A fire forcible entry robot

Abstract

The present invention discloses a fire forcible entry robot, which is provided with a vehicle frame. A heat-insulating car body is fixed on the upper end surface of the vehicle frame, and a lidar is arranged at the front end of the heat-insulating car body, and a lidar is also arranged on the top of the heat-insulating car body; a water cannon is installed at the corner of the vehicle frame, and a lifting pan-tilt is arranged at the tail of the heat-insulating car body; an air conditioner is installed inside the heat-insulating car body, and a water inlet pipeline is arranged at the bottom of the air conditioner, and an electric winch is installed on the lower end surface of the vehicle frame. By using an independent dual-drive tracked robot platform to carry various loads, control terminals and related auxiliary components such as protection technologies, it is possible to rescue and escort the firefighters at the disaster site safely into the fire scene for reconnaissance and control and extinguishment of the regional fire. In an overly dangerous environment, it can also be used alone as an unmanned fire robot. Moreover, during the movement of the robot, it can automatically guide and remove gravel and larger sundries to ensure smoothness.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a fire-fighting breakthrough robot. Background Art

[0002] The fire-fighting breakthrough robot can replace or escort fire-fighting and rescue personnel into dangerous disaster accident sites such as collapses, inflammable, explosive, toxic, oxygen-deficient, and thick-smoke sites for data collection, processing, and feedback, effectively solving the personal safety problems faced by fire-fighters in the above-mentioned places. It is mainly applied in large petrochemical enterprises, storage warehouses for dangerous goods such as oil products and poisonous gases, forest fire sites, large crowded places, and guild halls, etc.

[0003] In response to fires with high temperature, thick smoke, darkness, strong heat radiation, toxicity, harmfulness, easy collapse, etc., as well as explosion risks such as large-scale petrochemical enterprise fires and chemical leakage accidents, usually fire-fighters enter dangerous places, which cannot guarantee the safety of fire-fighters' lives and has the possibility of secondary fire injuries. Therefore, corresponding fire-fighting breakthrough robots are needed. However, the existing fire-fighting robots still have the following disadvantages in actual use:

[0004] 1. For the above dangerous environments, another technical solution is the unmanned solution, that is, a remote-controlled robot enters. However, due to technical limitations, the current fire-fighting robots either cannot enter the fire site (lacking high-temperature protection ability and mechanical protection ability), or have insufficient reconnaissance ability after entering the above dangerous environments (the remote reconnaissance ability is limited and it is impossible to intuitively and comprehensively understand the internal situation of the fire site), and due to insufficient reconnaissance ability, it is impossible to accurately control and extinguish the fire in the area.

[0005] 2. Moreover, there are many broken stones and sundries at the fire site, which will affect the movement of the robot to a certain extent. However, traditional robots only have a simple obstacle-clearing structure, and large sundries need to be carried manually, so the danger of rescue is increased, and there is a lack of a structure for self-guiding and removing large sundries.

[0006] In view of the above problems, there is an urgent need for innovative design based on the original robot. Summary of the Invention

[0007] The purpose of the present invention is to provide a fire-fighting breakthrough robot to solve the problems in the above background art that the traditional fire-fighting breakthrough robot lacks high-temperature protection ability and mechanical protection ability, the remote reconnaissance ability is limited, it is impossible to intuitively and comprehensively understand the internal situation of the fire site, the traditional robot only has a simple obstacle-clearing structure, and there is a lack of a structure for self-guiding and removing large sundries.

[0008] To achieve the above objectives, the present invention provides the following technical solutions: a firefighting assault robot, comprising a frame made of welded steel, an insulating cabin fixed to the upper end surface of the frame, the cabin having good thermal insulation capabilities to prevent high ambient temperatures from being transmitted to the interior of the cabin, a laser radar provided at the front end of the cabin, and a laser radar provided at the top of the cabin, the laser radar enabling real-time positioning and mapping, assisting operators in working beyond visual range and achieving automatic evacuation functions;

[0009] A water cannon is installed at the corner of the frame. A lifting platform is provided at the tail of the heat-insulated car, and a sensor group is installed on the top of the lifting platform. The sensor group includes a binocular white light camera, an infrared camera, an infrared sensor, a gas detection sensor and a computing control module. The computing control module integrates the data of various sensors to realize flame recognition, fire source recognition, and obstacle recognition functions, and can automatically control the water cannon to extinguish the fire. A wire release is provided on the side of the lifting platform, and the operator can remotely control the fire-fighting assault robot through a cable.

[0010] The air conditioner is installed inside the insulated car. The air conditioner can help circulate the air inside the car, reduce humidity, and maintain a comfortable environment in the car. A water inlet pipe is provided at the bottom of the air conditioner. The robot can connect the fire hose to the water supply through the water inlet pipe, and then use the water cannon to extinguish the fire source. The water inlet pipe has the ability to automatically detach from the water hose. An electric winch is installed on the lower end face of the frame. When the robot is trapped, it can use the winch to pull the surrounding solid objects to escape. A crawler walking mechanism is provided on the side of the frame. The crawler walking mechanism is driven by a DC motor and can be remotely controlled to move. It also has a fast charging interface for fast charging. Self-spraying mechanisms are evenly installed on both sides of the frame. There is a body temperature recognition module in the self-spraying mechanism. When a self-spraying mechanism recognizes that the body temperature is too high, it will start the automatic spraying program to cool the insulated car, frame, crawler walking mechanism and other parts with water to reduce the temperature of various parts of the robot;

[0011] include:

[0012] A support plate is movably mounted in front of the vehicle frame, one side of the support plate is hinged to the output shaft of the telescopic cylinder, and the telescopic cylinder is movably mounted on the vehicle frame;

[0013] A fixed cylinder is fixed to the other side of the support plate, a movable rod is passed through the end of the fixed cylinder away from the support plate, and the end of the movable rod away from the fixed cylinder is fixedly connected to the side of the dozer blade;

[0014] The fixed box is fixed to the top of the pushing shovel. A motor is installed on the top of the fixed box through bolts, and a connecting shaft is provided on the output shaft of the motor. The adjacent connecting shafts are driven by a pulley mechanism, and the middle two connecting shafts are driven by meshing of second gears.

[0015] Preferably, an adjusting rod movably penetrates through the edge of the vehicle frame, and a first gear is fixedly sleeved at the bottom of the adjusting rod. The adjusting rod and the vehicle frame are in damping rotational connection. By rotating the adjusting rod, the first gear can be driven to rotate synchronously, and the adjusting rod can maintain stability after rotation.

[0016] Preferably, a rack is meshed with the side of the first gear, and a limiting rod is fixed at one end of the rack away from the first gear. The limiting rod and the support plate are in a detachable installation structure with sliding connection. When the first gear rotates, through the meshing drive with the rack, the limiting rod can be driven to move into contact with or separate from the support plate.

[0017] Preferably, the movable rod and the fixed cylinder are telescopically connected. The fixed cylinders and the movable rods are evenly distributed between the support plate and the pushing shovel, and the movable rods are connected to the fixed cylinders through springs. When the pushing shovel receives an impact force, the movable rods can be driven to slide in the fixed cylinders, and a good buffering effect is achieved through the springs.

[0018] Preferably, a guiding roller is fixedly connected to the bottom of the connecting shaft. The guiding roller is hollow inside, and fixing holes are evenly reserved on the surface of the guiding roller at equal angles. The gas inside the guiding roller can be blown out from the fixing holes to play a role in dispersing dust and smoke.

[0019] Preferably, the guiding rollers are evenly distributed at equal intervals inside the pushing shovel, and two groups of guiding rollers symmetrically arranged about the vertical axis of the pushing shovel rotate in opposite directions. Through the guiding of the rotation of the guiding rollers, the sundries in front of the robot can be guided to both sides.

[0020] Preferably, a cam is fixedly sleeved at the upper end of the connecting shaft, and a connecting cylinder is arranged on the side of the cam. The connecting cylinder is fixed to the inner wall of the fixed box. When the connecting shaft rotates, the cam is driven to rotate synchronously and contacts the fixed rod.

[0021] Preferably, a fixed rod slidably penetrates through one end of the connecting cylinder close to the cam, and a piston block is fixed at the end of the fixed rod away from the cam. The piston block fits and slides with the inner wall of the connecting cylinder. When the cam rotates, it pushes the fixed rod to slide in the connecting cylinder and drives the piston block to move synchronously.

[0022] Preferably, the connecting cylinder is communicated with the connecting shaft through an air pipe. The air pipe is fixed between the connecting shaft and the connecting cylinder, and the middle four connecting shafts are hollow inside. When the piston block moves, the gas in the connecting cylinder can be transmitted to the connecting shaft through the air pipe and finally enter the guiding roller.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: This fire breakthrough robot is equipped with various loads, control terminals, and related auxiliary components such as protection technologies through an independent dual-drive crawler robot platform, enabling the rescue and escort of personnel at the disaster site, allowing firefighters to safely enter the fire scene for reconnaissance, area fire control, and extinguishing. In extremely dangerous environments, it can also be used alone as an unmanned fire robot. During the movement of the robot, it can independently guide and remove gravel and larger debris to ensure smooth passage. The specific content is as follows:

[0024] 1. When the adjusting rod is rotated, the meshing transmission between the first gear and the rack can drive two limit rods to move in opposite directions. After the limit rods are connected to the support plate, the installation of the push shovel can be realized and its stability can be ensured. After the limit rods are separated from the support plate, the disassembly of the push shovel can be realized, thereby reducing the load of the robot. At the same time, the push shovel can be pushed by the telescopic cylinder to rotate on the frame, thereby adjusting the use angle thereof;

[0025] 2. Through the meshing transmission of the pulley mechanism and the second gear, two groups of guide rollers symmetrically arranged on the push shovel can be driven to rotate in opposite directions, thereby guiding the debris in front of the robot to both sides to prevent larger debris from affecting the progress. When the push shovel is impacted, the movable rod can be driven to slide in the fixed cylinder. In this way, the elastic spring has a good buffering effect to prevent damage to other structures such as the push shovel;

[0026] 3. While the connecting shaft rotates, the cam can be driven to rotate and contact the fixed rod, pushing the piston block to move in the connecting cylinder. In this way, the gas in the connecting cylinder can be transported through the air pipe into the connecting shaft and finally into the guide roller and discharged from the fixed hole. In this way, during the movement of the robot, the discharged gas can be used to blow away dust and smoke, improving the clarity for the operator to view. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a front view structural schematic diagram of the present invention;

[0028] Figure 2 is a front view structural schematic diagram of the push shovel of the present invention;

[0029] Figure 3 is a side view structural schematic diagram of the push shovel of the present invention;

[0030] Figure 4 is a top cross-sectional structural schematic diagram of the vehicle frame of the present invention;

[0031] Figure 5 is a side cross-sectional structural schematic diagram of the fixed cylinder of the present invention;

[0032] Figure 6Schematic side-sectional view of the fixed box of the present invention;

[0033] Figure 7 Schematic side view of the connecting cylinder of the present invention;

[0034] Figure 8 Schematic side-sectional view of the connecting cylinder of the present invention.

[0035] In the figure: 1, lidar; 2, water cannon; 3, heat-insulated car body; 4, sensor group; 5, lifting cloud platform; 6, wire pay-off device; 7, air conditioner; 8, water inlet pipeline; 9, electric winch; 10, crawler travel mechanism; 11, vehicle frame; 12, self-spraying mechanism; 13, push shovel; 14, adjusting rod; 15, first gear; 16, rack; 17, limiting rod; 18, support plate; 19, fixed cylinder; 20, movable rod; 21, telescopic cylinder; 22, fixed box; 23, motor; 24, connecting shaft; 25, guiding roller; 26, fixing hole; 27, second gear; 28, cam; 29, fixed rod; 30, piston block; 31, connecting cylinder; 32, air delivery pipe. Specific embodiments

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] Please refer to Figure 1-8, the present invention provides a technical solution: a fire breakthrough robot, which is provided with a vehicle frame 11, an insulation car body 3 is fixed on the upper end surface of the vehicle frame 11, a lidar 1 is arranged at the front end of the insulation car body 3, and a lidar 1 is arranged on the top of the insulation car body 3; a water cannon 2 is installed at the corner of the vehicle frame 11, a lifting cloud platform 5 is arranged at the tail of the insulation car body 3, a sensor group 4 is installed on the top of the lifting cloud platform 5, and a wire reel 6 is arranged on the side of the lifting cloud platform 5; an air conditioner 7 is installed inside the insulation car body 3, a water inlet pipeline 8 is arranged at the bottom of the air conditioner 7, an electric winch 9 is installed on the lower end surface of the vehicle frame 11, a crawler walking mechanism 10 is arranged on the side of the vehicle frame 11, and self-spraying mechanisms 12 are installed on both sides of the vehicle frame 11 at equal intervals; including: a support plate 18, which is movably installed in front of the vehicle frame 11, one side of the support plate 18 is hinged to the output shaft of a telescopic cylinder 21, and the telescopic cylinder 21 is movably installed on the vehicle frame 11; a fixed cylinder 19, which is fixed on the other side of the support plate 18, a movable rod 20 penetrates through one end of the fixed cylinder 19 away from the support plate 18, and one end of the movable rod 20 away from the fixed cylinder 19 is fixedly connected to the side surface of a push shovel 13; a fixed box 22, which is fixed on the top of the push shovel 13, a motor 23 is installed on the top of the fixed box 22 through bolts, a connecting shaft 24 is arranged on the output shaft of the motor 23, adjacent connecting shafts 24 are driven by a pulley mechanism, and the middle 2 connecting shafts 24 are meshed and driven by a second gear 27.

[0038] As Figure 1-2 and Figure 4-5As shown, an adjusting rod 14 movably penetrates through the edge of the frame 11, and a first gear 15 is fixedly sleeved at the bottom of the adjusting rod 14, and the adjusting rod 14 and the frame 11 are in damping rotational connection; a rack 16 is meshed with the side of the first gear 15, and a limiting rod 17 is fixed at the end of the rack 16 away from the first gear 15, and the limiting rod 17 and the support plate 18 are in a detachable installation structure with sliding connection. By rotating the adjusting rod 14, the first gear 15 is driven to rotate synchronously. In this way, through the meshing transmission between the first gear 15 and the rack 16, the two limiting rods 17 can be driven to move in opposite directions. When the limiting rod 17 is connected to the support plate 18, the installation of the pushing shovel 13 can be realized. At the same time, the pushing shovel 13 can also rotate on the limiting rod 17. When the adjusting rod 14 is rotated in the reverse direction, the limiting rod 17 is driven to separate from the support plate 18, and the pushing shovel 13 can be disassembled, which can reduce the load of the robot. When the pushing shovel 13 is installed, the side surface of the support plate 18 can be connected to the output shaft of the telescopic cylinder 21. In this way, the telescopic cylinder 21 can drive the support plate 18 to rotate, thereby changing the inclination angle of the pushing shovel 13 to meet the different requirements of the robot for traveling; the movable rod 20 and the fixed cylinder 19 are telescopically connected, and the fixed cylinder 19 and the movable rod 20 are evenly distributed between the support plate 18 and the pushing shovel 13, and the movable rod 20 is connected to the fixed cylinder 19 through a spring. When the pushing shovel 13 is impacted during the traveling of the robot, the movable rod 20 can be driven to slide in the fixed cylinder 19, and through the elasticity of the spring, the pushing shovel 13 has a good buffering effect to prevent damage to the robot during traveling;

[0039] As Figure 3 and Figure 6-7 shown, a guide roller 25 is fixedly connected to the bottom of the connecting shaft 24, and the guide roller 25 is hollow inside, and fixing holes 26 are evenly reserved on the surface of the guide roller 25 at equal angles. During the traveling of the robot, through the setting of the pushing shovel 13, the gravel and sundries can be guided and removed. Therefore, the motor 23 drives the guide roller 25 to rotate through the connecting shaft 24; the guide rollers 25 are evenly distributed at equal intervals inside the pushing shovel 13, and two groups of guide rollers 25 symmetrically arranged about the vertical axis of the pushing shovel 13 rotate in opposite directions. The two groups of guide rollers 25 are driven by a pulley mechanism, and the middle two guide rollers 25 are meshed and driven by a second gear 27. Therefore, the two groups of guide rollers 25 rotate in opposite directions, which can guide the sundries contacted during the traveling of the robot to both sides thereof, playing a role in obstacle clearance;

[0040] As Figure 6-8As shown in the figure, a cam 28 is fixedly sleeved on the upper end of the connecting shaft 24, and a connecting cylinder 31 is arranged on the side of the cam 28, and the connecting cylinder 31 is fixed on the inner wall of the fixed box 22; a fixed rod 29 slidably penetrates through one end of the connecting cylinder 31 close to the cam 28, and a piston block 30 is fixed at the end of the fixed rod 29 away from the cam 28, and the piston block 30 is in sliding fit with the inner wall of the connecting cylinder 31; the connecting cylinder 31 is communicated with the connecting shaft 24 through an air delivery pipe 32, and the air delivery pipe 32 is fixed between the connecting shaft 24 and the connecting cylinder 31, and the 4 intermediate connecting shafts 24 are hollow inside. During the rotation of the connecting shaft 24, the cam 28 can be driven to rotate synchronously. During the rotation, it can contact the fixed rod 29 and push it to slide in the connecting cylinder 31, driving the piston block 30 to move synchronously. In this way, the gas in the connecting cylinder 31 can be transmitted into the connecting shaft 24 through the air delivery pipe 32, and then enter the guide roller 25 and be discharged from the fixed hole 26, which has the effect of dispersing the dust and smoke during the movement of the robot, improving the clarity of shooting. When the fixed rod 29 is not pushed, it can return to its original position through the resilience of the spring, so that the gas is continuously transported intermittently.

[0041] Working principle: As Figure 1-8 shown in the figure, when it is necessary to detect the scene of a dangerous disaster accident, the robot can move forward through the crawler traveling mechanism 10. The rescue personnel can sit in the heat-insulating car body 3 or realize the remote control and unmanned detection of the robot. During the movement of the robot, the obstacle clearing operation can be carried out on obstacles such as gravel and sundries through the setting of the push shovel 13, and the push shovel 13 can also be removed from the vehicle frame 11, thereby reducing the weight of the robot. When the sensor group 4 identifies a fire, the water cannon 2 can be controlled to extinguish the fire, and the self-spraying mechanism 12 can spray water on the heat-insulating car body 3, the vehicle frame 11, the crawler traveling mechanism 10 and other parts for water cooling to ensure the normal temperature of the machine. And the robot can withstand a high temperature of 300 °C and carry two people to move in the fire site ruins, reducing the harm to the rescue personnel.

[0042] In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fire breakthrough robot is provided with a vehicle frame (11). A heat-insulating car body (3) is fixed on the upper end surface of the vehicle frame (11). A lidar (1) is arranged at the front end of the heat-insulating car body (3), and a lidar (1) is arranged on the top of the heat-insulating car body (3). A water cannon (2) is installed at the corner of the vehicle frame (11). A lifting pan-tilt (5) is arranged at the tail of the heat-insulating car body (3). A sensor group (4) is installed on the top of the lifting pan-tilt (5), and a wire reel (6) is arranged on the side of the lifting pan-tilt (5). An air conditioner (7) is installed inside the heat-insulating car body (3). A water inlet pipeline (8) is arranged at the bottom of the air conditioner (7). An electric winch (9) is installed on the lower end surface of the vehicle frame (11). A crawler travel mechanism (10) is arranged on the side of the vehicle frame (11), and self-spraying mechanisms (12) are installed on both sides of the vehicle frame (11) at equal intervals. Characterized in that, It includes: A support plate (18) is movably installed in front of the vehicle frame (11). One side of the support plate (18) is hinged to the output shaft of a telescopic cylinder (21), and the telescopic cylinder (21) is movably installed on the vehicle frame (11). A fixed cylinder (19) is fixed on the other side of the support plate (18). A movable rod (20) penetrates through one end of the fixed cylinder (19) away from the support plate (18), and one end of the movable rod (20) away from the fixed cylinder (19) is fixedly connected to the side surface of a push shovel (13). A fixed box (22) is fixed on the top of the push shovel (13). A motor (23) is installed on the top of the fixed box (22) through bolts. A connecting shaft (24) is arranged on the output shaft of the motor (23). The adjacent connecting shafts (24) are driven by a pulley mechanism, and the middle two connecting shafts (24) are meshed and driven by a second gear (27). The bottom of the connecting shaft (24) is fixedly connected with a guiding roller (25). The guiding roller (25) is hollow inside, and fixing holes (26) are evenly reserved on the surface of the guiding roller (25) at equal angles. The guiding rollers (25) are distributed at equal intervals inside the push shovel (13), and the rotation directions of two groups of guiding rollers (25) symmetrically arranged about the vertical axis of the push shovel (13) are opposite. The upper end of the connecting shaft (24) is fixedly sleeved with a cam (28). A connecting cylinder (31) is arranged on the side of the cam (28), and the connecting cylinder (31) is fixed on the inner wall of the fixed box (22). A fixed rod (29) slidably penetrates through one end of the connecting cylinder (31) close to the cam (28). One end of the fixed rod (29) away from the cam (28) is fixed with a piston block (30), and the piston block (30) fits and slides on the inner wall of the connecting cylinder (31). The connecting cylinder (31) is communicated with the connecting shaft (24) through an air delivery pipe (32). The air delivery pipe (32) is fixed between the connecting shaft (24) and the connecting cylinder (31), and the middle four connecting shafts (24) are hollow inside.

2. The fire forcible entry robot according to claim 1, characterized in that: A regulating rod (14) movably penetrates through the edge of the vehicle frame (11), a first gear (15) is fixedly sleeved at the bottom of the regulating rod (14), and the regulating rod (14) and the vehicle frame (11) are in damping rotational connection.

3. The fire forcible entry robot according to claim 2, wherein: A rack (16) is meshed with the side of the first gear (15), a limiting rod (17) is fixed at one end of the rack (16) far away from the first gear (15), and the limiting rod (17) and the support plate (18) are in a detachable installation structure of sliding connection.

4. The fire forcible entry robot according to claim 1, wherein: The movable rod (20) and the fixed cylinder (19) are in telescopic connection, the fixed cylinder (19) and the movable rod (20) are uniformly distributed between the support plate (18) and the pushing shovel (13), and the movable rod (20) is connected with the fixed cylinder (19) through a spring.

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