Obstacle removing robot for fire fighting

Abstract

The invention discloses an obstacle removing robot for fire fighting, and belongs to the technical field of fire extinguishing equipment.The obstacle removing robot for fire fighting comprises a frame, the frame comprises a body, and a support is arranged at the end of the body; a transmission shaft is mounted at the axis of the crushing disc, and the transmission shaft is rotatably and horizontally mounted at the end part of the bracket; the two counter weight pieces comprise main shafts, the two main shafts are fixed to the two ends of the transmission shaft respectively, and counter weight wheels are coaxially arranged on the outer walls of the circumferences of the main shafts. Through the arrangement of the frame, the crushing disc, the balance weight piece, the driving wheel and the ejector, the crushing disc is used for replacing rescue workers for door breaking operation, the ejector is used for spraying water for pressing, hurt accidents caused by detonation during door breaking are avoided, the balance weight piece can synchronously rotate along with the crushing disc, the crushing disc obtains larger rotating kinetic energy on the premise that the rotating speed is not changed, and the service life of the crushing disc is prolonged. And the barrier breaking efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire extinguishing equipment, and particularly relates to a fire-fighting obstacle-clearing robot. Background Art

[0002] A fire-fighting robot is a device that replaces fire-fighting personnel to enter a dangerous environment for fire-fighting operations. It can use remote sensing technology for remote control and timely obtain the environmental information inside the fire scene to assist fire-fighting personnel in performing more efficient and safe fire-fighting operations.

[0003] The existing Chinese utility model patent with the publication number CN216395112U discloses a fire-fighting robot. Through the cooperation among a lifting mechanism, a crushing mechanism, and a spraying mechanism, it can realize the mechanized opening of a forest isolation belt, and can quickly control the fire while avoiding endangering the personal safety of firefighters. However, during indoor use, this device cannot break through doors and requires the assistance of personnel to open the door before it can enter the fire scene. Moreover, when the spraying mechanism sprays water forward, it will generate a reaction force on the device, causing the device to slide in the opposite direction of the water spraying direction. When the spraying mechanism rotates to expand the water spraying coverage range, the reaction force of the spraying mechanism will cause one side of the device to lift, and even tip over, resulting in insufficient use safety. In view of this, a fire-fighting obstacle-clearing robot is disclosed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a fire-fighting obstacle-clearing robot.

[0005] The technical solution adopted to solve the above technical problem is as follows:

[0006] A fire-fighting obstacle-clearing robot includes:

[0007] A frame, the frame includes a main body, and brackets are provided at the ends of the main body; a crushing disc, a transmission shaft is installed at the axis of the crushing disc, and the transmission shaft is horizontally and rotatably installed at the end of the bracket; two counterweight members, each counterweight member includes a main shaft, the two main shafts are respectively fixed at both ends of the transmission shaft, a counterweight wheel is coaxially provided on the circumferential outer wall of the main shaft, the counterweight wheel rotates synchronously with the main shaft through an engaging member, and the top end of the counterweight wheel is driven by a swinging member to swing around its center point along the axial direction of the main shaft; driving wheels, the driving wheels are arranged on both sides of the main body in a liftable manner; a sprayer, the water outlet end of the sprayer is horizontally arranged above the main body, and the sprayer is rotatably connected to the main body through a connecting frame.

[0008] Further, the engaging member includes a convex block and an engaging sleeve. The convex blocks are symmetrically installed up and down on the circumferential outer wall of the main shaft. The engaging sleeve is sleeved outside the convex block. A notch matching the convex block is provided on the inner wall of the circumferential portion of the engaging sleeve, and the inner wall of the notch is in sliding contact with the outer wall of the convex block.

[0009] Through the above technical solution, a specific configuration of the meshing member is disclosed. The convex block is a part intercepted from the middle section of a sphere, with an overall thickness less than the diameter of the main shaft, and the center of the sphere is located on the axis of the main shaft. The meshing sleeve is located at the center of the counterweight wheel. After the two are combined, a structure can be formed that does not affect the reciprocating swing at the top of the counterweight wheel and can achieve the synchronous rotation of the main shaft and the counterweight wheel.

[0010] Furthermore, the swinging member includes a fork. A collar is provided at the end face of the meshing sleeve where the fork is located. The collar is rotatably connected to the meshing sleeve. A torsional power source is provided at one end of the fork away from the counterweight wheel. A housing is installed outside the fork and the counterweight wheel.

[0011] Through the above technical solution, a specific configuration of the swinging member is disclosed. The fork is provided with bifurcations at one end facing the counterweight wheel and is connected to two collars. The collars sandwich the meshing sleeve in the middle, causing the counterweight wheel to be twisted by forces from both ends, preventing offset caused by uneven force. Moreover, the fork is connected to a torsional power source, which can provide driving force for the forward and reverse twisting of the counterweight wheel. The torsional power source can use a servo motor that rotates forward and backward.

[0012] Furthermore, the torsional power source includes a driven torsion frame. The driven torsion frame is connected to one end of the fork away from the counterweight wheel through a straight shaft. The driven torsion frame is connected to a driving torsion frame through a horizontally arranged pull rod. The driven torsion frame, the pull rod, and the driving torsion frame are located in the middle cavity of the bracket.

[0013] Through the above technical solution, a specific configuration of the torsional power source is disclosed. The straight shaft is used to extend the fork and is connected to the bracket through a bearing seat to improve the installation strength. The driven torsion frame, the pull rod, and the driving torsion frame conduct power, and the servo motor can be centrally installed in the placement bin for centralized maintenance and repair.

[0014] Furthermore, there are two counterweight wheels, and the two counterweight wheels are respectively located at both ends of the transmission shaft. The tops of the two counterweight wheels can be twisted and offset in the same direction by the same angle.

[0015] Through the above technical solution, when breaking obstacles and the injector sprays water straight ahead, the crushing disc rotates counterclockwise at high speed to break the contacted obstacles, and the injector sprays water for suppression. The counterweight wheels rotate counterclockwise synchronously, and due to the simultaneous twisting of the two counterweight wheels, a downward pressure is generated, increasing the pressure on the ground, thereby increasing the friction with the ground to avoid relative slippage, preventing the overall equipment from sliding away from the obstacle due to the crushing disc being blocked by the obstacle, and improving the obstacle-breaking efficiency.

[0016] Furthermore, there are two counterweight wheels, and the two counterweight wheels are respectively located at both ends of the transmission shaft. The tops of the two counterweight wheels can be twisted and offset in opposite directions by the same angle.

[0017] Through the above technical scheme, when the ejector sprays water on one side, in order to prevent the device from tipping over due to water pressure, the two counterweight wheels are twisted in the same direction, and the top ends of the two counterweight wheels are deflected toward the ejector and rotated clockwise. According to the law of conservation of angular momentum, a downward force can be generated at the main body position on the side directly opposite to the ejector, and an upward force can be generated at the main body position on the side opposite to the ejector, which can prevent one side of the device from tilting up and tipping over due to the reaction force of the water spraying from the ejector. The downward force on the side directly opposite to the ejector generates a greater downward force between the driving wheel on that side and the ground, preventing horizontal movement due to the reaction force of the water spraying from the ejector.

[0018] Furthermore, at least two crushing discs are provided, and a spacing space is formed between adjacent crushing discs and are detachably connected through a transmission shaft. A middle shell is installed in the spacing space, and the middle shell includes a support frame rotatably connected to the transmission shaft, and the support frame is fixedly connected to the bracket.

[0019] Through the above technical solution, when breaking obstacles, multiple crushing disks are arranged horizontally to increase the coverage and further improve efficiency. The middle shell blocks obstacles entering the interval space and pushes them to the crushing disks on both sides to prevent the device from being stuck by obstacles broken into strips.

[0020] Furthermore, the middle shell also includes a fixed shell and a movable shell. The fixed shell is fixedly connected to the support frame, and the fixed shell is slidably connected to the movable shell toward one end of the transmission shaft. A telescopic driving member is installed between the fixed shell and the movable shell, and the fixed shell and the movable shell are provided with an inner guide shell and an outer guide shell in stacked sliding contact at opposite ends.

[0021] Through the above technical solution, a specific configuration of the middle shell is disclosed, and the telescopic driving member can be extended, and the obstacle is actively pushed out of the interval space through the moving shell, so that the obstacle contacts the edge position of the crushing disk, further improving the crushing effect.

[0022] Furthermore, a swing arm is installed at the axis position of the driving wheel, and one end of the swing arm away from the driving wheel is connected to the main body. A power piece is installed between two swing arms on the same side, and the power piece is arranged away from the driving wheel.

[0023] Through the above technical solution, in order to realize the lifting and lowering of the driving wheel, a swing arm can be used to connect the driving wheel and the main body, and a telescopic rod can be used as a power piece. When the power piece is extended, the swing arm swings to make the two driving wheels on the same side move away from each other, thereby lowering the chassis height and increasing the distance between the driving wheels, thereby improving the stability of the device.

[0024] Furthermore, the connecting frame extends to a side away from the water outlet end of the ejector to form a convex edge, and a rotating driving member is installed at the position of the convex edge. The rotating driving member has a roller that is in rolling contact with the main body.

[0025] Through the above technical solution, the rotation driving member uses an electric motor as the power source. The electric motor drives the roller to rotate on the top surface of the main body, which can drive the connecting frame and the injector to rotate. The injector is connected to the external water delivery pipe through a rotary joint, which can eliminate the resistance caused by the torsion of the water pipe to the rotation of the connecting frame. Moreover, the rotation driving member is arranged on the back of the injector to reduce water spraying, and can also counteract the reaction force of the injector on the connecting frame when the injector is working, squeezing the main body so that the connecting frame is stably supported.

[0026] The beneficial effects of the present invention are as follows:

[0027] (1) Through the arrangement of the frame, the crushing disc, the counterweight, the driving wheel and the injector, the present invention uses the crushing disc to replace the rescue personnel to perform the door-breaking operation, and the injector sprays water for suppression, avoiding the explosion and combustion during door-breaking from causing injury accidents. The counterweight can rotate synchronously with the crushing disc, enabling the crushing disc to obtain greater rotational kinetic energy on the premise of constant rotational speed and improving the obstacle-breaking efficiency;

[0028] (2) Through the design of the injector, the crushing disc and the fork, the injector sprays water horizontally at high speed for rapid fire extinguishing. When the injector is not in the centered state, it can change the angle during the rotation of the crushing disc, alleviating the horizontal tilt of the main body caused by the horizontal spraying of the injector, and can also utilize the friction between the driving wheel and the ground to prevent horizontal translation or even overall overturning due to the reaction force of the water sprayed by the injector;

[0029] (3) Through the design of the middle shell, when multiple crushing discs break the door quickly side by side, the lower part of the door may be broken into strips while the upper part remains a whole, hindering the water spraying path. The height of the main body can be increased to break the higher position of the door, and the middle shell is used to squeeze the wooden strips between the crushing discs to bend towards the crushing discs, so that the strip part at the lower part of the door is completely cut off. Then, by lowering the height of the main body, water can be sprayed through the opened complete path. Description of the Drawings

[0030] Figure 1 is the first perspective structure diagram of the present invention;

[0031] Figure 2 is the structural schematic diagram between the crushing disc and the counterweight of the present invention;

[0032] Figure 3 is the structural schematic diagram of the counterweight of the present invention;

[0033] Figure 4 is the exploded schematic diagram of the partial structure of the counterweight of the present invention;

[0034] Figure 5 is the position schematic diagram of the counterweight in the obstacle-breaking state of the present invention Figure 1 ;

[0035] Figure 6 It is a schematic diagram of the position of the counterweight of the present invention in the obstacle-breaking state Figure 2 ;

[0036] Figure 7 It is a schematic diagram of the position of the counterweight when the nozzle of the present invention is in a deflected state Figure 1 ;

[0037] Figure 8 It is a schematic diagram of the position of the counterweight when the nozzle of the present invention is in a deflected state Figure 2 ;

[0038] Figure 9 It is a schematic diagram of the position between the crushing disc and the middle shell in the contracted state of the present invention;

[0039] Figure 10 It is a schematic diagram of the position between the crushing disc and the middle shell in the extended state of the present invention.

[0040] Reference numerals: 1. Frame; 11. Main body; 12. Placement bin; 13. Bracket; 2. Crushing disc; 21. Spacing space; 22. Transmission shaft; 3. Counterweight; 31. Main shaft; 32. Counterweight wheel; 321. Counterweight wheel one; 322. Counterweight wheel two; 33. Fork; 34. Driven torsion frame; 35. Pull rod; 36. Driving torsion frame; 37. Cover shell; 38. Convex block; 39. Engaging sleeve; 4. Swing arm; 41. Power component; 5. Middle shell; 51. Telescopic drive component; 52. Fixed shell; 53. Movable shell; 54. Support frame; 55. Inner guide shell; 56. Outer guide shell; 6. Driving wheel; 7. Connecting frame; 8. Injector; 9. Rotary drive component. Detailed implementation manners

[0041] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] As Figures 1 - 10 shown, this embodiment provides a fire-fighting obstacle-clearing robot. To solve the actual problems of existing fire-fighting robots that require personnel cooperation to open the spraying path when the high-pressure nozzle is working, and will cause side-slip or even rollover due to the reaction force of spraying when spraying water in a horizontal state into a fan-shaped range, a specific configuration is disclosed:

[0043] Regarding the frame 1, refer to Figure 5, the frame 1 includes a main body 11, above which an ejector 8 is installed. The water outlet end of the ejector 8 is horizontally arranged and can spray horizontally for fire extinguishing. The ejector 8 is rotatably connected to the main body 11 through a connecting frame 7, and the orientation of the ejector 8 can be changed to perform fire extinguishing actions within a fan-shaped range. Among them, the main body 11 is formed by welding angle steels to form a rectangular frame structure with high structural strength. Refer to Figure 1 , drive wheels 6 are arranged on both sides of the main body 11 to provide driving force from the four corner positions, enabling the device to move flexibly. The drive wheels 6 can be lifted or lowered, so that the height of the main body 11 can be changed. Furthermore, it can cross over raised debris on the ground to improve the passing rate, and can also lower the height of the main body 11 to reduce the center of gravity and prevent the main body 11 from tipping over when the ejector 8 sprays in a fan shape;

[0044] Refer to Figure 5 , a bracket 13 is provided at the end of the main body 11. The bracket 13 is installed at the end of the main body 11 to provide an installation space for the crushing disc 2. When the device moves forward, the crushing disc 2 can be used to crush obstacles on the path, such as glass partitions, wooden doors, etc., and autonomously clear the spraying path to perform spray fire extinguishing on positions that personnel cannot reach or are relatively dangerous;

[0045] An installation bin 12 is provided in the middle of the main body 11, where a remote control device and a sensing device can be installed. The remote control device facilitates the user to remotely control the robot to perform obstacle clearing and fire extinguishing actions. The sensing device is equipped with sensing components such as a temperature sensor, a gas concentration sensor, a position sensor, and a high-definition camera, which facilitate the user to grasp the specific position, temperature condition, air condition, and space environment of the robot in real time, so as to grasp the on-site information and perform more rapid fire situation disposal;

[0046] Refer to Figure 9 , a transmission shaft 22 is installed at the axis of the crushing disc 2. The transmission shaft 22 can be connected to a motor to receive rotational driving force, enabling the crushing disc 2 to rotate at a high speed to achieve an efficient obstacle-breaking effect. At the same time, the transmission shaft 22 is horizontally and rotatably installed at the end of the bracket 13 and is supported by the bracket 13 through bearings, so that the crushing disc 2 does not contact the ground;

[0047] Refer to Figure 1 , counterweights 3 are installed at both ends of the transmission shaft 22. Among them, refer to Figure 2 , the counterweight 3 includes a main shaft 31. The main shafts 31 of the two counterweights 3 are respectively fixed at both ends of the transmission shaft 22 to form an integral straight shaft. And, a counterweight wheel 32 is coaxially provided on the circumferential outer wall of the main shaft 31. The counterweight wheel 32 rotates synchronously with the main shaft 31 through an engagement member. At the same time, refer to Figure 5 and Figure 7 , the top of the counterweight wheel 32 is driven by a swinging member to swing along the axial direction of the main shaft 31 around its center point.

[0048] The working principle of this embodiment is as follows:

[0049] When a fire breaks out in multiple independent indoor spaces, if it is necessary to extinguish the fire in the room, it is necessary to break through obstacles such as the door. However, directly opening the door may cause deflagration due to air flow and cause harm to personnel. Therefore, if the door is a wooden door or a glass door, this device can be used to remotely control it to approach the door. By rotating the cutting disc 2 to cut the door, the obstacle can be broken through. At the same time, the counterweight wheel 32 is a disc structure with counterweight blocks at the edge. Since the main weight is distributed at the outer edge position, the cutting disc 2 obtains greater rotational kinetic energy under the action of inertia. When contacting the obstacle during high-speed rotation, the attenuation of the rotation speed of the cutting disc 2 is greatly reduced, improving the obstacle-breaking efficiency;

[0050] Among them, the injector 8 is used to spray water for suppression to perform indoor fire extinguishing operations. Refer to Figure 5 , when moving forward to break through obstacles and the injector 8 sprays water straight ahead, the cutting disc 2 rotates counterclockwise at high speed to break the obstacles it contacts, and the injector 8 sprays water for suppression. The two rotating counterweight wheels 32 twist in the same direction at the same time. Specifically, refer to Figure 6 , the top of the first counterweight wheel 321 swings close to the cutting disc 2, and the top of the second counterweight wheel 322 swings away from the cutting disc 2. The two counterweight wheels 32 rotate counterclockwise synchronously with the cutting disc 2. Due to the conservation of angular momentum, referring to the right-hand rule, under the limitation of a specific inclination direction and rotation direction, the angular momentum of the counterweight wheel 32 can generate a downward-angled reaction force at both ends of the cutting disc 2, increasing the pressure on the ground, thereby increasing the friction with the ground to avoid relative slippage, preventing the overall device from sliding away from the obstacle due to the cutting disc 2 being blocked by the obstacle, and improving the obstacle-breaking efficiency;

[0051] When the injector 8 rotates to spray water in a fan shape, to prevent the device from tipping over due to water pressure, refer to Figure 8, twist the two counterweight wheels 32 in the same direction, and deflect the tops of the two counterweight wheels 32 towards the injector 8 and rotate them clockwise. According to the right-hand rule of conservation of angular momentum, the first counterweight wheel 321 can generate a downward reaction force on the side directly facing the injector 8, preventing the side of the main body 11 from being lifted due to the reaction force of the water spray from the injector 8. The second counterweight wheel 322 generates an upward force on the side opposite to the injector 8, offsetting the downward pressure on this side of the main body 11 caused by the injection of the injector 8 and preventing the height of this side of the main body 11 from decreasing excessively. Moreover, the greater the rotation angle of the injector 8, the greater the rotation speed of the counterweight wheel 32 and the greater the generated angular momentum. When the injector 8 rotates and sprays water within a fan-shaped range, the main body 11 is kept in a horizontal state. At the same time, the downward force generated by the rotation of the first counterweight wheel 321 at the position of the main body 11 on the side directly facing the injector 8 creates a greater contact pressure between the driving wheel 6 on this side and the ground, preventing horizontal translation due to the reaction force of the water spray from the injector 8 and avoiding rollover caused by horizontal high-pressure spraying.

[0052] In a further embodiment, a specific configuration of an engaging member is disclosed. Refer to Figure 4 , the engaging member includes a convex block 38 and an engaging sleeve 39. The convex blocks 38 are symmetrically installed on the outer circumference of the main shaft 31 up and down. Specifically, the convex block 38 is a part intercepted from the middle section of a sphere, with an overall thickness less than the diameter of the main shaft 31, and the center of the sphere is located on the axis of the main shaft 31. The engaging sleeve 39 is sleeved outside the convex block 38, and the engaging sleeve 39 is located at the center of the counterweight wheel 32. After the two are combined, a structure can be formed that does not affect the reciprocating swing of the top of the counterweight wheel 32 and can realize the synchronous rotation of the main shaft 31 and the counterweight wheel 32. An opening is provided on the inner circumference of the engaging sleeve 39 to cooperate with the convex block 38. The opening has two vertical flat inner walls and an arc-shaped middle inner wall. At the same time, the convex block 38 has two vertical flat outer walls and an arc-shaped end face. The flat inner wall of the opening is in sliding contact with the flat outer wall of the convex block 38, and the middle inner wall of the opening is in sliding contact with the end face of the convex block 38, which can ensure that the top and bottom ends of the counterweight wheel 32 can swing along the axis direction of the main shaft 31. At the same time, the specific structures of other engaging members that can enable the top and bottom ends of the counterweight wheel 32 to swing along the axis direction of the main shaft 31 are also within the protection scope of this solution and will not be elaborated here.

[0053] In a further embodiment, a specific configuration of a swinging member is disclosed. Refer to Figure 3, the swinging member includes a fork 33. One end of the fork 33 facing the counterweight wheel 32 is bifurcated and connected to two collar sleeves. The collar sleeves sandwich the engaging sleeve 39 in the middle. The collar sleeves are rotatably connected to the engaging sleeve 39, enabling the counterweight wheel 32 to be twisted by forces from both ends and preventing offset caused by uneven forces. Moreover, one end of the fork 33 away from the counterweight wheel 32 is provided with a torsional power source, which can provide driving force for the forward and reverse torsion of the counterweight wheel 32. The torsional power source can use a servo motor that rotates forward and backward. A housing 37 is installed outside the fork 33 and the counterweight wheel 32 to protect the internal structure.

[0054] In a further embodiment, a specific configuration of the torsional power source is disclosed. Refer to Figure 3 and Figure 4 , the torsional power source includes a driven torsion frame 34. The driven torsion frame 34 is connected to one end of the fork 33 away from the counterweight wheel 32 through a straight shaft. The straight shaft is used to extend the fork 33 and is connected to the bracket 13 through a bearing seat to improve the installation strength. The driven torsion frame 34 has a vertical plate body, and a rotating shaft parallel to the straight shaft is installed at the top and bottom ends of the plate body respectively. The driven torsion frame 34 is connected to a driving torsion frame 36 through a horizontally arranged pull rod 35. The driving torsion frame 36 has a vertical flat plate. Rectangular holes extending vertically are opened at the top and bottom ends of the flat plate. A pin shaft is slidably installed in the rectangular holes, and the pin shaft is fixedly connected to the end of the pull rod 35. The driven torsion frame 34, the pull rod 35, and the driving torsion frame 36 are located at the middle cavity position of the bracket 13 to protect the driven torsion frame 34, the pull rod 35, and the driving torsion frame 36. The flat plate is driven to rotate by an externally connected servo motor. At the same time, the servo motors will be centrally installed in the placement bin 12 for centralized maintenance and repair. A radiator can also be installed in the placement bin 12, and the radiator can centrally cool the servo motors, making it more stable during long-term use.

[0055] In a further embodiment, during obstacle breaking, refer to Figure 9 , there are at least two crushing discs 2, and arranging multiple crushing discs 2 horizontally improves the coverage range and further increases the cleaning efficiency of obstacles such as houses. An interval space 21 is formed between adjacent crushing discs 2 and is detachably connected through a transmission shaft 22, enabling free expansion. A middle shell 5 is installed in the interval space 21. The middle shell 5 blocks the obstacles entering the interval space 21 and pushes them towards the two adjacent crushing discs 2 to prevent the device from being stuck by the obstacles broken into strips. Moreover, the middle shell 5 includes a support frame 54 rotatably connected to the transmission shaft 22, and the support frame 54 is fixedly connected to the bracket 13 to ensure the stable position of the transmission shaft 22 after multiple crushing discs 2 are connected end to end.

[0056] In a further embodiment, a specific configuration of the middle shell 5 is disclosed. Refer to Figure 10, the middle shell 5 further includes a fixed shell 52 and a movable shell 53. The fixed shell 52 is fixedly connected to the support frame 54. One end of the fixed shell 52 facing the transmission shaft 22 is slidably connected to the movable shell 53. A telescopic driving member 51 is installed between the fixed shell 52 and the movable shell 53. The telescopic driving member 51 can be an electric telescopic rod. When the electric telescopic rod extends, during crushing, the wooden door may be crushed into strips. Therefore, the movable shell 53 actively pushes out the strip-shaped obstacles from the interval space 21, so that the obstacles contact the edge position of the crushing disc 2. The rotational linear velocity at the edge position of the crushing disc 2 is faster, further improving the crushing effect and creating a complete opening in the door. Opposite ends of the fixed shell 52 and the movable shell 53 are provided with an inner guide shell 55 and an outer guide shell 56 in stacked sliding contact. When the movable shell 53 extends, no debris will enter the middle shell 5, ensuring smooth telescoping of the movable shell 53 without being stuck.

[0057] In a further embodiment, to achieve the lifting of the driving wheel 6, refer to Figure 1 , a swing arm 4 is installed at the axis position of the driving wheel 6. One end of the swing arm 4 away from the driving wheel 6 is connected to the main body 11. A power member 41 is installed between two swing arms 4 on the same side. The swing arm 4 is used to connect the driving wheel 6 and the main body 11, and a telescopic rod is used as the power member 41. When the power member 41 extends, the swing arm 4 swings to make the two driving wheels 6 on the same side move away from each other, reducing the chassis height and increasing the distance between the driving wheels 6 at the same time, reducing the center of gravity of the device, which can further improve the stability of obstacle breaking and water spraying of the device. Among them, the power member 41 is arranged away from the driving wheel 6, which can be away from the ground to avoid being knocked and damaged, or a protective cover can be provided outside the power member 41 to ensure the stable use of the power member 41.

[0058] In a further embodiment, refer to Figure 1 , the connecting frame 7 extends towards the side away from the water outlet end of the injector 8 to form a convex edge. A rotary driving member 9 is installed at the convex edge position. The rotary driving member 9 is arranged on the back of the injector 8, reducing water spraying, and can also counteract the reaction force of the injector 8 on the connecting frame 7 when the injector 8 is working, squeezing the main body 11 to stably support the connecting frame 7. Specifically, the rotary driving member 9 uses a motor as the power source. The motor is fixed on the connecting frame 7, and a roller is installed at the end of the motor shaft. The roller is in direct contact with the main body 11. The motor drives the roller to rotate on the top surface of the main body 11, which can drive the connecting frame 7 and the injector 8 to rotate. Moreover, the injector 8 is connected to the external water delivery pipe through a rotary joint. When the connecting frame 7 and the injector 8 rotate, the external water delivery pipe will not be twisted, eliminating the resistance caused by the water pipe twisting to the rotation of the connecting frame 7.

[0059] The above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention.

Claims

1. A fire clearance robot, characterized in that, Comprising: A frame (1), the frame (1) includes a main body (11), and brackets (13) are provided at the ends of the main body (11); A crushing disc (2), a transmission shaft (22) is installed at the axis of the crushing disc (2), and the transmission shaft (22) is rotatably and horizontally installed at the end of the bracket (13); Two counterweight members (3), the counterweight members (3) include main shafts (31), the two main shafts (31) are respectively fixed at both ends of the transmission shaft (22), a counterweight wheel (32) is coaxially provided on the circumferential outer wall of the main shaft (31), the counterweight wheel (32) rotates synchronously with the main shaft (31) through an engaging member, and the top of the counterweight wheel (32) is driven by a swinging member to swing along the axial direction of the main shaft (31) around its center point; A driving wheel (6), the driving wheel (6) is arranged on both sides of the main body (11) in a liftable manner; An injector (8), the water outlet end of the injector (8) is horizontally arranged above the main body (11), and the injector (8) is rotatably connected to the main body (11) through a connecting frame (7).

2. The obstacle-clearing robot for fire fighting according to claim 1, wherein, The engaging member includes a convex block (38) and an engaging sleeve (39), the convex blocks (38) are symmetrically installed up and down on the circumferential outer wall of the main shaft (31), the engaging sleeve (39) is sleeved outside the convex block (38), a notch for cooperating with the convex block (38) is provided on the inner wall of the circumferential surface of the engaging sleeve (39), and the inner wall of the notch is in sliding contact with the outer wall of the convex block (38).

3. The obstacle-clearing robot for fire fighting according to claim 2, wherein, The swinging member includes a fork (33), a collar is provided at the end face position of the fork (33) where the collar is located, the collar is rotatably connected to the engaging sleeve (39), a torsional power source is provided at the end of the fork (33) away from the counterweight wheel (32), and a housing (37) is installed outside the fork (33) and the counterweight wheel (32).

4. The obstacle-clearing robot for fire fighting according to claim 3, characterized in that, The torsional power source includes a driven torsion frame (34), the driven torsion frame (34) is connected to the end of the fork (33) away from the counterweight wheel (32) through a straight shaft, the driven torsion frame (34) is connected to a driving torsion frame (36) through a horizontally arranged pull rod (35), and the driven torsion frame (34), the pull rod (35) and the driving torsion frame (36) are located at the middle cavity position of the bracket (13).

5. The obstacle-removing robot for fire fighting according to claim 1, characterized in that, There are two counterweight wheels (32), the two counterweight wheels (32) are respectively located at both ends of the transmission shaft (22), and the tops of the two counterweight wheels (32) can be torsionally offset in the same direction by the same angle.

6. The obstacle-removing robot for fire fighting according to claim 1, characterized in that, There are two counterweight wheels (32), the two counterweight wheels (32) are respectively located at both ends of the transmission shaft (22), and the tops of the two counterweight wheels (32) can be torsionally offset in opposite directions by the same angle.

7. The obstacle-clearing robot for fire fighting according to claim 1, characterized in that, There are at least two crushing discs (2), an interval space (21) is formed between adjacent crushing discs (2) and is detachably connected through a transmission shaft (22), a middle shell (5) is installed in the interval space (21), the middle shell (5) includes a support frame (54) rotatably connected to the transmission shaft (22), and the support frame (54) is fixedly connected to the bracket (13).

8. The obstacle-clearing robot for fire fighting according to claim 7, wherein, The middle shell (5) further includes a fixed shell (52) and a moving shell (53). The fixed shell (52) is fixedly connected to the support frame (54). One end of the fixed shell (52) facing the transmission shaft (22) is slidably connected to the moving shell (53). A telescopic driving member (51) is installed between the fixed shell (52) and the moving shell (53). Inner guide shells (55) and outer guide shells (56) which are in laminated sliding contact are provided at opposite ends of the fixed shell (52) and the moving shell (53).

9. The obstacle-clearing robot for fire fighting according to claim 1, wherein A swing arm (4) is installed at the axis position of the driving wheel (6). One end of the swing arm (4) away from the driving wheel (6) is connected to the main body (11). A power member (41) is installed between two swing arms (4) on the same side, and the power member (41) is arranged away from the driving wheel (6).

10. The obstacle-removing robot for fire fighting according to claim 1, characterized in that, The connecting frame (7) extends towards the side away from the water outlet end of the injector (8) to form a convex edge. A rotary driving member (9) is installed at the position of the convex edge. The rotary driving member (9) has rollers that rollingly contact the main body (11).

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