Fire rescue robot

Abstract

The utility model discloses a fire rescue robot, belongs to the technical field of fire rescue, and aims to solve the problems that the robot cannot clean obstacles in front, so that the robot cannot pass through the obstacles to reach a fire extinguishing position, and the golden time of fire extinguishing rescue is influenced. A moving plate is arranged on one side in the robot body, a positioning block is fixed to the middle of the top face of the moving plate, a first rotating rod is rotationally connected to the inner side wall of the positioning block, and a first connecting block is fixed to one end of the first rotating rod; according to the impurity removing device, the impurity removing plate is inclined, the position of a second rotating rod can be movably limited through a positioner and an annular groove, the second rotating rod can rotate towards the left side through a first air cylinder, and therefore obstacles on the impurity removing plate can be moved to the left side; therefore, the obstacles in front can be effectively cleaned, and the obstacles are prevented from stopping the robot from advancing and affecting the golden time of fire extinguishing and rescue.

Description

Technical Field

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

[0002] When the existing fire rescue robot is in use, it cannot clear the obstacles in front of it, so that the robot cannot pass through the obstacles to reach the fire extinguishing position, thereby affecting the golden time for fire extinguishing and rescue.

[0003] Therefore, a fire rescue robot is needed to solve the problem in the prior art that the robot cannot clear the obstacles in front, so that the robot cannot pass through the obstacles to reach the fire extinguishing position, affecting the golden time for fire extinguishing and rescue. Utility Model Content

[0004] The purpose of the utility model is to provide a fire rescue robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a fire rescue robot, comprising a robot body, a movable plate is provided on one side inside the robot body, a positioning block is fixed to the middle of the top surface of the movable plate, an inner wall of the positioning block is rotatably connected to a first rotating rod, a first connecting block is fixed to one end of the first rotating rod, a second rotating rod is rotatably connected to the periphery of the first connecting block, a debris removing plate is fixed to one end of the second rotating rod, a connecting rod is fixed to one side of the top surface of the movable plate, a first cylinder is fixed to one end of the connecting rod, a second connecting block is fixed to the output end of the first cylinder, a positioner is rotatably connected to the periphery of the second connecting block, an annular groove is provided on the outer wall of the second rotating rod, the inner wall of the positioner is movably engaged with the annular groove, and a lifting assembly is provided on the top of one side inside the robot body.

[0006] It should be noted in the scheme that the lifting assembly includes a limiting ring, a gear ring is rotatably connected inside the limiting ring, symmetrically distributed threaded rods are rotatably connected between the top and bottom surfaces of one side of the inner wall of the robot body, a first gear is fixed at the non-threaded position on the top of the outer wall of the threaded rod, the first gear is meshed with the gear ring, and the movable plate is movably connected to the outer walls of the two threaded rods.

[0007] It is further worth mentioning that an obstacle detector is fixed to one side of the top surface of the robot body, a PLC controller is fixed to one side of the outer wall of the robot body, the obstacle detector is electrically connected to the PLC controller, and the robot body is electrically connected to the PLC controller.

[0008] It should be further explained that a water tank is fixed to the bottom surface of the inner wall of the robot body away from the movable plate, a high-pressure water pump is fixed to the top surface of the robot body near the middle, the input end of the high-pressure water pump passes through the top surface of the robot body and the top surface of the water tank, the output end of the high-pressure water pump is connected to a connecting pipe, a bracket is fixed to the middle of the top surface of the robot body, the inner side walls of the bracket are rotatably connected to a water pipe close to the top of one side, and one end of the connecting pipe is connected to the outer wall of the water pipe.

[0009] As a preferred embodiment, a limiter is fixed on the outer wall of the water spray pipe near one side of the robot body, a second cylinder is fixed on the top surface of the robot body near the middle position, a third connecting block is fixed at the output end of the second cylinder, the third connecting block is rotatably connected to the limiter, and the first cylinder and the second cylinder are electrically connected to the PLC controller respectively.

[0010] As a preferred embodiment, a second servo motor is fixed to one side of the top surface of the robot body, the output end of the second servo motor moves through the top surface of the robot body, a second gear is fixed to the output end of the second servo motor, the second gear is meshed with the gear ring, a first servo motor is fixed near the middle position of the top surface of the movable plate, the output end of the first servo motor is fixed to the other end of the first rotating rod, and the first servo motor and the second servo motor are electrically connected to the PLC controller respectively.

[0011] As a preferred embodiment, a first side opening is formed on the outer wall of the robot body opposite to the PLC controller, and the first rotating rod moves through the first side opening. A second side opening is formed near the edge of the outer wall of the robot body opposite to the PLC controller, and one end of the connecting rod moves through the second side opening.

[0012] As a preferred embodiment, an opening is provided on the other side of the top surface of the robot body, the opening passes through the top surface of the water tank, and a sealing plate is detachably connected to the opening.

[0013] Compared with the prior art, the fire rescue robot provided by the utility model has at least the following beneficial effects:

[0014] By means of the obstacle detector, when there is an obstacle on the road, the robot body can obtain the obstacle signal and transmit the signal to the PLC controller; by means of the toothed ring and the first gear, the threaded rod can be rotated, thereby facilitating the adjustment of the height of the movable plate; by means of the first servo motor, the first rotating rod and the second rotating rod can be rotated, thereby adjusting the inclination of the debris removal plate; by means of the positioner and the annular groove, the position of the second rotating rod can be movably limited; by means of the first cylinder, the second rotating rod can be rotated to the left, thereby enabling the obstacle on the debris removal plate to be moved to the left, thereby enabling the effective clearing of the obstacle in front, thus avoiding obstacles blocking the robot's progress and affecting the golden time for fire fighting and rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the cross-sectional structure of the second rotating rod of the utility model;

[0017] Figure 3 This is a schematic diagram of the cross-sectional structure of the robot body of the utility model;

[0018] Figure 4 This is a schematic diagram of the cross-sectional structure of the limiting ring of the utility model;

[0019] Figure 5 For this utility model Figure 1 A is a schematic diagram of the partially enlarged structure of the middle part;

[0020] Figure 6 This is a schematic diagram of the cross-sectional structure of the bracket of the utility model.

[0021] In the figure:

[0022] 100, robot body; 101, first side port; 102, first rotating rod; 103, second rotating rod; 104, debris removal plate; 105, first connecting block;

[0023] 200, first cylinder; 201, second connecting block; 202, positioner; 203, second side port; 204, annular groove; 205, connecting rod;

[0024] 300, limit ring; 301, gear ring;

[0025] 400, first gear; 401, threaded rod; 402, moving plate;

[0026] 500, a first servo motor; 501, a positioning block;

[0027] 600, water storage tank; 601, high pressure water pump; 602, connecting pipe; 603, water spray pipe; 604, bracket; 605, sealing plate; 606, opening;

[0028] 700, stopper; 701, third connecting block; 702, second cylinder;

[0029] 800, second gear; 801, second servo motor;

[0030] 900. Obstacle detector; 901. PLC controller. DETAILED DESCRIPTION

[0031] See also Figure 1-6 The utility model provides a fire rescue robot, including a robot body 100, a moving plate 402 is arranged on one side of the robot body 100, a positioning block 501 is fixed to the middle of the top surface of the moving plate 402, the inner wall of the positioning block 501 is rotatably connected to a first rotating rod 102, a first connecting block 105 is fixed to one end of the first rotating rod 102, the initial position of the first connecting block 105 is 45 degrees with the horizontal, the outer periphery of the first connecting block 105 is rotatably connected to a second rotating rod 103, the second rotating rod A de-dusting plate 104 is fixed to one end of 103, a connecting rod 205 is fixed to one side of the top surface of the movable plate 402, a first cylinder 200 is fixed to one end of the connecting rod 205, a second connecting block 201 is fixed to the output end of the first cylinder 200, a locator 202 is rotatably connected to the outer periphery of the second connecting block 201, an annular groove 204 is provided on the outer side wall of the second rotating rod 103, an inner side wall of the locator 202 is movably engaged with the annular groove 204, and a lifting component is arranged on the top of one side inside the robot body 100.

[0032] Further as Figure 3 As shown, the lifting assembly includes a limit ring 300, a toothed ring 301 is rotatably connected inside the limit ring 300, and symmetrically distributed threaded rods 401 are rotatably connected between the top and bottom surfaces of one side of the inner wall of the robot body 100. A first gear 400 is fixed at a non-threaded position on the top of the outer wall of the threaded rod 401, and the first gear 400 is meshed with the toothed ring 301. The movable plate 402 is movably connected to the outer walls of the two threaded rods 401.

[0033] By providing the toothed ring 301 , the first gear 400 and the threaded rod 401 , when the toothed ring 301 rotates, it can drive the two first gears 400 to rotate, thereby causing the movable plate 402 to move up or down, thereby facilitating adjustment of the position of the impurity removing plate 104 .

[0034] Further as Figure 3As shown, an obstacle detector 900 is fixed on one side of the top surface of the robot body 100, and a PLC controller 901 is fixed on one side of the outer wall of the robot body 100. The obstacle detector 900 is electrically connected to the PLC controller 901, and the robot body 100 is electrically connected to the PLC controller 901.

[0035] By setting up the obstacle detector 900, the robot body 100 can obtain a signal indicating the existence of an obstacle when encountering an obstacle during movement, thereby facilitating the transmission of the obstacle data to the PLC controller 901, so that the PLC controller 901 starts the control program to control the first servo motor 500, the second servo motor 801, and the first cylinder 200.

[0036] Further as Figure 3 As shown, a water tank 600 is fixed to the bottom surface of the inner wall of the robot body 100 away from the movable plate 402, a high-pressure water pump 601 is fixed to the top surface of the robot body 100 near the middle, the input end of the high-pressure water pump 601 passes through the top surface of the robot body 100 and the top surface of the water tank 600, the output end of the high-pressure water pump 601 is connected to a connecting pipe 602, a bracket 604 is fixed to the middle of the top surface of the robot body 100, the inner walls of the bracket 604 are rotatably connected to a water spray pipe 603 close to the top of one side, and one end of the connecting pipe 602 is connected to the outer wall of the water spray pipe 603.

[0037] By means of the high-pressure water pump 601, the water in the water tank 600 can be pumped into the water spray pipe 603, and then discharged from the water spray pipe 603 to the location where fire extinguishing is required.

[0038] Further as Figure 3 As shown, a limiter 700 is fixed to the outer wall of the water spray pipe 603 near one side of the robot body 100, a second cylinder 702 is fixed to the top surface of the robot body 100 near the middle position, a third connecting block 701 is fixed to the output end of the second cylinder 702, the third connecting block 701 is rotatably connected to the limiter 700, and the first cylinder 200 and the second cylinder 702 are electrically connected to the PLC controller 901 respectively.

[0039] By setting up the second cylinder 702, the angle of the water spray pipe 603 can be adjusted, so as to spray water on the fire extinguishing points at different positions.

[0040] The solution has the following working process: when clearing obstacles on the road, the robot body 100 is started. When the robot body 100 moves to the fire extinguishing position, when the obstacle detector 900 detects an obstacle in front, the obstacle detector 900 transmits a signal to the PLC controller 901, and the PLC controller 901 controls the second servo motor 801 to start, and the second servo motor 801 rotates to drive the second gear 800 to rotate, and the second gear 800 rotates to drive the gear ring 301 to rotate, and the gear ring 301 The rotation drives the first gear 400 to rotate, and the rotation of the first gear 400 drives the threaded rod 401 to rotate, and the rotation of the threaded rod 401 drives the moving plate 402 to move downward, so that the dust removal plate 104 is close to the ground, and the robot body 100 continues to move, pushing the obstacle onto the dust removal plate 104, and then the PLC controller 901 controls the second servo motor 801 to rotate in the opposite direction, so that the dust removal plate 104 moves up to a certain height, and then the PLC controller 901 controls the first servo motor 500 to rotate, so that the dust removal plate 104 moves from a horizontal position to a vertical position. The first connecting block 105 is in a horizontal position, and then the PLC controller 901 controls the first cylinder 200 to start. The output end of the first cylinder 200 moves to pull the positioner 202 to move, so that the second rotating rod 103 rotates horizontally to the left, and then the inclined debris removal plate 104 rotates horizontally to the left, pushing the obstacles on the debris removal plate 104 to the side. During the process of the robot body 100 clearing obstacles, the robot body 100 continues to move at the same time. Due to the effect of inertia, the obstacles will not be removed from the debris removal plate 104. After the robot body 100 falls off the plate 104 and the obstacles are cleared, the robot body 100 continues to move. When it reaches the fire extinguishing position, the PLC controller 901 controls the high-pressure water pump 601 to start. The high-pressure water pump 601 draws the water in the water tank 600 into the water spray pipe 603 and sprays it out, so as to extinguish the fire at the position where the fire needs to be extinguished. When the water spraying angle of the water spray pipe 603 needs to be adjusted, the PLC controller 901 controls the second cylinder 702 to start. The output end of the second cylinder 702 moves to drive the water spray pipe 603 to rotate, so as to adjust the water spraying angle.

[0041] According to the above working process, it can be known that: through the obstacle detector 900, when there is an obstacle on the road, the robot body 100 can obtain the obstacle signal and transmit the signal to the PLC controller 901; through the toothed ring 301 and the first gear 400, the threaded rod 401 can be rotated, so as to facilitate the adjustment of the height of the movable plate 402; through the first servo motor 500, the first rotating rod 102 and the second rotating rod 103 can be rotated, so that the debris removal plate 104 is tilted 45 degrees; through the positioner 202 and the annular groove 204, the position of the second rotating rod 103 can be movably limited; through the first cylinder 200, the second rotating rod 103 can be rotated to the left, so that the obstacle on the debris removal plate 104 can be moved to the left, so that the obstacle in front can be effectively cleared, avoiding the obstacle blocking the robot's progress and affecting the golden time for fire fighting and rescue.

[0042] Further as Figure 3 As shown, a second servo motor 801 is fixed to one side of the top surface of the robot body 100, and the output end of the second servo motor 801 moves through the top surface of the robot body 100, and a second gear 800 is fixed to the output end of the second servo motor 801, and the second gear 800 is engaged with the gear ring 301. A first servo motor 500 is fixed near the middle position of the top surface of the movable plate 402, and the output end of the first servo motor 500 is fixed to the other end of the first rotating rod 102, and the first servo motor 500 and the second servo motor 801 are electrically connected to the PLC controller 901 respectively.

[0043] The second servo motor 801 and the second gear 800 are provided to enable the toothed ring 301 to rotate, thereby driving the two threaded rods 401 to rotate synchronously, so that the height of the movable plate 402 can be adjusted.

[0044] Further as Figure 1 As shown, a first side opening 101 is opened on the outer wall of the robot body 100 opposite to the PLC controller 901, and the first rotating rod 102 moves through the first side opening 101. A second side opening 203 is opened near the edge of the outer wall of the robot body 100 opposite to the PLC controller 901, and one end of the connecting rod 205 moves through the second side opening 203.

[0045] By setting the first side opening 101, the first rotating rod 102 can pass through the robot body 100, thereby facilitating the adjustment of the height of the dust removing plate 104. By setting the second side opening 203, the connecting rod 205 can pass through the robot body 100, thereby facilitating the adjustment of the height of the dust removing plate 104.

[0046] Further as Figure 3 As shown, an opening 606 is provided on the other side of the top surface of the robot body 100 , and the opening 606 passes through the top surface of the water tank 600 . A sealing plate 605 is detachably connected to the opening 606 .

[0047] The opening 606 is provided to enable water filling operation into the water storage tank 600 .

[0048] In summary: when clearing obstacles on the road, the robot body 100 is started. When the robot body 100 moves to the fire extinguishing position, when the obstacle detector 900 detects an obstacle in front, the obstacle detector 900 transmits a signal to the PLC controller 901, and the PLC controller 901 controls the second servo motor 801 to start, and the second servo motor 801 rotates to drive the second gear 800 to rotate, and the second gear 800 rotates to drive the gear ring 301 to rotate, and the gear ring 301 rotates to drive the first gear The wheel 400 rotates, the first gear 400 rotates to drive the threaded rod 401 to rotate, and the threaded rod 401 rotates to drive the moving plate 402 to move down, so that the dust removal plate 104 is close to the ground, and the robot body 100 continues to move, pushing the obstacle onto the dust removal plate 104, and then the PLC controller 901 controls the second servo motor 801 to rotate in the opposite direction, so that the dust removal plate 104 moves up to a certain height, and then the PLC controller 901 controls the first servo motor 500 to rotate, so that the dust removal plate 104 changes from a horizontal position to an inclined position. 45 degrees, at this time the first connecting block 105 is in a horizontal position, then the PLC controller 901 controls the first cylinder 200 to start, the output end of the first cylinder 200 moves to pull the positioner 202 to move, so that the second rotating rod 103 rotates horizontally to the left, and then the inclined debris removal plate 104 rotates horizontally to the left, pushing the obstacles on the debris removal plate 104 to the side. During the process of the robot body 100 clearing obstacles, the robot body 100 continues to move at the same time. Due to inertia, the obstacles will not fall from the debris removal plate 104. 04 falls off, and after the obstacles are cleared, the robot body 100 continues to move. When it reaches the fire extinguishing position, the PLC controller 901 controls the high-pressure water pump 601 to start. The high-pressure water pump 601 draws the water in the water tank 600 into the water spray pipe 603 and sprays it out, so as to extinguish the fire at the position where the fire needs to be extinguished. When the water spraying angle of the water spray pipe 603 needs to be adjusted, the PLC controller 901 controls the second cylinder 702 to start, and the output end of the second cylinder 702 moves to drive the water spray pipe 603 to rotate, so as to adjust the water spraying angle.

[0049] The robot body 100, the first air cylinder 200, the first servo motor 500, the high-pressure water pump 601, the second air cylinder 702 and the second servo motor 801 can all be purchased on the market, which are mature technologies in this field and have been fully disclosed, so they are not repeated in the specification.

[0050] 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 fire rescue robot, comprising a robot body (100), characterized in that: A moving plate (402) is provided at one side inside the robot body (100); a positioning block (501) is fixed in the middle of the top surface of the moving plate (402); an inner wall of the positioning block (501) is rotatably connected to a first rotating rod (102); a first connecting block (105) is fixed at one end of the first rotating rod (102); a second rotating rod (103) is rotatably connected to the periphery of the first connecting block (105); a debris removal plate (104) is fixed at one end of the second rotating rod (103); and a first rotating rod (103) is fixed at the top of the moving plate (402). A connecting rod (205) is fixed on one side of the surface, a first cylinder (200) is fixed on one end of the connecting rod (205), a second connecting block (201) is fixed on the output end of the first cylinder (200), the second connecting block (201) is rotatably connected to a positioner (202) on the periphery, an annular groove (204) is provided on the outer side wall of the second rotating rod (103), an inner side wall of the positioner (202) is movably engaged with the annular groove (204), and a lifting component is provided on the top of one side inside the robot body (100).

2. A fire rescue robot according to claim 1, characterized in that: The lifting assembly comprises a limit ring (300), a toothed ring (301) is rotatably connected inside the limit ring (300), symmetrically distributed threaded rods (401) are rotatably connected between the top surface and the bottom surface of one side of the inner wall of the robot body (100), a first gear (400) is fixed at a non-threaded position on the top of the outer wall of the threaded rod (401), the first gear (400) is meshed with the toothed ring (301), and the movable plate (402) is movably connected to the outer walls of the two threaded rods (401).

3. A fire rescue robot according to claim 2, characterized in that: An obstacle detector (900) is fixed on one side of the top surface of the robot body (100), a PLC controller (901) is fixed on one side of the outer wall of the robot body (100), the obstacle detector (900) is electrically connected to the PLC controller (901), and the robot body (100) is electrically connected to the PLC controller (901).

4. A fire rescue robot according to claim 3, characterized in that: A water tank (600) is fixed to the bottom surface of the inner wall of the robot body (100) at a side away from the movable plate (402); a high-pressure water pump (601) is fixed near the middle of the top surface of the robot body (100); an input end of the high-pressure water pump (601) passes through the top surface of the robot body (100) and the top surface of the water tank (600); an output end of the high-pressure water pump (601) is connected to a connecting pipe (602); a bracket (604) is fixed to the middle of the top surface of the robot body (100); inner side walls of the bracket (604) are rotatably connected to a water spray pipe (603) near the top of one side; one end of the connecting pipe (602) is connected to the outer side wall of the water spray pipe (603).

5. A fire rescue robot according to claim 4, characterized in that: A limiter (700) is fixed on the outer wall of the water spray pipe (603) near one side of the robot body (100); a second cylinder (702) is fixed on the top surface of the robot body (100) near the middle position; a third connecting block (701) is fixed to the output end of the second cylinder (702); the third connecting block (701) is rotatably connected to the limiter (700); and the first cylinder (200) and the second cylinder (702) are electrically connected to the PLC controller (901) respectively.

6. A fire rescue robot according to claim 5, characterized in that: A second servo motor (801) is fixed to one side of the top surface of the robot body (100); an output end of the second servo motor (801) moves through the top surface of the robot body (100); a second gear (800) is fixed to the output end of the second servo motor (801); the second gear (800) is meshed with the toothed ring (301); a first servo motor (500) is fixed near the middle of the top surface of the movable plate (402); an output end of the first servo motor (500) is fixed to the other end of the first rotating rod (102); and the first servo motor (500) and the second servo motor (801) are electrically connected to the PLC controller (901) respectively.

7. A fire rescue robot according to claim 6, characterized in that: A first side opening (101) is provided on the side of the outer wall of the robot body (100) opposite to the PLC controller (901), and the first rotating rod (102) is movable through the first side opening (101). A second side opening (203) is provided near the edge of the side of the outer wall of the robot body (100) opposite to the PLC controller (901), and one end of the connecting rod (205) is movable through the second side opening (203).

8. The fire rescue robot according to claim 7, characterized in that: An opening (606) is provided on the other side of the top surface of the robot body (100), the opening (606) passing through the top surface of the water storage tank (600), and a sealing plate (605) is detachably connected to the inside of the opening (606).

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