Intelligent fire extinguishing robot for vessel

Abstract

The invention relates to the field of fire extinguishing robots, and discloses an intelligent fire extinguishing robot for ships, which comprises a robot shell with a spherical structure and a plurality of hollow grooves formed in the robot shell; a plurality of mounting tables are fixed to the outer surface of the robot shell, and magnetic boot assemblies used for driving the robot to walk are mounted on the mounting tables through bolts. A control assembly is arranged in the robot shell, and the assembly can reduce damage of high temperature generated in the fire disaster to parts; the shell of the robot is of a spherical structure and is matched with the magnetic boot assembly to control the robot to move, the robot can move on complex terrains through the driving mode, the obstacle crossing ability is high, meanwhile, the robot can eliminate the influence of ship bumping, the robot is kept stable, and smooth fire extinguishing operation is ensured.

Description

Technical Field

[0001] The invention relates to the field of fire-fighting robots, and in particular to an intelligent fire-fighting robot used for ships. Background Art

[0002] The design of fire-fighting robot control system has been a research hotspot in recent years. With the development of science and technology and the improvement of people's awareness of fire safety, the role of fire-fighting robots in fire prevention and fire fighting is becoming more and more important. Fire-fighting robots need to have functions such as finding fire sources, extinguishing fires, and avoiding obstacles. In order to ensure the safety of ship driving, fire-fighting robots are installed on ships to conduct daily safety movement inspections on ships. They can autonomously extinguish fires when fires occur. However, the local space of the ship is small, and the way the fire-fighting robot is driven to walk affects its walking stability and scope of use.

[0003] Chinese publication number CN117531150A discloses an automatic fire-extinguishing bomb replacement device for a rail-type fire-fighting robot and a replacement method thereof, comprising a robot body, a bomb replacement motion mechanism and a fire-extinguishing bomb assembly. The robot body is arranged on a hanging rail, and a fire-extinguishing bomb clamping structure is arranged at the bottom of the robot. The fire-extinguishing bomb assembly is automatically replaced by the bomb replacement motion mechanism, and the fire-extinguishing bomb assembly is fixedly arranged at the bottom of the robot by the fire-extinguishing bomb clamping structure.

[0004] According to the above patent, the bomb disposal bracket is controlled by the horizontal and vertical motion devices to make the robot go to the working position, take out the old fire extinguishing bomb from the bottom of the robot, control the loading bracket to carry the new fire extinguishing bomb to the working position, and automatically replace the fire extinguishing bomb on the robot. However, the existing robot designs mostly use track-type, wheel-type or crawler-type structures. These structures have high movement efficiency on flat roads, but when faced with the uneven and multi-obstacle complex terrain commonly seen on ship decks or narrow cabin spaces, their obstacle-crossing capabilities are obviously insufficient, which limits their effective deployment and fire-fighting efficiency at the fire scene. In addition, ships are prone to bumps due to the influence of the water surface. In dynamic environments such as ship bumps, existing robots are difficult to maintain stability, which directly affects their fire-fighting efficiency and safety at the fire scene. Summary of the invention

[0005] In response to the above problems, an intelligent fire-fighting robot for ships is provided. The magnetic shoe component enables the robot to move flexibly on complex terrain and has strong obstacle surmounting ability. This solves the problem that some existing robots have high movement efficiency on flat roads, but when faced with the uneven and multi-obstacle complex terrain commonly seen on ship decks or in narrow cabin spaces, the obstacle surmounting ability is obviously insufficient, the effective deployment at the fire scene is restricted, and the fire-fighting efficiency is low.

[0006] Taking into account that ship decks and cabins are mostly made of marine carbon steel, magnets can generate a large magnetic force on them, so electromagnets are used as the main driving unit of the fire-fighting robot. But at the same time, the traditional track, wheel or crawler drive structure is not sufficient to meet the needs of the uneven surface of the ship deck, so the traditional design is abandoned here and a spherical structure is used as the robot's frame.

[0007] The use of a spherical robot frame can produce the following benefits: (1) The force on the spherical structure can be dispersed to the entire spherical shell to obtain better mechanical properties; (2) Different normal vectors can be obtained in different directions on the spherical surface, which makes it possible to always find a point on the spherical surface that is tangent to the irregular curved surface on the ship deck, thereby overcoming the problem of traditional robots' insufficient obstacle-crossing ability on ship decks or in cabins; (3) The spherical structure is convenient for one-piece molding and casting, and its structure is simpler than that of traditional robot tracked chassis, and its cost is greatly reduced; (4) Considering the bumpy environment of the ship, the spherical structure can always ensure that the center of mass position is relatively stable. Even if the robot capsizes, its spherical structure can enable the robot to return to the center in time.

[0008] In order to solve the problems of the prior art, the present invention provides an intelligent fire-fighting robot for ships, comprising a robot shell with a spherical structure and a plurality of hollow grooves opened on the robot shell; a plurality of mounting platforms are fixed on the outer surface of the robot shell, and a magnetic shoe assembly for driving the robot to walk is installed on the mounting platform by bolts; a control assembly is arranged inside the robot shell, and the control assembly can reduce the damage to parts caused by high temperature generated during a fire, and the robot shell is made of 5025 aluminum-magnesium alloy.

[0009] Preferably, the magnetic shoe assembly includes a base mounted on the mounting table by bolts, a sub-sleeve is coaxially movably connected to the base, an electromagnet is mounted on the sub-sleeve by bolts, and a tension screw is connected between the base and the sub-sleeve; the electromagnet is made of high-silicon manganese steel, and its Curie temperature is 680°C; the base is made of 5025 aluminum-magnesium alloy.

[0010] Preferably, the sub-sleeve outer sleeve is provided with a shock-absorbing spring, and the shock-absorbing spring is connected between the sub-sleeve and the base.

[0011] Preferably, the control assembly includes a large control frame rotatably mounted in the robot housing, a small control frame rotatably mounted in the large control frame, and a control ball assembly rotatably mounted in the small control frame; the axes of rotation of the large control frame, the small control frame, and the control ball assembly are perpendicular to each other; the large control frame and the small control frame are both made of 5025 aluminum-magnesium alloy, and the surface is nickel-plated.

[0012] Preferably, two counterweight arms are symmetrically mounted on the small control frame about its own rotation axis, and a counterweight plate is coaxially fixed on the small control frame along the direction of its own rotation axis.

[0013] Preferably, a camera for capturing images of the robot's moving environment is fixedly mounted on the counterweight plate, and a controller is also fixedly mounted on the counterweight plate.

[0014] Preferably, a plurality of mounting holes are provided on the counterweight plate along the circumference of the rotation axis of the small control frame, and the mounting holes are used for installing special fire extinguishing bombs.

[0015] Preferably, a dovetail groove is provided in the small control frame, a dovetail slider is slidably installed in the dovetail groove, and the dovetail slider is fixedly installed on the control ball assembly.

[0016] Preferably, the control ball assembly includes a control ball shell fixed on the dovetail slider, a plurality of magnetic shoe electrodes are installed on the control ball shell, and the magnetic shoe electrodes are electrically connected to the magnetic shoe assembly on the robot shell in the opposite direction; a single electrode is inserted and installed on the control ball shell, and a heating rod is also inserted and installed on the control ball shell; the single electrode and the magnetic shoe electrode are made of H60 copper-zinc alloy forging; the control ball shell is made of PA66 material and is plated with polytetrafluoroethylene; gaskets are provided at the installation locations of the control ball shell and the single electrode and the magnetic shoe electrode, and the gaskets are made of fluororubber B-651C.

[0017] Preferably, the outer shell of the control ball is filled with solid metal gallium, and the volume of the melted metal gallium occupies one third of the inner volume of the outer shell of the control ball.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention provides a robot shell and a magnetic shoe assembly to control the robot to walk flexibly. The robot shell is in a spherical structure. A plurality of magnetic shoe assemblies are arranged around the robot shell. According to the walking direction of the robot, the electromagnets in the magnetic shoe assemblies at different positions are controlled to be energized, and the electromagnets are driven. The electromagnets are designed to be covered with magnetic shoes and shock-absorbing springs for shock absorption. With the XOY plane as the reference, the Z axis is perpendicular to the XOY plane, and the angle between the line connecting the point on the circular surface and the point O and the reference plane is u; at the same time, when the point is on the circular surface where the positive direction of the Z axis is located, u is positive, otherwise it is negative, wherein the electromagnets and magnetic shoes are evenly arranged in the direction of the spherical normal vector on the circumference cut out by the horizontal plane where u is equal to -90°, -45°, 0°, 45°, and 90°, so that when rolling, one or more magnetic shoe assemblies can always be in contact with magnetic metals such as the steel deck or bulkhead of the ship, so as to generate a force effect to drive the robot to move, improve the obstacle-crossing ability of the robot movement, and expand the range of movement of the fire-fighting robot on the ship.

[0020] 2. The present invention is provided with a control assembly that can reduce the influence of temperature on the control components. The control assembly is provided with a large control frame, a small control frame and a control ball assembly that rotate in the x, y and z directions. Figure 2The XYZ coordinate axes are set relative to the shell, where the XOY plane is the contact surface of the upper and lower shells, the Z axis is perpendicular to the XOY plane, and the Z axis passes through the center of the mounting platform of the spherical shell and the bottom of the spherical ball. Figure 7 The xyz coordinate axes are the axes along which the large control frame, the small control frame and the control ball assembly rotate respectively. When the robot is walking, the control assembly rotates autonomously in the robot shell to keep the controller always in an upright state. When the ship is bumpy, the control ball assembly automatically adjusts its position according to the direction of gravity, and the magnetic shoe electrodes in the control ball assembly cause the electromagnets in the magnetic shoe assembly to generate reverse torque, offsetting the impact of the ship's bumps and keeping the fire-fighting robot walking stably, thereby ensuring the smooth progress of the fire-fighting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a three-dimensional structural diagram of a magnetic shoe assembly of an intelligent fire-fighting robot used on ships.

[0022] Figure 2 The present invention is a schematic diagram of the three-dimensional structure of a mounting platform for an intelligent fire-fighting robot used on ships.

[0023] Figure 3 The present invention is a schematic diagram of the three-dimensional structure of the robot shell of an intelligent fire-fighting robot used on ships.

[0024] Figure 4 It is a schematic diagram of the three-dimensional structure of the hollow slot of an intelligent fire-fighting robot used in ships.

[0025] Figure 5 The present invention is a schematic diagram of the three-dimensional structure of an electromagnet of an intelligent fire-fighting robot used on ships.

[0026] Figure 6 The present invention is a schematic diagram of the three-dimensional structure of a shock-absorbing spring of an intelligent fire-fighting robot used on ships.

[0027] Figure 7 The present invention is a three-dimensional structural diagram of a control component of an intelligent fire-fighting robot used on ships.

[0028] Figure 8 The present invention is a three-dimensional structural diagram of a large control frame of an intelligent fire-fighting robot used on ships.

[0029] Fig. 9 The present invention is a three-dimensional structural diagram of a small control frame of an intelligent fire-fighting robot used on ships.

[0030] Fig.10 The present invention is a three-dimensional structural diagram of a control ball assembly of an intelligent fire-fighting robot used on ships.

[0031] Fig.11 The present invention is a schematic diagram of the three-dimensional structure of a counterweight plate of an intelligent fire-fighting robot used on ships.

[0032] Fig.12 The present invention is a schematic diagram of the three-dimensional structure of a dovetail groove of an intelligent fire-fighting robot used in ships.

[0033] Fig.13 The present invention is a schematic diagram of the three-dimensional structure of a dovetail slider of an intelligent fire-fighting robot used in ships.

[0034] Fig.14 The present invention is a schematic diagram of the three-dimensional structure of a magnetic shoe electrode of an intelligent fire-fighting robot used on ships.

[0035] Fig.15 It is a schematic diagram of the single-electrode three-dimensional structure of an intelligent fire-fighting robot used on ships.

[0036] The numbers in the figure are:

[0037] 11. Robot shell; 12. Hollow groove; 21. Mounting table; 22. Magnetic shoe assembly; 221. Base; 222. Sub-sleeve; 223. Electromagnet; 224. Tension screw; 225. Shock-absorbing spring; 3. Control assembly; 31. Large control frame; 32. Small control frame; 321. Counterweight arm; 322. Counterweight plate; 33. Control ball assembly; 331. Control ball shell; 332. Magnetic shoe electrode; 333. Single electrode; 334. Heating rod; 41. Camera; 42. Controller; 5. Mounting hole; 61. Dovetail groove; 62. Dovetail slider. DETAILED DESCRIPTION

[0038] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] See also Figure 1-Figure 8 As shown, an intelligent fire-fighting robot for ships includes a robot shell 11 with a spherical structure and a plurality of hollow grooves 12 provided on the robot shell 11; a plurality of mounting platforms 21 are fixed to the outer surface of the robot shell 11, and a magnetic shoe assembly 22 for driving the robot to walk is installed on the mounting platform 21 by bolts; a control assembly 3 for reducing the damage to control parts caused by fire temperature is provided inside the robot shell 11.

[0040] The robot shell 11 has a spherical structure and is flexible to move on the ship. The force-bearing characteristics of the spherical structure enable the robot to remain stable even on uneven surfaces, effectively overcoming the limitations of traditional structures in complex environments, including movement in narrow passages, stairs, protrusions and other terrains, to achieve efficient firefighting operations. The spherical structure of the robot shell 11 is convenient for integrated molding and casting, and has a simple structure and greatly reduced costs compared to traditional robots. Considering that the robot's own weight should be designed to be relatively light, and the robot shell 11 must be resistant to high temperatures while preventing corrosion caused by seawater and humid environments, the robot shell 11 is made of 5025 aluminum-magnesium alloy.

[0041] On the robot housing 11, mounting platforms 21 are designed on circles intercepted by the intersection of the straight lines passing through the center of the sphere in the X, Y, and Z directions and the spherical shells parallel to the central horizontal plane. The projection angle of the three straight lines on the horizontal plane is 45°. The magnetic shoe assembly 22 used to drive the robot is installed through this part of the mounting platform 21. The magnetic shoe assembly 22 at different positions outside the robot housing 11 is controlled to start, and the attraction between the magnetic force and the metal deck or bulkhead of the ship is used to stably drive the robot to move. The magnetic drive is not affected by the friction of the ground, and can remain stable even on slippery or inclined surfaces, and can climb obstacles of a certain height.

[0042] When the robot moves on the ship for inspection, the control component 3 is arranged inside the robot housing 11 to reduce the damage to the control components at the fire scene, and the control component 3 can eliminate the impact of the ship's bumps and maintain the stability and reliability of the robot in complex environments.

[0043] See also Figure 3-Figure 6 As shown, the magnetic shoe assembly 22 includes a base 221 mounted on the mounting platform 21 by bolts, a sub-sleeve 222 is coaxially movably connected to the base 221, an electromagnet 223 is mounted on the sub-sleeve 222 by bolts, and a tension screw 224 is connected between the base 221 and the sub-sleeve 222.

[0044] The electromagnet 223 is made of high-silicon manganese steel, has a good magnetic field effect, and can generate stronger magnetic force. At the same time, its Curie temperature is 680°C, which can effectively cope with the high temperature environment of the fire scene. When the external ambient temperature is higher than 680°C, the electromagnet 223 loses its magnetism or its magnetism is greatly reduced. In this case, the robot will move away from the fire area with the turbulence of the waves until the robot moves to a position where the ambient temperature is lower than the Curie temperature, and it regains balance control. This method reduces the time the robot stays in the fire scene, reduces the thermal radiation damage to the onboard electronic devices, and prevents the aluminum-magnesium alloy robot frame from melting and causing failure. The magnetic shoe base 221 is made of 5025 aluminum-magnesium alloy and is nickel-plated, with good high temperature resistance and corrosion resistance.

[0045] The base 221 is positioned correspondingly to the mounting platform 21 on the robot housing 11, and the base 221 is installed on the robot housing 11 by bolts. The electromagnet 223 is installed on the base 221 through the sub-sleeve 222 and the tension screw 224, and the magnetism of the electromagnet 223 is controlled to drive the robot to move on the ship.

[0046] See also Figure 5 and Figure 6 As shown, a shock absorbing spring 225 is disposed on the outer sleeve of the sub-sleeve 222 , and the shock absorbing spring 225 is connected between the sub-sleeve 222 and the base 221 .

[0047] The shock absorbing spring 225 is connected between the sub-sleeve 222 and the base 221 to reduce the vibration force generated when the robot moves on the ship and maintain the stability of the movement of the robot housing 11 and the internal components.

[0048] See also Figure 7-Figure 12 As shown, the control assembly 3 includes a large control frame 31 rotatably mounted in the robot housing 11, a small control frame 32 rotatably mounted in the large control frame 31, and a control ball assembly 33 rotatably mounted in the small control frame 32; the axis directions of rotation of the large control frame 31, the small control frame 32, and the control ball assembly 33 are perpendicular to each other; the large control frame 31 and the small control frame 32 are both made of 5025 aluminum-magnesium alloy, and the surface is nickel-plated.

[0049] According to the direction of rotation of the robot shell 11, under the action of gravity, the large control frame 31 rotates along the x-axis direction, the small control frame 32 rotates along the y-axis direction, and the control ball assembly 33 moves and rotates in the dovetail groove 61 through the dovetail slider 62. The dovetail groove 61 is perpendicular to the z-axis, so the control ball assembly 33 rotates along the z-axis to generate spatial freedom.

[0050] See also Figure 8-Figure 12 As shown, two counterweight arms 321 are symmetrically mounted on the small control frame 32 about its own rotation axis, and a counterweight plate 322 is coaxially fixed on the small control frame 32 along the direction of its own rotation axis.

[0051] The counterweight arms 321 are symmetrically arranged on both sides of the small control frame 32. When the robot moves, it can generate sufficient angular momentum to maintain the rotation of the center of the control frame. A counterweight plate 322 is provided under the small control frame 32. When the robot moves, the counterweight plate 322 can always point downward under the action of gravity to maintain the orientation of the control component 3 when the robot moves. The counterweight plate 322 can effectively lower the center of gravity of the overall structure of the robot and effectively prevent the position from overturning due to bumps. Secondly, when the robot moves, the counterweight plate 322 can also generate a large angular momentum in the X direction to further maintain the movement stability of the entire robot.

[0052] See also Figure 8-Figure 12As shown, a camera 41 for capturing images of the robot's moving environment is fixedly mounted on the counterweight plate 322 , and a controller 42 is also fixedly mounted on the counterweight plate 322 .

[0053] The camera 41 can be used to photograph and monitor the environment in front of the robot, so as to facilitate timely adjustment of the robot's moving route. The controller 42 can control the driving magnetic shoe assembly 22 to drive the robot to move.

[0054] See also Figure 8-Figure 12 As shown, a plurality of mounting holes 5 are provided on the counterweight plate 322 along the circumference of the rotation axis of the small control frame 32 , and the mounting holes 5 are used to install special fire extinguishing bombs.

[0055] The mounting hole 5 on the counterweight plate 322 can be used to mount special fire extinguishing bombs. Considering the application scenario of the control frame, the counterweight plate 322 is made of 5025 aluminum-magnesium alloy and nickel-plated on the surface, which reduces costs and reduces the impact of seawater corrosion on the equipment. The fire extinguishing bomb passes through the hollow groove 12 and rolls into the fire scene and detonates, achieving efficient fire extinguishing.

[0056] See also Figure 10-12 As shown, a dovetail groove 61 is provided in the small control frame 32 , a dovetail slider 62 is slidably installed in the dovetail groove 61 , and the dovetail slider 62 is fixedly installed on the control ball assembly 33 .

[0057] The fire scene environment is complex, and the large control frame 31 is close to the frame structure of the robot shell 11. Debris may pass through the hollow groove 12 on the robot shell 11 and enter between the large control frame 31 and the robot shell 11, causing jamming and failure, thereby affecting the automatic balancing performance of the robot. The dovetail slider 62 outside the control ball assembly 33 slides with the dovetail groove 61 under the small control frame 32, so that the control ball assembly 33 can rotate in the z-axis direction relative to the center of the small control frame 32, generating spatial freedom.

[0058] See also Figure 8-Figure 15 As shown, the control ball assembly 33 includes a control ball shell 331 fixed on the dovetail slider 62, and a plurality of magnetic shoe electrodes 332 are installed on the control ball shell 331. The magnetic shoe electrodes 332 are electrically connected to the magnetic shoe assembly 22 on the robot shell 11 in the opposite direction thereof; a single electrode 333 is inserted and installed on the control ball shell 331, and a heating rod 334 is also inserted and installed on the control ball shell 331; solid metal gallium is installed in the control ball shell 331, and the volume of the metal gallium after melting occupies one third of the internal volume of the control ball shell 331.

[0059] The single electrode 333 and the magnetic shoe electrode 332 are made of H60 copper-zinc alloy by forging and are silver-plated on the surface to reduce the poor electrical connection caused by the slight melting of the electrode by the arc. At the same time, the silver plating on the surface can also effectively prevent the penetration effect of liquid metal gallium on the electrode made of copper-zinc alloy. Silver element has a face-centered cubic structure and its atomic radius is 134pm, while the metal bond formed by liquid metal gallium is a covalent bond, and its atomic radius in the liquid or molten state is 126pm. Considering that the penetration of gallium is mainly due to the solubility difference caused by the atomic radius, it is difficult for gallium atoms to pass through the gaps in the silver lattice, so the influence of the penetration effect of gallium can be effectively reduced. Selecting the process of silver plating the electrode can extend the service life of the electrode.

[0060] The control ball shell 331 is made of PA66 material and plated with polytetrafluoroethylene, which has good insulation performance, can effectively inhibit the generation of arcs, and avoid corrosion and melting of electrodes and the control ball shell 331. In order to prevent the penetration effect of gallium, the inner surface of the control ball shell 331 is plated with a layer of polytetrafluoroethylene, and a silver-plated copper-zinc alloy electrode is used, which further improves the service life of the control ball shell 331. The control ball shell 331 cannot be made of aluminum-magnesium alloy, because metal gallium can form an alloy with aluminum, and gallium atoms can migrate in the solid aluminum lattice. Even if the alloy itself is not in liquid state, it can diffuse far in metal aluminum. In addition, the melting point of gallium is very low, and liquid gallium can obtain a large contact surface with aluminum, accelerating penetration. However, the strength of the aluminum-gallium alloy is very low, and the strength of the part diffused by gallium will be greatly reduced, which will cause great harm to the mechanical control structure.

[0061] The control ball assembly 33 is the core component of the entire robot. The control ball assembly 33 is used to offset the impact of the ship's turbulence on the robot's movement. The control ball shell 331 of the control ball is plugged with a magnetic shoe electrode 332, a heating rod 334 and a single electrode 333. When the robot moves, the heating rod 334 heats the solid gallium to melt it. The volume of gallium in the control ball shell 331 occupies one third of the entire internal volume of the control ball shell 331. Since liquid gallium has good electrical conductivity, when the magnetic shoe electrode 332 and the single electrode 333 simultaneously penetrate into the liquid gallium surface to When the robot is in the middle, the single electrode 333 and the magnetic shoe electrode 332 are in the conduction state, and the electromagnet 223 outside the robot shell 11 generates a magnetic field to drive the robot to move. Since the magnetic shoe electrode 332 is electrically connected to the electromagnet 223 in the opposite direction outside the robot, when the robot is displaced by the ship's turbulence, the controller 42 will turn on the electromagnet 223 at the position opposite to the movement direction, so that the robot's movement driving direction is opposite to the movement direction caused by the ship's turbulence, thereby offsetting the kinematic influence of external factors on the robot and enhancing the stability of its movement.

[0062] For example, when the robot moves to the right side of the X direction due to the turbulence of the ship, the control ball shell 331 in the center and the robot rotate counterclockwise in the Z-axis direction. At this time, due to the action of gravity, the liquid metal gallium always keeps the liquid level horizontal, which will make the electrode of the control ball shell 331 on the right side of the X direction conductive, while the electrode on the left side of the control ball shell 331 is disconnected. Because the magnetic shoe electrode 332 and the electromagnet 223 are connected in opposite ways, the force generated by the electromagnet 223 can drive the robot to move to the left side of the X direction, thereby obtaining the movement balance and stability in the X direction, and eliminating the influence of the turbulence of the ship on the movement of the robot.

[0063] Gaskets are provided at the assembly places of the magnetic shoe electrode 332 and the single electrode 333 with the control ball housing 331. The gaskets are made of fluororubber B-651C, which has excellent dielectric properties and high temperature tolerance up to 220°C, making it very suitable for harsh working environments such as fire scenes.

[0064] Working principle: By controlling the magnetic drive of the electromagnet 223 to rotate the robot housing 11, the robot can move flexibly on the ship to achieve safe monitoring of the ship. The robot housing 11 is a spherical structure, which can adapt to complex terrain and improve the robot's ability to overcome obstacles when combined with the magnetic shoe assembly 22.

[0065] When the robot moves, the internal control component 3 rotates and adjusts autonomously under the action of gravity of the counterweight plate 322. The large control frame 31 rotates along the x-axis direction, the small control frame 32 rotates along the y-axis direction, and the control ball component 33 rotates along the z-axis direction. The control component 3 keeps the counterweight plate 322 in a vertical state when the robot moves, and keeps the corresponding directions of the camera 41 and the controller 42 on the counterweight plate 322. At the same time, a special fire extinguishing bomb can be installed on the counterweight plate 322 through the mounting hole 5. When the robot moves to the fire area, the fire extinguishing bomb rolls to the fire area through the hollow groove 12 to achieve the fire extinguishing effect.

[0066] A magnetic shoe electrode 332, a single electrode 333 and a heating rod 334 are provided on the control ball housing 331 in the control ball assembly 33. The solid gallium in the magnetic shoe electrode 332 is heated by the heating rod 334, and the solid gallium melts into a liquid state. The magnetic shoe electrode 332 and the single electrode 333 in contact with the liquid gallium are turned on. The magnetic shoe electrode 332 in the turned-on state causes the electromagnet 223 to generate a reverse torque. When the robot is displaced due to the turbulence of the ship, since the magnetic shoe electrode 332 is electrically connected to the electromagnet 223 in the magnetic shoe assembly 22 outside the robot in opposite directions, the controller 42 turns on the electromagnet 223 at a position opposite to the direction of movement, so that the robot's movement driving direction is opposite to the direction of movement caused by the turbulence of the ship, thereby offsetting the kinematic influence of external factors on the robot, keeping the robot stable, and ensuring the smooth progress of the firefighting operation.

[0067] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An intelligent fire-fighting robot for ships, characterized in that: It comprises a robot housing (11) with a spherical structure and a plurality of hollow grooves (12) formed on the robot housing (11); A plurality of mounting platforms (21) are fixed on the outer surface of the robot housing (11), and a magnetic shoe assembly (22) for driving the robot to walk is mounted on the mounting platform (21) by means of bolts; A control component (3) is provided inside the robot housing (11), and the control component can reduce the damage to components caused by high temperature generated during a fire; The robot housing (11) is made of 5025 aluminum-magnesium alloy.

2. The intelligent fire-fighting robot for ships according to claim 1, characterized in that: The magnetic shoe assembly (22) comprises a base (221) mounted on the mounting platform (21) by bolts, a sub-sleeve (222) is coaxially movably connected to the base (221), an electromagnet (223) is mounted on the sub-sleeve (222) by bolts, and a tension screw (224) is connected between the base (221) and the sub-sleeve (222); The electromagnet (223) is made of high silicon manganese steel, and its Curie temperature is 680°C; The base (221) is made of 5025 aluminum-magnesium alloy.

3. The intelligent fire-fighting robot for ships according to claim 2, characterized in that: The outer sleeve of the sub-sleeve (222) is provided with a shock absorbing spring (225), and the shock absorbing spring (225) is connected between the sub-sleeve (222) and the base (221).

4. The intelligent fire-fighting robot for ships according to claim 1, characterized in that: The control assembly (3) comprises a large control frame (31) rotatably mounted in the robot housing (11), a small control frame (32) rotatably mounted in the large control frame (31), and a control ball assembly (33) rotatably mounted in the small control frame (32); The axis directions of rotation of the large control frame (31), the small control frame (32) and the control ball assembly (33) are perpendicular to each other; The large control frame (31) and the small control frame (32) are both made of 5025 aluminum-magnesium alloy and are nickel-plated on the surface.

5. The intelligent fire-fighting robot for ships according to claim 4, characterized in that: Two counterweight arms (321) are symmetrically mounted on the small control frame (32) about its own rotation axis, and a counterweight plate (322) is coaxially fixed on the small control frame (32) along the direction of its own rotation axis.

6. The intelligent fire-fighting robot for ships according to claim 5, characterized in that: A camera (41) for photographing an image of the robot's moving environment is fixedly mounted on the counterweight plate (322), and a controller (42) is also fixedly mounted on the counterweight plate (322).

7. The intelligent fire-fighting robot for ships according to claim 5, characterized in that: The counterweight plate (322) is provided with a plurality of mounting holes (5) along the circumference of the rotation axis direction of the small control frame (32), and the mounting holes (5) are used for installing special fire extinguishing bombs.

8. The intelligent fire-fighting robot for ships according to claim 4, characterized in that: The small control frame (32) is provided with a dovetail groove (61), a dovetail slider (62) is slidably mounted in the dovetail groove (61), and the dovetail slider (62) is fixedly mounted on the control ball assembly (33).

9. The intelligent fire-fighting robot for ships according to claim 8, characterized in that: The control ball assembly (33) comprises a control ball housing (331) fixed on a dovetail slider (62), a plurality of magnetic shoe electrodes (332) being mounted on the control ball housing (331), and the magnetic shoe electrodes (332) being electrically connected to a magnetic shoe assembly (22) on the robot housing (11) in an opposite direction thereof; A single electrode (333) is inserted and installed on the control ball housing (331), and a heating rod (334) is also inserted and installed on the control ball housing (331); The single electrode (333) and the magnetic shoe electrode (332) are made of H60 copper-zinc alloy by forging; The control ball housing (331) is made of PA66 material and coated with polytetrafluoroethylene; Gaskets are provided at the mounting positions of the control ball housing (331), the single electrode (333) and the magnetic shoe electrode (332), and the gaskets are made of fluororubber B-651C.

10. The intelligent fire-fighting robot for ships according to claim 9, characterized in that: The control ball shell (331) contains solid metal gallium, and the volume of the metal gallium after melting occupies one third of the internal volume of the control ball shell (331).

Images