A self-balancing and regulating chimeric fire-fighting robot

Abstract

A self-balancing and regulating chimeric fire-fighting robot disclosed by the present invention comprises a balance regulation component and a chassis. The balance regulation components are respectively arranged at the front end and the rear end of the chassis. A fire-fighting water cannon and a water cannon inlet pipe are arranged on the chassis. The part of the fire-fighting water cannon arranged in the bottom of the chassis is the main pipeline, and the water cannon inlet pipe is communicated with the main pipeline. A plurality of self-detecting and balance-scheduling dehumidifying devices are arranged on the bottom of the chassis. An adsorption type chimeric self-sealing device is arranged on the upper inner wall of the bottom of the chassis, and the adsorption type chimeric self-sealing device is arranged outside the main pipeline. The present invention belongs to the technical field related to fire-fighting equipment, and particularly relates to a self-balancing and regulating chimeric fire-fighting robot, which can adsorb water vapor in the chassis and can judge the inclination degree of the chassis under the action of gravity. If the main pipeline leaks, the water-absorbing and swelling parts quickly fill and seal the main pipeline, and at the same time guide the water flow to be discharged from the chassis for heat dissipation treatment of the original components in the chassis.

Description

Technical Field

[0001] The present invention belongs to the technical field related to fire-fighting equipment, and particularly relates to a self-balancing and regulating embedded fire-fighting robot. Background Art

[0002] Fire is one of the most frequent and common disasters threatening public property and life safety. During the fire-fighting process, due to the complex and changeable environment, firefighters often suffer casualties and huge losses. Therefore, fire-fighting robots have become a special type of robot that replaces firefighters in fire rescue. They are often equipped with fire-fighting water cannons for spraying water columns for long-distance fire-fighting, and are equipped with a self-sprinkler system for cooling themselves. If a large amount of water flows into the robot, it is likely to affect the normal operation of the robot.

[0003] Among them, the water inside the fire-fighting robot has two sources; one is condensate water. Mainly because the overall body of the fire-fighting robot cannot achieve airtightness, it is inevitable for moisture to enter the vehicle body in the form of water vapor. Subsequently, under the action of the day-night temperature difference, condensate water is formed and adheres to the inner wall of the vehicle body. Once it drops on electronic components, it will cause problems such as short-circuit faults. The other is leakage water. Mainly because the pipelines for supplying water to the fire-fighting water cannon and the self-sprinkler pipeline of the fire-fighting robot pass through the inside of the vehicle body, there is also a risk of leakage at the pipeline joints or the pipeline walls. This causes the electronic components inside the fire-fighting robot to be damaged due to moisture or being soaked in water, thereby shortening the service life of the fire-fighting robot.

[0004] Moreover, during the rescue process, the fire-fighting robot needs to avoid tipping over. However, the environment at the fire scene is complex and changeable, and the fire-fighting robot still has phenomena such as capsizing and rolling over, which affect the fire-extinguishing work. Summary of the Invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a self-balancing and regulating embedded fire-fighting robot. The self-detecting and balanced-scheduling dehumidifying device can adsorb the water vapor in the chassis, and can judge the inclination degree of the chassis under the action of gravity, control the balance-regulating component to regulate the chassis. At the same time, the spherical desiccant can realize the self-judging function, and cooperate with the detection component to judge whether the desiccant needs to be replaced.

[0006] Once a water leakage phenomenon occurs in the main pipeline arranged at the bottom of the chassis cabin, the water flows directly into the adsorption-type embedded self-sealing device. The adsorption-type embedded self-sealing device swells rapidly after absorbing water to achieve the purpose of actively filling and sealing the main pipeline, and at the same time guides the water flow out of the chassis. During the discharging process, heat dissipation treatment is carried out on the components inside the chassis.

[0007] The technical solution adopted by the present invention is as follows: A self-balancing regulation type embedded fire-fighting robot, including a balance regulation component, a crawler drive component and a chassis. There are two groups of the balance regulation components, which are respectively arranged at the front end and the rear end of the chassis to support the chassis and prevent it from tipping over during rescue. The crawler drive components are respectively arranged on opposite sides of the chassis for movement. A fire-fighting water cannon and a water cannon inlet pipe are arranged on the chassis. The part of the fire-fighting water cannon arranged in the bottom of the chassis cabin is the main pipeline. The water cannon inlet pipe is connected and communicated with the main pipeline to supply water to the fire-fighting water cannon. At least one group of self-detection balance scheduling type dehumidification devices is arranged on the bottom of the chassis cabin. The self-detection balance scheduling type dehumidification device can adsorb water vapor in the chassis and can judge the inclination degree of the chassis under the action of gravity. The self-detection balance scheduling type dehumidification device can be removed from the cabin of the chassis. An adsorption type embedded self-sealing device is arranged on the upper inner wall of the bottom of the chassis cabin. The adsorption type embedded self-sealing device is arranged outside the main pipeline. Once a water leakage phenomenon occurs in the main pipeline arranged in the bottom of the chassis cabin, the water flows directly into the adsorption type embedded self-sealing device. The adsorption type embedded self-sealing device swells after absorbing water and quickly realizes the purpose of actively filling and sealing the main pipeline, and at the same time guides the water flow out of the chassis. During the process of discharging, heat dissipation treatment of the components in the chassis is realized;

[0008] The adsorption type embedded self-sealing device includes an adsorption type embedded self-sealing box and a self-condensing partition plate. The self-condensing partition plate is arranged in the bottom of the chassis cabin. Electronic components in the chassis cabin are arranged close to the self-condensing partition plate. The adsorption type embedded self-sealing box is arranged on the upper inner wall of the bottom of the chassis cabin. The adsorption type embedded self-sealing box is arranged on the upper wall of the self-condensing partition plate. The inner wall of the adsorption type embedded self-sealing box is provided with a plurality of water absorption and expansion parts. The plurality of water absorption and expansion parts are arranged in a ring outside the main pipeline. The water absorption and expansion parts are similar to water absorption and expansion bags for flood control, and are divided into an outer bag body and an inner bag body. The inner bag body is provided with polymer water absorption and expansion agent particles, which can quickly adsorb the water leaked from the main pipeline. After absorbing water, the water absorption and expansion parts can quickly expand to block and seal the main pipeline, preventing the water in the main pipeline from entering the electronic components in the chassis and causing damage or influence to them;

[0009] At least one group of heat dissipation and dredging pipes is arranged in the self-condensing partition plate. The heat dissipation and dredging pipes penetrate through the bottom wall of the chassis cabin. A flow-through part is arranged on the bottom wall of the adsorption type embedded self-sealing box. The flow-through part is connected and communicated with the adsorption type embedded self-sealing box. The flow-through part is connected and communicated with the heat dissipation and dredging pipes. During the process of the water absorption and expansion parts absorbing and expanding water, the water in the main pipeline enters the flow-through part and flows into the heat dissipation and dredging pipes through the flow-through part. The heat dissipation and dredging pipes transmit the water flow outside the chassis. During the process of transporting the water flow, heat dissipation treatment of the nearby electronic components is realized;

[0010] A detection component is arranged inside the self-condensing partition plate. A part of the detection component is arranged in the heat dissipation and dredging pipe at the central position, and the other part of the detection component is arranged outside the chassis. The detection component is used to detect whether there is water flow discharged from the heat dissipation and dredging pipe, so as to judge whether the main pipeline leaks.

[0011] Wherein, the detection component includes a connecting rod. A sponge adsorbing component is arranged at the upper end of the connecting rod, and a limiting plate is arranged at the lower end of the connecting rod. The connecting rod and the sponge adsorbing component are arranged in the heat dissipation and dredging pipe at the central position, and the limiting plate is arranged outside the chassis. The limiting plate is arranged in a structure of a sieve. The water discharged from the heat dissipation and dredging pipe is discharged from the chassis through the limiting plate of the sieve structure. When the adsorption type self-sealing box leaks, the water flow enters the heat dissipation and dredging pipe and is absorbed by the sponge adsorbing component. After the detection component is taken down from the chassis, the state of the sponge adsorbing component can be observed.

[0012] Furthermore, the self-detection and balanced scheduling type dehumidification device includes a self-detection and balanced scheduling type dehumidification component, a limit control component, a support rod, a support clamping component and a recovery box. The support clamping component is connected to the bottom wall of the support rod, and the self-detection and balanced scheduling type dehumidification component is connected to the support rod. The support rod supports and fixes the self-detection and balanced scheduling type dehumidification component. A connecting piece and a temporary storage cavity are arranged inside the self-detection and balanced scheduling type dehumidification component. A desiccant is arranged in the temporary storage cavity. The desiccant is arranged in a spherical structure, which is convenient for rolling in the temporary storage cavity. The desiccant adsorbed with water vapor expands and becomes larger. A slot is arranged inside the connecting piece. Multiple groups of limit control components are arranged. One end of the limit control component is arranged in the slot, and the other end of the limit control component penetrates through the connecting piece and is arranged in the temporary storage cavity. The limit control component arranged in the temporary storage cavity limits the spherical desiccant. The recovery box is movably arranged on the support clamping component. The recovery box is arranged at the lower end of the self-detection and balanced scheduling type dehumidification component and is used for recovering the desiccant adsorbed with moisture inside the self-detection and balanced scheduling type dehumidification component.

[0013] Preferably, several groups of detection components are provided at the lower end of the temporary storage cavity. The detection components adopt photoelectric sensors. The photoelectric sensor realizes control by converting the change of light intensity into the change of electrical signal. Generally, the photoelectric sensor consists of three parts: a transmitter, a receiver, and a detection circuit. The transmitter aims at the target and emits a light beam. The emitted light beam generally comes from semiconductor light sources, such as light-emitting diodes (LEDs), laser diodes, and infrared emitting diodes. The light beam is emitted continuously or the pulse width is changed. The receiver is composed of a photodiode, a phototransistor, and a photovoltaic cell. In front of the receiver, optical elements such as lenses and apertures are installed. Behind it is the detection circuit, which can filter out the effective signal and apply the signal. The bottom of the self-detection balanced scheduling dehumidifying component is arranged in a grid form to facilitate the entry of water vapor in the cabin of the chassis. The spherical desiccant is arranged at the lowest end of the temporary storage cavity under the action of gravity and between the detection components. The spherical desiccant can adsorb the water vapor in the chassis. At the same time, as the chassis moves, the spherical desiccant swings in the temporary storage cavity. The amplitude of the swing of the spherical desiccant is different with the degree of the movement of the chassis. The detection component is used to detect the swing amplitude of the spherical desiccant. When it reaches a certain degree, it indicates that there is a risk of the chassis tipping over. At the same time, the spherical desiccant can realize the self-judgment function. When the desiccant adsorbed with water vapor expands and abuts against the lowest end of the temporary storage cavity and no longer shakes as the chassis moves, the detection component judges that the desiccant needs to be replaced.

[0014] As a preference of the present invention, the limit control component includes a limit control member, a spring, and a limit rod. The limit control member is arranged in the slot hole. An electromagnetic lifting and attracting member is arranged in the limit control member. The working principle of the electromagnetic lifting and attracting member is that after an iron core is inserted into the energized solenoid, the iron core is magnetized by the magnetic field of the energized solenoid. The magnetized iron core also becomes a magnet. In this way, due to the superposition of the two magnetic fields, the magnetism of the solenoid is greatly enhanced. Magnetism is generated when energized and disappears after power-off. A chute is arranged in the limit control member. The spring is arranged in the chute. The limit rod is movably arranged in the chute. One end of the limit rod is connected to the end of the spring. The other end of the limit rod movably penetrates through the slot hole and is arranged in the temporary storage cavity. The limit rod limits the movement of the desiccant. A magnetic member is arranged at the connection between the limit rod and the spring. After the electromagnetic lifting and attracting member is energized, it generates a magnetic property different from that of the magnetic member. The electromagnetic lifting and attracting member adsorbs the magnetic member. The limit rod is adsorbed into the chute, and the spring is compressed. The desiccant slides down along the temporary storage cavity.

[0015] Among them, the balance control component includes a support member. The support members are respectively arranged at the front end and the rear end of the chassis. At least one set of balance hydraulic rods are arranged on the support member. The movable end of the balance hydraulic rod is provided with a balance control plate. When the detection component detects that there is a risk of the chassis tipping over, it controls the balance hydraulic rod to work, pushes the balance control plate to extend, abuts against the ground, and drives the chassis in the reverse direction to prevent tipping.

[0016] Among them, a falling port is provided on the bottom wall of the self-detecting balanced scheduling dehumidifying member. An opening and closing door is provided in the falling port. When the desiccant needs to be replaced, the opening and closing door is opened under the action of the controller, and the desiccant adsorbed with water vapor falls into the recycling box, and then the opening and closing door closes, and the new desiccant continues to work;

[0017] An inlet is provided at the upper end of the self-detecting balanced scheduling dehumidifying member. The inlet is connected to the temporary storage cavity in a through manner. The desiccant enters the temporary storage cavity through the inlet. A blocking member is movably provided in the inlet for blocking the inlet.

[0018] Furthermore, a battery box and a controller are provided in the cabin of the chassis. The battery box is arranged close to the self-condensing partition for heat dissipation. The controller is electrically connected to the detection component, the opening and closing door, the electromagnetic lifting suction attachment and the balance hydraulic rod.

[0019] Preferably, an infrared thermal imager, a water cannon camera and an ambient temperature sensor are provided on the fire water cannon for detecting the surrounding environment and providing rescue in time. Columns, a data antenna and a video transmission antenna are provided on the chassis. A pan-tilt and a speaker are provided on the column. A pickup, a power indicator light and a CD6 detector are provided on the pan-tilt. A supplementary light, an obstacle avoidance sensor and an infrared temperature sensor are provided at the front end of the chassis. A rear camera is provided at the rear end of the chassis. The controller is electrically connected to the infrared thermal imager, the water cannon camera, the ambient temperature sensor, the data antenna, the video transmission antenna, the speaker, the pickup, the power indicator light, the CD6 detector, the supplementary light, the obstacle avoidance sensor, the infrared temperature sensor and the rear camera.

[0020] As a preference of the present invention, an automatic belt detachment structure is provided on the water cannon water inlet pipe. An electromagnetic valve is provided in the automatic belt detachment structure. The electromagnetic valve serves as an outer sleeve limit. By the action of the electromagnetic valve, the energy storage of the compression spring is released, so that the inner ring slides to push the disassembler, and the water belt joint pops out, thereby realizing the automatic detachment of the water belt.

[0021] After adopting the above structure, the beneficial effects of the present invention are as follows:

[0022] (1) The self-detecting balanced scheduling dehumidifying device can adsorb the water vapor in the chassis, and can judge the inclination degree of the chassis under the action of gravity, control the balance regulating component to regulate the chassis. At the same time, the spherical desiccant can realize the self-judging function, and cooperate with the detection component to judge whether the desiccant needs to be replaced.

[0023] When water leakage occurs in the main pipeline located in the bottom cabin of the chassis, the water flows directly into the adsorption type fitting self-sealing device. The adsorption type fitting self-sealing device absorbs water and expands rapidly to achieve the purpose of actively filling and sealing the main pipeline. At the same time, the water is guided to drain out of the chassis, and during the drainage process, heat dissipation treatment is carried out on the components in the chassis.

[0024] (3)The setting of the limit control component can control the falling of the desiccant. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0026] Figure 1 It is a schematic diagram of the overall structure of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0027] Figure 2 It is Figure 1 a partial enlarged view of point A of

[0028] Figure 3 It is a front view of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0029] Figure 4 It is a front sectional view of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0030] Figure 5 It is Figure 4 a partial enlarged view of point B of

[0031] Figure 6 It is a left sectional view of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0032] Figure 7 It is Figure 6 a partial enlarged view of point C of

[0033] Figure 8 It is a front view of the self-detection balance scheduling type dehumidification device of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0034] Figure 9 It is Figure 8 a partial enlarged view of point D of

[0035] Figure 10 It is a front view of the limit control component of a self-balancing regulation type fitting fire-fighting robot proposed by the present invention;

[0036] Figure 11The diagram showing the change in the state of the desiccant adsorbing water vapor in the self-detection balance scheduling dehumidification device of a self-balancing regulation type chimeric fire robot proposed by the present invention;

[0037] Figure 12 The diagram showing the change in the inclination detection state of the self-detection balance scheduling dehumidification device of a self-balancing regulation type chimeric fire robot proposed by the present invention;

[0038] Figure 13 The electrical circuit diagram of a self-balancing regulation type chimeric fire robot proposed by the present invention.

[0039] In the attached drawings: 1. Balance regulation component, 2. Crawler drive component, 3. Chassis, 4. Fire water cannon, 5. Water cannon inlet pipe, 6. Self-detection balance scheduling dehumidification device, 7. Adsorption type chimeric self-sealing device, 8. Adsorption type chimeric self-sealing box, 9. Self-condensation partition, 10. Water absorption expansion part, 11. Heat dissipation dredging pipe, 12. Flow component, 13. Detection component, 14. Connecting rod, 15. Sponge adsorption part, 16. Limiting plate, 17. Self-detection balance scheduling dehumidification part, 18. Limiting regulation component, 19. Support rod, 20. Support clamping part, 21. Recycling box, 22. Connecting part, 23. Temporary storage cavity, 24. Desiccant, 25. Slot hole, 26. Limiting regulation part, 27. Spring, 28. Limiting rod, 29. Electromagnetic lifting adsorption part, 30. Chute, 31. Magnetic part, 32. Support part, 33. Hydraulic rod for balance, 34. Balance regulation plate, 35. Drop opening, 36. Opening and closing door, 37. Entrance, 38. Sealing part, 39. Battery box, 40. Controller, 41. Infrared thermal imager, 42. Water cannon camera, 43. Ambient temperature sensor, 44. Column, 45. Data antenna, 46. Video transmission antenna, 47. Cloud platform, 48. Speaker, 49. Pickup, 50. Power indicator light, 51. CD6 detector, 52. Supplementary light, 53. Obstacle avoidance sensor, 54. Infrared temperature sensor, 55. Rear camera, 56. Automatic belt removal structure, 57. Main pipeline, 58. Detection component. Detailed implementation manners

[0040] 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 belong to the scope of protection of the present invention.

[0041] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0042] such as Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown in the figure, a self-balancing and regulating combined fire-fighting robot includes a balance regulating component 1, a crawler driving component 2 and a chassis 3. There are two groups of balance regulating components 1, which are respectively arranged at the front end and the rear end of the chassis 3 to support the chassis 3 and prevent it from tipping over during rescue. The crawler driving components 2 are respectively arranged on the opposite sides of the chassis 3 for movement. A fire-fighting water cannon 4 and a water cannon inlet pipe 5 are arranged on the chassis 3. The part of the fire-fighting water cannon 4 arranged in the cabin bottom of the chassis 3 is the main pipeline 57. The water cannon inlet pipe 5 is connected and communicated with the main pipeline 57 to supply water to the fire-fighting water cannon 4. At least one group of self-detecting and balance-scheduling dehumidifying devices 6 are arranged on the cabin bottom of the chassis 3. The self-detecting and balance-scheduling dehumidifying devices 6 can adsorb the water vapor in the chassis 3 and can judge the inclination degree of the chassis 3 under the action of gravity. An adsorption-fitting self-sealing device 7 is arranged on the inner upper wall of the cabin bottom of the chassis 3. The adsorption-fitting self-sealing device 7 is arranged outside the main pipeline 57. Once a water leakage phenomenon occurs in the main pipeline 57 arranged in the cabin bottom of the chassis 3, the water flow directly flows into the adsorption-fitting self-sealing device 7. The adsorption-fitting self-sealing device 7 absorbs water and expands rapidly to achieve the purpose of actively filling and sealing the main pipeline 57, and at the same time guides the water flow to discharge out of the chassis 3. During the discharging process, heat dissipation treatment of the components in the chassis 3 is realized. The adsorption-fitting self-sealing device 7 includes an adsorption-fitting self-sealing box 8 and a self-condensing partition plate 9. The self-condensing partition plate 9 is arranged in the cabin bottom of the chassis 3. Electronic components and the like in the cabin body of the chassis 3 are arranged close to the self-condensing partition plate 9. The adsorption-fitting self-sealing box 8 is arranged on the inner upper wall of the cabin bottom of the chassis 3. The adsorption-fitting self-sealing box 8 is arranged on the upper wall of the self-condensing partition plate 9. The inner wall of the adsorption-fitting self-sealing box 8 is provided with a number of water-absorbing and expanding parts 10. The water-absorbing and expanding parts 10 are arranged in a ring outside the main pipeline 57. The water-absorbing and expanding parts 10 are similar to water-absorbing and expanding bags for flood control, and are divided into an outer bag body and an inner bag body. The inner bag body is provided with high-molecular water-absorbing and expanding agent particles, which can quickly adsorb the water leaked from the main pipeline 57. After absorbing water, the water-absorbing and expanding parts 10 can quickly expand to block and seal the main pipeline 57, preventing the water in the main pipeline 57 from entering the electronic components in the chassis 3 and causing damage or influence to them. There are not less than one group of heat dissipation and dredging pipes 11 arranged in the self-condensing partition plate 9. The heat dissipation and dredging pipes 11 penetrate through the bottom wall of the cabin body of the chassis 3. A flow-through part 12 is arranged on the bottom wall of the adsorption-fitting self-sealing box 8. The flow-through part 12 is connected and communicated with the adsorption-fitting self-sealing box 8. The flow-through part 12 is connected and communicated with the heat dissipation and dredging pipes 11. During the process of the water-absorbing and expanding parts 10 absorbing water and expanding, the water in the main pipeline 57 enters the flow-through part 12 and flows into the heat dissipation and dredging pipes 11 through the flow-through part 12. The heat dissipation and dredging pipes 11 transmit the water flow to the outside of the chassis 3. During the process of transporting the water flow, heat dissipation treatment of the nearby electronic components is realized.A detection member 13 is provided inside the self-condensing partition plate 9. A part of the detection member 13 is arranged in the heat dissipation dredging pipe 11 at the central position, and another part of the detection member 13 is arranged outside the chassis 3. The detection member 13 is used to detect whether there is water flow discharged from the heat dissipation dredging pipe 11 to judge whether the main pipeline 57 leaks. The detection member 13 includes a connecting rod 14. A sponge adsorbing member 15 is provided at the upper end of the connecting rod 14, and a limiting plate 16 is provided at the lower end of the connecting rod 14. The connecting rod 14 and the sponge adsorbing member 15 are arranged in the heat dissipation dredging pipe 11 at the central position, and the limiting plate 16 is arranged outside the chassis 3. The limiting plate 16 is arranged in a structure of a wire mesh. The water discharged from the heat dissipation dredging pipe 11 is discharged from the chassis 3 through the wire mesh-structured limiting plate 16. When the adsorption-fitting self-sealing box 8 leaks, the water flow enters the heat dissipation dredging pipe 11 and is absorbed by the sponge adsorbing member 15. After removing the detection member 13 from the chassis 3, the state of the sponge adsorbing member 15 can be observed.;

[0043] Such as Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 8 , Figure 9 , Figure 10 , Figure 11 And Figure 12As shown, the self-detecting balanced scheduling dehumidifying device 6 includes a self-detecting balanced scheduling dehumidifying member 17, a limit control component 18, a support rod 19, a support engaging member 20, and a recovery box 21. The support engaging member 20 is connected to the bottom wall of the support rod 19, and the self-detecting balanced scheduling dehumidifying member 17 is connected to the support rod 19. The support rod 19 supports and fixes the self-detecting balanced scheduling dehumidifying member 17. A connecting member 22 and a temporary storage chamber 23 are provided inside the self-detecting balanced scheduling dehumidifying member 17. A desiccant 24 is provided inside the temporary storage chamber 23. The desiccant 24 is arranged in a spherical structure, facilitating rolling inside the temporary storage chamber 23. The desiccant 24 that has adsorbed water vapor expands and becomes larger. A slot hole 25 is provided inside the connecting member 22. Multiple groups of limit control components 18 are provided. One end of the limit control component 18 is arranged inside the slot hole 25, and the other end of the limit control component 18 penetrates through the connecting member 22 and is arranged in the temporary storage chamber 23. The limit control component 18 arranged inside the temporary storage chamber 23 limits the spherical desiccant 24. The recovery box 21 is movably arranged on the support engaging member 20. The recovery box 21 is arranged below the self-detecting balanced scheduling dehumidifying member 17, and is used to recover the desiccant 24 that has adsorbed moisture inside the self-detecting balanced scheduling dehumidifying member 17; Several groups of detection components 58 are provided at the lower end of the temporary storage chamber 23. The detection components 58 adopt photoelectric sensors. The photoelectric sensor realizes control by converting the change in light intensity into the change in electrical signal. Generally, the photoelectric sensor consists of three parts, namely: a transmitter, a receiver, and a detection circuit. The transmitter aims the emitted light beam at the target. The emitted light beam generally comes from semiconductor light sources, such as light-emitting diodes (LEDs), laser diodes, and infrared emitting diodes. The light beam is emitted continuously or the pulse width is changed; The receiver consists of a photodiode, a phototransistor, and a photovoltaic cell; In front of the receiver, optical elements such as lenses and apertures are installed; Behind it is the detection circuit, which can filter out the effective signal and apply this signal; The bottom of the self-detecting balanced scheduling dehumidifying member 17 is arranged in a grid form, facilitating the water vapor in the cabin of the chassis 3 to enter. The spherical desiccant 24 is arranged at the lowest end of the temporary storage chamber 23 under the action of gravity and is arranged between the detection components 58. The spherical desiccant 24 can adsorb the water vapor in the chassis 3. At the same time, as the chassis 3 moves, the spherical desiccant 24 swings inside the temporary storage chamber 23. With the degree of movement of the chassis 3, the swing amplitude of the spherical desiccant 24 is different. The detection components 58 are used to detect the swing amplitude of the spherical desiccant 24. When it reaches a certain degree, it indicates that the chassis 3 has the risk of tipping over; At the same time, the spherical desiccant 24 can realize the self-judgment function. When the desiccant 24 that has adsorbed water vapor expands and abuts against the lowest end of the temporary storage chamber 23 and no longer shakes as the chassis 3 moves, the detection components 58 judge that the desiccant 24 needs to be replaced;The bottom wall of the self-detecting balanced scheduling dehumidifying member 17 is provided with a falling port 35, and an opening and closing door 36 is arranged in the falling port 35. When the desiccant 24 needs to be replaced, the opening and closing door 36 is opened under the action of the controller 40, and the desiccant 24 adsorbed with water vapor falls into the recovery box 21, and then the opening and closing door 36 closes, and the new desiccant 24 continues to work; an inlet 37 is arranged at the upper end of the self-detecting balanced scheduling dehumidifying member 17, and the inlet 37 is connected to the temporary storage cavity 23 in a penetrating manner. The desiccant 24 enters the temporary storage cavity 23 through the inlet 37. A blocking member 38 is movably arranged in the inlet 37 for blocking the inlet 37; the limit control assembly 18 includes a limit control member 26, a spring 27 and a limit rod 28. The limit control member 26 is arranged in the slot 25. An electromagnetic lifting and attracting member 29 is arranged in the limit control member 26. The working principle of the electromagnetic lifting and attracting member 29 is that after an iron core is inserted into the inside of an energized solenoid, the iron core is magnetized by the magnetic field of the energized solenoid, and the magnetized iron core also becomes a magnet. In this way, due to the superposition of the two magnetic fields, the magnetism of the solenoid is greatly enhanced. Magnetism is generated when energized, and the magnetism disappears after power-off. A sliding slot 30 is arranged in the limit control member 26. The spring 27 is arranged in the sliding slot 30. The limit rod 28 is movably arranged in the sliding slot 30. One end of the limit rod 28 is connected to the end of the spring 27, and the other end of the limit rod 28 movably penetrates through the slot 25 and is arranged in the temporary storage cavity 23. The limit rod 28 limits the movement of the desiccant 24. A magnetic member 31 is arranged at the connection between the limit rod 28 and the spring 27. After the electromagnetic lifting and attracting member 29 is energized, it generates a magnetic property different from that of the magnetic member 31, and the electromagnetic lifting and attracting member 29 adsorbs the magnetic member 31, and the limit rod 28 is adsorbed into the sliding slot 30, and the spring 27 is compressed, and the desiccant 24 slides down along the temporary storage cavity 23.;

[0044] As Figure 1 and Figure 2 shown, the balance control assembly 1 includes a support member 32, and the support member 32 is respectively arranged at the front end and the rear end of the chassis 3. At least one set of balance hydraulic rods 33 are arranged on the support member 32. A balance control plate 34 is arranged at the movable end of the balance hydraulic rod 33. When the detection assembly 58 detects that the chassis 3 has a risk of tipping over, it controls the balance hydraulic rod 33 to work, pushes the balance control plate 34 to extend, abuts against the ground, and drives the chassis 3 in the reverse direction to prevent tipping.

[0045] As Figure 1 、 Figure 3 、 Figure 4 and Figure 13As shown in the figure, a battery box 39 and a controller 40 are provided inside the cabin of the chassis 3. The battery box 39 is arranged close to the self-condensing partition 9 for easy heat dissipation. The controller 40 is electrically connected to the detection component 58, the opening and closing door 36, the electromagnetic lifting suction attachment 29, and the balancing hydraulic rod 33; an infrared thermal imager 41, a water cannon camera 42, and an ambient temperature sensor 43 are provided on the fire water cannon 4 for detecting the surrounding environment and providing assistance in a timely manner. A column 44, a data antenna 45, and a video transmission antenna 46 are provided on the chassis 3. A pan-tilt 47 and a speaker 48 are provided on the column 44. A pickup 49, a power indicator light 50, and a CD6 detector 51 are provided on the pan-tilt 47. A supplementary light 52, an obstacle avoidance sensor 53, and an infrared temperature sensor 54 are provided at the front end of the chassis 3. A rear camera 55 is provided at the rear end of the chassis 3. The controller 40 is electrically connected to the infrared thermal imager 41, the water cannon camera 42, the ambient temperature sensor 43, the data antenna 45, the video transmission antenna 46, the speaker 48, the pickup 49, the power indicator light 50, the CD6 detector 51, the supplementary light 52, the obstacle avoidance sensor 53, the infrared temperature sensor 54, and the rear camera 55; an automatic belt detachment structure 56 is provided on the water cannon water inlet pipe 5. A solenoid valve is provided in the automatic belt detachment structure 56. The solenoid valve serves as an outer sleeve limit. By the action of the solenoid valve, the energy stored in the compression spring 27 is released, causing the inner ring to slide and push the disassembler, ejecting the water belt connector, thereby realizing the automatic detachment of the water belt.

[0046] During specific use, for the convenience of understanding, multiple groups of limit control components 18 are named as limit control component 18 one, limit control component 18 two, and limit control component 18 three from top to bottom. Initially, the self-detecting balance scheduling dehumidifying device 6 is located outside the fire-fighting robot. The electromagnetic lifting suction accessory 29 is not powered on. The limiting rod 28 extends out of the slot hole 25 under the push of the spring 27 and is located in the temporary storage cavity 23. The plugging member 38 is removed. The desiccant 24 enters between the limiting rod 28 of the temporary storage cavity 23 and the limit control component 18 one through the inlet 37. After the desiccant 24 is placed, the plugging member 38 is inserted into the inlet 37 for plugging. Then, the self-detecting balance scheduling dehumidifying device 6 is placed in the cabin of the chassis 3. The controller 40 controls the electromagnetic lifting suction accessory 29 in the limit control component 18 one to be powered on, generating a magnetic field opposite to that of the magnetic member 31. The electromagnetic lifting suction accessory 29 adsorbs the magnetic member 31. The limiting rod 28 in the limit control component 18 one is adsorbed into the sliding groove 30, and the spring 27 is compressed. The desiccant 24 slides down along the temporary storage cavity 23 to the position of the limiting rod 28 of the limit control component 18 two. The desiccant 24 in the temporary storage cavity 23 slides onto the limit control component 18 two. Then, the electromagnetic lifting suction accessory 29 in the limit control component 18 one is powered off, and the limiting rod 28 on the limit control component 18 one is inserted between the desiccants 24. There is one desiccant 24 between the limit control component 18 one and the limit control component 18 two, and the remaining desiccants 24 are located between the limit control component 18 one and the temporary storage cavity 23. The limit control component 18 one limits the remaining desiccants 24. The limiting rod 28 on the limit control component 18 two abuts against the inner side wall of the temporary storage cavity 23 to prevent water vapor from being adsorbed by the desiccants 24 above the limit control component 18 two. The controller 40 controls the electromagnetic lifting suction accessories 29 in the limit control component 18 two and the limit control component 18 three to be powered on, generating a magnetic field opposite to that of the magnetic member 31. The electromagnetic lifting suction accessories 29 adsorb the magnetic members 31. The limiting rods 28 in the limit control component 18 two and the limit control component 18 three are adsorbed into the sliding groove 30, and the spring 27 is compressed. The spherical desiccant 24 moves to the lowest end of the temporary storage cavity 23 under the action of gravity and is located between the detection components 58. Then, the electromagnetic lifting suction accessories 29 in the limit control component 18 two and the limit control component 18 three are powered off, and the limiting rods 28 extend into the temporary storage cavity 23;

[0047] When the robot is moving, the detection component 58 starts to work. The spherical desiccant 24 at the lowest end is used to adsorb the water vapor in the chassis 3. At the same time, as the chassis 3 moves, the spherical desiccant 24 swings in the temporary storage cavity 23. The amplitude of the swing of the spherical desiccant 24 is different with the degree of movement of the chassis 3. The detection component 58 is used to detect the swing amplitude of the spherical desiccant 24 and send a signal to the controller 40. If the swing amplitude of the desiccant 24 does not reach the detection component 58 at the highest point, no processing is required. If the swing amplitude of the desiccant 24 reaches the detection component 58 at the highest point and remains for a certain period of time, as shown in Figure 12, it indicates that the chassis 3 has a risk of tipping over. When the detection component 58 detects that the chassis 3 has a risk of tipping over, the controller 40 controls the hydraulic rod 33 for balance to work, pushing the balance control plate 34 to extend and pressing against the ground to drive the chassis 3 in the reverse direction to prevent tipping. When the chassis 3 tips backward, the balance control plate 34 at the rear end works. When the chassis 3 tips forward, the balance control plate 34 at the front end works; During the movement of the robot, due to inertia, it moves back and forth. If the ground slope is not large and the spherical desiccant 24 only sways due to inertia, the desiccant 24 will not stay too long, reducing the misjudgment of the detection component 58;

[0048] If it is only during the movement process and briefly encounters bumps and shows a tendency to tip over, the balance control component 1 restores the machine to a balanced state while the machine continues to move forward. After the machine passes through the bumpy section, the desiccant 24 returns to the lowest position, and the balance control plate 34 retracts, without affecting the balance of the machine;

[0049] If during the movement process, there is a slope, resulting in a tendency to tip over, the balance control component 1 will assist the machine in maintaining a balanced state. The machine has been in an inclined state, the desiccant 24 still shows an inclined state, and the balance control plate 34 will not retract. When the machine leaves the slope, the desiccant 24 returns to the lowest position, and the balance control plate 34 retracts, without affecting the balance of the machine;

[0050] As the desiccant 24 adsorbs the water vapor in the cabin of the chassis 3, its volume gradually expands and becomes stuck at the lowest end of the temporary storage cavity 23. As the chassis 3 moves, the expanded spherical desiccant 24 does not move, and the detection component 58 cannot detect the swing of the spherical desiccant 24, judging that the desiccant 24 needs to be replaced. The opening and closing door 36 opens under the action of the controller 40, and the desiccant 24 that has adsorbed water vapor falls into the recycling box 21, and then the opening and closing door 36 closes. The new desiccant 24 continues to work according to the above steps;

[0051] When the robot is in a stationary state, such as stopping to spray water for fire extinguishing, the detection component 58 stops working;

[0052] If the main pipeline 57 installed in the bilge of the chassis 3 leaks, the water will directly flow into the adsorption - type fitting self - sealing device 7. The water - absorbing expansion part 10 absorbs water and expands rapidly to actively fill and seal the main pipeline 57, preventing the water in the main pipeline 57 from entering the electronic components in the chassis 3 and causing damage or influence to them. At the same time, during the process of the water - absorbing expansion part 10 absorbing water and expanding, the water in the main pipeline 57 enters the flow - through part 12 and flows into the heat - dissipation dredging pipe 11 through the flow - through part 12. The heat - dissipation dredging pipe 11 transports the water flow outside the chassis 3. During the process of transporting the water flow, heat - dissipation treatment is carried out on the nearby electronic components. The water flow enters the heat - dissipation dredging pipe 11 and is absorbed by the sponge absorbent part 15. After removing the detection part 13 from the chassis 3, the state of the sponge absorbent part 15 can be observed, so as to generally judge whether there is a leakage phenomenon, and the number of times of opening the chassis 3 for detection can be reduced.

[0053] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Generally speaking, if those of ordinary skill in the art are inspired by it and design similar structural modes and embodiments without creative work without departing from the purpose of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A self-balancing and regulating chimeric fire-fighting robot, comprising a balance regulation component, a crawler drive component and a chassis. There are two groups of the balance regulation components, which are respectively arranged at the front end and the rear end of the chassis. The crawler drive components are respectively arranged on the opposite sides of the chassis. A fire-fighting water cannon and a water cannon inlet pipe are arranged on the chassis. The part of the fire-fighting water cannon arranged in the bottom of the cabin of the chassis is the main pipeline, and the water cannon inlet pipe is connected and communicated with the main pipeline; characterized in that, At least one group of self-detecting balanced scheduling type dehumidifying devices is arranged on the bilge of the chassis. An adsorption type fitting self-sealing device is arranged on the upper inner wall of the bilge of the chassis, and the adsorption type fitting self-sealing device is arranged outside the main pipeline; The adsorption type fitting self-sealing device includes an adsorption type fitting self-sealing box and a self-condensing partition board. The self-condensing partition board is arranged in the bilge of the chassis, and electronic components in the cabin body of the chassis are arranged close to the self-condensing partition board. The adsorption type fitting self-sealing box is arranged on the upper inner wall of the bilge of the chassis, and the adsorption type fitting self-sealing box is arranged on the upper wall of the self-condensing partition board. A water absorption expansion part is arranged on the inner wall of the adsorption type fitting self-sealing box. There are several groups of water absorption expansion parts, and several groups of water absorption expansion parts are arranged in a ring outside the main pipeline; Not less than one group of heat dissipation dredging pipes is arranged in the self-condensing partition board. The heat dissipation dredging pipes penetrate through the bottom wall of the cabin body of the chassis. A flow part is arranged on the bottom wall of the adsorption type fitting self-sealing box. The flow part is connected with the adsorption type fitting self-sealing box in a penetrating manner, and the flow part is connected with the heat dissipation dredging pipes in a penetrating manner; A detection part is arranged in the self-condensing partition board. One part of the detection part is arranged in the heat dissipation dredging pipe at the central position, and the other part of the detection part is arranged outside the chassis; The self-detecting balanced scheduling type dehumidifying device includes a self-detecting balanced scheduling type dehumidifying part and a limit control component. A connecting part and a temporary storage cavity are arranged in the self-detecting balanced scheduling type dehumidifying part. A desiccant is arranged in the temporary storage cavity. A slot hole is arranged in the connecting part. One end of the limit control component is arranged in the slot hole, and the other end of the limit control component penetrates through the connecting part and is arranged in the temporary storage cavity; Several groups of detection components are arranged at the lower end of the temporary storage cavity.

2. The self-balancing and regulating chimeric fire-fighting robot according to claim 1, wherein, The detection part includes a connecting rod. A sponge adsorption part is arranged at the upper end of the connecting rod. A limit plate is arranged at the lower end of the connecting rod. The connecting rod and the sponge adsorption part are arranged in the heat dissipation dredging pipe at the central position. The limit plate is arranged outside the chassis, and the limit plate is arranged in a structure of a strainer; 3. The self-balancing and regulating chimeric fire-fighting robot according to claim 2, characterized in that, The self-detecting balanced scheduling type dehumidifying device further includes a support rod, a support clamping part and a recovery box. The support clamping part is connected with the bottom wall of the support rod. The self-detecting balanced scheduling type dehumidifying part is connected with the support rod. The desiccant is arranged in a spherical structure. There are multiple groups of limit control components. The recovery box is movably arranged on the support clamping part, and the recovery box is arranged at the lower end of the self-detecting balanced scheduling type dehumidifying part; 4. The self-balancing and regulating chimeric fire-fighting robot according to claim 3, wherein The detection component adopts a photoelectric sensor; the bottom of the self-detecting balanced scheduling type dehumidifying part is arranged in a grid form.

5. The self-balancing and regulating chimeric fire-fighting robot according to claim 4, characterized in that, The limit control component includes a limit control part, a spring and a limit rod. The limit control part is arranged in the slot hole. An electromagnetic lifting adsorption part is arranged in the limit control part. A chute is arranged in the limit control part. The spring is arranged in the chute. The limit rod is movably arranged in the chute. One end of the limit rod is connected with the end part of the spring. The other end of the limit rod movably penetrates through the slot hole and is arranged in the temporary storage cavity. A magnetic part is arranged at the connection part of the limit rod and the spring.

6. The self-balancing and regulating chimeric fire-fighting robot according to claim 5, characterized in that, The balance control component includes a support member, which is respectively arranged at the front end and the rear end of the chassis. At least one set of hydraulic rods for balance is arranged on the support member, and a balance control plate is arranged at the movable end of the hydraulic rod for balance.

7. The self-balancing and regulating chimeric fire-fighting robot according to claim 6, characterized in that, A falling port is arranged on the bottom wall of the self-detecting and balance-scheduling dehumidifying member, and an opening and closing door is arranged in the falling port; An inlet is arranged at the upper end of the self-detecting and balance-scheduling dehumidifying member. The inlet is connected to the temporary storage cavity in a penetrating manner, and a blocking member is movably arranged in the inlet.

8. The self-balancing and regulating chimeric fire-fighting robot according to claim 7, wherein, A battery box and a controller are arranged in the cabin of the chassis. The battery box is arranged close to the self-condensing partition board. The controller is electrically connected to the detection component, the opening and closing door, the electromagnetic lifting and suction attachment and the hydraulic rod for balance.

9. The self-balancing and regulating chimeric fire-fighting robot according to claim 8, wherein, An infrared thermal imager, a water cannon camera and an ambient temperature sensor are arranged on the fire water cannon. A column, a data antenna and a video transmission antenna are arranged on the chassis. A pan-tilt and a speaker are arranged on the column. A pickup, a power indicator light and a CD6 detector are arranged on the pan-tilt. A supplementary light, an obstacle avoidance sensor and an infrared temperature sensor are arranged at the front end of the chassis. A rear camera is arranged at the rear end of the chassis. The controller is electrically connected to the infrared thermal imager, the water cannon camera, the ambient temperature sensor, the data antenna, the video transmission antenna, the speaker, the pickup, the power indicator light, the CD6 detector, the supplementary light, the obstacle avoidance sensor, the infrared temperature sensor and the rear camera.

10. The self-balancing and regulating chimeric fire-fighting robot according to claim 9, characterized in that, An automatic tape detachment structure is arranged on the water cannon water inlet pipe.

Images