Passing device and passing method for a robot

Abstract

The application provides a passing device and a passing method of a robot, and the passing device comprises a fireproof door, a first sub-track, a second sub-track, a third sub-track and a first power device; the fireproof door comprises a first door body and a second door body; the first door body and the second door body can reciprocate along a first direction to open or close the fireproof door; the first sub-track is arranged on one side of the fireproof door; the third sub-track is arranged on the other side of the fireproof door, and one end of the third sub-track is rotationally connected with one end of the second sub-track; the first power device is used for being connected with the second sub-track and driving one end of the second sub-track to rotate relative to one end of the third sub-track; in the case that the fireproof door is opened and the second sub-track is rotated to a first position, the first sub-track, the second sub-track and the third sub-track are sequentially spliced along a second direction to form a track for the robot to pass. The application improves the fireproof safety of the fireproof door.

Description

Technical Field

[0001] This application belongs to the field of fire door technology, and more specifically, relates to a robot passage device and passage method. Background Technology

[0002] In related technologies, inspection robots are required to pass through fire doors for routine inspections. When using a track-based movement method, the inspection robot needs to travel along the track through the fire doors to conduct inspections.

[0003] To ensure the continuity of the track when crossing the fire door, a groove needs to be cut into the fire door. The shape of this groove is determined by the track and may be relatively large. This results in poor sealing of the fire door and affects its fire safety. Summary of the Invention

[0004] To improve or solve the technical problem that robot inspections reduce the fire safety of fire doors, this application provides a robot passage device and passage method.

[0005] In a first aspect, embodiments of this application provide a passage device for a robot, comprising: A fire door includes a first door body and a second door body; the first door body and the second door body are capable of reciprocating along a first direction to open or close the fire door; The first sub-track is located on one side of the fire door; Second sub-orbital; The third sub-track is located on the other side of the fire door, with one end rotatably connected to one end of the second sub-track; And a first power device, used to connect with the second sub-track and drive one end of the second sub-track to rotate relative to one end of the third sub-track; When the fire door is open and the second sub-track is rotated to the first position, the first sub-track, the second sub-track, and the third sub-track are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; The first direction intersects with the second direction.

[0006] In the above technical solution, under normal conditions, the first and second door bodies can reciprocate along the first direction to close, maintaining the original fireproof sealing performance of the fire door. When the robot needs to pass through, the fire door is opened, and the first power device drives the second sub-track to rotate to the first position, so that the first, second, and third sub-tracks are sequentially spliced ​​along the second direction to form a complete track for the robot to pass through. This design cleverly utilizes the track splicing method to build a temporary passage path for the robot, ensuring that the robot can smoothly pass through the fire door to carry out inspection work without being obstructed by the presence of the fire door.

[0007] The second and third sub-tracks are connected by a rotating connection, and the rotation is achieved through the first power unit. This design gives the track system a high degree of flexibility. When robot passage is not required, the second sub-track can be rotated to other positions, reducing the occupation of surrounding space, avoiding interference with personnel activities or other equipment layouts around the fire door, and improving space utilization.

[0008] Furthermore, the fire door includes: A sliding groove is provided for extending along a first direction; the first door and the second door are slidably connected to the sliding groove on the same side. And a second power unit, for connecting to the first door body and the second door body, to drive the first door body and the second door body to move relative to the slide rail to open or close the fire door.

[0009] In the above technical solution, a sliding groove extending along the first direction is slidably connected to the first and second door bodies on the same side; coupled with a second power device, the first and second door bodies can be moved within the sliding groove to open and close the fire door. This design makes the opening and closing of the fire door more stable and smooth, ensuring its fireproof sealing performance, and, in conjunction with the aforementioned passage device, better balances robot inspection passage with building fire safety.

[0010] Furthermore, the second power unit includes: First transmission wheel; Second drive wheel; A circular conveyor belt is fitted onto the first and second drive wheels; And a first drive motor, for connecting to the first transmission wheel or the second transmission wheel, to drive the annular conveyor belt to move; The first door is connected to a first part of the circular conveyor belt; the second door is connected to a second part of the circular conveyor belt; the first part and the second part move in opposite directions.

[0011] In the above technical solution, the second power unit is equipped with a first transmission wheel and a second transmission wheel, with a ring conveyor belt fitted over their outer sides and driven by a first drive motor. The first door and the second door are connected to different parts of the ring conveyor belt, and these two parts move in opposite directions. Thus, driven by the motor, the two doors can move stably, smoothly, and synchronously in opposite directions along the slide, accurately opening and closing the fire door, effectively ensuring its fireproof sealing, and better balancing robot inspection with building fire safety.

[0012] Furthermore, the first power unit includes: The second drive motor is located on the third sub-track; And a linkage mechanism, one end of which is used to connect to the telescopic end of the second drive motor, and the other end of which is used to connect to the second sub-track so that one end of the second sub-track rotates relative to one end of the third sub-track.

[0013] In the above technical solution, the second drive motor of the first power unit is located on the third sub-track, and its telescopic end is connected to the second sub-track via a linkage mechanism. During operation, the second drive motor drives the linkage mechanism to precisely rotate one end of the second sub-track relative to one end of the third sub-track. This design is compact and highly efficient, allowing for flexible control of the second sub-track's position, ensuring accurate alignment with the first and third sub-tracks to form a track for the robot to pass through. Simultaneously, it coordinates with the fire door opening and closing mechanism to comprehensively ensure both robot inspection and building fire safety.

[0014] Furthermore, one end of the first sub-track is provided with an anti-derailment component to prevent the robot from derailing from one end of the first sub-track; one end of the first sub-track is used to connect with one end of the second sub-track.

[0015] In the above scheme, one end of the first sub-track and one end of the second sub-track are spliced ​​together to form a robot passageway. The presence of the anti-derailment component can play a certain role in positioning and guiding the splicing position. It can ensure that the first and second sub-tracks are accurately aligned during splicing, meet the accuracy requirements of track splicing, and ensure that the spliced ​​track maintains good straightness and continuity in both the horizontal and vertical directions, providing smooth passage conditions for the robot.

[0016] Furthermore, the anti-derailment component includes a locking element; the locking element includes a locking element body; the locking element body has a first part and a second part; the first part extends into the sliding cavity of the first sub-track in a third direction to prevent the robot from passing through the sliding cavity; when the second sub-track rotates to the first position, the other end of the second sub-track contacts the second part, so that the first part extends out of the sliding cavity in a third direction, so that the robot passes through the sliding cavity.

[0017] In the above technical solution, when the fire door is closed and the second sub-track has not rotated to the first position, the first part of the locking component extends into the sliding cavity of the first sub-track in a third direction. This design effectively prevents the robot from running on the first sub-track through the sliding cavity, preventing the robot from accidentally entering the track area during non-traffic periods, avoiding collisions with the fire door or other equipment due to accidental robot movement, and ensuring the safety of the robot itself as well as the safety of surrounding equipment and the environment.

[0018] When the second sub-track rotates to the first position, ready to form a complete track for the robot to pass through, the other end of the second sub-track contacts the second part of the clamp, causing the first part to extend out of the slide cavity along a third direction. This precise linkage mechanism ensures that the robot can only pass through the slide cavity when the track is correctly assembled and safe passage conditions are met, achieving precise control over the timing of robot passage and further improving the safety of robot passage.

[0019] Furthermore, the passage device also includes a control system; the control system includes: Two primary sensors, used to detect the robot's position, are respectively located on both sides of the fire door; The second sensor is used to detect the open status of the fire door; The third sensor is used to detect the position where the fire door is fully open; Two fourth sensors are used to sense the first and second extension positions of the telescopic end of the first power unit; the first extension position corresponds to the first position. And a control unit, for connecting to the first power unit, the second power unit, the first sensor, the second sensor, the third sensor and the fourth sensor respectively.

[0020] In the above technical solution, two first sensors are installed on each side of the fire door, enabling real-time and accurate sensing of the robot's position. This allows the control unit to monitor the robot's specific location information at any time during its passage.

[0021] By continuously monitoring the robot's position, the control system can dynamically adjust the status of the access device based on the robot's actual location. For example, when the robot approaches a fire door, the control system can prepare in advance for track assembly and door opening; after the robot passes through the fire door, it can promptly control the door to close and the track to return to its original state. This intelligent guidance function makes robot passage smoother and more efficient, reducing passage delays caused by human intervention or uncertainties.

[0022] The second sensor is specifically designed to detect the open / closed status of fire doors, and can promptly feed back information on whether the fire door is open or closed to the control unit.

[0023] The third sensor detects the fire door's fully open position, ensuring it is completely open to the preset safe location. Only when the third sensor detects the fire door is fully open will the control unit activate the track to allow the robot to pass. This prevents the robot from being obstructed or scraping against the fire door's edge due to the fire door not being fully open, ensuring the safety of both the robot and the fire door.

[0024] During the rotation of the second sub-track driven by the first power unit, the fourth sensor can monitor the position changes of the telescopic end in real time and feed the information back to the control unit. The control unit can adjust the operating status of the first power unit in a timely manner based on this feedback information, such as controlling the telescopic speed or stopping the telescopic movement, to ensure that the second sub-track can reach the designated position smoothly and accurately, avoiding affecting the track splicing quality and the robot's passage safety due to incomplete or excessive rotation.

[0025] Two fourth sensors are used to sense the first and second extension positions of the telescopic end of the first power unit, respectively. The first extension position corresponds to the second sub-track rotating to the first position, and the second extension position corresponds to the second position. By accurately sensing the position of the telescopic end of the first power unit, the control system can accurately control the rotation angle and position of the second sub-track, ensuring the accuracy and stability of track splicing.

[0026] The control unit, as the core of the entire control system, is connected to the first power unit, the second power unit, the first sensor, the second sensor, the third sensor, and the fourth sensor. This highly integrated connection method enables the control unit to perform unified management and coordinated control of all devices and sensors.

[0027] Secondly, embodiments of this application provide a robot passage method, employing the robot passage device, including: The opening and closing of the fire door is controlled according to the first control signal; When the fire door is in the correct position, the first power device is controlled to rotate the second sub-track according to the second control signal, so that the first sub-track, the second sub-track and the third sub-track are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; Generate access information and send it to the robot.

[0028] Furthermore, other common methods of travel include: In response to user input, a first control signal is generated to control the opening or closing of the fire door; And / or, in response to the feedback signal from the first sensor, a first control signal is generated for controlling the opening or closing of the fire door.

[0029] Furthermore, when the fire door is fully open, the first power device is controlled to rotate the second sub-track according to the second control signal, so that the first sub-track, the second sub-track, and the third sub-track are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; including: In response to the feedback signal from the third sensor, first positioning information is generated to determine whether the fire door is fully opened; Based on the first positioning information, it is determined whether the fire door is fully opened. If so, in response to the feedback signal of the fourth sensor used to sense the first extension position, a second positioning information is generated to determine whether the second sub-track has rotated into position. Generate access information and send it to the robot; including Based on the second positioning information, determine whether the second sub-track has rotated into position. If so, generate passage information and send it to the robot.

[0030] This application provides a robot passage device and method, which employs a fire door, a first sub-track, a second sub-track, a third sub-track, and a first power device. The first and second doors of the fire door can reciprocate along a first direction to open or close the fire door. When the fire door is open and the second sub-track rotates to a first position, the first, second, and third sub-tracks are sequentially spliced ​​along a second direction to form a track for the robot to pass through. Without slots on the fire door, the robot can cross the fire door for inspection, avoiding the reduction in the fire door's airtightness caused by slots, thereby improving the fire safety of the fire door. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of the passage device under one perspective of the passage conditions.

[0033] Figure 2 This is a schematic diagram of the overall structure of the passage device under another perspective of the passage conditions.

[0034] Figure 3 This is a schematic diagram of the overall structure of the passage device in a non-passage state.

[0035] Figure 4 This is a schematic diagram of the internal structure of a fire door.

[0036] Figure 5 This is a schematic diagram of the overall structure of the track.

[0037] Figure 6 This is a structural diagram of the card.

[0038] Figure 7 This is a schematic diagram of the control system.

[0039] Figure 8 This is a flowchart illustrating the common method.

[0040] The attached figures are labeled as follows: 1-Fire door, 2-First sensor a, 3-First sensor b, 4-First sub-track, 5-First power unit, 6-Third sub-track, 7-First door body, 8-Second door body, 9-Second sub-track, 10-Slide groove, 11-First transmission wheel, 12-Ring chain, 13-First part, 14-Slide rod, 15-Second part, 16-Second transmission wheel, 17-First drive motor, 18-Second drive motor, 19-Fourth sensor a, 20-Fourth sensor b, 21-Lead screw, 22-Rotating connector, 23-Clip body, 24-First part, 25-Second part, 26-Anti-derailment component, 27-Connecting rod, 28-Second telescopic position, 29-Rotating connector, 30-Slide cavity, 31-First telescopic position, 32-Second sensor, 33-Third sensor. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0042] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0043] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] In a first aspect, embodiments of this application provide a passage device for a robot, see reference. Figures 1-7 As shown, it includes: a fire door 1, a first sub-track 4, a second sub-track 9, a third sub-track 6, and a first power unit 5; the fire door 1 includes a first door body 7 and a second door body 8; the first door body 7 and the second door body 8 can reciprocate along a first direction to open or close the fire door 1; the first sub-track 4 is located on one side of the fire door 1; the third sub-track 6 is located on the other side of the fire door 1, and one end of the third sub-track 6 is rotatably connected to one end of the second sub-track 9; the first power unit 5 is used to connect with the second sub-track 9 and drive one end of the second sub-track 9 to rotate relative to one end of the third sub-track 6; when the fire door 1 is open and the second sub-track 9 is rotated to the first position, the first sub-track 4, the second sub-track 9, and the third sub-track 6 are sequentially spliced ​​along a second direction to form a track for the robot to pass through; the first direction intersects with the second direction.

[0046] Optionally, the first direction and the second direction are perpendicular to each other.

[0047] It is understandable that the first position can be the position of the non-rotating end of the second sub-track 9 when the length directions of the first sub-track 4, the second sub-track 9, and the third sub-track 6 are on the same straight line; the second position can be the position of the non-rotating end of the second sub-track 9 when the length directions of the first sub-track 4, the second sub-track 9, and the third sub-track 6 are not on the same straight line.

[0048] Optionally, the fire door 1 in this embodiment is not limited to its fireproof type, and can be a fire door 1 in the form of a heat-insulated fire door 1, a partially heat-insulated fire door 1, or a non-heat-insulated fire door 1.

[0049] See Figure 1As shown, the first direction can be the X direction, and the second direction can be the Y direction. The X direction can be the length direction of the fire door 1; the Y direction can be the length direction of the first sub-track 4, the second sub-track 9, or the third sub-track 6; the Z direction can be the direction perpendicular to the Y direction.

[0050] The fire door 1 includes a first door body 7 and a second door body 8; the first door body 7 and the second door body 8 can move back and forth in the X direction, thereby realizing the opening or closing of the fire door 1; such opening or closing method of the fire door 1 can avoid slotting on the fire door 1, thereby avoiding the reduction of fire safety of the fire door 1 caused by slotting.

[0051] See Figure 1 As shown, the first sub-track 4 is located in front of the fire door 1, the third sub-track 6 is located behind the fire door 1, and the second sub-track 9 is located between the first sub-track 4 and the third sub-track 6. Optionally, the lower side of the second sub-track 9 is connected to the third sub-track 6 via a hinge. When the fire door 1 is open (i.e., in the passage state), the second sub-track 9 can pass through the fire door 1, and the left end of the second sub-track 9 rotates to a first position, thereby connecting with the first sub-track 4 and the third sub-track 6 to form a track for the robot to pass through. The right end of the second sub-track 9 can rotate relative to the left end of the third sub-track 6, that is, the second sub-track 9 can rotate up and down relative to the third sub-track 6.

[0052] See Figure 1 As shown, in the passage mode, the first sub-track 4, the second sub-track 9, and the third sub-track 6 are sequentially arranged along the Y direction, splicing together to form a track that allows the robot to pass through; at this time, the fire door 1 is open, and the left end of the second sub-track 9 is in the first position. (See reference...) Figure 3 As shown, in the non-passage state, the second sub-track 9 and the first sub-track 4 are separated. At this time, the fire door 1 is closed, and the left end of the second sub-track 9 is in the second position.

[0053] See Figure 1 and Figure 3 As shown, during the transition from the passage state to the non-passage state, the first power device 5 drives the left end of the second sub-track 9 to rotate downwards until the left end of the second sub-track 9 reaches the second position, the fire door 1 closes, and the transition from the non-passage state to the passage state is completed.

[0054] See Figure 1 and Figure 3 As shown, during the transition from a non-passage state to a passage state, the fire door 1 opens, and the first power device 5 drives the left end of the second sub-track 9 to rotate upward until the left end of the second sub-track 9 reaches the first position, completing the transition from a non-passage state to a passage state.

[0055] In the above technical solution, under normal conditions, the first door body 7 and the second door body 8 can reciprocate along the first direction to achieve closure, maintaining the original fireproof sealing performance of the fire door 1. When the robot needs to pass through, the fire door 1 is opened, and the first power device 5 drives the second sub-track 9 to rotate to the first position, so that the first sub-track 4, the second sub-track 9, and the third sub-track 6 are sequentially spliced ​​along the second direction to form a complete track for the robot to pass through. This design cleverly utilizes the track splicing method to build a temporary passage path for the robot, ensuring that the robot can smoothly pass through the fire door 1 to carry out inspection work without being obstructed by the presence of the fire door 1.

[0056] The second sub-track 9 and the third sub-track 6 are connected by a rotating connection, and the rotation is achieved through the first power device 5. This design gives the track system a high degree of flexibility. When the robot does not need to pass through, the second sub-track 9 can be rotated to other positions, reducing the occupation of surrounding space, avoiding interference with personnel activities or other equipment layout in the area around the fire door 1, and improving space utilization.

[0057] Therefore, this embodiment of the application employs a fire door 1, a first sub-track 4, a second sub-track 9, a third sub-track 6, and a first power device 5; the first door body 7 and the second door body 8 of the fire door 1 can reciprocate along a first direction to open or close the fire door 1; when the fire door 1 is open and the second sub-track 9 rotates to the first position, the first sub-track 4, the second sub-track 9, and the third sub-track 6 are sequentially spliced ​​along a second direction to form a track for the robot to pass through; without opening slots on the fire door 1, the robot can cross the fire door 1 for inspection, avoiding the reduction in the airtightness of the fire door 1 caused by opening slots, thereby improving the fire safety of the fire door 1.

[0058] Furthermore, the fire door 1 includes a slide rail 10 and a second power device; the slide rail 10 is used to extend along a first direction; the first door body 7 and the second door body 8 are slidably connected to the slide rail 10 on the same side; the second power device is used to connect with the first door body 7 and the second door body 8 to drive the first door body 7 and the second door body 8 to move relative to the slide rail 10 to open or close the fire door 1.

[0059] See Figure 4 As shown, the fire door 1 includes a slide groove 10 and a second power device; the lower side of the first door body 7 and the lower side of the second door body 8 are placed in the slide groove 10, and the first door body 7 and the second door body 8 can slide in the slide groove 10; the second power device can drive the first door body 7 and the second door body 8 to move away from each other and closer to each other in the slide groove 10, thereby realizing the opening or closing of the fire door 1.

[0060] In the above technical solution, the slide groove 10 extending along the first direction is slidably connected to the first door body 7 and the second door body 8 on the same side; with the second power device, the first door body 7 and the second door body 8 can be driven to move within the slide groove 10 to realize the opening and closing of the fire door 1. This design can make the opening and closing of the fire door 1 more stable and smooth, ensure its fireproof sealing, and, in conjunction with the aforementioned passage device, better balance the robot inspection passage and building fire safety.

[0061] Furthermore, the second power unit includes: a first transmission wheel 11, a second transmission wheel 16, an annular conveyor belt, and a first drive motor 17; the annular conveyor belt is sleeved on the first transmission wheel 11 and the second transmission wheel 16; the first drive motor 17 is used to connect with the first transmission wheel 11 or the second transmission wheel 16 to drive the annular conveyor belt to move; the first door body 7 is connected to the first part 13 of the annular conveyor belt; the second door body 8 is connected to the second part 15 of the annular conveyor belt; the first part 13 and the second part 15 move in opposite directions.

[0062] See Figure 4 As shown, the second power unit includes a slide bar 14 and a first drive motor; the annular conveyor belt is an annular chain 12; the first transmission wheel 11 and the second transmission wheel 16 are gears; the annular chain 12 is sleeved on the outside of the two gears; the upper side of the first door body 7 and the upper side of the second door body 8 are both sleeved with the slide bar 14; the slide bar 14 extends along the X direction. The second part 15 of the annular chain 12 near the front side of the first door body 7 is connected to the second door body 8, and the first part 13 of the annular chain 12 near the rear side of the first door body 7 is connected to the first door body 7.

[0063] The first drive motor 17 is connected to the first transmission wheel 11 or the second transmission wheel 16, thereby driving the ring chain 12 to move in a ring on the same plane, thereby driving the first door body 7 and the second door body 8 to move in opposite directions, so as to move away from each other or closer to each other, thereby realizing the opening or closing of the fire door 1.

[0064] In the above technical solution, the second power unit is equipped with a first transmission wheel 11 and a second transmission wheel 16, with an annular conveyor belt fitted over their outer sides and driven by a first drive motor 17. The first door body 7 and the second door body 8 are respectively connected to different parts of the annular conveyor belt, and the two parts move in opposite directions. Thus, under the drive of the motor, the two door bodies can move stably, smoothly, and synchronously in opposite directions along the slide 10, accurately realizing the opening and closing of the fire door 1, effectively ensuring its fireproof sealing performance, and better balancing robot inspection and building fire safety.

[0065] Furthermore, the first power unit 5 includes: a second drive motor 18 and a linkage 27 mechanism; the second drive motor 18 is disposed on the third sub-track 6; one end of the linkage 27 mechanism is used to connect with the telescopic end of the second drive motor 18, and the other end of the linkage 27 mechanism is used to connect with the second sub-track 9 so that one end of the second sub-track 9 rotates relative to one end of the third sub-track 6.

[0066] It is understandable that the extension end of the second drive motor 18 can be a component that achieves extension or shortening through direct reciprocating motion, or it can be a component that achieves the effect of extension or shortening through rotational motion, such as the lead screw 21.

[0067] See Figure 5 As shown, the first power unit 5 includes a second drive motor 18 and a connecting rod 27 mechanism; optionally, the connecting rod 27 mechanism includes a lead screw 21, a connecting rod 27, a rotating connector 22, and a rotating connector 29; the right end of the lead screw 21 is connected to the second drive motor 18; the rotating connector 29 is sleeved on the outside of the lead screw 21, and the lead screw 21 and the rotating connector 29 are threadedly connected; the left end of the connecting rod 27 is rotatably connected to the rotating connector 22; the right end of the connecting rod 27 is fixedly connected to the rotating connector 29; the rotating connector 29 is connected to the right end of the second sub-track 9.

[0068] The lead screw 21 is arranged along the Y direction. In the passage state, the rotating connector 29 is located at the first extension position 31 of the lead screw 21; in the non-passage state, the second extension position 28 is located at the second extension position 28 of the lead screw 21.

[0069] In the above technical solution, the second drive motor 18 of the first power unit 5 is located on the third sub-track 6, and its telescopic end is connected to the second sub-track 9 through the linkage 27 mechanism. During operation, the second drive motor 18 drives the linkage 27 mechanism to precisely rotate one end of the second sub-track 9 relative to one end of the third sub-track 6. This design is compact and highly efficient in transmission, and can flexibly control the position of the second sub-track 9, so that it can be accurately spliced ​​with the first sub-track 4 and the third sub-track 6 to form a track for the robot to pass through. At the same time, it works in conjunction with the opening and closing mechanism of the fire door 1 to comprehensively ensure the robot's inspection and the building's fire safety.

[0070] Furthermore, one end of the first sub-track 4 is provided with an anti-derailment component 26 to prevent the robot from derailing from one end of the first sub-track 4; one end of the first sub-track 4 is used to connect with one end of the second sub-track 9.

[0071] See Figure 5 As shown, the right end of the first sub-track 4 is provided with an anti-derailment component 26, which can prevent the robot from passing through the right end of the first sub-track 4 in the non-passing state, thereby preventing the robot from derailing from the first sub-track 4.

[0072] In the above scheme, one end of the first sub-track 4 and one end of the second sub-track 9 are spliced ​​together to form a robot passage track. The presence of the anti-derailment component 26 can play a certain positioning and guiding role in the splicing position. It can ensure that the first sub-track 4 and the second sub-track 9 are accurately aligned during splicing, meet the accuracy requirements of track splicing, and ensure that the spliced ​​track maintains good straightness and continuity in both the horizontal and vertical directions, providing smooth passage conditions for the robot.

[0073] Furthermore, the anti-derailment component 26 includes a locking element; the locking element includes a locking element body 23; the locking element body 23 is provided with a first part 24 and a second part 25; the first part 24 extends into the slide cavity 30 of the first sub-track 4 in a third direction to prevent the robot from passing through the slide cavity 30; when the second sub-track 9 is rotated to the first position, the other end of the second sub-track 9 contacts the second part 25, so that the first part 24 extends out of the slide cavity 30 in a third direction, so that the robot can pass through the slide cavity 30.

[0074] Optionally, the third direction is Z-axis. See also Figure 6 As shown, the card includes a card body 23; two first parts 24 and one second part 25 are provided below the card body 23; optionally, both the first parts 24 and the second part 25 extend in the Z direction. The side of the first sub-track 4 has a sliding cavity 30. Optionally, the cross-sections of the first sub-track 4, the second sub-track 9, and the third sub-track 6 are all I-shaped structures.

[0075] In the non-passing state, the first part 24 extends into the sliding cavity 30 through the hole on the first sub-track 4, thereby preventing the robot from passing on the first sub-track 4; when the non-passing state changes to the passing state, the left end of the second sub-track 9 rotates from bottom to top. When the left end of the second sub-track 9 touches the lower end face of the second part 25 and drives the second part 25 to move upward, the second part 25 drives the first part 24 to move upward, thereby extending out of the sliding cavity 30, so that the robot can pass on the first sub-track 4.

[0076] In the above technical solution, when the fire door 1 is closed and the second sub-track 9 has not rotated to the first position, the first part 24 of the locking component extends into the sliding cavity 30 of the first sub-track 4 in a third direction. This design effectively prevents the robot from running on the first sub-track 4 through the sliding cavity 30, preventing the robot from accidentally entering the track area during non-traffic periods, avoiding collisions with the fire door 1 or other equipment due to accidental robot movement, and ensuring the safety of the robot itself as well as the safety of surrounding equipment and the environment.

[0077] When the second sub-track 9 rotates to the first position, ready to form a complete track for the robot to pass through, the other end of the second sub-track 9 contacts the second part 25 of the clamp, causing the first part 24 to extend out of the slide cavity 30 along a third direction. This precise linkage mechanism ensures that the robot can only pass through the slide cavity 30 when the track is correctly assembled and safe passage conditions are met, achieving precise control over the timing of robot passage and further improving the safety of robot passage.

[0078] Furthermore, the passage device also includes a control system; the control system includes: two first sensors, a second sensor 32, a third sensor 33, two fourth sensors, and a control unit; the first sensors are used to sense the robot's position, and the two first sensors are respectively located on both sides of the fire door 1; the second sensor 32 is used to sense the open state of the fire door 1; the third sensor 33 is used to sense the fully opened position of the fire door 1; the two fourth sensors are used to sense the first extension position 31 and the second extension position 28 of the extension end of the first power device 5.

[0079] Optionally, see Figures 1-5 As shown, the two first sensors include first sensor a2 and first sensor b3; first sensor a2 and first sensor b3 are located on both sides of the fire door 1, that is, in front of the fire door 1 and behind the fire door 1, respectively; the sensing part of the second sensor 32 is opposite to the door gap of the fire door 1; the sensing part of the third sensor 33 is opposite to the position of the first door body 7 or the second door body 8. The fourth sensor includes fourth sensor a19 and fourth sensor b20; fourth sensor a19 is located at the first telescopic position 31, and fourth sensor b20 is located at the second telescopic position 28.

[0080] The first telescopic position 31 corresponds to the first position; the second telescopic position 28 corresponds to the second position. It is understandable that the correspondence here refers to the following: when the telescopic end of the first power device 5 is in the first telescopic position 31, the left end of the second sub-track 9 is in the first position; when the telescopic end of the first power device 5 is in the second telescopic position 28, the left end of the second sub-track 9 is in the second position.

[0081] The control unit is used to connect to the first power unit 5, the second power unit, the first sensor, the second sensor 32, the third sensor 33 and the fourth sensor respectively.

[0082] In the above technical solution, two first sensors are respectively installed on both sides of the fire door 1, which can sense the robot's position in real time and accurately. This allows the control unit to keep track of the robot's specific location information at any time during its passage.

[0083] By continuously monitoring the robot's position, the control system can dynamically adjust the status of the access device based on the robot's actual location. For example, when the robot approaches fire door 1, the control system can prepare in advance for track assembly and opening of fire door 1; after the robot passes through fire door 1, it can promptly control the fire door 1 to close and the track to return to its original state. This intelligent guidance function makes the robot's passage smoother and more efficient, reducing passage delays caused by human intervention or uncertainties.

[0084] The second sensor 32 is specifically used to sense the opening status of the fire door 1, and can promptly feed back information on whether the fire door 1 is open or closed to the control unit.

[0085] The third sensor 33 is used to sense the open position of the fire door 1, ensuring that the fire door 1 can be fully opened to the preset safe position. Only when the third sensor 33 detects that the fire door 1 is fully open will the control unit control the track to connect, allowing the robot to pass. This avoids the robot being obstructed or scraping against the edge of the fire door 1 due to the fire door 1 not being fully open, ensuring the safety of both the robot and the fire door 1.

[0086] During the rotation of the second sub-track 9 driven by the first power unit 5, the fourth sensor can monitor the position changes of the telescopic end in real time and feed the information back to the control unit. The control unit can adjust the operating status of the first power unit 5 in a timely manner based on this feedback information, such as controlling the telescopic speed or stopping the telescopic movement, to ensure that the second sub-track 9 can reach the designated position smoothly and accurately, avoiding affecting the track splicing quality and the robot's passage safety due to incomplete or excessive rotation.

[0087] Two fourth sensors are used to sense the first telescopic position 31 and the second telescopic position 28 of the telescopic end of the first power device 5, respectively. The first telescopic position 31 corresponds to the second sub-track 9 rotating to the first position, and the second telescopic position 28 corresponds to the second position. By accurately sensing the position of the telescopic end of the first power device 5, the control system can accurately control the rotation angle and position of the second sub-track 9, ensuring the accuracy and stability of the track splicing.

[0088] The control unit, as the core of the entire control system, is connected to the first power unit 5, the second power unit, the first sensor, the second sensor 32, the third sensor 33, and the fourth sensor. This highly integrated connection method enables the control unit to perform unified management and coordinated control of all devices and sensors.

[0089] In summary, when the fire door 1 is open, the above-mentioned passage device, in the passage state, connects the first sub-track 4, the second sub-track 9, and the third sub-track 6 to form a track for the robot to pass through, allowing the robot to pass normally; In the non-passage state, when the fire door 1 is closed, the second sub-track 9 through which the robot passes is retracted to the second position, and the anti-derailment component 26 can prevent the robot from derailing.

[0090] The first sensors a2 and b3 enable the control unit to detect the sensor signal when the robot is within the sensor's sensing area, automatically control the fire door 1 to open and complete the track docking; when the robot is outside the limited area, control the second sub-track 9 to retract and close the fire door 1.

[0091] The control unit can send the status of fire door 1 and the track to the robot so that the robot can make passage decisions. It is understood that the passage device can accept control commands to open or close, and can also operate offline.

[0092] Secondly, embodiments of this application provide a robot passage method using a robot passage device. The execution entity of this method can be the control unit of the aforementioned control system. (See reference...) Figure 8 As shown, the specific methods include: S1. Control the opening and closing of fire door 1 according to the first control signal; The opening and closing of fire door 1 is controlled by the first control signal, achieving automation and precision in the opening and closing operation of fire door 1. Compared with traditional manual operation or simple timed control, this control signal-based method can precisely control the timing of the fire door 1's action according to the robot's actual passage needs and the overall status of the passage device. For example, the fire door 1 can be opened in a timely manner just before the robot arrives at the fire door 1 area, avoiding premature opening that would lead to energy waste or safety hazards, and also preventing delayed opening that would affect the robot's passage efficiency.

[0093] S2. When the fire door 1 is in the open position, the first power device 5 is controlled to rotate the second sub-track 9 according to the second control signal, so that the first sub-track 4, the second sub-track 9 and the third sub-track 6 are sequentially spliced ​​together along the second direction to form a track for the robot to pass through.

[0094] With the fire door 1 fully open, the first power unit 5 is controlled by the second control signal to rotate the second sub-track 9, causing the first sub-track 4, second sub-track 9, and third sub-track 6 to sequentially connect along the second direction to form a track for the robot to pass through. This step-by-step and orderly operation process ensures the accuracy and stability of the track connection. Track connection only begins after the fire door 1 is fully open, avoiding difficulties in track connection or obstruction of robot passage caused by the fire door 1 not being fully open. At the same time, sequentially connecting the tracks in a specific direction provides the robot with a clear and smooth passage path.

[0095] S3. Generate access information and send it to the robot.

[0096] Access information is generated and sent to the robot, enabling it to promptly understand the status of the access device and access instructions. This access information can include key details such as whether the track is fully assembled and whether fire door 1 is fully open. Based on this information, the robot can accurately adjust its speed, direction, and other parameters to ensure safe and smooth passage through the fire door 1 area. This information transmission mechanism achieves effective collaboration between the access device and the robot, improving the overall intelligence level of the access process.

[0097] Furthermore, other common methods of travel include: S01. A first control signal is generated in response to the user's input operation to control the opening or closing of the fire door 1; Understandably, users can control the opening and closing of fire door 1 at any time according to actual needs and on-site conditions. For example, when special personnel or equipment need to pass through fire door 1 quickly, users can immediately operate the input device to open fire door 1 without waiting for the system to automatically judge and operate based on other conditions, greatly improving the flexibility in responding to emergencies.

[0098] S02. A first control signal is generated in response to the feedback signal from the first sensor to control the opening or closing of the fire door 1.

[0099] The robot's position and other information are monitored and fed back in real time through the first sensor. The first sensor transmits the detected signals to the control unit, which then generates a first control signal to control the opening and closing of the fire door 1.

[0100] When the robot approaches fire door 1, the first sensor can promptly detect the robot's position information and trigger the control system to automatically open fire door 1. After the robot passes through fire door 1, the system can automatically close fire door 1 based on the information fed back by the sensor. The control method based on the feedback signal of the first sensor can adapt to this complex environment and automatically control the opening and closing of fire door 1 according to the robot's actual position and operating status, thereby improving the reliability and stability of the system.

[0101] It is understandable that steps S01 and S02 can be used selectively, or the two steps can be switched between. This mutual backup improves the reliability of the entire control system. If one method fails, the other can still function normally, ensuring that the fire door 1 can be opened or closed as required.

[0102] Furthermore, S1. When the fire door 1 is fully open, the first power unit 5 is controlled to rotate the second sub-track 9 according to the second control signal, so that the first sub-track 4, the second sub-track 9, and the third sub-track 6 are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; including: S11. In response to the feedback signal from the third sensor 33, first positioning information is generated to determine whether the fire door 1 is fully opened; The third sensor 33 is specifically designed to sense the fully open position of the fire door 1. It can convert the opening status of the fire door 1 into an electrical signal and feed it back to the control system in real time and with high precision. In this way, the control system can obtain raw data on whether the fire door 1 is truly open, avoiding errors that may arise from relying solely on simple time control or human judgment. For example, in some complex environments, the fire door 1 may not be fully open due to mechanical failure, changes in resistance, or other reasons. The third sensor 33 can detect this in a timely manner and provide accurate information, offering a reliable basis for subsequent operations.

[0103] The control unit analyzes and processes the initial positioning information fed back by the third sensor 33, and uses a preset logic algorithm to determine whether the fire door 1 has indeed reached the standard of being fully opened. This judgment process is based on actual sensor data and has a high degree of objectivity and accuracy.

[0104] S12. Based on the first positioning information, determine whether the fire door 1 is fully opened. If so, respond to the feedback signal of the fourth sensor used to sense the first telescopic position 31 and generate second positioning information to determine whether the second sub-track 9 has rotated into position. The control unit analyzes and processes the initial positioning information fed back by the third sensor 33, and uses a preset logic algorithm to determine whether the fire door 1 has indeed reached the standard of being fully opened. This judgment process is based on actual sensor data and has a high degree of objectivity and accuracy. Only after confirming that the fire door 1 is fully opened will the subsequent rotation operation of the second sub-track 9 be triggered, effectively preventing track splicing obstacles or robot passage accidents caused by the fire door 1 not being fully opened, and greatly improving the safety of the entire passage process.

[0105] The fourth sensor is used to sense the first telescopic position 31 of the telescopic end of the first power unit 5, which corresponds to the position where the second sub-track 9 has rotated into place. When the first power unit 5 drives the second sub-track 9 to rotate, the fourth sensor monitors the position change of the telescopic end in real time and feeds back the relevant information to the control unit. Based on this, the control unit generates second positioning information to determine whether the second sub-track 9 has rotated into place. This process achieves dynamic tracking and accurate perception of the rotation state of the second sub-track 9, ensuring that the control unit can promptly grasp the rotation progress of the second sub-track 9.

[0106] S3. Generate access information and send it to the robot; including: S31. Determine whether the second sub-track 9 has rotated into position based on the second positioning information. If so, generate passage information and send it to the robot.

[0107] The control unit will only generate passage information after confirming that the second sub-track 9 has rotated into place. Passage information is only sent when the track is truly ready for passage, preventing the robot from being misled by improper track alignment and effectively ensuring the robot's operational safety.

[0108] The control unit promptly sends the generated passage information to the robot. This process ensures that the robot receives accurate information about the status of the passageway as soon as possible, allowing it to adjust its operating parameters, such as speed and direction, to safely and efficiently traverse the assembled track. Timely and accurate transmission of passage information enables effective collaboration between the passageway device and the robot.

[0109] For example, the robot's passage method includes: Door opening procedure: When the robot or external scheduling system sends an opening command to the control unit or the first sensor is triggered, it means that the fire door 1 needs to be opened; The control unit controls the movement of the first door 7 or the second door 8 until the third sensor 33 senses that the first door 7 or the second door 8 is in the open position; The control unit controls the second sub-track 9 to rise until the fourth sensor a19 senses that the second sub-track 9 has risen to the correct position and generates the first status information; The control unit sends the first status information to the outside, and the door opening action is completed; Door closing procedure: The disappearance of the sensing signal from the first sensor a2 indicates that the robot has left the restricted area (i.e., the area within the sensing range of the sensor in front of the fire door 1) or that the robot is not in the restricted area when it receives the door closing control command and can initiate the door closing action; when the robot is inside the restricted area, it cannot perform the door closing action. The control unit controls the second sub-track 9 to retract until the fourth sensor b20 senses that the second sub-track 9 has retracted into place; The control unit controls the first door 7 or the second door 8 to close until the second sensor 32 senses that the door is closed in place and generates second status information; The control unit will send the second status information to the outside.

[0110] The method of passage in this application embodiment is applicable to the fields of robotics technology, tunnel fire protection, and corridor construction.

[0111] The functions and effects of the technical features in this technical solution that are similar to or related to the aforementioned technical solution are similar to those in the aforementioned technical solution, and the inventive concept and beneficial effects of this technical solution are similar to those in the aforementioned technical solution, so they will not be repeated here.

[0112] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A passage device for a robot, characterized in that, include: A fire door includes a first door body and a second door body; the first door body and the second door body are capable of reciprocating along a first direction to open or close the fire door; The first sub-track is located on one side of the fire door; Second sub-orbital; The third sub-track is located on the other side of the fire door, with one end rotatably connected to one end of the second sub-track; And a first power device, used to connect with the second sub-track and drive one end of the second sub-track to rotate relative to one end of the third sub-track; When the fire door is open and the second sub-track is rotated to the first position, the first sub-track, the second sub-track, and the third sub-track are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; The first direction intersects with the second direction.

2. The passage device for the robot as described in claim 1, characterized in that, The fire door includes: A sliding groove is provided for extending along a first direction; the first door and the second door are slidably connected to the sliding groove on the same side. And a second power unit, for connecting to the first door body and the second door body, to drive the first door body and the second door body to move relative to the slide rail to open or close the fire door.

3. The passage device for the robot as described in claim 2, characterized in that, The second power unit includes: First transmission wheel; Second drive wheel; A circular conveyor belt is fitted onto the first and second drive wheels; And a first drive motor, for connecting to the first transmission wheel or the second transmission wheel, to drive the annular conveyor belt to move; The first door is connected to a first part of the circular conveyor belt; the second door is connected to a second part of the circular conveyor belt; the first part and the second part move in opposite directions.

4. The passage device for the robot as described in claim 1, characterized in that, The first power unit includes: The second drive motor is located on the third sub-track; And a linkage mechanism, one end of which is used to connect to the telescopic end of the second drive motor, and the other end of which is used to connect to the second sub-track so that one end of the second sub-track rotates relative to one end of the third sub-track.

5. The passage device for the robot as described in claim 1, characterized in that, One end of the first sub-track is provided with an anti-derailment component to prevent the robot from derailing from one end of the first sub-track; one end of the first sub-track is used to connect with one end of the second sub-track.

6. The passage device for the robot as described in claim 5, characterized in that, The anti-derailment component includes a locking element; the locking element includes a locking element body; the locking element body has a first part and a second part; the first part extends into the sliding cavity of the first sub-track in a third direction to prevent the robot from passing through the sliding cavity; when the second sub-track rotates to the first position, the other end of the second sub-track contacts the second part, so that the first part extends out of the sliding cavity in a third direction, so that the robot can pass through the sliding cavity.

7. The passage device for the robot as described in any one of claims 2-6, characterized in that, It also includes a control system; the control system includes: Two primary sensors, used to detect the robot's position, are respectively located on both sides of the fire door; The second sensor is used to detect the open status of the fire door; The third sensor is used to detect the position where the fire door is fully open; Two fourth sensors are used to sense the first and second extension positions of the telescopic end of the first power unit; the first extension position corresponds to the first position. And a control unit, for connecting to the first power unit, the second power unit, the first sensor, the second sensor, the third sensor and the fourth sensor respectively.

8. A method for robot passage, employing the robot passage device as described in claim 7, characterized in that, include: The opening and closing of the fire door is controlled according to the first control signal; When the fire door is in the correct position, the first power device is controlled to rotate the second sub-track according to the second control signal, so that the first sub-track, the second sub-track and the third sub-track are sequentially spliced ​​together along the second direction to form a track for the robot to pass through; Generate access information and send it to the robot.

9. The robot's passage method as described in claim 8, characterized in that, Also includes: In response to user input, a first control signal is generated to control the opening or closing of the fire door; And / or, in response to the feedback signal from the first sensor, a first control signal is generated for controlling the opening or closing of the fire door.

10. The robot's passage method as described in claim 8, characterized in that, When the fire door is fully open, the first power unit is controlled by a second control signal to rotate the second sub-track, so that the first, second, and third sub-tracks are sequentially spliced ​​together along a second direction to form a track for the robot to pass through; including: In response to the feedback signal from the third sensor, first positioning information is generated to determine whether the fire door is fully opened; Based on the first positioning information, it is determined whether the fire door is fully opened. If so, in response to the feedback signal of the fourth sensor used to sense the first extension position, a second positioning information is generated to determine whether the second sub-track has rotated into position. Generate access information and send it to the robot; including Based on the second positioning information, determine whether the second sub-track has rotated into position. If so, generate passage information and send it to the robot.

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