Fire-fighting inspection robot with obstacle removing function

Abstract

The invention relates to the technical field of robots, in particular to a fire-fighting inspection robot with an obstacle clearing function, which comprises a robot body, inspection equipment and a plurality of traveling wheels arranged on the left side and the right side of the robot body, and the inspection equipment is arranged at the top of the robot body. The inspection equipment consists of a high-definition camera and an infrared imaging detector; the device further comprises a protection mechanism. The protection plates can push front obstacles and guide the front obstacles to the two sides under driving of the robot, the obstacle clearing function is achieved, and it is guaranteed that the robot passes smoothly; meanwhile, self-adaptive friction force adjustment is achieved, and the friction force of the walking wheels can be automatically adjusted according to the weight of an obstacle or the gradient of a walking ramp through linkage of the friction assembly, the protection plate, the connecting rod and the buffering assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a fire-fighting inspection robot with obstacle cleaning function. BACKGROUND

[0002] Every time a fire occurs, property and personnel damage is huge, so it is necessary to nip the fire in the bud and timely discover and eliminate the fire. The fire-fighting inspection robot as a new type of technology is slowly rising, which can realize autonomous obstacle avoidance and navigation, intelligent voice interaction and question answering, can replace or assist humans to perform inspection, patrol, security and other work, can accurately execute and stop at the designated location according to the path planning and operation requirements, provide infrared temperature measurement and abnormal state alarm function for the patrol area, timely discover the fire, and remind the staff to extinguish the fire in time.

[0003] During the inspection process of the fire-fighting inspection robot, the obstacles existing on the road surface are often cleaned to avoid affecting the walking of the robot. In the prior art, a mechanical hand is usually installed on the front side of the fire-fighting inspection robot, and the mechanical hand is used to clean the obstacles. However, the mechanical hand is too slow, for example, if there are many gravel on the ground, the mechanical hand needs to clamp one by one, which is too slow. In order to improve the efficiency, a push plate is usually installed on the front side of the fire-fighting inspection robot, the push plate is moved by the fire-fighting inspection robot, the obstacles on the road surface are pushed by the push plate and guided to the both sides of the fire-fighting inspection robot, and then the obstacles in front of the fire-fighting inspection robot can be cleaned to ensure smooth traffic and improve the cleaning efficiency.

[0004] However, this method also has obvious disadvantages: first, when the robot pushes the obstacles with large weight, the wheels are easy to slip in place, which causes the obstacles cannot be pushed; second, the robot is easy to slip and fall when going uphill or downhill, and the stability needs to be improved; third, the robot is easy to collide with external objects when advancing or retreating, and needs to be protected from collision. In order to solve these problems, the present application provides a fire-fighting inspection robot with obstacle cleaning function. SUMMARY

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present application provides a fire-fighting inspection robot with obstacle cleaning function.

[0006] The technical solution adopted by the present invention is as follows: The present invention provides a fire inspection robot with an obstacle clearance function, comprising a robot body, inspection equipment and multiple walking wheels arranged on the left and right sides of the robot body, the inspection equipment being arranged on the top of the robot body, and the inspection equipment being composed of a high-definition camera and an infrared imaging detector; it is characterized in that: it also includes a protective mechanism, the protective mechanism being arranged on the robot body, the protective mechanism comprising two groups of protective plates, a tire extrusion assembly and an impact buffer assembly, the protective plates being located on the front and rear sides of the robot body, the two groups of protective plates being fixedly connected by two groups of mutually parallel connecting rods, the impact buffer assembly being fixedly arranged at the four corners of the top of the robot body, and the connecting rod being connected to the impact buffer assembly, the tire extrusion assembly being arranged on the top of the robot body and being located on one side of the impact buffer assembly, and the tire extrusion assembly being located above the walking wheel.

[0007] Furthermore, the impact buffer assembly includes a box, a movable plate and a spring. The box is fixed on the top of the robot body, the connecting rod slides through the box, the movable plate is fixed in the middle of the connecting rod, and slides horizontally with the connecting rod inside the box, an adjustment plate is slidably sleeved on the connecting rod, the adjustment plate is slidably arranged in the box, and is symmetrically located on both sides of the movable plate, the spring is slidably sleeved on the connecting rod, and is in contact between the movable plate and the adjustment plate.

[0008] Furthermore, the impact buffer assembly also includes a threaded barrel arranged near the box body, and the horizontal ends of the threaded barrel are respectively threadedly connected with screw rods. An L-shaped rod is fixed to one end of the screw rod away from the threaded barrel, and the other end of the L-shaped rod slides through one end of the box body and is fixed to the adjustment plate.

[0009] Furthermore, the impact buffer assembly also includes an extrusion rod, which is L-shaped. One end of the extrusion rod is fixed to the top of the movable plate. A long opening is opened on the top of the box body. The extrusion rod moves through the long opening. The other end of the extrusion rod is connected to the tire extrusion assembly.

[0010] Furthermore, the tire extrusion assembly includes an arc-shaped shell, a friction roller, a vertical slide bar, a lifting block, a connecting frame and a second spring. The vertical slide bar is symmetrically fixed on the top of the robot body, the lifting block is slidably sleeved on the vertical slide bar, and the connecting frame is L-shaped. One end of the connecting frame is fixed to one side wall of the lifting block, and the other end is fixed to the top of the arc-shaped shell. The friction roller is distributed in the arc-shaped shell, and the two ends of the friction roller are rotatably connected to the inner wall of the arc-shaped shell through bearings respectively. The bottom of the arc-shaped shell is open, and the friction roller extends out of the bottom opening of the arc-shaped shell and is located above the walking wheel. The second spring is slidably sleeved on the vertical slide bar and abuts between the lifting block and the top of the robot body.

[0011] Furthermore, the tire extrusion assembly also includes a ramp block, which is fixedly mounted on the side wall of the other side of the lifting block. The ramp set on the ramp block faces the other end of the extrusion rod. When the extrusion rod moves toward the side of the ramp block, one end of it slides in contact with the ramp on the ramp block.

[0012] Furthermore, the tire extrusion assembly also includes an adjusting bolt, the tops of the two groups of vertical slide rods are commonly fixed with a top plate, the vertical thread of the adjusting bolt passes through the top plate, and the bottom end thereof contacts the top of the lifting block.

[0013] Furthermore, the protection mechanism also includes a telescopic rod, one end of which is fixedly connected to the protection plate, and the other end of which is fixedly connected to the robot body. The telescopic rod is located below the connecting rod and is parallel to the connecting rod.

[0014] Furthermore, the connecting rod is located on one side of the vertical sliding rod, and the inclined block is located directly above the connecting rod, and the extrusion rod and the connecting rod are in the same vertical plane.

[0015] Furthermore, the protective plate is arc-shaped, with both ends extending to both sides of the robot body.

[0016] The beneficial effects achieved by the present invention using the above structure are as follows:

[0017] 1. This invention uses a protective plate, driven by the robot, to push obstacles in front and guide them to the sides, achieving obstacle clearance and ensuring smooth robot movement. Simultaneously, adaptive friction adjustment is achieved. The tire extrusion assembly, protective plate, connecting rod, and impact buffer assembly are linked to automatically adjust the wheel friction based on the weight of the obstacle or the slope of the travel ramp. When the obstacle is heavy or the slope is steep, the spring deformation of the impact buffer assembly drives the extrusion rod to push the inclined block, causing the friction roller to move downward and squeeze the wheel, increasing friction between the wheel and the ground, preventing slippage and ensuring smooth obstacle removal and uphill and downhill travel.

[0018] 2. The present invention also realizes the combination of anti-collision buffering and obstacle clearing functions. Through the cooperation of the protective plate, connecting rod and impact buffer assembly of the protective mechanism, when the robot body moves forward and backward, anti-collision buffering protection can be provided through the deformation of spring 1, thereby reducing the damage to the robot caused by external impact. In addition, protective plates are provided on both the front and rear sides. Whether the robot moves forward or backward, it can clear obstacles and avoid being blocked by obstacles in front and behind.

[0019] 3. The present invention can adjust the initial compression degree of the spring through structures such as a threaded barrel and a screw rod, thereby adjusting the buffering force of the protective plate to adapt to different impact scenarios; the distance between the friction roller and the running wheel can be adjusted through the adjusting bolt on the tire extrusion assembly to adapt to running wheels of different diameters; the inclined plane block is detachable and has different specifications. It can be replaced according to actual needs and the friction adjustment range can be flexibly adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 A schematic diagram of the three-dimensional structure proposed by the present invention;

[0022] Figure 2 A schematic diagram of the three-dimensional structure of the present invention from another perspective;

[0023] Figure 3 Schematic diagram of the three-dimensional structure of the protection mechanism in the present invention;

[0024] Figure 4 A schematic diagram of the three-dimensional structure of the protection mechanism of the present invention from another perspective;

[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of the protection mechanism of the present invention after removing the tire extrusion assembly;

[0026] Figure 6 for Figure 5 A partial cross-sectional view of

[0027] Figure 7 Schematic diagram of the three-dimensional structure of the tire extrusion assembly of the present invention;

[0028] Figure 8 A schematic diagram of the three-dimensional structure of the tire extrusion assembly of the present invention from another perspective;

[0029] Figure 9 for Figure 3 A magnified view of point A;

[0030] Figure 10 for Figure 6 Enlarged view of point B.

[0031] Among them, 1. Robot body, 2. Inspection equipment, 3. Travel wheel, 4. High-definition camera, 5. Infrared imaging detector, 6. Protection mechanism, 61. Protection plate, 62. Tire extrusion assembly, 63. Impact buffer assembly, 64. Connecting rod, 631. Box, 632. Moving plate, 633. Spring 1, 634. Adjustment plate, 635. Threaded barrel, 636. Screw rod, 637. L-shaped rod, 638. Extrusion rod, 639. Long strip mouth, 621. Arc shell, 622. Friction roller, 623. Vertical slide rod, 624. Connecting frame, 625. Spring 2, 626. Inclined block, 627. Adjustment bolt, 628. Top plate, 629. Telescopic rod, 6210. Lifting block. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0034] like Figure 1-Figure 4 As shown, the present invention provides a fire inspection robot with an obstacle clearance function, comprising a robot body 1, an inspection device 2, and a plurality of walking wheels 3 arranged on the left and right sides of the robot body 1, the inspection device 2 is arranged on the top of the robot body 1, and the inspection device 2 is composed of a high-definition camera 4 and an infrared imaging detector 5; it is characterized in that: it also includes a protective mechanism 6, the protective mechanism 6 is arranged on the robot body 1, the protective mechanism 6 includes two groups of protective plates 61, a tire extrusion assembly 62 and an impact buffer assembly 63, the protective plates 61 are located on the front and rear sides of the robot body 1, the two groups of protective plates 61 are fixedly connected by two groups of mutually parallel connecting rods 64, the impact buffer assembly 63 is fixedly arranged at the four corners of the top of the robot body 1, and the connecting rod 64 is connected to the impact buffer assembly 63, the tire extrusion assembly 62 is arranged on the top of the robot body 1, and is located on one side of the impact buffer assembly 63, and the tire extrusion assembly 62 is located above the walking wheel 3.

[0035] Working principle: The robot body 1 performs mobile inspections in the factory through the walking wheels 3 at its bottom, and performs shooting inspections through the inspection equipment 2 (high-definition camera 4 and infrared imaging detector 5) on the top of the robot body 1 to prevent the occurrence of fire. The cooperation between the protective plate 61, the connecting rod 64 and the impact buffer component 63 on the protective mechanism 6 can provide anti-collision and buffering protection for the robot body 1 when it moves back and forth; at the same time, the protective plate 61, driven by the robot body 1, pushes and clears the obstacles on the front side, and through the cooperation between the set tire extrusion component 62, the protective plate 61, the connecting rod 64 and the impact buffer component 63, the friction force on the walking wheel 3 can be increased according to the weight of the obstacle, which can prevent the walking wheel 3 from slipping, so that the obstacle clearing work of the robot body 1 can be carried out smoothly.

[0036] like Figures 1-6 、 Figure 9 、 Figure 10 As shown, the impact buffer assembly 63 includes a box body 631, a movable plate 632 and a spring 633. The box body 631 is fixed on the top of the robot body 1, and the connecting rod 64 slides through the box body 631. The movable plate 632 is fixed in the middle of the connecting rod 64 and slides horizontally inside the box body 631 along with the connecting rod 64. An adjustment plate 634 is slidably sleeved on the connecting rod 64. The adjustment plate 634 is slidably set in the box body 631 and is symmetrically located on both sides of the movable plate 632. The spring 633 is slidably sleeved on the connecting rod 64 and is in contact between the movable plate 632 and the adjustment plate 634.

[0037] By setting up the impact buffer component 63, the movement of the connecting rod 64 can be elastically buffered, and the movement of the connecting rod 64 is achieved through the force applied to the protective plate 61. When the protective plate 61 pushes the obstacle to move or is suddenly impacted by an external object, it will drive the movement of the connecting rod 64. Whether the connecting rod 64 moves forward or backward, it will drive the moving plate 632 to move and squeeze one of the groups of springs 1 633, so that the deformation of the spring 1 633 is determined by the weight of the obstacle and the impact force of the external object.

[0038] like Figures 1-6 、 Figure 9 、 Figure 10 The impact buffer assembly 63 shown also includes a threaded cylinder 635 arranged near the box body 631, and the horizontal ends of the threaded cylinder 635 are respectively threadedly connected with screw rods 636. An L-shaped rod 637 is fixed to one end of the screw rod 636 away from the threaded cylinder 635, and the other end of the L-shaped rod 637 slides through one end of the box body 631 and is fixed to the adjustment plate 634.

[0039] By cooperating among the adjustment plate 634, the threaded barrel 635, the screw rod 636 and the L-shaped rod 637, the position of the adjustment plate 634 in the box body 631 can be adjusted, and then the initial compression degree of the spring 1 633 can be adjusted, and then the size of the deformation of the spring 1 633 when the protective plate 61 receives the thrust can be adjusted, and the buffering force of the protective plate 61 can be adjusted. By rotating the threaded barrel 635, the internal threads at both ends of the threaded barrel 635 are opposite, thereby driving the screw rods 636 on both sides to move relative to or away from each other, and then driving the L-shaped rod 637 and the adjustment plate 634 to move relative to or away from each other. When the adjustment plate 634 moves relative to each other, the spring 1 633 is compressed, and when the adjustment plate 634 moves away from each other, the spring 1 633 is released.

[0040] like Figures 1-6 、 Figure 9 、 Figure 10As shown, the impact buffer assembly 63 also includes an extrusion rod 638, which is L-shaped. One end of the extrusion rod 638 is fixed to the top of the movable plate 632. A long opening 639 is opened on the top of the box body 631. The extrusion rod 638 moves through the long opening 639. The other end of the extrusion rod 638 is connected to the tire extrusion assembly 62.

[0041] like Figure 1-Figure 4 、 Figure 7 、 Figure 8 As shown, the tire squeezing assembly 62 includes an arc-shaped shell 621, a friction roller 622, a vertical slide bar 623, a lifting block 6210, a connecting frame 624 and a second spring 625. The vertical slide bar 623 is symmetrically fixed on the top of the robot body 1, the lifting block 6210 is slidably sleeved on the vertical slide bar 623, the connecting frame 624 is L-shaped, one end of the connecting frame 624 is fixed to one side wall of the lifting block 6210, and the other end is fixed to the top of the arc-shaped shell 621, the friction roller 622 is distributed in the arc-shaped shell 621, and the two ends of the friction roller 622 are rotatably connected to the inner wall of the arc-shaped shell 621 through bearings. The bottom of the arc-shaped shell 621 is open, and the friction roller 622 extends out of the bottom opening of the arc-shaped shell 621 and is located above the walking wheel 3. The second spring 625 is slidably sleeved on the vertical slide bar 623 and abuts between the lifting block 6210 and the top of the robot body 1.

[0042] like Figure 1-Figure 4 、 Figure 7 、 Figure 8 As shown, the tire extrusion assembly 62 also includes a ramp block 626, which is fixedly mounted on the side wall of the other side of the lifting block 6210. The ramp provided on the ramp block 626 faces the other end of the extrusion rod 638. When the extrusion rod 638 moves toward the side of the ramp block 626, one end thereof slides in contact with the ramp on the ramp block 626.

[0043] The working principle of the cooperation of the protective plate 61, the connecting rod 64, the tire extrusion assembly 62 and the impact buffer assembly 63 is: it can increase the friction force on the walking wheel 3 according to the weight of the obstacle pushed by the protective plate 61 and the slope of the walking ramp of the robot body 1, and can prevent the walking wheel 3 from slipping, so that the obstacle clearance work and uphill and downhill of the robot body 1 can be carried out smoothly; In addition, it should be noted that the inclined plane block 626 is detachably fixedly installed on the lifting block 6210, and the specific installation method can be installed by the cooperation of bolts and threaded holes. A mounting hole is provided on 626, and a threaded hole is provided on the lifting block 6210. Bolts are passed through the mounting holes on the inclined plane block 626 and are threadedly connected to the threaded holes on the lifting block 6210. The inclined plane block 626 can be detachably mounted on the lifting block 6210, which facilitates the replacement and maintenance of the inclined plane block 626. Moreover, the inclined plane of the inclined plane block 626 has different specifications and different degrees of inclination. The degree of extrusion between the extrusion rod 638 and the inclined plane of the inclined plane block 626 is also different, and the distance that the inclined plane block 626 moves downward is also different. According to needs, inclined plane blocks 626 with different inclined planes are selected.

[0044] like Figure 1-Figure 4 、 Figure 7 、 Figure 8 As shown, the tire squeezing assembly 62 further includes an adjusting bolt 627 . The tops of the two sets of vertical slide bars 623 are fixedly connected to a top plate 628 . The adjusting bolt 627 has a vertical thread that penetrates the top plate 628 , and its bottom end contacts the top of the lifting block 6210 .

[0045] By setting the adjusting bolt 627, the distance between the friction roller 622 and the traveling wheel 3 can be adjusted to adapt to traveling wheels 3 of different diameters. By rotating the adjusting bolt 627, when the adjusting bolt 627 moves downward, the lifting block 6210 is driven downward, and the spring 2 625 is squeezed, thereby driving the connecting frame 624 and the arc-shaped shell 621 downward, and thereby driving the friction roller 622 downward. When the adjusting bolt 627 moves upward, the spring 2 625 rebounds, thereby driving the connecting frame 624 and the arc-shaped shell 621 upward, thereby driving the friction roller 622 upward, thereby completing the adjustment of the distance between the friction roller 622 and the traveling wheel 3.

[0046] like Figure 1-Figure 4 、 Figure 7 、 Figure 8 As shown, the protective mechanism 6 also includes a telescopic rod 629, one end of the telescopic rod 629 is fixedly connected to the protective plate 61, and the other end of the telescopic rod 629 is fixedly connected to the robot body 1. The telescopic rod 629 is located below the connecting rod 64 and is parallel to the connecting rod 64. By coordinating the upper and lower supports of the telescopic rod 629 and the connecting rod 64, the stability of the movement of the protective plate 61 can be increased.

[0047] like Figure 1-Figure 4 、 Figure 7 、 Figure 8As shown, the connecting rod 64 is located on one side of the vertical slide 623, and the inclined block 626 is located directly above the connecting rod 64. The extrusion rod 638 and the connecting rod 64 are in the same vertical plane. The connecting rod 64 is located on one side of the vertical slide 623 to prevent the connecting rod 64 and the vertical slide 623 from interfering with each other in movement. The inclined block 626 is located directly above the connecting rod 64, and the extrusion rod 638 and the connecting rod 64 are in the same vertical plane, which can ensure that the extrusion rod 638 can move along the inclined surface of the inclined block 626.

[0048] like Figures 1-6 As shown, the protective plate 61 is arc-shaped, with its two ends extending to both sides of the robot body 1, and a movable gap is left between its bottom and the ground. The arc-shaped protective plate 61 can guide obstacles to both sides of the robot body 1, and the protective plate 61 is made of metal material, with a stable structure and not easy to be damaged or burned. At the same time, the metal protective plate can use its own weight to drive the connecting rod 64 to move when the robot body 1 goes up and down the slope.

[0049] When in use, during the inspection process, the robot body 1 moves for inspection via the walking wheels 3 at the bottom thereof, and uses the inspection equipment 2 (high-definition camera 4 and infrared imaging detector 5) on the top of the robot body 1 to shoot the inspection. The high-definition camera 4 can realize all-round photography of the working environment and complete the photography of the operation status of the equipment and instruments. The infrared imaging detector 5 can measure the temperature information of the instruments and equipment in the inspection area. The combination of the high-definition camera 4 and the infrared imaging detector 5 can be used to judge whether the instruments and equipment in the inspection area are operating normally and the fire situation, so that the operator can understand the information of each instrument and equipment through the control terminal and make early judgments on the potential fire accidents in the environment of the instrument and equipment.

[0050] When the robot body 1 encounters a light obstacle that affects its movement during its movement, the robot body 1 drives the protective plate 61 to contact the obstacle. Under the push of the protective plate 61, the obstacle is guided along the curved surface of the protective plate 61 to the two sides of the robot body 1, completing the clearance of the obstacle. At this time, the protective plate 61 drives the connecting rod 64 and the moving plate 632 to move in the opposite direction and slightly squeezes the spring 1 633. At this time, the squeezing rod 638 does not contact the inclined block 626.

[0051] When the weight of the obstacle is too large, the guard plate 61 will drive the connecting rod 64 and the movable plate 632 to move in the opposite direction. At this time, the deformation of the spring 1 633 becomes larger, and the extrusion rod 638 begins to contact the inclined block 626. The extrusion rod 638 slides along the inclined surface of the inclined block 626, thereby driving the inclined block 626 to move downward. The inclined block 626 drives the lifting block 6210, the connecting frame 624, the arc-shaped shell 621 and the friction roller 622 to move downward, thereby causing the friction roller 622 to squeeze with the walking wheel 3. The friction roller 622 squeezes the running wheel 3, which increases the friction between the running wheel 3 and the ground. This prevents the robot body 1 from slipping when pushing an obstacle that is too heavy. The heavier the obstacle, the greater the deformation of the spring 1 633. The squeezing rod 638 squeezes the inclined block 626 downward by a greater distance. The greater the squeezing force of the friction roller 622 on the running wheel 3, the greater the friction between the running wheel 3 and the ground. The running wheel 3 is a rubber tire.

[0052] In addition, it should be noted that when the robot body 1 moves forward, the protective plate 61 located on the front side of the robot body 1 contacts the obstacle. When the robot body 1 reverses, the protective plate 61 located on the rear side of the robot body 1 contacts the obstacle. Regardless of whether the robot body 1 moves forward or backward, the obstacle can be cleared, which can solve the problem of the robot body 1 being blocked by obstacles on both the front and rear sides.

[0053] When the robot body 1 moves forward, the two sets of tire squeezing assemblies 62 on the top front side cooperate with the squeezing rod 638 to squeeze the two sets of front wheels of the robot body 1. At this time, the two sets of front wheels of the robot body 1 drive the friction rollers 622 on the two sets of tire squeezing assemblies 62 on the front side to rotate; when the robot body 1 reverses, the two sets of tire squeezing assemblies 62 on the top rear side cooperate with the squeezing rod 638 to squeeze the two sets of rear wheels of the robot body 1. At this time, the two sets of rear wheels of the robot body 1 drive the friction rollers 622 on the two sets of tire squeezing assemblies 62 on the rear side to rotate;

[0054] In addition, when the robot body 1 moves forward or backward, the protective plate 61 can withstand the impact of sudden external objects. When the object hits the protective plate 61, the deformation of the spring 1 633 is used to buffer and reduce the impact force, thereby preventing the protective plate 61 from being subjected to a rigid impact, thereby preventing the robot body 1 from being subjected to excessive vibration and causing damage to the robot body 1.

[0055] In addition, when the robot body 1 goes uphill or downhill, under the action of gravity, the protective plate 61 will move downward, thereby driving the connecting rod 64 to slide, and the connecting rod 64 will also drive the moving plate 632 to move. At this time, the spring 1 633 is squeezed and deformed. When the slope of the slope encountered by the robot body 1 during movement is not large, the deformation of the spring is small. At this time, the squeezing rod 638 does not contact the inclined block 626. When the slope of the ramp is large, the deformation of the spring 1 633 becomes large. At this time, the squeezing rod 638 begins to contact the inclined block 626. The squeezing rod 638 slides along the inclined surface of the inclined block 626, thereby driving the inclined block 626 to move downward. The inclined block 626 drives the lifting block 6210, the connecting frame 624, the arc shell 621 and the friction roller 6 22 moves downward, thereby causing the friction roller 622 to be squeezed and contacted with the walking wheel 3. At this time, after the walking wheel 3 is squeezed by the friction roller 622, the friction between it and the ground is increased, thereby preventing the robot body 1 from slipping when going uphill or downhill. Moreover, the greater the slope, the greater the deformation of the spring 1 633 is squeezed, the greater the distance that the squeezing rod 638 squeezes the inclined plane block 626 downward, the greater the squeezing force of the friction roller 622 on the walking wheel 3, and the greater the friction between the walking wheel 3 and the ground. In addition, a vehicle-mounted mechanical arm 7 is also installed at the top front end of the robot body 1. When the front side of the robot body 1 encounters an obstacle that cannot be pushed away by the protective plate 61, the obstacle can be assisted in clearing by remotely controlling the vehicle-mounted mechanical arm 7.

[0056] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0057] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0058] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A fire inspection robot with an obstacle-clearing function, comprising a robot body (1), an inspection device (2), and a plurality of running wheels (3) arranged on the left and right sides of the robot body (1), wherein the inspection device (2) is arranged on the top of the robot body (1), and the inspection device (2) is composed of a high-definition camera (4) and an infrared imaging detector (5); characterized in that: The invention also includes a protection mechanism (6), which is arranged on the robot body (1). The protection mechanism (6) includes two groups of protection plates (61), a tire extrusion assembly (62) and an impact buffer assembly (63). The protection plates (61) are located on the front and rear sides of the robot body (1). The two groups of protection plates (61) are fixedly connected by two groups of mutually parallel connecting rods (64). The impact buffer assembly (63) is fixedly arranged at the four corners of the top of the robot body (1), and the connecting rods (64) are connected to the impact buffer assembly (63). The tire extrusion assembly (62) is arranged on the top of the robot body (1) and is located on one side of the impact buffer assembly (63). The tire extrusion assembly (62) is located above the walking wheel (3).

2. The fire inspection robot with obstacle removal function according to claim 1, characterized in that: The impact buffer assembly (63) includes a box (631), a movable plate (632) and a spring (633). The box (631) is fixedly arranged on the top of the robot body (1). The connecting rod (64) slides through the box (631). The movable plate (632) is fixedly arranged in the middle of the connecting rod (64) and slides horizontally inside the box (631) along with the connecting rod (64). An adjustment plate (634) is slidably sleeved on the connecting rod (64). The adjustment plate (634) is slidably arranged in the box (631) and is symmetrically located on both sides of the movable plate (632). The spring (633) is slidably sleeved on the connecting rod (64) and abuts between the movable plate (632) and the adjustment plate (634).

3. The fire inspection robot with obstacle removal function according to claim 2, characterized in that: The impact buffer assembly (63) further comprises a threaded barrel (635) arranged near the box body (631), wherein the horizontal ends of the threaded barrel (635) are respectively threadedly connected to screw rods (636), and an L-shaped rod (637) is fixedly provided at one end of the screw rod (636) away from the threaded barrel (635), and the other end of the L-shaped rod (637) slides through one end of the box body (631) and is then fixedly connected to the adjustment plate (634).

4. The fire inspection robot with obstacle removal function according to claim 3, characterized in that: The impact buffer assembly (63) further includes an extrusion rod (638), which is L-shaped. One end of the extrusion rod (638) is fixed to the top of the movable plate (632). A long opening (639) is provided on the top of the box body (631). The extrusion rod (638) moves through the long opening (639). The other end of the extrusion rod (638) is connected to the tire extrusion assembly (62).

5. The fire inspection robot with obstacle removal function according to claim 4, characterized in that: The tire extrusion assembly (62) comprises an arc-shaped shell (621), a friction roller (622), a vertical slide bar (623), a lifting block (6210), a connecting frame (624) and a second spring (625), wherein the vertical slide bar (623) is symmetrically fixed on the top of the robot body (1), the lifting block (6210) is slidably sleeved on the vertical slide bar (623), and the connecting frame (624) is L-shaped, with one end of the connecting frame (624) fixedly connected to a side wall of the lifting block (6210) and the other end fixedly connected to the arc-shaped shell ( 621) is fixed to the top, the friction roller (622) is distributed in the arc-shaped shell (621), the two ends of the friction roller (622) are rotatably connected to the inner wall of the arc-shaped shell (621) through bearings, the bottom of the arc-shaped shell (621) is open, the friction roller (622) extends out of the bottom opening of the arc-shaped shell (621) and is located above the walking wheel (3), the spring 2 (625) is slidably sleeved on the vertical slide bar (623) and abuts between the lifting block (6210) and the top of the robot body (1).

6. The fire inspection robot with obstacle removal function according to claim 5, characterized in that: The tire extrusion assembly (62) further comprises an inclined surface block (626), wherein the inclined surface block (626) is fixedly mounted on the other side wall of the lifting block (6210), and an inclined surface provided on the inclined surface block (626) faces the other end of the extrusion rod (638). When the extrusion rod (638) moves toward one side of the inclined surface block (626), one end thereof comes into sliding contact with the inclined surface on the inclined surface block (626).

7. The fire inspection robot with obstacle removal function according to claim 6, characterized in that: The tire extrusion assembly (62) further includes an adjusting bolt (627). The tops of the two groups of vertical slide bars (623) are fixedly connected to a top plate (628). The adjusting bolt (627) has a vertical thread that passes through the top plate (628), and its bottom end contacts the top of the lifting block (6210).

8. A fire inspection robot with obstacle removal function according to any one of claims 1 to 6, characterized in that: The protective mechanism (6) further includes a telescopic rod (629), one end of which is fixedly connected to the protective plate (61), and the other end of which is fixedly connected to the robot body (1). The telescopic rod (629) is located below the connecting rod (64) and is parallel to the connecting rod (64).

9. The fire inspection robot with obstacle removal function according to claim 7, characterized in that: The connecting rod (64) is located on one side of the vertical sliding rod (623), and the inclined block (626) is located directly above the connecting rod (64). The extrusion rod (638) and the connecting rod (64) are in the same vertical plane.

10. The fire inspection robot with obstacle removal function according to claim 8, characterized in that: The protective plate (61) is arc-shaped, with both ends extending to both sides of the robot body (1).

Images