Movable chassis of fire-fighting robot

Abstract

The utility model discloses a fire-fighting robot's mobile chassis, including crawler-type mobile chassis, crawler-type mobile chassis both left and right sides are fixedly connected with mounting base, the inside of mounting base is fixedly installed with biaxial motor, the output shaft of biaxial motor is fixedly connected with screw rod, and the screw rod is fixedly connected with the screw rod. The lead screw is in threaded connection with an expansion block, and the expansion block is slidably connected to the inner wall of the mounting base. According to the fire-fighting robot, the crawler-type movable chassis is supported through the supporting plates driven by the hydraulic cylinders, the stability of the fire-fighting robot is improved, the gravity center of the fire-fighting robot is lowered, the fire-fighting robot can incline at any angle by accurately controlling the hydraulic cylinders, and the spraying range of the fire-fighting robot is changed; according to the fire-fighting robot, the situation that spraying blind areas exist or operation is inconvenient is avoided, the fire extinguishing effect is improved, and meanwhile, a water curtain is formed on the side of the fire-fighting robot through the annular water pipe and the high-pressure spray head to cool the surface for continuous operation.

Description

Technical Field

[0001] The utility model relates to the technical field of fire-fighting robots, in particular to a mobile chassis of a fire-fighting robot. Background Art

[0002] The fire-fighting robot is a fire-fighting robot that adopts mechatronics and information technology, industrialized design, and fully autonomous remote control to effectively deal with early fires at high places instead of personnel. The fire-fighting robot carries a variety of sensors and can complete functions such as autonomous walking, obstacle avoidance, and flame recognition. After receiving the fire alarm signal at the background, it can rush to the fire-fighting scene and operate as soon as possible. When in use, it can be connected to an external water source to extinguish the fire with a large flow of water spray, achieving the purpose of extinguishing or suppressing the fire.

[0003] Patent application number N202022547515.7 A crawler fire-fighting robot comprises a fuselage, a fixing frame is fixedly connected to an outer wall of one side of the fuselage by bolts, a first running wheel and a second running wheel are rotatably connected to an outer wall of one side of the fixing frame by a rotating shaft, the first running wheel is located on one side of the second running wheel, a first bracket is fixedly connected to the bottom of the fixing frame by bolts, and a first guide wheel is rotatably connected to an inner wall of one side of the first bracket by a rotating shaft. The crawler fire-fighting robot can insert the plug rod and the plug piece into the soil through a lifting type plug rod and a plug piece when the crawler fire-fighting robot moves to a specified position, thereby fixing the crawler fire-fighting robot, ensuring that the fire-fighting robot maintains a stable position during the water spraying process, thereby ensuring the accuracy of the fire-fighting water spraying position, and avoiding the problem of backward movement due to the reaction force generated by the water flow during the water spraying process.

[0004] In this structure, the fuselage is a mobile base, which improves the stability of the mobile base by inserting lifting rods and inserts into the soil. However, this structure has certain limitations. The fire-fighting robot may not be on the top of the soil, causing the structure to lose its function. At the same time, a single set of rods cannot guarantee the stability of the robot. In actual operation, the robot may need to enter the fire scene to extinguish the fire. The long-term high temperature exposure of the mobile base will affect the continuous fire-fighting performance of the fire-fighting robot. The situation inside the fire scene is complicated, and the angle adjustment of the water cannon alone may not meet the comprehensive fire-fighting needs. Therefore, professionals in this field provide a mobile chassis for a fire-fighting robot to solve the above-mentioned problems. Utility Model Content

[0005] In view of the problems existing in the prior art, the purpose of the present utility model is to provide a mobile chassis for a fire-fighting robot, by providing a support plate driven by a hydraulic cylinder to support the crawler-type mobile chassis, thereby improving the stability of the fire-fighting robot, lowering its center of gravity, and improving the fire-fighting effect.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A mobile chassis of a fire-fighting robot comprises a crawler-type mobile chassis, the left and right sides of the crawler-type mobile chassis are fixedly connected with mounting seats, a dual-axis motor is fixedly installed inside the mounting seat, a screw is fixedly connected to the output shaft of the dual-axis motor, an expansion block is threadedly connected to the screw, the expansion block is slidably connected to the inner wall of the mounting seat, a hydraulic cylinder is fixedly installed at the bottom of the expansion block, a movable ball is fixedly connected to the bottom end of the hydraulic cylinder, a support plate is arranged at the bottom of the hydraulic cylinder, a ball sleeve seat is fixedly installed on the top of the support plate, and the movable The ball is located inside the ball socket and is slidably connected to the inner wall of the ball socket. A limit assembly is arranged inside the ball socket. A processor and a signal transmission module are integrated inside the crawler mobile chassis. Both the limit assembly and the signal transmission module are connected to the processor signal. An annular water pipe is connected to the outer ring of the crawler mobile chassis. High-pressure nozzles are fixedly installed on the top and bottom of the annular water pipe. Evenly distributed water inlet pipes are connected to the annular water pipe. An inclination sensor is installed inside the crawler mobile chassis. The inclination sensor is connected to the processor signal.

[0008] As a further description of the above technical solution: the limit assembly includes a powerful electromagnet, which is fixedly installed inside the movable ball, and the inner wall of the ball sleeve is fixedly connected with evenly distributed metal plates, which are magnetically connected to the powerful electromagnet.

[0009] As a further description of the above technical solution: a buzzer is installed on the crawler mobile chassis, and the buzzer is connected to the processor signal.

[0010] As a further description of the above technical solution: the mounting seat is provided with evenly distributed guide grooves, and the expansion block is slidably connected to the inner wall of the guide groove.

[0011] As a further description of the above technical solution: a booster valve is installed on the water inlet pipe.

[0012] As a further description of the above technical solution: evenly distributed installation grooves are opened inside the ball sleeve seat, and the metal plate is slidably connected inside the installation grooves.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] In the utility model, a support plate driven by a hydraulic cylinder is provided to support the crawler mobile chassis, thereby improving the stability of the fire-fighting robot and lowering its center of gravity. Accurate control of each group of hydraulic cylinders can also make the fire-fighting robot tilt at any angle, changing the spraying range of the fire-fighting robot, avoiding the existence of a spraying blind spot or inconvenient operation, and improving the fire-fighting effect. At the same time, an annular water pipe and a high-pressure nozzle are provided to form a water curtain on the side of the fire-fighting robot to cool the surface for continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0016] Figure 2 For the utility model Figure 1 The enlarged structural diagram at A in the middle;

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the mounting seat of the utility model;

[0018] Figure 4 This is a schematic diagram of the internal cross-sectional structure of the ball sleeve seat of the utility model;

[0019] Figure 5 It is a schematic diagram of the principle of the utility model.

[0020] Description of the numbers in the figure:

[0021] 1. Crawler mobile chassis; 2. Mounting seat; 3. Dual-axis motor; 4. Expansion block; 5. Hydraulic cylinder; 6. Movable ball; 7. Support plate; 8. Ball sleeve seat; 9. Limit assembly; 901. Powerful electromagnet; 902. Metal plate; 10. Processor; 11. Signal transmission module; 12. Annular water pipe; 13. High-pressure nozzle; 14. Water inlet pipe; 15. Inclination sensor; 16. Buzzer; 17. Guide groove; 18. Booster valve; 19. Mounting groove. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0023] See also Figures 1 to 5In the utility model, a mobile chassis of a fire-fighting robot comprises a crawler-type mobile chassis 1, a mounting seat 2 is fixedly connected to the left and right sides of the crawler-type mobile chassis 1, a dual-axis motor 3 is fixedly installed inside the mounting seat 2, a screw is fixedly connected to the output shaft of the dual-axis motor 3, an expansion block 4 is threadedly connected to the screw, the expansion block 4 is slidably connected to the inner wall of the mounting seat 2, a hydraulic cylinder 5 is fixedly installed at the bottom of the expansion block 4, a movable ball 6 is fixedly connected to the bottom end of the hydraulic cylinder 5, a support plate 7 is arranged at the bottom of the hydraulic cylinder 5, a ball sleeve seat 8 is fixedly installed on the top of the support plate 7, and the movable ball 6 is located in the ball sleeve The interior of the seat 8 is slidably connected to the inner wall of the ball sleeve seat 8, a limit assembly 9 is arranged inside the ball sleeve seat 8, a processor 10 and a signal transmission module 11 are integrated inside the crawler mobile chassis 1, the limit assembly 9 and the signal transmission module 11 are both connected to the processor 10 signal, an annular water pipe 12 is connected to the outer ring of the crawler mobile chassis 1, high-pressure nozzles 13 are fixedly installed on the top and bottom of the annular water pipe 12, and a uniformly distributed water inlet pipe 14 is connected to the annular water pipe 12, and an inclination sensor 15 is installed inside the crawler mobile chassis 1, and the inclination sensor 15 is connected to the processor 10 signal.

[0024] The limiting component 9 includes a powerful electromagnet 901 , which is fixedly installed inside the movable ball 6 . The inner wall of the ball sleeve seat 8 is fixedly connected with uniformly distributed metal plates 902 , which are magnetically connected to the powerful electromagnet 901 .

[0025] A boost valve 18 is installed on the water inlet pipe 14;

[0026] The water cannon of the fire-fighting robot is installed on the top of the crawler mobile chassis 1, and the crawler mobile chassis 1 can perform walking, rotating and other movements. During the walking process of the fire-fighting robot, the expansion block 4 is located inside the mounting seat 2 and will not affect the movement of the fire-fighting robot. If the crawler mobile chassis 1 is on an inclined ground or needs to spray water continuously and stably, the user controls the dual-axis motor 3 to be energized. After the dual-axis motor 3 is energized, it drives the screw rod fixedly connected to it to rotate synchronously. The expansion block 4 threadedly connected to the screw rod begins to slide from the inside of the mounting seat 2 to the outside, thereby driving multiple groups of support plates 7 to move synchronously to both sides of the crawler mobile chassis 1. Subsequently, the hydraulic cylinder 5 is energized to drive the movable ball 6 and the ball sleeve seat 8 fixedly connected to it to move downward. At this time, the strong electromagnet 901 in the limit assembly 9 is energized to produce adsorption on the metal plate 902, thereby maintaining the stability of the movable ball 6 and the ball sleeve seat 8. The multiple groups of support plates 7 simultaneously contact the ground, thereby lowering the center of gravity of the crawler mobile chassis 1 and improving the stability of the crawler mobile chassis 1. At the same time, if the water cannon spray angle is affected during the fire extinguishing process To solve the problem of limit, the user can control the corresponding hydraulic cylinder 5 to be energized and work, and the corresponding hydraulic cylinder 5 starts to extend when it is energized. At this time, the strong electromagnet 901 is not energized, so that the movable ball 6 rotates inside the ball sleeve seat 8, so that the support plate 7 is always in contact with the ground. After reaching the appropriate angle, the limit assembly 9 is energized to complete stability, and the fire can be extinguished. In actual use, the fire extinguishing robot can be tilted at any angle by accurately controlling each group of hydraulic cylinders 5. At the same time, the inclination sensor 15 will real-time monitor the inclination angle of the crawler mobile chassis 1. Monitoring, if the tilt angle is too large, the signal transmission module 11 will transmit information in time to avoid causing the crawler mobile chassis 1 to be unstable. If the crawler mobile chassis 1 is in the fire scene for fire extinguishing, the user can intermittently control the water inlet pipe 14 to fill with water, so that the water flow is pressurized by the booster valve 18 and quickly enters the annular water pipe 12, and is sprayed to the top and bottom through multiple groups of high-pressure nozzles 13. The formed water curtain will cool down the crawler mobile chassis 1 and the water bubble part at the top, thereby improving the continuous fire extinguishing performance of the fire-fighting robot.

[0027] In the utility model, a support plate 7 driven by a hydraulic cylinder 5 is provided to support the crawler mobile chassis 1, thereby improving the stability of the fire-fighting robot and lowering its center of gravity. Accurate control of each group of hydraulic cylinders 5 also allows the fire-fighting robot to tilt at any angle, changing the spraying range of the fire-fighting robot, avoiding the existence of a spraying blind spot or inconvenient operation, and improving the fire-fighting effect. At the same time, an annular water pipe 12 and a high-pressure nozzle 13 are provided to form a water curtain on the side of the fire-fighting robot to cool the surface for continuous operation.

[0028] See also Figure 5 , wherein: a buzzer 16 is installed on the crawler mobile chassis 1, and the buzzer 16 is connected to the processor 10 signal.

[0029] In the present invention, when the processor 10 receives a signal from the tilt sensor 15 and determines that the tilt angle exceeds a set value, the processor 10 controls the buzzer 16 to operate, and the buzzer 16 generates a buzzing sound to prompt nearby users.

[0030] See also Figure 1 and 3 , wherein: the mounting seat 2 is provided with evenly distributed guide grooves 17 , and the expansion block 4 is slidably connected to the inner wall of the guide groove 17 .

[0031] In the present invention, the setting of the guide groove 17 can limit the expansion block 4, so that the expansion block 4 is always located inside the mounting seat 2 to maintain stable movement in the horizontal direction, thereby ensuring the supporting strength.

[0032] See also Figure 4 , wherein: evenly distributed mounting grooves 19 are opened inside the ball sleeve seat 8, and the metal plate 902 is slidably connected inside the mounting grooves 19.

[0033] In the present invention, the metal plate 902 can slide slightly inside the mounting groove 19 , so that the normal rotation of the movable ball 6 will not be affected when the movable ball 6 moves inside the ball sleeve seat 8 , and the strong electromagnet 901 will not cause any obstruction when attracting the metal plate 902 .

[0034] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A mobile chassis of a fire-fighting robot, comprising a crawler-type mobile chassis (1), Features: The left and right sides of the crawler mobile chassis (1) are fixedly connected with a mounting seat (2), a dual-axis motor (3) is fixedly installed inside the mounting seat (2), a screw is fixedly connected to the output shaft of the dual-axis motor (3), an expansion block (4) is threadedly connected to the screw, and the expansion block (4) is slidably connected to the inner wall of the mounting seat (2), a hydraulic cylinder (5) is fixedly installed at the bottom of the expansion block (4), a movable ball (6) is fixedly connected to the bottom end of the hydraulic cylinder (5), a support plate (7) is provided at the bottom of the hydraulic cylinder (5), a ball sleeve seat (8) is fixedly installed on the top of the support plate (7), the movable ball (6) is located inside the ball sleeve seat (8) and is slidably connected to the inner wall of the ball sleeve seat (8), and a limit position component (9) is provided inside the ball sleeve seat (8); The crawler-type mobile chassis (1) has a processor (10) and a signal transmission module (11) integrated inside, the limit assembly (9) and the signal transmission module (11) are both connected to the processor (10) by signal, the outer ring of the crawler-type mobile chassis (1) is connected to an annular water pipe (12), the top and bottom of the annular water pipe (12) are both fixedly mounted with high-pressure nozzles (13), the annular water pipe (12) is connected to evenly distributed water inlet pipes (14), and an inclination sensor (15) is installed inside the crawler-type mobile chassis (1), and the inclination sensor (15) is connected to the processor (10) by signal.

2. A mobile chassis of a fire-fighting robot according to claim 1, Features: The limit assembly (9) includes a powerful electromagnet (901), which is fixedly installed inside the movable ball (6). The inner wall of the ball sleeve seat (8) is fixedly connected with uniformly distributed metal plates (902), and the metal plates (902) are magnetically connected to the powerful electromagnet (901).

3. The mobile chassis of a fire-fighting robot according to claim 1, Features: A buzzer (16) is installed on the crawler-type mobile chassis (1), and the buzzer (16) is connected to the processor (10) by signal.

4. The mobile chassis of a fire-fighting robot according to claim 1, Features: The mounting seat (2) is provided with evenly distributed guide grooves (17), and the expansion block (4) is slidably connected to the inner wall of the guide groove (17).

5. The mobile chassis of a fire-fighting robot according to claim 1, Features: A pressure boosting valve (18) is installed on the water inlet pipe (14).

6. The mobile chassis of a fire-fighting robot according to claim 2, Features: The ball sleeve seat (8) is provided with evenly distributed mounting grooves (19) inside, and the metal plate (902) is slidably connected inside the mounting grooves (19).

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