Fire-fighting robot

Abstract

The utility model discloses a fire-fighting robot which comprises a robot shell, a machine frame is inserted into the bottom of the robot shell, movement structures are installed on the left side and the right side of the bottom of the machine frame, a control host is installed on the front side of the robot shell, a camera is embedded into the front side of the control host, and a feeding structure is installed on the top of the machine frame. The utility model relates to the technical field of fire fighting, according to the fire-fighting robot, spherical fire extinguishing bombs can be placed in a groove in an internal poking wheel and a feeding channel, and the spherical fire extinguishing bombs can be placed in the groove in the internal poking wheel and the feeding channel. The fire extinguishing bomb can be projected into a fire scene through the projection device, a firefighter can be assisted to project the fire extinguishing bomb during fire extinguishing, the firefighter can also enter some places where people cannot enter the fire extinguishing bomb conveniently to extinguish the fire, the safety of the firefighter is guaranteed, the fire extinguishing efficiency can be improved, and the property safety of people is guaranteed.

Description

Technical Field

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

[0002] "Firefighting" means eliminating hidden dangers and preventing disasters (i.e. the general term for preventing and resolving man-made, natural and accidental disasters encountered by people in the process of life, work and study). Of course, its narrow meaning in the early stage of people's understanding is: (extinguishing) fire.

[0003] With the popularization of artificial intelligence, many jobs have gradually become intelligent, changing from manual operations to machine operations. Firefighting is no exception. In order to ensure the safety of firefighters and facilitate their work, it is necessary to apply robots to the firefighting field. Therefore, a robot that assists firefighters in launching fire extinguishing bombs into the fire scene is indispensable. It can not only help firefighters enter inconvenient places to extinguish fires, but also assist in launching fire extinguishing bombs, which not only ensures the safety of firefighters, but also improves fire extinguishing efficiency and ensures people’s property safety. Therefore, this case is proposed based on the above principles. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a fire-fighting robot, which not only ensures the safety of firefighters, but also improves the fire-fighting efficiency and ensures the safety of people's property.

[0005] To achieve the above objectives, the utility model is implemented through the following technical solutions: a fire-fighting robot, comprising a robot shell, a frame is inserted into the bottom of the robot shell, motion structures are installed on the left and right sides of the bottom of the frame, a control host is installed on the front side of the robot shell, a camera is embedded on the front side of the control host, a feeding structure is installed on the top of the frame, a feeding robot arm is rotatably installed on the top of the robot shell, a projection structure is movably installed on the feeding robot arm, the feeding structure is connected to the feeding robot arm, and storage boxes are installed on the left and right sides of the robot shell.

[0006] Preferably, the motion structure includes a pair of Mecanum wheels, which are rotatably arranged on the lower side of the frame, and a first motor is installed on the shaft end of the Mecanum wheel, and the first motor is connected to the frame.

[0007] Preferably, the feeding structure includes a tray, which is placed on the frame, and a plurality of first pulleys are rotatably mounted on the tray, a dial is rotatably mounted on the tray and located in the robot shell, a plurality of grooves are evenly spaced on the inner ring surface of the dial, a roller is rotatably mounted at the end of the groove, a gear ring is mounted on the outer ring surface of the dial, a cover plate is provided on the dial, the cover plate is connected to the robot shell, the cover plate is in a circular shape and has a lug integrally formed on one side, a second motor is embedded in the lug, a first gear is mounted on the rotating end of the second motor, the first gear is meshed and connected to the gear ring, and a dial is mounted on the tray.

[0008] Preferably, the dial comprises a cylinder, which is placed on the tray and located at the center. A through opening is opened on one side of the cylinder, and an arc-shaped baffle is installed at the through opening so that the cross-section of the dial in a top view is spiral. A top plate is installed on the top of the baffle, and a roller is rotatably installed on the front end of the top plate, and a plurality of rollers are also rotatably installed on the top plate. A plurality of second pulleys are evenly distributed and equidistantly installed on the inner wall surface of the baffle, and the second pulley is arranged in a spiral upward shape. A lifting ramp is installed in the cylinder, and a plurality of third pulleys are rotatably installed in the lifting ramp.

[0009] Preferably, the feeding robot arm includes a feeding barrel, which is rotatably mounted on the robot shell, a third motor is inserted on the robot shell, a chain or belt is installed between the rotating end of the third motor and the feeding barrel, the feeding barrel is connected to the cylinder, a pair of connecting plates are installed on the left and right sides of the upper port of the feeding barrel, and a plurality of fourth pulleys are rotatably installed between the pair of connecting plates and on the front and rear sides to form a feeding channel.

[0010] Preferably, the projection structure includes a spray barrel, which is movably mounted on the feeding robot arm, a fourth motor is mounted on the side wall surface of the spray barrel, a second gear is mounted on the rotating end surface of the fourth motor, a third gear is mounted on the feeding robot arm, the second gear is meshed and connected with the third gear, three friction wheels are evenly embedded on the outer side of the spray barrel, and the feed end of the spray barrel is connected to the feeding channel. Beneficial Effects

[0011] The utility model provides a firefighting robot. It has the following beneficial effects: the firefighting robot can place spherical fire-extinguishing bombs in the grooves on the internal dial wheel and the feeding channel, and can project the fire-extinguishing bombs into the fire scene through the projection device, which can assist firefighters in projecting fire-extinguishing bombs and provide assistance when extinguishing the fire, and can also enter some places that are inconvenient for manual entry to extinguish the fire, which not only ensures the safety of firefighters, but also improves the efficiency of fire extinguishing and ensures the safety of people's property. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the utility model.

[0013] Figure 2 It is a schematic diagram of the cross-sectional structure of the utility model.

[0014] Figure 3 It is a right side cross-sectional structural schematic diagram of the utility model.

[0015] Figure 4 It is a rear cross-sectional structural schematic diagram of the utility model.

[0016] Figure 5 It is a schematic diagram of the feeding structure of the utility model.

[0017] Figure 6 It is a top view schematic diagram of the feeding structure of the utility model.

[0018] Figure 7 It is a partial schematic diagram of the feeding structure of the utility model.

[0019] Figure 8 It is a partial schematic diagram of a top view of a feeding structure of the utility model.

[0020] Fig. 9 It is a schematic diagram of the feeding structure principle of the utility model.

[0021] Fig.10 It is a schematic diagram of the projection local structure of the utility model.

[0022] Fig.11 It is a partial cross-sectional schematic diagram of the projection structure of the utility model.

[0023] Fig.12 It is a schematic diagram of the projection structure of the utility model.

[0024] In the figure: 1. robot shell; 2. frame; 3. control host; 4. storage box; 5. Mecanum wheel; 6. first motor; 7. tray; 8. dial wheel; 9. gear ring; 10. second motor; 11. cover plate; 12. first gear; 13. cylinder; 14. baffle; 15. second pulley; 16. third pulley; 17. third motor; 18. feed barrel; 19. connecting plate; 20. fourth pulley; 21. spray barrel; 22. fourth motor; 23. second gear; 24. third gear; 25. friction wheel. DETAILED DESCRIPTION

[0025] 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.

[0026] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and a suitable controller should be selected according to the actual situation to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and does not explain the electrical control.

[0027] See also Figure 1-3 The utility model provides a technical solution: a fire-fighting robot, comprising a robot shell 1, a frame 2 is inserted at the bottom of the robot shell 1, motion structures are installed on the left and right sides of the bottom of the frame 2, a control host 3 is installed on the front side of the robot shell 1, a camera is embedded on the front side of the control host 3, a feeding structure is installed on the top of the frame 2, a feeding mechanical arm is rotatably installed on the top of the robot shell 1, a projection structure is movably installed on the feeding mechanical arm, the feeding structure is connected to the feeding mechanical arm, and storage boxes 4 are installed on the left and right sides of the robot shell 1.

[0028] Embodiment 1: The motion structure includes a pair of Mecanum wheels 5, which are rotatably disposed on the lower side of the frame 2, and a first motor 6 is installed on the shaft end of the Mecanum wheel 5, and the first motor 6 is connected to the frame 2.

[0029] Embodiment 2: The feeding structure includes a tray 7, which is placed on the frame 2, and a plurality of first pulleys are rotatably mounted on the tray 7, and a thumbwheel 8 is rotatably mounted on the tray 7 and located in the robot housing 1, and a plurality of grooves are evenly spaced on the inner ring surface of the thumbwheel 8, and a roller is rotatably mounted at the end of the groove, and a gear ring 9 is mounted on the outer ring surface of the thumbwheel 8, and a cover plate 11 is provided on the thumbwheel 8, and the cover plate 11 is connected to the robot housing 1, and the cover plate 11 is annular and has a lug integrally formed on one side, and a second motor 10 is embedded on the lug, and a first gear 12 is mounted on the rotating end of the second motor 10, and the first gear 12 is meshed and connected with the gear ring 9, and a dial is installed on the tray 7;

[0030] Specifically, Figure 7 ,8 As shown in Figures 9 and 9, the center feed is the same as the ordinary tangential feed, and is divided into two parts: the dial wheel 8.

[0031] The structure of the thumbwheel 8 is relatively simple, with only the thumbwheel teeth inside, the transmission method is through the outer ring gear, and the limiting method is the T-slot bearing.

[0032] The dial part is the key point, with two ends, the spiral path and the lifting path. The spiral path is the main structure to push the projectile to the center position, and the lifting path is the structure to send the projectile upward into the gimbal. Pay special attention to the position of the lifting path and the angle of the spiral path, which require a lot of modification and testing.

[0033] The dial includes a cylinder 13, which is placed on the tray 7 and located at the center. A through opening is opened on one side of the cylinder 13, and an arc-shaped baffle 14 is installed at the through opening so that the cross-section of the dial in a top view is spiral. A top plate is installed on the top of the baffle 14, and a roller is rotatably installed at the front end of the top plate, and a number of rollers are also rotatably installed on the top plate. A number of second pulleys 15 are evenly distributed and equidistantly installed on the inner wall of the baffle 14, and the second pulley 15 is arranged in a spiral upward shape. A lifting ramp is installed in the cylinder 13, and a number of third pulleys 16 are rotatably installed in the lifting ramp.

[0034] Embodiment 3: The feeding robot arm includes a feeding barrel 18, and the feeding barrel 18 is rotatably mounted on the robot housing 1. A third motor 17 is inserted on the robot housing 1. A chain or belt is installed between the rotating end of the third motor 17 and the feeding barrel 18. The feeding barrel 18 is connected to the cylinder 13. A pair of connecting plates 19 are installed on the left and right sides of the upper port of the feeding barrel 18. A plurality of fourth pulleys 20 are rotatably installed between the pair of connecting plates 19 and on the front and rear sides to form a feeding channel;

[0035] Specifically, the fourth pulley 20 is a one-way wheel.

[0036] Embodiment 4: The projection structure includes a spray barrel 21, which is movably arranged on the feeding mechanical arm, a fourth motor 22 is installed on the side wall surface of the spray barrel 21, a second gear 23 is installed on the rotating end surface of the fourth motor 22, a third gear 24 is arranged on the feeding mechanical arm, the second gear 23 is meshed and connected with the third gear 24, three friction wheels 25 are evenly embedded on the outer side of the spray barrel 21, and the feeding end of the spray barrel 21 is connected with the feeding channel;

[0037] Specifically, the launcher can be directly connected to the dial, that is, the spray barrel is directly connected to the feed barrel, and the intermediate connecting plate is omitted.

[0038] Specifically, Fig.10 The projection structure shown uses a printed part as the main body, which is composed of two layers, the lower layer is equipped with a limit bar, and the upper layer is equipped with a "small ear" paddle, so that each projectile contacts the friction wheel 25 at the same angle and speed when it contacts the friction wheel 25, thereby increasing the accuracy of the launcher;

[0039] Specifically, Fig.11 , 12 As shown, the carrier plate of the friction wheel 25 motor is fixed by two machined parts. The first generation used printed parts to process the firing system bullet path. After long-term testing, it was found that the printed parts were easily worn. Later attempts were made to use metal as the firing muzzle, which not only reduced the mechanical assembly error but also increased the strength of the firing mechanism;

[0040] The traditional double friction wheel 25 launcher needs to limit the projectile before it contacts the friction wheel 25, so that the projectile contacts the friction wheel 25 at the same position each time, so as to improve the accuracy of the shot. The three friction wheels 25 are 120 degrees apart, and the projectile is squeezed from three directions at the same time, reducing the error caused by the preset. Through experiments, when hitting a 100mm*100mm target, the double friction wheel 25 can achieve 100% accuracy at a distance of about six meters, while the three friction wheels 25 can be used to extend this distance to thirteen meters;

[0041] The camera on the right side of the muzzle can feed the image back to the TX2 (small computer) at the rear for calculation, and then feed back the required hitting position to the robot for hitting.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A firefighting robot, comprising a robot housing (1), characterized in that: A frame (2) is inserted at the bottom of the robot housing (1), and a motion structure is installed on both the left and right sides of the bottom of the frame (2). A control host (3) is installed on the front side of the robot housing (1), and a camera is embedded on the front side of the control host (3). A loading structure is installed on the top of the frame (2). A loading mechanical arm is rotatably installed on the top of the robot housing (1), and a projection structure is movably installed on the loading mechanical arm. The loading structure is connected to the loading mechanical arm. Storage boxes (4) are installed on both the left and right sides of the robot housing (1). The loading structure includes a tray (7), and the tray (7) is placed on the frame (2). A plurality of first slides are rotatably installed on the tray (7). A wheel (8) is rotatably mounted on the tray (7) and located in the robot housing (1), a plurality of grooves are evenly spaced on the inner ring surface of the wheel (8), a roller is rotatably mounted at the end of the groove, a gear ring (9) is mounted on the outer ring surface of the wheel (8), a cover plate (11) is provided on the wheel (8), the cover plate (11) is connected to the robot housing (1), the cover plate (11) is annular and has a lug integrally formed on one side, a second motor (10) is embedded in the lug, a first gear (12) is mounted on the rotating end of the second motor (10), the first gear (12) is meshed with the gear ring (9), and a dial is mounted on the tray (7).

2. A firefighting robot according to claim 1, characterized in that The motion structure comprises a pair of Mecanum wheels (5), the pair of Mecanum wheels (5) are rotatably arranged on the lower side of the frame (2), a first motor (6) is installed at the shaft end of the Mecanum wheel (5), and the first motor (6) is connected to the frame (2).

3. A firefighting robot according to claim 1, characterized in that The dial comprises a cylinder (13), the cylinder (13) is placed on the tray (7) and is located at the center, a through opening is opened on one side of the cylinder (13), a circular arc-shaped baffle (14) is installed at the through opening so that the cross-section of the top view of the dial is spiral-shaped, a top plate is installed on the top of the baffle (14), a roller is rotatably installed at the front end of the top plate, and a plurality of rollers are also rotatably installed on the top plate, a plurality of second pulleys (15) are evenly distributed and equidistantly installed on the inner wall surface of the baffle (14), and the second pulley (15) is arranged in a spiral upward shape, a lifting ramp is installed in the cylinder (13), and a plurality of third pulleys (16) are rotatably installed in the lifting ramp.

4. A firefighting robot according to claim 3, characterized in that The feeding robot arm comprises a feeding barrel (18), the feeding barrel (18) is rotatably mounted on the robot housing (1), a third motor (17) is inserted on the robot housing (1), a chain or a belt is installed between the rotating end of the third motor (17) and the feeding barrel (18), the feeding barrel (18) is connected to the cylinder (13), a pair of connecting plates (19) are installed on the left and right sides of the upper port of the feeding barrel (18), and a plurality of fourth pulleys (20) are rotatably mounted between the pair of connecting plates (19) and on the front and rear sides to form a feeding channel.

5. A firefighting robot according to claim 4, characterized in that The projection structure comprises a spray barrel (21), the spray barrel (21) is movably mounted on the feeding mechanical arm, a fourth motor (22) is mounted on the side wall surface of the spray barrel (21), a second gear (23) is mounted on the rotating end surface of the fourth motor (22), a third gear (24) is mounted on the feeding mechanical arm, the second gear (23) is meshed and connected with the third gear (24), three friction wheels (25) are evenly embedded on the outer side of the spray barrel (21), and the feeding end of the spray barrel (21) is connected to the feeding channel.

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