Small fire-fighting robot capable of swinging arms

Abstract

The invention relates to the technical field of fire-fighting robots, in particular to a small fire-fighting robot capable of swinging arms, which comprises a turning cover and a vehicle body assembly, and further comprises an upper assembly, and the upper assembly comprises a front camera, a back-up camera, a side camera, an emergency stop switch, a starting switch, a power switch, an audible and visual alarm, a millimeter wave radar, an illuminating lamp and a fire monitor component. In the moving process of the fire-fighting robot, the distance, the speed, the angle and other information of a target object are detected through electromagnetic waves of the millimeter-wave frequency band of the millimeter-wave radar, the dynamic state of an object in front of a vehicle can be monitored in real time, and therefore the fire-fighting robot can automatically avoid obstacles in the moving process; and therefore, the fire-fighting robot can be better suitable for a fire scene environment with a complex environment.

Description

Technical Field

[0001] The invention relates to the technical field of fire-fighting robots, and in particular to a small fire-fighting robot with swingable arms. Background Art

[0002] Traditional firefighting robots, with their sturdy shells and high-temperature and corrosion-resistant designs, can penetrate deep into fire scenes and carry out precise strikes on fire sources with high-pressure water guns, foam sprayers and other equipment, effectively controlling the spread of fire. Existing firefighting robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited passability. When encountering higher obstacles, these robots often cannot pass through, limiting their ability to move in complex terrain.

[0003] With the rapid development of science and technology, the performance requirements for fire-fighting robots are constantly increasing in order to cope with complex fire environments, and higher requirements are placed on the robot's passability and stability. The existing robots can swing their arms independently through 4 wheels, thereby improving the robot's passability and stability.

[0004] However, when existing firefighting robots are moving in dangerous environments, they are not intelligent enough and cannot automatically avoid obstacles in dangerous and complex environments, which makes it inconvenient for firefighting robots to perform mobile operations in complex fire environments. Summary of the invention

[0005] The purpose of the present invention is to provide a small fire-fighting robot with swingable arms, aiming to solve the problem that the existing fire-fighting robots are not intelligent enough when moving in dangerous environments and cannot automatically avoid obstacles in dangerous and complex environments, which makes it inconvenient for the fire-fighting robots to perform mobile operations in complex fire environments.

[0006] To achieve the above object, the present invention provides a small fire-fighting robot with swingable arms, comprising a flip cover and a body assembly, wherein the body assembly is arranged on the flip cover.

[0007] Also includes upper components,

[0008] The upper assembly includes a front camera, a reversing camera, a side camera, an emergency stop switch, a start switch, a power switch, an audible and visual alarm, a millimeter-wave radar, a lighting lamp and a fire cannon component. The front camera is arranged on the flip cover, the reversing camera is arranged on the flip cover, the side camera is arranged on the flip cover, the emergency stop switch is arranged on the flip cover, the start switch is arranged on the flip cover, the power switch is arranged on the flip cover, the audible and visual alarm is arranged on the flip cover, the millimeter-wave radar is arranged on the flip cover, the lighting lamp is arranged on the flip cover, and the fire cannon component is arranged on the flip cover.

[0009] Wherein, the fire cannon component includes a flange, a first rotating shaft, a second rotating shaft and an explosion-proof push rod, the first rotating shaft is arranged on the flange, the second rotating shaft is connected to the first rotating shaft, and the explosion-proof push rod is connected to the second rotating shaft.

[0010] Wherein, the vehicle body assembly includes a chassis, a swing arm component and a power component, the chassis is connected to the flip cover and is located on one side of the flip cover, the swing arm component is arranged on the chassis, and the power component is arranged on the chassis.

[0011] Wherein, the swing arm component includes a travel driving wheel, a swing arm shaft, a support plate, a track and a supporting roller. There are four travel driving wheels, and the four travel driving wheels are respectively arranged on both sides of the chassis in pairs and are connected to the power component respectively. The center of each travel driving wheel passes through the swing arm shaft, one end of each swing arm shaft is connected to the power component, and the other end is connected to the support plate, and the end of the support plate away from the swing arm shaft is connected to the supporting roller, and the track is arranged on the outside of the supporting roller and the travel driving wheel.

[0012] Wherein, the swing arm component also includes a limit plate, which is connected to the support plate and is located between the travel drive wheel and the supporting wheel.

[0013] Wherein, the power component includes a swing arm motor and a swing arm reducer, the swing arm shaft is connected to the swing arm motor via the swing arm reducer, and the swing arm motor and the swing arm reducer are respectively located inside the chassis.

[0014] Among them, the power component also includes a walking motor and a walking reducer, and the walking motor and the walking reducer are respectively arranged on both sides of the chassis. The walking motor is connected to the walking reducer, and the walking reducer on the same side is connected to the walking drive wheel through a chain and a sprocket.

[0015] The present invention provides a small fire-fighting robot with swingable arms. When an operator uses the fire-fighting robot, he turns on the power switch and the start switch, and remotely controls the fire-fighting robot to move to a fire scene or a dangerous environment. The fire-fighting robot can shoot the environment around the fire-fighting robot through the front camera, the reversing camera and the two side cameras during the movement. At the same time, the fire-fighting robot turns on the light source of the millimeter-wave radar and the lighting lamp during the movement, so that the fire-fighting robot can use the electromagnetic waves in the millimeter-wave frequency band of the millimeter-wave radar to detect the distance, speed, angle and other information of the target object during the movement, and can monitor the dynamics of the object in front of the vehicle in real time, so that the fire-fighting robot can automatically avoid obstacles during the movement, thereby making the fire-fighting robot better suitable for complex fire environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0017] Figure 1 It is a schematic structural diagram of a small fire-fighting robot with swingable arms according to the first embodiment of the present invention.

[0018] Figure 2 It is a schematic structural diagram of an upper assembly according to a first embodiment of the present invention.

[0019] Figure 3 It is a schematic structural diagram of the flip cover of the first embodiment of the present invention.

[0020] Figure 4 It is a schematic structural diagram of the fire monitor component of the first embodiment of the present invention.

[0021] Figure 5 It is a schematic structural diagram of a small fire-fighting robot with swingable arms according to the second embodiment of the present invention.

[0022] Figure 6 2 is a schematic structural diagram of a vehicle body assembly according to a second embodiment of the present invention.

[0023] In the figure: 101- flip cover, 102- front camera, 103- reversing camera, 104- side camera, 105- emergency stop switch, 106- start switch, 107- power switch, 108- sound and light alarm, 109- millimeter wave radar, 110- lighting lamp, 111- flange, 112- first rotating shaft, 113- second rotating shaft, 114- explosion-proof push rod, 201- chassis, 202- walking driving wheel, 203- swing arm shaft, 204- support plate, 205- crawler track, 206- supporting wheel, 207- limit plate, 208- swing arm motor, 209- swing arm reducer, 210- walking motor, 211- walking reducer. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0025] The first embodiment of the present application is:

[0026] See also Figures 1 to 4 ,in Figure 1 It is a schematic structural diagram of a small fire-fighting robot with swingable arms according to the first embodiment of the present invention. Figure 2 It is a schematic structural diagram of an upper assembly according to a first embodiment of the present invention. Figure 3 It is a schematic structural diagram of the flip cover of the first embodiment of the present invention. Figure 4 It is a schematic structural diagram of the fire monitor component of the first embodiment of the present invention.

[0027] The present invention provides a small fire-fighting robot with swingable arms, comprising a flip cover 101 and an upper assembly, wherein the upper assembly comprises a front camera 102, a reversing camera 103, a side camera 104, an emergency stop switch 105, a start switch 106, a power switch 107, an audible and visual alarm 108, a millimeter wave radar 109, an illuminator 110 and a fire-fighting cannon component, wherein the fire-fighting cannon component comprises a flange 111, a first rotating shaft 112, a second rotating shaft 113 and an explosion-proof push rod 114. The above-mentioned solution solves the problem that the existing fire-fighting robots are not intelligent enough in the process of traveling in dangerous environments, and cannot automatically avoid obstacles in dangerous and complex environments, thereby making it inconvenient for the fire-fighting robots to perform mobile operations in complex fire environments. It can be understood that the above-mentioned solution can be used in the case where the robot needs to automatically avoid obstacles in complex fire environments.

[0028] In this embodiment, the flap 101 is used to protect the electronic components and mechanical structures inside the robot, prevent dust, moisture and other external factors from damaging the internal components, and also help maintain the overall structural integrity of the robot to ensure stable operation in various environments.

[0029] The front camera 102 is arranged on the flip cover 101, the reversing camera 103 is arranged on the flip cover 101, the side camera 104 is arranged on the flip cover 101, the emergency stop switch 105 is arranged on the flip cover 101, the start switch 106 is arranged on the flip cover 101, the power switch 107 is arranged on the flip cover 101, the sound and light alarm 108 is arranged on the flip cover 101, the millimeter wave radar 109 is arranged on the flip cover 101, the lighting lamp 110 is arranged on the flip cover 101, the fire cannon component is arranged on the flip cover 101, the front camera 102, the reversing camera 103 and the two The side cameras 104 are arranged around the flip cover 101, and the environmental scenes around the flip cover 101 can be photographed through the cameras. The emergency stop switch 105 is arranged on the flip cover 101, and the emergency stop switch 105 is used to quickly cut off the power supply in an emergency to prevent accidents or damages. The start switch 106 is arranged on the flip cover 101, and the start switch 106 can control the start and stop of the robot. The power switch 107 is used to control the power supply of the robot to ensure that the robot can be safely turned on or off when needed. The sound and light alarm 108 is arranged on the flip cover 101, and plays a warning role at the work site by emitting strong sound and light signals to remind the surrounding personnel to pay attention. When there are fire trucks operating or dangerous situations, the millimeter-wave radar 109 is arranged in front of the flip cover 101. The millimeter-wave radar 109 uses electromagnetic waves in the millimeter-wave frequency band to detect information such as the distance, speed and angle of the target object, and can monitor the dynamics of the object in front of the vehicle in real time, assist the automatic driving function or provide early warning for the operator, such as issuing an alarm in advance when the vehicle approaches an obstacle, thereby improving the safety and automation of the operation. There are two lighting lamps 110, and the two lighting lamps 110 are arranged in front of the flip cover 101. The lighting lamps 110 can be used to facilitate the firefighting robot in firefighting operations at night or in low-light environments. Provide lighting for the surrounding area and the operating area of ​​the firefighting robot to ensure operation Personnel can clearly observe the situation on the scene and operate accurately. The fire cannon component is arranged on the flip cover 101. The fire cannon component can spray high-pressure water or foam and other fire extinguishing agents to attack the fire source from a long distance and effectively extinguish the fire. Therefore, when the operator uses the fire robot, he turns on the power switch 107 and the start switch 106, and remotely controls the fire robot to move to the fire scene or dangerous environment. The fire robot can shoot the surrounding environment of the fire robot through the front camera 102, the reversing camera 103 and the two side cameras 104 during the movement. At the same time, the fire robot turns on the light source of the millimeter wave radar 109 and the lighting lamp 110 during the movement.The firefighting robot can use the electromagnetic waves in the millimeter wave frequency band of the millimeter wave radar 109 to detect the distance, speed, angle and other information of the target object during movement, and can monitor the dynamics of the object in front of the vehicle in real time, so that the firefighting robot can automatically avoid obstacles during movement, thereby making the firefighting robot better suited to complex fire environments.

[0030] Secondly, the first rotating shaft 112 is arranged on the flange 111, the second rotating shaft 113 is connected to the first rotating shaft 112, and the explosion-proof push rod 114 is connected to the second rotating shaft 113. Through the motor, the first rotating shaft 112 can achieve 360° steering, and the second rotating shaft 113 can achieve 270°. The rotation of the first rotating shaft 112 and the second rotating shaft 113 can drive the movement of the explosion-proof push rod 114, and at the same time, the explosion-proof push rod 114 can spray the fire water in a blooming or straight line.

[0031] When using a small fire-fighting robot with swingable arms according to the present embodiment, the operator turns on the power switch 107 and the start switch 106, and remotely controls the fire-fighting robot to move to a fire scene or a dangerous environment. The fire-fighting robot can use the front camera 102, the reversing camera 103 and the two side cameras 104 to shoot the surrounding environment of the fire-fighting robot during its movement. At the same time, the fire-fighting robot turns on the light source of the millimeter-wave radar 109 and the lighting lamp 110 during its movement, so that the fire-fighting robot can use the electromagnetic waves in the millimeter-wave frequency band of the millimeter-wave radar 109 to detect information such as the distance, speed and angle of the target object during its movement, and can monitor the dynamics of objects in front of the vehicle in real time, so that the fire-fighting robot can automatically avoid obstacles during its movement, thereby making the fire-fighting robot better suited to complex fire environments.

[0032] The second embodiment of the present application is:

[0033] Based on the first embodiment, please refer to Figure 5 and Figure 6 , Figure 5 2 is a schematic structural diagram of a small fire-fighting robot with swingable arms according to a second embodiment of the present invention. Figure 6 2 is a schematic structural diagram of a vehicle body assembly according to a second embodiment of the present invention.

[0034] The present invention provides a small fire-fighting robot with a swingable arm, which also includes a body assembly. The body assembly includes a chassis 201, a swing arm component and a power component. The swing arm component includes a walking drive wheel 202, a swing arm shaft 203, a support plate 204, a crawler track 205, a supporting wheel 206 and a limit plate 207. The power component includes a swing arm motor 208, a swing arm reducer 209, a walking motor 210 and a walking reducer 211.

[0035] The chassis 201 is connected to the flip cover 101 and is located on one side of the flip cover 101. The swing arm component is arranged on the chassis 201. The power component is arranged on the chassis 201. There are four walking driving wheels 202. The four walking driving wheels 202 are arranged on both sides of the chassis 201 in pairs and are respectively connected to the power component. The center of each walking driving wheel 202 passes through the swing arm shaft 203. One end of each swing arm shaft 203 is connected to the power component, and the other end is connected to the support plate 204. The end of the support plate 204 away from the swing arm shaft 203 is connected to the supporting wheel 2 06, the track 205 is sleeved on the outer side of the supporting wheel 206 and the travel driving wheel 202, the number of the travel driving wheels 202 is four, the four travel driving wheels 202 are respectively arranged on both sides of the chassis 201 in pairs and are opposite to each other, and are respectively connected to the power component, the center of each travel driving wheel 202 passes through the swing arm shaft 203, one end of each swing arm shaft 203 is connected to the power component, and the other end is connected to the support plate 204, the end of the support plate 204 away from the swing arm shaft 203 is connected to the supporting wheel 206, and the track 205 is sleeved on the outer side of the supporting wheel 206 and the travel driving wheel 202. The travel driving wheel 202 is connected to the power component via a travel shaft and is driven to rotate by the power component. The swing arm shaft 203 passes through the travel shaft and the center of the travel driving wheel 202, one end of which is connected to the support plate 204, and the other end is connected to the power component, and is driven separately from the travel driving wheel 202. The other end of the support plate 204 is connected to the supporting wheel 206 via a shaft, and the crawler track 205 is sleeved between the supporting wheel 206 and the travel driving wheel 202.

[0036] Secondly, the limit plate 207 is connected to the support plate 204 and is located between the travel drive wheel 202 and the supporting wheel 206. The limit plate 207 can prevent the axial movement of the track 205 and ensure the stability and accuracy of the track 205 during movement.

[0037] At the same time, the swing arm shaft 203 is connected to the swing arm motor 208 through the swing arm reducer 209. The swing arm motor 208 and the swing arm reducer 209 are respectively located inside the chassis 201. The four swing arm shafts 203 are respectively connected to the swing arm motor 208 through the swing arm reducer 209 to realize independent swing arms.

[0038] Finally, the walking motor 210 and the walking reducer 211 are respectively arranged on both sides of the chassis 201, and the walking motor 210 is connected to the walking reducer 211. The walking reducer 211 on the same side is connected to the walking drive wheel 202 through a chain and a sprocket. The walking drive wheel 202 is connected to a walking shaft, and a sprocket is connected to the walking shaft. The output end of the walking reducer 211 is connected to a sprocket, and the sprockets are driven by a chain. The walking drive wheel 202 is connected by a chain, and the walking drive wheel 202 is driven by a chain. The walking drive wheel 202 drives the walking to realize reconnaissance walking. The walking motor 210 on the left drives the walking of the two wheel systems on the left, and the walking motor 210 on the right drives the walking of the two wheel systems on the right. The walking motor 210 is one-to-two.

[0039] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A small fire-fighting robot with swingable arms, comprising a flap and a body assembly, wherein the body assembly is arranged on the flap, and characterized in that: Also includes upper components, The upper assembly includes a front camera, a reversing camera, a side camera, an emergency stop switch, a start switch, a power switch, an audible and visual alarm, a millimeter-wave radar, a lighting lamp and a fire cannon component. The front camera is arranged on the flip cover, the reversing camera is arranged on the flip cover, the side camera is arranged on the flip cover, the emergency stop switch is arranged on the flip cover, the start switch is arranged on the flip cover, the power switch is arranged on the flip cover, the audible and visual alarm is arranged on the flip cover, the millimeter-wave radar is arranged on the flip cover, the lighting lamp is arranged on the flip cover, and the fire cannon component is arranged on the flip cover.

2. The small fire-fighting robot with swingable arms as claimed in claim 1, characterized in that: The fire cannon component includes a flange, a first rotating shaft, a second rotating shaft and an explosion-proof push rod. The first rotating shaft is arranged on the flange, the second rotating shaft is connected to the first rotating shaft, and the explosion-proof push rod is connected to the second rotating shaft.

3. The small fire-fighting robot with swingable arms as claimed in claim 1, characterized in that: The vehicle body assembly comprises a chassis, a swing arm component and a power component. The chassis is connected to the flip cover and is located on one side of the flip cover. The swing arm component is arranged on the chassis, and the power component is arranged on the chassis.

4. The small fire-fighting robot with swingable arms as claimed in claim 3, characterized in that: The swing arm component includes a travel driving wheel, a swing arm shaft, a support plate, a track and a supporting roller. There are four travel driving wheels. The four travel driving wheels are respectively arranged on both sides of the chassis in pairs and are connected to the power component respectively. The center of each travel driving wheel passes through the swing arm shaft. One end of each swing arm shaft is connected to the power component, and the other end is connected to the support plate. The end of the support plate away from the swing arm shaft is connected to the supporting roller, and the track is arranged on the outside of the supporting roller and the travel driving wheel.

5. The small fire-fighting robot with swingable arms as claimed in claim 4, characterized in that: The swing arm component also includes a limit plate, which is connected to the support plate and is located between the travel drive wheel and the supporting wheel.

6. The small fire-fighting robot with swingable arms as claimed in claim 5, characterized in that: The power component includes a swing arm motor and a swing arm reducer, the swing arm shaft is connected to the swing arm motor via the swing arm reducer, and the swing arm motor and the swing arm reducer are respectively located inside the chassis.

7. The small fire-fighting robot with swingable arms as claimed in claim 6, characterized in that: The power component also includes a travel motor and a travel reducer, which are respectively arranged on both sides of the chassis, the travel motor is connected to the travel reducer, and the travel reducer on the same side is connected to the travel driving wheel through a chain and a sprocket.

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