A wall traveling device for a multi-functional robot

Abstract

The present invention discloses a wall traveling device for a multi-functional robot, which includes a housing. Inside the housing, there is a feed bin capable of batch placing wall-fixing anchor nails. On one side of the feed bin, there is a loading bin. On one side of the loading bin, there is a firing wheel capable of loading wall-fixing anchor nails. On one side of the feed bin, there is a firing structure for shooting out the wall-fixing anchor nails in the firing wheel. On one side of the firing structure, there is an anchor nail firing tube. On one side of the anchor nail firing tube, there is an air guiding device. On one side of the housing, there is a traveling foot component. By installing this device on a rescue robot, the robot can stably walk on the wall, facilitating the robot to be fixed on the wall for fire extinguishing and rescue work such as sprinkling water at the fire scene, adapting to various different walls, being overall light and small in volume, and preventing the robot from falling off the wall due to excessive weight during wall climbing, resulting in machine loss or casualties of rescue personnel.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting equipment, and particularly to a wall traveling device for a multi-functional robot. Background Art

[0002] When a fire occurs, the existing fire-fighting technology is to use ladders and fire hoses for fire extinguishing and rescue. Due to the limitations of fire-fighting equipment, modern fire-fighting technology still requires manual fire extinguishing. Especially for the fire scene of large multi-story buildings, manual cooperation of using ladders and fire hoses at high altitudes to extinguish the fire at the fire scene. The existing fire extinguishing and rescue methods still have great drawbacks, resulting in difficulties in fire extinguishing and rescue. For example, a large number of people are generally required for large-scale fire rescue, and rescue personnel generally need to approach the fire scene within a certain distance to carry out fire extinguishing and rescue. In a fire scene with a large fire, it is easy for various accidents to occur, resulting in injuries or even sacrifices of rescue personnel. In China, there are hundreds of rescue personnel who are injured or killed due to fire rescue every year. The traditional rescue method has no longer met the modern needs;

[0003] In addition, rescue personnel need to use a variety of fire extinguishing and rescue equipment, and the fire preparation time required for the equipment is relatively long, which is likely to affect the rescue time and cause the spread of the fire. Therefore, in modern fire-fighting equipment, fire-fighting rescue robots have been developed. Among the existing fire extinguishing equipment, there are robots dedicated to fire-fighting rescue, which can reduce the work of rescue personnel to a certain extent. However, the existing fire-fighting rescue robots do not have the function of climbing walls stably and efficiently. Generally, they are only suitable for spraying water on the ground and play a very small role in the fire scene of high-rise buildings, with insufficient functionality and difficulty in achieving dual use on land and in the air;

[0004] To enable the robot to play a key role in fire-fighting, its functionality is of course essential, but its stability is the top priority, to avoid insufficient stability of the robot during use and thus falling from high altitudes, causing unnecessary losses and casualties. Obviously, this has not been achieved in modern technology yet.

[0005] Therefore, the existing fire-fighting rescue robots need to be further improved. Summary of the Invention

[0006] In view of the above-mentioned prior art, the technology to be achieved by the present invention is to enable the fire-fighting robot to climb on walls.

[0007] The technical problem to be further solved by the present invention is to have good stability during the climbing process.

[0008] To achieve the above object, the present invention adopts the following solutions:

[0009] A wall traveling device for a multi-functional robot, comprising a housing. Inside the housing, there is a feeding magazine capable of batch placing wall fixing anchor bolts. On one side of the feeding magazine, there is a loading magazine. On one side of the loading magazine, there is a firing wheel capable of loading wall fixing anchor bolts. On one side of the feeding magazine, there is a firing structure for shooting out the wall fixing anchor bolts in the firing wheel. On one side of the firing structure, there is an anchor bolt firing tube. On one side of the anchor bolt firing tube, there is a gas guiding device. On one side of the housing, there is a traveling foot component.

[0010] Further, the housing in the present invention includes a housing body, and an upper cover and a lower cover respectively arranged on the upper and lower sides of the housing body.

[0011] Further, the feeding magazine in the present invention includes a cartridge arranged inside the housing body. At the top of the cartridge, there is a feed inlet. Inside the cartridge, there is a wave wheel motor capable of driving the wall fixing anchor bolts to move downward. An inclined baffle is fixedly arranged in the cartridge. The inclined baffle gradually narrows from top to bottom. At the lower part of the cartridge, there are a convex block and a sliding bullet groove capable of rotating the wall fixing anchor bolts by 90°. An ejection port is arranged on the side wall of the lower part of the cartridge. A plurality of observation holes are provided on the cartridge and the housing body.

[0012] Further, a support frame is arranged inside the housing body of the present invention. The support frame is cylindrical. An inner cavity is arranged inside the support frame. The loading magazine is arranged between the support frame and the cartridge and is interconnected. A bullet separating frame is arranged in the loading magazine. The firing wheel is arranged inside the support frame and closely adheres to the inner wall of the support frame.

[0013] Further, the firing wheel in the present invention includes a rotating shaft and a plurality of fins fixedly arranged on the rotating shaft. A loading groove is formed between two adjacent fins.

[0014] Further, the firing structure in the present invention includes an internal gear ring fixedly arranged at the top of the rotating shaft. Above the internal gear ring, there is a brushless motor. A reduction gear meshing with a reduction gear is arranged on the lower side of the rotor of the brushless motor. One side of the brushless motor is fixedly connected to the lower cover through a connecting rod. A cutting groove for cutting the fuse core of the wall fixing anchor bolts is arranged on the support frame. A shooting hole for allowing the wall fixing anchor bolts to pass through is arranged at the bottom of the support frame.

[0015] Further, a vacant groove for throwing out the residues of the wall fixing anchor bolts is arranged on the support frame of the present invention.

[0016] Further, the anchor bolt firing tube in the present invention includes a first tube body fixedly arranged at the bottom of the support frame and concentrically arranged with the shooting hole. A second tube body communicating with the first tube body is fixedly arranged at the bottom of the lower cover.

[0017] Furthermore, the air guiding device in the present invention includes a first fixing member and a second fixing member respectively arranged on the upper and lower sides of the first pipe body. An L-shaped pipeline communicating with the inside of the first pipe body is provided in the second fixing member. A piston rod is inserted into the first fixing member, and a piston head is fixedly provided at the bottom of the piston rod. The piston head is arranged to be limited and movable in the L-shaped pipeline, and a return spring sleeved on the piston rod is arranged between the top wall of the piston head and the bottom wall of the first fixing member.

[0018] Furthermore, the traveling foot component in the present invention includes an L-shaped frame fixedly sleeved on the second pipe body. A crawling foot is hinged to the bottom of the L-shaped frame. A cylinder capable of driving the crawling foot to rotate is arranged between the side wall of the crawling foot and the side wall of the L-shaped frame. Anti-slip lines are arranged at the bottom of the crawling foot, and a nail removing groove capable of being stuck on the wall fixing anchor is arranged on the crawling foot. The nail removing groove is in a horn shape.

[0019] To sum up, the beneficial effects of the present invention compared with the prior art are as follows:

[0020] The present invention has a simple structure and is convenient to use, solving the drawback of difficult fire fighting and rescue in the prior art when a fire occurs in a high-rise building. By using a land-air dual-purpose robot, the rescue pressure of rescue personnel can be greatly reduced, the use of personnel can be reduced, thereby reducing the casualty rate of rescue personnel. By installing this device on the rescue robot, the robot can stably walk on the wall, facilitating the robot to be fixed on the wall to carry out fire fighting and rescue work such as sprinkling water at the fire scene. The climbing action can be completed without the aid of other tools, and it can adapt to various different walls, such as walls made of cement, wood, etc. The device can also be used to climb the wall. The overall device is light and small in volume, preventing the robot from falling off the wall due to excessive weight during wall climbing, resulting in machine loss or casualties of rescue personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional schematic diagram of the present invention.

[0022] Figure 2 is one of the three-dimensional exploded schematic diagrams of the present invention.

[0023] Figure 3 is the second three-dimensional exploded schematic diagram of the present invention.

[0024] Figure 4 is the third three-dimensional exploded schematic diagram of the present invention.

[0025] Figure 5 is the fourth three-dimensional exploded schematic diagram of the present invention.

[0026] Figure 6 is the fifth three-dimensional exploded schematic diagram of the present invention.

[0027] Figure 7 Schematic diagram of the three-dimensional dissection of the present invention.

[0028] Figure 8 Sixth schematic diagram of the three-dimensional disassembly of the present invention.

[0029] Figure 9 Seventh schematic diagram of the three-dimensional disassembly of the present invention. Detailed implementation manners

[0030] The present invention will be further described below in conjunction with the accompanying drawings and detailed implementation manners:

[0031] As Figures 1 to 9 shown, a wall traveling device of a multifunctional robot includes a housing 1. Inside the housing 1, there is a magazine 2 capable of batch placing wall-anchoring nails. On one side of the magazine 2, there is a feeding magazine 3. On one side of the feeding magazine 3, there is a firing wheel 4 capable of loading wall-anchoring nails. On one side of the magazine 2, there is a firing structure 5 for shooting out the wall-anchoring nails in the firing wheel 4. On one side of the firing structure 5, there is an anchor nail firing tube 6. On one side of the anchor nail firing tube 6, there is an air guiding device 7. On one side of the housing 1, there is a traveling foot component 8. This device is installed on the feet of the robot body of the robot. When this device is installed on multiple feet of the robot body, and then through the mutual cooperation of multiple feet, it can crawl on the wall. When in use, a plurality of wall-anchoring nails are pre-placed in the magazine. When the robot body of the robot climbs the wall, the magazine supplies the wall-anchoring nails to the feeding magazine, and the feeding magazine further supplies the wall-anchoring nails to the firing wheel. At this time, the wall-anchoring nails in the firing wheel are waiting to be fired. The firing structure drives the firing wheel to rotate continuously. When the firing wheel rotates to a predetermined position, the fuse of the wall-anchoring nail will be cut, and the wall-anchoring nail will be shot out from the anchor nail firing tube. The air guiding device releases the gas generated when the gunpowder burns. At this time, the wall-anchoring nail will be shot into the wall and fixed by the traveling foot component clamping on the wall-anchoring nail. By continuously shooting the wall-anchoring nails into the wall through multiple such devices, and then through the cooperation of the traveling foot components on the feet of multiple robot bodies and the wall-anchoring nails, the whole robot can crawl on the wall. In addition, the whole robot can walk on land only through the activities of the traveling foot components without using wall-anchoring nails, realizing the characteristic of the device being dual-purpose on land and in the air.

[0032] In the present invention, the housing 1 includes a housing body 11 and an upper cover 12 and a lower cover 13 respectively arranged on the upper and lower sides of the housing body 11. The upper cover can be removed to batch place the wall-anchoring nails into the magazine, and the housing body can also be removed from the lower cover, so as to facilitate the internal repair and maintenance.

[0033] In the present invention, the ammunition magazine 2 includes a magazine clip 21 disposed inside the housing body 11. An ammunition inlet 22 is provided at the top of the magazine clip 21. Inside the magazine clip 21, there is a wave wheel motor 23 capable of driving the wall - fixing anchor downwards. An inclined baffle 24 is fixedly provided inside the magazine clip 21. The inclined baffle 24 gradually narrows from top to bottom. At the lower part of the magazine clip 21, there is a convex block 25 and a bullet - sliding groove 26 capable of rotating the wall - fixing anchor by 90°. An ammunition outlet 27 is provided on the side wall of the lower part of the magazine clip 21. A plurality of observation holes 28 are provided through the magazine clip 21 and the housing body 11. Wall - fixing anchors are batch - loaded into the magazine clip from the ammunition inlet, and multi - path or single - path loading of wall - fixing anchors can be achieved. The wave wheel motor inside supplies the wall - fixing anchors downwards. When the wall - fixing anchors move to the inclined baffle, the inclined baffle converges the multi - path wall - fixing anchors to the lower side of the inclined baffle. When the wall - fixing anchors enter the bullet - sliding groove, at this time, the convex block presses the head of the wall - fixing anchor, causing the wall - fixing anchor to rotate 90° with the anchor head as the center point. The wall - fixing anchor after rotating 90° is supplied from the ammunition outlet to the upper ammunition magazine. The rear side of the bullet - sliding groove has an arc - shaped inner wall, which is convenient for the rotation of the wall - fixing anchor.

[0034] Inside the housing body 11 of the present invention, there is a support frame 9. The support frame 9 is cylindrical. An inner cavity 91 is provided inside the support frame 9. The upper ammunition magazine 3 is disposed between the support frame 9 and the magazine clip 21 and is interconnected. Inside the upper ammunition magazine 3, there is a bullet - separating frame 31. The firing wheel 4 is disposed inside the support frame 9 and closely adheres to the inner wall of the support frame 9. When the device works, the support frame is fixed on one side of the upper ammunition magazine. When the wall - fixing anchors are supplied from the ammunition outlet to the upper ammunition magazine, the bullet - separating frame inside the upper ammunition magazine diverts the supplied wall - fixing anchors and loads the wall - fixing anchors onto the firing wheel inside the inner cavity. The firing wheel can rotate inside the inner cavity, so that the wall - fixing anchors already loaded into the firing wheel follow the movement until they are fired. Through the continuous firing of the wall - fixing anchors and the continuous supply of new wall - fixing anchors from the upper ammunition magazine, the wall - fixing anchors can be continuously fired until the wall - fixing anchors are emptied.

[0035] The firing wheel 4 in the present invention includes a rotating shaft 41 and a plurality of fins 42 fixedly provided on the rotating shaft 41. A loading groove 43 is formed between two adjacent fins 42. The intervals between the plurality of fins on the firing wheel are consistent, and loading grooves are formed at the intervals between the plurality of fins. The wall - fixing anchors can be loaded from the upper ammunition magazine through the bullet - separating frame into the loading grooves. After loading the wall - fixing anchors, when the rotating shaft is driven to rotate by the firing structure, it will drive the wall - fixing anchors to follow the displacement until they are fired. Since the outer wall of the firing wheel closely adheres to the inner wall of the inner cavity of the support frame, the wall - fixing anchors will not fall out of the loading grooves during the rotation process.

[0036] The firing structure 5 described in the present invention includes an inner gear ring 51 fixed on the top of the rotating shaft 41, and a brushless motor 52 is arranged above the inner gear ring 51. A reduction gear 53 meshing with the inner gear ring 51 is installed on the lower side of the rotor of the brushless motor 52. One side of the brushless motor 52 is fixedly connected to the lower cover 13 by a connecting rod 54. A cutting groove 55 capable of cutting the fire core of the wall anchor is arranged on the support frame 9, and a shooting hole 56 for allowing the wall anchor to pass through is arranged at the bottom of the support frame 9. When in use, the reduction gear is driven to rotate by starting the brushless motor, and the reduction gear drives the inner gear ring to rotate continuously to rotate the rotating shaft. When the rotating shaft rotates, the wall anchor follows the displacement at the firing wheel, and when the fire core protruding from the tail of the wall anchor rotates to the cutting groove, the cutting groove cuts and squeezes the fire core, the wall anchor will be ignited, and the wall anchor will be shot downward from the shooting hole.

[0037] The support frame 9 described in the present invention is provided with an empty slot 92 for throwing out the residue of the wall anchor. After the wall anchor is fired, the residue of the wall anchor is thrown out from the empty slot. Generally, no residue is generated when the wall anchor is fired. In order to prevent the accidental generation of residue and to prevent the residue from jamming the firing wheel, the residue can be thrown out from the empty slot in advance.

[0038] The anchor firing tube 6 described in the present invention includes a first tube body 61 fixed at the bottom of the support frame 9 and arranged concentrically with the perforation 56. A second tube body 62 connected to the first tube body 61 is fixed at the bottom of the lower cover 13. After the wall anchor is fired from the firing wheel, the wall anchor will pass through the perforation into the first tube body, then into the second tube body, and then be shot out from the second tube body and into the wall.

[0039] The gas guide device 7 described in the present invention includes a first fixing member 71 and a second fixing member 72 respectively arranged on the upper and lower sides of the first tube body 61, an L-shaped pipeline 73 connected to the interior of the first tube body 61 is arranged in the second fixing member 72, a piston rod 74 is inserted in the first fixing member 71, a piston head 75 is fixed at the bottom of the piston rod 74, the piston head 75 is arranged in the L-shaped pipeline 73 for limited movement, a return spring 76 sleeved on the piston rod 74 is arranged between the top wall of the piston head 75 and the bottom wall of the first fixing member 71, when the wall anchor is fired, the generated combustion gas will enter the L-shaped pipeline, so that the piston head is pressed upward until the piston head is separated from the L-shaped pipeline, at which time the combustion gas will be released into the outside air to complete the purpose of exhaust, and the piston head is reset by the piston rod driven by the return spring and reinserted into the L-shaped pipeline to wait for the next exhaust.

[0040] In the present invention, the traveling foot component 8 includes an L-shaped frame 81 fixedly sleeved on the second pipe body 62. A crawling foot 82 is hinged to the bottom of the L-shaped frame 81. A cylinder 83 capable of driving the crawling foot 82 to rotate is provided between the side wall of the crawling foot 82 and the side wall of the L-shaped frame 81. An anti-slip pattern 84 is provided at the bottom of the crawling foot 82. A nail-removing groove 85 capable of clamping on the wall anchor is provided on the crawling foot 82. The nail-removing groove 85 is in a flared shape. When the wall anchor is shot into the wall, since the groove position of the nail-removing groove does not block the shooting position of the wall anchor, after the wall anchor is shot and embedded in the wall, the wall anchor will be located inside the nail-removing groove and is fixed by clamping on the wall anchor through the nail-removing groove. Driven by the cylinder, the crawling foot can move. By installing this device on multiple feet of the robot body and cooperating with the shooting of the wall anchor, and the feet clamping on the wall anchor, the robot can crawl on the wall.

[0041] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the description in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall traveling device for a multi-functional robot, characterized in that: It includes a housing (1). Inside the housing (1), there is a feeding magazine (2) capable of batch placing wall-fixing anchor nails. On one side of the feeding magazine (2), there is a loading magazine (3). On one side of the loading magazine (3), there is a firing wheel (4) capable of loading wall-fixing anchor nails. On one side of the feeding magazine (2), there is a firing structure (5) for shooting out the wall-fixing anchor nails in the firing wheel (4). On one side of the firing structure (5), there is an anchor nail firing tube (6). On one side of the anchor nail firing tube (6), there is an air guiding device (7). On one side of the housing (1), there is a traveling foot component (8). The housing (1) includes a housing body (11) and an upper cover (12) and a lower cover (13) respectively arranged on the upper and lower sides of the housing body (11). The firing wheel (4) includes a rotating shaft (41) and a plurality of fins (42) fixedly arranged on the rotating shaft (41). A loading groove (43) is formed between two adjacent fins (42). The firing structure (5) includes an internal gear ring (51) fixedly arranged on the top of the rotating shaft (41). Above the internal gear ring (51), there is a brushless motor (52). A reduction gear (53) meshing with the internal gear ring (51) is installed on the lower side of the rotor of the brushless motor (52). One side of the brushless motor (52) is fixedly connected to the lower cover (13) through a connecting rod (54). Inside the housing body (11), there is a support frame (9). On the support frame (9), there is a cutting groove (55) capable of cutting the fuse core of the wall-fixing anchor nail. At the bottom of the support frame (9), there is a shooting hole (56) through which the wall-fixing anchor nail can pass. The air guiding device (7) includes a first fixing member (71) and a second fixing member (72) respectively arranged on the upper and lower sides of the first pipe body (61). Inside the second fixing member (72), there is an L-shaped pipeline (73) communicating with the inside of the first pipe body (61). A piston rod (74) is inserted into the first fixing member (71). A piston head (75) is fixedly arranged at the bottom of the piston rod (74). The piston head (75) is arranged to move in a limited manner inside the L-shaped pipeline (73). A return spring (76) sleeved on the piston rod (74) is arranged between the top wall of the piston head (75) and the bottom wall of the first fixing member (71). The traveling foot component (8) includes an L-shaped frame (81) fixedly sleeved on the second pipe body (62). A crawling foot (82) is hinged at the bottom of the L-shaped frame (81). A cylinder (83) capable of driving the crawling foot (82) to rotate is arranged between the side wall of the crawling foot (82) and the side wall of the L-shaped frame (81). An anti-slip pattern (84) is arranged at the bottom of the crawling foot (82). A nail removal groove (85) capable of clamping on the wall-fixing anchor nail is arranged on the crawling foot (82). The nail removal groove (85) is in a trumpet shape.

2. The wall traveling device for a multi-functional robot according to claim 1, characterized in that The feeding magazine (2) includes a magazine clip (21) disposed inside the housing body (11). An ammunition inlet (22) is provided at the top of the magazine clip (21). A wave wheel motor (23) capable of driving the wall anchor downwards is provided inside the magazine clip (21). An inclined baffle (24) is fixedly provided inside the magazine clip (21), and the inclined baffle (24) gradually narrows from top to bottom. A convex block (25) and a sliding ammunition groove (26) capable of rotating the wall anchor by 90° are provided at the lower part of the magazine clip (21). An ammunition outlet (27) is provided on the side wall of the lower part of the magazine clip (21). A plurality of observation holes (28) are provided through the magazine clip (21) and the housing body (11).

3. The wall traveling device of a multifunctional robot according to claim 2, characterized in that, the support frame (9) is cylindrical, and an inner cavity (91) is provided inside the support frame (9). The upper ammunition magazine (3) is disposed between the support frame (9) and the magazine clip (21) and is in communication with each other. A ammunition dividing frame (31) is provided inside the upper ammunition magazine (3). The firing runner (4) is disposed inside the support frame (9) and is in close contact with the inner wall of the support frame (9).

4. The wall traveling device of a multifunctional robot according to claim 3, characterized in that a vacant groove (92) capable of throwing out the residues of the wall anchor is provided on the support frame (9).

5. The wall traveling device of a multifunctional robot according to claim 3, characterized in that the anchor firing tube (6) includes a first tube body (61) fixedly provided at the bottom of the support frame (9) and concentrically arranged with the shooting hole (56). A second tube body (62) communicating with the first tube body (61) is fixedly provided at the bottom of the lower cover (13).

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