Crawler-type multidirectional fire-fighting robot

Abstract

The utility model provides a crawler-type multidirectional fire-fighting robot, which belongs to the technical field of fire-fighting equipment and comprises a vehicle body, traveling mechanisms are arranged on two sides of the vehicle body, and a front fire extinguishing execution mechanism and a rear fire extinguishing execution mechanism are arranged on the vehicle body. The front fire-extinguishing executing mechanism and the rear fire-extinguishing executing mechanism are respectively arranged on the front and rear sides of the upper surface of the vehicle body; the front fire extinguishing executing mechanism comprises a mechanical arm and a spraying mechanism, the spraying mechanism is fixed to the end, away from the vehicle body, of the mechanical arm, and the height and angle of the spraying mechanism can be adjusted through the mechanical arm. The fire extinguishing device can freely extend in a narrow space and a complex environment, so that the spray head can be accurately positioned to the position of a fire source, and efficient fire extinguishing is realized.

Description

Technical Field

[0001] This utility model belongs to the field of fire protection equipment technology, and in particular relates to a tracked multi-directional fire protection robot. Background Technology

[0002] In recent years, with the acceleration of urbanization and the deepening of industrialization, the frequency of fire accidents has gradually increased, especially in large-scale petrochemical, textile, and construction industries. Fires in these industries are often characterized by their suddenness, rapid spread, and high temperatures and pressures, posing significant challenges to firefighting. Furthermore, fires are often accompanied by the release of toxic gases, endangering not only the lives of on-site workers but also posing a serious threat to surrounding residents. While existing firefighting and rescue technologies and equipment can cope with fires to a certain extent, they still have many shortcomings when facing complex fire scenarios. For example, traditional fire trucks and rescue personnel are easily affected by high temperatures, dense smoke, and toxic gases when entering a fire scene, limiting rescue efficiency. At the same time, in some fire scenarios, due to confined spaces and complex environments, traditional firefighting equipment struggles to enter and effectively extinguish fires and conduct rescue operations.

[0003] As a type of special-purpose robot, firefighting robots are playing an increasingly crucial role in firefighting and rescue operations. As a type of firefighting equipment, firefighting robots can replace firefighters in dangerous disaster scenes such as those involving high temperatures, flammable and explosive materials, toxic substances, oxygen deficiency, and dense smoke. They can perform tasks such as firefighting, decontamination, smoke extraction, lighting, reconnaissance, and data collection, processing, and feedback. This effectively addresses the issues of personal safety and insufficient data collection faced by firefighters in these environments.

[0004] Most existing firefighting robots extinguish fires by spraying extinguishing agents over a wide area using a single nozzle. This makes it impossible for them to extend freely in narrow spaces and complex environments, allowing the nozzles to accurately locate the fire source. Consequently, the effectiveness of the firefighting operation cannot be guaranteed, resulting in low firefighting efficiency. Utility Model Content

[0005] To address the deficiencies or shortcomings in existing technologies, this utility model provides a tracked multi-directional firefighting robot that can freely extend in narrow spaces and complex environments, enabling the nozzles to accurately locate the fire source and thus achieve efficient fire extinguishing.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An embodiment of this utility model provides a tracked multi-directional firefighting robot, including a vehicle body, walking mechanisms on both sides of the vehicle body, and a front fire extinguishing mechanism and a rear fire extinguishing mechanism on the vehicle body, which are respectively located on the front and rear sides of the upper surface of the vehicle body.

[0008] The front fire extinguishing actuator includes a robotic arm and a spraying mechanism. The spraying mechanism is fixed to the end of the robotic arm away from the vehicle body, and the height and angle of the spraying mechanism can be adjusted by the robotic arm.

[0009] Furthermore, the walking mechanism includes a drive wheel and multiple guide wheels. The drive wheel and multiple guide wheels are fixed to both sides of the vehicle body by a support frame. The drive wheel and multiple guide wheels are connected by a track drive. A drive motor is installed inside the vehicle body, and the output shaft of the drive motor is fixedly connected to the drive wheel.

[0010] Furthermore, the front fire extinguishing actuator includes a base fixed to the vehicle body, a support fixedly connected to the base, a first main arm rotatably connected to the end of the support away from the base, and a second main arm rotatably connected to the end of the first main arm away from the support.

[0011] Furthermore, a connecting rod is rotatably connected to the top of the support, and a first pull rod is rotatably connected to the end of the connecting rod away from the support. The end of the first pull rod away from the connecting rod is connected to a second pull rod through a connecting frame.

[0012] Furthermore, the connecting frame has a triangular structure and is rotatably connected to the first pull rod, the second pull rod, and the first main arm, respectively.

[0013] Furthermore, the end of the second main arm away from the first main arm and the end of the second tie rod away from the first tie rod are connected to the spraying mechanism via a connector. The longitudinal section of the connector is triangular, and it is rotatably connected to the first main arm and the first tie rod, respectively, and fixedly connected to the spraying mechanism.

[0014] Furthermore, the spraying mechanism includes a rotary motor and a second nozzle. The rotary motor is fixed on the connector, and the output shaft of the rotary motor is connected to the second nozzle.

[0015] Furthermore, a first rotating motor and a second rotating motor are fixedly connected to the support. The first rotating motor and the second rotating motor are respectively fixed on both sides of the support. The first rotating motor is connected to the rotating shaft that connects the support and the first main arm, and the second rotating motor is connected to the rotating shaft that connects the support and the connecting rod.

[0016] Furthermore, the post-fire extinguishing actuator includes a water supply pipe, a flow pump, and a first nozzle. One end of the water supply pipe is connected to a water tank, and the other end is connected to the inlet of the flow pump. The outlet of the flow pump is connected to the first nozzle.

[0017] Furthermore, a vision mechanism is also provided on the upper surface of the vehicle body. The vision mechanism includes a support rod, which is set perpendicular to the upper surface of the vehicle body. A support base is rotatably connected to the top of the support rod, and cameras are set on both sides of the top of the support base. The cameras are rotatably connected to the support base.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] 1. This utility model, by setting a front fire extinguishing actuator, uses a robotic arm to drive the spraying mechanism to move, thereby adjusting the height and angle of the spraying mechanism so that it can accurately position itself to the fire source and achieve efficient fire extinguishing.

[0020] 2. This utility model can achieve multi-directional fire extinguishing by setting a front fire extinguishing actuator on the front side of the vehicle body and a rear fire extinguishing actuator on the rear side of the vehicle body. For different types of fires and on-site conditions, the front fire extinguishing actuator and the rear fire extinguishing actuator cooperate with each other to further improve fire extinguishing efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the fire-fighting robot in an embodiment of this utility model;

[0022] Figure 2 This is a schematic diagram of the walking mechanism structure in an embodiment of this utility model;

[0023] Figure 3 This is a schematic diagram of the vision mechanism structure in an embodiment of this utility model;

[0024] Figure 4 This is a schematic diagram of the rear fire extinguishing mechanism in an embodiment of this utility model;

[0025] Figure 5 This is a schematic diagram of the front fire extinguishing actuator in an embodiment of the present invention;

[0026] The components include: 1. Walking mechanism; 101. Drive wheel; 102. Guide wheel; 103. Track; 104. Support frame; 2. Vision mechanism; 201. Camera; 202. First rotating shaft; 203. Second rotating shaft; 204. Support rod; 205. Support base; 3. Water tank; 4. Front fire extinguishing actuator; 401. Base; 402. Second nozzle; 403. Connecting frame; 404. First boom; 405. Rotary motor; 406. Support; 407. Second boom; 408. Connecting rod; 409. First pull rod; 410. Second pull rod; 411. Connecting piece; 5. Rear fire extinguishing actuator; 501. First nozzle; 502. Flow pump; 503. Water supply pipe. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] A typical embodiment of this utility model is as follows: Figure 1 As shown, a tracked multi-directional firefighting robot includes a body 6, with walking mechanisms 1 on both sides of the body 6, and a front fire extinguishing actuator 4, a rear fire extinguishing actuator 5, and a vision mechanism 2 on the upper surface of the body 6.

[0029] Among them, such as Figure 2 As shown, the walking mechanism 1 includes a drive wheel 101 and multiple guide wheels 102. The drive wheel 101 and multiple guide wheels 102 are fixed to both sides of the vehicle body 6 by a support frame 104. The drive wheel 101 and multiple guide wheels 102 are connected by a track 103. A drive motor is installed inside the vehicle body 6. The output shaft of the drive motor is fixedly connected to the drive wheel 101, so that the track 103 is rotated by the drive motor, thereby driving the vehicle body 6 to move.

[0030] By using tracks to move the vehicle body, the firefighting robot can move flexibly and efficiently in various complex environments. At the same time, the tracks increase the contact area with the ground, effectively distributing the weight of the firefighting robot, enabling it to travel stably on mud, sand, rocks and other uneven terrains. This makes it suitable for use in urban fire scenes and rural rescue missions. Compared with wheeled vehicles, tracks can better adapt to rugged terrain, reducing the risk of tilting and falling, thus providing higher safety when dealing with sudden fires and rescue operations. At the same time, the track structure can achieve a small turning radius, allowing the firefighting robot to turn and move flexibly in confined spaces. Whether in narrow passages of buildings or in the complex layout of fire scenes, it can reach the designated location in the shortest possible time.

[0031] like Figure 3 As shown, the vision mechanism 2 is located in the middle of the upper surface of the vehicle body 6. The vision mechanism 2 includes a support rod 204, which is set perpendicular to the upper surface of the vehicle body 6. A first rotating shaft 202 is fixedly connected to the top of the support rod 204. The top of the first rotating shaft 202 is rotatably connected to the support base 205. A first rotary motor is installed inside the support base 205. The output shaft of the first rotary motor is connected to the first rotating shaft 202, thereby using the first rotary motor to realize the rotation of the support base 205 in the horizontal direction.

[0032] Cameras 201 are provided on both sides of the top of the support base 205. The cameras 201 are rotatably connected to the support base 205. Specifically, a second rotating shaft 203 is provided on the side of the camera 201 closest to the support base 205. The end of the second rotating shaft 203 away from the camera 201 is rotatably connected to the support base 205. A second rotating motor is provided inside the support base 205. The output shaft of the second rotating motor is connected to the second rotating shaft 203, thereby using the second rotating motor to drive the camera 201 to rotate in the vertical direction.

[0033] The camera in this invention supports omnidirectional rotation, enabling 360-degree monitoring. This allows the firefighting robot to capture all details of its surrounding environment in real time during missions, helping operators quickly assess the situation and formulate appropriate response strategies. To cope with different lighting conditions, the camera integrates night vision and thermal imaging capabilities. In dim or dark environments, the firefighting robot can use infrared technology to detect heat sources, identify fire sources and trapped personnel, effectively improving the rescue success rate. Simultaneously, the images and videos captured by the camera can be transmitted in real time to the operator's monitoring center via wireless network. Operators can monitor and control the robot from a safe distance, obtaining timely dynamic information from the scene and effectively controlling both the front and rear firefighting execution sections.

[0034] The upper surface of the vehicle body 6 is still provided with multiple water tanks 3. In this embodiment, there are two water tanks 3, located on the left and right sides of the vision mechanism 2 respectively, and connected to the front fire extinguishing actuator 4 and the rear fire extinguishing actuator 5 respectively, and providing fire water to the front fire extinguishing actuator 4 and the rear fire extinguishing actuator 5.

[0035] The water tank in this embodiment is short, stout, and wide, ensuring that it stores as much firefighting water as possible while occupying a minimal working volume. This guarantees a continuous water supply for the firefighting robot during firefighting operations, allowing it to perform extended firefighting operations even away from water sources, significantly improving rescue efficiency. Furthermore, the water tank is made of high-temperature and corrosion-resistant materials, capable of withstanding high pressure and harsh working environments, ensuring its structural integrity remains intact under the severe conditions of a fire scene, preventing leaks and damage.

[0036] The rear fire extinguishing actuator 5 is fixed to the rear side of the upper surface of the vehicle body 6, such as... Figure 4 As shown, it includes a water supply pipe 503, a flow pump 502, and a first nozzle 501. One end of the water supply pipe 503 is connected to the water tank 3, and the other end is connected to the inlet of the flow pump 502. The outlet of the flow pump 502 is connected to the first nozzle 501. The flow pump 502 can quickly draw fire-fighting water from the water tank 3 and spray it out from the first nozzle 501. The fire-fighting actuator 5 can provide a powerful and rapid fire-fighting capability to cope with large-area fires and high-temperature environments.

[0037] The first nozzle 501 uses a large-diameter nozzle, which can quickly release a large amount of water or extinguishing agent to form a powerful spray effect, thereby quickly covering a wide fire extinguishing area. It is particularly suitable for extinguishing large-scale fires and dealing with high heat load scenarios. In addition, the flow pump can generate strong water pressure to ensure that a large amount of extinguishing agent is released in a short time, improving its spraying capacity, thereby effectively combating rapidly spreading flames and reducing the losses caused by fire.

[0038] There are two front fire extinguishing actuators 4, which are fixed side by side on the front side of the upper surface of the vehicle body 6, such as... Figure 5 As shown, the front fire extinguishing actuator 4 includes a robotic arm and a spraying mechanism. The robotic arm can adjust the height and angle of the spraying mechanism, enabling the spraying mechanism to accurately locate the fire source for small-scale fires and achieve efficient fire extinguishing.

[0039] The robotic arm includes a base 401, which is fixed to the vehicle body 6. A support 406 is fixedly connected to the base 401. A first main arm 404 is rotatably connected to the end of the support 406 away from the base 401. A second main arm 407 is rotatably connected to the end of the first main arm 404 away from the support 406. A connecting rod 408 is also rotatably connected to the top of the support 406. A first pull rod 409 is rotatably connected to the end of the connecting rod 408 away from the support 406. The end of the first pull rod 409 away from the connecting rod 408 is connected to a connecting frame 4. 03 is connected to the second pull rod 410. The connecting frame 403 has a triangular structure. The connecting frame 403 is rotatably connected to the first pull rod 409, the second pull rod 410 and the first main arm 404 respectively. The end of the second main arm 407 away from the first main arm 404 and the end of the second pull rod 410 away from the first pull rod 409 are connected to the spraying mechanism through the connecting piece 411. The longitudinal section of the connecting piece 411 is triangular. It is rotatably connected to the second main arm 407 and the second pull rod 410 respectively, and is fixedly connected to the spraying mechanism.

[0040] The spraying mechanism includes a rotary motor 405 and a second nozzle 402. The rotary motor 405 is fixed on the connector 411. The output shaft of the rotary motor 405 is connected to the second nozzle 402, thereby driving the second nozzle 402 to rotate and enabling the second nozzle 402 to rotate horizontally, thereby increasing the spraying range of the second nozzle 402. The second nozzle 402 is connected to the water tank 3 through a water pipe, and a water pump is connected to the water pipe. The water pump draws fire-fighting water from the water tank 3 and sprays it out from the second nozzle 402.

[0041] A first rotating motor 412 and a second rotating motor are also fixedly connected to the support 406. The first rotating motor 412 and the second rotating motor are symmetrically fixed on both sides of the support 406. The first rotating motor 412 is connected to the rotating shaft that connects the support 406 and the first upper arm 404, and drives the first upper arm 404 to rotate. The second rotating motor is connected to the rotating shaft that connects the support 406 and the connecting rod 408, and drives the connecting rod 408 to rotate.

[0042] In use, the first rotating motor 412 drives the first large arm 404 to rotate vertically, the connecting rod 408, the first pull rod 409 and the connecting frame 403 drive the second large arm 407 to rotate, and the second pull rod 410 and the connecting piece 411 drive the spraying mechanism to rotate, thereby flexibly adjusting the height and angle of the second nozzle 402 to ensure that the second nozzle 402 can be aimed at the fire source. At the same time, the rotary motor 405 drives the second nozzle 402 to rotate horizontally, increasing the spraying range of the second nozzle.

[0043] The front fire extinguishing actuator 4 of this invention has multi-degree-of-freedom motion capability, enabling it to extend freely in narrow spaces and complex environments, accurately locate the fire source, and ensure the effectiveness of fire extinguishing operations. Furthermore, the spray angle and flow rate of the second nozzle 402 can be precisely adjusted by the control system to adapt to different types of fires and on-site conditions. Whether it is small-scale local fire extinguishing or large-area coverage spraying, the second nozzle 402 can provide the optimal water flow or fire extinguishing agent spraying scheme. The front fire extinguishing actuator 4 supports automated operation and remote control functions. At the same time, operators can control the position and spraying mode of the robotic arm and nozzle in real time through a remote monitoring system, ensuring that fire extinguishing tasks can still be completed safely and efficiently in hazardous environments.

[0044] When the fire-fighting robot is working, the vision mechanism 2 provides the operator with a clear image, enabling 360-degree monitoring and providing the operator with the most comprehensive fire situation. After understanding the fire situation, the operator can operate the walking mechanism 1, the front fire extinguishing actuator 4, and the rear fire extinguishing actuator 5 to work together to extinguish the fire. After discovering the fire source, if the fire is small, the operator can extinguish it through the front fire extinguishing actuator 4. Its specific operating principle is that the lever and the large arm work together to move the second nozzle 402 up and down. At the same time, the second nozzle 402 can be driven by a motor to achieve 360-degree rotation, thereby achieving precise fire extinguishing from multiple directions. If the fire area is large, it can be extinguished through the rear fire extinguishing actuator 5. Its large-diameter nozzle and flow pump can achieve high-flow spraying in a short time. If the fire is too large, the front fire extinguishing actuator 4 and the rear fire extinguishing actuator 5 can work together to extinguish the fire.

[0045] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tracked multi-directional firefighting robot, characterized in that, The vehicle includes a vehicle body, on both sides of which are provided a walking mechanism. A front fire extinguishing mechanism and a rear fire extinguishing mechanism are provided on the vehicle body, which are respectively located on the front and rear sides of the upper surface of the vehicle body. The front fire extinguishing actuator includes a robotic arm and a spraying mechanism. The spraying mechanism is fixed to the end of the robotic arm away from the vehicle body, and the height and angle of the spraying mechanism can be adjusted by the robotic arm.

2. The tracked multi-directional firefighting robot as described in claim 1, characterized in that, The walking mechanism includes a drive wheel and multiple guide wheels. The drive wheel and multiple guide wheels are fixed to both sides of the vehicle body by a support frame. The drive wheel and multiple guide wheels are connected by a track drive. A drive motor is installed inside the vehicle body, and the output shaft of the drive motor is fixedly connected to the drive wheel.

3. The tracked multi-directional firefighting robot as described in claim 1, characterized in that, The front fire extinguishing actuator includes a base, which is fixed to the vehicle body. A support is fixedly connected to the base. A first main arm is rotatably connected to the end of the support away from the base, and a second main arm is rotatably connected to the end of the first main arm away from the support.

4. A tracked multi-directional firefighting robot as described in claim 3, characterized in that, The top of the support is also rotatably connected to a connecting rod, and the end of the connecting rod away from the support is rotatably connected to a first tie rod. The end of the first tie rod away from the connecting rod is connected to a second tie rod through a connecting frame.

5. A tracked multi-directional firefighting robot as described in claim 4, characterized in that, The connecting frame has a triangular structure and is rotatably connected to the first tie rod, the second tie rod, and the first main arm.

6. A tracked multi-directional firefighting robot as described in claim 5, characterized in that, The end of the second main arm away from the first main arm and the end of the second tie rod away from the first tie rod are connected to the spraying mechanism through a connector. The longitudinal section of the connector is triangular, and it is rotatably connected to the first main arm and the first tie rod, and fixedly connected to the spraying mechanism.

7. A tracked multi-directional firefighting robot as described in claim 6, characterized in that, The spraying mechanism includes a rotary motor and a second nozzle. The rotary motor is fixed on the connector, and the output shaft of the rotary motor is connected to the second nozzle.

8. A tracked multi-directional firefighting robot as described in claim 7, characterized in that, The support is also fixedly connected to a first rotating motor and a second rotating motor. The first rotating motor and the second rotating motor are respectively fixed on both sides of the support. The first rotating motor is connected to the rotating shaft that connects the support and the first arm, and the second rotating motor is connected to the rotating shaft that connects the support and the connecting rod.

9. A tracked multi-directional firefighting robot as described in claim 1, characterized in that, The post-fire extinguishing actuator includes a water supply pipe, a flow pump, and a first nozzle. One end of the water supply pipe is connected to a water tank, and the other end is connected to the inlet of the flow pump. The outlet of the flow pump is connected to the first nozzle.

10. A tracked multi-directional firefighting robot as described in claim 1, characterized in that, The vehicle body surface is also provided with a vision mechanism, which includes a support rod. The support rod is set perpendicular to the vehicle body surface, and a support base is rotatably connected to the top of the support rod. Cameras are set on both sides of the top of the support base, and the cameras are rotatably connected to the support base.

Images