Fire-fighting emergency quadruped robot

Abstract

The utility model relates to a fire-fighting emergency quadruped robot which comprises a robot body with a foot vertical type walking mechanism at the bottom, a power source and a visual device are further arranged on the robot body, a storage groove with an upward opening is formed in the upper side of the rear end of the robot body, and a storage tray is arranged in the storage groove. An electric push rod which is vertically arranged and used for driving the storage tray to move up and down is arranged at the groove bottom of the storage groove, and a groove opening cover which can be jacked open by the storage tray in the upward moving process of the storage tray is arranged at a groove opening of the storage groove. Water, food, tablets or small oxygen tanks and other emergency articles can be placed in the storage tray of the storage groove, the quadruped robot carries the emergency articles to find trapped persons, then the electric push rod jacks the storage tray to move upwards, in the upward moving process of the storage tray, the storage tray or the emergency articles on the storage tray eject the groove opening cover, and the trapped persons are trapped. And the trapped person can take the emergency articles to realize emergency use.

Description

TECHNICAL FIELD

[0001] The utility model relates to fire fighting robot technical field especially relates to a fire emergency four -legged robot. BACKGROUND

[0002] When the fire occurs, the personnel is often trapped in the fire, and the fire personnel needs to enter the fire to rescue the trapped personnel, because the environment in the fire is complex, so that the traditional manual investigation cannot view the disaster situation in close range.

[0003] For example, the search and rescue operation is high in safety risk, and the information collection is insufficient carbon dioxide, hydrogen chloride and the like, the post-disaster leaked gas exceeds a certain concentration, the falling object, the electric shock causes harm to the human body, the post-disaster often faces the smoke concentration being too high, the visibility being low, the post-disaster environment is complex, the obstacles cause the sight to be blocked, the visual angle is limited, and the information obtained by the on-site rescue personnel and the command center is fragmented.

[0004] Therefore, the fire emergency is realized by means of the robot, and the robot becomes an important means for modern fire disaster relief, and the Chinese patent CN215944727U discloses a "bionic four-legged fire fighting robot based on computer vision recognition", the robot includes a main body, a power supply is arranged on the main body, a camera connected with the power supply, an infrared thermal imager, and a foot stand type walking mechanism is further arranged on the main body, and the foot stand type walking mechanism is driven by a corresponding rudder machine group.

[0005] The foot stand type walking mechanism in the scheme can adapt to complex terrain, such as crossing obstacles, going up stairs and the like, and the combination of the camera and the infrared thermal imager can also realize image recognition in a dark environment. However, the existing four-legged fire fighting robot has the following problems: it does not have the carrying capacity of emergency articles, in the fire scene, the trapped personnel will appear the emergency situation of water shortage and oxygen shortage, and the existing fire fighting robot cannot transport water, oxygen tank and other fire emergency articles to the trapped personnel to solve the emergency problem of the trapped personnel. UTILITY MODEL CONTENTS

[0006] The utility model aims at providing a fire emergency four-legged robot capable of transporting emergency articles to the fire trapped personnel.

[0007] To solve the above technical problems, the technical scheme of a fire emergency robot in the utility model is as follows:

[0008] The utility model provides a kind of fire emergency four-foot robot, including the robot main body with foot stand type walking mechanism being arranged in bottom, power supply and visual device are further provided on the robot main body, the upper side of the rear end of robot main body is provided with the storage groove with opening upwards, storage tray is provided in storage groove, the bottom of storage groove is provided with the electric push rod for driving the up-down movement of storage tray vertically arranged, the slot cover that can be opened by storage tray in the process of moving on storage tray is provided at the slot of storage groove.

[0009] Further, the electric push rod has four, two electric push rods are connected with the left side of storage tray, and the other two electric push rods are connected with the right side of storage tray.

[0010] Further, the two electric push rods on the left side are synchronous action, the two electric push rods on the right side are synchronous action, the upper end of the telescopic rod of each electric push rod is connected with storage tray through connecting rod, the upper end of connecting rod is hingedly connected with the bottom of storage tray, and the lower end of connecting rod is hingedly connected with the upper end of corresponding telescopic rod.

[0011] Further, the storage tray includes tray bottom plate and tray apron arranged around tray bottom plate, and the tray apron is intersected with tray bottom plate at obtuse angle.

[0012] Further, the upper end of the telescopic rod of electric push rod has connecting slope arranged side by side with corresponding tray apron, and connecting rod is arranged between connecting slope and tray apron.

[0013] Further, the storage groove includes groove bottom plate, the electric push rod includes push rod shell and telescopic rod guided and moved with push rod shell, the mounting hole corresponding with push rod shell is arranged on the groove bottom plate, and the middle part of push rod shell is fixed in corresponding mounting hole.

[0014] Further, the lower side of groove bottom plate is provided with heat shield around the periphery of push rod shell.

[0015] The beneficial effects of the utility model are as follows: in the utility model, emergency items such as water, food, tablets or small oxygen tanks can be placed in the storage tray of the storage groove, the four-foot robot carries emergency items to find trapped personnel, then the electric push rod lifts the storage tray upwards, the storage tray or the emergency items on the storage tray opens the slot cover in the process of moving upwards, and the trapped personnel can get the emergency items to realize emergency use. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the disclosed example embodiments will become readily apparent upon reading the following detailed description of the disclosed example embodiments by way of example in conjunction with the accompanying drawings. In the drawings identical or corresponding parts are identified with the same or corresponding reference numerals, wherein:

[0017] Figure 1 is a structural schematic view of one embodiment of the fire emergency quadruped robot in the utility model;

[0018] Figure 2 is Figure 1 is a cooperation schematic view of the storage groove and the electric push rod in the utility model;

[0019] Figure 3 is Figure 2 is a state schematic view of the storage tray after being jacked up in the utility model;

[0020] Figure 4 is Figure 2 is an enlarged view of A in the utility model;

[0021] 1, the foot type walking mechanism; 2, RGBD camera; 3, laser radar; 4, dual-spectrum holder; 5, slot cover; 6, communication repeater; 7, power supply; 8, robot main body; 9, slot cover; 10, storage groove; 11, storage tray; 12, electric push rod; 13, tray bottom plate; 14, tray fence; 15, connecting rod; 16, telescopic rod; 17, push rod shell; 18, groove bottom plate; 19, heat shield; 20, connecting slope. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of the utility model, the utility model will be described in more detail below in conjunction with the drawings and specific embodiments. The preferred embodiments of the utility model are shown in the drawings. However, the utility model can be realized in many different forms, and is not limited to the embodiments described in the specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive.

[0023] It should be noted that, unless otherwise defined, all technical and scientific terms used in the specification have the same meaning as commonly understood by those skilled in the art to which the utility model belongs. The terms used in the specification of the utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model.

[0024] The embodiment of the fire emergency quadruped robot in the utility model is as shown in Figures 1-4 : including the robot main body 8 provided with the foot type walking mechanism 1 at the bottom, the foot type walking mechanism 1 includes four walking feet and a rudder for driving the corresponding walking foot to move, and the foot type walking mechanism belongs to the prior art, which will not be described in detail here. The outer surface of the robot main body is coated with a heat-resistant high-temperature coating.

[0025] The robot body is further provided with a vision device and a power supply 7 for supplying power to the vision device, the power supply in the embodiment is a ternary lithium battery, in the embodiment, the vision device includes an RGBD camera 2, a laser radar 3 and a dual-spectrum holder 4, and a communication repeater 6 is arranged at the upper end of the tail of the robot body.

[0026] An open upward storage groove 10 is arranged at the upper side of the rear end of the robot body, the storage groove is located between the dual-spectrum holder 4 and the communication repeater 6, the storage groove has a placing step at the groove opening, the placing step has a groove cover 5 placed therein, and the groove cover 5 is not connected to the placing step in other connection structures, so that the groove cover can be opened from bottom to top. In other embodiments of the utility model, the front end or the rear end of the groove rod can also be hingedly connected to the robot body.

[0027] The groove bottom of the storage groove is provided with a vertically arranged electric push rod 12 for driving the storage tray to move up and down, when the electric push rod 12 drives the storage tray 11 to move upwards, the storage tray 11 can be opened by the groove cover 9 during the upward movement.

[0028] In the embodiment, the electric push rod 12 has four, two of which are connected to the left side of the storage tray, and the other two are connected to the right side of the storage tray. The electric push rod includes a push rod shell and a telescopic rod 16 guided and moved in the up-down direction with the push rod shell 17, the electric push rod itself also belongs to the prior art, and its structure will not be described here. The two electric push rods on the left side act synchronously, and the two electric push rods on the right side act synchronously, the upper end of the telescopic rod of each electric push rod is connected to the storage tray through a connecting rod 15, the upper end of the connecting rod 15 is hingedly connected to the bottom of the storage tray 11, and the lower end of the connecting rod 15 is hingedly connected to the upper end of the corresponding telescopic rod.

[0029] In use, the telescopic rods of the two electric push rods on the left side can have different extension lengths from the telescopic rods of the two electric push rods on the right side, as shown in Figure 3 , so that the entire storage tray 11 assumes an inclined posture, and the emergency supplies on the storage tray 11 can slide to the ground under the action of gravity, and the emergency supplies can be easily obtained by the trapped personnel with more serious injuries.

[0030] The storage tray includes a tray bottom plate and a tray surrounding plate 14 arranged around the tray bottom plate 13, and the tray surrounding plate 14 intersects with the tray bottom plate 13 at an obtuse angle. The upper end of the telescopic rod of the electric push rod 12 has a connecting inclined surface 20 arranged parallel to the corresponding tray surrounding plate, and the connecting rod 15 is arranged between the connecting inclined surface 20 and the tray surrounding plate 14.

[0031] The storage compartment includes a bottom plate 18, and the electric push rod includes a push rod housing and a telescopic rod 16 that guides and moves with the push rod housing. The bottom plate has mounting holes corresponding to the push rod housing, and the middle part of the push rod housing 17 is fixed in the corresponding mounting holes. If the electric push rod is completely placed in the storage compartment, the maximum extension length of the telescopic rod will not exceed the depth of the storage compartment. In this invention, the bottom of the push rod housing is located below the bottom plate, therefore the maximum extension length of the telescopic rod is greater than the depth of the compartment.

[0032] A heat insulation cover 19 is provided on the lower side of the bottom plate 18 around the periphery of the push rod housing. The heat insulation cover is used to protect the bottom of the push rod housing.

[0033] When in use, the fire emergency quadruped robot can collect information in the fire situation and locate the trapped personnel. When the trapped personnel are located, the operator outside the fire can operate two sets of electric push rods to move asynchronously. The storage tray moves upward to open the slot cover, adjusts the storage tray to a tilted state, and slides the emergency items on the storage tray to the side of the trapped personnel for easy access.

[0034] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "joined" should be interpreted broadly. For example, the term "joined" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0036] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A fire emergency quadruped robot, comprising a robot body with a legged walking mechanism at its bottom, and a power supply and vision device on the robot body, characterized in that: The robot body has an upward-facing storage slot at the rear upper side, a storage tray in the storage slot, and a vertically arranged electric push rod at the bottom of the storage slot to drive the storage tray up and down. The opening of the storage slot is equipped with a slot cover that can be opened by the storage tray during the upward movement of the storage tray.

2. The fire emergency quadruped robot according to claim 1, characterized in that: There are four electric push rods in total. Two of them are connected to the left side of the storage tray, and the other two are connected to the right side of the storage tray.

3. The fire emergency quadruped robot according to claim 2, characterized in that: The two electric push rods on the left move synchronously, and the two electric push rods on the right move synchronously. The upper end of the telescopic rod of each electric push rod is connected to the storage tray through a connecting rod. The upper end of the connecting rod is hinged to the bottom of the storage tray, and the lower end of the connecting rod is hinged to the upper end of the corresponding telescopic rod.

4. The fire emergency quadruped robot according to claim 3, characterized in that: The storage pallet includes a pallet base and pallet side panels arranged around the pallet base, with the pallet side panels intersecting the pallet base at an obtuse angle.

5. The fire emergency quadruped robot according to claim 4, characterized in that: The upper end of the telescopic rod of the electric push rod has a connecting slope arranged parallel to the corresponding pallet side panel, and the connecting rod is set between the connecting slope and the pallet side panel.

6. The fire emergency quadruped robot according to any one of claims 1 to 5, characterized in that: The storage compartment includes a bottom plate, and the electric push rod includes a push rod housing and a telescopic rod that guides and moves with the push rod housing. The bottom plate is provided with mounting holes corresponding to the push rod housing, and the middle part of the push rod housing is fixed in the corresponding mounting holes.

7. The fire emergency quadruped robot according to claim 6, characterized in that: A heat insulation cover is provided on the lower side of the bottom plate of the groove, around the periphery of the push rod housing.

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