Chassis for low-gravity-center fire-fighting robot and fire-fighting robot thereof

Abstract

The invention relates to a low-gravity-center fire-fighting robot chassis and a fire-fighting robot thereof, and belongs to the field of robots. According to the technical scheme, the vehicle comprises Mecanum wheels, a wheel set suspension, a chassis and a power motor; the chassis is of a rectangular structure, a cross-shaped chassis frame is arranged in the middle of the chassis, an anti-collision frame is arranged on the periphery of the chassis, and the wheel set suspension frames and the Mecanum wheels are arranged in the space between the cross-shaped chassis frame and the anti-collision frame. The wheel set suspension comprises two sets of swing frames, a fixing frame and a wheel set frame, the fixing frame is vertically installed on the cross-shaped chassis frame, the swing frames are of a rectangular frame structure, the high sides of the swing frames are fixed to the fixing frame, the low sides of the swing frames are fixed to the wheel set frame, the two swing frames are arranged in parallel, shock absorbers arranged in pairs are arranged between the two swing frames, holes are formed in the wheel set frame, and a wheel shaft penetrates through the holes. According to the invention, the Mecanum wheels are adopted, so that steering is convenient, and the movement flexibility is improved; the chassis structure adopts a low-chassis design, so that the gravity center of the bomb dropping mechanism is controlled at a lower position.

Description

Technical Field

[0001] The present invention relates to a chassis for a low - center - of - gravity fire - fighting robot and a fire - fighting robot, belonging to the field of robots. Background Art

[0002] In the current fire - fighting field, track structures are usually used for robot equipment. Track structures have strong load - bearing capacity, can be made heavier, and can adapt to strong recoil forces in high - pressure water - spraying environments.

[0003] Fire - fighting water - spraying robots are required to enter the fire scene. For some current environments where water - spraying is not suitable and may cause more serious secondary injuries, it is more suitable to use special fire - fighting extinguishing materials, such as carbon dioxide fire bombs.

[0004] The distance of manual bomb - throwing is far, but the failure rate is high. Using a robot to approach the fire scene is more suitable for accurate bomb - throwing, which requires relatively accurate bomb - throwing, so using a robot is more suitable. Summary of the Invention

[0005] The present invention provides a chassis for a low - center - of - gravity fire - fighting robot to solve the problem of the low chassis of the robot for fire - fighting bomb - throwing.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: The chassis for a low - center - of - gravity fire - fighting robot of the present invention includes Mecanum wheels, wheel - set suspensions, a chassis, and power motors; The chassis is of a rectangular structure, with a cross - shaped chassis frame in the middle and a collision - proof frame arranged around it. The space between the cross - shaped chassis frame and the collision - proof frame is provided with the above - mentioned wheel - set suspensions and Mecanum wheels; The wheel - set suspension includes two sets of swing frames, a fixed frame, and a wheel - set frame. The fixed frame is vertically installed on the cross - shaped chassis frame, The swing frame is of a rectangular - frame structure, with the high side fixed to the fixed frame and the low side fixed to the wheel - set frame. The two swing frames are arranged in parallel, and there are paired shock absorbers between the two swing frames. The wheel - set frame has holes through which the wheel axles pass, and the wheel axles connect the Mecanum wheels and the power motors; The chassis is lower than the upper edge of the wheels of the Mecanum wheels and higher than the wheel axles of the Mecanum wheels. Rollers are arranged around the collision - proof frame.

[0007] According to the chassis for a low - center - of - gravity fire - fighting robot, the cross - shaped chassis frame includes longitudinally - arranged beams running through the front and back, end cross - beams, edge cross - beams, and a bottom plate. The two longitudinally - arranged beams are parallel, and the ends are connected by the end cross - beams. The edge cross - beams are arranged on the outer sides of the longitudinal beams and extend outside the Mecanum wheels.

[0008] According to the chassis of the fire-fighting robot for low center of gravity described above, the fixing frame is of an H-shaped structure, fixed in the middle at the connection position of the end cross beam and the longitudinal beam. The fixed end of the swing frame is hinged to the upper end or the lower end of the fixing frame. The wheel set frame is a rectangular frame, with the power motor installed in the middle, and bearings are provided between the wheel axle and the wheel set frame.

[0009] According to the chassis of the fire-fighting robot for low center of gravity described above, the anti-collision frame is rectangular, with the middle positions of the four sides concave. The front and rear ends are concave and connected to the ends of the longitudinal beam, and the left and right are concave and connected to the ends of the edge cross beam.

[0010] According to the chassis of the fire-fighting robot for low center of gravity described above, the anti-collision frame is composed of two layers of metal plates, with fixed-distance metal pipes arranged between the two metal plates. The width of the anti-collision frame in the front and rear end areas is greater than that in the two side areas.

[0011] According to the chassis of the fire-fighting robot for low center of gravity described above, the anti-collision frame is composed of two layers of metal plates, and the bottom plates cover the longitudinal beam, the end cross beam, and the edge cross beam of the chassis.

[0012] The fire-fighting robot equipped with the chassis of the fire-fighting robot for low center of gravity is also equipped with a fire extinguishing bomb throwing mechanism. A fixing plate is provided at the center of the chassis, and a fixed shaft is provided on the fixing plate. The fire extinguishing throwing structure is mounted on the fixed shaft, and the fire extinguishing throwing mechanism can rotate around the fixed shaft. The fixed shaft is at the physical center of gravity.

[0013] The advantages of the present invention are as follows: The use of Mecanum wheels facilitates steering and improves the movement flexibility. The chassis structure has a low chassis design, which controls the center of gravity of the bomb throwing mechanism at a relatively low position. The anti-collision structure provided in this device is suitable for avoiding failures caused by the collision of the whole machine in a complex fire-fighting environment.

[0014] Fight fires by the method of remotely launching fire extinguishing bombs. Using dry powder fire extinguishing bombs as the fire extinguishing medium greatly saves the equipment preparation time in the early stage.

[0015] It can reduce the close contact between personnel and the burning object, reduce the damage to the personal safety of firefighters, and basically does not require manual labor during the fire-fighting process, reducing the labor cost compared with the conventional method. Description of the Drawings

[0016] Figure 1 is the three-dimensional structure diagram of the chassis of the present invention, Figure 2 is the top view of the chassis of the present invention, Figure 3 is the side view of the chassis of the present invention, Figure 4 is the front view of the chassis of the present invention, Figure 5It is the structural diagram of the fire-fighting robot of the present invention, Figure 6 It is the three-dimensional structural diagram of the fire-fighting robot of the present invention.

[0017] Reference numerals: 1, Mecanum wheel; 2, wheel group suspension; 3, chassis; 4, power motor; 5, swing frame; 6, fixed frame; 7, wheel group frame; 8, longitudinal beam; 9, end cross beam; 10, edge cross beam; 11, bottom plate; 12, anti-collision frame; 13, roller; 14, fire extinguishing bomb delivery mechanism; 15, fixing plate; 16, fixed shaft; 17, battery pack; 18, fixed-distance metal pipe; 19, shock absorption. Detailed implementation manners

[0018] The following further explains the specific structure of the present invention: The chassis of the fire-fighting robot with a low center of gravity of the present invention includes a Mecanum wheel 1, a wheel group suspension 2, a chassis 3, and a power motor 4.

[0019] The chassis 3 is of a rectangular structure, with a cross-shaped chassis frame in the middle, and an anti-collision frame 12 is arranged around it. The space between the cross-shaped chassis frame and the anti-collision frame 12 is provided with the wheel group suspension 2 and the Mecanum wheel 1; The wheel group suspension 2 includes two groups of swing frames 5, a fixed frame 6, and a wheel group frame 7. The fixed frame 6 is vertically installed on the cross-shaped chassis frame, The swing frame 5 is of a rectangular frame structure, with the high side fixed to the fixed frame 6 and the low side fixed to the wheel group frame 7. The two swing frames 5 are arranged in parallel, and shock absorption is arranged in pairs between the two swing frames 5. The wheel group frame 7 is provided with holes through which the wheel shaft passes, and the wheel shaft connects the Mecanum wheel 1 and the power motor 4.

[0020] The top of the shock absorption is connected to the high point of the upper swing frame, and the bottom of the shock absorption is connected to the middle position of the lower swing frame.

[0021] The chassis 3 is lower than the upper edge of the wheel of the Mecanum wheel 1 and higher than the wheel shaft of the Mecanum wheel 1. Rollers 13 are arranged around the anti-collision frame 12.

[0022] The cross-shaped chassis frame includes longitudinal beams 8, end cross beams 9, edge cross beams 10, and a bottom plate 11 that run through the front and back. The two longitudinal beams 8 are parallel, and the ends are connected by the end cross beams 9. The edge cross beams 10 are arranged on the outer side of the longitudinal beams and extend outside the Mecanum wheel 1.

[0023] The fixed frame 6 is of an H-shaped structure, and is fixed in the middle at the connection position of the end cross beam 9 and the longitudinal beam 8. The fixed end of the swing frame 5 is hinged to the upper end or the lower end of the fixed frame 6. The wheel group frame 7 is a rectangular frame, and the power motor 4 is installed in the middle. A bearing is arranged between the wheel shaft and the wheel group frame 7.

[0024] The anti-collision frame 12 is rectangular in shape, with the middle positions of the four sides being concave, the front and rear end concave portions being connected to the ends of the longitudinal beam 8 , and the left and right concave portions being connected to the ends of the edge cross beam 10 .

[0025] The anti-collision frame 12 is a two-layer metal plate with a fixed-distance metal tube arranged between the two metal plates. The width of the anti-collision frame 12 in the front and rear end areas is greater than that in the two side areas. The longitudinal beams 8, end beams 9 and edge beams 10 of the chassis 3 are covered with a bottom plate 11.

[0026] The present invention provides a fire-fighting robot with a fire-fighting robot chassis with a low center of gravity, and is also provided with a fire-extinguishing bomb delivery mechanism 14. A fixed plate 15 is provided at the center of the chassis 3, and a fixed shaft 16 is provided on the fixed plate 15. The fire-extinguishing delivery structure prevents the fire-extinguishing delivery mechanism from rotating around the fixed shaft 16 on the fixed shaft 16, and the fixed shaft 16 is at the physical center of gravity of the point.

[0027] This robot can assist firefighters in completing firefighting tasks in closed environments, ensuring public safety, and can replace personnel to go deep into explosion areas, fire scenes, and narrow passages. The dry powder fire extinguisher is designed to be easy to assemble, lightweight, and interactive, and can adapt to a variety of fire hazards. The lightweight design allows for more flexible rescue in narrow fire scenes, completes map construction through laser slam technology, and uses artificial intelligence technology to achieve path planning and autonomous firefighting.

[0028] The friction wheel provides kinetic energy for the launched fire-extinguishing bombs. The camera is responsible for capturing images and sending them to the robot's own small computer, which uses the OpenCV vision program to identify flames. The tires are Mecanum wheels.

[0029] The design of the fire extinguishing bomb is based on the existing fire extinguishing bombs on the market. It has a diameter of 80mm and a weight of 0.3kg. After the robot launches the fire extinguishing bomb into the fire, the sphere explodes due to the heat and sprays out dry powder fire extinguishing agent. A single fire extinguishing bomb can extinguish a fire up to 1.3 square meters. The robot can continuously launch multiple fire extinguishing bombs at the same fire extinguishing point to achieve the effect of large-scale indoor fire extinguishing.

[0030] Ammunition launching device: It is mainly composed of magazine, friction wheel launching device, motor module, etc. It realizes the rapid launching of fire extinguishing bombs and can automatically adjust the launching angle and trajectory according to different scenarios. The design of the magazine adopts a rotary loading structure with a maximum capacity of 80 fire extinguishing bombs at the same time. The fire extinguishing bombs are launched by friction wheels.

Claims

1. A fire-fighting robot chassis for a low center of gravity, characterized by comprising, Mecanum wheels (1), wheel set suspensions (2), a chassis (3), and power motors (4); The chassis (3) is of a rectangular structure, with a cross-shaped chassis (3) frame in the middle and a collision avoidance frame (12) arranged around it. The wheel set suspensions (2) and Mecanum wheels (1) are arranged in the space between the cross-shaped chassis (3) frame and the collision avoidance frame (12); The wheel set suspension (2) includes two groups of swing frames (5), a fixed frame (6), and a wheel set frame (7). The fixed frame (6) is vertically installed on the cross-shaped chassis (3) frame. The swing frame (5) is of a rectangular frame structure, with the high side fixed to the fixed frame (6) and the low side fixed to the wheel set frame (7). The two swing frames (5) are arranged in parallel, and shock absorbers are arranged in pairs between the two swing frames (5). The wheel set frame (7) is perforated through the wheel axle, and the wheel axle connects the Mecanum wheel (1) and the power motor (4); The chassis (3) is lower than the upper edge of the wheel of the Mecanum wheel (1) and higher than the wheel axle of the Mecanum wheel (1). Rollers (13) are arranged around the collision avoidance frame (12).

2. The fire-fighting robot chassis for low center of gravity according to claim 1, characterized in that, The cross-shaped chassis (3) frame includes longitudinally arranged beams (8) running through the front and back, end cross beams (9), edge cross beams (10), and a bottom plate (11). The two longitudinally arranged beams (8) are parallel, and the ends are connected by the end cross beam (9). The edge cross beam (10) is arranged on the outer side of the longitudinal beam and extends outside the Mecanum wheel (1).

3. The chassis of the fire-fighting robot for low center of gravity according to claim 2, characterized in that, The fixed frame (6) is of an H-shaped structure, fixed in the middle at the connection position of the end cross beam (9) and the longitudinally arranged beam (8). The fixed end of the swing frame (5) is hinged to the upper or lower end of the fixed frame (6). The wheel set frame (7) is of a rectangular frame, and the power motor (4) is installed in the middle. A bearing is arranged between the wheel axle and the wheel set frame (7).

4. The chassis of the fire-fighting robot for low center of gravity according to claim 2, characterized in that, The collision avoidance frame (12) is rectangular, with inward concavities in the middle positions of the four sides. The front and rear inward concavities are connected to the ends of the longitudinally arranged beam (8), and the left and right inward concavities are connected to the ends of the edge cross beam (10).

5. The fire-fighting robot chassis for low center of gravity according to claim 4, characterized in that, The collision avoidance frame (12) is composed of two layers of metal plates, and fixed-distance metal pipes are arranged between the two metal plates. The width of the collision avoidance frame (12) in the front and rear end regions is greater than that in the two side regions.

6. The chassis of the fire-fighting robot for low center of gravity according to claim 2, characterized in that The longitudinally arranged beam (8), end cross beam (9), and edge cross beam (10) of the chassis (3) are covered with a bottom plate (11).

7. A fire extinguishing robot provided with the fire fighting robot chassis for low center of gravity described in claim 1, characterized in that, There is also a fire extinguishing bomb delivery mechanism (14). A fixing plate (15) is provided at the center of the chassis (3), and a fixed shaft (16) is provided on the fixing plate (15). The fire extinguishing delivery structure is mounted on the fixed shaft (16), and the fire extinguishing delivery mechanism can rotate around the fixed shaft (16). The fixed shaft (16) is at the physical center of gravity of the point.

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