Supporting plate type vehicle moving robot and vehicle moving method thereof

Abstract

The invention discloses a supporting plate type vehicle moving robot and a vehicle moving method thereof, and relates to the technical field of vehicle moving robos.The supporting plate type vehicle moving robot comprises a base, a walking mechanism is installed on the base, a jacking mechanism is installed on the top of the base, the supporting plate type vehicle moving robot further comprises a water spraying mechanism, the water spraying mechanism comprises a bottom shell, a communicating piece is fixed in the bottom shell, and a hose is fixed to the bottom of the communicating piece; the water spraying mechanism further comprises an opening and closing assembly and a driving structure, the opening and closing assembly comprises a positioning ring, a reinforcing rib and a center cover which are fixed in the bottom shell, a connector is rotationally installed in the reinforcing rib, a spray head is installed on the connector, the orientation of the spray head can be switched through the downward pressing action of the top cover, and the spray head vertically sprays water upwards to extinguish fire before vehicle moving; and the spray head is converted into transverse water spraying protection, rapid fire extinguishing and cooling of a battery at the bottom of the vehicle are achieved, a water curtain can be formed in the vehicle moving process, surrounding flames are blocked, the robot and the vehicle are protected, and reburning and fire spreading are effectively prevented.

Description

Technical Field

[0001] This invention relates to the field of vehicle moving robot technology, and in particular to a pallet-type vehicle moving robot and its vehicle moving method. Background Technology

[0002] With the continuous growth of urban car ownership, fire accidents such as vehicle spontaneous combustion and collision fires occur frequently. In particular, fires involving the power batteries of new energy vehicles are characterized by high combustion temperature, strong re-ignition, and great difficulty in rescue. When a fire occurs, the vehicle is often out of control and blocks traffic lanes, so it is urgent to move the vehicle quickly.

[0003] A pallet-type vehicle moving robot is a robotic device that can drive under a vehicle, lift the vehicle chassis using a lifting platform, and then move the vehicle using a walking mechanism. Existing pallet-type vehicle moving robots mainly consist of a walking mechanism, a lifting mechanism, and a lifting platform. Some highly intelligent devices also add components such as cameras and gas sensors to meet the needs of more severe fire-related vehicle moving operations.

[0004] However, fires in new energy vehicles are usually caused by overheating of the battery. Since the battery is installed at the bottom of the car, when moving the car, the pallet-type moving robot needs to drive directly into the narrow space under the battery to work. It is very susceptible to the high temperature and open flame generated by the burning battery, which can cause the robot to be damaged by heat or even burned out, making it unable to complete the moving operation smoothly. Therefore, there is an urgent need to improve the existing pallet-type moving robot. Summary of the Invention

[0005] The purpose of this invention is to solve the problem that existing pallet-type vehicle moving robots are easily damaged by high temperatures and open flames when moving burning trams, making it impossible to complete the vehicle moving smoothly. Therefore, this invention proposes a pallet-type vehicle moving robot and its vehicle moving method.

[0006] To achieve the above objectives, the present invention employs the following technology: a pallet-type vehicle moving robot, comprising a base, a walking mechanism mounted on the base, a lifting mechanism mounted on the top of the base, and further comprising: A water spraying mechanism includes a base shell, a connecting member fixed inside the base shell, a hose fixed to the bottom of the connecting member, and an opening and closing assembly and a drive structure. The opening and closing assembly includes a positioning ring, a reinforcing rib, and a center cover fixed inside the base shell. A connector is rotatably mounted inside the reinforcing rib, and a nozzle is mounted on the connector. A plastic tube connects the connecting member and the connector. A top cover is slidably connected to the top of the base shell, and a spring is provided at the bottom of the top cover. An opening and closing plate is slidably connected to the top of the positioning ring, and a tension spring is fixed between the opening and closing plate and the positioning ring. Before the robot lifts the car, water is sprayed upwards through the nozzles; after the robot lifts the car, the top cover presses down, causing the opening and closing plate to close and cover the top of the nozzles, and the drive structure makes the nozzles rotate 90 degrees to spray water horizontally.

[0007] As a further description of the pallet-type moving robot described above: the drive structure includes a serrated plate slidably connected inside the bottom shell, and one end of the connector is fixed with a serrated knob that engages with the serrated plate.

[0008] As a further description of the pallet-type moving robot described above: a slider is slidably connected inside the positioning ring, a tension spring is fixed between the slider and the positioning ring, a connecting rod is hinged between the slider and the serrated plate, and a protrusion is fixed on one side of the slider.

[0009] As a further description of the pallet-type moving robot described above: both the connector and the inside of the plastic tube are fixed with sealing plates, and the sealing plates are provided with four circumferentially equidistant through holes, the mating surfaces of the two sealing plates are sealed and the through holes are aligned.

[0010] As a further description of the pallet-type moving robot described above, it also includes a wing plate mechanism, which includes a guide rail fixed to the outside of the bottom shell, and a wing plate is movably connected inside the guide rail.

[0011] As a further description of the pallet-type moving robot described above: the wing plates are provided in four pairs, each pair of wing plates is symmetrically arranged, and a connector is rotatably connected between the opposite ends of the two wing plates in each pair.

[0012] As a further description of the pallet-type moving robot of the above technology: the wing plate mechanism includes an ejection unit, the ejection unit includes a gear rotatably connected inside the bottom shell, and a rack that meshes with the gear is slidably connected inside the bottom shell, one end of the rack passing through a positioning ring, the bottom shell and the connector for fixation.

[0013] As a further description of the pallet-type moving robot described above: the wing plate mechanism also includes a rotating assembly, the rotating assembly including a helical groove rod fixed coaxially with the gear, the helical groove rod being sleeved with a sleeve fixed to the top cover, and the inner wall of the sleeve being fixed with an insert.

[0014] As a further description of the pallet-type moving robot described above: the walking mechanism includes track wheels mounted on both sides of the base, a controller is fixedly mounted on the base, the controller includes a motor for providing driving force, the lifting mechanism includes a crossbar one and a crossbar two hinged to each other, the top end of the crossbar one is hinged to the bottom shell, the top end of the crossbar two is hinged to a connecting seat that is slidably connected to the bottom shell, a hydraulic cylinder is fixedly mounted on the base, and the telescopic end of the hydraulic cylinder is fixed with a rotating shaft and rotatably connected to the bottom end of the crossbar two through the rotating shaft.

[0015] Based on the above design, a method for moving a pallet-type vehicle-moving robot is provided, including the following steps: S1. Water is supplied through a hose, connector, plastic tube and connector, so that water is sprayed vertically upward from the nozzle; S2. Drive the robot to move on the ground through the walking mechanism, so that the robot moves to the center position under the car, and the water sprayed upward from the nozzle acts on the car battery. S3. Control the lifting mechanism to move the bottom shell and top cover upwards. The top cover is pressed into the bottom shell by the car. At the same time, the drive structure drives the connector to rotate the nozzle by ninety degrees. S4. After the bottom shell and top cover lift the car upwards, the robot moves the car while the nozzles spray water horizontally from the side of the bottom shell.

[0016] In summary, due to the adoption of the above-mentioned technology, the beneficial effects of this invention are: 1. This invention remotely controls the motor and lifting mechanism via a controller, allowing personnel to complete vehicle relocation operations without approaching the fire scene. This effectively avoids the harm to people caused by explosions and high-temperature radiation, and improves the safety of vehicle relocation in fire rescue environments. Furthermore, by pressing down on the top cover, the direction of the nozzles can be switched. Before moving the vehicle, the nozzles spray water vertically upwards to extinguish the fire. When moving the vehicle, the nozzles switch to spray water horizontally for protection. This not only achieves rapid fire extinguishing and cooling of the battery under the vehicle, but also forms a water curtain during the moving process to block the surrounding flames, protect the robot itself and the vehicle, and effectively prevent reignition and the spread of fire.

[0017] 2. When lifting the vehicle, the top cover pushes the opening and closing plate through the inclined inner wall, which can close the opening and closing plate to block the nozzles and prevent them from being damaged by high temperature. At the same time, the opening and closing plate can increase the contact area between the robot and the car chassis, reduce the pressure on local parts of the car chassis, and prevent excessive deformation of the car chassis during vehicle movement, which could further damage the battery and aggravate the fire.

[0018] 3. When the vehicle is not being lifted, the wing plates are in a closed state, reducing the overall profile of the robot and making it easier for the robot to enter the narrow space under the vehicle. At this time, the wing plates also close the opening on the outer side wall of the bottom shell to prevent smoke from entering and clogging the nozzle. When the vehicle is being lifted, the wing plates automatically unfold to increase the support area, improve the lifting stability, and prevent the car from tipping over when moving it.

[0019] 4. The present invention adopts a staggered sealing structure with double sealing plates, which enables the nozzle to automatically cut off the water supply during the rotation and angle switching process, avoiding interference from the water flow backflow force on the nozzle positioning and ensuring the accuracy of the water spray direction switching; at the same time, it achieves the effect of saving water. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall top view according to the present invention is shown; Figure 2 A schematic diagram of the overall bottom according to the present invention is shown; Figure 3 A schematic diagram of the top cover according to the present invention is shown; Figure 4 A schematic diagram of the opening and closing plate according to the present invention is shown; Figure 5 An overall top view according to the present invention is shown; Figure 6 The present invention is shown Figure 5 Sectional view of AA; Figure 7 The present invention is shown Figure 5 BB section view; Figure 8 A schematic diagram of the ejection unit according to the present invention is shown; Figure 9 The present invention is shown Figure 7 Enlarged view at point C; Figure 10 A schematic diagram of the driving structure according to the present invention is shown; Figure 11 A schematic cross-sectional view of the connector according to the present invention is shown; Figure 12 An exploded view of the rotating assembly according to the present invention is shown; Figure 13 A schematic diagram of the wingplate in the open state according to the present invention is shown.

[0021] Legend: 10. Base; 20. Walking mechanism; 21. Tracked wheels; 22. Controller; 30. Lifting mechanism; 31. Crossbar 1; 32. Crossbar 2; 33. Connecting seat; 34. Hydraulic cylinder; 40. Spray mechanism; 41. Base shell; 42. Connecting component; 43. Hose; 44. Plastic tube; 45. Connector; 46. Nozzle; 47. Opening and closing assembly; 471. Top cover; 472. Positioning ring; 473. Reinforcing rib; 474. Center cover; 475. Spring; 476. Opening and closing plate; 477. Tension spring one; 48. Drive structure; 481. Serrated plate; 482. Serrated knob; 483. Slider; 484. Tension spring two; 485. Protrusion; 486. Connecting rod; 49. Sealing plate; 50. Wing plate mechanism; 51. Guide rail; 52. Wing plate; 53. Connector; 54. Push-out unit; 541. Gear; 542. Rack; 55. Rotating assembly; 551. Helical groove rod; 552. Sleeve; 553. Insert. Detailed Implementation

[0022] The following will describe clearly and completely the technology of a pallet-type vehicle-moving robot and its moving method according to the embodiments of the present invention with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figures 1-13 As shown, the present invention provides a pallet-type moving robot, including a base 10, a walking mechanism 20 mounted on the base 10, the walking mechanism 20 including track wheels 21 mounted on both sides of the base 10, a controller 22 fixedly mounted on the base 10, the controller 22 including a motor for providing driving force to the track wheels 21, when the motor starts, it drives the track wheels 21 to rotate, so that the robot moves on the ground; A lifting mechanism 30 is installed on the top of the base 10. The lifting mechanism 30 includes a cross rod 31 and a cross rod 32 that are hinged to each other. The cross rod 31 and the cross rod 32 are hinged to form an X shape. A connecting seat 33 is hinged to the top of the cross rod 32. A hydraulic cylinder 34 is fixedly installed on the base 10. The telescopic end of the hydraulic cylinder 34 is fixed with a rotating shaft and is rotatably connected to the bottom end of the cross rod 32 through the rotating shaft.

[0024] Reference Figures 3-7The system includes a water spray mechanism 40, which comprises a base shell 41 hinged to the top of crossbar 31. A connecting seat 33 is slidably connected to the bottom of the base shell 41. A controller 22 controls the extension and retraction of a hydraulic cylinder 34. When the hydraulic cylinder 34 retracts, it pulls a rotating shaft, causing the bottom of crossbar 32 to move horizontally. This causes the top of crossbar 32 to slide along the bottom of the base shell 41, with the connecting seat 33 sliding at the bottom. During this process, both crossbar 32 and crossbar 31 deflect vertically, raising their tops and lifting the base shell 41. To ensure force balance, crossbars 31 and 32 are arranged in pairs. After the car is lifted by the lifting mechanism 30, the motor switch is remotely controlled by the controller 22 to move the car, eliminating the need for manual approach and reducing the safety risks of moving the car in the event of a fire.

[0025] A connecting member 42 is fixed inside the bottom shell 41. A hose 43 for connecting to an external water source is fixed at the bottom of the connecting member 42. The water spraying mechanism 40 also includes an opening and closing assembly 47. The opening and closing assembly 47 includes a positioning ring 472, a reinforcing rib 473, and a center cover 474 fixed inside the bottom shell 41. The connecting member 42 is fixed inside the center cover 474. The positioning ring 472, the center cover 474, and the bottom shell 41 are coaxially arranged. The reinforcing rib 473 is fixed between the positioning ring 472 and the center cover 474. A connector 45 is rotatably installed inside the reinforcing rib 473. A nozzle 46 is installed on the connector 45. A plastic tube 44 is connected between the connecting member 42 and the connector 45. One end of the plastic tube 44 passes through the center cover 474 and is fixed to the connecting member 42. The other end passes through the reinforcing rib 473 and is rotatably connected to the connector 45.

[0026] Multiple reinforcing ribs 473, plastic tubes 44, connectors 45, and nozzles 46 are provided, and are arranged equidistantly in a circle around the center point of the base shell 41. For example... Figure 7 As shown, the robot lifts the car with nozzle 46 pointing vertically upwards.

[0027] After the robot moves to the bottom of the car via the walking mechanism 20, it starts the external water supply equipment. The water flows through the hose 43, connector 42, plastic pipe 44 and connector 45, and then sprays vertically upwards through the nozzle 46 onto the car chassis to extinguish the fire and cool the battery.

[0028] A top cover 471 is slidably connected to the top of the bottom shell 41. A spring 475 is provided at the bottom of the top cover 471. A positioning ring 472 is used to limit the height of the top surface of the top cover 471 extending out of the bottom shell 41, so that the spring 475 is always in a compressed state. Several opening and closing plates 476 are slidably connected to the top of the positioning ring 472. A tension spring 477 is fixed between the bottom surface of the opening and closing plate 476 and the inner wall of the positioning ring 472. The number of opening and closing plates 476 is the same as that of the reinforcing ribs 473, and they are also equidistantly arranged around the center point of the bottom shell 41. Each reinforcing rib 473 is located between the sides of adjacent opening and closing plates 476 to support the opening and closing plates 476. The end of the hinge plate 476 furthest from the center of the bottom shell 41 abuts against the inclined surface of the inner wall of the top cover 471. At this time, the hinge plate 476 is in the open state, as... Figure 5 As shown, there is a gap between adjacent opening and closing plates 476, which allows water sprayed from the nozzle 46 to be sprayed upward through the gap.

[0029] The lifting mechanism 30 lifts the bottom shell 41, spring 475, and top cover 471, bringing the top cover 471 into contact with the vehicle chassis. Then, the bottom shell 41 is lifted by the cross bar 31, and the top cover 471 is pressed into the bottom shell 41 by the vehicle. The spring 475 is compressed. During this process, the top cover 471 pushes the opening and closing plate 476 through the inclined inner wall, causing the opening and closing plate 476 to move towards the center cover 474 and close until the adjacent edges of the adjacent opening and closing plates 476 contact each other, closing the opening on the reinforcing rib 473 for the nozzle 46 to spray water, thus protecting the nozzle 46.

[0030] The inner depth of the bottom shell 41 is the same as the thickness of the top cover 471, so that after the top cover 471 is completely retracted into the bottom shell 41, the top cover 471 is flush with the top surface of the bottom shell 41. At this time, the top surfaces of the opening and closing plate 476 and the center cover 474 are also flush with the top cover 471. This design is used to ensure that the bottom shell 41, the top cover 471, the opening and closing plate 476, and the center cover 474 are in full contact with the car chassis after the car is lifted, thereby reducing the pressure on local parts of the car chassis and preventing excessive deformation of the car chassis during vehicle movement, which could further damage the battery and aggravate the fire.

[0031] By reinforcing the hinge plate 476 with the stiffener 473, the load-bearing capacity of the hinge plate 476 can be greatly improved, and the hinge plate 476 can be prevented from deforming under pressure.

[0032] Reference Figure 8 , Figure 9 and Figure 10The device is equipped with a drive structure 48, which includes a serrated plate 481 slidably connected to the inside of the bottom shell 41. One end of the connector 45 passes through the reinforcing rib 473 and is fixed with a serrated knob 482 that meshes with the serrated plate 481. A slider 483 is slidably connected inside the positioning ring 472. A tension spring 484 is fixed between the slider 483 and the inner wall of the positioning ring 472. A connecting rod 486 is hinged between the slider 483 and the serrated plate 481. A protrusion 485 is fixed on one side of the slider 483 and is located below the top cover 471.

[0033] During the process of the top cover 471 retracting into the bottom shell 41, the protrusion 485 is pressed down, which drives the slider 483 to move downward. The slider 483 pushes the serrated plate 481 through the connecting rod 486, which drives the serrated knob 482 to rotate, thereby driving the connector 45 to rotate. The maximum rotation angle of the connector 45 is ninety degrees, which can switch the nozzle 46 from vertical upward to horizontal state, and the opening faces the side wall of the bottom shell 41. The top cover 471 and the bottom shell 41 are provided with openings at the horizontal water spray position of the nozzle 46, so that water can be sprayed outward.

[0034] After the car is lifted, the nozzle 46 sprays water horizontally from all sides of the bottom shell 41, extinguishing and cooling the car chassis over a large area, and forming a water barrier to isolate the surrounding flames and high-temperature smoke, preventing the robot from overheating and being damaged or even burned during the car moving process. At the same time, it can also extinguish ground fires, preventing the car chassis from being burned by open flames during the car moving process, which would further aggravate the fire.

[0035] In the face of complex fire situations, such as a fire in a garage, electrical components such as cameras and temperature sensors can be installed inside the top cover 471 to allow the robot to go deep into the garage to move the car for rescue. In this case, after the robot moves to the designated position and lifts the car, the top cover 471 retracts into the bottom shell 41, which can protect the internal electrical components by wrapping them with the bottom shell 41 and the top cover 471, thus preventing damage to the electrical components.

[0036] Reference Figure 11 Both the connector 45 and the plastic tube 44 have sealing plates 49 fixed inside. Each sealing plate 49 has four circumferentially spaced through holes. The mating surfaces of two sealing plates 49 are sealed, and the through holes are aligned. When the connector 45 rotates to switch the spray direction of the nozzle 46, the sealing plate 49 fixed to the connector 45 rotates with the connector 45, intersecting with the through hole of the other sealing plate 49. At this time, the two sealing plates 49 seal against each other, stopping the nozzle 46 from spraying water. After the connector 45 rotates 90 degrees, the through holes of the two sealing plates 49 realign, allowing the nozzle 46 to resume spraying water. This design not only saves water but also prevents the backflow of water from interfering with the rotation of the nozzle 46.

[0037] Reference Figure 3Based on the above design, a wing plate mechanism 50 is also provided. The wing plate mechanism 50 includes a guide rail 51 fixed to the outside of the bottom shell 41. A wing plate 52 is movably connected inside the guide rail 51. There are four pairs of wing plates 52, with two wing plates 52 arranged symmetrically in each pair. A connector 53 is rotatably connected between the opposite ends of the two wing plates 52 in each pair. The wing plate 52 is arc-shaped. When it is not open, its inner wall fits against the outer wall of the bottom shell 41, closing the opening left on the outer wall of the bottom shell 41 for water spraying, preventing smoke from entering and clogging the nozzle 46. This design can also minimize the space occupied by the wing plate 52 when it is closed, so that the robot can enter the narrow undercarriage.

[0038] The wing plate mechanism 50 includes four ejection units 54 and a rotating assembly 55, each corresponding to a connector 53. The ejection unit 54 includes a gear 541 rotatably connected inside the bottom shell 41. A rack 542 that meshes with the gear 541 is slidably connected inside the bottom shell 41. One end of the rack 542 passes through a positioning ring 472 and is fixed to the bottom shell 41 and the connector 53. The rotating assembly 55 includes a spiral groove rod 551 coaxially fixed to the gear 541. A sleeve 552 fixed to the top cover 471 is sleeved on the outside of the spiral groove rod 551. An insert 553 is fixed on the inner wall of the sleeve 552 and is embedded in the spiral groove outside the spiral groove rod 551.

[0039] When the top cover 471 is pressed into the bottom shell 41, the top cover 471 causes the sleeve 552 to move downward relative to the spiral groove rod 551, causing the insert 553 to press against the inner wall of the spiral groove of the spiral groove rod 551, driving the spiral groove rod 551 to rotate. This causes the gear 541 to rotate, pushing the rack 542 outward from the bottom shell 41. The rack 542 pushes the connector 53, causing the two connected wing plates 52 to deflect and converge towards each other. Figure 13 As shown, the wing plate 52 is in the open state at this time, and its top is flush with the top surface of the bottom shell 41. Together with the bottom shell 41, the top cover 471 and the opening and closing plate 476, it lifts the car. By expanding the wing plate 52, the robot can increase the support area for the car, which can improve the stability of lifting the vehicle and avoid the car body being subjected to concentrated force, deformation or slippage due to the support area being too small. This reduces the possibility of the car tipping over due to uneven force when moving the car, and improves the safety and reliability of the robot in complex fire rescue conditions.

[0040] like Figure 13 As shown, after the wing plate 52 is fully deployed, the opening on the outer wall of the bottom shell 41 is no longer blocked by the wing plate 52, allowing water to be sprayed out smoothly.

[0041] Based on the above design, a method for moving a pallet-type vehicle-moving robot is provided, including the following steps: S1. Water is supplied through hose 43, connector 42, plastic tube 44 and connector 45, so that water is sprayed vertically upward from nozzle 46; S2. The robot is driven to move on the ground by the walking mechanism 20, so that the robot moves to the center position of the bottom of the car, and the water sprayed upward by the nozzle 46 acts on the car battery. S3. Control the lifting mechanism 30 to move the bottom shell 41 and top cover 471 upward. The top cover 471 is pressed into the bottom shell 41 by the car. At the same time, the drive structure 48 drives the connector 45 to drive the nozzle 46 to deflect ninety degrees. After the S4, bottom shell 41 and top cover 471 lift the car upwards, the robot moves the car, and at the same time the nozzle 46 sprays water horizontally from the side of the bottom shell 41.

[0042] Working principle: In the initial state, the robot is as follows: Figure 1 The state shown; When in use, place the robot on the ground, start the motor through the controller 22, the motor drives the track wheels 21, so that the robot walks on the ground and moves to the center position under the car chassis; When the external water supply equipment is activated, the water flows through the hose 43, connector 42, plastic pipe 44 and connector 45, and then sprays vertically upwards through the nozzle 46 onto the chassis of the vehicle to extinguish the fire and cool the battery. Then, the controller 22 controls the hydraulic cylinder 34 to retract and pull the rotating shaft, which drives the bottom end of the cross rod 32 to move horizontally, so that the top end of the cross rod 32 drives the connecting seat 33 to slide at the bottom of the bottom shell 41. During this process, both the cross rod 32 and the cross rod 31 deflect in the vertical direction, lifting the bottom shell 41 upward. The bottom shell 41 moves upward, causing the spring 475 and the top cover 471 to move upward until the spring 475 contacts the car chassis. Then, the bottom shell 41 continues to move upward through the lifting mechanism 30, and the top cover 471 moves downward relative to the bottom shell 41. The spring 475 is compressed, and the top cover 471 pushes the opening and closing plate 476 through the inner wall slope, causing the opening and closing plate 476 to move towards the center cover 474 and close until the adjacent edges of the adjacent opening and closing plates 476 contact, closing the opening on the reinforcing rib 473 left for the nozzle 46 to spray water, thus protecting the nozzle 46. After the top cover 471 is completely retracted into the bottom shell 41, the top cover 471, the opening and closing plate 476, and the center cover 474 are flush with the top surface of the bottom shell 41 and supported under the vehicle chassis. During the process of the top cover 471 retracting into the bottom shell 41, the protrusion 485 is pressed down, which drives the slider 483 to move downward. The slider 483 pushes the serrated plate 481 through the connecting rod 486, which drives the serrated knob 482 to rotate, thereby driving the connector 45 to rotate. The connector 45 drives the nozzle 46 to rotate ninety degrees, so that the nozzle 46 switches from vertical upward to horizontal state, and the opening faces the side wall of the bottom shell 41. Then, water is sprayed horizontally around through the opening of the side wall of the bottom shell 41, and the water curtain of the vehicle protects the robot while extinguishing the surrounding fire. As the top cover 471 retracts into the bottom shell 41, it also causes the sleeve 552 to move downward relative to the spiral groove rod 551, causing the insert 553 to press against the inner wall of the spiral groove of the spiral groove rod 551, thus causing the spiral groove rod 551 to rotate. This causes the gear 541 to rotate, pushing the rack 542 outward from the bottom shell 41. The rack 542 pushes the connector 53, causing the two wing plates 52 connected to it to deflect and converge towards each other. Figure 13 As shown, the wing plate 52 is in the open state at this time, and its top is flush with the top surface of the bottom shell 41. Together with the bottom shell 41, the top cover 471 and the opening and closing plate 476, it lifts up the car and improves the stability of lifting the vehicle. After the vehicle is moved away from the fire location, the lifting mechanism 30 lowers the bottom shell 41, and the spring 475 pushes the top cover 471 out of the bottom shell 41 through its elastic force. The sleeve 552 and the insert 553 move upward, causing the spiral groove rod 551 and the gear 541 to rotate in the opposite direction, so that the connector 53 and the wing plate 52 are reset. The protrusion 485 is no longer pressed by the top cover 471, and the second tension spring 484 moves the slider 483 upward to reset through its elastic force. The connecting rod 486 is pulled to reset the serrated plate 481, and the serrated knob 482 drives the connector 45 and the nozzle 46 to rotate and reset. The first tension spring 477 resets the opening and closing plate 476 through its elastic force.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the present invention's technology, to the pallet-type moving robot and its moving method and its inventive concept, should be covered within the scope of protection of the present invention.

Claims

1. A pallet-type vehicle moving robot, comprising a base (10), a walking mechanism (20) mounted on the base (10), and a lifting mechanism (30) mounted on the top of the base (10), characterized in that, Also includes: The water spraying mechanism (40) includes a base shell (41), a connecting member (42) fixed inside the base shell (41), and a hose (43) fixed to the bottom of the connecting member (42). The water spraying mechanism (40) also includes an opening and closing assembly (47) and a drive structure (48). The opening and closing assembly (47) includes a positioning ring (472), a reinforcing rib (473), and a center cover (474) fixed inside the base shell (41). The internal rotation of the reinforcing rib (473) is... The device is equipped with a connector (45), on which a nozzle (46) is mounted. A plastic tube (44) is connected between the connecting piece (42) and the connector (45). A top cover (471) is slidably connected to the top of the bottom shell (41). A spring (475) is provided at the bottom of the top cover (471). An opening and closing plate (476) is slidably connected to the top of the positioning ring (472). A tension spring (477) is fixed between the opening and closing plate (476) and the positioning ring (472). Before the robot lifts the car, water is sprayed upward through the nozzle (46); after the robot lifts the car, the top cover (471) presses down to drive the opening and closing plate (476) to close and cover the top of the nozzle (46), and the nozzle (46) is rotated ninety degrees to spray water horizontally through the drive structure (48).

2. The pallet-type vehicle moving robot according to claim 1, characterized in that, The drive structure (48) includes a serrated plate (481) slidably connected inside the bottom shell (41), and a serrated knob (482) that engages with the serrated plate (481) is fixed at one end of the connector (45).

3. The pallet-type vehicle moving robot according to claim 2, characterized in that, The positioning ring (472) is internally slidably connected to a slider (483), a tension spring (484) is fixed between the slider (483) and the positioning ring (472), a connecting rod (486) is hinged between the slider (483) and the serrated plate (481), and a protrusion (485) is fixed on one side of the slider (483).

4. The pallet-type vehicle moving robot according to claim 1, characterized in that, Both the connector (45) and the plastic tube (44) are fixed with sealing plates (49). The sealing plates (49) have four circumferentially spaced through holes. The two sealing plates (49) are sealed together and the through holes are aligned.

5. A pallet-type vehicle moving robot according to claim 1, characterized in that, It also includes a wing plate mechanism (50), which includes a guide rail (51) fixed to the outside of the bottom shell (41), and a wing plate (52) is movably connected inside the guide rail (51).

6. A pallet-type vehicle moving robot according to claim 5, characterized in that, The wing plate (52) is provided in four pairs, each pair of wing plates (52) is symmetrically arranged, and a connector (53) is rotatably connected between the opposite ends of the two wing plates (52) in each pair.

7. A pallet-type vehicle moving robot according to claim 6, characterized in that, The wing plate mechanism (50) includes an ejection unit (54), which includes a gear (541) rotatably connected inside the bottom shell (41). The bottom shell (41) is slidably connected to a rack (542) that meshes with the gear (541). One end of the rack (542) passes through the positioning ring (472), the bottom shell (41), and the connector (53) for fixation.

8. A pallet-type vehicle moving robot according to claim 7, characterized in that, The wing plate mechanism (50) also includes a rotating assembly (55), which includes a helical groove rod (551) coaxially fixed with the gear (541). The helical groove rod (551) is sleeved with a sleeve (552) fixed to the top cover (471), and an insert (553) is fixed to the inner wall of the sleeve (552).

9. A pallet-type vehicle moving robot according to claim 1, characterized in that, The walking mechanism (20) includes track wheels (21) installed on both sides of the base (10). A controller (22) is fixedly installed on the base (10). The controller (22) includes a motor for providing driving force. The lifting mechanism (30) includes a cross rod one (31) and a cross rod two (32) that are hinged to each other. The top end of the cross rod one (31) is hinged to the bottom shell (41). The top end of the cross rod two (32) is hinged to a connecting seat (33) that is slidably connected to the bottom shell (41). A hydraulic cylinder (34) is fixedly installed on the base (10). The telescopic end of the hydraulic cylinder (34) is fixed with a rotating shaft and is rotatably connected to the bottom end of the cross rod two (32) through the rotating shaft.

10. A method for moving a pallet-type vehicle moving robot, applied to the pallet-type vehicle moving robot of claim 1, characterized in that, Includes the following steps: S1. Water is supplied through a hose (43), connector (42), plastic tube (44) and connector (45) so that water is sprayed vertically upward from the nozzle (46); S2. Drive the robot to move on the ground through the walking mechanism (20) so that the robot moves to the center position of the bottom of the car and the water sprayed upward by the nozzle (46) acts on the car battery. S3. Control the lifting mechanism (30) to drive the bottom shell (41) and top cover (471) to move upward. The top cover (471) is pressed into the bottom shell (41) by the car. At the same time, the connecting head (45) drives the nozzle (46) to deflect ninety degrees through the drive structure (48). S4, the bottom shell (41) and the top cover (471) lift the car upwards, the robot moves the car, and at the same time the nozzle (46) sprays water horizontally from the side of the bottom shell (41).

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