Tunnel and underground space safety emergency rescue fire-fighting robot

Abstract

The invention discloses a tunnel and underground space safety emergency rescue fire-fighting robot which comprises a main body, a bending part, a rolling part and a driving part, the bending part is provided with a fixed arm and a stretching arm which are installed on the two sides of the main body, and the fixed arm and the stretching arm are movably connected; the rolling part is arranged at the end part of the extension arm and is provided with a wheel rim, and the wheel rim is movably connected with the extension arm; and the driving part is fixedly connected with the stretching arm, and the driving part is arranged in the rim in a sleeving manner. A telescopic rod is contracted through a hydraulic rod, a sliding block arranged in a sliding groove in one side of an extending arm is driven to move, the extending arm is pulled up, a pull rod is driven while the extending arm is pulled up, and the pull rod pulls a second fixing cylinder to move, so that a wheel rim moves downwards, blades are driven to stretch out of the wheel rim, and a driving motor is started; and the four driving blades rotate to form a spiral blade, so that the main body is driven to rise, and exploration can be better carried out in a place with a large space.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle for safety emergency rescue, and particularly to a fire-fighting robot for safety emergency rescue in tunnels and underground spaces. Background Art

[0002] A tunnel is an engineering structure that passes through a mountain or is designed within the strata. A tunnel built within the strata is a form of human utilization of underground space, and a tunnel passing through a mountain is a form of transportation for humans to save costs in building roads. Tunnels can be classified into traffic tunnels, hydraulic tunnels, municipal tunnels, mine tunnels, and military tunnels. After an accident occurs in a large tunnel, a rescue vehicle can be used to enter for rescue, but the waiting time for the rescue vehicle to arrive is relatively long. Accidents often occur with fires, explosions, etc. Therefore, it is particularly important to conduct on-site investigation and fire-fighting in the first time, so as to understand the accident situation in the first time. Rescue personnel need to first explore the situation inside the tunnel and understand the conditions inside the tunnel. In a relatively open space, the overall internal situation can be explored clearly at the highest point. At the same time, in an unopen place, ground exploration is required. If the risk of secondary damage in the tunnel cannot be clearly known, the rescue cannot be carried out well, which will greatly delay the rescue and endanger the lives of personnel. Summary of the Invention

[0003] An object of the present invention is to provide a fire-fighting robot for safety emergency rescue in tunnels and underground spaces that can at least solve any one of the above technical problems.

[0004] A further object of the present invention is to avoid delaying the rescue and posing a life danger to rescue personnel.

[0005] Another further object of the present invention is to enable the rescue to be carried out better and to plan the rescue plan.

[0006] Specifically, the present invention provides a fire-fighting robot for safety emergency rescue in tunnels and underground spaces, including a main body, a bending part, a rolling part, and a driving part. The bending part has fixed arms and extending arms installed on both sides of the main body, and the fixed arms and the extending arms are movably connected; the rolling part is arranged at the end of the extending arm, and the rolling part has a wheel rim, and the wheel rim is movably connected with the extending arm; the driving part is fixedly connected with the extending arm, and the driving part is sleeved inside the wheel rim.

[0007] Further, one end of the fixed arm is fixedly connected with the main body, the other end of the fixed arm is hinged to the extending arm, and a hydraulic rod is arranged on one side of the fixed arm, and the hydraulic rod is hinged to the fixed arm. A chute is arranged on the same side of the extending arm as the fixed arm, a slider is arranged in the chute, and the telescopic rod of the hydraulic rod is hinged to the slider.

[0008] Furthermore, the rolling part further includes a first fixed skeleton and a second fixed skeleton. The first fixed skeleton and the second fixed skeleton are respectively connected to a first fixed cylinder and a second fixed cylinder, and the first fixed cylinder and the second fixed cylinder are fixedly connected through the second fixed skeleton. The second fixed cylinder is fixedly connected to the rim through the first fixed skeleton.

[0009] Furthermore, a limiting slot is arranged on the inner side of the rim, and the limiting slots are grouped in pairs.

[0010] Furthermore, the limiting slot is arranged obliquely.

[0011] Furthermore, the driving part includes a driving blade, a rotating shaft and a driving motor. The driving motor is fixedly connected to the end of the extension arm, and the rotating shaft of the driving motor passes through the first fixed cylinder and is connected to the driving blade.

[0012] Furthermore, a ring groove is arranged on the outer side wall of the second fixed cylinder, a claw is arranged in the ring groove, one end of the claw is connected to a pull rod, and the other end of the pull rod is fixedly connected to the slider.

[0013] Furthermore, a limiting ring is arranged on the outer periphery of the extension arm.

[0014] Furthermore, a preset distance is arranged between the first fixed cylinder and the second fixed cylinder, the driving motor is sleeved inside the second fixed cylinder, and the second fixed cylinder moves up and down along the outer wall of the extension arm.

[0015] Furthermore, supporting wheels are arranged at the bottom of the main body.

[0016] The technical effects and advantages of the present invention:

[0017] In the present invention, a detection device or a tool for rescue is installed on the main body. Bending parts are provided on both sides of the main body. The rolling parts and driving parts on both sides of the main body are controlled by the bending parts. The bending parts have extension arms that can be bent by 90 degrees. The extension arms are movably connected to the fixed arms. A hydraulic rod is provided on one side of the fixed arm. The telescopic rod of the hydraulic rod is hinged to a slider provided on the bending arm. When the telescopic rod expands and contracts, it can control the bending and unfolding of the extension arms. When the space is small and only ground walking is possible, the bending parts extend. At this time, the rim will cover the driving blades under the push of the pull rod, and the driving blades are inserted into the limit slots inside the rim for fixation. The driving motor drives the inserted driving blades, thereby driving the rim to rotate and realizing the movement of the main body part, so as to adapt to the small underground space; when the underground space is large, the telescopic rod is contracted by the hydraulic rod, driving the slider provided in the chute on one side of the extension arm to move, pulling up the extension arm. When the extension arm is pulled up, the pull rod is driven at the same time, and the pull rod pulls the second fixed cylinder to move, so that the rim moves down, and the driving blades extend out of the rim. The driving motor starts, and the four driving blades rotate to form a spiral blade, thereby driving the main body to rise, and better conducting exploration in a larger space; at the same time, the four fixed arms can be independently controlled, so that they can be bent at different angles to adapt to different underground terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings in an exemplary but not restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0019] Figure 1 is a schematic structural diagram of the present invention.

[0020] Figure 2 is a front view structural schematic diagram of the present invention.

[0021] Figure 3 is a schematic structural diagram of the present invention in an upright flight state.

[0022] Figure 4 is a top view structural schematic diagram of the present invention.

[0023] Figure 5 is the present invention Figure 4 structural schematic diagram in the A-A direction.

[0024] Figure 6 is the present invention Figure 5 partial enlarged structural schematic diagram of B.

[0025] In the figure: 1. Main body; 101. Support wheel; 2. Rolling part; 201. Rim; 202. Limit slot; 203. First fixed skeleton; 204. Second fixed skeleton; 205. First fixed cylinder; 206. Limit ring; 207. Second fixed cylinder; 2071. Ring groove; 208. Tie rod; 3. Bending part; 301. Fixed arm; 302. Extension arm; 3021. Slide groove; 303. Hydraulic rod; 3031. Telescopic rod; 3032. Slide block; 4. Driving part; 401. Driving blade; 402. Rotating shaft; 403. Driving motor. Detailed implementation mode

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Figure 1 It is a structural schematic diagram of the present invention. Figure 2 It is a front view structural schematic diagram of the present invention. Figure 3 It is a vertical flight structural schematic diagram of the present invention. Figure 4 It is a top view structural schematic diagram of the present invention. Figure 5 For the present invention Figure 4 The structural schematic diagram in the A-A direction in it. Figure 6 For the present invention Figure 5 The partial enlarged structural schematic diagram of B in it.

[0028] The solution of this embodiment, as shown in the figure, provides a tunnel and underground space safety emergency rescue and fire fighting robot, including a main body 1, a bending part 3, a rolling part 2 and a driving part 4. The driving part 4 includes a driving blade 401, a rotating shaft 402 and a driving motor 403. The driving motor 403 is fixedly connected to the end of the extension arm 302, and the rotating shaft 402 of the driving motor 403 passes through the first fixed cylinder 205 and is connected to the driving blade 401. A limiting slot 202 is arranged inside the rim 201. The limiting slots 202 are grouped in pairs, and the driving blade 401 is fixed through the limiting slots 202. The bending part 3 has a fixed arm 301 and an extension arm 302 installed on both sides of the main body 1. One ends of the fixed arm 301 and the extension arm 302 are hinged. The hinging method adopts a rectangular coordinate type hinging, specifically using a hinge shaft connection. The rolling part 2 is arranged at the other end of the extension arm 302, and the rolling part 2 has a rim 201. The rim 201 can be used as a tire. When the space is too small for flight, the rim 201 is sleeved inside the rolling part 2. The rim 201 is movably connected to the extension arm 302. Here, the movable connection means that the rim 201 can move along the length direction of the extension arm 302. The driving part 4 is fixedly connected to the extension arm 302, and the driving part 4 is sleeved inside the rim 201. One end of the fixed arm 301 is fixedly connected to the main body 1, the other end of the fixed arm 301 is hinged to the extension arm 302, and a hydraulic rod 303 is arranged on one side of the fixed arm 301. The hydraulic rod 303 is hinged to the fixed arm 301. Here, the hinging is carried out using a hinge base. A chute 3021 is arranged on the same side of the extension arm 302 as the fixed arm 301. A slider 3032 is arranged inside the chute 3021. The telescopic rod 3031 of the hydraulic rod 303 is hinged to the slider 3032 through a hinge seat arranged on the slider. When the hydraulic rod 303 expands and contracts, the slider 3032 is driven to move, pulling up the extension arm 302, as Figure 3 shown in. When pulling up the extension arm 302, the second fixed cylinder 207 and the rim 201 are pulled down through a pull rod 208, so that the driving blade 401 extends out, realizing high-speed rotation to form an upward airflow, and thus realizing the flight function.

[0029] It should be further noted that, as Figure 6As shown, the rolling part 2 further includes a first fixed skeleton 203 and a second fixed skeleton 204. The first fixed skeleton 203 and the second fixed skeleton 204 are respectively connected to a first fixed cylinder 205 and a second fixed cylinder 207. And the first fixed cylinder 205 and the second fixed cylinder 207 are fixedly connected through the second fixed skeleton 204. The second fixed cylinder 207 is fixedly connected to the rim 201 through the first fixed skeleton 203. When the rim 201 and the follower drive blade 401 rotate, the first fixed cylinder 205 rotates around the rotating shaft 402, and the second fixed cylinder 207 rotates around the extension arm 302. A ring groove 2071 is provided on the outer side wall of the second fixed cylinder 207. A claw is provided in the ring groove 2071. The claw is connected to one end of a pull rod 208. And the other end of the pull rod 208 is fixedly connected to the slider 3032. The claw is as Figure 6 As shown, when the second fixed cylinder 207 rotates, it does not affect the rotation of the second fixed cylinder 207.

[0030] It should be further noted that the limiting slot 202 is inclined, and the inclination angle of the limiting slot 202 is the same as the inclination angle of the drive blade 401.

[0031] It should be further noted that a limiting ring 206 is provided on the outer periphery of the extension arm 302. The limiting ring 206 is used to control the telescopic stroke of the rim 201.

[0032] It should be further noted that a preset distance is provided between the first fixed cylinder 205 and the second fixed cylinder 207. The preset distance is the distance that the rim 201 can telescope out. And the drive motor 403 is sleeved inside the second fixed cylinder 207 and fixedly connected to the extension arm. And the second fixed cylinder 207 moves up and down along the outer wall of the extension arm.

[0033] It should be further noted that a support wheel 101 is provided at the bottom of the main body 1. The support wheel 101 is used to support the main body 1 when the extension arm 302 is folded, so as to prevent the bottom of the main body 1 from directly contacting the ground.

[0034] The working principle of the present invention:

[0035] In use, by installing a detection device or a tool for rescue on the main body 1, bending parts 3 are arranged on both sides of the main body 1. The rolling parts 2 and the driving parts 4 on both sides of the main body 1 are controlled by the bending parts 3. The bending parts 3 have extension arms 302 that can be bent at 90 degrees. The extension arms 302 are movably connected to the fixed arms 301, and a hydraulic rod 303 is arranged on one side of the fixed arm 301. The telescopic rod 3031 of the hydraulic rod 303 is hinged to a slider 3032 arranged on the bending arm. When the telescopic rod 3031 expands and contracts, it can control the bending and unfolding of the extension arm 302. When the space is small and only ground walking is possible, the bending part 3 extends. At this time, the rim 201 slews the driving blade 401 under the push of the pull rod 208, and the driving blade 401 is inserted into the limit slot 202 inside the rim 201 for fixation. The driving motor 403 drives the inserted driving blade 401, thereby driving the rim 201 to rotate and realizing the movement of the main body 1 part, so as to adapt to the small underground space; when the underground space is large, the telescopic rod 3031 of the hydraulic rod 303 is contracted, driving the slider 3032 arranged in the chute 3021 on one side of the extension arm 302 to move, pulling up the extension arm 302. While the extension arm 302 is being pulled up, the pull rod 208 is driven, and the pull rod 208 pulls the second fixed cylinder 207 to move, so that the rim 201 moves downward, and the driving blade 401 extends out of the rim 201. The driving motor 403 is started, and the four driving blades 401 rotate to form a helical blade, thereby driving the main body 1 to rise, and better conducting exploration in a larger space.

[0036] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Tunnel and underground space safety emergency rescue fire-fighting robot, characterized in that, It includes a main body, a bending part, a rolling part and a driving part. The bending part has a fixed arm and an extension arm which are installed on both sides of the main body, and the fixed arm and the extension arm are movably connected; the rolling part is arranged at the end of the extension arm, and the rolling part has a rim which is movably connected with the extension arm; the driving part is fixedly connected with the extension arm, and the driving part is sleeved inside the rim.

2. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 1, characterized in that, One end of the fixed arm is fixedly connected with the main body, the other end of the fixed arm is hinged to the extension arm, and a hydraulic rod is arranged on one side of the fixed arm. The hydraulic rod is hinged to the fixed arm. A chute is arranged on the same side of the extension arm and the fixed arm, and a slider is arranged in the chute. The telescopic rod of the hydraulic rod is hinged to the slider.

3. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 2, characterized in that, The rolling part further includes a first fixed skeleton and a second fixed skeleton. The first fixed skeleton and the second fixed skeleton are respectively connected with a first fixed cylinder and a second fixed cylinder, and the first fixed cylinder and the second fixed cylinder are fixedly connected through the second fixed skeleton. The second fixed cylinder is fixedly connected with the rim through the first fixed skeleton.

4. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 1, characterized in that, Limiting slots are arranged on the inner side of the rim, and the limiting slots are grouped in pairs.

5. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 4, characterized in that, The limiting slots are arranged obliquely.

6. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 3, characterized in that, The driving part includes driving blades, a rotating shaft and a driving motor. The driving motor is fixedly connected to the end of the extension arm, and the rotating shaft of the driving motor passes through the first fixed cylinder and is connected to the driving blades.

7. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 3, characterized in that, A ring groove is arranged on the outer side wall of the second fixed cylinder, and a claw is arranged in the ring groove. The claw is connected to one end of a pull rod, and the other end of the pull rod is fixedly connected to the slider.

8. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 2, characterized in that, A limiting ring is arranged on the outer periphery of the extension arm.

9. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 7, wherein A preset distance is arranged between the first fixed cylinder and the second fixed cylinder, and the driving motor is sleeved inside the second fixed cylinder, and the second fixed cylinder moves up and down along the outer wall of the extension arm.

10. The tunnel and underground space safety emergency rescue and fire fighting robot according to claim 1, characterized in that, Support wheels are arranged at the bottom of the main body.

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