All-terrain multifunctional fire-fighting operation robot

Abstract

The invention relates to the field of fire fighting equipment, in particular to an all-terrain multifunctional fire fighting operation robot which comprises a rack, a walking assembly, a damping module, a mechanical operation module, an environment sensing and communication module, a fire extinguishing operation module and a power energy system. The walking assembly comprises a crawler chassis, the crawler chassis is installed on the rack, and the crawler chassis comprises walking wheels and crawler belts arranged outside the walking wheels; the damping module comprises a damping spring arranged on the rack; the mechanical operation module comprises a first mechanical arm and a second mechanical arm, the first mechanical arm comprises a grabbing structure, and the second mechanical arm comprises a cutting structure; the environment perception and communication module comprises an antenna and a plurality of camera devices; the fire extinguishing operation module comprises a hydraulic arm and a water cannon device, and the two ends of the hydraulic arm are connected with the robot and the water cannon device correspondingly. The system has the effects of effectively coping with complex fire scenes, improving the fire extinguishing efficiency and guaranteeing the safety of firefighters.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fire-fighting equipment, in particular to a full-terrain multi-functional fire-fighting operation robot. BACKGROUND

[0002] In modern fire-fighting work, the complexity and danger of fire accidents are increasing. Traditionally, fire-fighting personnel mainly rely on manual fire-fighting by entering the core area of the fire scene. However, in the face of high-risk complex scenes such as chemical fire, high-rise building fire or large warehouse fire, the fire scene often has risks such as high temperature, toxic and harmful gases, explosion risk and building structure collapse, which seriously threaten the safety of fire-fighting personnel. At the same time, due to the limitation of human endurance and mobility, fire-fighting personnel are difficult to quickly reach the core area of the fire scene, which may delay the expansion of the fire.

[0003] In order to reduce personnel risk and improve rescue ability, some fire-fighting robot devices have appeared in the market. These devices usually have basic walking function and are equipped with fire water cannons or water guns, which can realize remote water spraying and make the operator work at a safe distance. However, these existing fire-fighting robots still have significant shortcomings.

[0004] On the one hand, the mobile chassis is designed mainly for flat and hard road surface, and has poor passing ability and obstacle crossing ability when facing complex unstructured terrains such as ruins, stairs, mud or obstacles commonly seen in fire scenes, and is easy to be trapped and difficult to penetrate into the key position of the fire scene. On the other hand, its function is relatively single, mostly focusing only on water spraying, lacking comprehensive disposal ability for multiple disasters, such as lacking multiple functions of breaking, smoke exhaust, material transportation or environment detection, and being difficult to adapt to complex and variable actual combat needs. Therefore, neither the traditional manual method nor the primary fire-fighting robot can well solve the problem of safe, efficient and multi-functional collaborative operation in complex and dangerous environment. SUMMARY

[0005] In order to effectively respond to complex fire scenes, improve fire-fighting efficiency and protect the safety of fire-fighting personnel, the present application provides a full-terrain multi-functional fire-fighting operation robot.

[0006] The full-terrain multi-functional fire-fighting operation robot provided by the present application adopts the following technical scheme: A full-terrain multi-functional fire-fighting operation robot, comprising: a frame; a walking assembly comprising a tracked chassis, the tracked chassis being installed on the frame, the tracked chassis comprising walking wheels and a track arranged outside the walking wheels, one side of the track away from the walking wheels being provided with anti-skid lines; a shock absorption module comprising shock absorption springs arranged on the chassis; a mechanical operation module comprising a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are both mounted on the robot away from the walking assembly, the first mechanical arm comprises a grabbing structure, and the second mechanical arm comprises a cutting structure; an environment sensing and communication module comprising an antenna arranged on the robot for signal transmission and a plurality of cameras arranged on the robot and located in the direction of the robot travel; a fire extinguishing operation module comprising a water inlet, a hydraulic arm and a water cannon device, two ends of the hydraulic arm are connected with the robot and the water cannon device respectively, and the water inlet is arranged on the robot and faces away from the water cannon device; a power energy system comprising a power supply.

[0007] By adopting the above technical scheme, the anti-skid pattern structure of the tracked chassis significantly increases the contact friction with the ground, and cooperates with the driving characteristics of the walking wheels, so that the robot can stably cross the high-risk terrain. The shock absorption springs arranged on the chassis can effectively absorb the impact vibration generated in the process of traveling due to the ups and downs of the terrain or the collision of obstacles, avoid the damage of internal precision sensors, control systems and power elements due to high-frequency vibration, prolong the service life of the equipment, and at the same time ensure the stability of the operation process. The grabbing structure of the first mechanical arm and the cutting structure of the second mechanical arm form an obstacle removal operation cooperative system. The grabbing structure can quickly remove small obstacles or transfer dangerous goods, and the cutting structure can accurately cut large obstacles to open a direct path to the fire source for the robot, thereby improving the rescue efficiency. The plurality of cameras arranged in the direction of travel cooperate with the top antenna. The former collects real-time images of the terrain and fire field situation in front, and the latter stably returns the picture and equipment state data to the remote control console through anti-interference communication technology. The operator can fully master the on-site information and accurately adjust the instructions. The water cannon device driven by the hydraulic arm can adjust the spray angle through multi-degree-of-freedom swing according to the position of the fire source and the size of the fire, combined with the strong impact force and coverage range of high-pressure water flow, which can not only extinguish the fierce fire at close range, but also suppress the spread of the fire at a distance. The power supply system provides continuous energy support for each module, cooperates with the internal voltage stabilization and overload protection design, and ensures that the power of the robot does not interrupt during long-time high-intensity operation.

[0008] Preferably, the water cannon device comprises a main water channel and a water cannon power assembly. The water cannon power assembly comprises a water pump, and the water pump is in communication with the main water channel and provides power for the main water channel.

[0009] By adopting the technical scheme, the water pump ensures that water flow is delivered to the spray head at a high speed with a set pressure, forms a columnar spray with a longer distance or a spray with a larger coverage range, effectively suppresses a fire with a long distance or a large area, and improves the operation stability of the device in a harsh fire-fighting environment such as high temperature and vibration; when the water pump or the main water passage fails, the problem component can be quickly located and replaced, and the maintenance time is shortened.

[0010] Preferably, the water cannon power assembly comprises a superconducting electromagnetic conversion valve group, a recoil suppression muzzle brake, and a pressure sensor. The superconducting electromagnetic conversion valve group and the recoil suppression muzzle brake are installed on the same pipeline, and the superconducting electromagnetic conversion valve group and the recoil suppression muzzle brake are arranged close to the rack, and the pressure sensor is arranged between the main water passage and the superconducting electromagnetic conversion valve group.

[0011] By adopting the technical scheme, the superconducting electromagnetic conversion valve group realizes rapid response of water flow on-off and flow regulation by virtue of the low-resistance characteristic of superconducting materials, cooperates with the pressure sensor to monitor the water pressure between the main water passage and the valve group in real time, controls the water pressure fluctuation, ensures the stability of the pressure and flow of the sprayed water flow, avoids water flow scattering or range fluctuation caused by sudden pressure change, and improves the fire extinguishing precision; the recoil suppression muzzle brake and the valve group are installed in the same section, the recoil force generated when the water cannon sprays is absorbed through the internal multi-chamber diversion structure to effectively suppress the displacement or shaking of the robot caused by recoil, and the sustained and accurate attack on the fire source is ensured.

[0012] Preferably, the superconducting electromagnetic conversion valve group comprises a three-position four-way valve and a driving assembly, and the driving assembly is electrically connected with the three-position four-way valve.

[0013] By adopting the technical scheme, the three-position four-way valve has three working positions and four port structures, which can realize multi-dimensional accurate control of water flow direction, flow and pressure, so that the robot can quickly adapt to fire mutation scenes and avoid the decrease of fire extinguishing efficiency caused by mode switching delay; the driving assembly is electrically connected with the three-position four-way valve, cooperates with the water pressure data fed back in real time by the pressure sensor, and immediately adjusts the opening degree of the three-position four-way valve when the sensor detects pipeline pressure fluctuation, dynamically balances the flow and pressure, and ensures the stability of the sprayed water flow; in addition, the integrated structure of the three-position four-way valve reduces the installation space compared with the dispersed valve group, and is suitable for the compact rack layout of the robot.

[0014] Preferably, the water cannon power assembly further comprises a water bomb launching chamber, a ceramic columnar water flow spray head and a magnetic suspension water bomb storage chamber arranged between the pressure sensor and the main water passage. The water bomb launching chamber and the ceramic columnar water flow spray head are both installed on the magnetic suspension water bomb storage chamber.

[0015] By adopting the technical scheme, the magnetic suspension water bomb storage bin adopts the non-contact suspension technology, eliminates the influence of robot running vibration or water gun recoil on the water bomb, avoids damage or displacement of the water bomb due to collision, the water bomb launching cavity connects the storage bin and the main water channel, converts the main water channel pressure fed back by the pressure sensor into accurate launching power, dynamically adjusts the launching speed and trajectory of the water bomb according to the fire condition, realizes directional removal of the fire point behind the long-distance fire source or the shelter, and the ceramic columnar water flow nozzle can maintain smooth spraying in the high-pressure water flow mode and can bear the impact load during water bomb launching, so that the nozzle is prevented from being blocked, deformed or corroded.

[0016] Preferably, the first mechanical arm comprises a mechanical arm assembly with an angle controller and a grabbing structure mounted on the side of the mechanical arm assembly away from the rack; The mechanical arm assembly is provided in multiple sections, and the angle controller is arranged between each two adjacent sections of the mechanical arm assembly.

[0017] By adopting the technical scheme, the multi-section mechanical arm assembly generally comprises 2-3 movable joint sections, the working radius of the grabbing structure is increased through the superimposed stretching of the joints, and the grabbing structure can reach higher falling objects or smaller obstacles far away; the angle controller is arranged between each two adjacent mechanical arms, the relative angle of the adjacent sections can be independently adjusted, the stretching function of each section is matched, the grabbing structure can adapt to the attitude adjustment at any angle in the three-dimensional space, when the grabbing structure is used to grab the objects on the inclined debris pile, the angle controller between the sections can synchronously adjust the angle of the two mechanical arms, the jaws are ensured to be vertically attached to the surface of the objects, and the grabbing slip caused by the attitude deviation is avoided; meanwhile, the segmented design and the independent control structure between the sections reduce the inertial load of the whole mechanical arm, the precise driving of the servo motor is matched, sudden dangerous objects in the fire scene are quickly responded to, and the emergency disposal time is shortened.

[0018] Preferably, the angle controller is an angle encoder arranged in the mechanical arm assembly; The grabbing structure comprises a four-jaw mechanism, an anti-slip sawtooth gear, and an electromagnetic suction disc, the electromagnetic suction disc is arranged at the center of the four-jaw mechanism, and the anti-slip sawtooth gear is arranged at the end of the four-jaw mechanism away from the mechanical arm assembly.

[0019] By adopting the technical scheme, the built-in angle encoder is directly integrated in the mechanical arm assembly, avoiding signal drift or damage of the external angle controller due to exposure to high temperature and dust environment. The angle encoder feeds back the relative angle of adjacent mechanical arm segments in real time through photoelectric signals, cooperates with the telescopic function of the multi-segment mechanical arm, reduces the positioning error of the grabbing structure, and avoids problems such as grabbing deviation and falling caused by inaccurate angle control. The grabbing structure adopts a combination design of a central electromagnetic chuck and a terminal anti-skid serration gear. The electromagnetic chuck can non-contact adsorb and fix ferromagnetic obstacles. The anti-skid serration gear surface is provided with staggered lines with a depth of 0.5 mm, which provides additional friction when grabbing smooth surface objects and prevents grabbing failure caused by wet and slippery surface or oil stains. The symmetrical clamping structure of the four-jaw mechanism is more uniform in clamping force distribution and stronger in wrapping irregularly shaped objects than the traditional two-jaw design, and cooperates with the high-precision control of the angle encoder.

[0020] Preferably, the second mechanical arm includes a mechanical arm assembly with an angle controller and a cutting structure mounted on the side of the mechanical arm assembly away from the rack. The mechanical arm assembly is provided in multiple segments, and the angle controller is arranged between every two adjacent segments of the mechanical arm assembly.

[0021] By adopting the technical scheme, the angle controller is arranged between every two adjacent segments of the mechanical arm assembly, the relative angle of adjacent segments can be independently adjusted, and the cutting head can adapt to attitude adjustment at any angle in three-dimensional space in cooperation with the telescopic function of each segment, for example, when cutting an inclined concrete beam, the inter-segment angle controller can synchronously adjust the angles of the two segments of the mechanical arm, ensuring that the cutting blade is perpendicular to the surface of the beam body, and avoiding cutting deviation or reduced efficiency caused by attitude deviation. At the same time, the segmented design and the independent control structure between the segments reduce the inertial load of the whole mechanical arm, cooperate with the precise driving of the high-torque servo motor, improve the response speed of the cutting action, and can quickly respond to dangerous structures suddenly appearing in the fire scene to shorten the cutting disposal time.

[0022] Preferably, the cutting assembly includes a cutting saw blade, a foldable protective cover arranged outside the cutting saw blade, and a cooling water channel for cooling the cutting saw blade. The cooling water channel is arranged outside the mechanical arm assembly, one end of the cooling water channel is connected to a water source, and the end of the cooling water channel away from the angle controller is arranged towards the cutting saw blade.

[0023] By adopting the technical scheme, the foldable protective cover is unfolded during cutting operation, the closed structure can effectively intercept metal slag, high-temperature sparks and splashed debris generated by the high-speed rotating saw blade, and avoid burning the surrounding equipment, and meanwhile, the folded state can reduce the space occupation during non-operation, and adapt to the compact mechanical arm layout of the robot; the external cooling water channel is directly connected to the water source and aligned with the cutting saw blade, and the heat generated by the high-speed friction of the saw blade is taken away by the continuously injected cooling water, so that the saw blade deformation, annealing or wear caused by high temperature is avoided, and the continuity of the cutting operation is ensured; the cooling water flowing through the saw blade can also synchronously inhibit the spread of sparks generated by cutting, and further reduce the risk of fire recurrence.

[0024] Preferably, the ceramic columnar water flow nozzle can be replaced by nozzles of various shapes and sizes.

[0025] By adopting the technical scheme, different shape and size nozzles can be directly and quickly replaced, so that the robot can flexibly cope with diversified fire, and when extinguishing fire at close range, a columnar nozzle can be selected to form a high-pressure jet, when covering a large area at a long distance, a fan-shaped nozzle can be switched to expand the water curtain range, when dealing with high-temperature smoke diffusion scenes, an atomizing nozzle can be used to reduce air temperature and inhibit recurrence, and for narrow gaps or hidden fire sources, a narrow slit focusing nozzle can be used for precise penetration; the nozzle made of ceramic material has high hardness and high temperature resistance, and is more resistant to erosion and corrosion than traditional metal nozzles, and in combination with the replaceable design, only the damaged nozzle needs to be replaced to restore the function.

[0026] In summary, the present application has at least one of the following beneficial technical effects: 1. The anti-skid pattern structure of the track chassis significantly increases the frictional force with the ground, and cooperates with the driving characteristics of the walking wheels, enabling the robot to stably cross high-risk terrain. The shock-absorbing springs arranged on the rack can effectively absorb the impact and vibration generated during the process due to the ups and downs of the terrain or the collision with obstacles, avoiding damage to internal precision sensors, control systems and power elements due to high-frequency vibration, prolonging the service life of the equipment while ensuring the stability of the operation process; the grabbing structure of the first mechanical arm and the cutting structure of the second mechanical arm form an obstacle removal operation cooperation system, the grabbing structure can quickly remove small obstacles or transfer dangerous goods, and the cutting structure can accurately cut large obstacles to open a direct path to the fire source for the robot, improving rescue efficiency; the multiple cameras arranged in the direction of travel cooperate with the top antenna, the former collects real-time images of the terrain and fire situation in front, and the latter stably returns the picture and equipment state data to the remote control console through anti-interference communication technology, enabling the operator to fully grasp the on-site information and accurately adjust the instructions; the water cannon device driven by the hydraulic arm can adjust the spray angle through multi-degree-of-freedom swing according to the position of the fire source and the size of the fire, combined with the strong impact force and coverage range of high-pressure water flow, it can not only extinguish intense fires at close range, but also suppress spreading fires at a distance.

[0027] 2. The multi-section mechanical arm assembly usually includes 2-3 movable joint sections, through the superposition of joints, the working radius of the grabbing structure is increased, and it can reach higher falling objects or smaller obstacles far away; the angle controller is arranged between each two adjacent mechanical arms, which can independently adjust the relative angle of adjacent sections, cooperate with the stretching function of each section itself, so that the grabbing structure can adapt to any angle of attitude adjustment in three-dimensional space, when grabbing on an inclined debris pile, the angle controller between the sections can synchronously adjust the angle of the two mechanical arms, ensuring that the gripper is perpendicular to the surface of the object, avoiding slipping due to attitude deviation; at the same time, the segmented design and independent control structure between the sections reduce the inertial load of the whole mechanical arm, cooperate with the precise driving of the servo motor, quickly respond to dangerous objects suddenly appearing in the fire field, and shorten the emergency disposal time.

[0028] 3. The foldable protective cover is unfolded during cutting operation, its closed structure can effectively intercept the metal slag, high-temperature sparks and flying debris generated by high-speed rotating saw blades, avoiding burning peripheral equipment, and at the same time, the folded state can reduce the space occupation during non-operation, adapting to the compact mechanical arm layout of the robot; the external cooling waterway is directly connected to the water source and aligned with the cutting saw blade, through the continuous injection of cooling water, the heat generated by high-speed friction of the saw blade is removed, avoiding deformation, annealing or wear of the saw blade due to high temperature, ensuring the continuity of the cutting operation; the cooling water flowing through the saw blade can also synchronously suppress the spread of sparks generated by cutting, further reducing the risk of fire recurrence. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a front view structural schematic diagram of the all-terrain multi-functional firefighting robot in the embodiments of the present application; Figure 2 is a side view structural schematic diagram of the all-terrain multi-functional firefighting robot; Figure 3 is a whole structural schematic diagram of the all-terrain multi-functional firefighting robot; Figure 4 is a schematic diagram of the first mechanical arm structure; Figure 5 is a schematic diagram of the second mechanical arm structure; Figure 6 is a side view schematic diagram of one side of the water cannon assembly structure; Figure 7 is a side view schematic diagram of the other side of the water cannon assembly structure.

[0030] BRIEF DESCRIPTION OF DRAWINGS: 1, chassis; 2, walking assembly; 21, track chassis; 211, track; 212, anti-skid pattern; 3, damping module; 31, damping spring; 4, mechanical operation module; 41, first mechanical arm; 411, grabbing structure; 4111, four-jaw mechanism; 4112, anti-skid sawtooth wheel; 4113, electromagnetic chuck; 412, mechanical arm assembly; 413, angle encoder; 42, second mechanical arm; 421, cutting structure; 4211, cutting saw blade; 4212, foldable protective cover; 4213, cooling water channel; 5, environment perception and communication module; 51, antenna; 52, camera device; 6, fire extinguishing operation module; 61, water inlet; 62, hydraulic arm; 63, water cannon device; 631, main waterway passage; 632, water cannon power assembly; 6321, superconducting electromagnetic conversion valve group; 6322, recoil suppression muzzle brake; 6323, pressure sensor; 6324, water bomb launching cavity; 6325, ceramic columnar water flow nozzle; 6326, magnetic levitation water bomb storage bin; 7, power energy system. DETAILED DESCRIPTION

[0031] The following will be described in detail in combination with the accompanying Figures 1-7 The present application will be further described in detail.

[0032] This application discloses an all-terrain multi-functional firefighting robot. The all-terrain multi-functional firefighting robot includes a frame 1, a walking assembly 2, a shock absorption module 3, a mechanical operation module 4, an environmental perception and communication module 5, a fire extinguishing operation module 6, and a power system 7. The walking assembly 2 and the shock absorption module 3 are both mounted on the frame 1, with the shock absorption module 3 located between the walking assembly 2 and the frame 1. The mechanical operation module 4 is mounted on the robot and is used to cut and / or move obstacles during a fire. The fire extinguishing operation module 6 is mounted on the robot and is used to spray water to extinguish fires. The communication module transmits information to the operator in real time, allowing the operator to control the robot's operations based on the information, improving fire extinguishing efficiency. The power system 7 provides energy to the entire robot. After the power system's energy is depleted, it can be recharged or replaced. In an optional embodiment, the power system 7 includes a power source.

[0033] The walking assembly 2 includes a track 211 chassis 21, which is mounted on the frame 1. The track 211 chassis 21 includes wheels and tracks 211 disposed outside the wheels. Anti-slip treads 212 are provided on the side of the track 211 away from the wheels. The shock absorption module 3 includes a shock-absorbing spring 31, which is disposed on the frame 1. The anti-slip treads 212 of the track 211 chassis 21 significantly increase the contact friction with the ground. Combined with the driving characteristics of the wheels, this enables the robot to stably traverse challenging terrain. The shock-absorbing spring 31 on the frame 1 effectively absorbs the impact vibrations caused by terrain undulations or obstacle collisions during movement, preventing damage to internal precision sensors, control systems, and power components due to high-frequency vibrations, extending the equipment's service life while ensuring the stability of the operation process.

[0034] The mechanical operation module 4 includes a first robotic arm 41 and a second robotic arm 42. Both the first robotic arm 41 and the second robotic arm 42 are mounted on the side of the robot away from the walking component 2. The first robotic arm 41 includes a gripping structure 411, and the second robotic arm 42 includes a cutting structure 421. The gripping structure 411 of the first robotic arm 41 and the cutting structure 421 of the second robotic arm 42 form a collaborative obstacle-clearing system. The gripping structure 411 can quickly remove small obstacles or transfer dangerous items, while the cutting structure 421 can precisely cut large obstacles, opening a direct path for the robot to reach the fire source and improving rescue efficiency.

[0035] The first mechanical arm 41 comprises a mechanical arm assembly 412 with an angle controller and a grabbing structure 411 mounted on the side of the mechanical arm assembly 412 away from the rack 1; the mechanical arm assembly 412 is provided in multiple sections, and the angle controller is arranged between every two adjacent mechanical arm assemblies 412. The multi-section mechanical arm assembly 412 generally comprises 2-3 movable joint sections, and the working radius of the grabbing structure 411 is increased through the superposition of the joints, so that the grabbing structure 411 can reach higher falling objects or smaller obstacles far away; the angle controller is arranged between every two adjacent mechanical arms, and can independently adjust the relative angle of the adjacent sections, cooperate with the stretching function of each section, so that the grabbing structure 411 can adapt to the attitude adjustment of any angle in three-dimensional space. When grabbing on the inclined debris pile, the angle controller between the sections can synchronously adjust the angle of the two mechanical arms, so as to ensure that the clamping jaw is perpendicular to the surface of the object, and avoid slipping caused by attitude deviation; at the same time, the segmented design and the structure of independent control between the sections reduce the inertial load of the whole mechanical arm, cooperate with the precise driving of the servo motor, quickly respond to the dangerous objects suddenly appearing in the fire scene, and shorten the emergency disposal time.

[0036] The angle controller is an angle encoder 413 built in the mechanical arm assembly 412; the grabbing structure 411 comprises a four-jaw mechanism 4111, an anti-slip sawtooth gear 4112, and an electromagnetic suction cup 4113, the electromagnetic suction cup 4113 is arranged at the center of the four-jaw mechanism 4111, and the anti-slip sawtooth gear 4112 is arranged at the end of the four-jaw mechanism 4111 away from the mechanical arm assembly. The built-in angle encoder 413 is directly integrated in the mechanical arm assembly 412, avoiding the signal drift or damage problem of the external angle controller caused by exposure to high temperature and dust environment. It feeds back the relative angle of the adjacent mechanical arm sections in real time through photoelectric signal, cooperates with the stretching function of the multi-section mechanical arm, reduces the positioning error of the grabbing structure 411, and avoids the problems of grabbing deviation and slipping caused by inaccurate angle control; the grabbing structure 411 adopts the combined design of the central electromagnetic suction cup 4113 and the terminal anti-slip sawtooth gear 4112. The electromagnetic suction cup 4113 can realize non-contact adsorption and fixation of ferromagnetic obstacles, and the anti-slip sawtooth gear 4112 is provided with staggered lines with a depth of 0.5 mm on the surface, which provides additional friction when grabbing smooth surface objects, preventing grabbing failure caused by wet and slippery surface or oil stains; the symmetrical clamping structure of the four-jaw mechanism 4111 is more uniform in clamping force distribution than the traditional two-jaw design, and has stronger wrapping performance for irregularly shaped objects, and cooperates with the high-precision control of the angle encoder 413.

[0037] The second mechanical arm 42 comprises a mechanical arm assembly 412 with an angle controller and a cutting structure 421 mounted on the side of the mechanical arm assembly 412 away from the rack 1; the mechanical arm assembly 412 is provided in multiple sections, and the angle controller is arranged between every two adjacent mechanical arm assemblies 412. The angle controller is arranged between every two adjacent mechanical arms, and can independently adjust the relative angle of the adjacent sections, so that the cutting head can adapt to the attitude adjustment of any angle in the three-dimensional space, for example, when cutting an inclined concrete beam, the angle controller can synchronously adjust the angle of the two mechanical arms, so as to ensure that the cutting piece is perpendicular to the surface of the beam body, and avoid cutting deviation or efficiency reduction caused by attitude deviation; at the same time, the segmented design and the structure of independent control between the sections reduce the inertial load of the whole mechanical arm, and cooperate with the precise driving of the high-torque servo motor to improve the response speed of the cutting action, so as to quickly respond to the dangerous structure suddenly appearing in the fire scene and shorten the cutting disposal time.

[0038] The cutting assembly comprises a cutting saw blade 4211, a foldable protective cover 4212 arranged outside the cutting saw blade 4211, and a cooling water channel 4213 used for cooling the cutting saw blade 4211; the cooling water channel 4213 is arranged outside the mechanical arm assembly 412, one end of the cooling water channel 4213 is connected with a water source, and the other end of the cooling water channel 4213 away from the angle controller is arranged towards the cutting saw blade 4211. The foldable protective cover 4212 is unfolded during cutting operation, and the closed structure can effectively intercept the metal slag, high-temperature sparks and splashed debris generated by the high-speed rotating saw blade, so as to avoid burning the surrounding equipment, and the folded state can reduce the space occupation during non-operation, and adapt to the compact mechanical arm layout of the robot; the external cooling water channel 4213 is directly connected with the water source and is aligned with the cutting saw blade 4211, and the heat generated by the high-speed friction of the saw blade is removed through the continuous injection of cooling water, so as to avoid the deformation, annealing or wear of the saw blade caused by high temperature, and to ensure the continuity of the cutting operation; the cooling water can also synchronously inhibit the spread of sparks generated during cutting, and further reduce the risk of fire recurrence.

[0039] The environment perception and communication module 5 comprises an antenna 51 mounted on the robot for signal transmission, and a plurality of cameras 52 mounted on the robot and located in the advancing direction of the robot. The plurality of cameras 52 arranged in the advancing direction cooperate with the top antenna 51, the former real-time collects the images of the front terrain and the fire scene, and the latter stably returns the picture and equipment state data to the remote control console through anti-interference communication technology, so that the operator can fully master the on-site information and accurately adjust the instruction.

[0040] The fire extinguishing operation module 6 comprises a water inlet 61, a hydraulic arm 62 and a water cannon device 63. The two ends of the hydraulic arm 62 are connected with the robot and the water cannon device 63 respectively, and the water inlet 61 is arranged on the robot and faces away from the water cannon device 63. The water cannon device 63 driven by the hydraulic arm 62 can adjust the spray angle through multi-degree-of-freedom swing according to the position of the fire source and the size of the fire, and combine the strong impact force and coverage range of the high-pressure water flow to extinguish the fierce fire in close range and suppress the spread of the fire at a long distance. The power supply system provides continuous energy support for each module, cooperates with the internal voltage stabilization and overload protection design, and ensures that the power is not interrupted during long-time high-intensity operation of the robot.

[0041] In an optional embodiment, the water cannon device 63 comprises a main water channel 631 and a water cannon power assembly 632. The water cannon power assembly 632 comprises a water pump which is in communication with the main water channel 631 and is used to provide power for the main water channel 631. The water pump ensures that the water flow is delivered to the spray head at a high speed with a set pressure to form a columnar spray at a longer distance or a spray with a larger coverage range, effectively suppresses the fire at a long distance or a large area, and improves the operation stability of the device in a harsh fire-fighting environment such as high temperature and vibration. When the water pump or the main water channel 631 fails, the problem component can be quickly located and replaced separately, and the maintenance time is shortened.

[0042] The water cannon power assembly 632 comprises a superconducting electromagnetic conversion valve group 6321, a recoil suppression muzzle brake 6322 and a pressure sensor 6323. The superconducting electromagnetic conversion valve group 6321 and the recoil suppression muzzle brake 6322 are installed on the same pipeline, the superconducting electromagnetic conversion valve group 6321 and the recoil suppression muzzle brake 6322 are arranged close to the rack 1, and the pressure sensor 6323 is arranged between the main water channel 631 and the superconducting electromagnetic conversion valve group 6321. The superconducting electromagnetic conversion valve group 6321 realizes rapid response of water flow on-off and flow regulation by virtue of the low resistance characteristic of superconducting materials, cooperates with the pressure sensor 6323 to monitor the water pressure between the main water channel 631 and the valve group in real time, controls the water pressure fluctuation, ensures the stability of the pressure and flow of the sprayed water flow, avoids the scattering of the water flow or the long-short range of the range caused by the sudden change of the pressure, and improves the fire extinguishing precision. The recoil suppression muzzle brake 6322 is installed in the same section as the valve group, absorbs the recoil force generated when the water cannon is sprayed through the internal multi-chamber diversion structure to effectively suppress the displacement or shaking of the robot caused by the recoil, and ensures the continuous and accurate attack on the fire source.

[0043] The superconducting electromagnetic conversion valve group 6321 includes a three-position four-way valve and a driving assembly electrically connected with the three-position four-way valve. The three-position four-way valve has three working positions and four ports, which can realize multi-dimensional accurate control of water flow direction, flow rate and pressure, so that the robot can quickly adapt to fire mutation scenes and avoid the decrease of fire extinguishing efficiency caused by mode switching delay; the driving assembly is electrically connected with the three-position four-way valve, and cooperates with the water pressure data fed back by the pressure sensor 6323 in real time, so that when the sensor detects pipeline pressure fluctuation, the driving assembly immediately adjusts the opening of the three-position four-way valve to dynamically balance the flow rate and pressure, and ensures the stability of the jet flow. In addition, the integrated structure of the three-position four-way valve reduces the installation space compared with the dispersed valve group, and is suitable for the compact rack 1 layout of the robot.

[0044] The water cannon power assembly 632 further includes a water bomb launching chamber 6324, a ceramic columnar water flow nozzle 6325 and a magnetic suspension water bomb storage bin 6326 arranged between the pressure sensor 6323 and the main water channel 631; the water bomb launching chamber 6324 and the ceramic columnar water flow nozzle 6325 are both installed on the magnetic suspension water bomb storage bin. The magnetic suspension water bomb storage bin 6326 adopts non-contact suspension technology to eliminate the influence of robot running vibration or water cannon recoil on the water bomb, and avoids damage or displacement of the water bomb due to collision. The water bomb launching chamber 6324 connects the storage bin and the main water channel 631, converts the main water channel pressure fed back by the pressure sensor 6323 in real time into accurate launching power, dynamically adjusts the launching speed and trajectory of the water bomb according to the fire situation, realizes directional removal of the fire point behind the long-distance fire source or the barrier, and the ceramic columnar water flow nozzle 6325 can maintain smooth jetting under high-pressure water flow mode and can withstand impact load during water bomb launching due to the high hardness and wear resistance of ceramic materials, thereby avoiding nozzle blockage, deformation or corrosion.

[0045] The ceramic columnar water flow nozzle 6325 can be replaced with various shapes and sizes of nozzles. Different shapes and sizes of nozzles can be directly and quickly replaced, so that the robot can flexibly cope with diversified fire situations. The columnar nozzle can be used to form a high-pressure jet for close-range concentrated fire extinguishing, the fan-shaped nozzle can be switched to expand the water curtain range for long-distance large-area coverage, the atomizing nozzle can be used to reduce air temperature and suppress rekindling in high-temperature smoke diffusion scenes, and the narrow slit focusing nozzle can be used to accurately penetrate narrow gaps or hidden fire sources. The nozzle made of ceramic material has high hardness and high temperature resistance, and is more resistant to erosion and corrosion than traditional metal nozzles. In combination with the replaceable design, the function can be restored by replacing the damaged nozzle.

[0046] The implementation principle of the embodiment of the present application is that the anti-skid pattern 212 structure of the track 211 chassis 21 significantly increases the contact friction with the ground, and cooperates with the driving characteristics of the walking wheel, so that the robot can stably cross the high-risk terrain. The shock absorbing spring 31 arranged on the rack 1 can effectively absorb the impact vibration generated in the process of advancing due to the ups and downs of the terrain or the collision of obstacles, avoid the damage of internal precision sensors, control systems and power elements due to high-frequency vibration, prolong the service life of the equipment and ensure the stability of the operation process; The grabbing structure 411 of the first mechanical arm 41 and the cutting structure 421 of the second mechanical arm 42 form an obstacle removal operation cooperation system, the grabbing structure 411 can quickly remove small obstacles or transfer dangerous goods, and the cutting structure 421 can accurately cut large obstacles, to open a direct channel to the fire source for the robot, and improve the rescue efficiency; The multiple cameras 52 arranged in the advancing direction cooperate with the top antenna 51, the former can collect the images of the terrain and the fire field situation in front in real time, and the latter can stably return the picture and equipment state data to the remote control console through anti-interference communication technology, so that the operator can fully master the on-site information and accurately adjust the instruction; The water cannon device 63 driven by the hydraulic arm 62 can adjust the spray angle through multi-degree-of-freedom swing according to the position of the fire source and the size of the fire, combined with the strong impact force and coverage range of high-pressure water flow, which can not only extinguish the fierce fire at close range, but also suppress the spread of fire at a distance; The power supply system provides continuous energy support for each module, cooperates with the internal voltage stabilization and overload protection design, and ensures that the power of the robot does not be interrupted in long-time high-intensity operation.

[0047] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. An all-terrain multi-capable firefighting operation robot, characterized by, The utility model relates to a robot for extinguishing fire, comprising: a frame (1); a walking assembly (2) comprising a track (211) chassis (21) mounted on the frame (1), the track (211) chassis (21) comprising a walking wheel and a track (211) arranged outside the walking wheel, the track (211) being provided with anti-skid lines (212) at the side away from the walking wheel; a damping module (3) comprising damping springs (31) arranged on the frame (1); a mechanical operation module (4) comprising a first mechanical arm (41) and a second mechanical arm (42), the first mechanical arm (41) and the second mechanical arm (42) being mounted on the robot on the side away from the walking assembly (2), the first mechanical arm (41) comprising a grabbing structure (411), and the second mechanical arm (42) comprising a cutting structure (421); an environmental perception and communication module (5) comprising an antenna (51) mounted on the robot for signal transmission and a plurality of cameras (52) mounted on the robot and located in the direction of travel of the robot; a fire extinguishing operation module (6) comprising a water inlet (61), a hydraulic arm (62) and a water cannon device (63), the two ends of the hydraulic arm (62) being connected with the robot and the water cannon device (63) respectively, and the water inlet (61) being arranged on the robot and facing away from the water cannon device (63); a power energy system (7) comprising a power supply.

2. The all-terrain multi-capable firefighting robotic machine of claim 1, wherein: The water cannon device (63) comprises a main water passage (631) and a water cannon power assembly (632); The water cannon power assembly (632) comprises a water pump in communication with the main water passage (631) and configured to provide power for the main water passage (631).

3. The all-terrain multi-purpose firefighting robot of claim 2, wherein: The water cannon power assembly (632) comprises a superconducting electromagnetic conversion valve group (6321), a recoil suppression muzzle brake (6322) and a pressure sensor (6323); The superconducting electromagnetic conversion valve group (6321) and the recoil suppression muzzle brake (6322) are mounted on the same pipeline, and the superconducting electromagnetic conversion valve group (6321) and the recoil suppression muzzle brake (6322) are arranged close to the frame (1), and the pressure sensor (6323) is arranged between the main water passage (631) and the superconducting electromagnetic conversion valve group (6321).

4. The all-terrain multi-capable firefighting robotic machine of claim 3, wherein: The superconducting electromagnetic conversion valve group (6321) comprises a three-position four-way valve and a driving assembly, and the driving assembly is electrically connected with the three-position four-way valve.

5. The all-terrain multi-purpose firefighting robot of claim 3, wherein: The water cannon power assembly (632) further comprises a water bomb launching chamber (6324) arranged between the pressure sensor (6323) and the main water passage (631), a ceramic columnar water flow nozzle (6325) and a magnetic suspension water bomb storage chamber (6326); The water bomb launching chamber (6324) and the ceramic columnar water flow nozzle (6325) are both mounted on the magnetic suspension water bomb storage chamber.

6. The all-terrain multi-purpose firefighting robot of claim 1, wherein: The first mechanical arm (41) comprises a mechanical arm assembly (412) with an angle controller and a grabbing structure (411) mounted on the side of the mechanical arm assembly (412) away from the rack (1); The mechanical arm assembly (412) is multi-segmented, and the angle controller is arranged between every two adjacent segments of the mechanical arm assembly (412).

7. The all-terrain multi-purpose firefighting robot of claim 6, wherein: The angle controller is an angle encoder (413) built in the mechanical arm assembly (412); The grabbing structure (411) comprises a four-jaw mechanism (4111), an anti-skid sawtooth gear (4112) and an electromagnetic chuck (4113), the electromagnetic chuck (4113) is arranged at the center of the four-jaw mechanism (4111), and the anti-skid sawtooth gear (4112) is arranged at the end of the four-jaw mechanism (4111) away from the mechanical arm assembly.

8. The all-terrain multi-purpose firefighting robot of claim 1, wherein: The second mechanical arm (42) comprises a mechanical arm assembly (412) with an angle controller and a cutting structure (421) mounted on the side of the mechanical arm assembly (412) away from the rack (1); The mechanical arm assembly (412) is multi-segmented, and the angle controller is arranged between every two adjacent segments of the mechanical arm assembly (412).

9. The all-terrain multi-purpose firefighting robot of claim 8, wherein: The cutting assembly comprises a cutting saw blade (4211), a foldable protective cover (4212) arranged outside the cutting saw blade (4211) and a cooling water channel (4213) used for cooling the cutting saw blade (4211); The cooling water channel (4213) is arranged outside the mechanical arm assembly (412), one end of the cooling water channel (4213) is connected with a water source, and the end of the cooling water channel (4213) away from the angle controller is arranged towards the cutting saw blade (4211).

10. The all-terrain multi-purpose firefighting robot of claim 5, wherein: The ceramic columnar water flow nozzle (6325) can be replaced by nozzles of various shapes and sizes.

Images