguishing bomb 401, the pan-tilt head 403, the visible light camera 404 and the infrared thermal imager 405, and are used to transmit power and control signals to the electric turntable 2, the electric telescopic rod 3, the electric lifting rod 8 and the actuator 4, as shown in FIG. Figure 4 and 12 The functions of the winding cable 702 and the main control cable 603 are the same as those of the control cable and the power cable 5 .

[0085] As a specific embodiment, when the robot is composed of an electric turntable 2 and an electric telescopic push rod 3, a fixed pulley 301 is provided inside the end of the electric telescopic push rod 3, and the fixed pulley 301 is located at the turning position of the electric telescopic push rod 3 and the pan / tilt 403, and the winding cable 702 is wound around the fixed pulley 301, such as Figure 3 Specifically, the fixed pulley 301 is a nylon fixed pulley. The fixed pulley 301 is conducive to the cable routing.

[0086] When the robot is composed of the electric turntable 2, the electric telescopic push rod 3 and the electric lifting push rod 8, a fixed pulley 301 is provided inside the end of the electric telescopic push rod 3, and the fixed pulley 301 is located at the turning position of the electric telescopic push rod 3 and the electric lifting push rod 8, and the winding cable 702 is wound around the fixed pulley 301. Figure 8 and 9 Specifically, the fixed pulley 301 is a nylon fixed pulley. The fixed pulley 301 is conducive to the cable routing.

[0087] As a specific embodiment, the winding cable 702 has a steel wire rope inside, one end of the steel wire rope is fixed to the winding drum 701, and the other end is fixed to the pan / tilt 403. Specifically, the winding cable 702 includes a wrapping layer, and the steel wire rope is located inside the wrapping layer. The winding cable bundle between the winding mechanism 7 and the actuator 4 has a steel wire rope, and the steel wire rope serves as a force-bearing body when pulling, thereby avoiding damage to the winding cable 702 caused by direct pulling.

[0088] As a specific example, Fig. 9 As shown, an electric telescopic push rod motor 302 is arranged above the first fixed bracket 205, and the electric telescopic push rod motor 302 is connected to a power cable 604, and the power cable 604 is electrically connected to the output end of the slip ring 206. The power cable 604 is a control cable and a power cable 5, and the power cable 604 has the function of transmitting power to the electric telescopic push rod motor 302 and controlling the forward and reverse rotation of the electric telescopic push rod motor 302.

[0089] like Figure 4 and Figure 8 As shown, the control cables and power cables 5 of the temperature and humidity detection sensor 208, the smoke sensor 209 and the flame sensor 211 are directly connected to the control box 6 without passing through the slip ring 206. Alternatively, as Fig. 9 As shown, the control cables and power cables 5 of the temperature and humidity detection sensor 208 and the smoke sensor 209 are connected to the main control box 601 .

[0090] Example 4

[0091] The difference between the embodiment 3 and the embodiments 1 and 2 is that: the electric turntable 2 is installed with a track 9, the track is paved with a busbar 901, the moving mechanism includes a chassis 902 and an electric lifting push rod 8, the chassis 902 slides along the track 9 through the busbar 901, and the bottom of the chassis 902 is fixed to the electric lifting push rod 8, such as Fig.18As shown. The length of the track 9 in this embodiment is fixed, and the indoor inspection is carried out by controlling the movement of the mobile mechanism. The moving mechanism is driven to move by the busbar 901, and no wiring is required, thereby avoiding entanglement between cables. Multiple moving mechanisms can be set on the track 9, so that inspections of multiple areas can be carried out at the same time without interfering with each other. The track 9 occupies a small space and can be used for inspections in small spaces. The mobile mechanism moves along the track 9 through the busbar 901, and the control is more precise and the inspection range is more refined.

[0092] The electric lifting push rod 8 is an inner-wired multi-section electric lifting push rod, which has a large retraction stroke ratio.

[0093] As a specific example, Fig.19 and 20 As shown, the robot is provided with a control cable and a power cable 5, the column 1 is provided with a control box 6, and a slip ring 206 is provided inside the turntable 203. One end of the control cable and the power cable 5 is connected to the control box 6, and the other end is connected to the input end of the slip ring 206. One end of the busbar 901 is electrically connected to the output end of the slip ring 206 through the connecting cable 903, and the other end is connected to the chassis 902. Specifically, there is a carbon brush between the busbar 901 and the chassis 902 for electrical connection between the busbar 901 and the chassis 902. The busbar 901 has a power supply function and a DC carrier communication function. Specifically, the control cable and the power cable 5 led out from the control box 6 pass through the column 1, the third fixed bracket 204, and the electric turntable 2 in sequence, and are installed on the slip ring 206. After passing through the slip ring 206, they are connected to the busbar 901 installed on the track 9, and the busbar 901 introduces power to the moving mechanism. Specifically, the busbar 901 is arranged along the track 9, and the length of the busbar 901 covers the length of the track 9. The control cable and the power cable 5 and the connecting cable 903 have the same function.

[0094] As a specific example, Fig.18 and 19 As shown, the second fixed bracket 207 is provided with a recovery mechanism 10, and the recovery mechanism 10 includes a winding drum 1001 and a pull wire 1002, one end of the pull wire 1002 is wound on the winding drum 1001, and the other end is fixed to the chassis 902. When the mobile mechanism fails during movement, the recovery mechanism 10 can be used to drag the mobile mechanism to the vicinity of the electric turntable 2 for easy maintenance. Specifically, the recovery mechanism 10 is fixed below the second fixed bracket 207. Preferably, the recovery mechanism and the mobile mechanism are located at opposite ends of the electric turntable 2, and further, the recovery mechanism 10 and the track 9 are located on the same straight line. The recovery mechanism 10 and the track 9 are located on the same straight line, which makes it convenient and labor-saving to drag the mobile mechanism to the vicinity of the electric turntable 2. The pull wire can pass around the electric turntable 2, such as Fig. 20 Preferably, as shown Fig.21As shown, the first fixed bracket 205 is provided with a channel, and the pull wire 1002 passes through the channel, is laid along the track 9, and then is connected to the moving mechanism. The pull wire 1002 passes through the channel to avoid obstructing the operation between the mechanisms, and also to avoid the friction between the pull wire 1002 and the electric turntable 2 causing the pull wire 1002 to be disconnected. Specifically, the pull wire 1002 has a certain strength, such as a steel wire rope. Specifically, the recovery mechanism 10 is a manual steel wire rope recovery mechanism. Specifically, the winding drum 1001 adopts a coil spring type winding drum. When the moving mechanism is away from the recovery mechanism 10, the dragging force of the moving mechanism overcomes the coil spring elastic force to lengthen the steel wire rope 1002; when the moving mechanism runs in the direction of the recovery mechanism 10, the pull wire 1002 is automatically hoisted under the action of the coil spring elastic force.

[0095] As a specific example, Fig.19 As shown, an elastic cable 802 is provided inside the electric lifting push rod 8, one end of the elastic cable is connected to the chassis 902, and the other end is respectively connected to the fire extinguishing bomb 401, the pan / tilt 403, the infrared thermal imager 404 and the visible light camera 405. The elastic cable 802 is the control cable and the power cable 5, which has the functions of providing power and controlling. The elastic cable 802 is elastic and can be elastically extended and retracted with the lifting and lowering of the electric lifting push rod 8, so as to avoid the entanglement of the cable caused by the lifting and lowering of the electric lifting push rod 8.

[0096] Fig.19 This is the wiring diagram of this embodiment. After the 220V AC power enters the control box 6, the voltage is converted into 24V DC through the power conversion module. The control cable and the power cable 5 led out from the control box 6 pass through the column 1 and are installed on the slip ring 206. After passing through the slip ring 206, they are connected to the busbar 901 installed on the track 9. The busbar 901 introduces the power to the moving mechanism; the moving mechanism is connected to the detection component 402 and the fire extinguishing bomb 401 respectively through the elastic cable 802 installed inside the electric lifting push rod.

[0097] Figure 23-Figure 27 This is a schematic diagram of the working of the present invention when detecting or extinguishing a target. The operator can observe the indoor situation through the camera in the monitoring background. The working mode of the robot of the present invention can be set to automatic inspection, special inspection or manual operation. The working method of embodiment 3 when detecting or extinguishing a target is as follows:

[0098] (1) The robot's electric lifting push rod 8 rises to the limit position;

[0099] (2) After the above actions are completed, the electric turntable 2 performs a rotation action to drive the robot to move to the target position;

[0100] (3) After the above actions are completed, the moving mechanism drives the actuator 4 and the fire extinguishing bomb 401 to move along the track and arrive in front of the target;

[0101] (4) After the above actions are completed, the electric lifting push rod 8 performs a descending action, driving the detection component 402 and the fire extinguishing bomb 401 to descend to the equipment inspection waiting position;

[0102] (5) After the above actions are completed, the robot executes the data collection command and / or the fire bomb throwing command, and records the current position and state of the moving body. The collected data is transmitted back to complete the data processing and automatic fault alarm.

[0103] Example 5

[0104] The difference between this embodiment and embodiments 1, 2, 3, and 4 is that in this embodiment, the robot is provided with a counterweight mechanism, such as Fig.18 and 19 When the electric lifting push rod 8 or the moving mechanism is far away from the electric rotary disk 2, a large eccentric torque is caused to the electric rotary disk 2. To balance the eccentric torque, a counterweight mechanism is added to one side of the electric rotary disk 2, and the counterweight mechanism is a counterweight block 210.

[0105] When the robot is composed of the electric rotary disk 2, the electric telescopic push rod 3 and the electric lifting push rod 8, the actuator 4 and the counterweight block 210 are respectively arranged on the opposite sides of the electric rotary disk 2, that is, the counterweight block 210, the electric rotary disk 2 and the actuator 4 are in the same straight line, which can improve the stability of the robot. Fig.28 Specifically, the first fixed bracket 205, the counterweight 210, the second fixed bracket 207, the electric telescopic push rod 3 and the actuator 4 are located on the same straight line.

[0106] When the robot is composed of the electric turntable 2 and the moving mechanism, the actuator 4 and the counterweight block 210 are respectively arranged on opposite sides of the electric turntable 2, that is, the counterweight block 210, the electric turntable 2 and the actuator 4 are in the same straight line, which can improve the stability of the robot. Fig.29 Specifically, the first fixed bracket 205, the counterweight 210, the second fixed bracket 207, the track 9, the moving mechanism and the actuator 4 are located on the same straight line.

[0107] Specifically, the size and weight of the counterweight block 210 are not limited, and are determined according to the extension length of the electric telescopic push rod 3, the actuator 4 or the position of the actuator on the track 9.

[0108] As a specific embodiment, the counterweight 210 is fixed to the first fixing bracket 205 via the second fixing bracket 207. Fig.30As shown, the second fixing bracket 207 has a plurality of mounting holes 2071, and the counterweight 210 is fixed to the upper side, or the lower side, or any position on the second fixing bracket 207 by means of fasteners such as screws. The arrangement of the plurality of mounting holes 2071 can change the position of the counterweight 210 on the second fixing bracket 207. As another specific embodiment, Fig.31 As shown, the second fixed bracket 205 is provided with a slide rail 2072, and the counterweight 210 moves along the slide rail 2071. The position of the counterweight 210 on the slide rail 2072 can be moved to balance the eccentric torque caused to the electric rotary plate 2. The weight of the counterweight 210 and the position of the counterweight 210 on the second fixed bracket 207 can be changed at any time according to the length of the electric telescopic push rod 3 or the position of the moving mechanism on the track 9 and the weight of the actuator.

[0109] The invention shown and described herein can be implemented in the absence of any element, limitation specifically disclosed herein. The terms and expressions used are used as illustrative terms rather than limiting, and it is not intended to exclude any equivalents of the features shown and described or parts thereof in the use of these terms and expressions, and it should be recognized that various modifications are feasible within the scope of the present invention. It should therefore be understood that, although the present invention is specifically disclosed through various embodiments and optional features, modifications and variations of the concepts described herein can be adopted by those of ordinary skill in the art, and it is believed that these modifications and variations fall within the scope of the present invention as defined in the appended claims.

[0110] The contents of the articles, patents, patent applications, and all other documents and electronically available information described or recorded herein are incorporated by reference in their entirety to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such article, patent, patent application, or other document.

Claims

1. An indoor fire-fighting and inspection robot, comprising an actuator, characterized in that: It includes an electric turntable and a moving mechanism installed on a column. The electric turntable is provided with a track. The moving mechanism includes a chassis and an electric lifting push rod. The chassis slides along the track through a busbar. The electric lifting push rod is fixed to the chassis. The actuator is located at the end of the electric lifting push rod. The electric turntable includes an electric turntable, which includes a base, a motor and a turntable, the base is fixed to the column, the motor is fixed to the base, and the motor output shaft is connected to the turntable; A third fixing bracket is provided between the column and the electric turntable, the base is fixed to the column through the third fixing bracket, and the track is fixed to the turntable through the first fixing bracket; The robot is provided with a control cable and a power cable, the column is provided with a control box, a slip ring is provided inside the turntable, one end of the control cable and the power cable is connected to the control box, and the other end is connected to the input end of the slip ring, the busbar is laid on the track, one end of the busbar is connected to the output end of the slip ring, and the other end is connected to the chassis; The turntable is provided with a channel adapted to the slip ring, the outer surface of the slip ring is fixed to the inner wall of the turntable channel, and the top of the slip ring is flush with the top of the turntable; The robot is provided with a recovery mechanism, which is fixed to the first fixed bracket via a second fixed bracket, and comprises a winding drum and a pull wire, one end of the pull wire is wound on the winding drum, and the other end is fixed to the chassis; The actuator includes a detection component and a fire extinguishing bomb. The detection component includes a pan-tilt head, a visible light camera and an infrared thermal imager. One end of the pan-tilt head is fixed to the bottom of the electric lifting push rod, and the other end is fixed to the fire extinguishing bomb. The visible light camera and the infrared thermal imager are respectively fixed to both ends of the pan-tilt head. An elastic cable is arranged inside the electric lifting push rod, one end of which is connected to the busbar, and the other end is connected to the pan / tilt head, infrared thermal imager, visible light camera and fire extinguishing bomb respectively; The third fixed bracket is provided with a temperature and humidity detection sensor and a smoke sensor; a flame sensor is provided above the third fixed bracket or the first fixed bracket; The second fixed bracket is provided with a counterweight mechanism, which is a counterweight block; The actuator and the counterweight are respectively arranged on opposite sides of the electric turntable; the counterweight block is fixed to the first fixed bracket through a second fixed bracket, and the second fixed bracket is provided with a slide rail. The counterweight block moves along the slide rail to move the position of the counterweight block on the slide rail to balance the eccentric torque caused to the electric turntable.

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