Firefighting robot and frame thereof

Abstract

The application relates to the technical field of fire-fighting machinery, in particular to a fire-fighting robot and a frame thereof. The frame comprises a body, a seat ring, a first battery box, a second battery box, a first element box and a second element box are arranged on the body, the seat ring is used for being connected with a rotating mechanism of the fire-fighting robot, the first battery box and the second battery box are both used for storing batteries, the first element box and the second element box are used for storing hydraulic elements and / or electric control elements of the fire-fighting robot, wherein, along the length direction of the body, the seat ring is located at the middle part of the body, the first battery box and the second battery box are located on the two sides of the seat ring and adjacent to the seat ring, the first element box is located on the side of the first battery box away from the seat ring, and the second element box is located on the side of the second battery box away from the seat ring. Based on this, the operation stability of the fire-fighting robot can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire-fighting machinery, in particular to a fire-fighting robot and a frame thereof. BACKGROUND

[0002] In recent years, safety accidents occur frequently in the petroleum and petrochemical industry, extra-high voltage converter stations and transformer substations. Such accidents are sudden, have great explosion risk, burn fast and have complex disposal process, which will bring huge economic losses and social influence. For such fire accidents, in addition to arranging fixed fire-fighting systems in the equipment placement area, additional auxiliary fire-fighting equipment is usually set, and the most commonly used is a fire-fighting robot such as a high-lift jet robot to control the fire as soon as possible and reduce losses.

[0003] The fire-fighting robot can reach the scene in a few minutes and effectively put out the fire or suppress the further expansion of the fire. However, the current fire-fighting robot has poor stability during operation and is prone to overturning. SUMMARY

[0004] One technical problem to be solved by the present application is to improve the operation stability of the fire-fighting robot.

[0005] To solve the above technical problem, the present application provides a frame of a fire-fighting robot, which comprises:

[0006] The body is provided with a seat ring, a first battery box, a second battery box, a first element box and a second element box. The seat ring is used to be connected with a slewing mechanism of the fire-fighting robot. The first battery box and the second battery box are both used to store batteries. The first element box and the second element box are used to store hydraulic elements and / or electric control elements of the fire-fighting robot. In the length direction of the body, the seat ring is located in the middle part of the body. The first battery box and the second battery box are located on both sides of the seat ring and adjacent to the seat ring. The first element box is located on the side of the first battery box away from the seat ring. The second element box is located on the side of the second battery box away from the seat ring.

[0007] In some embodiments, the body is provided with a water pipe box used to store fire-fighting water pipes. The water pipe box is located directly below the second element box, and the bottom end of the water pipe box is provided with an opening.

[0008] In some embodiments, the side wall of the water pipe box away from the seat ring is provided with an extension outlet for the joint of the fire-fighting water pipe to extend out of; and / or the water pipe box is communicated with the center hole of the seat ring through the second battery box, so that the fire-fighting water pipe in the water pipe box extends to the center hole through the second battery box and is connected with the operation mechanism of the fire-fighting robot.

[0009] In some embodiments, the seat ring is provided with a support plate used to be connected with the fire-fighting water pipe extending into the center hole.

[0010] In some embodiments, the frame comprises a sleeve for storing a telescopic drive mechanism for driving the walking mechanism of the fire-fighting robot to extend and retract relative to the frame in the width direction, wherein the sleeve is located below the first battery box and / or the second battery box, and / or the sleeve protrudes out of the body in the width direction.

[0011] In some embodiments, the body is provided with a sliding groove for the wire harness of the motor mounted on the walking mechanism to pass through, so that the wire harness slides in the sliding groove along with the extension and retraction of the walking mechanism.

[0012] In some embodiments, the frame comprises a protective sleeve that covers the wire harness and slides in the sliding groove.

[0013] In some embodiments, the sleeve is provided with a mounting portion for mounting a positioning member for limiting the walking mechanism when it is extended to the right position.

[0014] In some embodiments, the body comprises a shell, a partition structure and a mounting plate, the partition structure is arranged in the shell and separates the shell into the first battery box, the second battery box, the first component box and the second component box, and the mounting plate is located between the first battery box and the second battery box and connected to the top end of the shell, and the raceway is arranged on the mounting plate.

[0015] In some embodiments, the shell comprises a first U-shaped plate, a second U-shaped plate, a first side plate and a second side plate, the first U-shaped plate and the second U-shaped plate are arranged in sequence in the direction from the first battery box to the second battery box, and the first side plate and the second side plate are arranged opposite to each other in the width direction of the body and connected between the first U-shaped plate and the second U-shaped plate; and / or the partition structure comprises a first L-shaped plate, a second L-shaped plate, a first partition plate, a second partition plate, a first supporting plate and a second supporting plate, the first L-shaped plate, the first partition plate, the second L-shaped plate and the second partition plate are arranged in sequence in the shell in the direction from the first battery box to the second battery box, the first component box is located between the first L-shaped plate and the shell, the second component box is located between the second L-shaped plate and the shell, the first battery box is located between the shell and the first L-shaped plate and the first partition plate, the second battery box is located between the shell and the second L-shaped plate and the second partition plate, the horizontal parts of the first L-shaped plate and the second L-shaped plate are used as the bottom walls of the first component box and the second battery box respectively, the first supporting plate is arranged in the first battery box and used as the bottom wall of the first battery box, the second supporting plate is arranged in the second component box and used as the bottom wall of the second component box, and the mounting plate is connected to the top ends of the first partition plate and the second partition plate.

[0016] In addition, the present application also provides a fire-fighting robot comprising the frame of any one of the embodiments of the present application.

[0017] In some embodiments, the first component box is located in front of the second component box.

[0018] In some embodiments, the firefighting robot is a height-boosting spraying robot.

[0019] In the present application, the battery box for storing the battery is no longer located at the end of the length direction of the vehicle frame, but is located at the middle position of the length direction of the vehicle frame, which is beneficial to make the center of gravity of the firefighting robot close to the center of the length direction, prevent the firefighting robot from overturning during operation, and thus effectively improve the operation stability of the firefighting robot.

[0020] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0022] Figure 1 It is a first perspective view of the firefighting robot in the embodiments of the present application.

[0023] Figure 2 It is a second perspective view of the firefighting robot in the embodiments of the present application.

[0024] Figure 3 It shows the structure of the vehicle frame and the fire hose in the embodiments of the present application.

[0025] Figure 4 It is a perspective view of the vehicle frame in the embodiments of the present application.

[0026] Figure 5 It is an exploded view of the vehicle frame in the embodiments of the present application.

[0027] Figure 6 It is a side view of the vehicle frame in the embodiments of the present application, viewed from the side of the second side plate.

[0028] Figure 7 It is a bottom view of the vehicle frame in the embodiments of the present application.

[0029] BRIEF DESCRIPTION OF DRAWINGS

[0030] 100, firefighting robot; 10, vehicle frame; 20, walking mechanism; 201, track mechanism; 202, motor; 203, wire harness; 30, fire hose; 301, joint; 40, battery; 50, hydraulic element; 60, electric control element;

[0031] 1, body; 11, shell; 111, first U-shaped plate; 112, second U-shaped plate; 113, first side plate; 114, second side plate; 115, notch; 12, partition structure; 121, first L-shaped plate; 122, second L-shaped plate; 123, first partition plate; 124, second partition plate; 125, first supporting plate; 126, second supporting plate; 13, mounting plate; 14, race; 141, center hole; 142, supporting plate; 15, first component box; 151, rib plate; 16, second component box; 17, first battery box; 171, partition; 172, mounting area; 18, second battery box; 19, water pipe box; 191, outlet; 192, bracket; 193, chute; 194, protective sleeve;

[0032] 2, sleeve; 21, vertical plate; 23, cover plate; 24, bottom plate; 25, mounting portion; 26, positioning member;

[0033] X, length direction; Y, width direction; Z, height direction. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way limits the present application and its application or uses. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] The technologies, methods and devices known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the specification when appropriate.

[0036] In the description of the present application, it should be understood that the use of the words "first", "second" and the like to describe components is merely intended to distinguish the corresponding components, and the above words have no special meaning unless otherwise stated, and therefore should not be understood as limiting the scope of protection of the present application.

[0037] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0038] A fire-fighting robot (such as a high-altitude jet robot) is a special robot that can quickly reach the fire scene and replace the fire personnel to enter the dangerous disaster scene of flammable and explosive, toxic, oxygen-deficient or smoky, etc., to handle the fire, and thus effectively improve the timeliness and safety of fire rescue.

[0039] However, in actual operation, the fire-fighting robot often has a whole vehicle overturning problem, which affects the operation safety.

[0040] It is found through research that an important reason for the fire-fighting robot to easily overturn the whole vehicle is that the battery of the fire-fighting robot is usually installed at the end of the length direction of the vehicle frame. Since the battery is heavy, when the battery is installed at the end of the length direction of the vehicle frame, the center of gravity of the fire-fighting robot will also be biased to the end of the length direction of the vehicle frame, resulting in unstable center of gravity of the fire-fighting robot, which is easy to overturn when the arm of the fire-fighting robot is unfolded for high operation.

[0041] In view of the above situation, the application provides a fire-fighting robot and a vehicle frame thereof.

[0042] Figures 1-7 The structure of the fire-fighting robot and the vehicle frame thereof of the application is exemplarily shown.

[0043] Among them, Figure 1 and Figure 2 Part of the structure of the fire-fighting robot is shown.

[0044] Referring to Figure 1 and Figure 2 , the fire-fighting robot 100 comprises a vehicle frame 10, a walking mechanism 20, a rotating mechanism (not shown in the figure) and an operation mechanism (not shown in the figure).

[0045] The vehicle frame 10 is used to provide a mounting basis for the walking mechanism 20, the rotating mechanism and the operation mechanism. The length direction X of the vehicle frame 10 is along the running direction of the fire-fighting robot 100. Based on this, the length direction X is the front-rear direction, the width direction Y is the left-right direction, and the height direction Z is the up-down direction. Among them, the advancing direction of the fire-fighting robot 100 is "front", the retreating direction is "rear", and the left and right when facing the front are "left" and "right" respectively. At the same time, the directions opposite and the same as the gravity are "up" and "down" respectively.

[0046] The walking mechanism 20 is arranged on the vehicle frame 10 and is used to realize the walking of the fire-fighting robot 100. Specifically, as shown in Figure 1 and Figure 2 , the walking mechanism 20 is arranged on both sides of the width direction Y (also the left-right direction) of the vehicle frame 10. The walking mechanism 20 is a wheel type walking mechanism or a track mechanism 201, a motor 202 is installed thereon, and the walking function is realized under the driving of the motor 202.

[0047] The rotating mechanism is arranged on the vehicle frame 10 and can rotate relative to the vehicle frame 10 to realize the function of rotating on the vehicle.

[0048] The working mechanism is arranged on the frame 10 and is used for performing fire fighting tasks. Specifically, the working mechanism usually comprises an arm support and a fire monitor. The first end of the arm support is connected with the slewing mechanism, and the fire monitor is arranged at the second end of the arm support. Thus, the arm support can be extended and contracted and the amplitude thereof can be changed to drive the fire monitor to move, and the slewing mechanism can be rotated to drive the fire monitor to rotate relative to the frame 10.

[0049] In addition, referring to Figure 1 and Figure 2 In some embodiments, the fire hose 30, the battery 40, the hydraulic element 50 and the electric control element 60 of the fire fighting robot 100 are also arranged on the frame 10. The fire hose 30 is used to be connected with the working mechanism (for example, the fire monitor) to provide fire fighting liquid such as water for the working mechanism. The battery 40 is used to supply power for the whole vehicle. The hydraulic element 50 constitutes a hydraulic flow path of the fire fighting robot 100 and usually comprises a hydraulic oil tank, a battery pump and an emergency power unit. The electric control element 60 is used to realize circuit control of the fire fighting robot 100 and usually comprises a driver disk group, a charger, an inclination sensor, a total power switch and a charging wire hole.

[0050] Figures 2-7 Further, the structure of the frame 10 is shown. Next, the structure of the frame 10 will be further introduced in combination with Figures 1-7

[0051] Referring to Figures 1-7 In the present application, the frame 10 comprises a body 1. The body 1 is provided with a seat ring 14, a first battery box 17, a second battery box 18, a first element box 15 and a second element box 16. The seat ring 14 is used to be connected with the slewing mechanism of the fire fighting robot 100. The first battery box 17 and the second battery box 18 are both used to store the battery 40. The first element box 15 and the second element box 16 are used to store the hydraulic element 50 and / or the electric control element 60 of the fire fighting robot 100. Among them, along the length direction X of the body 1, the seat ring 14 is located at the middle part of the body 1, the first battery box 17 and the second battery box 18 are located at both sides of the seat ring 14 and adjacent to the seat ring 14, the first element box 15 is located at the side of the first battery box 17 away from the seat ring 14, and the second element box 16 is located at the side of the second battery box 18 away from the seat ring 14.

[0052] ​In the above arrangement, the battery boxes for storing the batteries 40 are no longer located at the ends of the length direction X of the frame 10, but are located at the middle of the length direction X of the frame 10, and the number of the battery boxes is two, which are the first battery box 17 and the second battery box 18, and the first battery box 17 and the second battery box 18 are arranged on both sides of the seat ring 14 at the middle of the length direction X, and the first component box 15 and the second component box 16 are further arranged on the side of the first battery box 17 and the second battery box 18 away from the seat ring 14, so as to facilitate the center of gravity of the fire-fighting robot 100 to be close to the center of the length direction X, thereby effectively improving the stability of the center of gravity of the fire-fighting robot 100, and reliably preventing the fire-fighting robot 100 from overturning during operation, and further improving the operation stability of the fire-fighting robot 100.

[0053] Moreover, the above arrangement can make full use of the space of the frame 10 in the length direction X, so that the arrangement is more compact.

[0054] Continuing to refer to Figures 1-7 In some embodiments, the body 1 is not only provided with the seat ring 14, the first battery box 17, the second battery box 18, the first component box 15 and the second component box 16, but also provided with a water pipe box 19. The water pipe box 19 is used for storing the fire-fighting water pipe 30. Moreover, the water pipe box 19 is located directly below the second component box 16, and the bottom end of the water pipe box 19 is provided with an opening.

[0055] Based on the above arrangement, the fire-fighting water pipe 30 can be built-in in the frame 10, and since the water pipe box 19 for storing the fire-fighting water pipe 30 is arranged directly below the second component box 16, it does not need to occupy additional space in the length direction X, so as to facilitate reducing the overall length, facilitating transportation, and improving the overall appearance. At the same time, the water pipe box 19 is arranged directly below the second component box 16, which does not occupy additional space above, so as to facilitate reducing the height of the frame 10, and reserving more space for the operation mechanism in the height direction Z, which is also conducive to increasing the operation stability. The length, width and height of the fire-fighting robot 100 are all subject to certain limitations, therefore, effectively reducing the overall length, width and height, or making full use of the space in the length direction, width direction and height direction, is very important. In the case of a certain overall height, the less the height of the frame 10 occupies, the more space can be reserved for the operation mechanism, so that the arm support can be more fully stretched for operation.

[0056] Moreover, the bottom end of the water pipe box 19 is provided with an opening, so that during the installation of the fire-fighting water pipe 30 to the water pipe box 19 below, the observation can be carried out from the opening at the bottom end of the water pipe box 19, facilitating the quick disassembly and assembly of the fire-fighting water pipe 30. At the same time, since the bottom end of the water pipe box 19 is provided with an opening, the corresponding opening does not need to be provided with a sealing plate, so as to further facilitate weight reduction.

[0057] It can be seen that the above arrangement is conducive to reducing the length and height of the whole machine, improving the operation stability, reducing the weight, and facilitating the quick disassembly and assembly of the fire-fighting water pipe 30.

[0058] In some embodiments, the water pipe box 19 is arranged on the side of the seat ring 14, and a side wall of the water pipe box 19 is provided with an outlet 191 for the joint 301 of the fire-fighting water pipe 30 to extend out. Figure 2 Figure 3 In some embodiments, the joint 301 of the fire-fighting water pipe 30 extends out of the outlet 191, facilitating the connection of the fire-fighting water pipe 30 to the water source. Moreover, the fire-fighting water pipe 30 can be exposed only by the joint 301 outside the outlet 191, and the other parts are located in the frame 10 in the length direction X, which is conducive to reducing the length of the whole vehicle, facilitating transportation, and improving the operation flexibility.

[0059] In some embodiments, the water pipe box 19 is in communication with the center hole 141 of the seat ring 14 through the second battery box 18, so that the fire-fighting water pipe 30 in the water pipe box 19 extends into the center hole 141 through the second battery box 18 and is connected to the operation mechanism of the fire-fighting robot 100. In this way, the fire-fighting water pipe 30 is connected to the operation mechanism, and the length of the fire-fighting water pipe 30 in the length direction X is reduced, facilitating transportation and improving the operation flexibility.

[0060] In some embodiments, the seat ring 14 is provided with a support plate 142 for connecting the fire-fighting water pipe 30 extending into the center hole 141. In this way, the fire-fighting water pipe 30 can be stably arranged. Figure 3 Figure 4 In some embodiments, the frame 10 includes a sleeve 2 for storing a telescopic driving mechanism (not shown in the figure) for driving the walking mechanism 20 of the fire-fighting robot 100 to extend and retract in the width direction Y relative to the frame 10.

[0061] Figure 3 Figure 4

[0062] Figures 1-6

[0063] ​​​​​​​Under the action of the telescopic drive mechanism, the walking mechanism 20 can extend and retract relative to the frame 10 in the width direction Y, moving closer to or further away from the frame 10. This not only facilitates the fire-fighting robot 100 in meeting the width requirements of the entire machine during transportation, but also helps improve the operational stability of the fire-fighting robot 100. Specifically, during the movement of the fire-fighting robot 100, the walking mechanism 20 can retract towards the frame 10, switching to the retracted state, reducing the overall width of the machine, improving operational flexibility, facilitating the fire-fighting robot 100 to pass through narrow areas, and enabling the fire-fighting robot 100 to quickly reach the rescue site. During the operation of the fire-fighting robot 100, the walking mechanism 20 can extend away from the frame 10, switching to the extended state, expanding the width of the entire chassis, so that when the boom is deployed for lifting operations, the entire machine can still remain stable, thereby improving the overall stability of the machine.

[0064] It is evident that setting the sleeve 2 to enable the telescopic extension of the walking mechanism 20 is beneficial to improving the overall machine's operational flexibility and stability.

[0065] Among them, see Figures 3-6 In some embodiments, the sleeve 2 is located below the first battery box 17 and / or the second battery box 18. In this case, the sleeve 2 does not occupy additional space in the length direction X and above, which helps to reduce the overall length and height of the machine and allows more space for the working mechanism in the height direction Z.

[0066] Additionally, see Figure 3 and Figure 4 In some embodiments, the sleeve 2 protrudes from the body 1 in the width direction Y. This helps prevent the traveling mechanism 20 from hitting the body 1 when it retracts, thus improving the telescopic safety of the traveling mechanism 20.

[0067] During the extension and retraction of the traveling mechanism 20, the wiring harness 203 of the motor 202 on the traveling mechanism 20 will move accordingly. In this case, to facilitate the movement of the wiring harness 203, see [reference needed]. Figure 5 and Figure 7 In some embodiments, the body 1 is provided with a slide groove 193, which is used for the wiring harness 203 of the motor 202 of the walking mechanism 20 to pass through, so that the wiring harness 203 slides in the slide groove 193 as the walking mechanism 20 extends and retracts.

[0068] Further, see Figure 7 In some embodiments, the frame 10 includes a protective sleeve 194, which covers the wiring harness 203 and slides within a groove 193. Thus, the protective sleeve 194 protects the wiring harness 203 during movement, reducing the risk of wear and tear and extending its service life. Furthermore, using the protective sleeve 194 over the wiring harness 203 also improves the overall aesthetics of the device.

[0069] In addition, referring to Figure 5 and Figure 7 In some embodiments, the sleeve 2 is provided with a mounting portion 25 for mounting a positioning member 26 for limiting the travel mechanism 20 when the travel mechanism 20 is extended to a position. In this way, when the travel mechanism 20 is extended to a position, the travel mechanism 20 can be limited by the positioning member 26, so that the travel mechanism 20 is stably maintained at the corresponding extended position and cannot be unexpectedly retracted, thereby improving the operation reliability and safety.

[0070] As an example of the body 1 in the foregoing embodiments, referring to Figures 3-7 The body 1 includes a housing 11, a partition structure 12 arranged in the housing 11 and separating the housing 11 into a first battery box 17, a second battery box 18, a first component box 15 and a second component box 16, and a mounting plate 13 located between the first battery box 17 and the second battery box 18 and connected to the top end of the housing 11, and a raceway 14 arranged on the mounting plate 13.

[0071] Specifically, referring to Figures 3-7 In some embodiments, the housing 11 includes a first U-shaped plate 111, a second U-shaped plate 112, a first side plate 113 and a second side plate 114, the first U-shaped plate 111 and the second U-shaped plate 112 are arranged in sequence along the direction from the first battery box 17 to the second battery box 18, and the first side plate 113 and the second side plate 114 are arranged opposite to each other along the width direction Y of the body 1 and are connected between the first U-shaped plate 111 and the second U-shaped plate 112.

[0072] In addition, referring to Figures 3-7 In some embodiments, the partition structure 12 includes a first L-shaped plate 121, a second L-shaped plate 122, a first partition plate 123, a second partition plate 124, a first supporting plate 125 and a second supporting plate 126, the first L-shaped plate 121, the first partition plate 123, the second L-shaped plate 122 and the second partition plate 124 are arranged in sequence and spaced apart in the housing 11 along the direction from the first battery box 17 to the second battery box 18, the first component box 15 is located between the first L-shaped plate 121 and the housing 11, the second component box 16 is located between the second L-shaped plate 122 and the housing 11, the first battery box 17 is located between the housing 11 and the first L-shaped plate 121 and the first partition plate 123, the second battery box 18 is located between the housing 11 and the second L-shaped plate 122 and the second partition plate 124, the horizontal portions of the first L-shaped plate 121 and the second L-shaped plate 122 are used as the bottom walls of the first component box 15 and the second battery box 18 respectively, the first supporting plate 125 is arranged in the first battery box 17 and used as the bottom wall of the first battery box 17, the second supporting plate 126 is arranged in the second component box 16 and used as the bottom wall of the second component box 16, and the mounting plate 13 is connected to the top ends of the first partition plate 123 and the second partition plate 124.

[0073] In the above arrangement, the body 1 is simple in structure and reasonable in layout.

[0074] Next, the embodiment shown in Figures 1-7 will be further described.

[0075] As shown in Figures 1-7 , in this embodiment, the frame 10 includes a body 1 and two sleeves 2. The body 1 includes a shell 11, a partition structure 12, and a mounting plate 13. The shell 11 includes a first U-shaped plate 111, a second U-shaped plate 112, a first side plate 113, and a second side plate 114. The partition structure 12 includes a first L-shaped plate 121, a second L-shaped plate 122, a first partition plate 123, a second partition plate 124, a first support plate 125, and a second support plate 126. Each sleeve 2 includes a vertical plate 21 and a cover plate 23, and the two sleeves 2 share a bottom plate 24.

[0076] The first U-shaped plate 111 and the second U-shaped plate 112 are both U-shaped bent plates, arranged in sequence along the front-to-back direction and spaced apart from each other. The first side plate 113 and the second side plate 114 are both straight plates, arranged in sequence along the left-to-right direction and spaced apart from each other. The first U-shaped plate 111, the second U-shaped plate 112, the first side plate 113, and the second side plate 114 are sequentially connected end-to-end and welded together to form the shell 11, which has a chamber inside and is rectangular in shape.

[0077] The first L-shaped plate 121 and the second L-shaped plate 122 are both L-shaped bent plates, arranged in sequence along the front-to-back direction and spaced apart from each other. The first partition plate 123 and the second partition plate 124 are both straight plates, arranged in sequence along the front-to-back direction and spaced apart from each other. In this way, the first L-shaped plate 121, the first partition plate 123, the second L-shaped plate 122, and the second partition plate 124 are arranged in sequence and spaced apart along the front-to-back direction in the shell 11. The first L-shaped plate 121, the first partition plate 123, the second L-shaped plate 122, and the second partition plate 124 are all welded to the shell 11, dividing the interior of the shell 11 into the first component box 15, the first battery box 17, the second battery box 18, and the second component box 16 arranged in sequence from front to back.

[0078] The first component box 15 is located between the first L-shaped plate 121 and the first U-shaped plate 111. The first battery box 17 is located between the first side plate 113, the second side plate 114, the first L-shaped plate 121, and the first partition plate 123. The second battery box 18 is located between the first side plate 113, the second side plate 114, the second L-shaped plate 122, and the second partition plate 124. The second component box 16 is located between the second L-shaped plate 122 and the second U-shaped plate 112.

[0079] The first L-shaped plate 121 and the second L-shaped plate 122 are both bent towards the side where the first U-shaped plate 111 is located, so that the horizontal parts of the first L-shaped plate 121 and the second L-shaped plate 122 become the bottom walls of the first component box 15 and the second battery box 18 respectively, and the vertical parts of the first L-shaped plate 121 and the second L-shaped plate 122 become the back walls of the first component box 15 and the second battery box 18 respectively.

[0080] The first supporting plate 125 and the second supporting plate 126 are both straight plates, and are arranged in the first battery box 17 and the second component box 16 respectively, and are welded with the shell 11 to form the bottom walls of the first battery box 17 and the second component box 16. In this embodiment, the second supporting plate 126 is located above the bottom end of the second U-shaped plate 112, so that the second component box 16 is formed above the second supporting plate 126, and the water pipe box 19 with an open bottom end is formed below the second supporting plate 126.

[0081] The first partition plate 123 and the second partition plate 124 are located on both sides of the center of the body 1 in the length direction X. The mounting plate 13 is a straight plate, which is located between the first partition plate 123 and the second partition plate 124, and is connected with the top ends of the first partition plate 123, the second partition plate 124, the first side plate 113 and the second side plate 114. The mounting plate 13 is provided with a seat ring 14 for connecting with the rotating mechanism in the center. In this way, the seat ring 14 is located in the center of the body 1 in the length direction X, and the first battery box 17 and the first component box 15 are arranged on the front side of the seat ring 14, and the second battery box 18 and the second component box 16 are arranged on the back side of the seat ring 14. The seat ring 14 has a central hole 141, and a supporting plate 142 is arranged in the central hole 141 of the seat ring 14, which extends along the radial direction of the central hole 141 and is used for supporting and fixing the fire-fighting water pipe 30.

[0082] The vertical plate 21, the cover plate 23 and the bottom plate 24 are all straight plates, which together with the first partition plate 123 and the second partition plate 124 enclose two sleeves 2 located directly below the first battery box 17 and the second battery box 18 and protruding towards the width direction Y relative to the body 1.

[0083] Specifically, in this embodiment, the horizontal portions of the first support plate 125 and the second L-shaped plate 122 are both higher than the bottom ends of the first side plate 113 and the second side plate 123. In other words, the bottom ends of the first side plate 113 and the second side plate 123 both extend below the horizontal portion of the second L-shaped plate 122 and the first support plate 125. At the same time, the two cover plates 23 are respectively flush with the horizontal portion of the second L-shaped plate 122 and the first support plate 125. The bottom plate 24 is located below the two cover plates 23. The bottom plate 24 is connected to one cover plate 23 through the first partition plate 123 and one vertical plate 21, and is connected to the other cover plate 23 through the second partition plate 124 and the other vertical plate 21. Thus, a sleeve 2 located directly below the first battery box 17 is formed by enclosing between the bottom plate 24, one cover plate 23, one vertical plate 21 and the first partition plate 123, and another sleeve 2 located directly below the second battery box 18 is formed by enclosing between the bottom plate 24, the other cover plate 23, the other vertical plate 21 and the second partition plate 124. Since the two sleeves 2 both protrude downward relative to the body 1, when viewed from the left-right direction, the overall frame 10 is generally in an inverted "convex" shape.

[0084] In the width direction Y, both ends of the bottom plate 24 respectively protrude from the first side plate 113 and the second side plate 114. And two gaps 115 arranged at intervals in the length direction X are provided on the portions of the first side plate 113 and the second side plate 114 located below the first support plate 125 and the second L-shaped plate 122. Both ends in the width direction Y of the first partition plate 123 and the second partition plate 124 respectively extend out from the corresponding gaps 115 and are connected to the cover plate 23, the vertical plate 21 and the bottom plate 24. In this way, both sleeves 2 protrude from the body 1 in the width direction Y.

[0085] It can be seen that in this embodiment, the frame 10 is made by welding, and it includes a first component box 15, a first battery box 17, a second battery box 18, a second component box 16, a water pipe box 19 and two sleeves 2.

[0086] Among them, the first component box 15 is used to install hydraulic components 50 such as a hydraulic oil tank, a battery pump and an emergency power unit. It is located at the front end of the frame 10 in the length direction X and is a rectangular box body formed by welding the first U-shaped plate 111, the first side plate 113, the second side plate 114 and the first L-shaped plate 121. As Figures 3-5 shown, in this embodiment, a rib plate 151 is provided in the first component box 15. The rib plate 151 extends along the length direction X and divides the first component box 15 into two sub-chambers arranged side by side in the width direction Y, so that different hydraulic components 50 can be placed in different sub-chambers, which is convenient for installation and maintenance. And setting the rib plate 151 is beneficial to improving the overall strength.

[0087] The first battery box 17 and the second battery box 18 are used for mounting the batteries 40, and are arranged at the middle position of the length direction X of the frame 10 and distributed on both sides of the central rotating mechanism. The first battery box 17 is mainly enclosed by the first supporting plate 125, the first side plate 113, the second side plate 114, the vertical part of the first L-shaped plate, the first partition plate 123 and the cover plate 23. The second battery box 18 is mainly enclosed by the first side plate 113, the second L-shaped plate 122, the second side plate 114, the cover plate 23 and the first partition plate 123. The first battery box 17 and the second battery box 18 are both welded with a partition 171 inside, and the partition 171 separates the inside of the battery box into mounting areas 172 corresponding to the batteries 40 one by one. Specifically, in this embodiment, the partition 171 includes horizontal and vertical partition plates, and divides the battery box into a plurality of mounting areas 172 for mounting a plurality of (for example, seven) lead-acid batteries and an emergency battery. The whole machine uses the batteries 40 as a power source to drive the battery pump and the emergency power unit in the first component box 15 to work to provide hydraulic power, and to drive the motors 202 in the left and right traveling mechanisms 20 to work to provide traveling power.

[0088] The second component box 16 is used for mounting the driver disk group, the charger, the inclination sensor, the main power switch and the charging wire hole and other electric control components 60, and is arranged at the upper rear part of the frame 10 and mainly welded by the second L-shaped plate 122, the second supporting plate 126 and the second U-shaped plate 112.

[0089] The water pipe box 19 is an open storage room for mounting the lower end of the fire-fighting water pipe 30, and is arranged at the area directly below the second component box 16, that is, below the second supporting plate 126, and is mainly enclosed by the second L-shaped plate 122, the second U-shaped plate 112 and the second supporting plate 126. Since the water pipe box 19 is open at the lower end, it is convenient to disassemble and assemble the fire-fighting water pipe 30. The fire-fighting water pipe 30 is built in the frame 10, and only the joint 301 is exposed. When mounted, the fire-fighting water pipe 30 is inserted into the water pipe box 19 from the outlet 191 on the rear wall of the second U-shaped plate 112, passes through the second battery box 18 and reaches the center hole 141 of the seat ring 14, and is supported and fixed by the support plate 142 on the seat ring 14 and connected with the working mechanism. During the process of disassembling and assembling the fire-fighting water pipe 30, the fire-fighting water pipe 30 can be observed from the lower side of the water pipe box 19, so that the disassembling and assembling of the fire-fighting water pipe 30 is more convenient. Moreover, the water pipe box 19 is open at the lower end, and there is no need to set a cover plate at the lower end of the water pipe box 19, so it is also beneficial to reduce the weight.

[0090] The front and rear sleeves 2 are arranged at the middle lower part of the frame 10, directly below the front and rear battery boxes (that is, the first battery box 17 and the second battery box 18), and are rectangular frames spliced and welded by the vertical plate 21, the cover plate 23, the bottom plate 24 and the first partition plate 123 or the second partition plate 124. Both of the sleeves 2 penetrate the shell 11 in the width direction Y.

[0091] In this embodiment, the sleeve 2 is internally provided with a mounting seat (not shown in the figure). The mounting seat is used to mount a driving cylinder (for example, a self-locking oil cylinder) serving as a telescopic driving mechanism, which is connected with the traveling mechanism 20 and drives the traveling mechanism 20 to telescope, so that the traveling mechanism 20 can move between a retracted position close to the body 1 and an extended position away from the body 1, and realize switching between the retracted state and the extended state of the traveling mechanism 20. In this embodiment, the traveling mechanism 20 is a track mechanism 201. The driving cylinder is connected with a track beam of the track mechanism 201, so that when the driving cylinder telescopes, the track mechanism 201 can be driven to approach and move away from the body 1.

[0092] In order to enable the traveling mechanism 20 to be stably kept in the extended position after being extended to the extended position and perform fire fighting, in this embodiment, the upright plate 21 of the sleeve 2 is provided with a sleeve pipe serving as a mounting portion 25, which is used to mount a positioning pin serving as a positioning member 26, so as to lock the traveling mechanism 20 in the extended position by means of the positioning pin and prevent the traveling mechanism 20 from accidentally moving during operation. Specifically, as shown in Figure 5 and Figure 7 In this embodiment, the upright plate 21 is provided with two mounting portions 25, which are arranged in the width direction Y and each of which is inserted with a positioning member 26. In this way, when the traveling mechanism 20 is extended to the position, the positioning member 26 can be manually inserted to lock the traveling mechanism 20, so as to increase the working reliability of the whole machine.

[0093] In addition, in this embodiment, the sleeve 2 is further provided with a wear-resistant member (not shown in the figure), so as to reduce the wear during the telescopic extension of the traveling mechanism 20, prolong the service life and improve the reliability.

[0094] In order to avoid the left and right traveling mechanisms 20 from colliding with the body 1 in the retracted state, in this embodiment, the size of the two sleeves 2 in the width direction Y is greater than the size of the shell 11 in the width direction Y, that is, the two sleeves 2 protrude from the shell 11 in the width direction Y.

[0095] During the telescopic extension of the traveling mechanism 20, the wire harness 203 of the motor 202 will also telescope. In order to increase the aesthetic appearance of the whole machine, the wire harness 203 is built into the protective sleeve 194, and meanwhile, two supports 192 are arranged in the water pipe box 19 in the width direction Y, and a long hole (for example, an oblong hole) extending in the width direction Y is arranged on each of the two supports 192, which serves as a sliding groove 193. When the traveling mechanism 20 telescopes, the protective sleeve 194 will be driven to move left and right in the sliding groove 193.

[0096] It can be seen that the frame 10 of the embodiment is an intermediate convex inverted U-shaped frame structure formed by welding, which has smaller height and length dimensions and a gravity center close to the gravity center in the length direction X under the conditions of meeting the minimum ground clearance, component mounting requirements and fixed connection mode, and can effectively increase the operation stability.

[0097] According to the whole machine bearing and weight reduction requirements, the middle region of the frame 10 in the length direction X is an important bearing region, and the remaining non-important bearing regions are formed by welding thin steel plates. Specifically, in the embodiment, the mounting plate 13, the vertical plate 21, the cover plate 23, the first partition plate 123 and the bottom plate 24 are made of 16mm steel plates, the second side plate 114 and the first side plate 113 are made of 12mm steel plates, and the first U-shaped plate 111, the second U-shaped plate 112 and other plates are made of 6mm steel plates. In this way, the mounting plate 13 for mounting the seat ring 14 and the side walls of the two sleeves 2 have a relatively thick thickness and a relatively strong bearing capacity, and can better meet the bearing requirements.

[0098] The above only describes exemplary embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A fire-fighting robot (100) frame (10), characterized in that, Comprise: The body (1), the seat ring (14), the first battery box (17), the second battery box (18), the first element box (15) and the second element box (16) are arranged on the body (1), the seat ring (14) is used for connecting with the rotation mechanism of the fire-fighting robot (100), the first battery box (17) and the second battery box (18) are used for storing batteries (40), the first element box (15) and the second element box (16) are used for storing hydraulic elements (50) and / or electric control elements (60) of the fire-fighting robot (100), wherein, along the length direction (X) of the body (1), the seat ring (14) is located in the middle of the body (1), the first battery box (17) and the second battery box (18) are located on both sides of the seat ring (14) and adjacent to the seat ring (14), the first element box (15) is located on the side of the first battery box (17) away from the seat ring (14), and the second element box (16) is located on the side of the second battery box (18) away from the seat ring (14); Wherein, the body (1) comprises a shell (11), a partition structure (12) and a mounting plate (13), the partition structure (12) is arranged in the shell (11) and separates the shell (11) into the first battery box (17), the second battery box (18), the first element box (15) and the second element box (16), the mounting plate (13) is located between the first battery box (17) and the second battery box (18) and connected to the top end of the shell (11), the seat ring (14) is arranged on the mounting plate (13), and wherein: The shell (11) comprises a first U-shaped plate (111), a second U-shaped plate (112), a first side plate (113) and a second side plate (114), the first U-shaped plate (111) and the second U-shaped plate (112) are arranged in sequence along the direction from the first battery box (17) to the second battery box (18), the first side plate (113) and the second side plate (114) are arranged opposite along the width direction (Y) of the body (1) and connected between the first U-shaped plate (111) and the second U-shaped plate (112); and / or, The partition structure (12) comprises a first L-shaped plate (121), a second L-shaped plate (122), a first partition plate (123), a second partition plate (124), a first supporting plate (125) and a second supporting plate (126), the first L-shaped plate (121), the first partition plate (123), the second L-shaped plate (122) and the second partition plate (124) are sequentially and spacedly arranged in the shell (11) along the direction from the first battery box (17) to the second battery box (18), the first component box (15) is located between the first L-shaped plate (121) and the shell (11), the second component box (16) is located between the second L-shaped plate (122) and the shell (11), the first battery box (17) is located between the shell (11) and the first L-shaped plate (121) and the first partition plate (123), the second battery box (18) is located between the shell (11) and the second L-shaped plate (122) and the second partition plate (124), the horizontal parts of the first L-shaped plate (121) and the second L-shaped plate (122) are used as the bottom walls of the first component box (15) and the second battery box (18) respectively, the first supporting plate (125) is arranged in the first battery box (17) and used as the bottom wall of the first battery box (17), the second supporting plate (126) is arranged in the second component box (16) and used as the bottom wall of the second component box (16), and the mounting plate (13) is connected to the top ends of the first partition plate (123) and the second partition plate (124).

2. The frame (10) according to claim 1, characterized in that The body (1) is provided with a water pipe box (19) for storing a fire-fighting water pipe (30), the water pipe box (19) is located directly below the second component box (16), and the bottom end of the water pipe box (19) is provided with an opening.

3. The frame (10) according to claim 2, characterized in that The side wall of the water pipe box (19) away from the seat ring (14) is provided with an outlet (191) for the joint (301) of the fire-fighting water pipe (30) to extend out; and / or the water pipe box (19) is in communication with the center hole (141) of the seat ring (14) through the second battery box (18), so that the fire-fighting water pipe (30) in the water pipe box (19) extends to the center hole (141) through the second battery box (18) and is connected with the working mechanism of the fire-fighting robot (100).

4. The frame (10) according to claim 3, characterized in that The seat ring (14) is provided with a supporting plate (142) for connecting with the fire-fighting water pipe (30) extending into the center hole (141).

5. The frame (10) of claim 1, wherein, The frame (10) comprises a sleeve (2) for storing a telescopic drive mechanism for driving a walking mechanism (20) of the fire-fighting robot (100) to extend and retract relative to the frame (10) in a width direction (Y), wherein the sleeve (2) is located below the first battery box (17) and / or the second battery box (18), and / or the sleeve (2) protrudes from the body (1) in the width direction (Y).

6. The frame (10) according to claim 5, characterized in that The body (1) is provided with a sliding groove (193) for a wire harness (203) of a motor (202) mounted on the walking mechanism (20) to pass through, so that the wire harness (203) slides in the sliding groove (193) along with the extension and retraction of the walking mechanism (20).

7. The frame (10) according to claim 6, characterized in that The frame (10) comprises a protective sleeve (194) sleeved outside the wire harness (203) and sliding in the sliding groove (193).

8. The frame (10) of claim 5, characterized in that The sleeve (2) is provided with a mounting portion (25) for mounting a positioning member (26) for limiting the walking mechanism (20) when the walking mechanism (20) is extended to a position.

9. A firefighting robot (100), characterized in that The frame (10) comprises the frame (10) according to any one of claims 1-8.

10. The firefighting robot (100) according to claim 9, characterized in that The first element box (15) is located in front of the second element box (16).

11. The firefighting robot (100) according to claim 10, characterized in that The fire-fighting robot (100) is a height-raising spraying robot.

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