Small fire-fighting robot suitable for operation in narrow space
By automatically adjusting the track spacing through adaptive narrowing components and triggering mechanisms, the problem of small firefighting robots getting stuck in confined spaces has been solved, enabling the robot to pass smoothly and move stably in confined spaces, thus improving rescue efficiency.
Patent Information
- Application Number
- CN202511798244.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-02
- Publication Date
- 2026-01-02
AI Technical Summary
The fixed track spacing of existing small firefighting robots makes them prone to getting stuck in narrow spaces, making them unable to respond quickly to changes in space width and resulting in low rescue efficiency.
An adaptive narrowing component was designed, including a contact plate, a triggering mechanism, and a power transmission system. The contact plate senses changes in the width of a narrow space and automatically adjusts the track spacing to achieve adaptation without human intervention.
The robot can automatically adapt to changes in the width of narrow spaces, allowing it to pass through smoothly, improving rescue efficiency, enhancing mobility stability, and ensuring the smooth progress of firefighting operations.
Smart Images
Figure CN121243685A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of fire-fighting robots, in particular to a small fire-fighting robot suitable for narrow space operation. BACKGROUND
[0002] The small fire-fighting robot is a fire-fighting operation equipment specially designed for narrow spaces such as indoor rooms, underground narrow lanes, and equipment gaps. It can replace firefighters to enter narrow and dangerous areas with high temperature, toxicity, and easy collapse to complete core fire-fighting tasks such as fire reconnaissance, point fire extinguishing, and environment detection, and is a key equipment for emergency rescue in narrow spaces.
[0003] At present, the track spacing of the existing small fire-fighting robot is mostly a fixed structure, or the spacing needs to be adjusted manually through remote control. When entering narrow spaces with irregular width, the fixed spacing is easy to be stuck with the inner wall of the space, causing the robot to be unable to pass smoothly. The manual adjustment method depends on the real-time observation of the scene picture by the firefighter, which is affected by factors such as smoke blocking at the fire scene and wireless signal interference, and the adjustment action is lagging and prone to deviation, which seriously reduces the rescue efficiency and is difficult to adapt to the operation requirements of complex narrow scenes. SUMMARY
[0004] The present application aims to at least solve one of the technical problems existing in the prior art, and provides a small fire-fighting robot suitable for narrow space operation, which solves the problem that the track spacing of the existing small fire-fighting robot is fixed and easy to be stuck with the inner wall of the narrow space, and cannot quickly respond to the change of space width.
[0005] The present application also provides a small fire-fighting robot suitable for narrow space operation, which comprises a vehicle frame, a fire-fighting robot body fixedly connected to the upper surface of the vehicle frame, two support frames movably connected to the lower surface of the vehicle frame, and two electric tracks fixedly connected to the side surfaces of the two support frames.
[0006] According to the small fire-fighting robot suitable for narrow space operation, the trigger mechanism comprises a plurality of slide rods two and a lifting plate, the plurality of slide rods two are fixedly connected to the lower surface of the vehicle frame, and the lifting plate is sleeved on the outer wall of the plurality of slide rods two.
[0007] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate.
[0008] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate.
[0009] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate.
[0010] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate.
[0011] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate. Advantages
[0012] The small fire-fighting robot suitable for narrow space operation according to the present application, the trigger mechanism further comprises: a support two fixedly connected to the lower surface of the vehicle frame, a rotating shaft fixedly connected to the inner surface of the support two, and an adjusting plate; the adjusting plate is rotationally connected to the outer wall of the rotating shaft, and the rotating shaft is located in the middle of the adjusting plate, and the support frame is hinged to one side of the adjusting plate. BRIEF DESCRIPTION OF DRAWINGS
[0013] The present application will be further described below in conjunction with the drawings and examples; Figure 1 The front view structure diagram of the small fire-fighting robot suitable for narrow space operation according to the present application; Figure 2 The rear view structure diagram of the small fire-fighting robot suitable for narrow space operation according to the present application; Figure 3 The bottom view structure diagram of the small fire-fighting robot suitable for narrow space operation according to the present application; Figure 4The right view sectional structure diagram of the small fire-fighting robot suitable for narrow space operation of the application; Figure 5 The rear view sectional structure diagram of the small fire-fighting robot suitable for narrow space operation of the application.
[0014] Legend: 1, support one; 2, top rod; 3, contact plate; 4, fire-fighting robot body; 5, electric caterpillar; 6, sliding frame; 7, support rod; 8, top plate; 9, sliding rod one; 10, sliding rod two; 11, lifting plate; 12, inner top wheel; 13, support two; 14, rotating shaft; 15, adjusting plate; 16, stringing plate; 17, frame; 18, support frame; 19, connecting frame. DETAILED DESCRIPTION
[0015] This part will describe the specific embodiments of the application in detail, the preferred embodiments of the application are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the application, but it cannot be understood as a limitation on the protection scope of the application.
[0016] Reference Figures 1-5 , the embodiment of the application is a small fire-fighting robot suitable for narrow space operation, which comprises: considering that the connection structure of the existing small fire-fighting robot in narrow space operation cannot adapt to the change of space width, and is easy to appear the situation that the passage is blocked, therefore, the frame 17 is designed, the fire-fighting robot body 4 is fixedly connected on the upper surface of the frame 17, the lower surface of the frame 17 is movably connected with two support frames 18, and the side surfaces of the two support frames 18 are fixedly connected with electric caterpillars 5. Specifically: the fire-fighting robot body 4 is specifically the core function carrier of the small fire-fighting robot, integrates fire reconnaissance, spot fire extinguishing, environmental parameter detection and other fire fighting modules, and control, communication, power supply and other basic modules, and is the main structure for realizing the core operation function of the fire-fighting robot, which is a mature technology known to those skilled in the art, so its specific structure and working principle are not described herein. Specifically: the electric caterpillar 5 is specifically the core moving executive mechanism of the small fire-fighting robot, which is driven by a motor to drive a caterpillar wheel group to operate, adopts a caterpillar type ground connection structure, has the characteristics of anti-skid, obstacle crossing and adaptation to concave and convex ground, and provides continuous moving power and terrain adaptation ability for the fire-fighting robot in the complex terrain of the fire scene, which is a mature technology known to those skilled in the art, so its specific structure and working principle are not described herein.
[0017] The frame 17 provides an overall support carrier for the robot, the fire-fighting robot body 4 integrates core functions such as fire reconnaissance and fire extinguishing, the support frame 18 is connected with the frame 17 as a connecting component, the electric crawler 5 provides movement power for the robot, and the basic structure not only guarantees the normal movement and fire-fighting operation ability of the robot in an open space, but also provides an installation basis for the subsequent self-adaptive distance adjusting assembly, avoiding the conflict between the basic structure and the distance adjusting function. Considering that the existing robot lacks a real-time sensing structure for the width of a narrow space and cannot automatically trigger the crawler spacing adjustment action, the self-adaptive narrowing assembly is arranged between the frame 17 and the support frame 18, and the self-adaptive narrowing assembly comprises two support frames 1 fixedly connected to the front surface of the frame 17 and two contact plates 3 hingedly connected to the front surface of the support frame 1. The support frame 1 hingedly connects the contact plate 3 to the front side of the frame 17, and the contact plate 3 can flexibly rotate around the hinge point. When the robot enters a narrow space, the contact plate 3 will first come into contact with the inner wall of the space, and the contact plate 3 becomes a trigger end for sensing the width change of the space, realizing real-time sensing of the width of the narrow space and providing a trigger power for subsequent automatic distance adjustment without manual intervention to start the distance adjustment process. Considering that the power transmission component needs to be able to stably guide and prevent displacement deviation from causing distance adjustment failure, the trigger mechanism is used to link the action of the contact plate 3 and adjust the spacing between the two electric crawlers 5 to adapt to the narrow space. The trigger mechanism comprises a plurality of slide rods 10 and a lifting plate 11, and the plurality of slide rods 10 are fixedly connected to the lower surface of the frame 17, and the lifting plate 11 is sleeved on the outer wall of the plurality of slide rods 10. The slide rod 10 is vertically fixed to the lower surface of the frame 17 to provide vertical guidance for the movement of the lifting plate 11, and the lifting plate 11 can stably vertically move along the outer wall of the slide rod 10. The slide rod 10 avoids horizontal deviation of the lifting plate 11 during movement, guarantees the accuracy of power transmission of the lifting plate 11, and solves the problem of power transmission deviation of the traditional mechanism. Considering the continuity of the power transmission link of the crawler spacing adjustment, the lifting movement needs to be converted into a crawler spacing adjustment action, so the trigger mechanism further comprises a support frame 13 fixedly connected to the lower surface of the frame 17, a rotating shaft 14 fixedly connected to the inner surface of the support frame 13, and an adjusting plate 15; the adjusting plate 15 is rotatably connected to the outer wall of the rotating shaft 14, and the rotating shaft 14 is located in the middle of the adjusting plate 15; the support frame 18 is hingedly connected to one side of the adjusting plate 15; the trigger mechanism further comprises a connecting frame 19 hingedly connected to the side of the adjusting plate 15 away from the support frame 18, and a stringing plate 16 fixedly connected to the side surface of the lifting plate 11; the stringing plate 16 is slidingly connected in the connecting frame 19; the above is the connecting structure between the electric crawler 5 and the lifting plate 11. The lifting plate 11 drives the connecting frame 19 to move through the series connection plate 16, the connecting frame 19 drives the adjusting plate 15 to rotate around the rotating shaft 14, the adjusting plate 15 drives the hinged support frame 18 to swing synchronously, and then the electric crawler belt 5 changes the interval. The connection structure builds a coherent power transmission path from the lifting plate 11 to the electric crawler belt 5, converts the vertical lifting movement into the contraction action of the crawler belt interval, and realizes the effective transmission of the distance adjustment power; In view of the need to convert the external action of touching the wall into internal power, the trigger mechanism further comprises a sliding rod 9, a sliding frame 6, and a support rod 7, the sliding rod 9 is fixedly connected to one side of the support frame 1 away from the contact plate 3, and the sliding frame 6 is slidingly connected to the outer wall of the sliding rod 9. The trigger mechanism further comprises a top rod 2 and a top plate 8, one side of the top plate 8 is sleeved on the outer wall of the support rod 7, and the other side is hinged to the front end of the lifting plate 11. One end of the top rod 2 is hinged to the inside of the contact plate 3, and the other end is hinged to the side surface of the sliding frame 6. The above is the connection structure between the contact plate 3 and the lifting plate 11. After the contact plate 3 touches the wall, the sliding frame 6 is pushed to slide along the sliding rod 9 through the top rod 2, the sliding frame 6 drives the top plate 8 to move through the support rod 7, and the top plate 8 drives the lifting plate 11 to do lifting movement along the sliding rod 10. This structure realizes the conversion and direction conversion of the wall touching signal into internal power, and accurately transmits the external wall touching action to the lifting plate 11.
[0018] In summary, the improvement of the embodiment is: Through the cooperation of the contact plate 3, the top rod 2, the sliding frame 6 and other components, the action of touching the wall is converted into internal trigger power, the power direction conversion and coherent conduction are realized through the support rod 7 and the top plate 8, and then through the linkage of the adjusting plate 15 and the support frame 18, the interval between the two electric crawler belts 5 is automatically contracted, without manual intervention, the width of the narrow space can be adapted, and the robot can smoothly enter the narrow area to carry out fire fighting operation.
[0019] On the basis of the above, other structures need to be disclosed in detail, such as: Considering that the connection between the adjusting plate 15 and the support frame 18 is hinged, lack of support may cause the electric crawler belt 5 to "warp", affecting the moving stability, therefore, the support frame 18 away from the electric crawler belt 5 is rotationally connected with an inner top wheel 12 for supporting the side of the support frame 18 away from the electric crawler belt 5, preventing the electric crawler belt 5 from "warping"; The inner top wheel 12 is rotationally connected to the side of the support frame 18 away from the electric crawler belt 5, which can provide lateral support and effectively avoid the inclination of the electric crawler belt 5, thereby enhancing the moving stability of the robot and ensuring the smooth operation process.
[0020] Working principle: when the small fire-fighting robot works in a narrow space, the working process is as follows: when the robot drives into the narrow space, the contact plate 3 hinged on the front side support 1 of the frame 17 first contacts the inner wall of the space, the contact plate 3 rotates around the hinge point and pushes the jacking rod 2, the jacking rod 2 drives the sliding frame 6 to slide horizontally along the slide rod 1 9, the sliding frame 6 pushes the top plate 8 through the support rod 7, the top plate 8 pulls the lifting plate 11 to make vertical lifting movement along the slide rod 2 10 on the lower surface of the frame 17; The stringing plate 16 on the side surface of the lifting plate 11 drives the adapter frame 19 to move, the adapter frame 19 pulls the adjusting plate 15 to rotate around the rotating shaft 14 on the support 2 13, when the adjusting plate 15 rotates around the rotating shaft 14, the support frame 18 hinged on one side of the adjusting plate 15 swings synchronously, and then the electric caterpillar belts 5 on the two support frames 18 approach each other, so that the automatic contraction of the caterpillar belt spacing is realized, and the width of the narrow space is adapted. Meanwhile, the inner top wheel 12 on the side away from the electric caterpillar belt 5 of the support frame 18 provides lateral support for the support frame 18, so that the electric caterpillar belt 5 does not tilt.
[0021] The whole process is triggered by the wall contact action of the contact plate 3, and the self-adaptive adjustment of the caterpillar belt spacing can be completed without manual intervention, which not only ensures the smooth passing of the robot in the narrow area, but also enhances the movement stability through the inner top wheel 12, and ensures that the fire-fighting robot body 4 can effectively carry out core fire-fighting operations such as fire reconnaissance and spot fire extinguishing in the narrow and dangerous area.
[0022] The above describes the embodiments of the application in combination with the drawings, but the application is not limited to the above embodiments, and various changes can be made within the knowledge range of ordinary skilled in the art without departing from the purpose of the application.
Claims
1. A small firefighting robot suitable for operation in confined spaces, comprising: The frame (17) and the fire-fighting robot body (4) fixedly connected to the upper surface of the frame (17) are characterized in that: Two support frames (18) are movably connected to the lower surface of the frame (17), and electric tracks (5) are fixedly connected to the side surfaces of the two support frames (18). An adaptive narrowing assembly is provided between the frame (17) and the support frame (18). The adaptive narrowing assembly includes: two brackets (1) fixedly connected to the front surface of the frame (17) and two contact plates (3) hinged to the front surface of the brackets (1). The triggering mechanism is used to link the action of the contact plate (3) to adjust the distance between the two electric tracks (5) and thus adapt to the narrow space.
2. The small firefighting robot suitable for operation in confined spaces according to claim 1, characterized in that, The triggering mechanism includes: multiple slide rods (10) and lifting plate (11). The multiple slide rods (10) are fixedly connected to the lower surface of the frame (17), and the lifting plate (11) is sleeved on the outer wall of the multiple slide rods (10).
3. The small firefighting robot suitable for operation in confined spaces according to claim 2, characterized in that, The triggering mechanism further includes: a bracket two (13) fixedly connected to the lower surface of the frame (17), a rotating shaft (14) fixedly connected to the inner surface of the bracket two (13), and an adjusting plate (15). The adjusting plate (15) is rotatably connected to the outer wall of the rotating shaft (14), and the rotating shaft (14) is located in the middle of the adjusting plate (15). The support frame (18) is hinged to one side of the adjusting plate (15).
4. The small firefighting robot suitable for operation in confined spaces according to claim 3, characterized in that, The triggering mechanism further includes: a connecting frame (19) hinged to the side of the adjusting plate (15) away from the support frame (18), and a connecting plate (16) fixedly connected to the side surface of the lifting plate (11), wherein the connecting plate (16) is slidably connected through the connecting frame (19).
5. The small firefighting robot suitable for operation in confined spaces according to claim 4, characterized in that, The triggering mechanism further includes: a slide rod (9), a sliding frame (6), and a support rod (7). The slide rod (9) is fixedly connected to the side of the support (1) away from the contact plate (3), and the sliding frame (6) is slidably connected to the outer wall of the slide rod (9).
6. The small firefighting robot suitable for operation in confined spaces according to claim 5, characterized in that, The triggering mechanism also includes: a top rod (2) and a top plate (8). One side of the top plate (8) is sleeved on the outer wall of the support rod (7), and the other side is hinged to the front end of the lifting plate (11). One end of the top rod (2) is hinged to the inside of the contact plate (3), and the other end is hinged to the side surface of the sliding frame (6).
7. The small firefighting robot suitable for operation in confined spaces according to claim 1, characterized in that, The support frame (18) is rotatably connected to an inner top wheel (12) on the side opposite to the electric track (5).