Fire-fighting inspection robot

Abstract

The invention discloses a fire-fighting inspection robot, which belongs to the technical field of robots and comprises a walking device, mechanical legs and an image acquisition device. Walking wheels are arranged below the walking device and matched with a walking motor to drive the robot to walk, the mechanical legs are located on the outer side of the walking device, and the image collecting device is located above the walking device. The fire-fighting inspection robot provided by the invention has a walking function, a crawling function and a fire alarm function. The walking function is mainly achieved through the two walking wheels and the motor, and the robot can stand, rotate and go straight on the flat ground in situ. The crawling function is mainly achieved through the mechanical legs on the two sides of the walking device, and crawling obstacle crossing can be conducted when an obstacle occurs. The fire alarm function is mainly realized by the control panel, and an alarm signal can be sent out when combustible gas and flames appear. The robot assists in replacing manual work to carry out fire-fighting inspection, the problems of large workload, large troubleshooting difficulty and the like can be solved, an operator is away from a fire scene when a fire occurs, and safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a fire inspection robot. Background Technology

[0002] With the increasing prevalence of automation, more and more robots are being deployed in production, storage, and transportation. As production scales up, the internal fire safety issues in unmanned factories and warehouses are also constantly increasing. These unmanned factories and warehouses have complex internal environments with numerous shelves and areas inaccessible to humans. They also contain a wide variety of items, including some that are smoldering and difficult to detect in time. Currently, most inspections are conducted manually, but manual inspections cannot be performed 24 / 7 or reach confined spaces, which can pose serious fire hazards. Furthermore, manual inspections are prone to encountering toxic or flammable gases and sudden fires, making them highly dangerous. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a fire inspection robot. This robot is remotely controlled, enabling rapid movement on two wheels on flat surfaces and obstacle-crossing on four legs when encountering complex terrain or obstacles. A camera scans and identifies flames in the environment, issuing an alarm signal upon the presence of combustible gas or flames, thereby achieving intelligent and mechanized fire inspection.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a fire inspection robot, comprising a walking device, mechanical legs, and an image acquisition device. The chassis frame of the walking device is fixedly connected to the end bracket of the mechanical legs, and the servo motor bracket of the image acquisition device is fixedly connected to one side of the upper cover plate of the walking device. The walking device includes a chassis frame, a shock absorber, a motor bracket, a motor, rubber wheels, a lower support plate, a battery support plate, a battery, a control board, an upper cover plate, and M6×10 hexagonal screws. The chassis frame is fixedly connected to the sliding groove of the shock absorber, the sliding platform of the shock absorber is fixedly connected to the motor bracket, the motor is fixed on the motor bracket, and the rubber wheels are fixed on the motor spindle. The lower support plate is mounted on the chassis frame, the battery support plate is fixed to the chassis frame by angle brackets, the control board is fixed to the chassis frame by angle brackets, the battery is fixed by the battery support plate, and the upper cover plate is fixedly connected to the chassis frame by hexagonal screws. The battery support plate has a battery slot and a battery support plate mounting hole, the control board has a control board mounting hole, and the upper cover plate has an upper cover plate mounting hole.

[0005] The present invention is further configured such that: the chassis frame has a symmetrical structure and a threaded hole is provided at the top.

[0006] The invention is further configured such that: the shock absorber includes slide groove I, slide groove II, M6×50 socket head cap screws, a sliding platform, and a spring. The M6×50 socket head cap screws pass through the slide groove mounting hole and then sequentially through the sliding platform mounting hole and the spring, and are fixedly connected through the slide groove threaded hole. The slide grooves I and II are symmetrical structures, each having a spring fixing groove, a chassis mounting hole, a slide groove mounting hole, and a slide groove threaded hole. The sliding platform has a spring fixing groove, a motor bracket mounting hole, and a sliding platform mounting hole.

[0007] The invention is further configured such that the mechanical leg includes an end-mounted bracket, a thigh, and a lower leg. The thigh is provided with a long U-shaped servo bracket I, a short U-shaped servo support I, a short U-shaped servo support II, a thigh servo, and a lower leg servo. The lower leg is provided with a long U-shaped servo support II, a lower leg end, and a lower leg U-shaped bracket. The end-mounted bracket is fixedly connected to the short U-shaped servo support I, which is fixed to the thigh servo. The long U-shaped servo support I is fixedly mounted on the main shaft of the thigh servo. The short U-shaped servo support II is fixedly connected to the long U-shaped servo support I. The lower leg servo is fixedly connected to the short U-shaped servo support II, which is fixedly mounted on the main shaft of the lower leg servo. The lower leg U-shaped bracket is fixedly connected to the long U-shaped servo support II, and the lower leg end is fixedly connected to the lower leg U-shaped bracket. The end-mounted bracket has a chassis mounting hole and a servo support mounting hole. The lower leg end has a positioning hole and a lower leg U-shaped bracket mounting hole.

[0008] The present invention is further configured such that: the image acquisition device includes a camera servo, a camera bracket, a servo bracket, and a camera. The camera is fixedly connected to the camera bracket, the camera bracket is fixedly mounted on the output shaft of the camera servo, and the camera servo is fixedly mounted on the servo bracket. The camera bracket is provided with a servo spindle mounting hole. The servo bracket is provided with a servo mounting hole, a top cover mounting hole, a servo slot, and a top cover slot.

[0009] In summary, the present invention has the following advantages compared to the prior art:

[0010] 1. This fire inspection robot, through the control of its walking and crawling devices, enables the robot to achieve rapid two-wheel walking on flat ground and four-legged crawling and obstacle crossing on complex terrain. When walking on two wheels, the robot's four legs are folded up, the two wheels touch the ground and start moving, moving forward and backward and rotating left and right on flat ground; when crawling on four legs, the four legs are lowered, the two wheels are raised and locked, and the robot crawls and crosses obstacles on complex terrain, achieving rapid movement over a wide range of all terrains.

[0011] 2. This fire inspection robot detects and scans for combustible gases and flames on site, and issues an alarm signal when combustible gases and flames are detected, ensuring the safety of operators. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of a two-wheeled fire inspection robot according to the present invention.

[0013] Figure 2 This is a schematic diagram of a four-legged crawling fire inspection robot according to the present invention.

[0014] Figure 3 This is a schematic diagram of a fire inspection robot walking device according to the present invention.

[0015] Figure 4 This is a schematic diagram of the mechanical legs of a fire inspection robot according to the present invention.

[0016] Figure 5 This is a schematic diagram of an image acquisition device for a fire inspection robot according to the present invention.

[0017] Figure 6 This is a schematic diagram of the chassis frame of a fire inspection robot according to the present invention.

[0018] Figure 7 This is a schematic diagram of a shock absorber for a fire inspection robot according to the present invention.

[0019] Figure 8 This is a schematic diagram of a battery support plate for a fire inspection robot according to the present invention.

[0020] Figure 9 This is a schematic diagram of a fire inspection robot control board according to the present invention.

[0021] Figure 10 This is a schematic diagram of the top cover plate of a fire inspection robot according to the present invention.

[0022] Figure 11 This is a schematic diagram of a fire inspection robot chute according to the present invention.

[0023] Figure 12 This is a schematic diagram of a sliding platform for a fire inspection robot according to the present invention.

[0024] Figure 13 This is a schematic diagram of the thigh of a fire inspection robot according to the present invention.

[0025] Figure 14 This is a schematic diagram of the lower leg of a fire inspection robot according to the present invention.

[0026] Figure 15 This is a schematic diagram of the lower leg end of a fire inspection robot according to the present invention.

[0027] Figure 16 This is a schematic diagram of an end effector mounting bracket for a fire inspection robot according to the present invention.

[0028] Figure 17 This is a schematic diagram of a servo motor bracket for a fire inspection robot according to the present invention.

[0029] Figure 18 This is a schematic diagram of a camera bracket for a fire inspection robot according to the present invention.

[0030] In the diagram: walking device (1), mechanical leg (2), image acquisition device (3), chassis frame (1-1), shock absorber (1-2), motor bracket (1-3), motor (1-4), rubber wheel (1-5), lower support plate (1-6), battery support plate (1-7), battery (1-8), control board (1-9), upper cover plate (1-10), M6×10 socket head cap screws (1-11), corner bracket (1-12), slide groove I (1-2-1), slide groove II (1-2-2). M6×50 socket head cap screws (1-2-3), sliding platform (1-2-4), spring (1-2-5), end bracket (2-1), thigh (2-2), lower leg (2-3), short U-shaped servo bracket I (2-2-1), long U-shaped servo bracket I (2-2-2), short U-shaped servo bracket II (2-2-3), thigh servo (2-2-4), lower leg servo (2-2-5), lower leg end (2-3-1), lower leg U-shaped bracket (2-3-2), long U-shaped servo Bracket II (2-3-3), Camera Servo (3-1), Camera Bracket (3-2), Servo Bracket (3-3), Camera (3-4), Threaded Hole (1-1-1), Spring Mounting Slot (1-2-1-1), Chassis Mounting Hole (1-2-1-2), Slide Mounting Hole (1-2-1-3), Slide Threaded Hole (1-2-1-4), Sliding Platform Mounting Hole (1-2-4-1), Motor Bracket Mounting Hole (1-2-4-2), Battery Slot (1-7-1), Battery Support Support plate mounting hole (1-7-2), control board mounting hole (1-9-1), top cover plate mounting hole (1-10-1), servo bracket mounting hole (1-10-2), U-shaped servo bracket mounting hole (2-1-1), positioning hole (2-3-1-1), lower leg U-shaped bracket mounting hole (2-3-1-2), servo spindle mounting hole (3-2-1), servo mounting hole (3-3-1), top cover plate mounting hole (3-3-2), servo slot (3-3-3), top cover plate slot (3-3-4). Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "a," "b," and "c" are used interchangeably.

[0032] The terms "three" and "four" are used only to distinguish individual components and do not represent a sequential order. The terms "above," "below," "one end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "equipped with," "connected," etc.,

[0033] The term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or a connection via...

[0034] An intermediate medium provides an indirect connection, which can be a connection within the two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] In order to solve existing problems, such as Figures 1 to 16 As shown, the present invention proposes a fire inspection robot, including a walking device (1), a mechanical leg (2), and an image acquisition device (3). The chassis frame (1-1) of the walking device (1) is fixedly connected to the end fixing frame (2-1) of the mechanical leg, and the image acquisition device (3) is fixedly connected to one side of the upper cover plate (1-10) of the walking device.

[0036] The walking device includes a chassis frame (1-1), a shock absorber (1-2), and a motor bracket (1-3).

[0037] Motor (1-4), rubber wheel (1-5), lower support plate (1-6), battery support plate (1-7), battery (1-8), control board (1-9), upper cover plate (1-10), M6×10 socket head cap screws (1-11), chassis frame (1-1) is fixedly connected to the slide groove I (1-2-1) and slide groove II (1-2-2) of shock absorber (1-2), sliding platform (1-2-4) of shock absorber (1-2) is fixedly connected to motor bracket (1-3), motor (1-4) is fixed on motor bracket (1-3), and rubber wheel (1-5) is fixed on the main shaft of motor (1-4). The lower support plate (1-6) is mounted on the chassis frame (1-1), the battery support plate (1-7) is fixed to the chassis frame (1-1) by angle brackets (1-12), the control plate (1-9) is fixed to the chassis frame (1-1) by angle brackets (1-12), the battery (1-8) is fixed by the battery support plate (1-7), and the upper cover plate (1-10) is fixedly connected to the chassis frame (1-1) by M6×10 hexagonal screws (1-11). The battery support plate (1-7) is provided with a battery slot (1-7-1) and a battery support plate mounting hole (1-7-2), the control plate (1-9) is provided with a control plate mounting hole (1-9-1), and the upper cover plate (1-10) is provided with an upper cover plate mounting hole (1-10-1) and a servo bracket mounting hole (1-10-2).

[0038] The chassis frame (1-1) has a symmetrical structure and a threaded hole (1-1-1) at the top.

[0039] The shock absorber includes (1-2) a slide groove I (1-2-1), a slide groove II (1-2-2), an M6×50 socket head cap screw (1-2-3), a sliding platform (1-2-4), and a spring (1-2-5). The M6×50 socket head cap screw (1-2-3) passes through the slide groove mounting hole (1-2-1-3) and then sequentially passes through the sliding platform mounting hole (1-2-4-1) and the spring (1-2-5), and is fixedly connected through the slide groove threaded hole (1-2-1-4). The slide groove I (1-2-1) and slide groove II (1-2-1) are symmetrical structures, and are provided with a spring fixing groove (1-2-1-1), a chassis mounting hole (1-2-1-2), a slide groove mounting hole (1-2-1-3), and a slide groove threaded hole (1-2-1-4). The sliding platform (1-2-4) is provided with a spring fixing groove (1-2-1-1), a motor bracket mounting hole (1-2-4-2), and a sliding platform mounting hole (1-2-4-1).

[0040] The mechanical leg (2) includes an end bracket (2-1), a thigh (2-2), and a lower leg (2-3). The thigh (2-2) is provided with a short U-shaped servo bracket I (2-2-1), a long U-shaped servo bracket I (2-2-2), a short U-shaped servo bracket II (2-2-3), a thigh servo (2-2-4), and a lower leg servo (2-2-5). The lower leg (2-3) is provided with a lower leg end (2-3-1), a lower leg U-shaped bracket (2-3-2), and a long U-shaped servo bracket II (2-3-3). The end bracket (2-1) is fixedly connected to the short U-shaped servo bracket I (2-2-1), the short U-shaped servo bracket I (2-2-1) is fixedly connected to the thigh servo (2-2-4), the long U-shaped servo bracket I (2-2-2) is fixedly installed on the spindle of the thigh servo (2-2-4), the short U-shaped servo bracket II (2-2-3) is fixedly connected to the long U-shaped servo bracket I (2-2-2), the lower leg servo (2-2-5) is fixedly connected to the short U-shaped servo bracket II (2-2-3), the long U-shaped servo bracket II (2-3-3) is fixedly installed on the spindle of the lower leg servo (2-2-5), the lower leg U-shaped bracket (2-3-2) is fixedly connected to the long U-shaped servo bracket II (2-3-3), and the lower leg end (2-3-1) is fixedly connected to the lower leg U-shaped bracket (2-3-2). The end bracket (2-1) is provided with a chassis mounting hole (1-2-1-2) and a U-shaped servo bracket mounting hole (2-1-1). The lower leg end (2-3-1) is provided with a positioning hole (2-3-1-1) and a lower leg U-shaped bracket mounting hole (2-3-1-2).

[0041] The image acquisition device includes a camera servo (3-1), a camera bracket (3-2), a servo bracket (3-3), and a camera (3-4). The camera (3-4) is fixedly connected to the camera bracket (3-2), the camera bracket (3-2) is fixedly mounted on the output shaft of the camera servo (3-1), and the camera servo (3-1) is fixedly mounted on the camera servo bracket (3-3). The camera bracket (3-2) has a servo spindle mounting hole (3-2-1). The servo bracket has a servo mounting hole (3-3-1), a top cover mounting hole (3-3-2), a servo slot (3-3-3), and a top cover slot (3-3-4).

[0042] The working principle of this invention is as follows:

[0043] The walking mode of the fire inspection robot of the present invention is as follows: by remotely controlling the control board (1-9), the lower leg servo motor (2-7) raises the lower leg (2-8), and after the rubber wheel (1-5) contacts the ground, the motor (1-4) rotates to drive the robot to walk, so as to realize the robot's two-wheel static balance, forward movement and differential steering.

[0044] The crawling method of the fire inspection robot of the present invention is as follows: the lower leg servo motor (2-7) is used to lower the lower leg by remote control board (1-9). After the lower leg end (2-3-1) touches the ground, the rubber wheel (1-5) is lifted off the ground, the motor (1-4) is locked and stationary, and the thigh servo motor (2-2-4) and lower leg servo motor (2-2-5) on the four mechanical legs (2) of the robot rotate in coordination to drive the thigh (2-1) and lower leg (2-2) to perform stepping movements.

[0045] The fire inspection robot of this invention detects combustible gases on-site via a control panel (1-9). It scans and identifies flames on-site via a camera (3-4). It issues an alarm signal via the control panel (1-9).

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fire inspection robot, comprising a walking device, mechanical legs, and an image acquisition device, characterized in that: The chassis frame of the walking device is fixedly connected to the end bracket of the mechanical leg, and the servo motor bracket of the image acquisition device is fixedly connected to one side of the upper cover plate of the walking device. The walking device includes a chassis frame, shock absorber, motor bracket, motor, rubber wheels, lower support plate, battery support plate, battery, control board, upper cover plate, and M6×10 hexagonal screws. The chassis frame is fixedly connected to the sliding groove of the shock absorber, the sliding platform of the shock absorber is fixedly connected to the motor bracket, the motor is fixed to the motor bracket, and the rubber wheels are fixed to the motor shaft. The lower support plate is mounted on the chassis frame, the battery support plate is fixed to the chassis frame by angle brackets, the control board is fixed to the chassis frame by angle brackets, the battery is fixed by the battery support plate, and the upper cover plate is fixedly connected to the chassis frame by hexagonal screws. The battery support plate has a battery slot and battery support plate mounting holes, the control board has control board mounting holes, and the upper cover plate has upper cover plate mounting holes.

2. The fire inspection robot according to claim 1, characterized in that: The chassis frame has a symmetrical structure and threaded holes at the top.

3. The fire inspection robot according to claim 1, characterized in that: The shock absorber includes slide groove I, slide groove II, M6×50 socket head cap screws, a sliding platform, and a spring. The socket head cap screws pass through the mounting holes in the slide grooves, then sequentially through the mounting holes in the sliding platform and the spring, and are fixedly connected through the threaded holes in the slide grooves. Slide grooves I and II are symmetrical structures, each with a spring fixing groove, a chassis mounting hole, a slide groove mounting hole, and a slide groove threaded hole. The sliding platform has a spring fixing groove, a motor bracket mounting hole, and a sliding platform mounting hole.

4. The fire inspection robot according to claim 1, characterized in that: The mechanical leg includes an endplate, a thigh, and a lower leg. The thigh is equipped with a long U-shaped servo mount I, a short U-shaped servo bracket I, a short U-shaped servo bracket II, a thigh servo, and a lower leg servo. The lower leg is equipped with a long U-shaped servo bracket II, a lower leg endplate, and a lower leg U-shaped mount. The endplate is fixedly connected to the short U-shaped servo bracket I, which is fixed to the thigh servo. The long U-shaped servo bracket I is fixedly mounted on the main shaft of the thigh servo. The short U-shaped servo bracket II is fixedly connected to the long U-shaped servo bracket I. The lower leg servo is fixedly connected to the short U-shaped servo bracket II, which is fixedly mounted on the main shaft of the lower leg servo. The lower leg U-shaped mount is fixedly connected to the long U-shaped servo bracket II, and the lower leg endplate is fixedly connected to the lower leg U-shaped mount. The endplate has chassis mounting holes and servo bracket mounting holes. The lower leg endplate has positioning holes and lower leg U-shaped bracket mounting holes.

5. The fire inspection robot according to claim 1, characterized in that: The image acquisition device includes a camera servo, a camera bracket, a servo bracket, and a camera. The camera is fixedly connected to the camera bracket, the camera bracket is fixedly mounted on the output shaft of the camera servo, and the camera servo is fixedly mounted on the servo bracket. The camera bracket has a servo spindle mounting hole. The servo bracket has a servo mounting hole, a top cover mounting hole, a servo slot, and a top cover slot.

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