Small fire-fighting robot capable of swinging arms
By equipping the firefighting robot with sensors and fire monitor components, the problem of existing firefighting robots being unable to automatically avoid obstacles in complex environments has been solved, enabling autonomous navigation and stable movement in fire environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2026-04-03
AI Technical Summary
Existing firefighting robots lack intelligence in dangerous environments and cannot automatically avoid obstacles, limiting their mobility in complex fire scenes.
A small firefighting robot with a swing arm was designed. It is equipped with sensors such as a front camera, a reversing camera, a side camera, millimeter-wave radar, and lighting, as well as a fire monitor. These devices enable automatic obstacle avoidance, ensuring that the robot can navigate autonomously in complex environments.
It has enabled firefighting robots to automatically avoid obstacles in complex fire environments, improving their mobility and safety in dangerous environments.
Smart Images
Figure CN224071024U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of firefighting robot technology, and in particular to a small firefighting robot with a swing arm. Background Technology
[0002] Traditional firefighting robots, with their robust shells and high-temperature-resistant, corrosion-resistant designs, can penetrate deep into fire scenes and precisely target the fire source using equipment such as high-pressure water cannons and foam sprayers, effectively controlling the spread of the fire. Existing firefighting robots mainly use wheeled or fixed tracked chassis, which have fixed ground clearance and limited mobility. When encountering high obstacles, these robots often cannot pass through, restricting their ability to move in complex terrain.
[0003] With the rapid development of technology, the performance requirements for firefighting robots are constantly increasing in order to cope with complex fire scene environments. This places higher demands on the robots' mobility and stability. Existing robots can swing their arms independently with four wheels, thereby improving the robots' mobility and stability.
[0004] However, existing firefighting robots lack sufficient intelligence to navigate dangerous and complex environments, making them unsuitable for mobile operations in complex fire scenes. Utility Model Content
[0005] The purpose of this invention is to provide a small firefighting robot with a swing arm, which aims to solve the problem that existing firefighting robots lack intelligence and cannot automatically avoid obstacles in dangerous and complex environments, thus making it inconvenient for firefighting robots to move and operate in complex fire environments.
[0006] To achieve the above objectives, this utility model provides a small firefighting robot with a swing-arm design, comprising a flip-top and a vehicle body assembly, wherein the vehicle body assembly is disposed on the flip-top.
[0007] It also includes upper-mount components,
[0008] The upper structure includes a front camera, a reversing camera, a side camera, an emergency stop switch, a start switch, a power switch, an audible and visual alarm, a millimeter-wave radar, a lighting fixture, and a fire monitor component. The front camera, the reversing camera, the side camera, the emergency stop switch, the start switch, the power switch, the audible and visual alarm, the millimeter-wave radar, the lighting fixture, and the fire monitor component are all mounted on the flip cover.
[0009] The fire monitor component includes a flange, a first rotating shaft, a second rotating shaft, and an explosion-proof push rod. The first rotating shaft is mounted on the flange, the second rotating shaft is connected to the first rotating shaft, and the explosion-proof push rod is connected to the second rotating shaft.
[0010] The vehicle body assembly includes a chassis, a swing arm component, and a power component. The chassis is connected to the flip cover and is located on one side of the flip cover. The swing arm component is mounted on the chassis, and the power component is mounted on the chassis.
[0011] The swing arm component includes a travel drive wheel, a swing arm shaft, a support plate, a track, and a support roller. There are four travel drive wheels, which are arranged in pairs on both sides of the chassis and connected to the power component. The center of each travel drive wheel passes through the swing arm shaft. One end of each swing arm shaft is connected to the power component, and the other end is connected to the support plate. The support plate is connected to the support roller at the end away from the swing arm shaft. The track is fitted on the outside of the support roller and the travel drive wheel.
[0012] The swing arm component further includes a limiting plate, which is connected to the support plate and located between the driving wheel and the support wheel.
[0013] The power component includes a swing arm motor and a swing arm reducer. The swing arm shaft is connected to the swing arm motor through the swing arm reducer. The swing arm motor and the swing arm reducer are located inside the chassis.
[0014] The power component further includes a travel motor and a travel reducer. The travel motor and the travel reducer are respectively located on both sides of the chassis. The travel motor is connected to the travel reducer, and the travel reducer on the same side is connected to the travel drive wheel through a chain and a sprocket.
[0015] This utility model discloses a small, swing-arm firefighting robot. When the operator uses the firefighting robot, they turn on the power switch and start switch to remotely move the firefighting robot to a fire scene or hazardous environment. The firefighting robot can capture images of the surrounding environment during its movement through the front camera, the reversing camera, and the two side cameras. At the same time, the firefighting robot can activate the millimeter-wave radar and the lighting source during its movement. This allows the firefighting robot to use the electromagnetic waves in the millimeter-wave frequency band of the radar to detect information such as the distance, speed, and angle of target objects. It can monitor the dynamics of objects in front of the vehicle in real time, thereby enabling the firefighting robot to automatically avoid obstacles during its movement. This makes the firefighting robot more suitable for complex fire scene environments. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0017] Figure 1 This is a structural schematic diagram of a small, swing-arm firefighting robot according to the first embodiment of this utility model.
[0018] Figure 2 This is a schematic diagram of the upper assembly of the first embodiment of the present invention.
[0019] Figure 3 This is a schematic diagram of the flip cover structure of the first embodiment of this utility model.
[0020] Figure 4 This is a structural schematic diagram of the fire monitor component according to the first embodiment of this utility model.
[0021] Figure 5 This is a structural schematic diagram of a small, swing-arm firefighting robot according to the second embodiment of this utility model.
[0022] Figure 6 This is a structural schematic diagram of the vehicle body assembly according to the second embodiment of this utility model.
[0023] In the diagram: 101-Flip cover, 102-Front camera, 103-Reversing camera, 104-Side camera, 105-Emergency stop switch, 106-Start switch, 107-Power switch, 108-Audible and visual alarm, 109-Millimeter-wave radar, 110-Lighting lamp, 111-Flange, 112-First pivot, 113-Second pivot, 114-Explosion-proof push rod, 201-Chassis, 202-Walking drive wheel, 203-Swing arm shaft, 204-Support plate, 205-Track, 206-Tractor roller, 207-Limit plate, 208-Swing arm motor, 209-Swing arm reducer, 210-Walking motor, 211-Walking reducer. Detailed Implementation
[0024] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.
[0025] The first embodiment of this application is:
[0026] Please see Figures 1 to 4 ,in Figure 1 This is a structural schematic diagram of a small, swing-arm firefighting robot according to the first embodiment of this utility model. Figure 2 This is a schematic diagram of the upper assembly of the first embodiment of the present invention. Figure 3 This is a schematic diagram of the flip cover structure of the first embodiment of this utility model. Figure 4 This is a structural schematic diagram of the fire monitor component according to the first embodiment of this utility model.
[0027] This utility model provides a small, swing-arm firefighting robot, including a flip-up cover 101 and an upper assembly. The upper assembly includes a front camera 102, a reversing camera 103, a side camera 104, an emergency stop switch 105, a start switch 106, a power switch 107, an audible and visual alarm 108, a millimeter-wave radar 109, a lighting lamp 110, and a fire monitor component. The fire monitor component includes a flange 111, a first rotating shaft 112, a second rotating shaft 113, and an explosion-proof push rod 114. This solution addresses the shortcomings of existing firefighting robots in navigating hazardous environments. Existing firefighting robots lack sufficient intelligence and cannot automatically avoid obstacles in complex environments, making them unsuitable for operation in complex fire scenes. This solution can be used in situations requiring automatic obstacle avoidance in complex fire environments.
[0028] In this embodiment, the flip cover 101 is used to protect the electronic components and mechanical structure inside the robot, prevent dust, moisture and other external factors from damaging the internal components, and also help maintain the overall structural integrity of the robot to ensure stable operation in various environments.
[0029] The front camera 102, the reversing camera 103, the side camera 104, the emergency stop switch 105, the start switch 106, the power switch 107, the audible and visual alarm 108, the millimeter-wave radar 109, the lighting lamp 110, and the fire monitor component are all mounted on the flip cover 101. Side cameras 104 are installed around the flip cover 101, allowing for the capture of images of the surrounding environment. An emergency stop switch 105 is located on the flip cover 101, used to quickly cut off power in emergencies to prevent accidents or damage. A start switch 106 is located on the flip cover 101, controlling the robot's start and stop. A power switch 107 controls the robot's power supply, ensuring safe operation when needed. An audible and visual alarm 108 is located on the flip cover 101, emitting a strong audible and visual signal to warn surrounding personnel at the work site. In situations where fire trucks are operating or dangerous conditions exist, the millimeter-wave radar 109 is positioned in front of the flip cover 101. The millimeter-wave radar 109 utilizes electromagnetic waves in the millimeter-wave band to detect information such as the distance, speed, and angle of target objects. It can monitor the dynamics of objects in front of the vehicle in real time, assisting the autonomous driving function or providing early warnings to operators, such as issuing an alarm when the vehicle approaches an obstacle, thus improving operational safety and automation. Two lighting lamps 110 are positioned in front of the flip cover 101. These lamps provide illumination for the fire-fighting robot's surroundings and work area during fire-fighting operations at night or in low-light environments, ensuring safe operation. Personnel can clearly observe the scene and operate accurately. The fire monitor component is mounted on the flip cover 101. It can spray high-pressure water or foam extinguishing agents to attack the fire source from a distance, effectively extinguishing the fire. This allows operators to remotely control the fire robot to move to a fire scene or hazardous environment by turning on the power switch 107 and start switch 106. The fire robot can capture images of its surroundings during movement via the front camera 102, the reversing camera 103, and the two side cameras 104. Simultaneously, the fire robot can illuminate the surrounding environment using the millimeter-wave radar 109 and the lighting lamp 110 during its movement.This technology enables firefighting robots to detect the distance, speed, and angle of target objects using the millimeter-wave electromagnetic waves of the millimeter-wave radar 109 during movement. It allows for real-time monitoring of objects in front of the vehicle, enabling the firefighting robot to automatically avoid obstacles and thus better adapt to complex fire scene environments.
[0030] Secondly, the first rotating shaft 112 is mounted on the flange 111, the second rotating shaft 113 is connected to the first rotating shaft 112, and the explosion-proof push rod 114 is connected to the second rotating shaft 113. Through a motor, the first rotating shaft 112 can rotate 360°, and the second rotating shaft 113 can rotate 270°. The rotation of the first rotating shaft 112 and the second rotating shaft 113 can drive the movement of the explosion-proof push rod 114. At the same time, the explosion-proof push rod 114 can spray fire water out in a wide-angle or direct-flow manner.
[0031] When using the swing-arm small firefighting robot of this embodiment, the operator turns on the power switch 107 and the start switch 106 to remotely move the firefighting robot to a fire scene or hazardous environment. The firefighting robot can capture images of the surrounding environment during its movement through the front camera 102, the reversing camera 103, and the two side cameras 104. At the same time, the firefighting robot can turn on the light source of the millimeter-wave radar 109 and the lighting lamp 110 during its movement. This allows the firefighting robot to use the electromagnetic waves of the millimeter-wave frequency band of the millimeter-wave radar 109 to detect information such as the distance, speed, and angle of target objects. It can monitor the dynamics of objects in front of the vehicle in real time, thereby enabling the firefighting robot to automatically avoid obstacles during its movement. This makes the firefighting robot more suitable for complex fire scene environments.
[0032] The second embodiment of this application is as follows:
[0033] Based on the first embodiment, please refer to Figure 5 and Figure 6 , Figure 5 This is a structural schematic diagram of a small, swing-arm firefighting robot according to the second embodiment of this utility model. Figure 6 This is a structural schematic diagram of the vehicle body assembly according to the second embodiment of this utility model.
[0034] This utility model provides a small firefighting robot with a swing arm, which also includes a vehicle body assembly. The vehicle body assembly includes a chassis 201, a swing arm component, and a power component. The swing arm component includes a walking drive wheel 202, a swing arm shaft 203, a support plate 204, a track 205, a support roller 206, and a limiting plate 207. The power component includes a swing arm motor 208, a swing arm reducer 209, a walking motor 210, and a walking reducer 211.
[0035] The chassis 201 is connected to the flip cover 101 and located on one side of the flip cover 101. The swing arm component is mounted on the chassis 201, and the power component is mounted on the chassis 201. There are four driving wheels 202, arranged in pairs on opposite sides of the chassis 201 and connected to the power component. The center of each driving wheel 202 passes through the swing arm shaft 203. One end of each swing arm shaft 203 is connected to the power component, and the other end is connected to the support plate 204. The support plate 204, away from the swing arm shaft 203, is connected to the support roller 2. 06. The track 205 is fitted on the outside of the support roller 206 and the drive wheel 202. There are four drive wheels 202, which are respectively arranged in pairs on both sides of the chassis 201 and connected to the power component. The center of each drive wheel 202 passes through the swing arm shaft 203. One end of each swing arm shaft 203 is connected to the power component, and the other end is connected to the support plate 204. The support plate 204 is connected to the support roller 206 at the end away from the swing arm shaft 203. The track 205 is fitted on the outside of the support roller 206 and the drive wheel 202. The walking drive wheel 202 is connected to the power component via a walking shaft and is driven to rotate by the power component. The swing arm shaft 203 passes through the center of the walking shaft and the walking drive wheel 202, with one end connected to the support plate 204 and the other end connected to the power component. It is driven by the walking drive wheel 202. The other end of the support plate 204 is connected to the support roller 206 via a shaft. The track 205 is sleeved between the support roller 206 and the walking drive wheel 202.
[0036] Secondly, the limiting plate 207 is connected to the support plate 204 and is located between the walking drive wheel 202 and the support wheel 206. The limiting plate 207 can prevent the track 205 from moving axially and ensure the stability and accuracy of the track 205 during movement.
[0037] Meanwhile, the swing arm shaft 203 is connected to the swing arm motor 208 through the swing arm reducer 209. The swing arm motor 208 and the swing arm reducer 209 are located inside the chassis 201. The four swing arm shafts 203 are connected to the swing arm motor 208 through the swing arm reducer 209 to realize independent swing arm.
[0038] Finally, the walking motor 210 and the walking reducer 211 are respectively located on both sides of the chassis 201. The walking motor 210 is connected to the walking reducer 211. The walking reducer 211 on the same side is connected to the walking drive wheel 202 through a chain and a sprocket. The walking drive wheel 202 is connected to a walking shaft, and a sprocket is connected to the walking shaft. The output end of the walking reducer 211 is connected to a sprocket. The sprockets are driven by a chain, which connects to the walking drive wheel 202. The walking drive wheel 202 then drives the walking wheel to move, realizing reconnaissance movement. The walking motor 210 on the left drives the two wheel systems on the left, and the walking motor 210 on the right drives the two wheel systems on the right. The walking motor 210 drives two wheels.
[0039] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.
Claims
1.A small fire-fighting robot with swingable arms, comprising a flip cover and a vehicle body assembly arranged on the flip cover, characterized in that, further comprising an upper assembly, the upper assembly comprises a front camera, a reversing camera, a side camera, an emergency stop switch, a start switch, a power switch, a sound and light alarm, a millimeter wave radar, a lighting lamp and a fire gun component, the front camera is arranged on the flip cover, the reversing camera is arranged on the flip cover, the side camera is arranged on the flip cover, the emergency stop switch is arranged on the flip cover, the start switch is arranged on the flip cover, the power switch is arranged on the flip cover, the sound and light alarm is arranged on the flip cover, the millimeter wave radar is arranged on the flip cover, the lighting lamp is arranged on the flip cover, and the fire gun component is arranged on the flip cover. 2.The small fire-fighting robot with swingable arms according to claim 1, characterized in that, the fire gun component comprises a flange, a first rotating shaft, a second rotating shaft and an explosion-proof push rod, the first rotating shaft is arranged on the flange, the second rotating shaft is connected with the first rotating shaft, and the explosion-proof push rod is connected with the second rotating shaft. 3.The small fire-fighting robot with swingable arms according to claim 1, characterized in that, the vehicle body assembly comprises a chassis, an arm swing component and a power component, the chassis is connected with the flip cover and located on one side of the flip cover, the arm swing component is arranged on the chassis, and the power component is arranged on the chassis. 4.The small fire-fighting robot with swingable arms according to claim 3, characterized in that, the arm swing component comprises four walking drive wheels, an arm swing shaft, a support plate, a track and a supporting wheel, the four walking drive wheels are arranged on both sides of the chassis in pairs respectively and connected with the power component respectively, the center of each walking drive wheel penetrates through the arm swing shaft, one end of each arm swing shaft is connected with the power component, the other end is connected with the support plate, the support plate is connected with the supporting wheel at the end away from the arm swing shaft, and the track is sleeved on the outside of the supporting wheel and the walking drive wheel. 5.The small fire-fighting robot with swingable arms according to claim 4, characterized in that, the arm swing component further comprises a limiting plate, the limiting plate is connected with the support plate and located between the walking drive wheel and the supporting wheel. 6.The small fire-fighting robot with swingable arms according to claim 5, characterized in that, the power component comprises an arm swing motor and an arm swing reducer, the arm swing shaft is connected with the arm swing motor through the arm swing reducer, and the arm swing motor and the arm swing reducer are located in the inside of the chassis respectively. 7.The small fire-fighting robot with swingable arms according to claim 6, characterized in that, the power component further comprises a walking motor and a walking reducer, the walking motor and the walking reducer are arranged on both sides of the chassis respectively, the walking motor is connected with the walking reducer, and the walking reducers on the same side are connected with the walking drive wheels through chains and sprockets.