Multifunctional vehicle moving robot and fire extinguishing system
By designing a multi-functional car moving robot, equipped with fire extinguishing components and an optimized clamping mechanism, the problem of existing car moving robots being unable to effectively prevent and extinguish fires is solved, and the rapid and efficient fire extinguishing effect and structural stability are achieved.
Patent Information
- Application Number
- CN202510115652.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-05-27
AI Technical Summary
Existing car moving robots lack preventive design when facing the phenomenon of spontaneous combustion of battery packs in new energy vehicles, and cannot effectively prevent and extinguish fires.
A multi-functional vehicle moving robot is designed, equipped with a fire extinguishing function, including the first and second vehicle moving devices, a driving mechanism, a clamping mechanism and a fire extinguishing component. The fire extinguishing component can inject fire extinguishing solvent under the protection of the battery pack housing by breaking through the drill bit and solvent outlet.
The car moving robot can quickly and efficiently move to the bottom of the battery pack of new energy vehicles, effectively extinguishing the fire through fire extinguishing solvents, solving the problem of spontaneous combustion of the battery pack. At the same time, by optimizing the clamping mechanism and connection extension mechanism, the stability and control accuracy of the robot are improved, and the difficulty of R&D and manufacturing is reduced.
Smart Images
Figure CN120037621A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of automatic guided transportation equipment, and particularly relates to a multifunctional vehicle moving robot and a fire extinguishing system. Background Art
[0002] With the rapid popularization of household cars, parking problems have also increased. For the phenomena of irregular parking and difficult parking, vehicle moving robots that help vehicles move have emerged.
[0003] Currently, the commonly used vehicle moving robots use AGV. AGV is the English abbreviation of Automated Guided Vehicle, which refers to a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical devices, capable of moving along a specified guiding path, and having safety protection and various loading and unloading functions. AGV is a special application of wheeled mobile robots. AGV is a driverless vehicle powered by a battery and equipped with a non-contact guiding device. Its main function is to accurately move and dock at a specified location under computer monitoring according to path planning and operation requirements to complete a series of operation functions.
[0004] However, the existing vehicle moving robots have the following defects: The proportion of new energy vehicles in the current market is increasing continuously, and the phenomenon of vehicle spontaneous combustion during parking is not uncommon. Conventional vehicle moving robots have moving advantages, but they do not have preventive designs for vehicle spontaneous combustion, especially for the battery pack spontaneous combustion of new energy vehicles. Summary of the Invention
[0005] An object of this application is to provide a multifunctional vehicle moving robot with a fire extinguishing function and a fire extinguishing system.
[0006] To achieve the above object, the technical solution adopted in this application is: A multifunctional vehicle moving robot, including a first vehicle moving device and a second vehicle moving device. Driving mechanisms are provided on both the first vehicle moving device and the second vehicle moving device. The driving mechanism is suitable for moving the first vehicle moving device, and the driving mechanism is suitable for moving the second vehicle moving device. The second vehicle moving device is linked with the first vehicle moving device, and the second vehicle moving device is suitable for following the first vehicle moving device. First clamping mechanisms and second clamping mechanisms are provided on both sides of the first vehicle moving device and the second vehicle moving device. The first clamping mechanism and the second clamping mechanism are suitable for cooperating to clamp the wheels.
[0007] Wherein, a fire extinguishing component, a supply channel and / or a storage component are provided on the first vehicle moving device and / or the second vehicle moving device. The supply channel is connected to the fire extinguishing component and is adapted to connect the fire extinguishing device to an external supply vehicle. The storage component is connected to the fire extinguishing component and is adapted to store a fire extinguishing solvent and to convey the fire extinguishing solvent to the fire extinguishing component. The fire extinguishing component includes a breakthrough driver and a breakthrough drill bit. A solvent outlet is provided on the breakthrough drill bit and is adapted to output the fire extinguishing solvent. The breakthrough driver is adapted to move the breakthrough drill bit at least in the vertical direction and break through the vehicle bottom protection.
[0008] In some embodiments, the connection forms of the first vehicle moving device and the second vehicle moving device include wireless communication connection, flexible connection and rigid connection.
[0009] In some embodiments, a connection extension mechanism is provided between the first vehicle moving device and the second vehicle moving device. The connection extension mechanism is adapted to guide the first vehicle moving device and the second vehicle moving device to approach or move away from each other in a first direction. The connection extension mechanism includes an extension component. Two ends of the extension component are respectively connected to the first vehicle moving device and the second vehicle moving device, and the two ends of the extension component are adapted to move relative to the first vehicle moving device and / or the second vehicle moving device.
[0010] In some embodiments, the connection extension mechanism further includes a driving component. The driving component includes a first driving assembly and a second driving assembly. The extension component includes a first extension end and a second extension end. The first driving assembly is provided on the first vehicle moving device. The first extension end is slidably connected to the first vehicle moving device. The first driving assembly is connected to the first extension end and is adapted to move the first extension end to slide relative to the first vehicle moving device in the first direction. The second driving assembly is provided on the second vehicle moving device. The second extension end is slidably connected to the second vehicle moving device. The second driving assembly is connected to the second extension end and is adapted to move the second extension end to slide relative to the second vehicle moving device in the first direction.
[0011] In some embodiments, the extension component includes a connection shaft. The driving component includes an extension driver and a driving shaft. The driving shaft and the connection shaft are nested and matched with each other, and the driving shaft and the connection shaft are in screw drive connection.
[0012] In some embodiments, the extension member includes at least one connecting shaft and a connector, the connector is disposed on the connecting shaft, the driving member includes an extension driver and at least one driving shaft, the driving shaft is disposed along a first direction, the connecting shaft and the driving shaft are parallel to each other, and the connection between the connector and the driving shaft is a screw drive connection.
[0013] In some embodiments, the first clamping mechanism includes a telescopic driver, a first telescopic arm, and a second telescopic arm. The first telescopic arm and the second telescopic arm are coaxially disposed on both sides of the telescopic driver, and the telescopic driver is adapted to extend the first telescopic arm and the second telescopic arm along a second direction out of the first vehicle transfer device.
[0014] In some embodiments, the second clamping mechanism includes a first swing driver, a first swing arm, a second swing driver, and a second swing arm. The first swing driver is connected to the first swing arm, the second swing driver is connected to the second swing arm. The swing ends of the first swing arm and the second swing arm are respectively oriented away from the first telescopic arm and the second telescopic arm. The first swing arm is adapted to swing outwards of the first vehicle transfer device and close to the first telescopic arm, and the second swing arm is adapted to swing outwards of the first vehicle transfer device and close to the second telescopic arm.
[0015] In some embodiments, the first clamping mechanism is arranged along the width direction of the first vehicle transfer device and the second vehicle transfer device, the connection and extension mechanism is arranged along the length direction of the first vehicle transfer device and the second vehicle transfer device. The first clamping mechanism and the connection and extension mechanism on the first vehicle transfer device are at the same height, and the first swing arm and the second swing arm are respectively arranged on both sides of the connection and extension mechanism.
[0016] In some embodiments, when the breakthrough drill bit breaks through the vehicle bottom protection, at least a part of the solvent outlet is adapted to pass through the vehicle bottom protection; the supply channel communicates with the storage component, and the supply channel is adapted to connect the storage component to an external supply vehicle; a one-way valve is provided in the supply channel; a protective ring is arranged around the breakthrough drill bit, the top height of the protective ring is higher than the top height of the breakthrough drill bit before movement, the top height of the protective ring is higher than the highest height of the rest of the first vehicle moving device, and the vertical distance from the lowest point of the first vehicle moving device to the top of the protective ring is less than the vehicle bottom clearance; a protective ring is arranged around the breakthrough drill bit, the top height of the protective ring is higher than the top height of the breakthrough drill bit before movement, the top height of the protective ring is higher than the highest height of the rest of the second vehicle moving device, and the vertical distance from the lowest point of the second vehicle moving device to the top of the protective ring is less than the vehicle bottom clearance; the driving mechanism includes a driving wheel and a driven wheel, the sum of the number of the driving wheels and the driven wheels on the first vehicle moving device is not less than 3, and the breakthrough point of the fire extinguishing component is arranged in the area enclosed by the driving wheel and the driven wheel; the sum of the number of the driving wheels and the driven wheels on the second vehicle moving device is not less than 3, and the breakthrough point of the fire extinguishing component is arranged in the area enclosed by the driving wheel and the driven wheel.
[0017] A fire extinguishing system includes a supply vehicle and the multifunctional vehicle moving robot as described in any one of the above. The supply vehicle and the multifunctional vehicle moving robot are connected by traction. The supply vehicle is adapted to store fire extinguishing solvent, the supply vehicle is adapted to be cooperatively connected with the supply channel, and the supply vehicle is adapted to convey the fire extinguishing solvent to the supply channel.
[0018] Compared with the prior art, the beneficial effects of the present application are as follows:
[0019] 1. By adding a fire extinguishing function, the multifunctional vehicle moving robot of the present application can utilize the moving and control advantages of the vehicle moving robot itself to travel under a new energy vehicle with a battery pack on fire, break through the outer shell protection of the battery pack, and inject the fire extinguishing solvent into the battery pack, so as to quickly and efficiently extinguish the fire of the battery pack.
[0020] 2. The multi-functional vehicle moving robot of the present application connects the first vehicle moving device and the second vehicle moving device by setting a connecting and extending mechanism. By using the connecting and extending mechanism to realize the deployment of the vehicle moving robot, the stability of the first vehicle moving device and the second vehicle moving device after deployment can be improved. At the same time, since the connecting and extending mechanism is a mechanical structure, the control of the separation distance between the first vehicle moving device and the second vehicle moving device by the connecting and extending mechanism is simpler. The second vehicle moving device can reduce various sensors including visual sensors and the remote control module, get rid of the dependence on algorithms, and only through a small number of sensors and preset vehicle parameters, etc., to achieve simple and stable control of the separation distance of the second vehicle moving device. The R & D difficulty and manufacturing cost are lower, the structure is more stable, and the designed and optimized connecting and extending mechanism will not cause a large increase in the volume of the vehicle moving robot.
[0021] 3. The multi-functional vehicle moving robot of the present application optimizes the structure of the first clamping mechanism. By setting the sensing arm of the first clamping mechanism as a telescopic unfolding structure, the structural strength of the sensing arm is improved, the unfolding speed and unfolding accuracy of the sensing arm are increased. At the same time, the telescopic unfolding structure design can reduce the interference between the sensing arm and the external environment during the unfolding process of the sensing arm, and reduce the probability of accidental interference between the sensing arm and other objects during the cooperation process between the vehicle moving robot and the vehicle.
[0022] 4. The fire extinguishing system of the present application can connect a supply vehicle to the vehicle moving robot when needed by setting an external supply vehicle, thereby effectively improving the fire extinguishing function endurance of the vehicle moving robot, enhancing the fire extinguishing effect, and increasing the fire extinguishing success rate. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 is a schematic diagram of the connection state of the first vehicle moving device and the second vehicle moving device according to a preferred embodiment of the multi-functional vehicle moving robot of the present application.
[0024] Figure 2 is a schematic diagram of the separation state of the first vehicle moving device and the second vehicle moving device according to a preferred embodiment of the multi-functional vehicle moving robot of the present application.
[0025] Figure 3 is a schematic diagram of the connection state of the first vehicle moving device and the second vehicle moving device according to another preferred embodiment of the multi-functional vehicle moving robot of the present application.
[0026] Figure 4 is a schematic diagram of the separation state of the first vehicle moving device and the second vehicle moving device according to another preferred embodiment of the multi-functional vehicle moving robot of the present application.
[0027] Figure 5 is a bottom side structural view according to a preferred embodiment of the multi-functional vehicle moving robot of the present application.
[0028] Figure 6 It is a structural view of the fire extinguishing component of a preferred embodiment of the multi-functional vehicle moving robot according to the present application.
[0029] Figure 7 It is a structural view when the breakthrough drill bit of a preferred embodiment of the multi-functional vehicle moving robot according to the present application is raised.
[0030] Figure 8 It is a side view of a preferred embodiment of the multi-functional vehicle moving robot according to the present application.
[0031] Figure 9 It is a schematic structural view of a preferred embodiment of the fire extinguishing system according to the present application.
[0032] In the figure: 1. The first vehicle moving device; 11. The first clamping mechanism; 111. The telescopic driver; 112. The first telescopic arm; 113. The second telescopic arm; 12. The second clamping mechanism; 121. The first swing driver; 122. The first swing arm; 123. The second swing driver; 124. The second swing arm; 2. The second vehicle moving device; 3. The driving wheel; 4. The driven wheel; 5. The connecting and extending mechanism; 51. The driving component; 511. The extending driver; 512. The driving shaft; 52. The extending component; 521. The connecting shaft; 522. The connector; 6. The storage component; 7. The fire extinguishing component; 71. The breakthrough driver; 72. The breakthrough drill bit; 721. The solvent outlet; 73. The protective ring; 8. The supply channel; 9. The supply vehicle; 91. The trailer hitch. Detailed implementation manners
[0033] Next, in combination with the detailed implementation manners, the present application will be further described. It should be noted that, on the premise of no conflict, the following described embodiments or technical features can be arbitrarily combined with each other to form new embodiments.
[0034] In the description of the present application, it should be noted that for the orientation terms, such as the terms "center", "horizontal", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the indicated orientation and position relationship are based on the orientation or position relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present application.
[0035] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.
[0036] The terms "comprising" and "having" and any variations thereof in the description and claims of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.
[0037] The following further describes this application with reference to the accompanying drawings:
[0038] As Figures 1 to 9 shown, this application provides a multifunctional vehicle moving robot, which includes a first vehicle moving device 1 and a second vehicle moving device 2. Driving mechanisms are provided on both the first vehicle moving device 1 and the second vehicle moving device 2. The driving mechanism is adapted to move the first vehicle moving device 1 or the second vehicle moving device 2. The first vehicle moving device 1 and the second vehicle moving device 2 are interconnected. The second vehicle moving device 2 is adapted to move following the first vehicle moving device 1. This vehicle moving robot is adapted to achieve autonomous movement through the driving mechanism. By using various sensors arranged on the vehicle moving robot, positioning and attitude adjustment with the vehicle bottom can be achieved. After the vehicle moving robot completes positioning and attitude adjustment, it can be separated and unfolded.
[0039] In some embodiments, the driving mechanism includes at least one driving wheel 3 and at least one driven wheel 4. The driving wheel 3 is used to move the first vehicle moving device 1 and the second vehicle moving device 2, and the cooperation between the driving wheel 3 and the driven wheel 4 is used to steer the first vehicle moving device 1 and the second vehicle moving device 2.
[0040] In some embodiments, the driving wheel 3 and the driven wheel 4 are an AVG steering wheel and a universal wheel.
[0041] In some embodiments, the connection and separation methods between the first vehicle moving device 1 and the second vehicle moving device 2 include wireless communication connection separation, flexible connection separation, and rigid connection separation. The first vehicle moving device 1 and the second vehicle moving device 2 can be locked and connected to each other through devices such as hooks and latches before separation.
[0042] Wireless communication connection separation means that after the first vehicle moving device 1 and the second vehicle moving device 2 are unlocked and separated, there is no physical connection between them. The two can move freely and can be remotely controlled through wireless signals. Its advantage is higher freedom of movement and a more compact structure, which is a relatively preferred solution.
[0043] Flexible connection separation means that after the first vehicle moving device 1 and the second vehicle moving device 2 are unlocked and separated, the main structures are completely disconnected, and they are flexibly connected by an elastic band, a rope, a cable or a flexible steel bar. They can move freely within the telescopic range or the cable length radius, and can be remotely controlled by wireless signals or by transmitting wired signals through the cable. Its advantages are stronger control stability. When the wireless signal is interfered, it can also be controlled by the cable. At the same time, the cable can also play a role in power supply to increase the battery life.
[0044] When the first vehicle moving device 1 and the second vehicle moving device 2 are connected by a flexible steel bar, the flexible steel bar is vertically arranged so that the flexible steel bar can bend and swing in the horizontal plane, so that the first vehicle moving device 1 and the second vehicle moving device 2 can move freely between them.
[0045] When the separation method of the first vehicle moving device 1 and the second vehicle moving device 2 is wireless connection separation and flexible connection separation, the mobility of the first vehicle moving device 1 and the second vehicle moving device 2 after separation is stronger, which is convenient for the first vehicle moving device 1 or the second vehicle moving device 2 to move separately to the bottom of the vehicle for fire extinguishing by wireless control or cable control after separation.
[0046] When the separation method of the first vehicle moving device 1 and the second vehicle moving device 2 is rigid connection separation, a connection extension mechanism 5 is arranged between the first vehicle moving device 1 and the second vehicle moving device 2. After the vehicle moving robot completes positioning and attitude adjustment, it will be initially deployed through the connection extension mechanism 5.
[0047] Specifically, the connection extension mechanism 5 is adapted to guide the first vehicle moving device 1 and the second vehicle moving device 2 to approach or move away from each other in the first direction until the first vehicle moving device 1 and the second vehicle moving device 2 are respectively aligned with the front and rear row tires of the vehicle. Under the guidance of the connection extension mechanism 5, the first vehicle moving device 1 and the second vehicle moving device 2 do not need to consider the autonomous movement performance of the second vehicle moving device 2 too much, and do not need to set too many sensors and a large number of optimization algorithms for the second vehicle moving device 2. It only needs to ensure that the position where the second vehicle moving device 2 stops moving after moving away from the first vehicle moving device 1 can be sensed and recognized by the second vehicle moving device 2 itself to adapt to vehicles with different wheelbases. Compared with the sensors required for the autonomous movement of the second vehicle moving device 2, the number of sensors to be arranged for the second vehicle moving device 2 in this application is less, and the optimization algorithm is also relatively easy, which can effectively reduce the R & D and manufacturing difficulty, and the probability of malfunction and error is also lower. At the same time, the second vehicle moving device 2 can also not set the driving wheel 3, further improving the structural compactness and reducing the cost.
[0048] In addition, the connection and extension mechanism 5 can also replace the locking mechanism between the first vehicle moving device 1 and the second vehicle moving device 2 in a traditional vehicle moving robot, and use mechanical transmission to lock the relative positions of the first vehicle moving device 1 and the second vehicle moving device 2. In theory, after replacing the locking mechanism with the connection and extension mechanism 5, the internal space occupied by the first vehicle moving device 1 and the second vehicle moving device 2 is close to, or even less, more practical, and the design difficulty is reduced.
[0049] In some embodiments, the arrangement mode of the connection and extension mechanism 5 can be that the connection and extension mechanism 5 includes an extension component 52, and both ends of the extension component 52 are respectively connected to the first vehicle moving device 1 and the second vehicle moving device 2. In this application, the first direction is usually the connection direction of the first vehicle moving device 1 and the second vehicle moving device 2. The connection and extension mechanism 5 can enable the first vehicle moving device 1 and the second vehicle moving device 2 to be extended in the form of a mechanical structure along their connection direction, so as to enhance the stability during and after the extension process.
[0050] In some embodiments, the connection and extension mechanism 5 further includes a driving component 51, the driving component 51 is arranged on the first vehicle moving device 1 and / or the second vehicle moving device 2, the driving component 51 is connected to the extension component 52, and the driving component 51 is adapted to use the power source arranged on the first vehicle moving device 1 or the second vehicle moving device 2 where it is located or an external power source to make the extension component 52 and the first vehicle moving device 1 and / or the second vehicle moving device 2 actively move relative to each other along the first direction.
[0051] It can be understood that arranging at least one of setting a driving component 51 for the extension component 52 to actively elongate and shorten and setting driving wheels 3 on the second vehicle moving device 2 can realize the mutual separation and approach between the first vehicle moving device 1 and the second vehicle moving device 2.
[0052] For each driving component mentioned in the following embodiments, it can also be operated using the power source arranged on the first vehicle moving device 1 or the second vehicle moving device 2 where it is located, and no further description will be made here.
[0053] On both sides of the first vehicle moving device 1 and both sides of the second vehicle moving device 2, there are first clamping mechanisms 11 provided. The first vehicle moving device 1 and the second vehicle moving device 2 can actively travel to the position between the front and rear row of wheels at the bottom of the vehicle, and adjust their postures to move the first vehicle moving device 1 and the second vehicle moving device 2 to the central axis position at the bottom of the vehicle. Then, the first clamping mechanism 11 and the second clamping mechanism 12 are deployed sequentially or simultaneously. Let the first clamping mechanism 11 first contact the front or rear tire of the vehicle. After the first clamping mechanism 11 contacts the tire, the second clamping mechanism 12 is adapted to expand outwards. The first clamping mechanism 11 and the second clamping mechanism 12 cooperate to clamp the wheels located on both sides of the first vehicle moving device 1 and lift the wheels off the ground. Then, the first vehicle moving device 1 and the second vehicle moving device 2 separate from each other and move away until the second vehicle moving device 2 moves to the position between another row of wheels. Then, continue to deploy the first clamping mechanism 11 and the second clamping mechanism 12 on the second vehicle moving device 2 sequentially or simultaneously. Let the first clamping mechanism 11 first contact the front or rear tire of the vehicle. After the first clamping mechanism 11 contacts the tire, the second clamping mechanism 12 is adapted to expand outwards. The first clamping mechanism 11 and the second clamping mechanism 12 cooperate to clamp the wheels located on both sides of the second vehicle moving device 2 and lift the wheels off the ground, thereby realizing the support and suspension of the vehicle and using the rigidity of the vehicle's front and rear wheelbase to achieve the vehicle moving function.
[0054] Considering the structural compactness of the vehicle moving robot, how to achieve the maximum separation travel of the first vehicle moving device 1 and the second vehicle moving device 2 within a limited volume when the connection and extension mechanism 5 is provided to adapt to vehicles with different wheelbases is a problem to be considered. It can be known from the arrangement method of the connection and extension mechanism 5 that the extension component 52 is adapted to have relative movement with the first vehicle moving device 1 and / or the second vehicle moving device 2 in the first direction. When both ends of the extension component 52 can respectively have relative movement with the first vehicle moving device 1 and the second vehicle moving device 2 in the first direction, a double extension range can be obtained.
[0055] Such as Figures 1 to 4In the illustrated embodiment, the driving member 51 includes a first driving assembly and a second driving assembly, the extending member 52 includes a first extending end and a second extending end, the first driving assembly is disposed on the first vehicle moving device 1, the first extending end is slidably connected to the first vehicle moving device 1, the first driving assembly is connected to the first extending end, and the first driving assembly is adapted to slide the first extending end relative to the first vehicle moving device 1 in a first direction. The second driving assembly is disposed on the second vehicle moving device 2, the second extending end is slidably connected to the second vehicle moving device 2, the second driving assembly is connected to the second extending end, and the second driving assembly is adapted to slide the second extending end relative to the second vehicle moving device 2 in the first direction. It can be understood that both the first driving assembly and the second driving assembly are adapted to move the extending member 52 in the direction of the other, so that the extending assemblies on the first vehicle moving device 1 and the second vehicle moving device 2 extend to the outside of the first vehicle moving device 1 and the second vehicle moving device 2 as a connecting structure, thereby achieving the maximum separation distance under the same-sized vehicle moving devices.
[0056] As Figures 1 to 2 In the illustrated embodiment, the extending member 52 includes a connecting shaft 521, the driving member 51 includes an extending driver 511 and a driving shaft 512. The driving shaft 512 and the connecting shaft 521 are nested and matched with each other, and the driving shaft 512 and the connecting shaft 521 are in screw drive connection. By rotating the driving shaft 512, the connecting shaft 521 can be extended or retracted into the driving shaft 512. The nested and matched design of the driving shaft 512 and the connecting shaft 521 can make the structure of the connecting and extending mechanism 5 the most compact, reduce the space occupied in the first vehicle moving device 1 and the second vehicle moving device 2, thereby facilitating the arrangement of other structures, or can reduce the volume of the first vehicle moving device 1 and the second vehicle moving device 2 and increase the passability of the first vehicle moving device 1 and the second vehicle moving device 2. Alternatively, the driving member 51 may not be provided, and the driving shaft 512 and the connecting shaft 521 may be set to be smooth, and the driving wheels 3 of the first vehicle moving device 1 and the second vehicle moving device 2 are used to control the telescoping between the driving shaft 512 and the connecting shaft 521.
[0057] As Figures 3 to 4 In the illustrated embodiment, the extending member 52 includes at least one connecting shaft 521 and a connector 522. The connector 522 is disposed on the connecting shaft 521. The driving member 51 includes an extending driver 511 and at least one driving shaft 512. The driving shaft 512 is disposed in the first direction, the connecting shaft 521 and the driving shaft 512 are parallel to each other, and the connection between the connector 522 and the driving shaft 512 is a screw drive connection. This method can arrange multiple connecting shafts 521 in a relatively simple manner, thereby increasing the structural strength of the connecting and extending mechanism 5 and strengthening the connection stability when the first vehicle moving device 1 and the second vehicle moving device 2 are separated from each other. Alternatively, the driving member 51 may not be provided, and the driving wheels 3 of the first vehicle moving device 1 and the second vehicle moving device 2 are used to control the folding and stretching of the extending member 52.
[0058] In some embodiments, the extension member 52 includes a scissor structure. Through the folding and extension of the scissor linkages, the first vehicle moving device 1 and the second vehicle moving device 2 can approach and move away from each other. It can be understood that the scissor linkages can be actively folded and extended using the driving member 51, or the driving member 51 may not be provided, and the folding and extension can be controlled by the driving wheels 3 of the first vehicle moving device 1 and the second vehicle moving device 2.
[0059] As Figures 1 to 4 shown in the embodiment, the first clamping mechanism 11 includes a telescopic driver 111, a first telescopic arm 112, and a second telescopic arm 113. The first telescopic arm 112 and the second telescopic arm 113 are coaxially arranged on both sides of the telescopic driver 111. The telescopic driver 111 is adapted to extend the first telescopic arm 112 and the second telescopic arm 113 out of the first vehicle moving device 1 in the second direction, and the second direction is the width direction of the vehicle moving robot.
[0060] In some embodiments, the connection between the first telescopic arm 112 and the second telescopic arm 113 and the telescopic driver 111 is a lead screw connection. The thread directions of the lead screws on both sides of the telescopic driver 111 are opposite. When the lead screw rotates in one direction, the first telescopic arm 112 and the second telescopic arm 113 can move away from or close to each other synchronously.
[0061] In some embodiments, the first telescopic arm 112 and the second telescopic arm 113 serve as sensing arms, which first extend out and contact the vehicle tire, and feedback the sensing signal. When the vehicle moving robot receives the sensing signal, it controls the first vehicle moving device 1 and the second vehicle moving device 2 to separate and extend, and makes other swing arms swing out in sequence to realize the clamping of the tire.
[0062] It should be noted that since the connection and extension mechanism 5 needs to utilize the length direction of the vehicle moving robot during layout, and the telescopic driver 111, the first telescopic arm 112, and the second telescopic arm 113 of the first clamping mechanism 11 need to utilize the width direction of the vehicle moving robot, the telescopic design of the first clamping mechanism 11 can, while ensuring the structural strength and structural compactness of the first telescopic arm 112 and the second telescopic arm 113, reduce the occupation of the length direction of the vehicle moving robot, with less structural interference between the two, so as to make full use of the internal space of the vehicle moving robot, and then arrange the above components more simply.
[0063] In some embodiments, since the connection and extension mechanism 5 is usually arranged at the central axis position of the vehicle moving robot, and in order to ensure the symmetry of the extension of the first telescopic arm 112 and the second telescopic arm 113, the telescopic drive 111 is usually also arranged at the central axis position of the vehicle moving robot. Therefore, the first drive assembly of the connection and extension mechanism 5 on the first vehicle moving device 1 can also be coupled and reused with the telescopic drive 111 of the first clamping mechanism 11, so that the extension of the first telescopic arm 112 and the second telescopic arm 113 is linked with the extension of the first vehicle moving device 1 and the second vehicle moving device 2, thereby reducing the number of components and improving the structural compactness. At this time, the part of the connection and extension mechanism 5 in the second vehicle moving device 2 can be used to achieve the adaptive adjustment for vehicles with different wheelbases.
[0064] As Figures 1 to 4 shown in the embodiment, the second clamping mechanism 12 further includes a first swing drive 121, a first swing arm 122, a second swing drive 123 and a second swing arm 124. The first swing drive 121 is connected to the first swing arm 122, and the second swing drive 123 is connected to the second swing arm 124. The swing ends of the first swing arm 122 and the second swing arm 124 face away from the first telescopic arm 112 and the second telescopic arm 113 respectively. The first swing arm 122 is adapted to swing outwards of the first vehicle moving device 1 and close to the first telescopic arm 112, and the second swing arm 124 is adapted to swing outwards of the first vehicle moving device 1 and close to the second telescopic arm 113 to clamp the wheel, so that the wheel is lifted and separated from the ground.
[0065] In some embodiments, both the first swing drive 121 and the second swing drive 123 use drive motors.
[0066] In some embodiments, the connection and extension mechanism 5 is arranged along the central axis of the first vehicle moving device 1 and the second vehicle moving device 2, and the first swing arm 122 and the second swing arm 124 are respectively arranged on both sides of the connection and extension mechanism 5. Due to the existence of the connection shaft 521 of the connection and extension mechanism 5, arranging the connection and extension mechanism 5 along the central axis of the first vehicle moving device 1 and the second vehicle moving device 2 can obtain better traction effect and stability.
[0067] As Figures 1 to 4 shown in the embodiment, the side of the first swing arm 122 away from the first telescopic arm 112 and the side of the second swing arm 124 away from the second telescopic arm 113 are set as the supporting sides, and the other side is set as the rolling side. The rolling side is movable, which can guide the wheel to be lifted and is supported by the supporting side.
[0068] As Figures 1 to 4In the illustrated embodiment, a storage component 6 and a fire extinguishing component 7 are provided on the first vehicle moving device 1 and / or the second vehicle moving device 2. The storage component 6 is adapted to store a fire extinguishing solvent. The storage component 6 is connected to the fire extinguishing component 7. The storage component 6 is adapted to convey the fire extinguishing solvent to the fire extinguishing component 7. The fire extinguishing component 7 includes a breakthrough driver 71 and a breakthrough drill bit 72. A solvent outlet 721 is provided on the breakthrough drill bit 72. The solvent outlet 721 is adapted to be arranged based on the principle of multiple layers and multiple angles. The solvent outlet 721 is adapted to output the pressurized fire extinguishing solvent to ensure that the fire extinguishing solvent can enter the target interior. The breakthrough driver 71 is adapted to move the breakthrough drill bit 72 at least in the vertical direction and break through the vehicle bottom protection.
[0069] In some embodiments, the breakthrough driver 71 is a device such as an oil cylinder or a cylinder.
[0070] In some embodiments, when the breakthrough drill bit 72 breaks through the vehicle bottom protection, it can break through multiple layers of protection including the vehicle bottom guard plate and the battery pack housing, so that at least part of the solvent outlets 721 are adapted to pass through the vehicle bottom protection along with the breakthrough drill bit 72, allowing the fire extinguishing solvent to be sprayed and poured into the battery pack by the breakthrough drill bit 72, thereby reducing the temperature inside the battery pack and reducing the reaction of the electrolyte, so as to achieve the fire extinguishing effect.
[0071] In some embodiments, a temperature sensor is provided on the vehicle moving robot. The temperature sensor is used to identify the high-temperature area of the battery pack under the vehicle bottom. The vehicle moving robot can move to the lower part of the high-temperature area based on the information fed back by the temperature sensor. Further, the vehicle moving robot can adjust the relative position between the fire extinguishing component 7 and the battery pack based on the information fed back by the temperature sensor, so that the fire extinguishing component 7 can break through and cool and extinguish the high-temperature area of the battery pack, thereby effectively improving the fire extinguishing effect and efficiency.
[0072] In some embodiments, the temperature sensor is arranged below the breakthrough drill bit 71. The temperature sensor identifies the temperature near the upper area of the breakthrough drill bit 71. The vehicle moving robot can position the breakthrough drill bit 71 below the high-temperature area of the battery pack based on the information fed back by the temperature sensor.
[0073] As Figures 1 to 5 In the illustrated embodiment, the sum of the number of driving wheels 3 and driven wheels 4 on the first vehicle moving device 1 is not less than 3. The breakthrough point of the fire extinguishing component 7 is arranged within the area enclosed by the driving wheels 3 and the driven wheels 4. The same applies when arranging the fire extinguishing component 7 on the second vehicle moving device 2.
[0074] The purpose of arranging the breakthrough point of the fire extinguishing component 7 in association with the driving wheel 3 and the driven wheel 4 is that when the fire extinguishing component 7 makes a breakthrough, a relatively large reaction force will be generated. By arranging the breakthrough point within the area enclosed by the driving wheel 3 and the driven wheel 4, effective support can be achieved by relying on each wheel, and the acting force can be balanced, thereby ensuring the stability of the first vehicle moving device 1 and the second vehicle moving device 2, and ensuring that the breakthrough of the vehicle bottom protection can be achieved.
[0075] As Figures 3 to 4 In the embodiment shown, the lower part of the breakthrough drill bit 72 has a cylindrical structure, and the upper part of the breakthrough drill bit 72 has a conical structure. A plurality of solvent outlets 721 are provided circumferentially on the conical structure. A plurality of solvent outlets 721 are provided circumferentially on the side of the cylindrical structure close to the conical structure. After the upper part of the breakthrough drill bit 72 enters the battery, the diffusive spraying of the fire extinguishing solvent can be realized, improving the fire extinguishing effect.
[0076] As Figures 1 to 4 In the embodiments shown in FIGS. 6 to 8, a protective ring 73 is provided around the breakthrough drill bit 72. The top height of the protective ring 73 is higher than the top height of the breakthrough drill bit 72 before movement. The top height of the protective ring 73 is higher than the highest height of the rest of the first vehicle moving device 1. The vertical distance from the lowest point of the first vehicle moving device 1 to the top of the protective ring 73 is less than the vehicle bottom clearance; a protective ring 73 is provided around the breakthrough drill bit 72. The top height of the protective ring 73 is higher than the top height of the breakthrough drill bit 72 before movement. The top height of the protective ring 73 is higher than the highest height of the rest of the second vehicle moving device 2. The vertical distance x from the lowest point of the second vehicle moving device 2 to the top of the protective ring 73 is less than the vehicle bottom clearance.
[0077] The protective ring 73 is used to reduce the sputtering of debris when the breakthrough drill bit 72 breaks through, improving safety. In addition, the height of the vehicle moving robot after setting the protective ring 73 needs to be less than the height between the lowest point of the vehicle chassis and the ground to ensure that the vehicle moving robot can move smoothly under the vehicle.
[0078] As Figures 1 to 4 In the embodiment shown, a supply channel 8 is provided on the first vehicle moving device 1 and / or the second vehicle moving device 2. One end of the supply channel 8 is communicated with the outside of the first vehicle moving device 1 and / or the second vehicle moving device 2, and the other end of the supply channel 8 is adapted to be connected to the storage component 6 and / or the fire extinguishing component 7.
[0079] In some embodiments, a one-way valve is provided in the supply channel 8 to limit the outflow of the fire extinguishing solvent to the outside when the supply channel 8 is not being supplied.
[0080] Each structure and function of the multifunctional vehicle moving robot can be autonomously controlled and remotely controlled to improve applicability.
[0081] AsFigure 9 As shown in the figure, the present application also provides a fire extinguishing system, which includes a supply vehicle 9 and the multi-functional vehicle moving robot of any of the above embodiments. The supply vehicle 9 and the multi-functional vehicle moving robot are traction-connected. The supply vehicle 9 is suitable for storing fire extinguishing solvent, and the supply vehicle 9 is suitable for being connected to the supply channel 8 in a cooperative manner, and the supply vehicle 9 is suitable for conveying the fire extinguishing solvent to the supply channel 8.
[0082] In some embodiments, a towing hook 91 is provided on the first vehicle moving device 1 and / or the second vehicle moving device 2. The supply vehicle 9 is suitable for being traction-connected to the towing hook 91 to achieve passive movement.
[0083] In some embodiments, the vehicle moving robot can also be externally connected to a throwing vehicle, and is linked and controlled through wired or wireless connection. The throwing vehicle is configured with a launching device, and the launching device can rotate 360°. The launching device can launch a fire extinguishing blanket. When extinguishing a fire, the throwing vehicle towes or transports the vehicle moving robot to the fire scene. After putting down the vehicle moving robot, the throwing vehicle can first project the fire extinguishing blanket onto the vehicle roof to cover and block the vehicle body, and then the vehicle moving robot moves under the burning vehicle to extinguish the fire at the vehicle bottom and the battery pack.
[0084] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present application. Without departing from the spirit and scope of the present application, the present application will have various changes and improvements, and these changes and improvements all fall within the scope of the present application claimed. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.
Claims
1. A multifunctional vehicle moving robot, characterized in that: The first and second vehicle moving devices are both provided with a driving mechanism, the driving mechanism is suitable for moving the first vehicle moving device, the driving mechanism is suitable for moving the second vehicle moving device, the second vehicle moving device is linked to the first vehicle moving device, the second vehicle moving device is suitable for following the movement of the first vehicle moving device, the first and second vehicle moving devices are both provided with a first clamping mechanism and a second clamping mechanism, the first clamping mechanism and the second clamping mechanism are suitable for cooperating to clamp wheels; Wherein, the first vehicle moving device and / or the second vehicle moving device are provided with a fire extinguishing component and a supply channel and / or a storage component, the supply channel is connected to the fire extinguishing component, the supply channel is suitable for connecting the fire extinguishing device to an external supply vehicle, the storage component is connected to the fire extinguishing component, the storage component is suitable for storing a fire extinguishing solvent, the storage component is suitable for conveying the fire extinguishing solvent to the fire extinguishing component, the fire extinguishing component includes a breakthrough drive and a breakthrough drill bit, the breakthrough drill bit is provided with a solvent outlet, the solvent outlet is suitable for outputting the fire extinguishing solvent, and the breakthrough drive is suitable for enabling the breakthrough drill bit to move at least in a vertical direction and break through the bottom protection of the vehicle.
2. A multifunctional vehicle moving robot as claimed in claim 1, characterized in that: The connection forms of the first vehicle moving device and the second vehicle moving device include wireless communication connection, flexible connection and rigid connection.
3. A multifunctional vehicle moving robot as claimed in claim 1, characterized in that: A connecting and extending mechanism is provided between the first vehicle moving device and the second vehicle moving device, and the connecting and extending mechanism is suitable for guiding the first vehicle moving device and the second vehicle moving device to approach or move away from each other along a first direction. The connecting and extending mechanism includes an extending component, and two ends of the extending component are respectively connected to the first vehicle moving device and the second vehicle moving device, and the two ends of the extending component are suitable for moving relative to the first vehicle moving device and / or the second vehicle moving device.
4. A multifunctional vehicle moving robot as claimed in claim 3, characterized in that: The connecting and extending mechanism also includes a driving component, the driving component includes a first driving component and a second driving component, the extension component includes a first extension end and a second extension end, the first driving component is arranged on the first vehicle moving device, the first extension end is slidably connected to the first vehicle moving device, the first driving component is connected to the first extension end, the first driving component is suitable for making the first extension end slide relative to the first vehicle moving device along a first direction, the second driving component is arranged on the second vehicle moving device, the second extension end is slidably connected to the second vehicle moving device, the second driving component is connected to the second extension end, and the second driving component is suitable for making the second extension end slide relative to the second vehicle moving device along the first direction.
5. The multifunctional vehicle moving robot according to claim 3, characterized in that: The extension component includes a connecting shaft, and the driving component includes an extension driver and a driving shaft. The driving shaft and the connecting shaft are nested and matched with each other, and the driving shaft and the connecting shaft are connected by a screw transmission; the extension component includes at least one connecting shaft and a connector, and the connector is arranged on the connecting shaft. The driving component includes an extension driver and at least one driving shaft, and the driving shaft is arranged along a first direction. The connecting shaft and the driving shaft are parallel to each other, and the connection between the connector and the driving shaft is a screw transmission connection.
6. The multifunctional vehicle moving robot according to claim 1, characterized in that: The first clamping mechanism includes a telescopic drive, a first telescopic arm and a second telescopic arm, wherein the first telescopic arm and the second telescopic arm are coaxially arranged on both sides of the telescopic drive, and the telescopic drive is suitable for extending the first telescopic arm and the second telescopic arm out of the first vehicle moving device along a second direction.
7. A multifunctional vehicle moving robot as claimed in claim 6, characterized in that: The second clamping mechanism includes a first swing drive, a first swing arm, a second swing drive and a second swing arm, the first swing drive is connected to the first swing arm, the second swing drive is connected to the second swing arm, the swing ends of the first swing arm and the second swing arm are respectively facing away from the first telescopic arm and the second telescopic arm, the first swing arm is suitable for swinging outward to the outside of the first vehicle moving device and approaching the first telescopic arm, and the second swing arm is suitable for swinging outward to the outside of the first vehicle moving device and approaching the second telescopic arm.
8. The multifunctional vehicle moving robot according to claim 7, characterized in that: The first clamping mechanism is arranged along the width direction of the first vehicle moving device and the second vehicle moving device, and the connecting and extending mechanism is arranged along the length direction of the first vehicle moving device and the second vehicle moving device. The first clamping mechanism and the connecting and extending mechanism on the first vehicle moving device are located at the same height, and the first swing arm and the second swing arm are respectively arranged on both sides of the connecting and extending mechanism.
9. The multifunctional vehicle moving robot according to claim 1, characterized in that: When the breakthrough drill breaks through the undercarriage protection, at least part of the solvent outlet is suitable for passing through the undercarriage protection; the supply channel is connected to the storage component, and the supply channel is suitable for connecting the storage component to an external supply vehicle; a one-way valve is arranged in the supply channel; a protective ring is arranged around the breakthrough drill bit, the top height of the protective ring is higher than the top height of the breakthrough drill bit before the activity, the top height of the protective ring is higher than the highest height of the rest of the first vehicle moving device, and the vertical distance from the lowest point of the first vehicle moving device to the top of the protective ring is less than the undercarriage gap; a protective ring is arranged around the breakthrough drill bit, the top height of the protective ring is higher than the highest height of the rest of the first vehicle moving device, and the vertical distance from the lowest point of the first vehicle moving device to the top of the protective ring is less than the undercarriage gap; a protective ring is arranged around the breakthrough drill bit, the top height of the protective ring is higher than the At the top height of the breakthrough drill bit before it moves, the top height of the protective ring is higher than the highest height of the rest of the second moving device, and the distance from the lowest point of the second moving device to the top of the protective ring in the vertical direction is less than the gap under the vehicle; the driving mechanism includes a driving wheel and a driven wheel, the sum of the number of the driving wheels and the driven wheels on the first moving device is not less than 3, and the breakthrough point of the fire extinguishing component is arranged in the area surrounded by the driving wheel and the driven wheel; the sum of the number of the driving wheels and the driven wheels on the second moving device is not less than 3, and the breakthrough point of the fire extinguishing component is arranged in the area surrounded by the driving wheel and the driven wheel.
10. A fire extinguishing system, characterized in that: It comprises a supply vehicle and the multifunctional vehicle-moving robot as claimed in any one of claims 1 to 9, the supply vehicle and the multifunctional vehicle-moving robot being towed and connected, the supply vehicle being suitable for storing fire-extinguishing solvent, the supply vehicle being suitable for being connected with the supply channel, and the supply vehicle being suitable for conveying fire-extinguishing solvent to the supply channel.