Multifunctional rescue robot based on fire scene

Abstract

The utility model discloses a multifunctional rescue robot based on a fire scene, which belongs to the technical field of fire rescue robots and comprises a chassis, claw type opening and closing obstacle crossing wheels mounted at four corners of the chassis, an obstacle cleaning mechanism mounted on the top surface of the front end of the chassis, and a jack lifting structure mounted on the top surface of the rear end of the chassis. A fire extinguishing steering mechanism and an automatic opening and closing material transportation box are sequentially installed in the middle of the top face of the chassis from front to back, the bottom end of the fire extinguishing steering mechanism communicates with a fire extinguisher switching mechanism, the fire extinguisher switching mechanism is fixedly connected with the top face of the chassis, a cover plate is fixedly connected to the top face of the chassis, and a containing cavity is formed between the cover plate and the chassis. The fire extinguisher switch mechanism is located in the containing cavity, and the fire extinguishing steering mechanism is located on the top face of the cover plate. According to the fire extinguishing device, various mechanisms are combined, various functions are achieved, fire extinguishing in various different complex environments is achieved, manual fire extinguishing is replaced, the safety of firefighters is guaranteed, the casualty rate is greatly reduced, and the fire extinguishing device has wide application prospects.

Description

Technical Field

[0001] The utility model belongs to the technical field of fire rescue robots, and in particular relates to a multifunctional rescue robot based on fire scenes. Background Art

[0002] Fire is one of the most common sudden disasters, and the personal and property losses it brings are unpredictable. At present, traditional firefighting relies on firefighters and some firefighting facilities to complete, but when encountering some places that are difficult for humans to reach, such as potholes, roads blocked by fallen trees, etc., special machine wheels are needed to move, or mechanical arms are needed to clear obstacles, so that the robot can quickly reach the fire location and accurately extinguish the fire.

[0003] Outdoor fire rescue often faces search and rescue in rugged environments such as mountain scenes, forest scenes, and collapsed floors. The operating environment is complex due to road obstacles such as collapsed buildings, ground cracks, and fallen trees caused by the disaster. At the same time, there is a large demand for rescue equipment and supplies. The entire rescue process is long and urgent, and the rescue is very dangerous. There is an urgent need to explore the path of machine replacement.

[0004] At present, firefighting robots are increasingly used to perform firefighting tasks. Although the existing firefighting machines have firefighting and rescue functions, some of them are difficult to achieve multi-dimensional firefighting and obstacle crossing functions, and require personnel assistance to reach the designated firefighting site, which greatly increases the rescue time. Utility Model Content

[0005] The utility model aims to provide a multifunctional rescue robot based on fire scenes to solve the above problems.

[0006] To achieve the above purpose, the utility model provides the following solutions:

[0007] A multifunctional rescue robot based on a fire scene comprises a chassis, wherein claw-type opening and closing obstacle-crossing wheels are installed at the four corners of the chassis, an obstacle-clearing mechanism is installed on the top surface of the front end of the chassis, a jack lifting structure is installed on the top surface of the rear end of the chassis, a fire-extinguishing steering mechanism and an automatic opening and closing material transport box are installed in sequence from front to back in the middle of the top surface of the chassis, a fire-extinguishing steering mechanism is connected to the bottom end of the fire-extinguishing steering mechanism, the fire-extinguishing switching mechanism is fixedly connected to the top surface of the chassis, a cover plate is fixedly connected to the top surface of the chassis, a accommodating cavity is formed between the cover plate and the chassis, the fire-extinguishing switch mechanism is located inside the accommodating cavity, and the fire-extinguishing steering mechanism is located on the top surface of the cover plate.

[0008] Preferably, the claw-type opening and closing obstacle-crossing wheel comprises an outer cover and a wheel hub which are coaxially arranged, at least three obstacle-crossing claws are hingedly connected between the outer cover and the wheel hub along the circumferential direction, an obstacle-crossing claw driving structure is arranged on the inner side of the wheel hub, and a plurality of the obstacle-crossing claws are drivingly connected to the obstacle-crossing claw driving structure;

[0009] A side of the outer cover away from the wheel hub is axially connected to an output end of a first drive motor, and the first drive motor is fixedly connected to the chassis.

[0010] Preferably, the obstacle crossing claw driving structure includes a driving wheel, which is rotatably connected to the inner side of the wheel hub, and the driving wheel is axially connected to the output end of the second driving motor, and the second driving motor is installed on the outer cover. A plurality of driven wheels are meshed on the circumference of the driving wheel, and a docking gear is fixedly connected to the control valve driving frame of the obstacle crossing claw, and the driven wheel is meshed and connected with the corresponding docking gear.

[0011] Preferably, the obstacle clearing mechanism comprises a clamping claw and an electric saw blade, and the clamping claw and the electric saw blade are respectively connected to the chassis through a mechanical arm structure.

[0012] Preferably, the robotic arm structure includes a robotic arm cloud disk, which is rotatably connected to the top surface of the chassis, and the top surface of the robotic arm cloud disk is transmission-connected to one end of a robotic arm, and the other end of the robotic arm is transmission-connected to one end of a robotic arm, and the other end of the corresponding robotic arm is transmission-connected to the clamping claw and the electric saw blade.

[0013] Preferably, the automatically opening and closing material transport box includes a material box, which is mounted on the top surface of the chassis, and the top surface of the material box is rotatably connected to two box covers, the two box covers are symmetrically arranged, and the box cover and the control valve drive frame of the material box are axially connected to a second bevel gear, and a motor is fixedly connected to the side wall of the material box, and the output end of the motor is axially connected to a first bevel gear, and the first bevel gear is meshingly connected to the second bevel gear.

[0014] Preferably, the fire extinguishing steering mechanism comprises a bearing platform, the bearing platform is hemispherical, the bearing platform is rotatably connected to the top surface of the chassis, two slide grooves are provided on the bearing platform, a high-pressure water nozzle is slidably connected in one of the slide grooves, and a fire extinguishing agent nozzle is slidably connected in the other slide groove, the high-pressure water nozzle and the fire extinguishing agent nozzle are respectively fixedly connected to the output ends of the steering servo at one end close to the bearing platform, and the two steering servos are fixedly connected to the inner side of the bearing platform;

[0015] The bottom end of the bearing gimbal is axially connected to the output end of the gimbal servo, and the gimbal servo is fixedly connected to the chassis.

[0016] Preferably, the fire extinguisher switch mechanism comprises a fixed housing, the fixed housing is fixedly connected to the bottom surface of the chassis, a stepper motor is fixedly connected to the inner side of the fixed housing, and the output end shaft of the stepper motor is connected to a first cylindrical spur gear and a second cylindrical spur gear;

[0017] The first cylindrical spur gear is meshed with a first rack, the first rack is vertically slidably connected to the inner wall of the fixed housing, one end of the first rack passes through the fixed housing, and one end of the first rack away from the fixed housing is fixedly connected to a pressure rod;

[0018] The second cylindrical spur gear is meshed with a second rack, the second rack is horizontally slidably installed in the fixed housing, one end of the second rack passes through the fixed housing, and an aluminum block is fixedly connected to one end of the second rack away from the fixed housing;

[0019] The bottom surface of the chassis is horizontally clamped with a fire extinguisher, the aluminum block is in contact with the valve of the fire extinguisher, and the pressure rod penetrates into the safety pin of the fire extinguisher.

[0020] Preferably, the jack lifting structure includes a jack, which is installed on the top surface of the rear end of the chassis, and the lower fixed sleeve of the jack is provided with a motor bracket, and a torque motor is fixedly connected to the motor bracket. The output end shaft of the torque motor is connected to a control valve drive frame, and the control valve drive frame is used to press the jack control valve on the jack.

[0021] Preferably, a water tank is fixedly connected to the bottom surface of the chassis.

[0022] Compared with the prior art, the utility model has the following advantages and technical effects:

[0023] The claw-type opening and closing obstacle-crossing wheel of the utility model can implement different driving states according to the ground conditions, and efficiently reach the designated fire-fighting position. The fire-fighting steering mechanism is connected to the fire-extinguisher switch mechanism. By turning on the fire extinguisher and rotating the fire-fighting steering mechanism, a multi-directional fire-fighting effect can be achieved. The obstacle clearing mechanism can clear fallen trees and buildings at the fire scene, and materials can be transported while extinguishing the fire by automatically opening and closing the material transport box, which greatly saves rescue time. The utility model integrates the structures such as the fire-fighting system, the claw-type opening and closing obstacle-crossing wheel, the obstacle clearing mechanism, and the material transport mechanism, combines multiple mechanisms, has various functions, realizes fire-fighting in a variety of different complex environments, replaces manual fire-fighting, ensures the safety of firefighters, greatly reduces the casualty rate, and has a wide range of application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor:

[0025] Figure 1 The structure of the utility model is shown in FIG. Figure 1 ;

[0026] Figure 2 The structure of the utility model is shown in FIG. Figure 2 ;

[0027] Figure 3 It is a schematic diagram of the structure of the claw-type opening and closing obstacle-crossing wheel without an outer cover;

[0028] Figure 4 It is a schematic diagram of the structure of the claw-type opening and closing obstacle-crossing wheel;

[0029] Figure 5 It is a schematic diagram of the structure of the obstacle clearing mechanism;

[0030] Figure 6 It is a schematic diagram of the structure of the automatic opening and closing material transport box;

[0031] Figure 7 The structure diagram of the fire extinguishing steering mechanism Figure 1 ;

[0032] Figure 8 The structure diagram of the fire extinguishing steering mechanism Figure 2 ;

[0033] Fig. 9 The structure diagram of the fire extinguishing steering mechanism Figure 3 ;

[0034] Fig.10 Schematic diagram of the structure of the fire extinguisher switch mechanism Figure 1 ;

[0035] Fig.11 Schematic diagram of the structure of the fire extinguisher switch mechanism Figure 2 ;

[0036] Fig.12 It is a structural schematic diagram of the jack lifting structure;

[0037] Figure numerals: 1. Claw-type opening and closing obstacle-crossing wheel; 2. Obstacle clearing mechanism; 3. Automatic opening and closing material transport box; 4. Fire extinguishing steering mechanism; 5. Fire extinguisher switch mechanism; 6. Jack lifting structure; 7. Chassis; 101. First drive motor; 102. Obstacle-crossing claw; 103. Wheel hub; 104. Driving wheel; 105. Second drive motor; 106. Driven wheel; 107. Outer cover; 201. Mechanical arm; 202. Mechanical arm; 203. Clamping claw; 204. Electric saw blade; 205. Mechanical arm cloud disk; 301. Material box; 302. Motor; 303. First bevel gear; 304 , box cover; 305, second bevel gear; 306, water tank; 401, steering servo; 402, slewing support steering bearing; 403, bearing gimbal; 404, gimbal servo; 405, fire extinguishing agent nozzle; 406, high-pressure water nozzle; 501, first cylindrical spur gear; 502, second cylindrical spur gear; 503, first rack; 504, second rack; 505, stepping motor; 506, pressure rod; 507, safety pin; 508, aluminum block; 601, jack; 602, jack control valve; 603, torque motor; 604, motor bracket; 605, control valve drive frame. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0039] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Reference Figures 1 to 12 As shown, the utility model discloses a multifunctional rescue robot based on a fire scene, including a chassis 7, claw-type opening and closing obstacle wheels 1 are installed at the four corners of the chassis 7, an obstacle clearing mechanism 2 is installed on the top surface of the front end of the chassis 7, a jack lifting structure 6 is installed on the top surface of the rear end of the chassis 7, a fire extinguishing steering mechanism 4 and an automatic opening and closing material transport box 3 are installed in the middle of the top surface of the chassis 7 from front to back, the bottom end of the fire extinguishing steering mechanism 4 is connected to a fire extinguisher switch mechanism 5, the fire extinguisher switch mechanism 5 is fixedly connected to the top surface of the chassis 7, a cover plate is fixedly connected to the top surface of the chassis 7, a accommodating cavity is formed between the cover plate and the chassis 7, the fire extinguisher switch mechanism 5 is located inside the accommodating cavity, and the fire extinguishing steering mechanism 4 is located on the top surface of the cover plate.

[0041] The claw-type opening and closing obstacle-crossing wheel 1 of the utility model can implement different driving states according to the ground conditions and efficiently reach the designated fire-fighting position. The fire-fighting steering mechanism 4 is connected to the fire-extinguisher switch mechanism 5. By turning on the fire extinguisher and rotating the fire-fighting steering mechanism 4, a multi-directional fire-fighting effect can be achieved. The obstacle clearing mechanism 2 can clear fallen trees and buildings at the fire scene, and the materials can be transported while extinguishing the fire by automatically opening and closing the material transport box 3, which greatly saves rescue time. The utility model integrates the structures such as the fire-fighting system, the claw-type opening and closing obstacle-crossing wheel 1, the obstacle clearing mechanism 2, and the material transport mechanism, combines multiple mechanisms, has various functions, realizes fire-fighting in multiple different complex environments, replaces manual fire-fighting, ensures the safety of firefighters, greatly reduces the casualty rate, and has a wide range of application prospects.

[0042] Further optimized solution, the claw-type opening and closing obstacle wheel 1 includes an outer cover 107 and a wheel hub 103 which are coaxially arranged, at least three obstacle-crossing claws 102 are hingedly connected between the outer cover 107 and the wheel hub 103 along the circumferential direction, an obstacle-crossing claw driving structure is provided on the inner side of the wheel hub 103, and a plurality of obstacle-crossing claws 102 are drivingly connected to the obstacle-crossing claw driving structure;

[0043] One side of the outer cover 107 away from the wheel hub 103 is axially connected to the output end of the first drive motor 101 , and the first drive motor 101 is fixedly connected to the chassis 7 .

[0044] To further optimize the solution, the obstacle crossing claw driving structure includes a driving wheel 104, which is rotatably connected to the inner side of the wheel hub 103, and the driving wheel 104 is axially connected to the output end of the second driving motor 105. The second driving motor 105 is installed on the outer cover 107, and a plurality of driven wheels 106 are meshed on the peripheral side of the driving wheel 104. A docking gear is fixedly connected to the control valve driving frame of the obstacle crossing claw 102, and the driven wheel 106 is meshed and connected with the corresponding docking gear.

[0045] When a fire occurs in a complex outdoor environment and it is difficult for humans to reach the best position to extinguish the fire, the fire extinguisher switch mechanism 5 is activated at this time, and the fire location and the best fire extinguishing position to be reached are first determined through the positioning system installed on the device; at this time, the robot is started, the first drive motor 101 is started, and the four claw-type opening and closing obstacle wheels 1 mounted on the chassis 7 start to rotate, and the robot moves forward; when the road surface is flat during the journey to the disaster relief destination, the claw-type opening and closing obstacle wheels 1 of the disaster relief robot are in a closed state, that is, the three obstacle claws 102 are retracted, and the obstacle claws 102 are connected to the middle of the wheel hub 103 by a hinge. At this time, the outer cover 107 together with the obstacle claws 102 are in a cylindrical state, and can quickly and freely travel on flat ground. When the road surface is a rugged section or climbing stairs, the fire-fighting robot starts the obstacle crossing mode, and the driving wheel 104 fixed to the wheel hub 103 is driven to rotate by the second drive motor 105, driving the driven wheel 106 to rotate, and the driven wheel then drives the three obstacle crossing claws 102 to expand outward synchronously, presenting a three-claw obstacle crossing wheel state. At this time, the three-claw wheel can drive the fire-fighting robot to cross rugged sections or climb stairs.

[0046] According to a further optimized solution, the obstacle clearing mechanism 2 includes a clamping claw 203 and an electric saw blade 204, and the clamping claw 203 and the electric saw blade 204 are respectively connected to the chassis 7 through a mechanical arm structure.

[0047] A further optimization scheme is that the robotic arm structure includes a robotic arm cloud disk 205, which is rotatably connected to the top surface of the chassis 7, and the top surface of the robotic arm cloud disk 205 is transmission-connected to one end of the robotic arm 201, and the other end of the robotic arm 201 is transmission-connected to one end of the robotic arm 202, and the other end of the corresponding robotic arm 202 is transmission-connected to the clamping claw 203 and the electric saw blade 204.

[0048] When the fire-fighting robot encounters fallen trees and rolling rocks, the obstacle clearing mechanism 2 comes into play. The obstacle clearing mechanism 2 is composed of a pair of robotic arms, each of which is composed of a robotic arm 201, a robotic arm 202 and an end effector. The pair of robotic arms are respectively installed on the robotic arm cloud disk 205, and the two robotic arms 202 are respectively equipped with clamping claws 203 and electric saw blades 204 at the execution ends. When performing obstacle clearing tasks, the clamping claws 203 at the ends of the robotic arms 202 can clamp fallen trees and ruins and collapsed buildings, and the electric saw blades 204 can be used to cut trees that block the way, thereby opening a path for quickly reaching the destination.

[0049] A further optimized solution is provided, wherein the automatic opening and closing material transport box 3 comprises a material box 301, which is mounted on the top surface of the chassis 7, and the top surface of the material box 301 is rotatably connected to two box covers 304, and the two box covers 304 are symmetrically arranged, and a second bevel gear 305 is axially connected to the box cover 304 and the control valve drive frame of the material box 301, and a motor 302 is fixedly connected to the side wall of the material box 301, and a first bevel gear 303 is axially connected to the output end of the motor 302, and the first bevel gear 303 is meshingly connected to the second bevel gear 305.

[0050] The fire-fighting robot is equipped with an automatic opening and closing material transport box 3, which adopts a double opening and closing structure. When the fire-fighting robot performs a task, the device can transfer materials for rescue. The specific working process is as follows: when accurate and fast material distribution is required, the motor 302 installed in the material box 301 drives the first bevel gear 303 and then drives the second bevel gear 305 to open the two box covers 304 of the automatic opening and closing material transport box 3, and then the clamping claw 203 of the mechanical arm clamps the materials and loads them into the material box 301. After loading, the mechanical arm returns to the initial position and the box cover 304 is closed; similarly, when the post-disaster reconstruction robot arrives at the designated position, the motor 302 drives the box cover 304 to open, the clamping claw 203 of the mechanical arm operates to clamp the materials and put them in the designated position, and the box cover 304 is closed, that is, a material distribution is completed.

[0051] Further optimization scheme, the fire extinguishing steering mechanism 4 includes a bearing platform 403, the bearing platform 403 is hemispherical, the bearing platform 403 is rotatably connected to the top surface of the chassis 7, and two slide grooves are provided on the bearing platform 403, a high-pressure water nozzle 406 is slidably connected in one of the slide grooves, and a fire extinguishing agent nozzle 405 is slidably connected in the other slide groove, and the high-pressure water nozzle 406 and the fire extinguishing agent nozzle 405 are respectively fixedly connected to the output end of the steering servo 401 at one end close to the bearing platform 403, and the two steering servos 401 are fixedly connected to the inner side of the bearing platform 403;

[0052] The bottom end of the bearing platform 403 is axially connected to the output end of the platform steering gear 404 , and the platform steering gear 404 is fixedly connected to the chassis 7 .

[0053] Further optimized solution, the fire extinguisher switch mechanism 5 includes a fixed shell, the fixed shell is fixedly connected to the bottom surface of the chassis 7, a stepper motor 505 is fixedly connected to the inner side of the fixed shell, and the output end shaft of the stepper motor is connected to the first cylindrical spur gear 501 and the second cylindrical spur gear 502;

[0054] The first cylindrical spur gear 501 is meshed with a first rack 503, and the first rack 503 is vertically slidably connected to the inner wall of the fixed housing. One end of the first rack 503 penetrates the fixed housing, and the end of the first rack 503 away from the fixed housing is fixedly connected to a pressure rod 506;

[0055] The second cylindrical spur gear 502 is meshed with a second rack 504, which is horizontally slidably installed in the fixed housing. One end of the second rack 504 penetrates the fixed housing, and an aluminum block 508 is fixedly connected to one end of the second rack 504 away from the fixed housing.

[0056] A fire extinguisher is horizontally clamped on the bottom surface of the chassis 7, the aluminum block 508 is in contact with the valve of the fire extinguisher, and the pressure rod 506 penetrates into the safety pin 507 of the fire extinguisher.

[0057] When the designated fire extinguishing position is reached to perform the fire extinguishing task, the fire extinguishing system starts to work. The fire extinguishing system includes a fire extinguishing steering mechanism 4 and a fire extinguisher switch mechanism 5. There are two main fire extinguishing methods: high-pressure water and fire extinguishing agent. The fire fighting robot can use different fire extinguishing methods according to the fire situation on site to effectively suppress the spread of the fire. The fire extinguishing agent is installed inside the robot using a fire extinguisher.

[0058] The fire extinguishing steering mechanism 4 is the core part of the fire extinguishing system, which is composed of a steering servo 401, a slewing support steering bearing 402, a bearing platform 403, and a platform servo 404. By controlling the steering of the platform servo 404, the force of the shaft is converted into the torque of the turntable steering, and then the bearing platform 403 is rotated in the xy axis to achieve a 360° rotation effect. The fire extinguishing head of the fire fighting robot is composed of two nozzles, a fire extinguishing agent nozzle 405 and a high-pressure water nozzle 406. The steering of each nozzle is controlled by an independent steering servo 401. When performing a fire extinguishing operation, by controlling the steering and rotation speed of the steering servo 401, the two nozzles can be respectively moved in the yz axis, toward the fire source, and the fire extinguishing agent is accurately sprayed to achieve the effect of rapid fire extinguishing.

[0059] Then the fire extinguisher switch mechanism 5 starts to work. When the fire extinguishing nozzle is adjusted to the best fire extinguishing angle, the fire extinguisher switch mechanism 5 starts to work. At this time, the stepper motor 505 rotates in a certain step length according to the pulse signal debugged in advance in a specific order, and can accurately rotate to the specified angle position, driving the first cylindrical spur gear 501 and the second cylindrical spur gear 502 to rotate. The first cylindrical spur gear 501 moves counterclockwise, which can realize the vertical downward movement of the first rack 503, driving the pressure rod 506 welded to the first rack 503, and pulling down the safety bolt 507 of the fire extinguisher sleeved in the pressure rod 506. At the same time, the second cylindrical spur gear 502 also moves counterclockwise, driving the second rack 504 to move horizontally, driving the aluminum block 508 welded to the second rack 504, and pressing the valve on the fire extinguisher. At this time, the fire extinguishing agent can be sprayed out by the fire extinguishing nozzle installed in the fire extinguishing steering mechanism 4 to extinguish the fire, and the spraying work of the fire extinguishing agent is completed. When the fire extinguishing task is completed or the fire extinguishing agent is exhausted, the stepper motor returns to the initial state, and each gear returns to the initial equilibrium position, waiting for the next task.

[0060] A further optimized solution is that the jack lifting structure 6 includes a jack 601, which is installed on the top surface of the rear end of the chassis 7. A motor bracket 604 is fixedly sleeved at the lower part of the jack 601, and a torque motor 603 is fixedly connected to the motor bracket 604. The output end shaft of the torque motor 603 is connected to a control valve drive frame 605, and the control valve drive frame 605 is used to press the jack control valve 602 on the jack 601.

[0061] When the robot encounters a floor collapse or people are trapped while performing a task, the jack lifting structure 6 can be started. The specific process is as follows: when a collapsed bungalow needs to be lifted, the fire-fighting robot walks under the collapsed gap. At this time, the jack 601 is in the initial state. When the position of the robot is adjusted, the torque motor 603 is started, and the torque motor 603 drives the control valve drive frame 605 to press the jack control valve 602, and the jack control valve 602 is pressed to lift, which turns into a pressing action; when the control valve drive frame 605 rotates again, the jack 601 is pressed again. When the required lifting height is reached, it stops, completing a lifting function of the jack 601 to realize the function of lifting the floor.

[0062] To further optimize the solution, a water tank 306 is fixedly connected to the bottom surface of the chassis 7, which can be used to transport a large amount of water to meet the needs of people in the disaster area and for fire fighting.

[0063] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0064] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A multifunctional rescue robot based on fire scene, characterized by: The invention comprises a chassis (7), wherein claw-type opening and closing obstacle-crossing wheels (1) are installed at four corners of the chassis (7), an obstacle-clearing mechanism (2) is installed on the top surface of the front end of the chassis (7), a jack lifting structure (6) is installed on the top surface of the rear end of the chassis (7), a fire-extinguishing steering mechanism (4) and an automatic opening and closing material transport box (3) are installed in sequence from front to back in the middle of the top surface of the chassis (7), a fire-extinguishing steering mechanism (5) is connected to the bottom end of the fire-extinguishing steering mechanism (4), the fire-extinguishing switching mechanism (5) is fixedly connected to the top surface of the chassis (7), a cover plate is fixedly connected to the top surface of the chassis (7), a receiving cavity is formed between the cover plate and the chassis (7), the fire-extinguishing switching mechanism (5) is located inside the receiving cavity, and the fire-extinguishing steering mechanism (4) is located on the top surface of the cover plate.

2. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The claw-type opening and closing obstacle-crossing wheel (1) comprises an outer cover (107) and a wheel hub (103) which are coaxially arranged, at least three obstacle-crossing claws (102) are hingedly connected between the outer cover (107) and the wheel hub (103) along the circumferential direction, an obstacle-crossing claw driving structure is provided on the inner side of the wheel hub (103), and a plurality of the obstacle-crossing claws (102) are drivingly connected to the obstacle-crossing claw driving structure; A side of the outer cover (107) away from the wheel hub (103) is axially connected to an output end of a first drive motor (101), and the first drive motor (101) is fixedly connected to the chassis (7).

3. The multifunctional rescue robot based on fire scene according to claim 2, characterized in that: The obstacle-crossing claw driving structure comprises a driving wheel (104), the driving wheel (104) being rotatably connected to the inner side of the wheel hub (103), the driving wheel (104) being axially connected to the output end of a second driving motor (105), the second driving motor (105) being mounted on the outer cover (107), a plurality of driven wheels (106) being meshed around the driving wheel (104), a docking gear being fixedly connected to a control valve driving frame of the obstacle-crossing claw (102), and the driven wheel (106) being meshedly connected to the corresponding docking gear.

4. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The obstacle clearing mechanism (2) comprises a clamping claw (203) and an electric saw blade (204), and the clamping claw (203) and the electric saw blade (204) are respectively connected to the chassis (7) by transmission via a mechanical arm structure.

5. The multifunctional rescue robot based on fire scene according to claim 4, characterized in that: The mechanical arm structure comprises a mechanical arm cloud disk (205), wherein the mechanical arm cloud disk (205) is rotatably connected to the top surface of the chassis (7), the top surface of the mechanical arm cloud disk (205) is transmission-connected to one end of a mechanical arm (201), the other end of the mechanical arm (201) is transmission-connected to one end of a mechanical arm (202), and the other end of the corresponding mechanical arm (202) is transmission-connected to the clamping claw (203) and the electric saw blade (204).

6. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The automatically opening and closing material transport box (3) comprises a material box (301), the material box (301) is mounted on the top surface of the chassis (7), the top surface of the material box (301) is rotatably connected to two box covers (304), the two box covers (304) are symmetrically arranged, the box covers (304) and the control valve drive frame of the material box (301) are axially connected to a second bevel gear (305), a motor (302) is fixedly connected to the side wall of the material box (301), the output end of the motor (302) is axially connected to a first bevel gear (303), and the first bevel gear (303) is meshingly connected to the second bevel gear (305).

7. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The fire extinguishing steering mechanism (4) comprises a bearing platform (403), the bearing platform (403) is hemispherical, the bearing platform (403) is rotatably connected to the top surface of the chassis (7), two slide grooves are provided on the bearing platform (403), a high-pressure water nozzle (406) is slidably connected in one of the slide grooves, and a fire extinguishing agent nozzle (405) is slidably connected in the other slide groove, and the high-pressure water nozzle (406) and the fire extinguishing agent nozzle (405) are respectively fixedly connected to the output end of the steering servo (401) at one end close to the bearing platform (403), and the two steering servos (401) are fixedly connected to the inner side of the bearing platform (403); The bottom end of the bearing platform (403) is axially connected to the output end of the platform steering gear (404), and the platform steering gear (404) is fixedly connected to the chassis (7).

8. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The fire extinguisher switch mechanism (5) comprises a fixed housing, the fixed housing is fixedly connected to the bottom surface of the chassis (7), a stepper motor (505) is fixedly connected to the inner side of the fixed housing, and the output end shaft of the stepper motor is connected to a first cylindrical spur gear (501) and a second cylindrical spur gear (502); The first cylindrical spur gear (501) is meshed with a first rack (503), the first rack (503) is vertically slidably connected to the inner wall of the fixed shell, one end of the first rack (503) passes through the fixed shell, and the end of the first rack (503) away from the fixed shell is fixedly connected to a pressure rod (506); The second cylindrical spur gear (502) is meshed with a second rack (504), the second rack (504) is horizontally slidably installed in the fixed housing, one end of the second rack (504) passes through the fixed housing, and an aluminum block (508) is fixedly connected to one end of the second rack (504) away from the fixed housing; A fire extinguisher is horizontally clamped on the bottom surface of the chassis (7), the aluminum block (508) abuts against the valve of the fire extinguisher, and the pressure rod (506) penetrates into the safety pin (507) of the fire extinguisher.

9. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: The jack lifting structure (6) includes a jack (601), which is installed on the top surface of the rear end of the chassis (7). The lower fixed sleeve of the jack (601) is provided with a motor bracket (604), and the motor bracket (604) is fixedly connected to a torque motor (603). The output end shaft of the torque motor (603) is connected to a control valve drive frame (605), and the control valve drive frame (605) is used to press the jack control valve (602) on the jack (601).

10. The multifunctional rescue robot based on fire scene according to claim 1, characterized in that: A water storage tank (306) is fixedly connected to the bottom surface of the chassis (7).

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