Tunnel fire-fighting robot

Abstract

The utility model discloses a tunnel fire-fighting robot, which relates to the technical field of robots and is mounted on a track at the top of a tunnel, the track extends inwards in the front-back direction along the tunnel, and the tunnel fire-fighting robot comprises a machine body capable of moving back and forth and mounted on the track, and a walking device, a braking device, a fire-fighting device and a central processing unit which are mounted on the machine body; the walking device controls the machine body to move back and forth along the track; the brake device brakes the machine body; the fire-fighting device extinguishes fire; the central processor is in signal connection with the walking device, the braking device and the fire-fighting device. When a fire occurs, the central processing unit controls the walking device to move inwards along the track at the top of the tunnel and rapidly reach the fire site, fire extinguishing is carried out through the fire fighting device, it is guaranteed that the fire can reach the site at the first time when the fire occurs, fire extinguishing is carried out, fire spreading is avoided, and therefore the fire extinguishing rescue difficulty is lowered, and the rescue efficiency is improved; and meanwhile, firemen do not need to go deep into the tunnel, so that the personal safety of the firemen is guaranteed.

Description

Technical Field

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

[0002] When a fire breaks out in a highway tunnel, the rapid air circulation inside it creates a large amount of smoke and rapidly increases the ambient temperature. Therefore, a tunnel fire places extremely high demands on both time and efficiency. However, due to the semi-enclosed nature of tunnels and their narrow and complex interiors, large rescue equipment such as fire trucks struggle to reach the scene quickly. The intense heat and smoke also threaten the safety of firefighters, significantly increasing the difficulty and efficiency of firefighting and rescue efforts. Utility Model Content

[0003] The purpose of the utility model is to provide a tunnel fire-fighting robot that can arrive at the scene of a fire as soon as possible and participate in firefighting and rescue, thereby reducing the difficulty of firefighting and rescue, improving rescue efficiency, and ensuring the personal safety of firefighters.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a tunnel fire-fighting robot, which is installed on a track at the top of the tunnel, and the track extends inward and backward along the tunnel. The robot includes a body that can move forward and backward and is installed on the track, and a walking device, a braking device, a fire-fighting device and a central processing unit installed on the body; the walking device controls the movement of the body forward and backward along the track; the braking device brakes the body; the fire-fighting device extinguishes the fire; and the central processing unit signals connect the walking device, the braking device and the fire-fighting device.

[0005] After adopting the above structure, when a fire occurs, the central processing unit controls the walking device to move inward along the track at the top of the tunnel and quickly reach the fire location. Then the braking device performs emergency braking on the body to ensure the position accuracy of the body. Then the fire is extinguished through the fire-fighting device, ensuring that the fire is reached at the first time and extinguished, avoiding the spread of the fire, thereby reducing the difficulty of fire fighting and rescue, and improving the rescue efficiency. At the same time, there is no need for firefighters to go deep into the tunnel, thereby ensuring the personal safety of firefighters.

[0006] In order to reduce the friction of the machine body moving on the track and ensure its movement stability, the track is an I-beam track; a group of roller assemblies are respectively installed at the front and rear ends of the machine body; the roller assembly includes a support hanger fixed on the machine body, a support wheel and a guide wheel rotatably installed on the support hanger; the support hanger is provided with a card slot, the card slot includes a sliding cavity and a through groove opened above the sliding cavity and connecting the sliding cavity with the outside world; the left and right widths of the sliding cavity are greater than the left and right widths of the horizontal plate of the I-beam track, and the left and right widths of the through groove are greater than the left and right widths of the vertical plate of the I-beam track and smaller than the left and right widths of the horizontal plate of the I-beam track; the support wheel is installed at the top of the sliding cavity and is located on both sides of the through groove; the bottom wheel surface of the support wheel rests on the horizontal plate below the I-beam track; there are two guide wheels, which are respectively installed on both sides of the top of the through groove, and their wheel surfaces are arranged oppositely and rest on the vertical plates on the corresponding sides.

[0007] In order to reduce the force on each supporting wheel and ensure the balance of the machine body, two supporting wheels are installed on each supporting hanger, and the two supporting wheels are symmetrically installed on both sides of the through slot.

[0008] In order to facilitate the change of direction, the supporting wheels are universal wheels.

[0009] In order to reduce the difficulty of installation and ensure the stable operation of the machine body, the walking device includes a power wheel that is rotatably installed on the machine body and symmetrically arranged on the left and right, and a walking drive device that is transmission-connected to the power wheel; the wheel surfaces of the two power wheels respectively rest on the vertical plate and roll along the front and rear extension direction of the vertical plate, and the two power wheels turn in opposite directions.

[0010] In order to ensure that the two power wheels always rest against both sides of the vertical plate and ensure stable driving force, the two power wheels are respectively installed on independent mounting frames; one end of the mounting frame is hinged to the frame, and the other end fixes the two together through a compression spring.

[0011] In order to ensure braking stability, the braking device includes brake discs arranged opposite to each other on the left and right sides and a brake drive device that drives the two brake discs to move relative to each other and clamp the two sides of the track.

[0012] In order to achieve the synchronization of the two brake discs, a left clamping arm and a right clamping arm are installed on the machine body for relative sliding movement, and the brake disc is installed on the left clamping arm or the right clamping arm accordingly; the brake drive device includes a screw rotatably installed on the machine body and a brake motor fixed on the machine body and connected to the screw transmission; a positive thread segment and a negative thread segment are provided on the screw, and the positive thread segment and the negative thread segment are respectively screwed with screw nuts, one screw nut is fixed on the left clamping arm, and the other screw nut is fixed on the right clamping arm.

[0013] In order to achieve rapid fire extinguishing, the fire-fighting device includes a nozzle installed on the body and spraying downwards and fire-fighting equipment connected to the nozzle. The nozzle is connected to the fire-fighting equipment through a nozzle. A valve is provided on the nozzle, and the valve signal is connected to the central processor.

[0014] In order to increase the spray coverage area, the fire-fighting device also includes a mechanical arm rotatably installed at the bottom of the body and a rotating motor connected to the mechanical arm. The nozzle is fixed on the end of the mechanical arm away from the rotating axis, and the nozzle connected to the fire-fighting equipment is a hose.

[0015] After adopting the above technical solution, the beneficial effects of the utility model are:

[0016] The utility model discloses a tunnel fire-fighting robot that solves the technical problems in the prior art of great rescue difficulty and low rescue efficiency when a tunnel fire occurs, and at the same time threatens the personal health of firefighters. The utility model can arrive at the scene of a fire as soon as possible and participate in fire fighting and rescue, thereby reducing the difficulty of fire fighting and rescue, improving rescue efficiency, and ensuring the personal safety of firefighters. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a tunnel fire-fighting robot of the present invention;

[0018] Figure 2 yes Figure 1 Front view of

[0019] Figure 3 yes Figure 2 Side view of;

[0020] Figure 4 It is a structural diagram of the walking device;

[0021] Figure 5 yes Figure 2 rear view.

[0022] In the figure, 1. body, 2. walking device, 21. power wheel, 211. axle, 212. first bevel gear, 213. second bevel gear, 22. walking drive device, 23. mounting frame, 24. compression spring, 3. braking device, 31. brake disc, 32. braking drive device; 321. screw, 322. brake motor, 33. left clamping arm, 34. right clamping arm, 4. fire-fighting device, 41. fire-fighting equipment, 42. mechanical arm, 421. rotating shaft, 43. rotating motor, 5. roller assembly, 51. support hanger, 511. slot, 52. support wheel, 53. guide wheel, 6. I-beam track, 61. horizontal plate, 62. vertical plate. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] The orientations mentioned in this specification are based on the orientations of an AA of the present invention during normal operation, and do not limit the orientations during storage and transportation. They only represent relative positional relationships, not absolute positional relationships.

[0025] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, a tunnel firefighting robot is mounted on a track pre-installed at the tunnel ceiling and extending forward and backward along the tunnel. The robot comprises a body 1 mounted on the track for forward and backward movement, a running gear 2, a braking device 3, a firefighting device 4, and a central processing unit (CPU) mounted on the body 1. The running gear 2 controls the forward and backward movement of the body 1 along the track; the braking device 3 brakes the body 1; and the firefighting device 4 extinguishes fires. The CPU provides signal connections between the running gear 2, the braking device 3, and the firefighting device 4.

[0026] The machine body 1 can be movably mounted on the track. A slider can be mounted on the track, and the slider is fixed on the machine body 1 so that the machine body 1 can be slidably mounted on the track.

[0027] In order to reduce the friction of the body 1 moving forward and backward, the sliding friction between the body 1 and the track is changed to rolling friction in this embodiment. The specific installation method is: the track is an I-beam track 6 ( Figure 2 The middle dotted line is the installation position of the track), which includes two horizontal plates 61 and a vertical plate 62 connecting the two horizontal plates 61; the horizontal plate 61 above it is fixed on the top of the tunnel, and the horizontal plate 61 below it is used to hoist the tunnel fire-fighting robot.

[0028] A set of roller assemblies 5 are mounted at the front and rear ends of the machine body 1. These assemblies 5 include a support mount 51 fixed to the machine body 1, a support wheel 52 rotatably mounted on the support mount 51, and a guide wheel 53. The support mount 51 is provided with a slot 511, which comprises a sliding cavity and a through slot extending above the sliding cavity and connecting the sliding cavity to the outside world. The left-right width of the sliding cavity is greater than the left-right width of the horizontal plate 61, while the left-right width of the through slot is greater than the left-right width of the vertical plate 62 and less than the left-right width of the horizontal plate 61. The support wheel 52 is mounted at the top of the sliding cavity and located on both sides of the through slot. The bottom wheel surface of the support wheel 52 rests against the horizontal plate 61 below the I-beam track 6.

[0029] In this embodiment, preferably, two support wheels 52 are mounted on each support mount 51, symmetrically mounted on either side of the through slot. The support wheels 52 bear the weight of the robot as it moves forward. Because the roller assembly 5 is provided with two groups, front and rear, there are four support wheels 52 in total. These four support wheels 52 can evenly distribute the robot's overall weight across four bearing points, effectively reducing the pressure and load on each individual wheel. Two guide wheels 53 are provided, mounted on either side of the top of the through slot, with their wheel surfaces facing each other and resting against the vertical plates 62 on the corresponding sides. The guide wheels 53 guide the robot as it moves forward, ensuring that the robot can travel along a predetermined trajectory and operating safely and stably.

[0030] The I-beam track 6 is inserted into the slot 511. Under the action of gravity, the machine body 1 is hoisted on the horizontal plate 61 below the I-beam track 6. The support wheel 52 is supported on the upper surface of the horizontal plate 61, limiting the vertical position of the machine body 1. The two guide wheels 53 are arranged opposite each other and abut against the vertical plate 62, limiting the horizontal position of the machine body 1. The provision of the support wheels 52 and guide wheels 53 enables the machine body 1 to be rolled on the I-beam track 6, thereby reducing friction. The support wheels 52 are preferably universal wheels, which ensure smooth turning when the I-beam track 6 is generated.

[0031] The walking device 2 can drive the body 1 forward along the I-beam track 6 by dragging. However, the dragging method requires laying chains or wire ropes in advance. The length and curvature of tunnels vary, making it difficult to ensure the operational stability of the body 1 during dragging. Therefore, in order to ensure the operational stability of the tunnel firefighting robot, the walking device 2 in this embodiment includes power wheels 21 rotatably mounted on the body 1 and symmetrically arranged on the left and right, and a walking drive device 22 connected to the power wheels 21. Mounting frames 23 are arranged on the left and right of the body 1, and each mounting frame 23 is mounted with a power wheel 21. The wheel surfaces of the two power wheels 21 respectively abut against the vertical plate 62 and roll along the front and rear extension direction of the vertical plate 62. The two power wheels 21 rotate in opposite directions.

[0032] In this embodiment, the travel drive device 22 uses a motor. Based on the power wheel radius and the desired linear velocity, the theoretical rotational speed required for the power wheel axle can be calculated. As one of the important factors in selecting the motor, this embodiment preferably uses a MISUMI HSTM57-1.8-S-115 stepper motor. In actual applications, other motors with similar performance can also be used, and this embodiment does not limit this. The motor drives the power wheel 21 to rotate, allowing the machine body 1 to move forward along the I-beam track 6.

[0033] To reduce interdependence between the two power wheels 21 and prevent transmission failure, the two power wheels 21 are driven by independent travel drives 22. The travel drives 22 and the power wheels 21 are connected as follows: the axle 211 of the power wheel 21 is rotatably mounted on the machine body 1, with a first bevel gear 212 fixed to the axle 211. A second bevel gear 213, which meshes with the first bevel gear 212, is fixed to the output shaft of the travel drive 22. When the motor is energized, the power output is transmitted to the connected first bevel gear 212, which then drives the second bevel gear 213 to rotate, thereby driving the power wheels 21, thereby enabling the forward and backward movement of the machine body 1.

[0034] The power wheels 21 are fixed to the axle 211 via locking washers, which prevent the fasteners from loosening due to vibration or friction. During the robot's movement, the two power wheels 21 always maintain the same movement speed, and the axle 211 always maintains a stable driving torque during the movement.

[0035] In another embodiment, because the I-beam track 6 inside the tunnel has a certain degree of curvature, there is a certain distance difference between the inner and outer rings of the I-beam track 6 at the inflection point. If the speeds of the two power wheels 21 remain consistent, this distance difference will cause a certain degree of tilt between the two power wheels 21. When the tilt reaches a certain degree, the two power wheels 21 will slip, forcing wear on the power wheels 21. At the same time, if the surface of the I-beam track 6 is contaminated or external factors cause the machine body 1 to bump during its movement, the power wheels 21 will not be able to rest on the risers 62, causing the machine body 1 to be unable to move forward. To address this problem, the two power wheels 21 and their independent travel drive devices 22 are each mounted on a separate mounting frame 23. One end of the mounting frame 23 is hinged to the machine body 1, and the other end is fixedly connected by a compression spring 24. The compression spring 24 always presses the two power wheels 21 against the risers 62, ensuring the stable operation of the machine body 1. The compression spring 24 plays the role of shock absorption, energy storage and support.

[0036] The brake device 3 includes brake discs 31 arranged opposite each other on the left and right sides, and a brake drive 32 that drives the two brake discs 31 to move relative to each other and clamp the two sides of the track. The brake drive 32 can be an electric cylinder or an electric push rod. In this embodiment, a left clamping arm 33 and a right clamping arm 34 are mounted on the body 1 for relative sliding. The left and right clamping arms 33 and 34 have the same structure and are arranged symmetrically on both sides. A slideway is provided on the body 1 to connect the left and right clamping arms 33 and 34. The slideway is provided with two sliders, one slider fixed to the bottom of the left clamping arm 33 and the other slider fixed to the bottom of the right clamping arm 34. The brake disc 31 is mounted on the left clamping arm 33 or the right clamping arm 34 respectively.

[0037] The brake drive device 32 includes a leadscrew 321 rotatably mounted on the body 1 and a brake motor 322 fixed to the body 1 and transmission-connected to the leadscrew 321. The leadscrew 321 is provided with a positive thread segment and a negative thread segment, each of which is threadedly coupled to a leadscrew nut. One leadscrew nut is fixed to the left clamping arm 33, and the other is fixed to the right clamping arm. The rotation of the brake motor 322 drives the two leadscrew nuts toward or away from each other, thereby moving the left and right clamping arms 33 and 34 toward or away from each other, and thus moving the two brake discs 31 closer or farther away. The I-beam rail 6 is located between the two brake discs 31. The approach or separation of the two brake discs tightens or loosens the I-beam rail 6. When the I-beam rail 6 is loosened, the robot can move freely. When braking is required, the I-beam rail 6 is tightened, achieving a braking effect through frictional resistance.

[0038] The firefighting device 4 comprises a downwardly spraying nozzle mounted on the housing 1 and firefighting equipment 41 connected to the nozzle. In this embodiment, firefighting equipment 41 is a carbon dioxide fire extinguisher; however, dry powder fire extinguishers or other fire extinguishers may also be used. A valve is provided on the nozzle, and the valve signal is connected to the central processing unit. When the valve is opened, firefighting equipment 41 is activated. Furthermore, a temperature sensor, a smoke sensor, and a thermoforming device are also installed on the housing 1 to accurately detect the fire source, allowing the valve to open and extinguish the fire.

[0039] In another embodiment, in order to increase the spray coverage area, the fire-fighting device 4 also includes a mechanical arm 42 rotatably mounted on the bottom of the body 1 and a rotating motor 43 that is transmission-connected to the mechanical arm 42. The rotating motor 43 is mounted on the body 1 via four hexagonal nuts. The transmission method between the rotating motor 43 and the mechanical arm 42 is as follows: a rotating shaft 421 is rotatably mounted on the body 1, a third bevel gear is fixed on the rotating shaft 421, and a fourth bevel gear that meshes with the third bevel gear is fixed on the output shaft of the rotating motor 43. The mechanical arm 42 is fixed to the bottom of the rotating shaft 421, and the rotation of the rotating shaft 421 drives the mechanical arm 42 to rotate. The nozzle is fixed to one end of the mechanical arm 42 away from the rotating shaft 421, and the nozzle connected to the fire-fighting equipment 41 is a hose. When the mechanical arm 42 rotates, the nozzle has sufficient deformation to ensure that it will not be entangled or interfered with.

[0040] During the firefighting process, when the rotary motor 43 is energized, its rotation drives the robotic arm 42, which in turn drives the nozzle, enabling the nozzle to perform a circular sweeping motion around the rotation axis 421, covering a circular area. Simultaneously, the robot's forward and backward movement produces displacement in the horizontal plane, which, combined with the rotational motion, ultimately traces a spiral coverage path across the road surface. Furthermore, the rotary motor 43 enables the entire robotic arm 42 to rotate infinitely, further enhancing operational flexibility.

[0041] The utility model discloses a tunnel fire-fighting robot that solves the technical problems in the prior art of great rescue difficulty and low rescue efficiency when a tunnel fire occurs, and at the same time threatens the personal health of firefighters. The utility model can arrive at the scene of a fire as soon as possible and participate in fire fighting and rescue, thereby reducing the difficulty of fire fighting and rescue, improving rescue efficiency, and ensuring the personal safety of firefighters.

[0042] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A tunnel firefighting robot, mounted on a track at the top of a tunnel, wherein the track extends forward and backward along the tunnel, characterized in that: It includes a machine body that can be moved forward and backward and installed on the track, and a running device, a braking device, a fire-fighting device and a central processing unit installed on the machine body; The walking device controls the machine body to move forward and backward along the track; The braking device brakes the machine body; The fire-fighting device extinguishes the fire; The central processing unit is connected to the walking device, the braking device and the fire-fighting device by signals.

2. A tunnel firefighting robot according to claim 1, characterized in that: The track is an I-beam track; a set of roller assemblies are respectively installed at the front and rear ends of the body; the roller assembly includes a support hanger fixed on the body, a support wheel rotatably installed on the support hanger, and a guide wheel; The support hanger is provided with a card slot, which includes a sliding cavity and a through slot opened above the sliding cavity and connecting the sliding cavity with the outside world; the left and right widths of the sliding cavity are greater than the left and right widths of the horizontal plate of the I-beam track, and the left and right widths of the through slot are greater than the left and right widths of the vertical plate of the I-beam track and smaller than the left and right widths of the horizontal plate of the I-beam track; The support wheels are mounted on the top of the sliding cavity and located on both sides of the through slot; the bottom wheel surface of the support wheels abuts against the horizontal plate below the I-beam track; There are two guide wheels, which are respectively installed on both sides of the top of the through slot, and the wheel surfaces are arranged opposite to each other and abut against the vertical plates on the corresponding sides.

3. A tunnel firefighting robot according to claim 2, characterized in that: Two support wheels are installed on each support hanger, and the two support wheels are symmetrically installed on both sides of the through slot.

4. The tunnel firefighting robot according to claim 2, characterized in that: The supporting wheel is a universal wheel.

5. The tunnel firefighting robot according to claim 4, characterized in that: The walking device includes a power wheel rotatably mounted on the machine body and symmetrically arranged on the left and right, and a walking drive device connected to the power wheel; the wheel surfaces of the two power wheels respectively rest on the vertical plate and roll along the front and rear extension direction of the vertical plate, and the two power wheels turn in opposite directions.

6. The tunnel firefighting robot according to claim 5, characterized in that: The two power wheels are respectively mounted on independent mounting frames; one end of the mounting frame is hinged to the frame, and the other end is fixedly connected to the frame by a compression spring.

7. The tunnel firefighting robot according to claim 1, characterized in that: The braking device comprises brake discs arranged opposite to each other on the left and right sides and a brake driving device for driving the two brake discs to move relative to each other and clamping the two sides of the track.

8. The tunnel firefighting robot according to claim 7, characterized in that: A left clamping arm and a right clamping arm are relatively slidably mounted on the machine body, and the brake disc is correspondingly mounted on the left clamping arm or the right clamping arm; the brake drive device includes a screw rotatably mounted on the machine body and a brake motor fixed on the machine body and connected to the screw transmission; a positive thread segment and a negative thread segment are provided on the screw, and screw nuts are respectively screwed on the positive thread segment and the negative thread segment, one screw nut is fixed on the left clamping arm, and the other screw nut is fixed on the right clamping arm.

9. The tunnel firefighting robot according to claim 1, characterized in that: The fire-fighting device includes a nozzle installed on the body and spraying downwards and fire-fighting equipment connected to the nozzle. The nozzle is connected to the fire-fighting equipment through a nozzle. A valve is provided on the nozzle, and the valve signal is connected to the central processor.

10. The tunnel firefighting robot according to claim 9, characterized in that: The fire-fighting device also includes a mechanical arm rotatably mounted on the bottom of the body and a rotating motor connected to the mechanical arm. The nozzle is fixed on one end of the mechanical arm away from the rotating shaft, and the nozzle connected to the fire-fighting equipment is a hose.

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