Fire extinguishing robot and fire gun linkage device

Abstract

The application discloses a kind of intelligent patrol inspection fire extinguishing robot and fire water gun linkage device, including frame, the top of the frame is fixedly installed with connecting pipe, the top of the connecting pipe is movably installed with adapter pipe, the top of the adapter pipe is movably installed with swing pipe, the adapter pipe is installed with steering mechanism between connecting pipe and swing pipe, the front end of the swing pipe is fixedly installed with connecting sleeve, the front end of the connecting sleeve is fixedly installed with water gun body, the front end of the water gun body is fixedly installed with water shield, the outside of the water shield is fixedly installed with range adjusting mechanism, the right end of the left side of the frame is installed with main track, the front end of the left side of the frame is installed with triangular track, the application can adjust the water spraying direction and water spraying range according to the fire situation by design, improve the freedom and applicability of the device in fire scene.

Description

Technical Field

[0001] This invention belongs to the field of fire-fighting robot technology. Specifically, this invention relates to a linkage device between a fire-fighting robot and a fire hose. Background Technology

[0002] During firefighting operations, firefighters are at risk of injury due to the long working hours and unpredictable fire conditions. To improve the safety of fire brigades during their work, and with societal development, intelligent inspection and firefighting robots have gradually become a helpful tool for firefighters to reduce casualties. These robots can replace firefighters in entering fire scenes with unpredictable conditions and complete the task of extinguishing fires.

[0003] However, current firefighting robots still have certain limitations due to the choice of extinguishing media. If a firefighting robot is equipped with a dry powder fire extinguisher, its endurance is worrying and it cannot achieve long-term high-intensity work. In order to ensure endurance, firefighting robots are connected to fire hoses. However, simply installing and fixing the fire hoses on the robot will affect the freedom of the fire hoses and make it impossible to adjust the direction of water spray according to the fire situation, making it difficult to fully adapt to the situation at the fire scene.

[0004] Therefore, it is of great importance to design an intelligent inspection and fire extinguishing robot and a fire hose linkage device to solve the above-mentioned defects. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a linkage device between a fire-fighting robot and a fire hose. This intelligent inspection fire-fighting robot and fire hose linkage device aims to solve the technical problem that, in the prior art, the installation and fixing of the fire hose on the robot affects the fire hose's degree of freedom, making it impossible to adjust the spray direction according to the fire situation, and making it difficult to fully adapt to the fire scene.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a fire extinguishing robot and fire hose linkage device, including a frame, a connecting pipe fixedly installed on the frame, an adapter pipe movably connected to the end of the connecting pipe away from the frame, and a swing pipe movably connected to the end of the adapter pipe away from the connecting pipe. Steering mechanisms are provided between the adapter pipe and the connecting pipe, and between the adapter pipe and the swing pipe, for adjusting the relative angles between the adapter pipe and the connecting pipe, and between the adapter pipe and the swing pipe. A water hose body is provided at the end of the swing pipe away from the adapter pipe, and a water cover is fixedly installed at the end of the water hose body away from the swing pipe. A range adjustment mechanism is provided on the outside of the water cover for adjusting the water outlet range of the water cover.

[0007] The main tracks are installed at the rear ends of both the left and right sides of the vehicle frame, and the triangular tracks are installed at the front ends of both the left and right sides of the vehicle frame. The main tracks and triangular tracks work together to enable the movement of the vehicle frame.

[0008] Multi-degree-of-freedom robotic arms are fixedly installed at both ends of the vehicle frame. Mechanical grippers are fixedly installed at the front ends of the two sets of multi-degree-of-freedom robotic arms. The mechanical grippers are used to grab and remove fire-fighting auxiliary tools or clear fire-fighting obstacles. A camera is fixedly installed on the top of the mechanical grippers. The camera is used to collect image information of the fire-fighting area.

[0009] A water inlet pipe is fixedly installed at the rear end of the vehicle frame. The connecting pipe is fixedly connected to the vehicle frame via a mounting base. The mounting base and the vehicle frame are detachably fixed. The internal channel of the connecting pipe is connected to the internal channel of the water inlet pipe. The water inlet pipe is used to connect to an external water supply source.

[0010] The steering mechanism includes a housing, and two sets of the housing are respectively fixedly installed at the top of the connecting pipe away from the vehicle frame and at the top of the adapter pipe away from the connecting pipe. A motor is fixedly installed on the outer side wall of the housing, and a gearbox is fixedly installed at the rear end of the housing. The gearbox is used to accommodate the transmission components and realize transmission protection.

[0011] The housing is internally connected to a worm gear, the axis of which is aligned with the length of the housing. Worm wheels are fixedly fitted at the bottom of the adapter tube and the rear end of the swing tube, the worm wheels being located inside the housing and meshing with the worm gear. The rear end of the worm gear extends into the gearbox and is fixedly fitted with a transmission gear. The drive end of the motor penetrates the side wall of the housing and extends into the gearbox, and a drive gear is fixedly fitted to the motor drive end, meshing with the transmission gear.

[0012] The bottom end of the adapter tube is rotatably connected to the top of the corresponding housing via a bearing, and the rear end of the swing tube is rotatably connected to the front end of the corresponding housing via a bearing. The inner ring of the worm gear is fixed with the outer wall of the adapter tube and the outer wall of the swing tube by interference fit.

[0013] The range adjustment mechanism includes hydraulic push rods. Two sets of hydraulic push rods are symmetrically fixedly installed on the outer side wall of the water cover, and the axial direction of the hydraulic push rods is consistent with the radial direction of the water cover. Two sets of opening and closing covers are symmetrically rotatably connected to the front edge of the water cover. When the two sets of opening and closing covers are closed, they can cover the front opening of the water cover. When the two sets of opening and closing covers are open, they can expand the front opening area of ​​the water cover.

[0014] The drive end of the hydraulic push rod is fixedly connected to a control frame. The control frame is sleeved on the outside of the opening and closing cover and is rotatably connected to the outer wall of the opening and closing cover. When the hydraulic push rod extends or retracts, it drives the opening and closing cover to rotate through the control frame.

[0015] A connecting sleeve is fixedly installed at the front end of the swing tube. The inner side wall of the connecting sleeve is provided with an internal thread, and the outer side wall of the rear end of the water gun body is provided with an external thread. The water gun body is threadedly connected to the internal thread of the connecting sleeve through the external thread, so as to realize the detachable fixing of the water gun body and the swing tube.

[0016] The fire-fighting robot and fire hose linkage device of the present invention has the following advantages:

[0017] 1. In this invention, through the coordinated design of the connecting pipe, adapter pipe, swing pipe, steering mechanism, connecting sleeve and water gun body, water is supplied to the water gun body by connecting the fire hose to the water inlet pipe. As the vehicle frame moves, the fire hose extends and continues to supply water. When the water gun body is working, the start motor drives the drive gear to rotate, which in turn drives the worm gear to rotate, and then drives the worm wheel to rotate, thereby driving the adapter pipe and swing pipe to rotate respectively. This allows the water spray direction to be adjusted according to the fire situation, improving the freedom and applicability of the device at the fire scene.

[0018] 2. In this invention, through the coordinated design of the water gun body, water cover and range adjustment mechanism, when the water gun body is working, the water cover makes the water spray more concentrated, and the hydraulic push rod is activated to drive the two sets of control frames to swing together, thereby controlling the opening and closing state of the two sets of opening and closing covers, and thus controlling the range of water spray, further improving the applicability of the device at the fire scene. Attached Figure Description

[0019] This manual includes the following figures, which illustrate the following:

[0020] Figure 1 This is a schematic diagram of the overall structure of the fire-fighting robot and fire hose linkage device of the present invention;

[0021] Figure 2 This is a schematic diagram of part of the structure of the linkage device between the fire extinguishing robot and the fire hose of the present invention;

[0022] Figure 3 This is a schematic diagram of the internal structure of the outer shell of the present invention;

[0023] The diagram is marked as follows:

[0024] 1. Chassis; 101. Main track; 102. Triangular track; 103. Multi-DOF robotic arm; 104. Mechanical gripper; 105. Camera; 2. Connecting pipe; 201. Water inlet pipe; 202. Mounting base; 3. Adapter pipe; 4. Swing pipe; 5. Steering mechanism; 501. Housing; 502. Motor; 503. Gearbox; 504. Worm gear; 505. Worm wheel; 506. Transmission gear; 6. Connecting sleeve; 7. Water gun body; 8. Water cover; 9. Range adjustment mechanism; 901. Hydraulic push rod; 902. Opening and closing cover; 903. Control frame. Detailed Implementation

[0025] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and to facilitate its implementation.

[0026] like Figures 1 to 3 As shown, the present invention provides an intelligent inspection fire extinguishing robot and fire hose linkage device, including a frame 1, a connecting pipe 2 fixedly installed on the top of the frame 1, an adapter pipe 3 movably installed on the top of the connecting pipe 2, a swing pipe 4 movably installed on the top of the adapter pipe 3, a steering mechanism 5 installed between the adapter pipe 3 and the connecting pipe 2 and the swing pipe 4, a connecting sleeve 6 fixedly installed at the front end of the swing pipe 4, a water gun body 7 fixedly installed at the front end of the connecting sleeve 6, a water cover 8 fixedly installed at the front end of the water gun body 7, and a range adjustment mechanism 9 fixedly installed on the outside of the water cover 8.

[0027] First, main tracks 101 are installed on the right ends of both sides of the chassis 1, and triangular tracks 102 are installed on the front ends of both sides of the chassis 1. The chassis 1 moves by means of the main tracks 101, and at the same time, the triangular tracks 102 can provide better passability and mobility in complex terrain, so as to adapt to the situation at the fire scene.

[0028] Furthermore, multi-degree-of-freedom robotic arms 103 are fixedly installed at both ends of the vehicle frame 1. Mechanical grippers 104 are fixedly installed at the front ends of the two sets of multi-degree-of-freedom robotic arms 103. A camera 105 is fixedly installed on the top of the mechanical grippers 104. When the vehicle frame 1 is moving at the fire scene, the multi-degree-of-freedom robotic arms 103 can flexibly control the mechanical grippers 104 to grab debris, thereby avoiding the obstruction of the vehicle frame 1 by the debris, so that the vehicle frame 1 can move more flexibly at the fire scene to fight the fire. At the same time, the camera 105 can monitor the situation at the fire scene in real time, which is convenient for firefighters to remotely control the vehicle frame 1 to move and fight the fire.

[0029] Then, a water inlet pipe 201 is fixedly installed at the rear end of the frame 1. The connecting pipe 2 is fixedly connected to the frame 1 through the mounting base 202, and the connecting pipe 2 is connected to the water inlet pipe 201. A fire hose is connected to the water inlet pipe 201 to supply water to the water gun body 7. As the frame 1 moves, the fire hose extends and continues to supply water.

[0030] Secondly, the steering mechanism 5 includes a housing 501 fixedly installed at the top of the connecting pipe 2 and the adapter pipe 3. A motor 502 is fixedly installed on the outside of the housing 501, and a gearbox 503 is fixedly installed at the rear end of the housing 501. A worm gear 504 is rotatably connected inside the housing 501. The bottom end of the adapter pipe 3 and the rear end of the swing pipe 4 are both meshed with the worm gear 504 through a worm wheel 505. A transmission gear 506 is fixedly installed at the rear end of the worm gear 504. The drive end of the motor 502 meshes with the transmission gear 506 through the drive gear. The bottom end of the connecting pipe 3 and the rear end of the swing pipe 4 are rotatably connected to the outer casing 501. The worm gear 505 is fixedly connected to the outside of the connecting pipe 3 and the swing pipe 4. When the water gun body 7 is working, the starting motor 502 drives the drive gear to rotate, and under the transmission of the transmission gear 506, it drives the worm 504 to rotate, and then drives the worm gear 505 to rotate, thereby driving the connecting pipe 3 and the swing pipe 4 to rotate respectively. This allows the water spray direction to be adjusted according to the fire situation, improving the freedom and applicability of the device at the fire scene.

[0031] Finally, the range adjustment mechanism 9 includes hydraulic push rods 901 symmetrically fixedly installed on the outside of the water cover 8. Two sets of opening and closing covers 902 are symmetrically rotatably connected to the front end of the water cover 8. Control frames 903 are rotatably connected to the driving end of the hydraulic push rods 901 and located on the outside of the two sets of opening and closing covers 902. When the water gun body 7 is working, the hydraulic push rods 901 are activated to drive the two sets of control frames 903 to swing together, thereby controlling the opening and closing state of the two sets of opening and closing covers 902, and thus controlling the range of water spray, further improving the applicability of the device at the fire scene.

[0032] In this embodiment, the specific implementation scenario is as follows: the chassis 1 moves via the main track 101, while the triangular track 102 provides better passability and maneuverability in complex terrain. During the movement of the chassis 1 at the fire scene, the multi-degree-of-freedom robotic arm 103 can flexibly control the mechanical gripper 104 to grab debris, thereby preventing debris from obstructing the chassis 1 and allowing the chassis 1 to move more flexibly to fight the fire. At the same time, the camera 105 can monitor the situation at the fire scene in real time, facilitating firefighters to remotely control the movement of the chassis 1 for firefighting. A fire hose is connected to the water hose 201 to supply water to the water gun body 7. As the chassis 1 moves, the fire hose extends and continues to supply water. When the water gun body 7 is working, the starter motor 502 drives the drive... The moving gear rotates, driving the worm gear 504 to rotate under the transmission of the transmission gear 506, which in turn drives the worm wheel 505 to rotate, thereby driving the adapter pipe 3 and the swing pipe 4 to rotate respectively. This allows the water spray direction to be adjusted according to the fire situation. When the water gun body 7 is working, the water cover 8 makes the water spray more concentrated. The hydraulic push rod 901 is activated to drive the two sets of control frames 903 to swing together, thereby controlling the opening and closing state of the two sets of opening and closing covers 902 and adjusting the angle between the two sets of opening and closing covers 902. This allows the range of water spray to be controlled. The entire operation process is simple and convenient. This invention, through its design, can adjust the water spray direction and spray range according to the fire situation, improving the freedom and applicability of the device at the fire scene.

[0033] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A linkage device for a fire extinguishing robot and a fire hose, comprising a frame (1), characterized in that: A connecting pipe (2) is installed on the frame (1). An adapter pipe (3) is movably connected to one end of the connecting pipe (2) away from the frame (1). A swing pipe (4) is movably connected to one end of the adapter pipe (3) away from the connecting pipe (2). A steering mechanism (5) is provided between the adapter pipe (3) and the connecting pipe (2), and between the adapter pipe (3) and the swing pipe (4). The steering mechanism (5) is used to adjust the relative angle between the adapter pipe (3) and the connecting pipe (2), and the relative angle between the adapter pipe (3) and the swing pipe (4). A water gun body (7) is provided at one end of the swing pipe (4) away from the adapter pipe (3). A water cover (8) is fixedly installed at one end of the water gun body (7) away from the swing pipe (4). A range adjustment mechanism (9) is provided on the outside of the water cover (8). The range adjustment mechanism (9) is used to adjust the water outlet range of the water cover (8).

2. The fire-fighting robot and fire hose linkage device according to claim 1, characterized in that: The rear ends of the left and right sides of the vehicle frame (1) are equipped with main tracks (101), and the front ends of the left and right sides of the vehicle frame (1) are equipped with triangular tracks (102). The main tracks (101) and triangular tracks (102) work together to enable the vehicle frame (1) to move.

3. The fire-fighting robot and fire hose linkage device according to claim 1, characterized in that: Multi-degree-of-freedom robotic arms (103) are fixedly installed at both ends of the vehicle frame (1). Mechanical grippers (104) are fixedly installed at the front ends of the two sets of multi-degree-of-freedom robotic arms (103). The mechanical grippers (104) are used to grab fire-fighting auxiliary tools or clear fire-fighting obstacles. A camera (105) is fixedly installed on the top of the mechanical grippers (104). The camera (105) is used to collect image information of the fire-fighting area.

4. The fire-fighting robot and fire hose linkage device according to any one of claims 1 to 3, characterized in that: A water inlet pipe (201) is fixedly installed at the rear end of the frame (1). The connecting pipe (2) is fixedly connected to the frame (1) through the mounting base (202). The mounting base (202) is detachably fixed to the frame (1). The internal channel of the connecting pipe (2) is connected to the internal channel of the water inlet pipe (201). The water inlet pipe (201) is used to connect to an external water supply source.

5. The fire-fighting robot and fire hose linkage device according to any one of claims 1 to 3, characterized in that: The steering mechanism (5) includes a housing (501). Two sets of housings (501) are fixedly installed at the top of the connecting pipe (2) away from the frame (1) and the top of the adapter pipe (3) away from the connecting pipe (2). A motor (502) is fixedly installed on the outer wall of the housing (501). A gearbox (503) is fixedly installed at the rear end of the housing (501). The gearbox (503) is used to accommodate the transmission components and realize transmission protection.

6. The fire extinguishing robot and fire hose linkage device according to claim 5, characterized in that: A worm gear (504) is rotatably connected inside the outer shell (501). The axial direction of the worm gear (504) is consistent with the length direction of the outer shell (501). A worm wheel (505) is fixedly sleeved at the bottom end of the adapter tube (3) and the rear end of the swing tube (4). The worm wheel (505) is located inside the outer shell (501) and meshes with the worm gear (504). The rear end of the worm gear (504) extends into the gearbox (503) and is fixedly installed with a transmission gear (506). The drive end of the motor (502) penetrates the side wall of the outer shell (501) and extends into the gearbox (503). A drive gear is fixedly installed on the drive end of the motor (502). The drive gear meshes with the transmission gear (506).

7. The fire extinguishing robot and fire hose linkage device according to claim 6, characterized in that: The bottom end of the adapter tube (3) is rotatably connected to the top of the corresponding housing (501) through a bearing, and the rear end of the swing tube (4) is rotatably connected to the front end of the corresponding housing (501) through a bearing. The inner ring of the worm gear (505) is fixed with the outer side wall of the adapter tube (3) and the outer side wall of the swing tube (4) by interference fit.

8. The fire-fighting robot and fire hose linkage device according to any one of claims 1 to 3, characterized in that: The range adjustment mechanism (9) includes hydraulic push rods (901). Two sets of hydraulic push rods (901) are symmetrically fixedly installed on the outer side wall of the water cover (8), and the axial direction of the hydraulic push rods (901) is consistent with the radial direction of the water cover (8). Two sets of opening and closing covers (902) are symmetrically rotatably connected to the front edge of the water cover (8). When the two sets of opening and closing covers (902) are closed, they can cover the front opening of the water cover (8). When the two sets of opening and closing covers (902) are opened, they can expand the front opening area of ​​the water cover (8).

9. The fire extinguishing robot and fire hose linkage device according to claim 8, characterized in that: The driving end of the hydraulic push rod (901) is fixedly connected to a control frame (903). The control frame (903) is sleeved on the outside of the opening and closing cover (902), and the control frame (903) is rotatably connected to the outer wall of the opening and closing cover (902). When the hydraulic push rod (901) extends or retracts, it drives the opening and closing cover (902) to rotate through the control frame (903).

10. The fire-fighting robot and fire hose linkage device according to any one of claims 1 to 3, characterized in that: The front end of the swing tube (4) is fixedly installed with a connecting sleeve (6). The inner side wall of the connecting sleeve (6) is provided with an internal thread, and the outer side wall of the rear end of the water gun body (7) is provided with an external thread. The water gun body (7) is threadedly connected to the inner thread of the connecting sleeve (6) through the external thread, so as to realize the detachable fixing of the water gun body (7) and the swing tube (4).

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