Fire extinguishing robot and safety inspection system

Abstract

The utility model belongs to the technical field of inspection equipment, and discloses a fire extinguishing robot which walks on a track and comprises an upper walking mechanism, a lower walking mechanism and a fire extinguisher, the fire extinguisher is hung on the fire extinguishing robot; the lower walking mechanism comprises a lower mounting frame, floating wheel frames rotationally connected to the two ends of the lower mounting frame, and a connecting rod component; the floating wheel frame is provided with a lower supporting wheel; and the connecting rod component is arranged between the lower mounting frame and the floating wheel frame and is used for tightly pressing the lower supporting wheel on the track. The fire extinguishing robot is provided with the fire extinguisher, the track is held by the fire extinguishing robot through the upper walking mechanism and the lower walking mechanism so as to move in a way of being attached to the track, so that the fire extinguishing robot has higher movement stability on the track, and the attendance rate of the fire extinguishing robot can be effectively improved in different working conditions. The utility model also discloses an inspection robot.

Description

Technical Field

[0001] The utility model belongs to the technical field of patrol inspection equipment, and in particular relates to a fire extinguishing robot and a safety patrol inspection system. Background Art

[0002] The pipe belt conveyor is a continuous and efficient transportation equipment. At present, most domestic enterprises mainly use manual inspection to ensure the daily safety inspection of the pipe belt conveyor. With the rapid development of computer technology and automation technology, developed countries such as Japan, the United States, and Canada have taken the lead in the research of intelligent inspection robots. The concept of inspection robots replacing human operations has been widely recognized worldwide.

[0003] The rail-mounted inspection robot is suitable for inspection operations with determined inspection routes and long distances. It can replace manual inspections and can solve problems such as inadequate inspections or missed inspections. At the same time, since high-frequency inspections can be achieved, equipment failures can be discovered in a timely manner, hidden dangers can be eliminated, and the operating reliability of the equipment can be improved.

[0004] If there are a large amount of dust particles in the operating environment of the pipe-belt conveyor, during the operation of the pipe-belt conveyor, the temperature of some parts may rise due to contact friction, thus posing a greater fire hazard. Utility Model Content

[0005] In order to solve the above technical problems, the utility model discloses a fire-fighting robot equipped with a fire extinguisher, which realizes the engagement with the track through the upper walking mechanism and the lower walking mechanism to move in accordance with the track, so that the fire-fighting robot has high motion stability on the track, and can effectively improve the attendance rate of the fire-fighting robot in different working conditions. The utility model also discloses a patrol robot.

[0006] The specific technical solution of the utility model is as follows:

[0007] A fire-fighting robot, walking on a track, comprising:

[0008] An upper traveling mechanism and a lower traveling mechanism connected to each other; and

[0009] A fire extinguisher, which is mounted on the fire extinguishing robot;

[0010] Wherein, the lower walking mechanism comprises:

[0011] Lower mounting frame;

[0012] A floating wheel frame rotatably connected to both ends of the lower mounting frame, wherein the floating wheel frame is provided with a lower supporting wheel; and

[0013] A connecting rod member is arranged between the lower mounting frame and the floating wheel frame, and is used for pressing the lower supporting wheel tightly onto the track.

[0014] Since the fire-fighting robot itself is quite heavy, its own weight can ensure the fitting movement between the upper walking mechanism and the track surface, while the deformation ability of the lower walking mechanism through the connecting rod component makes the floating wheel frame have a tendency to continue moving toward the lower mounting frame when the lower supporting wheel fits the track. In other words, through the setting of the connecting rod component, there is a continuous relative force of mutual squeezing between the lower supporting wheel and the track, thereby achieving the engagement with the track through the upper walking mechanism and the lower walking mechanism, making the walking of the fire-fighting robot more stable.

[0015] Preferably, the connecting rod member comprises:

[0016] A connecting rod, one end of which is rotatably connected to the floating wheel frame, and the other end of which is movably connected to the lower mounting frame; and

[0017] Elastic member 1, the elastic member is sleeved on the outside of the connecting rod and is located between the floating wheel frame and the lower mounting frame;

[0018] Wherein, the connecting rod moves on the lower mounting frame along a plane perpendicular to the rail surface.

[0019] When the floating wheel frame contacts the track, the connecting rod and the floating wheel frame have a rotational relationship, and the connecting rod is movable on the lower mounting frame, so the elastic member 1 will be deformed, and the force of the elastic member 1 is used to push the floating wheel frame to maintain contact with the track. When going uphill and downhill, the movable connection relationship between the connecting rod and the mounting frame can also be used to adaptively adjust the direction of the force of the elastic member 1 to achieve the floating of the floating wheel frame relative to the lower mounting frame, thereby meeting the walking capacity under various conditions.

[0020] Preferably, a transition shaft is provided between the two side walls of the floating wheel frame, and one end of the connecting rod is connected to the transition shaft;

[0021] Two limiting sleeves are sleeved on the transition shaft and are respectively located on both sides of the connecting rod.

[0022] Assembling by means of a transition shaft can meet the requirements of easy installation and disassembly; the limiting sleeve can limit the connecting rod in the axial direction of the transition shaft, thereby more stably maintaining the contact between the lower support wheel and the track.

[0023] Preferably, both the upper walking mechanism and the lower walking mechanism are provided with floating guide components, which are located on the sides of the corresponding walking mechanisms and are used to adapt the fire-fighting robot to turn on the track.

[0024] The floating guide assembly can adapt to the curve of the track, so that the fire-fighting robot can move well on the track.

[0025] Preferably, the floating guide assembly comprises:

[0026] A support rod is arranged on the corresponding mounting frame, the support rod extends toward the outside of the mounting frame where the support rod is located, and a stopper is arranged at one end of the support rod away from the mounting frame where the support rod is located;

[0027] A rocker arm, one end of which is rotatably connected to a corresponding mounting frame, and a rotation plane thereof is parallel to the plane where the rail surface is located, and the other end of the rocker arm is movably connected to a support rod, and is located between the mounting frame where the rocker arm is located and a limiting member;

[0028] A second elastic member, wherein the second elastic member is sleeved on the support rod and is located between the limiting member and the rocker arm; and

[0029] The guide wheel is arranged in the middle of the rocker arm and is used to fit the side of the track.

[0030] The second elastic member enables the guide wheel to fit the side of the track. When encountering a curve, the second elastic member is deformed, so that the rocker arm swings relative to the mounting frame on which it is located, thereby causing the guide wheel and the mounting frame on which it is located to produce relative movement, so that the guide wheel can always fit the track, thereby ensuring the movement stability of the fire-fighting robot.

[0031] Preferably, the floating guide assembly of the lower walking mechanism is arranged on a floating wheel frame.

[0032] By combining the floating guide assembly with the floating wheel frame, the fire-fighting robot can adapt to 90-degree turns when going uphill or downhill, thereby further expanding the use scenarios of the fire-fighting robot.

[0033] Preferably, it also includes:

[0034] The cover plate is used for covering and connecting the upper walking mechanism and the lower walking mechanism, and the fire extinguisher is arranged at the lower end of the cover plate.

[0035] The cover plate can realize dust protection for the upper walking mechanism and the lower walking mechanism, and can well realize the mounting of the fire extinguisher.

[0036] Preferably, it also includes:

[0037] The speed sensor is used to measure the travel distance of the fire-fighting robot for positioning.

[0038] The fire-fighting robot measures the travel distance by speed and time to locate its position on the track.

[0039] A safety inspection system, comprising:

[0040] A fire-fighting robot as described above;

[0041] An inspection robot, the inspection robot carrying the fire-fighting robot moves on a track; and

[0042] The obstacle avoidance sensor is used to detect whether there are obstacles on the track to avoid movement collision. The obstacle avoidance sensor is connected to the inspection robot for communication.

[0043] When the inspection robot is equipped with the above-mentioned fire-fighting robot, it can extinguish fires occurring in the pipe conveyor, thereby extending the time for disaster relief and fire-fighting work of the staff; the obstacle avoidance sensor can respond to whether there are obstacles on the motion path, and if there are obstacles, the sensor will provide feedback to the inspection robot, causing the inspection robot to brake and avoid collision.

[0044] Preferably, it also includes:

[0045] A flame sensor, wherein the flame sensor is disposed on the inspection robot or the fire extinguishing robot, and the flame sensor is communicatively connected to the fire extinguisher; and / or

[0046] A temperature sensor is provided on the inspection robot or the fire-fighting robot, and the temperature sensor is communicatively connected to the fire extinguisher.

[0047] The flame sensor and the temperature sensor can both judge the working abnormality of the belt conveyor, so that after the abnormal signal is transmitted to the fire extinguisher, the fire extinguisher can cool down or extinguish the abnormal position in time.

[0048] Compared with the prior art, the utility model can provide the fire-fighting robot with the ability to move stably along the track, and at the same time can deal with abnormally high temperatures, sparks or flames along the pipe conveyor, thereby ensuring the safety of the working environment; the fire-fighting robot in the utility model can run on the track by being dragged or pulled by the inspection robot, which can well supplement the defects of the existing inspection robots' insufficient functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the coordination between the fire-fighting robot and the track in the embodiment of the utility model;

[0050] Figure 2 for Figure 1 Right view of;

[0051] Figure 3 for Figure 1 A top view of

[0052] Figure 4 A schematic diagram of one direction of the lower walking mechanism in an embodiment of the utility model;

[0053] Figure 5 A schematic diagram of the lower walking mechanism in another direction in the embodiment of the utility model;

[0054] Figure 6 It is a schematic diagram of a safety inspection system in an embodiment of the utility model.

[0055] In the figure: 100-track; 200-fire-fighting robot; 300-inspection robot; 201-upper walking mechanism; 202-lower walking mechanism; 1-fire extinguisher; 2-lower mounting frame; 3-floating wheel frame; 4-lower supporting wheel; 5-wheel frame supporting plate; 6-rotating shaft; 7-upper mounting frame; 8-upper supporting wheel; 9-cover plate; 10-connecting rod; 11-elastic part 1; 12-waist-shaped hole; 13-transition shaft; 14-limiting sleeve; 15-support rod; 16-rocker arm; 17-elastic part 2; 18-guide wheel; 19-limiting part; 20-speed measuring wheel; 21-rotary encoder; 22-elastic part 3; 23-traction mechanism; 24-flame sensor; 25-obstacle avoidance sensor. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0057] like Figure 1 to Figure 4 As shown, a fire-fighting robot 200 walks on a track 100, including an upper walking mechanism 201 and a lower walking mechanism 202 connected to each other, and a fire extinguisher 1; the fire extinguisher 1 is mounted on the fire-fighting robot 200; the lower walking mechanism 202 includes a lower mounting frame 2, a floating wheel frame 3 rotatably connected to both ends of the lower mounting frame 2, and a connecting rod member; the floating wheel frame 3 is provided with a lower supporting wheel 4; the connecting rod member is arranged between the lower mounting frame 2 and the floating wheel frame 3, and is used to press the lower supporting wheel 4 tightly against the track 100.

[0058] In this embodiment, the upper walking mechanism 201 and the lower walking mechanism 202 are connected by a wheel frame support plate 5; the floating wheel frame 3 and the lower mounting frame 2 are connected by a rotating shaft 6, and the rotation plane of the floating wheel frame 3 is perpendicular to the rail surface. Therefore, under the action of the connecting rod component, the lower support wheel 4 can achieve continuous resistance to the lower side of the track 100. In this embodiment, the upper walking mechanism 201 includes an upper mounting frame 7 and an upper support wheel 8, and the upper support wheel 8 is in contact with the rail surface. Therefore, on the basis of the upper walking mechanism 201 and the lower walking mechanism 202 being connected to each other, the load of the entire fire-fighting robot 200 will be transferred to the track 100 through the upper support wheel 8. Therefore, when the connecting rod component makes the lower support wheel 4 fit the lower side of the track 100, the fire-fighting robot 200 can achieve tight fit on both the upper and lower sides of the track 100, so that it can more stably realize walking on the track 100.

[0059] like Figure 5As shown, in this embodiment, a cover plate 9 is further included, which is used to cover and connect the upper walking mechanism 201 and the lower walking mechanism 202, and the fire extinguisher 1 is arranged at the lower end of the cover plate 9. The cover plate 9 is roughly a C-shaped structure on the radial section of the track 100, and the structure is in an embraced state relative to the track 100, so it can well improve the overall stability of the fire extinguishing robot 200 and increase the ability of the fire extinguishing robot 200 to resist harsh environments. Figure 1 to Figure 4 The cover plate 9 is hidden in the figure.

[0060] like Figure 4 and Figure 5 As shown, in this embodiment, the connecting rod component includes a connecting rod 10 and an elastic member 11; one end of the connecting rod 10 is rotatably connected to the floating wheel frame 3, and the other end is movably connected to the lower mounting frame 2; the elastic member is sleeved on the outer side of the connecting rod 10, and is located between the floating wheel frame 3 and the lower mounting frame 2; the connecting rod 10 moves on the lower mounting frame 2 along a plane perpendicular to the rail surface. On the lower mounting frame 2, a waist-shaped hole 12 is vertically arranged, and one end of the connecting rod 10 is movably connected in the waist-shaped hole 12, so that when going up and down the slope, the elastic force direction of the elastic member 11 can be adaptively adjusted. In order to ensure the use effect of the elastic member 11, one end of the connecting rod 10 that is rotatably connected to the floating wheel frame 3 is configured as a ball head, so that one end of the elastic member 11 abuts on the lower mounting frame 2, and the other end abuts on the spherical surface of the ball head, thereby better utilizing the deformation force of the elastic member 11. Furthermore, a transition shaft 13 is provided between the two side walls of the floating wheel frame 3, and one end of the connecting rod 10 is connected to the transition shaft 13; two limiting sleeves 14 are sleeved on the transition shaft 13, respectively located on both sides of the connecting rod 10. The two limiting sleeves 14 can realize the axial positioning of the connecting rod 10, so that the axis of the connecting rod 10 is located at the center line position of the lower walking mechanism 202, so that the elastic member 11 provides a more uniform deformation force, thereby better satisfying the interference between the lower support wheel 4 and the track 100.

[0061] like Figure 4 and Figure 5As shown, in order to better use this embodiment, the upper walking mechanism 201 and the lower walking mechanism 202 are both provided with floating guide components, which are located on the sides of the corresponding walking mechanisms to accommodate the fire-fighting robot 200 turning on the track 100. In this embodiment, the upper walking mechanism 201 and the lower walking mechanism 202 both have four floating guide components, which are respectively located at the four corners of the corresponding walking mechanism. Furthermore, the floating guide component includes a support rod 15 arranged on the corresponding mounting frame, as well as a rocker arm 16, an elastic member 17 and a guide wheel 18; the support rod 15 extends toward the outside of the mounting frame on which it is located, and a limit member 19 is provided at one end of the support rod 15 away from the mounting frame on which it is located; one end of the rocker arm 16 is rotatably connected to the corresponding mounting frame, and its rotation plane is parallel to the plane where the rail surface is located, and the other end of the rocker arm 16 is movably connected to the support rod 15, and is located between the mounting frame on which it is located and the limit member 19; the elastic member 17 is sleeved on the support rod 15, and is located between the limit member 19 and the rocker arm 16; the guide wheel 18 is arranged in the middle of the rocker arm 16 for fitting the side of the track 100. It should be noted that the structures of the floating guide components of the upper walking mechanism 201 and the lower walking mechanism 202 in this embodiment are the same, and the floating guide component of the lower walking mechanism 202 is further explained below. Specifically, the floating guide component of the lower walking mechanism 202 is arranged on the floating wheel frame 3. The support rod 15 is arranged on the floating wheel frame 3; in order to ensure the limiting stability of the limit member 19 on the elastic member 2 17 and the rocker arm 16, the limit member 19 can be configured as a double nut. When the fire-fighting robot 200 walks to the ramp, the floating wheel frame 3 swings up and down relative to the lower mounting frame 2, and maintains resistance to the track 100 on the basis of the connecting rod member; the rotation plane of the guide wheel 18 is parallel to the swing plane of the swing arm, and this position keeps the guide wheel 18 in contact with the side of the track 100 to avoid the swing of the rocker arm 16 causing motion interference to the guide wheel 18. When turning, due to the swing of the rocker arm 16, the elastic member 17 on one side is further compressed, and the elastic member 17 on the other side is relatively extended. As a result, the guide wheels 18 on both sides of the floating wheel frame 3 are limited and guided during the swing, and a buffer force is provided. The floating wheel frame 3 can also be reset when transitioning to a straight road, thereby ensuring the normal movement of the fire-fighting robot 200 during its movement.

[0062] like Figure 2 and Figure 3As shown, in this embodiment, a speed sensor is also included to measure the walking distance of the fire-fighting robot 200 for positioning. The starting position of the fire-fighting robot 200 is known, so the walking distance of the fire-fighting robot 200 can be calculated by speed and time, and since the extension path of the track 100 is relatively certain, the relative position of the fire-fighting robot 200 on the track 100 can be obtained, thereby achieving positioning. The speed sensor in this embodiment includes a speed measuring wheel 20 and a rotary encoder 21, and the speed measuring wheel 20 is connected to the upper mounting frame 7 through an elastic member 22, so that the speed measuring wheel 20 always keeps in contact with the track 100, and then during the rotation of the speed measuring wheel 20, its rotation condition is fed back to the rotary encoder 21, thereby obtaining the movement speed of the fire-fighting robot 200.

[0063] like Figure 6 As shown, the fire-fighting robot 200 disclosed in the above embodiment is applied to a safety inspection system, which also includes an inspection robot 300, and the inspection robot 300 carries the fire-fighting robot 200 to move on the track 100. Specifically, the inspection robot 300 is connected to the fire-fighting robot 200 through a traction mechanism 23, that is, one end of the traction mechanism 23 is detachably connected to the inspection robot 300, and the other end is detachably connected to the fire-fighting robot 200. Further, the detachable connection is achieved by fixing parts such as screws and bolts, and it can also be a detachable structure such as a buckle. In this embodiment, a pin is used in combination with a torsion spring to plug the pin into the inspection robot 300, thereby realizing the connection between the inspection robot 300 and the fire-fighting robot 200. The inspection robot 300 itself has a power system, so the fire-fighting robot 200 can be carried by the active movement of the inspection robot 300.

[0064] In order to better achieve fire extinguishing, in some technical solutions, a flame sensor 24 is also included, and the flame sensor 24 is arranged on the inspection robot 300 or the fire extinguishing robot 200, and the flame sensor 24 is connected to the fire extinguisher 1 in communication. The flame sensor 24 is a visual sensor that can determine whether a flame is generated. Whether it is arranged on the inspection robot 300 or the fire extinguishing robot 200, it is connected to the fire extinguisher 1 in communication. That is to say, if a flame is generated, or a spark or a flame is generated, the information is fed back to the fire extinguisher 1, and the fire extinguisher 1 extinguishes the fire. In some technical solutions, a temperature sensor is also included, and the temperature sensor is arranged on the inspection robot 300 or the fire extinguishing robot 200, and the temperature sensor is connected to the fire extinguisher 1 in communication. The temperature sensor can detect abnormally high temperature conditions, thereby inferring whether a fire will occur, and then the fire extinguisher 1 can be used to cool down. Of course, by judging the temperature, it is also possible to know whether a fire has occurred at the corresponding position. For this embodiment, at least one of the flame sensor 24 and the temperature sensor can be set. When the two sensors are set at the same time, the judgment accuracy can be increased accordingly.

[0065] In this embodiment, an obstacle avoidance sensor 25 is also included to detect whether there is an obstacle on the track 100 to avoid movement collision. The obstacle avoidance sensor 25 is connected to the inspection robot 300 for communication. The obstacle avoidance sensor 25 can generally judge obstacles through vision, laser, infrared, ultrasonic waves, etc. If there is an obstacle, the inspection robot 300 is decelerated and braked.

[0066] In addition, in this embodiment, a camera can be set on the fire-fighting robot 200 or the inspection robot 300, and the camera is remotely connected to the monitor of the staff, so that the staff can realize remote monitoring and view the on-site situation in real time. Of course, an alarm can also be set, and if a fire occurs, an alarm is issued through the alarm.

[0067] Therefore, in the present embodiment, the fire-fighting robot 200 follows the inspection robot 300 to move along the track 100, and detects the temperature along the pipe belt machine or whether a fire occurs through the flame sensor 24 or the temperature sensor. If the temperature is too high or a fire point has appeared, the fire is extinguished through the fire extinguisher 1. At this time, the location information of the fire point can be fed back through the speed sensor, and the staff can view the on-site situation through the display, so as to facilitate the staff to implement the corresponding subsequent processing. It is known that the staff can also remotely control the inspection robot 300 to carry the fire-fighting robot 200 to the fire point at other locations, thereby improving the efficiency of fire extinguishing and buying time for the staff's subsequent processing.

[0068] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A fire-fighting robot, characterized in that: Walking on track, including: An upper traveling mechanism and a lower traveling mechanism connected to each other; and A fire extinguisher, which is mounted on the fire extinguishing robot; Wherein, the lower walking mechanism comprises: Lower mounting frame; A floating wheel frame rotatably connected to both ends of the lower mounting frame, wherein the floating wheel frame is provided with a lower supporting wheel; and A connecting rod member is arranged between the lower mounting frame and the floating wheel frame, and is used for pressing the lower supporting wheel tightly onto the track.

2. A fire-fighting robot as claimed in claim 1, characterized in that: The connecting rod member comprises: A connecting rod, one end of which is rotatably connected to the floating wheel frame, and the other end of which is movably connected to the lower mounting frame; and Elastic member 1, the elastic member is sleeved on the outside of the connecting rod and is located between the floating wheel frame and the lower mounting frame; Wherein, the connecting rod moves on the lower mounting frame along a plane perpendicular to the rail surface.

3. A fire-fighting robot as claimed in claim 2, characterized in that: A transition shaft is provided between the two side walls of the floating wheel frame, and one end of the connecting rod is connected to the transition shaft; Two limiting sleeves are sleeved on the transition shaft and are respectively located on both sides of the connecting rod.

4. A fire-fighting robot as claimed in claim 1, characterized in that: The upper walking mechanism and the lower walking mechanism are both provided with floating guide components, which are located on the sides of the corresponding walking mechanisms and are used to adapt the fire-fighting robot to turn on the track.

5. A fire-fighting robot as claimed in claim 4, characterized in that: The floating guide assembly comprises: A support rod is arranged on the corresponding mounting frame, the support rod extends toward the outside of the mounting frame where the support rod is located, and a stopper is arranged at one end of the support rod away from the mounting frame where the support rod is located; A rocker arm, one end of which is rotatably connected to a corresponding mounting frame, and a rotation plane thereof is parallel to the plane where the rail surface is located, and the other end of the rocker arm is movably connected to a support rod, and is located between the mounting frame where the rocker arm is located and a limiting member; A second elastic member, wherein the second elastic member is sleeved on the support rod and is located between the limiting member and the rocker arm; and The guide wheel is arranged in the middle of the rocker arm and is used to fit the side of the track.

6. A fire-fighting robot as claimed in claim 4 or 5, characterized in that: The floating guide assembly of the lower walking mechanism is arranged on the floating wheel frame.

7. A fire-fighting robot as claimed in claim 1, characterized in that: Also includes: The cover plate is used for covering and connecting the upper walking mechanism and the lower walking mechanism, and the fire extinguisher is arranged at the lower end of the cover plate.

8. A fire-fighting robot as claimed in claim 1, characterized in that: Also includes: The speed sensor is used to measure the travel distance of the fire-fighting robot for positioning.

9. A safety inspection system, characterized in that: include: The fire-fighting robot according to any one of claims 1 to 8; An inspection robot, wherein the inspection robot carries the fire-fighting robot and moves on a track; as well as The obstacle avoidance sensor is used to detect whether there are obstacles on the track to avoid movement collision. The obstacle avoidance sensor is connected to the inspection robot for communication.

10. A safety inspection system as claimed in claim 9, characterized in that: Also includes: A flame sensor, wherein the flame sensor is arranged on the inspection robot or the fire extinguishing robot, and the flame sensor is communicatively connected to the fire extinguisher; and / or A temperature sensor is provided on the inspection robot and is communicatively connected to the fire extinguisher.

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