A fire fighting and rescue robot

Abstract

The present invention discloses a fire extinguishing and rescue robot, which includes a crawler base. A water tank is arranged in the middle of the upper end thereof. A fire fighting water cannon is arranged at the front part of the upper end of the crawler base. The fire fighting water cannon can be horizontally rotated and the pitching angle can be adjusted according to the ignition point. A plurality of water inlets are arranged at the tail end of the crawler base; an audio-visual acquisition device, which is located at the upper end of the water tank; a storage box, which is located at the tail part of the upper end of the crawler base. A temperature monitoring device is fixedly arranged at the upper end of the storage box. The temperature monitoring device can monitor the temperature of each part of the vehicle body and the surrounding environment temperature in real time; and a cooling component, which is located at the upper end of the water tank.

Description

Technical Field

[0001] The present invention relates to the field of fire scene rescue equipment, and in particular to a fire scene fire extinguishing and rescue robot. Background Art

[0002] At present, with the continuous development of robots, fire-fighting robots are becoming more and more commonly used. Fire-fighting robots are not only used for fire-fighting but also often used for fire detection and rescue. Their outer shells are generally made of fire-resistant and high-temperature resistant materials. However, when the temperature of the fire scene is high, high temperatures will still be transmitted into the robot shell, affecting the normal operation of the internal components of the robot. The cooling devices equipped with existing fire-fighting and rescue robots generally cool down by installing nozzles on various parts of the fuselage to spray water. The spraying angle is fixed and cannot be adjusted and cooled according to the heat generated by the heating position of the robot, and the cooling efficiency is low.

[0003] Therefore, it is necessary to provide a fire extinguishing and rescue robot to solve the problems mentioned in the above background technology. Summary of the invention

[0004] To achieve the above object, the present invention provides the following technical solution: a fire fighting and rescue robot, comprising:

[0005] A crawler base, a water tank is provided in the middle of the upper end of the crawler base, a fire water monitor is provided at the front of the upper end of the crawler base, the fire water monitor can be horizontally rotated and adjusted in pitch angle according to the fire point, and a plurality of water inlets are provided at the tail end of the crawler base;

[0006] An audio-visual collection device, which is located at the upper end of the water tank;

[0007] A storage box located at the upper end of the crawler base, wherein a temperature monitoring device is fixedly provided at the upper end of the storage box, and the temperature monitoring device can monitor the temperature of various parts of the vehicle body and the ambient temperature in real time; and

[0008] A cooling component is located at the upper end of the water tank.

[0009] As a preferred technical solution of the present invention, the cooling component includes:

[0010] A connecting pipe, which is fixedly arranged at the upper end of the water tank and communicated with the interior of the water tank;

[0011] A limiting cylinder is fixedly arranged at the upper end of the connecting pipe, and a plurality of water outlet holes are opened on the side of the limiting cylinder along its circumferential direction and axial direction, and the specifications of the water outlet holes gradually increase from bottom to top along the axial direction of the limiting cylinder;

[0012] A plurality of limiting pulp plates are evenly hinged and arranged in an umbrella shape along the circumference of the limiting cylinder;

[0013] An electric telescopic rod is coaxially and fixedly arranged at the upper end of the shape-limiting cylinder body. A connecting cover is fixedly arranged at the upper end of the electric telescopic rod. The lower end of the connecting cover is hinged to the upper ends of the respective limiting paddle plates; and an adjusting structure is slidably and sealingly arranged inside the shape-limiting cylinder body;

[0014] Wherein, a pressurizing device is connected to the lower end of the connecting pipe, which can pressurize the water body inside the connecting pipe at multiple levels, and the pressurizing levels of the pressurizing device are correspondingly arranged with the specifications of the water outlet holes.

[0015] As a preferred technical solution of the present invention, the adjusting mechanism includes:

[0016] A connecting rod, which is located at the inner axial position of the connecting pipe;

[0017] A plugging ring, which is slidably and sealingly arranged inside the shape-limiting cylinder body, and two groups are arranged along the axial direction of the shape-limiting cylinder body. A flow channel is formed between the respective plugging rings;

[0018] An adjusting sleeve, which is arranged in the shape-limiting cylinder body in two groups along the axial direction of the connecting rod. The adjusting sleeve located above is fixedly connected to the connecting rod, and the adjusting sleeve located below is slidably connected to the connecting rod. The adjusting sleeve and the plugging ring are fixedly connected by a plurality of fixing rods; and

[0019] A support spring, which is sleeved on the upper end of the connecting rod, and the upper end of the support spring is fixedly connected to the upper end of the shape-limiting cylinder body.

[0020] As a preferred technical solution of the present invention, a resistance member is fixedly arranged at the lower end of the connecting rod, and the resistance member can push the connecting rod under the impact of water flow to compress the support spring.

[0021] As a preferred technical solution of the present invention, the limiting paddle plate includes: a main board and two sub-boards. Avoidance grooves are opened on both sides of the main board, and buffer springs are fixedly arranged in the avoidance grooves. The sub-board is in a right trapezoidal structure. The upper end of the sub-board is hinged to the main board, and the side of the sub-board close to the avoidance groove is fixedly connected to the buffer spring.

[0022] As a preferred technical solution of the present invention, a diversion groove is opened on the lower end of the limiting paddle plate facing the side of the shape-limiting cylinder body, and flow-blocking columns are evenly distributed between the respective diversion grooves along the extending direction of the limiting paddle plate.

[0023] As a preferred technical solution of the present invention, a section of the connecting rod located inside the limiting cylinder body is a hollow structure, and a telescopic cylinder is arranged therein. The extending end of the telescopic cylinder is arranged downward and fixed with a disc. A through groove is formed on the connecting rod, and the disc is fixedly connected with the adjusting sleeve located below through the through groove.

[0024] Compared with the prior art, the present invention provides a fire field fire fighting and rescue robot, which has the following beneficial effects:

[0025] In the present invention, a sealing ring, a limiting cylinder body and a plurality of water outlet holes with different specifications are arranged, so that the pressurized water flow can be switched to spray with different flow rates to cool the vehicle body. A flow channel with adjustable size is arranged, so that the cooling component can simultaneously spray water for cooling with different flow rates in multiple layers, improving the fire resistance of the robot. At the same time, a diversion groove and a flow blocking column are arranged on the contact surface between the limiting paddle and the water flow, so that the spraying density within the cooling range is more uniform, improving the cooling efficiency and ensuring the normal operation of the fire fighting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of a fire field fire fighting and rescue robot;

[0027] Figure 2 It is a schematic diagram of the structure of the cooling component of a fire field fire fighting and rescue robot;

[0028] Figure 3 It is a schematic diagram of the structure of the adjusting mechanism of a fire field fire fighting and rescue robot;

[0029] Figure 4 It is a schematic diagram of the structure of the limiting paddle of a fire field fire fighting and rescue robot;

[0030] Figure 5 It is a schematic diagram of the spraying structure of the cooling component of a fire field fire fighting and rescue robot;

[0031] Figure 6 It is a schematic diagram of the internal structure of the connecting rod of a fire field fire fighting and rescue robot;

[0032] In the figure: 1, crawler base; 11, fire fighting water cannon; 12, water tank; 13, water inlet; 2, cooling component; 21, connecting pipe; 22, limiting cylinder body; 23, adjusting mechanism; 24, connecting cover; 25, limiting paddle; 26, electric telescopic rod; 231, connecting rod; 232, adjusting sleeve; 233, fixed rod; 234, flow channel; 235, sealing ring; 236, support spring; 251, main board; 252, sub-board; 253, buffer spring; 254, diversion groove; 255, flow blocking column; 2321, telescopic cylinder; 2322, through groove; 2323, disc; 3, audio-visual acquisition device; 4, temperature monitoring device; 5, storage box. Detailed implementation mode

[0033] Please refer to Figures 1-6 , the present invention provides a fire extinguishing and rescue robot, including:

[0034] A crawler base 1, in the middle of the upper end of which there is a water tank 12, in the front part of the upper end of the crawler base 1 there is a fire fighting water cannon 11, the fire fighting water cannon 11 can be horizontally rotated and the pitching angle adjusted according to the ignition point, and at the tail end of the crawler base 1 there are a plurality of water inlets 13;

[0035] An audio-visual acquisition device 3, which is located at the upper end of the water tank 12;

[0036] A storage box 5, which is located at the upper end of the tail of the crawler base 1, on the upper end of the storage box 5 there is a temperature monitoring device 4, and the temperature monitoring device 4 can monitor the temperature of each part of the vehicle body and the surrounding environment in real time; and

[0037] A cooling component 2, and the cooling component 2 is located at the upper end of the water tank 12.

[0038] It should be explained that rescue supplies (fire extinguishers, fire-resistant clothing, gas masks, etc.) provided for trapped persons are placed inside the storage box 5, and the cooling component 2 can perform a corresponding cooling mode on the vehicle body temperature and the environmental temperature detected by the temperature detection device. When conducting fire reconnaissance and rescue, firefighters remotely control the robot to enter the fire scene, and the images and sounds inside the fire scene are transmitted through the audio-visual acquisition device 3, facilitating firefighters to understand the situation inside the fire scene and conduct targeted rescue.

[0039] In this embodiment, the cooling component 2 includes:

[0040] A connecting pipe 21, which is fixedly arranged at the upper end of the water tank 12 and is communicated with the inside of the water tank 12;

[0041] A limiting cylinder body 22, which is fixedly arranged at the upper end of the connecting pipe 21, and a plurality of water outlet holes are arranged on the side surface of the limiting cylinder body 22 along its circumferential and axial directions, and the specifications of the water outlet holes gradually increase from bottom to top along the axial direction of the limiting cylinder body 22;

[0042] Limiting paddle boards 25, which are evenly hinged along the circumferential direction of the limiting cylinder body and are arranged in an umbrella shape;

[0043] An electric telescopic rod 26, which is coaxially fixedly arranged at the upper end of the limiting cylinder body 22, the upper end of the electric telescopic rod 26 is fixedly provided with a connecting cover 24, and the lower end of the connecting cover 24 is hinged to the upper ends of the respective limiting paddle boards 25; and

[0044] An adjusting structure 23, which is slidably and sealingly arranged inside the limiting cylinder body 22;

[0045] Wherein, a pressurizing device is connected to the lower end of the connecting pipe 21, which can pressurize the water body inside the connecting pipe 21 at multiple levels, and the pressurizing levels of the pressurizing device are correspondingly set according to the specifications of the water outlet holes.

[0046] It should be explained that the connecting pipe 21 sprays the pressurized water from the water outlet, and under the limiting action of the limiting paddle 25, the water flow is splashed within a certain area of the annular region.

[0047] The staff can adjust the cooling range of the cooling component 2 according to the telescopic length of the electric telescopic rod 26, set the telescopic limit position of the electric telescopic rod 26, and when the temperature monitoring device 4 detects that the overall temperature of the vehicle body rises simultaneously, the electric telescopic rod 26 performs slow and continuous telescopic actions to cool the entire vehicle body.

[0048] The staff can set the vehicle body into multiple different temperature monitoring areas, and correspond different telescopic lengths of the electric telescopic rod 26 to each area. When the temperature monitoring device 4 detects that the temperature of a certain monitoring area of the vehicle body is higher than the pre-set threshold value, control the electric telescopic rod 26 to extend / contract, move the cooling area to this position for continuous cooling. When the temperature at this position drops to normal, the electric telescopic rod 26 resumes the previous state and performs slow and continuous telescopic actions to cool the entire vehicle body.

[0049] In this embodiment, the adjusting mechanism includes:

[0050] A connecting rod 231, which is located at the inner axial position of the connecting pipe 21;

[0051] Sealing plugs 235, which are slidably sealed inside the limiting cylinder 22, are arranged in two groups along the axis of the limiting cylinder 22, and a flow channel 234 is formed between the sealing plugs 235;

[0052] Adjusting sleeves 232, which are arranged in two groups inside the limiting cylinder 22 along the axis of the connecting rod 231. The adjusting sleeve 232 located above is fixedly connected to the connecting rod 231, and the adjusting sleeve 232 located below is slidably connected to the connecting rod 231. The adjusting sleeve 232 and the sealing plug 235 are fixedly connected by a plurality of fixing rods 233; and

[0053] A support spring 236, which is sleeved on the upper end of the connecting rod, and the upper end of the support spring 236 is fixedly connected to the upper end of the limiting cylinder 22.

[0054] It should be noted that in the initial state, under the action of the support spring 236, the plugging ring 235 is located at the lowermost end of the shape-limiting cylinder 22. At this time, all the water outlet holes are blocked by the plugging ring 235 to prevent foreign objects from entering the outside and causing blockage.

[0055] In this embodiment, a resistance member is fixedly provided at the lower end of the connecting rod 231. The resistance member can push the connecting rod 231 under the impact of water flow to compress the support spring 236. By adjusting the pressurization level of the pressurization device, the compression amount of the support spring 236 is changed, so as to control the coincidence of the flow channel 234 with water outlet holes of different specifications, and adjust the amount of water discharged, so that it is applicable to fire scenes at different temperatures.

[0056] In this embodiment, the limiting paddle 25 includes a main board 251 and two sub-boards 252. Avoidance grooves are formed on both sides of the main board 251, and buffer springs 253 are fixedly provided in the avoidance grooves. The sub-board 252 has a right trapezoidal structure. The upper end of the sub-board 252 is hinged to the main board 251, and one side of the sub-board 252 close to the avoidance groove is fixedly connected to the buffer spring 253.

[0057] That is to say, when the electric telescopic rod 26 performs a contraction action, the sub-boards 252 of each limiting paddle 25 can perform elastic avoidance to prevent the limiting paddles 25 from jamming with each other.

[0058] In this embodiment, a diversion groove 254 is formed on one side of the lower end of the limiting paddle 25 facing the shape-limiting cylinder 22, and flow-blocking columns 255 are evenly distributed along the extending direction of the limiting paddle 25 between the diversion grooves.

[0059] It should be noted that the high-pressure water flow ejected from the water outlet hole strikes the limiting paddle 25 and splashes and atomizes, forming a cooling area with a certain annular area at the upper end of the robot. The outer ring position of the annular area is limited by the limiting paddle 25. The arrangement of the diversion groove 254 and the flow-blocking columns 255 makes the position of the water flow on the limiting paddle 25 have a height difference, so that the water flow can splash more towards the positions close to the outer ring and the inner ring, making the spraying density of the water flow more uniform, improving the cooling efficiency, and preventing the formation of puddles in the middle position of the water flow spraying area, so that the water flow cannot be fully utilized for cooling and affecting the cooling efficiency.

[0060] In this embodiment, a section of the connecting rod 231 located inside the shape-limiting cylinder body 22 is of a hollow structure, and a telescopic cylinder 2321 is arranged therein. The extending end of the telescopic cylinder 2321 is arranged downward and fixed with a disc 2322. A through groove 2323 is formed in the connecting rod 231, and the disc 2322 is fixedly connected to the adjusting sleeve 232 located below through the through groove 2323. By adjusting the telescopic length of the telescopic cylinder 2321, the size of the flow channel 234 can be controlled, thereby realizing simultaneous water spraying and cooling of multiple layers of water outlet holes, achieving heat insulation on the outer layer and cooling on the inner layer. When passing through a fire field, the vehicle body can be greatly cooled and heat-insulated, avoiding the influence of high temperature on the robot.

[0061] During specific implementation, after entering the fire field, the temperature monitoring device detects the surrounding environment and the temperature of the vehicle body in real time. When the surrounding environment temperature and the overall temperature of the vehicle body continue to rise, the cooling component sprays water periodically to continuously spray and cool each part of the vehicle body. When the temperature of a certain part of the vehicle body is abnormal, the cooling component adjusts the position of its cooling area for targeted cooling and sprays water for cooling with different flow rates according to different temperatures.

[0062] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A fire field fire fighting and rescue robot, characterized in that: Comprising: A crawler base (1) with a water tank (12) arranged in the middle of its upper end. A fire water cannon (11) is arranged at the front part of the upper end of the crawler base (1). The fire water cannon (11) can be horizontally rotated and the pitching angle can be adjusted according to the ignition point. A plurality of water inlets (13) are arranged at the tail end of the crawler base (1); An audiovisual acquisition device (3) located at the upper end of the water tank (12); A storage box (5) located at the tail part of the upper end of the crawler base (1). A temperature monitoring device (4) is fixedly arranged at the upper end of the storage box (5). The temperature monitoring device (4) can monitor the temperature of each part of the vehicle body and the ambient temperature in real time; A cooling component (2) located at the upper end of the water tank (12); The cooling component (2) includes: A connecting pipe (21) fixedly arranged at the upper end of the water tank (12) and communicating with the inside of the water tank (12); A limiting cylinder body (22) fixedly arranged at the upper end of the connecting pipe (21); Limiting paddle boards (25) evenly hinged in an umbrella shape along the circumference of the limiting cylinder body; An electric telescopic rod (26) coaxially fixedly arranged at the upper end of the limiting cylinder body (22). A connecting cover (24) is fixedly arranged at the upper end of the electric telescopic rod (26). The lower end of the connecting cover (24) is hinged to the upper ends of the respective limiting paddle boards (25); An adjusting mechanism (23) slidably and sealingly arranged inside the limiting cylinder body (22); The adjusting mechanism (23) includes: A connecting rod (231) located at the axial center position inside the connecting pipe (21); Sealing rings (235) slidably and sealingly arranged inside the limiting cylinder body (22), with two groups arranged along the axis direction of the limiting cylinder body (22). A flow channel (234) is formed between the respective sealing rings (235); Adjusting sleeves (232) arranged in two groups inside the limiting cylinder body (22) along the axis direction of the connecting rod (231). The adjusting sleeve (232) located above is fixedly connected to the connecting rod (231), and the adjusting sleeve (232) located below is slidably connected to the connecting rod (231). The adjusting sleeve (232) and the sealing ring (235) are fixedly connected by a plurality of fixing rods (233); A support spring (236) sleeved on the upper end of the connecting rod. The upper end of the support spring (236) is fixedly connected to the upper end of the limiting cylinder body (22); A section of the connecting rod (231) located inside the limiting cylinder body (22) is of a hollow structure, and a telescopic cylinder (2321) is arranged inside it. The extending end of the telescopic cylinder (2321) is arranged downward and fixed with a disc (2322). A through slot (2323) is formed on the connecting rod (231). The disc (2322) is fixedly connected to the adjusting sleeve (232) located below through the through slot (2323); A plurality of water outlet holes are formed in the side surface of the shape-limiting cylinder body (22) along its circumferential and axial directions, and the specifications of the water outlet holes gradually increase from bottom to top along the axial direction of the shape-limiting cylinder body (22); a pressurizing device is connected to the lower end of the connecting pipe (21), which can pressurize the water body inside the connecting pipe (21) at multiple levels, and the pressurizing levels of the pressurizing device are correspondingly set with the specifications of the water outlet holes; A resistance member is fixedly provided at the lower end of the connecting rod (231), and the resistance member can push the connecting rod (231) to compress the support spring (236) under the impact of water flow.

2. The fire extinguishing and rescue robot according to claim 1, wherein: The limiting paddle (25) includes a main board (251) and two secondary boards (252). Avoidance grooves are formed on both sides of the main board (251), and buffer springs (253) are fixedly provided in the avoidance grooves. The secondary board (252) is in a right trapezoidal structure. The upper end of the secondary board (252) is hinged to the main board (251), and one side of the secondary board (252) close to the avoidance groove is fixedly connected to the buffer spring (253).

3. The fire extinguishing and rescue robot according to claim 2, wherein: A diversion groove (254) is formed on one side of the lower end of the limiting paddle (25) facing the shape-limiting cylinder body (22), and flow-blocking columns (255) are evenly distributed between the diversion grooves along the extending direction of the limiting paddle (25).

4. The fire extinguishing and rescue robot according to claim 1, wherein: The connecting pipe (21) sprays the pressurized water from the water outlet, and under the limiting action of the limiting paddle (25), the water flow is splashed within a certain area of the annular region.

5. The fire extinguishing and rescue robot according to claim 1, characterized in that: In the initial state, under the action of the support spring (236), the plugging ring (235) is located at the lowermost end of the shape-limiting cylinder body (22). At this time, all the water outlet holes are plugged by the plugging ring (235) to prevent foreign objects from entering the outside and causing blockage.

6. The fire extinguishing and rescue robot according to claim 1, wherein: When the temperature monitoring device (4) detects that the temperature in a certain monitoring area of the vehicle body is higher than the pre-set threshold, the electric telescopic rod (26) is controlled to extend or contract, and the cooling area is moved to that position for continuous cooling. When the temperature at that position drops to normal, the electric telescopic rod (26) returns to the previous state and performs slow and continuous telescopic actions to cool the vehicle body as a whole.

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