A four-wheel drive smoke exhaust robot

Abstract

The present invention discloses a four-wheel drive smoke exhaust robot, including a body, the upper surface of the body is fixedly connected to the lower surface of the steering shaft, the upper surface of the steering shaft is provided with a high temperature resistant camera, and the upper surface of the body is fixedly connected to the lower surface of the mounting plate. By arranging a bidirectional motor, a rectangular shaft, a rectangular tube, a support plate, a fan blade, a duct outer tube, a duct inner tube, a connecting ring and a thermoelectric conversion tube, when in use, the two synchronous connecting rings move their positions to make the two duct inner tubes slide synchronously, exposing the internal thermoelectric conversion tube, and then the thermoelectric conversion tube can generate electricity after being heated to continuously drive the bidirectional motor to rotate. This method can play a good protective effect on the internal thermoelectric conversion tube when in use, and synchronously when the smoke temperature is appropriate, the thermoelectric conversion tube can be automatically activated, so that it can complete continuous heat energy recovery and power supply, greatly extending the use time.

Description

Technical Field

[0001] The invention relates to the field of firefighting, and in particular to a four-wheel drive smoke exhaust robot. Background Art

[0002] Firefighting is a highly social job. It can only be done well by relying on the strength of the whole society and with the care, attention, support and participation of all members of society. Firefighting management should penetrate into all areas of human production and life, thus determining the social nature of firefighting work. Fire safety management involves all walks of life and even thousands of households. In the process of production, work and life, people may be slightly negligent in fire safety management, or lose focus, lose control or make mistakes in production, which may lead to fires. This determines the regular nature of firefighting work. Looking back at the lessons of fire accidents over the years, although the causes of disasters are complex, it can be seen that the vast majority of fires are caused by the mistakes of one person, one thing or one time. This makes us further clarify a truth that only with the active participation of the masses can we control and eliminate the occurrence of fire accidents. This in turn determines the mass nature of firefighting work.

[0003] Because of the danger and importance of firefighting, various types of intelligent remote-controlled robots have been widely used. In some environments with large fires, the diffusion of smoke inside the fire will bring more obstacles to firefighting and rescue, so the smoke needs to be discharged. However, most of the current firefighting robots use remote control, and the line method is difficult to adapt to the complexity of the fire scene, and the line has great safety hazards. Therefore, most robots use their own power supply. As a smoke exhaust robot, its workload for smoke exhaust is large, and the consumption of electricity makes it difficult to operate continuously for a long time, so its use effect is often not ideal. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a four-wheel drive smoke exhaust robot. As a smoke exhaust robot, it has a large workload for exhausting smoke, and its consumption of electric energy makes it difficult to operate continuously for a long time, so that the effect of its use is often not ideal.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a four-wheel drive smoke exhaust robot, comprising a body, the upper surface of the body being fixedly connected to the lower surface of a steering shaft, the upper surface of the steering shaft being provided with a high temperature resistant camera, the upper surface of the body being fixedly connected to the lower surface of a mounting plate, the upper surface of the mounting plate being movably connected to the lower surface of a first arm through a pin shaft, the upper surface of the first arm being movably connected to the lower surface of a second arm through a pin shaft, the upper surface of the second arm being fixedly connected to the lower surface of a thermoelectric conversion tube, the surface of the thermoelectric conversion tube being slidably connected to two duct outer tubes, the inner wall of the thermoelectric conversion tube being slidably connected to a duct inner tube, the duct outer tube and one side of the corresponding duct inner tube being fixedly connected to the surface of the same connecting ring, and the surfaces of the two duct outer tubes are both clamped with positioning rings.

[0006] A plurality of positioning rods are slidably connected through sliding holes in the positioning ring, one end of the plurality of positioning rods is fixedly connected to the surface of a connecting ring corresponding to the surface of another duct outer tube, a plurality of bearing seats are fixedly connected to the surface of the thermoelectric conversion tube, and the inner walls of the two corresponding bearing seats are movably connected with the same positioning sleeve, the inner wall of the thermoelectric conversion tube is fixedly connected to the surface of the same bidirectional motor through a plurality of support plates, the two output shafts of the bidirectional motor are fixedly connected to a rectangular shaft, the surface of the rectangular shaft is embedded in the inner wall of the rectangular tube, and one end of the rectangular tube is fixedly connected to a fan blade.

[0007] As a preferred technical solution of the present invention, the upper surface of the mounting plate is movably connected to the bottom end of the first hydraulic rod through a pin, the top end of the first hydraulic rod is movably connected to the inner wall of the first arm through a pin, the inner wall of the first arm is movably connected to the bottom end of the second hydraulic rod through a pin, and the top end of the second hydraulic rod is movably connected to the lower surface of the second arm through a pin.

[0008] As a preferred technical solution of the present invention, the surface of the positioning sleeve is arranged in a gear shape, and the surfaces of several positioning sleeves are meshed with the inner wall of the same inner gear ring. The inner wall of the inner gear ring is provided with a rotation sensor, and the rotation sensor is fixedly connected to the surface of the thermoelectric conversion tube.

[0009] As a preferred technical solution of the present invention, the sliding ball arranged on the inner wall of the positioning sleeve is slidably connected in a slideway opened on the surface of the positioning rod, and one end of several positioning rods is fixedly connected to the surface of the same collar.

[0010] As a preferred technical solution of the present invention, a sealing sleeve is provided at the interface between the inner wall of the rectangular shaft and the rectangular cylinder, and a protective net is fixedly connected to the surface of the connecting ring.

[0011] As a preferred technical solution of the present invention, the thermoelectric conversion tube includes a substrate, a ceramic layer, a thermoelectric conversion material and a motor. The surface of the substrate is welded with a plurality of thermoelectric conversion materials through a plurality of electrodes, and the surfaces of the plurality of thermoelectric conversion materials are fixedly connected with the ceramic layer through a plurality of electrodes.

[0012] As a preferred technical solution of the present invention, the duct outer tube and the duct inner tube are both made of heat-insulating materials, a plurality of carbon dioxide fire extinguisher tanks are arranged on the surface of the vehicle body, and the surface of the bidirectional motor is heat-insulated.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0014] 1. By setting a bidirectional motor, a rectangular shaft, a rectangular cylinder, a support plate, a fan blade, a duct outer cylinder, a duct inner cylinder, a connecting ring and a thermoelectric conversion cylinder, when in use, as the vehicle body arrives at the designated location, firstly, the height and the tilt angle of the first support arm and the second support arm are adjusted by the first hydraulic rod and the second hydraulic rod. After the adjustment is completed, the bidirectional motor is started first, and then the fan blades are driven to start synchronous operation during the bidirectional motor starting process. Then, a large amount of smoke begins to be directly discharged outward during the high-speed rotation of the two fan blades. Synchronously, as the smoke flows in the two duct inner cylinders, the surface of the rectangular cylinder is continuously heated. Then, during the heating process of the rectangular cylinder, the inside The gas expands, so that the gas inside it keeps pushing the rectangular shaft under the action of the sealing sleeve, and then the rectangular shaft starts to transmit and the length slides and changes under the action of the shape of the inner wall of the rectangular tube. When the two connecting rings move synchronously, the two duct inner tubes slide synchronously, exposing the internal thermoelectric conversion tube. Then, after the thermoelectric conversion tube is heated, it can generate electricity to continuously drive the bidirectional motor to rotate. This method can have a good protective effect on the internal thermoelectric conversion tube when in use. When the flue gas temperature is appropriate, the thermoelectric conversion tube can be automatically activated, so that it can complete continuous heat energy recovery and power supply, which greatly extends the use time.

[0015] 2. By setting a positioning rod, a positioning sleeve, an inner gear ring, a rotation sensor, a duct outer tube and a duct inner tube, as the duct outer tube and the duct inner tube move, they cooperate with the thermoelectric conversion tube to maintain their length, so that the overall duct length becomes longer, and the exhaust distance and speed of the flue gas are further improved. When it moves, the positioning rod moves synchronously, and the positioning rod drives the positioning sleeve on the surface to rotate, so that the positioning sleeve rotates and engages with the inner gear ring to rotate synchronously, so that the inner gear ring drives the rotation sensor, so that the rotation sensor can detect the change of its elongation in real time and can directly obtain the estimated temperature of the duct inner tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the vehicle body of the present invention;

[0018] Figure 3 It is a three-dimensional structural schematic diagram of the duct outer tube of the present invention;

[0019] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional structure of the duct outer tube of the present invention;

[0020] Figure 5 It is a schematic cross-sectional structure diagram of the thermoelectric conversion tube of the present invention when viewed from the right;

[0021] Figure 6 It is a schematic diagram of the structure enlarged at A of the present invention;

[0022] Figure 7 This is a schematic diagram of the duct outer tube in the extended state of the present invention;

[0023] Figure 8 It is a schematic diagram of the cross-sectional structure of the thermoelectric conversion tube of the present invention;

[0024] Fig. 9 It is a three-dimensional structural schematic diagram of the positioning rod of the present invention.

[0025] Among them: 1 body, 2 steering shaft, 3 high temperature resistant camera, 4 mounting plate, 5 first support arm, 6 second support arm, 7 first hydraulic rod, 8 second hydraulic rod, 9 thermoelectric conversion tube, 91 substrate, 92 ceramic layer, 93 thermoelectric conversion material, 94 electrode, 10 duct outer tube, 11 duct inner tube, 12 collar, 13 bearing seat, 14 positioning sleeve, 15 positioning rod, 16 inner gear ring, 17 rotation sensor, 18 positioning ring, 19 support plate, 20 bidirectional motor, 21 rectangular shaft, 22 rectangular tube, 23 fan blade, 24 protective net, 25 connecting ring. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, and purpose and efficacy of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments are conventional methods unless otherwise specified, and the materials and reagents used in the following embodiments are all commercially available unless otherwise specified. Example

[0027] like Figure 1-9As shown, the present invention provides a four-wheel drive smoke exhaust robot, including a body 1, the upper surface of the body 1 is fixedly connected to the lower surface of the steering shaft 2, the upper surface of the steering shaft 2 is provided with a high temperature resistant camera 3, the upper surface of the body 1 is fixedly connected to the lower surface of the mounting plate 4, the upper surface of the mounting plate 4 is movably connected to the lower surface of the first arm 5 through a pin shaft, the upper surface of the first arm 5 is movably connected to the lower surface of the second arm 6 through a pin shaft, the upper surface of the second arm 6 is fixedly connected to the lower surface of the thermoelectric conversion tube 9, the surface of the thermoelectric conversion tube 9 is slidably connected with two duct outer tubes 10, the inner wall of the thermoelectric conversion tube 9 is slidably connected with a duct inner tube 11, the duct outer tube 10 and one side of the corresponding duct inner tube 11 are fixedly connected to the surface of the same connecting ring 25, and the surfaces of the two duct outer tubes 10 are both clamped with positioning rings 18.

[0028] A plurality of positioning rods 15 are slidably connected through sliding holes opened in the positioning ring 18, one end of the plurality of positioning rods 15 is fixedly connected to the surface of a connecting ring 25 corresponding to the surface of another duct outer tube 10, a plurality of bearing seats 13 are fixedly connected to the surface of the thermoelectric conversion tube 9, and the inner walls of the two corresponding bearing seats 13 are movably connected with the same positioning sleeve 14, the inner wall of the thermoelectric conversion tube 9 is fixedly connected to the surface of the same bidirectional motor 20 through a plurality of support plates 19, the two output shafts of the bidirectional motor 20 are fixedly connected to a rectangular shaft 21, the surface of the rectangular shaft 21 is embedded in the inner wall of the rectangular tube 22, and one end of the rectangular tube 22 is fixedly connected to a fan blade 23.

[0029] When in use, after the vehicle body 1 reaches the designated location, the height and tilt angle of the first support arm 5 and the second support arm 6 are first adjusted by the first hydraulic rod 7 and the second hydraulic rod 8. After the adjustment is completed, the bidirectional motor 20 is started first, and then the fan blades 23 are driven to start synchronous operation during the starting process of the bidirectional motor 20. Then, a large amount of smoke begins to be directly discharged outward during the high-speed rotation of the two fan blades 23. Synchronously, as the smoke flows in the two duct inner tubes 11, the surface of the rectangular tube 22 is continuously heated. Then, during the heating process of the rectangular tube 22, the gas inside it expands, so that the internal gas is kept under the action of the sealing sleeve. The rectangular shaft 21 is pushed, and then the rectangular shaft 21 and the inner wall of the rectangular tube 22 start to transmit and slide at the same time. When the two connecting rings 25 are moved synchronously, the two duct inner tubes 11 slide synchronously to expose the internal thermoelectric conversion tube 9. Then, after the thermoelectric conversion tube 9 is heated, it can generate electricity to continuously drive the bidirectional motor 20 to rotate. This method can have a good protective effect on the internal thermoelectric conversion tube 9 when in use. When the flue gas temperature is appropriate, the thermoelectric conversion tube 9 can be automatically activated to enable it to complete continuous heat energy recovery and power supply, which greatly extends the use time.

[0030] In other embodiments, Figure 1 and Figure 3 and Figure 4 As shown, the upper surface of the mounting plate 4 is movably connected to the bottom end of the first hydraulic rod 7 through a pin, the top end of the first hydraulic rod 7 is movably connected to the inner wall of the first arm 5 through a pin, the inner wall of the first arm 5 is movably connected to the bottom end of the second hydraulic rod 8 through a pin, the top end of the second hydraulic rod 8 is movably connected to the lower surface of the second arm 6 through a pin, a sealing sleeve is provided at the interface between the inner wall of the rectangular shaft 21 and the rectangular cylinder 22, a protective net 24 is fixedly connected to the surface of the connecting ring 25, the duct outer cylinder 10 and the duct inner cylinder 11 are both made of heat-insulating material, a number of carbon dioxide fire extinguishing tanks are provided on the surface of the vehicle body 1, and the surface of the bidirectional motor 20 is heat-insulated.

[0031] By setting the first hydraulic rod 7, the height and inclination angle of the first arm 5 and the second arm 6 are adjusted by the first hydraulic rod 7 and the second hydraulic rod 8, so that the angle can be adjusted according to the actual use when in use. By setting the second arm 6, the second arm 6 can keep the thermoelectric conversion tube 9 well connected and fixed. By setting the rectangular shaft 21, the gas inside the rectangular tube 22 expands during the heating process, so that the gas inside the rectangular shaft 21 keeps pushing the rectangular shaft 21 under the action of the sealing sleeve, and then the rectangular shaft 21 and the inner wall of the rectangular tube 22 start to transmit and slide while changing the length, so that automatic temperature control can be achieved. After the temperature reaches a suitable level, the thermoelectric conversion tube 9 is kept open and can have a good protection effect on it. By setting a carbon dioxide fire extinguishing tank, when the vehicle body 1 enters some fire locations, the flame suppression effect around the vehicle body can be maintained by releasing carbon dioxide.

[0032] In other embodiments, Figure 5 and Figure 8 As shown, the surface of the positioning sleeve 14 is arranged in a gear shape, and the surfaces of several positioning sleeves 14 are meshed with the inner wall of the same inner gear ring 16. The inner wall of the inner gear ring 16 is provided with a rotation sensor 17, and the rotation sensor 17 is fixedly connected to the surface of the thermoelectric conversion tube 9. The sliding ball arranged on the inner wall of the positioning sleeve 14 is slidably connected in a slideway opened on the surface of the positioning rod 15. The thermoelectric conversion tube 9 includes a substrate 91, a ceramic layer 92, a thermoelectric conversion material 93 and a motor. The surface of the substrate 91 is welded with several thermoelectric conversion materials 93 through several electrodes 94, and the surfaces of several thermoelectric conversion materials 93 are fixedly connected with the ceramic layer 92 through several electrodes 94.

[0033] By setting the positioning sleeve 14, during the synchronous movement of the positioning rod 15, the positioning rod 15 drives the positioning sleeve 14 on the surface to rotate, so that when the positioning sleeve 14 rotates, it meshes with the inner gear ring 16 and rotates synchronously, so that the inner gear ring 16 drives the rotation sensor, so that the rotation sensor can detect the change of its elongation in real time, and by setting the ceramic layer 92, the ceramic layer 92 can play a good protective effect.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] The above shows and describes 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 descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A four-wheel drive smoke exhaust robot, comprising a body (1), characterized in that: The upper surface of the vehicle body (1) is fixedly connected to the lower surface of the steering shaft (2), and a high temperature resistant camera (3) is arranged on the upper surface of the steering shaft (2). The upper surface of the vehicle body (1) is fixedly connected to the lower surface of the mounting plate (4), and the upper surface of the mounting plate (4) is movably connected to the lower surface of the first arm (5) through a pin shaft, and the upper surface of the first arm (5) is movably connected to the lower surface of the second arm (6) through a pin shaft, and the upper surface of the second arm (6) is fixedly connected to the lower surface of the thermoelectric conversion cylinder (9), and the surface of the thermoelectric conversion cylinder (9) is slidably connected to two duct outer cylinders (10), and the inner wall of the thermoelectric conversion cylinder (9) is slidably connected to a duct inner cylinder (11), and the duct outer cylinder (10) and one side of the corresponding duct inner cylinder (11) are fixedly connected to the surface of the same connecting ring (25), and the surfaces of the two duct outer cylinders (10) are both clamped with positioning rings (18); A plurality of positioning rods (15) are slidably connected in the positioning ring (18) through a sliding hole, one end of the plurality of positioning rods (15) is fixedly connected to the surface of a connecting ring (25) corresponding to the surface of another duct outer tube (10), the surface of the thermoelectric conversion tube (9) is fixedly connected to a plurality of bearing seats (13), the inner walls of the corresponding two bearing seats (13) are movably connected to the same positioning sleeve (14), the inner wall of the thermoelectric conversion tube (9) is fixedly connected to the surface of the same bidirectional motor (20) through a plurality of support plates (19), the two output shafts of the bidirectional motor (20) are fixedly connected to a rectangular shaft (21), the surface of the rectangular shaft (21) is embedded in the inner wall of the rectangular tube (22), and one end of the rectangular tube (22) is fixedly connected to a fan blade (23); The upper surface of the mounting plate (4) is movably connected to the bottom end of the first hydraulic rod (7) through a pin shaft, the top end of the first hydraulic rod (7) is movably connected to the inner wall of the first arm (5) through a pin shaft, the inner wall of the first arm (5) is movably connected to the bottom end of the second hydraulic rod (8) through a pin shaft, and the top end of the second hydraulic rod (8) is movably connected to the lower surface of the second arm (6) through a pin shaft; The surface of the positioning sleeve (14) is arranged in a gear shape, and the surfaces of a plurality of positioning sleeves (14) mesh with the inner wall of the same inner gear ring (16). The inner wall of the inner gear ring (16) is provided with a rotation sensor (17), and the rotation sensor (17) is fixedly connected to the surface of the thermoelectric conversion cylinder (9).

2. A four-wheel drive smoke exhaust robot according to claim 1, characterized in that: The sliding ball arranged on the inner wall of the positioning sleeve (14) is slidably connected in a slideway opened on the surface of the positioning rod (15), and one end of a plurality of positioning rods (15) is fixedly connected to the surface of the same sleeve ring (12).

3. The four-wheel drive smoke exhaust robot according to claim 1, characterized in that: A sealing sleeve is provided at the inner wall interface between the rectangular shaft (21) and the rectangular cylinder (22), and a protective net (24) is fixedly connected to the surface of the connecting ring (25).

4. The four-wheel drive smoke exhaust robot according to claim 1, characterized in that: The thermoelectric conversion tube (9) comprises a substrate (91), a ceramic layer (92), a thermoelectric conversion material (93) and a motor; a plurality of thermoelectric conversion materials (93) are welded to the surface of the substrate (91) via a plurality of electrodes (94); and the surfaces of the plurality of thermoelectric conversion materials (93) are fixedly connected to the ceramic layer (92) via a plurality of electrodes (94).

5. The four-wheel drive smoke exhaust robot according to claim 1, characterized in that: The duct outer tube (10) and the duct inner tube (11) are both made of heat-insulating materials. A plurality of carbon dioxide fire extinguishing tanks are arranged on the surface of the vehicle body (1), and the surface of the bidirectional motor (20) is heat-insulated.

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