Fire rescue device for bridges and tunnels

Abstract

The invention belongs to the technical field of fire rescue, and particularly relates to a fire rescue device for bridges and tunnels. The device integrates multiple functional modules including walking, bridge cable climbing, tunnel wall climbing, fire position identification, fire extinguishing liquid spraying and the like. Through integration of the functions, the device can adapt to different rescue environments, and the applicability and flexibility of the device under various complex conditions are improved. And through automatic control, the opportunity that rescue workers directly make contact with the high-temperature and dangerous environment is reduced, and the safety of the rescue process is improved. In addition, the multi-degree-of-freedom motion design of the device and the anti-skid tires ensure the stability in complex terrains. The device can arrive at a fire scene in a short time and quickly carry out fire extinguishing action, so that the rescue efficiency is greatly improved. Particularly, under the condition that a fire happens to an oil tank truck or an oil tanker, the fire behavior can be controlled in time, and threats to infrastructure and life safety of people are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of fire rescue, and in particular relates to a fire rescue device for bridges and tunnels. Background Art

[0003] As energy demand continues to increase, energy transportation density is also gradually increasing, resulting in frequent traffic fire accidents. Among all traffic fires, tank trucks and tankers (a general term for various hazardous chemical vehicles and ships) pose the most serious threat to bridge and tunnel structures. After a fire occurs in a tank truck or tanker, the temperature can exceed 1000°C in a short period of time. The temperature of some hazardous chemicals will be higher, even exceeding 1600°C. Almost all transportation infrastructure will suffer devastating damage at this temperature, seriously threatening people's lives and safety, and causing huge economic losses.

[0004] The fire extinguishing devices used in existing bridges and tunnels are all set at fixed positions, and human participation in fire extinguishing is required when a fire occurs. Since the temperature of a tanker or oil tanker is high after a fire, this will bring great safety hazards to rescue personnel; and since the fire extinguishing devices are generally set on the ground, firefighting is not timely and the fire extinguishing intensity is also very limited; therefore, a fire rescue device for bridges and tunnels is urgently needed to improve the efficiency of fire extinguishing when a fire occurs in a bridge or tunnel and reduce the safety hazards of rescue personnel.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The object of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a fire rescue device for bridges and tunnels.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A fire rescue device for bridges and tunnels, comprising a fuselage, at least four machine feet for walking and supporting the fuselage, a cable climber fixedly arranged at the bottom of the fuselage and used for climbing bridge cables, an information integrator arranged at the back of the fuselage and used for identifying fire locations and road information, a nozzle structure fixed on the information integrator and used for spraying fire extinguishing liquid, and a fire extinguisher tank arranged in the fuselage and used for containing the fire extinguishing liquid;

[0009] The fire extinguisher tank is connected to the sprinkler structure, the machine feet are evenly arranged on the sides of the fuselage, the rope climber is a double gyro wheel that clamps the bridge cable and rotates to climb the cable, and the information integrator is a laser recognition sensor; a battery unit and a central processing unit for power supply are also provided in the fuselage, and the central processing unit controls the movement of the machine feet, the climbing of the rope climber, and the opening and closing of the sprinkler structure by receiving information feedback from the information integrator.

[0010] Specifically, each of the machine feet includes a thigh whose one end is rotatably fixed to the fuselage, the rotation centerline of the thigh is perpendicular to the movement direction of the fire rescue device, a fourth motor for driving the thigh to rotate is provided in the fuselage, the other end of the thigh is rotatably connected to a thigh rotation joint, a fifth motor for driving the thigh rotation joint to rotate is provided in the thigh, the rotation centerline of the thigh rotation joint coincides with the centerline of the thigh, the thigh-to-wall climber moving joint is rotatably fixed with one end of a connecting block through a thigh connecting plate, a first electric push rod is fixed at one end of the connecting block close to the thigh, and the moving end of the first electric push rod is fixedly connected to the thigh rotation joint to achieve a rotation direction of the connecting block that is perpendicular to the rotation centerline of the thigh rotation joint. The other end of the connecting block is rotatably fixed with a calf connecting piece, and the calf connecting piece is fixedly connected with a calf rotating joint. A second electric push rod is fixedly arranged at one end of the connecting block away from the thigh, and a moving end of the second electric push rod is fixedly connected with the calf rotating joint to achieve the coincidence of the rotation directions of the thigh connecting piece and the calf connecting piece. The calf rotating joint is rotatably fixed with the calf, and a sixth motor for driving the calf rotating joint to rotate is arranged in the calf. The rotation centerline of the calf is perpendicular to the rotation centerline of the connecting block. A tire controlled to rotate by a central processing unit is fixed to one end of the calf away from the calf rotating joint through a tire connecting piece; the tire realizes four-degree-of-freedom movement through the cooperation of the calf, the connecting block and the thigh.

[0011] Furthermore, the tire includes an axle that is rotatably fixed to the tire connecting plate, the axle has a built-in wheel motor to achieve rotation, and at least three holes for fixing and connecting spokes are provided in the circumferential direction of the axle and on both sides of the axle, and the other ends of each group of corresponding spokes are fixedly connected to each other with tire plates, at least three of the tire plates form a tire surface along the circumferential direction of the axle, and each of the tire plates is provided with multiple anti-sliding blocks on one side away from the axle.

[0012] Furthermore, the spoke is a third push rod, a fixed end of the third push rod is connected to the wheel axle, and a movable end is fixedly connected to the tire piece.

[0013] Specifically, a housing cavity for accommodating a cable climber is provided at the bottom of the fuselage, and the cable climber includes a telescopic device fixedly connected to the fuselage and used for adjusting the cable climber to extend or retract into the housing cavity. The end of the telescopic device away from the fuselage is fixedly connected to a cable climbing wheel driving device for driving each group of cable climbing wheels to approach or move away from each other. Each group of cable climbing wheels approaches or moves away from each other to achieve climbing of bridge cables of different diameters. Each of the cable climbing wheels is driven to rotate by a second motor, and each of the second motors is connected to the cable climbing wheel driving device via a limiter.

[0014] Furthermore, the cable-climbing wheel driving device is provided with a double worm gear rotating in a direction perpendicular to the bridge cable, the spiral directions of the two worm gears in the double worm gear are arranged in opposite directions, and each worm gear is correspondingly provided with a third gear fixedly connected to a limiter. By the forward or reverse rotation of the double worm gear, the third gear is driven to drive the limiter and the cable-climbing wheel to rotate along the axis of the bridge cable, so that each group of cable-climbing wheels can approach or move away from each other.

[0015] Furthermore, a first bevel gear coaxial with the double worm is fixed in the middle of the double worm, and a second bevel gear driven to rotate by the first motor is also provided in the climbing wheel driving device, and the second bevel gear drives the first bevel gear to rotate to realize degree transmission.

[0016] Specifically, it also includes four wall climbers evenly arranged at the bottom of the fuselage, located in the circumference of the cable climber, and used for climbing the tunnel wall, each of the wall climbers is connected to the fuselage through a screw nut transmission mechanism;

[0017] The screw-nut transmission mechanism comprises a bottom plate fixedly connected to the fuselage, bases fixed to the screw for rotation are fixedly arranged at both ends of the bottom plate, a third motor for driving the screw for rotation is also fixed to the bottom plate, a slider for converting the screw rotational motion into linear motion is sleeved on the screw, a slide groove is arranged on the side of the slider close to the bottom plate, a slide rail matched with the slide groove is arranged on the bottom plate, a side of the slider away from the bottom plate is fixedly connected to the wall climber, and the screw-nut transmission mechanism is arranged along the movement direction of the fire rescue device;

[0018] The wall climber includes a wall climber connecting shaft fixedly connected to a slider, the wall climber connecting shaft is fixedly connected to a wall climber motor, the wall climber motor is provided with blades for air intake, an air cylinder for exhaust is also provided circumferentially of the blades, a plurality of connecting columns are provided on a side of the air cylinder close to the wall climber motor, the wall climber motor is fixedly provided with a connecting plate fixedly connected to the connecting columns, an annular base for fixedly connected to an outer shell is also fixed on a side of the air cylinder away from the wall climber motor, the annular base is fixedly provided at an air inlet of the outer shell, a plurality of air outlets are provided circumferentially of the outer shell, the top of the outer shell is fixedly connected to a fuselage, and a sealing strip for sealing when climbing a wall is also provided on the bottom; when the wall climber motor is started, the blades start to rotate, sucking air from the air inlet, passing through the annular base, the blades, the air cylinder in turn, and finally flowing out from the air outlet, and due to the continuous rotation of the blades, negative pressure is formed in the space surrounded by the sealing strip, thereby realizing the wall climber being adsorbed on the wall.

[0019] Specifically, the information integrator includes an annular detection surface for detection and identification, a protective column with one end fixed to the back of the fuselage and used to protect the annular detection surface, the other end of the protective column is fixedly connected to a protective cover for protecting the annular detection surface, and the protective cover is also fixedly provided with a nozzle connector for fixing the nozzle structure.

[0020] Specifically, the nozzle structure includes a first-level rotating joint rotatably fixed on the top of the information integrator, the first-level rotating joint is fixedly connected to a large robotic arm, the end of the large robotic arm away from the first-level rotating joint is rotatably fixed with a small robotic arm via a second-level rotating joint, the end of the small robotic arm away from the second-level rotating joint is rotatably fixed with a nozzle via a third-level rotating joint, and the nozzle is connected to the fire extinguisher tank.

[0021] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0022] 1. Rapid response: Since the device can move and climb, it can reach the fire scene at the first time and quickly launch firefighting operations. This rapid response capability is crucial to curbing the spread of fire and helps reduce the losses caused by fire.

[0023] 2. Versatility: The device integrates multiple functional modules, including walking, climbing bridge cables, climbing tunnel walls, identifying fire locations, and spraying fire extinguishing liquids. The integration of these functions enables the device to adapt to different rescue environments and improves its applicability and flexibility in various complex situations.

[0024] 3. High safety: Through automated control, the chances of rescuers being directly exposed to high temperatures and dangerous environments are reduced, improving the safety of the rescue process. In addition, the device's multi-degree-of-freedom motion design and anti-skid tires ensure stability in complex terrain.

[0025] 4. Intelligent control: The central processor can intelligently control the working status of each component by receiving information feedback from the information integrator, thus achieving precise control of the entire rescue process. This intelligent control improves the operating accuracy and response speed of the device.

[0026] 5. Improve rescue efficiency: The device can reach the fire scene in a short time and quickly launch fire-fighting operations, greatly improving the rescue efficiency. Especially in the case of fire in oil tankers or tankers, it can control the fire in time and reduce the threat to infrastructure and people's lives.

[0027] In summary, the fire rescue device for bridges and tunnels provided by the present invention effectively solves the problems existing in the prior art through automatic fire extinguishing, rapid response, multifunctionality, efficient fire extinguishing ability, strong adaptability, high safety, modular design, intelligent control and efficient power system, and greatly improves the efficiency and safety of fire rescue in bridges and tunnels. This device has a wide range of application prospects in practical applications and can provide strong support for the safety of transportation infrastructure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the present invention.

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0030] Figure 1 A side view of the fire rescue device of the present invention in a first state;

[0031] Figure 2 It is a schematic diagram of the bottom structure of the fire rescue device of the present invention;

[0032] Figure 3 This is a schematic diagram of the first structure of the machine foot of the present invention;

[0033] Figure 4 It is a second structural schematic diagram of the machine foot of the present invention;

[0034] Figure 5 This is a third structural schematic diagram of the machine foot of the present invention;

[0035] Figure 6 It is a schematic diagram of the present invention when climbing a rope;

[0036] Figure 7This is a schematic diagram of the tire enlargement structure of the present invention;

[0037] Figure 8 This is a schematic diagram of the tire shrinking structure of the present invention;

[0038] Fig. 9 It is a schematic diagram of the installation of the screw nut transmission mechanism of the present invention;

[0039] Fig.10 It is a front view of the screw nut transmission mechanism of the present invention;

[0040] Fig.11 It is a three-dimensional schematic diagram of the screw nut transmission mechanism of the present invention;

[0041] Fig.12 This is a schematic diagram of the structure of the wall climber of the present invention;

[0042] Fig.13 This is a schematic diagram of the unfolded structure of the wall climber of the present invention;

[0043] Fig.14 This is a schematic diagram of the air suction structure of the wall climber of the present invention;

[0044] Fig.15 This is a schematic diagram of the structure of the climbing device of the present invention;

[0045] Fig.16 This is a schematic diagram of the worm structure of the cable climbing device of the present invention;

[0046] Fig.17 This is a schematic diagram of the information integrator of the present invention;

[0047] Fig.18 It is a schematic diagram of the structure of the nozzle of the present invention;

[0048] Fig.19 A side view of the second state of the present invention;

[0049] Fig. 20 for Fig.19 A top view of

[0050] Fig.21 It is a flow chart of the control system of the present invention.

[0051] Among them: 100 is a machine foot; 101 is a thigh; 102 is a thigh rotation joint; 102 is a thigh connecting piece; 104 is a connecting block; 105 is a calf connecting piece; 106 is a calf rotation joint; 107 is a calf; 108 is a tire connecting piece; 120 is a tire; 121 is an axle; 122 is a spoke; 123 is a tire piece; 124 is an anti-sliding block; 200 is a wall climber; 201 is a wall climber connecting shaft; 202 is a wall climber motor; 203 is a blade; 204 is an air cylinder; 205 is an annular base; 206 is a connecting column; 207 is a shell; 208 is an air outlet; 209 is a sealing strip; 210 is an air inlet; 211 is a connecting plate; 230 is a screw nut transmission mechanism; 231 is a third motor: 233 is the base; 234 is the screw rod; 235 is the slider; 236 is the slide rail; 237 is the bottom plate; 300 is the cable climber; 301 is the telescope; 302 is the cable climbing wheel drive device; 303 is the limiter; 304 is the second motor; 305 is the cable climbing wheel; 306 is the second bevel gear; 307 is the first bevel gear; 309 is the double worm; 311 is the third gear; 400 is the fuselage; 500 is the fire extinguisher tank; 600 is the information integrator; 601 is the nozzle connector; 602 is the protection column; 603 is the annular detection surface; 700 is the nozzle structure; 701 is the primary rotation joint; 702 is the large robotic arm; 703 is the secondary rotation joint; 704 is the small robotic arm; 705 is the tertiary rotation joint; 706 is the nozzle. DETAILED DESCRIPTION

[0052] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are only examples consistent with some aspects of the present invention as detailed in the appended claims.

[0053] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0054] Example

[0055] See also Figure 1-21 As shown, this embodiment provides a fire rescue device for bridges and tunnels, including a fuselage 400, at least four machine feet 100 for walking and supporting the fuselage 400, a cable climber 300 fixedly arranged at the bottom of the fuselage 400 and used for climbing bridge cables, an information integrator 600 arranged at the back of the fuselage 400 and used for identifying fire locations and road information, a nozzle structure 700 fixed on the information integrator 600 and used for spraying fire extinguishing liquid, and a fire extinguisher tank 500 arranged in the fuselage 400 and used for containing fire extinguishing liquid;

[0056] The fire extinguisher tank 500 is connected to the sprinkler structure 700, the machine foot 100 is evenly arranged on the side of the fuselage 400, the cable climber 300 is a double gyro wheel that clamps the bridge cable and rotates to climb the cable, and the information integrator 600 is a laser recognition sensor; a battery unit and a central processing unit for power supply are also provided in the fuselage, and the central processing unit controls the movement of the machine foot 100, the climbing of the cable climber 300 and the opening and closing of the sprinkler structure 700 by receiving information feedback from the information integrator 600.

[0057] Specifically, each of the machine feet 100 includes a thigh 101 with one end rotatably fixed to the fuselage 400, the rotation centerline of the thigh 101 is perpendicular to the movement direction of the fire rescue device, the fuselage 400 is provided with a fourth motor for driving the thigh 101 to rotate, the other end of the thigh 101 is rotatably connected to a thigh rotation joint 102, the thigh 101 is provided with a fifth motor for driving the thigh rotation joint 102 to rotate, the rotation centerline of the thigh rotation joint 102 coincides with the centerline of the thigh 101, the thigh rotation joint 102 is rotatably fixed with one end of a connecting block 104 through a thigh connecting piece 103, the end of the connecting block 104 close to the thigh is fixed with a first electric push rod, the moving end of the first electric push rod is fixedly connected to the thigh rotation joint 102 to achieve a rotation direction of the connecting block 104 that is perpendicular to the rotation centerline of the thigh rotation joint 102, the connecting block The other end of 104 is rotatably fixed with a calf connecting piece 105, and the calf connecting piece 105 is fixedly connected with a calf rotating joint 106. A second electric push rod is fixedly provided at one end of the connecting block 104 away from the thigh, and the moving end of the second electric push rod is fixedly connected with the calf rotating joint 106 to achieve the coincidence of the rotation directions of the thigh connecting piece 103 and the calf connecting piece 105. The calf rotating joint 106 is rotatably fixed with a calf 107, and a sixth motor for driving the calf rotating joint 106 to rotate is arranged in the calf 107. The rotation center line of the calf 107 is perpendicular to the rotation center line of the connecting block 104. A tire 120 whose rotation is controlled by a central processor is fixed to one end of the calf 107 away from the calf rotating joint 106 through a tire connecting piece 108; the tire 120 realizes four-degree-of-freedom movement through the mutual cooperation of the calf 107, the connecting block 104, and the thigh 101;

[0058] When each robot foot 100 is in motion, the fourth motor arranged inside the fuselage 400 drives the thigh 101 to swing, and the fifth motor arranged inside the thigh 101 can drive the connecting block 104 and the calf 107 to rotate along the axis of the thigh 101. The extension and retraction of the first push rod causes the connecting block 104 and the calf 107 to move to a certain angle with the axis of the thigh 101, and the extension and retraction of the second push rod causes the connecting block 104 to form a certain angle with the axis of the calf 107. The rotation of the sixth motor causes the calf 107 to drive the tire 120 to rotate.

[0059] Furthermore, the tire 120 includes an axle 121 that is rotatably fixed to the tire connecting plate 108, and the axle 121 has a built-in wheel motor to achieve rotation. At least three holes for fixing and connecting spokes 122 are provided in the circumferential direction of the axle 121 and on both sides of the axle 121, and the other ends of each group of corresponding spokes 122 are fixedly connected to each other with tire plates 123. At least three tire plates 123 form a tire surface along the circumferential direction of the axle 121, and each tire plate 123 is provided with a plurality of anti-sliding blocks 124 on a side away from the axle 121.

[0060] Furthermore, the spoke 122 is a third push rod, the fixed end of the third push rod is connected to the wheel axle 121, and the moving end is fixedly connected to the tire piece;

[0061] The extension and contraction of the third push rod can adjust the wheel diameter of the tire 120 to become larger or smaller.

[0062] Specifically, a housing cavity for accommodating the cable climber 300 is provided at the bottom of the fuselage 400. The cable climber 300 includes a telescopic device 301 fixedly connected to the fuselage 400 and used for adjusting the cable climber 300 to extend out of or retract into the housing cavity. The end of the telescopic device 301 away from the fuselage 400 is fixedly connected to a cable climbing wheel driving device 302 for driving each group of cable climbing wheels 305 to move closer to or away from each other. Each group of cable climbing wheels 305 moves closer to or away from each other to achieve climbing of bridge cables of different diameters. Each of the cable climbing wheels 305 is driven to rotate by a second motor 304. Each of the second motors 304 is connected to the cable climbing wheel driving device 302 via a limiter 303.

[0063] Furthermore, the cable wheel driving device 302 is provided with a double worm gear 309 rotating in a direction perpendicular to the bridge cable, and the spiral directions of the two worm gears in the double worm gear 309 are oppositely arranged, and each worm gear is correspondingly provided with a third gear 311 fixedly connected to the limiter 303. By the forward or reverse rotation of the double worm gear 309, the third gear 311 is driven to drive the limiter 303 and the cable wheel 305 to rotate along the axis of the bridge cable, so that each group of cable wheels 305 can move closer to or farther away from each other.

[0064] Furthermore, a first bevel gear 307 coaxial with the double worm 309 is fixed in the middle of the double worm 309, and a second bevel gear 306 driven to rotate by the first motor is also provided in the climbing wheel driving device 302. The second bevel gear 306 drives the first bevel gear 307 to rotate to achieve 90-degree transmission.

[0065] The second bevel gear 306 rotates to drive the first bevel gear 307 to drive the double worm 309 to rotate. The two worms of the double worm 309 rotate in opposite directions. When the double worm 309 rotates, it drives the two third gears 311 to rotate in the opposite direction, thereby driving the two adjacent climbing rope wheels 305 to move closer or farther away, thereby achieving the clamping or loosening of the bridge cable. When the climbing rope wheel 305 clamps the bridge cable, the four machine feet 100 are all in contact with the bridge cable, achieving the limit position of the fire rescue device on the bridge cable.

[0066] Specifically, it also includes four wall climbers 200 evenly arranged at the bottom of the fuselage 400, located in the circumference of the climbing device 300, and used for climbing the tunnel wall, each of the wall climbers 200 is connected to the fuselage 400 through a screw nut transmission mechanism 230;

[0067] The screw-nut transmission mechanism 230 includes a bottom plate 237 fixedly connected to the fuselage 400, and bases 233 rotatably fixed to the screw rod 234 are fixedly provided at both ends of the bottom plate 237. A third motor 231 for driving the screw rod 234 to rotate is also fixed on the bottom plate 237. A slider 235 for converting the rotational motion of the screw rod 234 into a linear motion is sleeved on the screw rod 234. A slide groove is provided on the side of the slider 235 close to the bottom plate 237, and a slide rail 236 adapted to the slide groove is provided on the bottom plate 237. The side of the slider 235 away from the bottom plate 237 is fixedly connected to the wall climber 200, and the screw-nut transmission mechanism 230 is arranged along the movement direction of the fire rescue device;

[0068] The wall climber 200 includes a wall climber connecting shaft 201 fixedly connected to a slider, the wall climber connecting shaft 201 is fixedly connected to a wall climber motor 202, the wall climber motor 202 is provided with a blade 203 for air suction, the blade 203 is also circumferentially provided with an air cylinder 204 for exhaust, the air cylinder 204 is provided with a plurality of connecting columns 206 on a side close to the wall climber motor 202, the wall climber motor 202 is fixedly provided with a connecting plate 211 fixedly connected to the connecting columns 206, and the air cylinder 204 is also fixedly provided with an annular base 205 fixedly connected to a housing 207 on a side away from the wall climber motor 202. The annular base 205 is fixedly arranged at the air inlet 210 of the outer shell 207, and a plurality of air outlets 208 are arranged around the outer shell 207. The top of the outer shell 207 is fixedly connected to the fuselage 400, and a sealing strip 209 is also arranged at the bottom for sealing when climbing a wall; when the wall climber motor 202 is started, the blades 203 begin to rotate, sucking air from the air inlet 210, passing through the annular base 205, the blades 203, and the air cylinder 204 in turn, and finally flowing out from the air outlet 208. Due to the continuous rotation of the blades 203, negative pressure is formed in the space surrounded by the sealing strip 209, so that the wall climber 200 is adsorbed on the wall.

[0069] The four screw-nut transmission mechanisms 230 arranged at the bottom of the fuselage 400 drive the wall climber 200 to move back and forth alternately, and at the same time perform suction and stop suction actions on the tunnel wall, so that the fire rescue device can climb upward on the tunnel wall.

[0070] Specifically, the information integrator 600 includes an annular detection surface 603 for detection and identification, a protective column 602 with one end fixed to the back of the fuselage 400 and used to protect the annular detection surface 603, and the other end of the protective column 602 is fixedly connected to a protective cover for protecting the annular detection surface 603, and the protective cover is also fixedly provided with a nozzle connector 601 for fixing the nozzle structure 700.

[0071] Specifically, the nozzle structure 700 includes a primary rotating joint 701 rotatably fixed on the top of the information integrator 600, and a seventh motor is provided in the primary rotating joint 701 to drive a large robotic arm 702 to rotate. The primary rotating joint 701 is fixedly connected to the large robotic arm 702, and one end of the large robotic arm 702 away from the primary rotating joint 701 is rotationally fixed with a small robotic arm 704 via a secondary rotating joint 703. A fixed end of a fourth push rod is also fixed to the large robotic arm 702, and the moving end of the fourth push rod is fixedly connected to the small robotic arm 704 to realize the rotation of the small robotic arm 704 around the secondary rotating joint 703. One end of the small robotic arm 704 away from the secondary rotating joint 703 is rotationally fixed with a nozzle 706 via a tertiary rotating joint 705, and an eighth motor for driving the nozzle 706 to rotate is provided in the tertiary rotating joint 705, and the nozzle 706 is connected to the fire extinguisher tank 500.

[0072] Specifically, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the seventh motor, the first push rod, the second push rod, the third push rod, and the fourth push rod are all controlled to move by a central processing unit.

[0073] See also Fig.21 As shown, this embodiment also provides a control method for a fire rescue device, which is as follows:

[0074] After the fire is discovered, the fire rescue device collects the situation of the fire scene through the information integrator, and sends instructions for further processing to the machine foot 100 or the wall climber 200 or the rope climber 300 through the central processor;

[0075] When encountering a ground fire, the central processor controls the robot foot 100 to move to the vicinity of the fire point, and feeds back the surrounding conditions to the information integrator 600 in real time, and controls the sprinkler structure 700 to adjust to a suitable angle to spray and extinguish the fire, and feeds back the surrounding conditions to the information integrator 600 in real time during the fire extinguishing process;

[0076] When encountering a tunnel fire, the central processor controls the robot foot 100 to move to the side of the tunnel, and at the same time controls the wall climber 200 to climb along the tunnel wall to a high position near the fire point, and feeds back the surrounding situation to the information integrator 600 in real time, and then controls the sprinkler structure 700 to adjust to a suitable spraying angle to spray and extinguish the fire, and feeds back the surrounding situation to the information integrator 600 in real time during the fire extinguishing;

[0077] When the cable bridge encounters a fire, the central processor controls the cable climber 300 to climb the bridge cable to a high position near the fire point, and feeds back the surrounding situation to the information integrator 600 in real time, and then controls the sprinkler structure 700 to adjust to a suitable spraying angle to spray and extinguish the fire, and feeds back the surrounding situation to the information integrator 600 in real time during the fire extinguishing;

[0078] Alternatively, the central processor feeds back the fire situation to the manual control end through the information integrator 600, and manually controls the machine foot 100, the wall climber 200, and the rope climber 300 to move to the fire point according to the actual situation, and then manually controls the sprinkler structure 700 to adjust to a suitable spraying angle to spray and extinguish the fire.

[0079] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0080] It should be understood that the present invention is not limited to what has been described above and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A fire rescue device for bridges and tunnels, characterized in that: The invention comprises a fuselage (400), at least four machine feet (100) for walking and supporting the fuselage (400), a rope climber (300) fixedly arranged at the bottom of the fuselage (400) and used for climbing bridge cables, an information integrator (600) arranged at the back of the fuselage (400) and used for identifying fire locations and road information, a spray head structure (700) fixed on the information integrator (600) and used for spraying fire extinguishing liquid, and a fire extinguisher tank (500) arranged in the fuselage (400) and used for containing fire extinguishing liquid; The fire extinguisher tank (500) is connected to the nozzle structure (700), the machine foot (100) is evenly arranged on the side of the fuselage (400), the cable climber (300) is a double gyro wheel that clamps the bridge cable and rotates to achieve cable climbing, and the information integrator (600) is a laser recognition sensor; a battery unit for power supply and a central processing unit are also provided in the fuselage, and the central processing unit controls the movement of the machine foot (100), the cable climbing of the cable climber (300) and the opening and closing of the nozzle structure (700) by receiving information feedback from the information integrator (600).

2. The fire rescue device according to claim 1, characterized in that: Each of the machine feet (100) comprises a thigh (101) with one end being rotatably fixed to the fuselage (400), the rotation centerline of the thigh (101) being perpendicular to the movement direction of the fire rescue device, a fourth motor for driving the thigh (101) to rotate is arranged in the fuselage (400), the other end of the thigh (101) is rotatably connected to a thigh rotation joint (102), a fifth motor for driving the thigh rotation joint (102) to rotate is arranged in the thigh (101), the rotation centerline of the thigh rotation joint (102) coincides with the centerline of the thigh (101), the thigh rotation joint (102) is rotatably fixed to one end of a connecting block (104) through a thigh connecting piece (103), a first electric push rod is fixed to one end of the connecting block (104) close to the thigh, the movement end of the first electric push rod is fixedly connected to the thigh rotation joint (102) to realize that the rotation direction of the connecting block (104) is perpendicular to the rotation centerline of the thigh rotation joint (102), and the connecting block (104) The other end of the connecting block (104) is rotatably fixed with a calf connecting piece (105), and the calf connecting piece (105) is fixedly connected with a calf rotating joint (106). A second electric push rod is fixedly arranged at one end of the connecting block (104) away from the thigh, and a moving end of the second electric push rod is fixedly connected with the calf rotating joint (106) to achieve the coincidence of the rotation directions of the thigh connecting piece (103) and the calf connecting piece (105). The calf rotating joint (106) is rotatably fixed with a calf (107), and the calf (1 07) is provided with a sixth motor for driving the calf rotation joint (106) to rotate; the rotation center line of the calf (107) is perpendicular to the rotation center line of the connection block (104); one end of the calf (107) away from the calf rotation joint (106) is fixed with a tire (120) whose rotation is controlled by a central processing unit through a tire connecting plate (108); the tire (120) realizes four-degree-of-freedom movement through the mutual cooperation of the calf (107), the connection block (104) and the thigh (101).

3. The fire rescue device according to claim 2, characterized in that: The tire (120) comprises a wheel axle (121) rotatably fixed to a tire connecting plate (108); the wheel axle (121) has a built-in wheel motor for rotation; at least three holes for fixedly connecting spokes (122) are provided in the circumferential direction of the wheel axle (121) and on both sides of the wheel axle (121); the other ends of each group of corresponding spokes (122) are fixedly connected to each other with tire plates (123); at least three tire plates (123) form a tire surface along the circumferential direction of the wheel axle (121); and a plurality of anti-sliding blocks (124) are provided on a side of each tire plate (123) away from the wheel axle (121).

4. The fire rescue device according to claim 3, characterized in that: The spoke (122) is a third push rod, a fixed end of the third push rod is connected to the wheel axle (121), and a moving end is fixedly connected to the tire piece.

5. The fire rescue device according to claim 1, characterized in that: The bottom of the fuselage (400) is provided with an accommodating cavity for accommodating the climbing device (300); the climbing device (300) comprises a telescopic device (301) fixedly connected to the fuselage (400) and used for adjusting the climbing device (300) to extend or retract into the accommodating cavity; one end of the telescopic device (301) away from the fuselage (400) is fixedly connected with a climbing wheel driving device (302) for driving each group of climbing wheels (305) to move closer to or farther from each other; each group of climbing wheels (305) moves closer to or farther from each other to climb bridge cables of different diameters; each climbing wheel (305) is driven to rotate by a second motor (304); each second motor (304) is connected to the climbing wheel driving device (302) via a limiter (303).

6. The fire rescue device according to claim 5, characterized in that: The cable wheel driving device (302) is provided with a double worm gear (309) that rotates perpendicularly to the bridge cable direction. The spiral directions of the two worm gears in the double worm gear (309) are arranged in opposite directions. Each worm gear is correspondingly provided with a third gear (311) that is fixedly connected to the limiter (303). The double worm gear (309) rotates forward or reversely to drive the third gear (311) to drive the limiter (303) and the cable wheel (305) to rotate along the axis of the bridge cable, so that each group of cable wheels (305) can move closer to or farther away from each other.

7. The fire rescue device according to claim 6, characterized in that: A first bevel gear (307) coaxial with the double worm gear (309) is fixed in the middle of the double worm gear (309), and a second bevel gear (306) driven to rotate by the first motor is also provided in the climbing rope wheel driving device (302), and the second bevel gear (306) drives the first bevel gear (307) to rotate to realize 90-degree transmission.

8. The fire rescue device according to claim 1, characterized in that: It also includes four wall climbers (200) evenly arranged at the bottom of the fuselage (400), located in the circumference of the climbing device (300), and used for climbing the tunnel wall, each of the wall climbers (200) being connected to the fuselage (400) via a screw nut transmission mechanism (230); The screw nut transmission mechanism (230) comprises a bottom plate (237) fixedly connected to the body (400), bases (233) fixedly rotatably connected to the screw rod (234) are fixedly provided at both ends of the bottom plate (237), a third motor (231) for driving the screw rod (234) to rotate is also fixed on the bottom plate (237), a slider (235) for converting the rotational motion of the screw rod (234) into linear motion is sleeved on the screw rod (234), a slide groove is provided on the side of the slider (235) close to the bottom plate (237), a slide rail (236) matched with the slide groove is provided on the bottom plate (237), a side of the slider (235) away from the bottom plate (237) is fixedly connected to the wall climber (200), and the screw nut transmission mechanism (230) is arranged along the movement direction of the fire rescue device; The wall climber (200) comprises a wall climber connecting shaft (201) fixedly connected to a sliding block, the wall climber connecting shaft (201) being fixedly connected to a wall climber motor (202), the wall climber motor (202) being provided with a blade (203) for air intake, the blade (203) being circumferentially provided with an air cylinder (204) for air exhaust, a side of the air cylinder (204) close to the wall climber motor (202) being provided with a plurality of connecting columns (206), the wall climber motor (202) being fixedly provided with a connecting plate (211) fixedly connected to the connecting columns (206), and a side of the air cylinder (204) away from the wall climber motor (202) being fixedly provided with an annular base (205) for fixedly connecting to a housing (207), The annular base (205) is fixedly arranged at the air inlet (210) of the outer shell (207); a plurality of air outlets (208) are arranged in the circumference of the outer shell (207); the top of the outer shell (207) is fixedly connected to the fuselage (400); and the bottom is also provided with a sealing strip (209) for sealing when climbing a wall; when the wall climber motor (202) is started, the blades (203) start to rotate, sucking air from the air inlet (210), passing through the annular base (205), the blades (203), and the air cylinder (204) in sequence, and finally flowing out from the air outlet (208); as the blades (203) rotate continuously, negative pressure is formed in the space surrounded by the sealing strip (209), thereby enabling the wall climber (200) to be adsorbed on the wall.

9. The fire rescue device according to claim 1, characterized in that: The information integrator (600) comprises an annular detection surface (603) for detection and identification, a protection column (602) having one end fixed to the back of the fuselage (400) and used to protect the annular detection surface (603), the other end of the protection column (602) being fixedly connected to a protection cover for protecting the annular detection surface (603), and a nozzle connector (601) for fixing the nozzle structure (700) being fixedly provided on the protection cover.

10. The fire rescue device according to claim 1, characterized in that: The nozzle structure (700) includes a primary rotating joint (701) rotatably fixed on the top of the information integrator (600), the primary rotating joint (701) is fixedly connected to a large mechanical arm (702), one end of the large mechanical arm (702) away from the primary rotating joint (701) is rotatably fixed to a small mechanical arm (704) via a secondary rotating joint (703), and one end of the small mechanical arm (704) away from the secondary rotating joint (703) is rotatably fixed to a nozzle (706) via a tertiary rotating joint (705), and the nozzle (706) is connected to the fire extinguisher tank (500).

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