Telescopic fire-fighting robot chassis

Abstract

The telescopic fire-fighting robot chassis is used for carrying a fire monitor and comprises a driving device, a box body and a fixing device, the fire monitor is placed on the box body, the driving device is connected with the box body to drive the box body and the fire monitor to move, and the fixing device is connected with the driving device to limit the driving device; the chassis is provided with a standing posture and a prone posture; the driving device comprises a folding frame, driving wheels and a folding driving mechanism, and the folding driving mechanism controls the folding frame to be unfolded or folded so that the chassis can be switched between the standing posture and the prone posture. The fixing device comprises a limiting moving mechanism and a ground nail. The storage size is reduced through chassis state switching, meanwhile, the stability during operation is enhanced, fire extinguishing rescue can be conducted along with the fire fighting truck, the space utilization rate in the fire fighting truck is increased, and the fire extinguishing efficiency and the control effect are further improved.

Description

Technical Field

[0001] The invention relates to the technical field of fire-fighting machines, and in particular to a retractable fire-fighting robot chassis. Background Art

[0002] In today's society, with the continuous advancement of modern science and technology, the particularity of construction and enterprise production has made fire disasters more and more complicated, especially the hidden dangers of combustion, explosion and collapse of hazardous chemicals have increased, and the probability of accidents has also increased accordingly; once an accident occurs, it is difficult for rescue personnel to obtain effective information on the scene; the task of firefighting operations has become more and more arduous, and the dangers faced by firefighters have become greater and greater.

[0003] In recent years, in order to fully protect the life safety of firefighters, when dealing with fires that are inaccessible or where effective information cannot be obtained on site, remote control is used to control fire-fighting robots to extinguish fires. For example: Chinese patent CN115779314A discloses a fire-fighting robot, which relates to the technical field of fire-fighting robots, including a chassis, a crawler walking mechanism for driving the robot to move, and a water cannon mechanism. The crawler walking mechanism and the water cannon mechanism are both installed on the chassis. A main water supply pipe for water supply is also installed on the chassis. One end of the main water supply pipe is connected to the water cannon mechanism. A protective shell for protecting electrical equipment is provided on the chassis. A visual system for collecting images is installed on the outside of the protective shell. Components; CN109303994A discloses a fire reconnaissance and fire extinguishing robot, including a crawler chassis, a fire extinguishing water cannon and a reconnaissance mechanism, the fire extinguishing water cannon and the reconnaissance mechanism are both arranged on the crawler chassis, and the crawler chassis is composed of a chassis body, a chassis shell, a suspension beam, a driving wheel, a driven wheel group, a track roller group, a load-bearing wheel group, a shock-absorbing plate group, an elastic element, an approaching wheel group, a tensioning mechanism, an obstacle avoidance component, a warning component, a driving component, a controller, a wireless transmission component, a crawler component, a dust cover, a searchlight, and a lithium battery. Although the above patents can all realize the use of remote control to control the fire extinguishing robot to extinguish fires. However, there are the following problems in its actual use: (i) Due to its large size and heavy weight, the fire-fighting robot needs to be transported to the fire scene by a special vehicle and cannot be dispatched with the fire truck for fire fighting and rescue in the first time; (ii) The large-flow mobile fire cannon commonly used by the fire brigade is relatively bulky and the fire fighters cannot be quickly deployed to the fire scene; (iii) When the fire-fighting robot sprays water outward at high pressure, it usually generates a recoil force on the fire-fighting robot. Under the action of the recoil force, the fire-fighting robot is prone to move. After moving, the fire-fighting robot cannot effectively extinguish the fire at the designated location, resulting in the failure to quickly and effectively control the disaster.

[0004] Therefore, developing a lightweight, foldable chassis for a fire-fighting robot that can be detachably connected to a fire cannon can reduce the volume during storage while enhancing stability during operation by switching the chassis state. This can improve the space utilization rate inside the fire truck and further improve the fire-fighting efficiency and control effect, which obviously has practical significance. Summary of the invention

[0005] The purpose of the present invention is to provide a retractable fire-fighting robot chassis, which can realize the switching of the chassis between standing and lying positions through a folding frame, and can reduce the weight and volume when stored while enhancing the stability during operation.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a retractable fire-fighting robot chassis, used to carry a fire-fighting cannon, including a driving device, a box and a fixing device, the fire-fighting cannon is placed on the box, the driving device is connected to the box to drive the box and the fire-fighting cannon to move, and the fixing device is connected to the driving device to limit the driving device; the chassis has two forms: standing and lying; The driving device comprises a folding frame and a driving wheel connected to the folding frame; the folding frame is connected to a folding driving mechanism, and the folding driving mechanism controls the folding frame to open or fold, so that the chassis switches between the standing position and the lying position; The fixing device includes a limit movement mechanism and a ground nail located on the limit movement mechanism, the limit movement mechanism is used to drive the ground nail to move towards or away from the ground, and the limit movement mechanism is connected to the folding frame and moves with the movement of the folding frame.

[0007] Preferably, the number of the driving devices is two, and the two driving devices are respectively arranged on both sides of the box body, and the two driving devices have the same structure.

[0008] Preferably, the folding frame includes a fixed frame and two rotating frames; the box body is arranged on the fixed frame; the two rotating frames are respectively arranged at both ends of the fixed frame, one end of the rotating frame is rotatably connected to the fixed frame, and the driving wheel is rotatably connected to the other end of the rotating frame; the folding drive mechanism is connected to the rotating frame to control the rotating frame to rotate circumferentially in a direction close to or away from the fixed frame to control the folding frame to open or fold.

[0009] Preferably, the rotating frame comprises one of a curved rod, a straight rod or a triangular frame, preferably a curved rod.

[0010] Preferably, the folding drive mechanism comprises an electric push rod; both ends of the electric push rod are respectively connected to two rotating frames.

[0011] Preferably, the folding drive mechanism is further provided with a guide plate, the guide plate is fixed on the fixing frame, the guide plate is provided with a guide groove, the electric push rod is fixed with a guide block, the guide block is movably connected in the guide groove and moves along the guide groove.

[0012] In the above, the guide groove can prevent the electric push rod from swinging during the extension and retraction process.

[0013] In the above, when the telescopic rod on the electric push rod in the folding drive mechanism extends outward, the telescopic rod pushes the rotating frame connected to the telescopic rod and the driving wheel on the rotating frame to rotate in the direction away from the fixed frame. At the same time, due to the friction between the driving wheel and the ground, the rotating frame connected to the other side of the electric push rod is also rotated in the direction away from the fixed frame by the reaction force of the electric push rod; during the rotation of the rotating frame, the guide block fixed on the electric push rod moves in the guide groove; until the folding frame is fully opened, at this time, the chassis is in a lying position; When the telescopic rod on the electric push rod in the folding drive mechanism contracts inward, the telescopic rod pulls the rotating frame connected to the telescopic rod and the driving wheel on the rotating frame to rotate in the direction close to the fixed frame. At the same time, the rotating frame connected to the other side of the electric push rod also rotates in the direction close to the fixed frame due to the reaction force. During the rotation of the rotating frame, the guide block fixed on the electric push rod moves in the guide groove until the folding frame is completely closed, at which time the chassis is in a standing position.

[0014] In the above, when the chassis is in a standing position, the folding frame retracts the driving wheels, its center of gravity is raised, and the front-to-back length is shortened, which can reduce the volume and facilitate its placement in the fire truck, thereby improving the space utilization rate in the fire truck; when the chassis is in a lying position, the folding frame spreads the driving wheels, its center of gravity is lowered, and its stability is better. At this time, the ground spikes move with the folding frame to contact the ground, playing a stabilizing role and preventing the recoil force generated during the operation of the fire cannon from driving the chassis to move.

[0015] In the above, the shape and length of the guide groove are determined according to the moving path of the guide block fixed on the electric push rod during the rotation of the rotating frame.

[0016] Preferably, the position-limiting movement mechanism comprises a position-limiting rotating frame and a position-limiting movement groove located on the position-limiting rotating frame; the ground nail is fixed on the position-limiting rotating frame, and the position-limiting rotating frame is rotatably connected to the box body; A limited moving block is also arranged on one end of the rotating frame away from the fixed frame. The limited moving block is movably connected in the limited moving groove and moves along the limited moving groove.

[0017] In the above, when the rotating frame is rotating, the limit moving block set on the rotating frame rotates with the rotating frame, and the limit moving block rotates and moves in the limit moving groove and drives the limit rotating frame and the ground nails on the limit rotating frame to rotate towards or away from the ground.

[0018] In the above, when the chassis changes from a standing position to a lying position, the limit rotating frame and the ground nails on the limit rotating frame rotate in the direction close to the ground until the ground nails are inserted into the ground to complete the limit; when the chassis changes from a lying position to a standing position, the limit rotating frame and the ground nails on the limit rotating frame rotate in the direction away from the ground until they are reset, at which time the limit is released.

[0019] Preferably, the limit movable frame is a triangular frame, the rotational connections between the ground nails, the limit rotating frame and the box body are respectively located at two corners of the triangular frame, and the limit movable groove is located at the opposite side of the corner where the ground nail is located. In the above, the shape and length of the moving groove are determined according to the moving path of the position-limiting moving block fixed on the rotating frame during the rotation of the rotating frame.

[0020] Preferably, it also includes a control mechanism and a reconnaissance mechanism, the control mechanism includes a remote control device, a controller and a wireless transmission component; the controller and the wireless transmission component are located inside the box; the reconnaissance mechanism includes a searchlight and a camera, and the searchlight and the camera are both arranged on the box.

[0021] Preferably, the controller is electrically connected to the folding drive mechanism and the camera, and the controller is connected to the remote control device via a wireless transmission component.

[0022] In the above, the controller is connected to the folding drive mechanism to realize the shape switching function of the chassis; the controller is connected to the wireless transmission component to realize the unlimited transmission of the collected chassis parameters and environmental parameters, receive control instructions from the remote control device and realize intelligent perception and control; the controller is connected to the searchlight to realize the on-site lighting compensation function; the controller is connected to the camera to realize the collection of on-site images and videos.

[0023] The present application also claims protection for a fire-fighting fire-fighting robot, comprising a fire-fighting cannon and a chassis of the fire-fighting fire-fighting robot as described above, wherein the fire-fighting cannon is detachably connected to the chassis of the fire-fighting fire-fighting robot.

[0024] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: 1. The present invention replaces the commonly used driving tracks in the prior art with driving wheels, thereby reducing the weight of the device; the folding frame is controlled to open or fold by a folding drive mechanism, so that the chassis can be switched between standing and lying positions; when the chassis is in the standing position, the folding frame retracts the driving wheels, the center of gravity is raised, the front and rear lengths are shortened, the volume can be reduced, and it is easy to put into the fire truck, and the fire truck can be dispatched, thereby improving the space utilization rate in the fire truck; when the chassis is in the lying position, the folding frame opens the driving wheels, the center of gravity is lowered, and the stability is better. 2. The present application adopts a limit moving mechanism and a ground nail. The limit moving mechanism and the ground nail connected to the folding frame move with the movement of the folding frame. When the chassis enters a lying state, the ground nail moves with the folding frame to contact the ground, playing a stabilizing role and preventing the recoil force generated during the operation of the fire cannon from driving the chassis to move; when the chassis enters a standing state, the ground nail moves with the folding frame to reset, releasing the restriction, and facilitating movement and storage. 3. The present invention can collect information on fires that are inaccessible or where effective on-site information cannot be obtained through the control mechanism and reconnaissance mechanism, can automatically switch the chassis posture as needed, and can use the collected information to remotely control the fire-fighting robot to extinguish the fire, with a high degree of automation and high fire-fighting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, some of the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the overall structure of the chassis in the first embodiment of the present invention in a standing position; Figure 2 This is a schematic diagram of the overall structure of the chassis in the first embodiment of the present invention in a lying position; Figure 3 It is a schematic structural diagram of the driving device when the chassis in the first embodiment of the present invention is in a standing position; Figure 4 It is a schematic structural diagram of the driving device when the chassis in the first embodiment of the present invention is in a lying state; Figure 5 The figure is a schematic diagram of the overall structure of the fire-fighting robot in the second embodiment of the present invention.

[0027] Among them, 1. chassis; 2. driving device; 3. box; 4. fixing device; 5. fire monitor; 6. reconnaissance mechanism; 21. folding frame; 22. driving wheel; 23. folding driving mechanism; 211, fixed frame; 212, rotating frame; 231, electric push rod; 232, guide plate; 233, guide groove; 234, guide block; 41. Limiting movement mechanism; 42. Ground nails; 411, limit rotating frame; 412, limit moving groove; 413, limit moving block; 61. Searchlight; 62. Camera. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1 like Figures 1-2 As shown, a retractable fire-fighting robot chassis 1 is used to carry a fire-fighting cannon 5, including a driving device 2, a box 3 and a fixing device 4. The fire-fighting cannon 5 is placed on the box 3, the driving device 2 is connected to the box 3 to drive the box 3 and the fire-fighting cannon 5 to move, and the fixing device 4 is connected to the driving device 2 to limit the driving device 2; the chassis 1 has two forms: standing and lying; The driving device 2 includes a folding frame 21 and a driving wheel 22 connected to the folding frame 21; the folding frame 21 is connected to a folding driving mechanism 23, and the folding driving mechanism 23 controls the folding frame 21 to open or fold, so that the chassis 1 can switch between the standing position and the lying position; the driving wheel is an electric wheel, and a battery for controlling its operation is connected to the driving wheel, and the battery is located in the box; The fixing device 4 includes a limit movement mechanism 41 and a ground nail 42 located on the limit movement mechanism 41. The limit movement mechanism 41 is used to drive the ground nail 42 to move toward or away from the ground. The limit movement mechanism 41 is connected to the folding frame 21 and moves with the folding frame 21.

[0030] Furthermore, the number of the driving devices 2 is two, and the two driving devices 2 are respectively arranged on both sides of the box body 3, and the two driving devices 2 have the same structure.

[0031] like Figures 3-4 As shown, the folding frame 21 includes a fixed frame 211 and two rotating frames 212; the box body 3 is arranged on the fixed frame 211; the two rotating frames 212 are respectively arranged at both ends of the fixed frame 211, one end of the rotating frame 212 is rotatably connected to the fixed frame 211, and the driving wheel 22 is rotatably connected to the other end of the rotating frame 212; the folding driving mechanism 23 is connected to the rotating frame 212 to control the rotating frame 212 to rotate circumferentially in a direction close to or away from the fixed frame 211 to control the folding frame 21 to open or fold.

[0032] Furthermore, the rotating frame 212 used in this embodiment is an arc-shaped rod, which can be replaced by a straight rod or a triangular frame.

[0033] Furthermore, the folding driving mechanism 23 includes an electric push rod 231 ; two ends of the electric push rod 231 are respectively connected to two rotating frames 212 .

[0034] Furthermore, the folding drive mechanism 23 is also provided with a guide plate 232, and the guide plate 232 is fixed on the fixed frame 211. The guide plate 232 is provided with a guide groove 233. The electric push rod 231 is fixed with a guide block 234. The guide block 234 is movably connected in the guide groove 233 and moves along the guide groove 233.

[0035] In the above, the guide groove 233 can prevent the electric push rod 231 from swinging during the extension and retraction process.

[0036] In the above, when the telescopic rod on the electric push rod 231 in the folding drive mechanism 23 extends outward, the telescopic rod pushes the rotating frame 212 connected to the telescopic rod and the driving wheel 22 on the rotating frame 212 to rotate in the direction away from the fixed frame 211. At the same time, due to the friction between the driving wheel 22 and the ground, the rotating frame 212 connected to the other side of the electric push rod 231 is also rotated in the direction away from the fixed frame 211 by the reaction force of the electric push rod 231; during the rotation of the rotating frame 212, the guide block 234 fixed on the electric push rod 231 moves in the guide groove 233; until the folding frame 21 is fully opened, at this time, the chassis 1 is in a lying position; When the telescopic rod on the electric push rod 231 in the folding drive mechanism 23 contracts inward, the telescopic rod pulls the rotating frame 212 connected to the telescopic rod and the driving wheel 22 on the rotating frame 212 to rotate in the direction close to the fixed frame 211. At the same time, the rotating frame 212 connected to the other side of the electric push rod 231 is also rotated in the direction close to the fixed frame 211 due to the reaction force; during the rotation of the rotating frame 212, the guide block 234 fixed on the electric push rod 231 moves in the guide groove 233; until the folding frame 21 is completely closed, at this time, the chassis 1 is in a standing position.

[0037] In the above, when the chassis 1 is in a standing state, the folding frame 21 retracts the driving wheel 22, its center of gravity is raised, and the front-to-back length is shortened, which can reduce the volume and facilitate placement into the fire truck, thereby improving the space utilization rate in the fire truck; when the chassis 1 is in a lying state, the folding frame 21 opens the driving wheel 22, its center of gravity is lowered, and the stability is better. At this time, the ground nails 42 move with the folding frame 21 to contact the ground, playing a stabilizing role, and preventing the recoil force generated during the operation of the fire cannon 5 from driving the chassis 1 to move.

[0038] In the above, the shape and length of the guide groove 233 are determined according to the moving path of the guide block 234 fixed on the electric push rod 231 during the rotation of the rotating frame 212 .

[0039] Furthermore, the position limiting movement mechanism 41 includes a position limiting rotating frame 411 and a position limiting movement groove 412 located on the position limiting rotating frame 411; The ground nail 42 is fixed on the position-limiting rotating frame 411, and the position-limiting rotating frame 411 is rotatably connected to the box body 3; A limit moving block 413 is further disposed on one end of the rotating frame 212 away from the fixed frame 211 . The limit moving block 413 is movably connected in the limit moving groove 412 and moves along the limit moving groove 412 .

[0040] In the above, when the rotating frame 212 is rotating, the limit moving block 413 set on the rotating frame 212 rotates with the rotating frame 212, and the limit moving block 413 rotates and moves in the limit moving groove 412 and drives the limit rotating frame 411 and the ground nails 42 on the limit rotating frame 411 to rotate in the direction close to or away from the ground.

[0041] In the above, when the chassis 1 is changed from a standing position to a lying position, the limiting rotating frame 411 and the ground nails 42 on the limiting rotating frame 411 rotate in the direction close to the ground until the ground nails 42 are inserted into the ground to complete the limiting; when the chassis 1 is changed from a lying position to a standing position, the limiting rotating frame 411 and the ground nails 42 on the limiting rotating frame 411 rotate in the direction away from the ground until they are reset, and the limiting is released at this time.

[0042] Furthermore, the limit movable frame is a triangular frame, the rotational connection points of the ground nail 42, the limit rotating frame 411 and the box body 3 are respectively located at two corners of the triangular frame, and the limit movable groove 412 is located at the opposite side of the corner where the ground nail 42 is located. In the above, the shape and length of the moving groove are determined according to the moving path of the limiting moving block 413 fixed on the rotating frame 212 during the rotation of the rotating frame 212 .

[0043] Furthermore, it also includes a control mechanism and a reconnaissance mechanism 6, the control mechanism includes a remote control device, a controller and a wireless transmission component; the controller and the wireless transmission component are located inside the box 3; the reconnaissance mechanism 6 includes a searchlight 61 and a camera 62, and the searchlight 61 and the camera 62 are both arranged on the box 3.

[0044] Furthermore, the controller is electrically connected to the folding drive mechanism 23 and the camera 62, and the controller is connected to the remote control device via a wireless transmission component.

[0045] In the above, the controller is connected to the folding drive mechanism 23 to realize the shape switching function of the chassis 1; the controller is connected to the wireless transmission component to realize the unlimited transmission of the collected chassis 1 parameters and environmental parameters, receive the control instructions from the remote control device and realize intelligent perception and control; the controller is connected to the searchlight 61 to realize the on-site lighting compensation function; the controller is connected to the camera 62 to realize the collection of on-site images and videos.

[0046] Embodiment 2 like Figure 5 As shown, this embodiment relates to a fire-fighting fire-fighting robot, comprising a fire-fighting cannon 5 and the chassis 1 of the fire-fighting fire-fighting robot as described above, and the fire-fighting cannon 5 is detachably connected to the chassis 1 of the fire-fighting fire-fighting robot.

[0047] Furthermore, the fire monitor 5 used in this embodiment is a mobile fire monitor of 40L / S to 50L / S.

[0048] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A retractable fire-fighting robot chassis, characterized in that: Used to carry a fire monitor, comprising a driving device, a box and a fixing device, the fire monitor is placed on the box, the driving device is connected to the box to drive the box and the fire monitor to move, and the fixing device is connected to the driving device to limit the driving device; the chassis has two forms: standing and lying; The driving device comprises a folding frame and a driving wheel connected to the folding frame; the folding frame is connected to a folding driving mechanism, and the folding driving mechanism controls the folding frame to open or fold, so that the chassis switches between the standing position and the lying position; The fixing device includes a limit movement mechanism and a ground nail located on the limit movement mechanism, the limit movement mechanism is used to drive the ground nail to move towards or away from the ground, and the limit movement mechanism is connected to the folding frame and moves with the movement of the folding frame.

2. The retractable fire-fighting robot chassis according to claim 1, characterized in that: The number of the driving devices is two, and the two driving devices are respectively arranged on both sides of the box body, and the two driving devices have the same structure.

3. The retractable fire-fighting robot chassis according to claim 1, characterized in that: The folding frame includes a fixed frame and two rotating frames; the box body is arranged on the fixed frame; the two rotating frames are respectively arranged at both ends of the fixed frame, one end of the rotating frame is rotatably connected to the fixed frame, and the driving wheel is rotatably connected to the other end of the rotating frame; the folding driving mechanism is connected to the rotating frame to control the rotating frame to rotate circumferentially in a direction close to or away from the fixed frame to control the folding frame to open or fold.

4. The retractable fire-fighting robot chassis according to claim 3, characterized in that: The folding driving mechanism comprises an electric push rod; two ends of the electric push rod are respectively connected to two rotating frames.

5. The retractable fire-fighting robot chassis according to claim 4, characterized in that: The folding drive mechanism is also provided with a guide plate, which is fixed on a fixing frame and provided with a guide groove. A guide block is fixed on the electric push rod, and the guide block is movably connected in the guide groove and moves along the guide groove.

6. The retractable fire-fighting robot chassis according to claim 3, characterized in that: The position limiting movement mechanism comprises a position limiting rotating frame and a position limiting movement groove located on the position limiting rotating frame; The ground nails are fixed on a position-limiting rotating frame, and the position-limiting rotating frame is rotatably connected to the box body; A limited moving block is also arranged on one end of the rotating frame away from the fixed frame. The limited moving block is movably connected in the limited moving groove and moves along the limited moving groove.

7. The retractable fire-fighting robot chassis according to claim 3, characterized in that: The limit movable frame is a triangular frame, the rotational connection points of the ground nails, the limit rotating frame and the box body are respectively located at the two corners of the triangular frame, and the limit movable groove is located at the opposite side of the corner where the ground nail is located.

8. The retractable fire-fighting robot chassis according to claim 1, characterized in that: It also includes a control mechanism and a reconnaissance mechanism, wherein the control mechanism includes a remote control device, a controller and a wireless transmission component; the controller and the wireless transmission component are located inside the box; the reconnaissance mechanism includes a searchlight and a camera, and the searchlight and the camera are both arranged on the box.

9. The retractable fire-fighting robot chassis according to claim 8, characterized in that: The controller is electrically connected to the folding drive mechanism and the camera, and the controller is connected to the remote control device via a wireless transmission component.

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