Firefighting robot, and quadruped robot having good fire extinguishing effect
Patent Information
- Application Number
- PCT/CN2026/086254
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-28
- Filing Date
- 2026-03-26
- Publication Date
- 2026-10-01
Smart Images
Figure CN2026086254_01102026_PF_FP_ABST
Abstract
Description
A fire-fighting robot and a quadruped robot with good fire-fighting effect Technical Field
[0001] This invention relates to the field of fire-fighting robot technology, and in particular to a fire-fighting robot and a quadruped robot with good fire-fighting effect. Background Technology
[0002] Currently, most firefighting robots in the fire protection industry are tracked firefighting robots, primarily used for perimeter water spraying. They often fall short when facing fires inside buildings. Tracked firefighting robots utilize tracked steering chassis, resulting in a massive structure and a weight ranging from hundreds to thousands of kilograms, making them ill-suited for fire scenarios with features like staircases and narrow passages. When fires occur in high-rise buildings or densely packed townhouses, firefighters often risk their lives to conduct search and rescue and firefighting operations near the fire source to minimize loss of life and property. These operations are extremely difficult and require significant resources.
[0003] Furthermore, Chinese patent application (publication number: CN118217570A) discloses a high-pressure water-assisted multi-nozzle firefighting multi-legged robot, including a main body, tandem legs, and a high-pressure water-assisted firefighting device. The tandem legs are fixed to the four corners of the main body, and the high-pressure water-assisted firefighting device is fixedly installed on top of the main body to assist the robot in walking while performing firefighting operations. This high-pressure water-assisted multi-nozzle firefighting multi-legged robot is suitable for fire scenes in forests, mountains, high-rise buildings, mines, and tunnels, and can be equipped with high-pressure water pipes to penetrate deep into fires for highly efficient firefighting operations.
[0004] The above-mentioned solutions and existing quadruped robot firefighting solutions mainly consider how to enable quadruped robots to spray water for firefighting and how to carry water hoses into the fire scene, but none of them consider how quadruped robots can quickly and safely leave the fire scene after encountering danger or after the fire is extinguished.
[0005] Furthermore, the fire scene is complex. When the robot retreats, the newly laid water hoses are prone to forming U-shaped or V-shaped bends with the existing water hoses, or even becoming entangled. This can cause the robot to be tripped or become unstable and tip over, resulting in damage to the quadruped robot or even rendering it unusable, thus affecting its subsequent use.
[0006] Furthermore, the fire hoses in the above-mentioned scheme cannot flexibly adjust the spray angle, and can only rely on the movement of the quadruped robot to adjust the spray angle, which affects the spray accuracy and fire extinguishing efficiency.
[0007] Furthermore, Chinese patent application (publication number: CN119548780A) discloses a fire extinguishing system suitable for quadruped robots, including a quadruped robot with a double-layer mounting frame on its upper part. The first layer of the double-layer mounting frame houses an industrial control computer, an edge computer, and a voltage regulator. The second layer houses a DC power supply, a switch, a positioning camera, and a fire extinguisher. A support frame is also installed at the end of the second layer of the double-layer mounting frame, with a lidar mounted on its upper end and a binocular depth camera mounted on its upper side. The outlet end of the fire extinguisher is connected to a first pipe, the end of which passes through the partition of the double-layer mounting frame and connects to the voltage regulator. The output end of the voltage regulator is connected to a nozzle.
[0008] In practical use, the edge computer adjusts the position of the collar by driving the output end of the first electric telescopic rod to slide laterally or by driving the output end of the second electric telescopic rod to slide laterally. This, in conjunction with the first fixed ring, changes the angle of the nozzle, thereby adjusting the angle of the extinguishing agent to complete the fire extinguishing. Specifically, the fire source image is processed and located to adjust the extinguishing angle.
[0009] Although the above solution incorporates a telescopic rod and a collar to adjust the spray angle of the extinguishing agent, it is primarily designed based on the characteristics of the extinguishing agent. When the spray pipe is connected to a fire hose, the extremely high fire water pressure results in very high internal pressure within the spray pipe, leading to significant external adjustment resistance. Therefore, the collar and telescopic rod adjustment structure of this solution is insufficient for flexibly adjusting the spray angle and direction, making it unsuitable for water-based fire suppression scenarios.
[0010] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Technical issues
[0011] In summary, existing robotic firefighting solutions mainly have the following two problems:
[0012] 1. How can robots quickly and safely leave a fire scene after encountering danger or extinguishing a fire?
[0013] 2. How to easily and quickly adjust the spray angle of a fire-fighting robot.
[0014] Therefore, there is a lack of firefighting robots on the market that can truly replace firefighters in working near fire sources. Technical solutions
[0015] In view of the above problems or one of the above problems, the purpose of this invention is to provide a fire-fighting robot that can be remotely controlled by a person or move autonomously, carry a water hose to go deep into the fire point to extinguish the fire, and can automatically detach the water hose and leave the scene, thereby effectively replacing manual fire-fighting operations in dangerous environments.
[0016] In view of the above problems or one of the above problems, the second objective of the present invention is to provide a fire-fighting robot that can autonomously deploy fire hoses, spray water to extinguish fires, and detach fire hoses for evacuation, thus ensuring the safe evacuation of the fire-fighting robot.
[0017] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a fire-fighting robot. The robot body is equipped with a water spray pipe, and is equipped with a snap-fit interface for connecting the water hose and a power source, thereby forming a self-detaching structure. This allows the robot body to quickly and safely leave the fire-fighting operation site, thus extending the robot's service life.
[0018] To address the aforementioned problems, or one of them, the fourth objective of this invention is to provide a quadruped robot with excellent fire extinguishing performance. Taking full account of the characteristics of high-pressure water flow, the robot body is equipped with a water cannon pipe, a cannon head, and a water cannon base. A first and second connecting component allow the water cannon pipe and cannon head to be rotatably connected, thus transforming the quadruped robot's water cannon pipe and cannon head into a three-section structure that can rotate relative to each other. This effectively reduces adjustment resistance, allowing for flexible, simple, and quick adjustment of the robot's water spray angle with relatively small driving force, and enabling precise control of the water spray direction. Therefore, it is particularly suitable for water spray fire extinguishing scenarios.
[0019] To achieve one of the above objectives, the first technical solution of the present invention is as follows:
[0020] A fire-fighting robot includes a quadruped robot body, a water cannon unit fixed to the back of the quadruped robot body, and a water hose placed on the abdomen of the quadruped robot body.
[0021] The water cannon unit includes a water cannon base and a water cannon pipe fixed on the water cannon base. One end of the water cannon pipe is movably connected to a cannon head, and the other end is provided with a snap-fit interface. The water cannon base or the water cannon pipe is provided with a first push rod motor for controlling the up and down swing of the cannon head, and the water cannon base is provided with a second push rod motor for controlling the left and right swing of the cannon head.
[0022] The water hose is folded and placed on the abdomen of the quadruped robot body, with water hose interfaces at both ends. One of the water hose interfaces is detachably connected to the card interface.
[0023] The card-type interface is fitted with a movable push ring, and a third push rod motor is fixed on the water cannon pipe. When the card-type interface and the water hose interface need to be separated, the third push rod motor pushes the movable push ring to separate the water hose interface from the card-type interface.
[0024] As a preferred technical solution:
[0025] An arched connecting rod and a guide rod are sequentially connected between the third push rod motor and the movable push ring. The third push rod motor pushes the movable push ring through the arched connecting rod and the guide rod.
[0026] As a preferred technical solution:
[0027] The water cannon pipe and the cannon head are rotatably connected in sequence through a first connecting member and a second connecting member. The first push rod motor drives the cannon head to swing up and down through the extension and retraction of the push rod, and the second push rod motor drives the cannon head to swing left and right through the extension and retraction of the push rod.
[0028] Existing automated fire monitors mostly use a "stepper motor + worm gear" as the head angle adjustment mechanism. At the same time, the pipes of the monitor body are winding, the structure is large and heavy, and the center of gravity is high, making it unsuitable for use on quadruped robots. In contrast, the head angle of this technical solution is controlled by a "push rod motor + connecting parts", which realizes the up and down and left and right adjustment of the head. It is easy to operate, and the straight design of the monitor body makes the whole machine compact and has a low center of gravity, making it suitable for mounting on a quadruped robot.
[0029] Or / and, the water hose is fixed to the abdomen of the quadruped robot body by an elastic tightening strap;
[0030] Or / and, the cannon head is located at the head of the quadruped robot body;
[0031] Or / and, a vision unit for smoke detection is fixed on the gun head;
[0032] The vision unit includes a visible light lens and / or a thermal imaging lens; or / and the vision unit includes a wiper assembly for cleaning the visible light lens and / or the thermal imaging lens; the wiper assembly can wipe the visible light lens and the thermal imaging lens to remove water stains and dirt, and prevent the lens from being blocked and affecting the remote control effect.
[0033] Or / and, the water cannon base or water cannon pipe is equipped with a self-spraying component; the self-spraying component enables the fire-fighting robot to spray water to cool itself during fire-fighting operations, preventing damage caused by high temperatures at the fire scene.
[0034] Or / and, the water cannon base or the quadruped robot body is provided with an electronic control module and a wireless communication module for communicating with a remote control terminal, the electronic control module being used to control the actions of the first push rod motor and the second push rod motor;
[0035] Or / and, the quadruped robot body is equipped with a pre-assembly observation camera.
[0036] As a preferred technical solution:
[0037] The water cannon base consists of one or more brackets, which are X-shaped, V-shaped, U-shaped, or square-shaped structures, and are mounted on the quadruped robot body via mounting plates.
[0038] The mounting plate is fixed to the back of the quadruped robot body by fasteners or bolts with wrenches, so that the water cannon unit can be installed on the quadruped robot in a modular manner. This allows the water cannon unit to be installed on the quadruped robot quickly and easily, facilitating flexible modification of existing quadruped robots. The solution is simple, practical, and feasible.
[0039] Furthermore, the fastener is a bolt, clip, or pin with an adjustable wrench.
[0040] Or / and, the water cannon unit is covered with a protective cover to effectively protect the water cannon unit, electrical control module, communication module and corresponding motor to cope with the complex environment of the fire scene, thereby effectively preventing the motor and corresponding circuit module from being burned by fire or hit by foreign objects.
[0041] Or / and, the vision unit and wiper assembly are mounted on the lower wall of the cannon head, which can accurately acquire images from the cannon head's perspective, and effectively protect the vision unit and wiper assembly by using the cannon head's shielding.
[0042] Or / and, the self-spraying assembly includes an upright water pipe and a nozzle; the nozzle is mounted on the upper end of the water pipe, and its spray area is capable of covering the quadruped robot body and the water cannon unit.
[0043] To achieve one of the above objectives, the second technical solution of the present invention is as follows:
[0044] A fire-fighting robot, comprising a robot body and a water spray pipe;
[0045] The water spray pipe is mounted on the robot body and is equipped with a clip-type interface for connecting the water hose interface;
[0046] Adjacent card-type interfaces are provided with a power source to separate the hose connector from the card-type interface, forming a self-detaching structure;
[0047] The power source outputs driving force, which enables the water hose to detach from the robot body.
[0048] Through continuous exploration and experimentation, this invention equips the robot body with a water spray pipe and a snap-fit connector for connecting the hose. When firefighting is required, the hose connector and the snap-fit connector are assembled together to form a detachable water spray structure. When the robot completes firefighting or encounters danger, the power source outputs driving force to push the hose connector and the snap-fit connector apart, thereby allowing the hose to quickly detach from the robot body, facilitating the robot body to leave the firefighting site quickly and safely.
[0049] Therefore, this invention can effectively prevent the robot from tripping or losing balance and falling due to the water hose getting tangled, thereby effectively preventing the robot from being damaged or scrapped prematurely, thus extending the robot's service life. It has a simple structure, is practical and feasible.
[0050] As a preferred technical solution:
[0051] The water spray pipe is equipped with a cannon head, which is a tubular structure, a water gun structure, a water cannon structure, or a cylindrical structure, and is made of metal material, fireproof material, or composite material.
[0052] Or / and, the water spray pipe is a tubular, strip, or cylindrical structure, and is made of metal, fire-resistant, or composite materials;
[0053] Or / and, also includes a water hose, which is a plain weave or twill weave water hose made of rubber and synthetic fiber materials, or made of polyurethane and synthetic fiber materials.
[0054] Furthermore, the water hose is composed of a synthetic fiber woven layer and an inner lining layer; wherein the material of the inner lining layer is polyurethane, polyvinyl chloride, fluororubber or EPDM rubber, and the material of the synthetic fiber woven layer is polyester, nylon or aramid.
[0055] Or / and, the card-type interface and the water hose interface are respectively card-type fire-fighting interface, snap-on interface, clamp interface, pin interface or screw interface;
[0056] Or / and, the power source is a push rod motor, hydraulic rod, pneumatic rod, rotary motor, or motor with a ball screw structure.
[0057] As a preferred technical solution:
[0058] The power source is fixed at the adjacent card-type interface of the water spray pipe, and a movable push ring is fitted on it;
[0059] The movable push ring is fixedly connected to the movable end of the power source; when the card interface and the hose interface need to be separated, the power source pushes the movable push ring to separate the hose interface from the card interface.
[0060] Alternatively, the power source is a third push rod motor, which is equipped with an arched connecting rod and a guide rod between itself and the movable push ring. The third push rod motor pushes the movable push ring through the arched connecting rod and the guide rod.
[0061] After the firefighting operation is completed, the third push rod motor is controlled by the wireless communication module. The third push rod motor pushes the movable push ring, thereby disengaging the hose connector from the card connector and achieving automatic hose release. Compared with other hose release solutions, it adopts a single motor drive and arched connecting rod symmetrical transmission structure, which has a short transmission link, compact structure, small drive current, uniform and reliable force distribution, simple component structure, and low cost.
[0062] Furthermore, the movable push ring is a square ring, a circular ring, a triangular ring, or a curved ring; it can be a complete ring or a ring with partial gaps.
[0063] As a preferred technical solution:
[0064] The water spray pipe is a water cannon pipe, which is fixed on the water cannon base to form a water cannon unit.
[0065] The water cannon base or the water cannon pipe is provided with a first push rod drive source for controlling the vertical swing of the cannon head and a second push rod drive source for controlling the lateral swing of the cannon head; or the water cannon pipe is provided with a first push rod drive source for controlling the vertical swing of the cannon head; and the water cannon base is provided with a second push rod drive source for controlling the lateral swing of the cannon head.
[0066] The water cannon pipe and the cannon head are rotatably connected in sequence via a first connecting member and a second connecting member;
[0067] The first push rod drive source can output driving force to cause the cannon head to swing vertically relative to the robot body, and the second push rod drive source can output driving force to cause the cannon head to swing laterally relative to the robot body.
[0068] Furthermore, the water cannon unit of the present invention can be used not only for spraying water, but also for spraying foam, dry powder, gas, and their mixtures. Similarly, the water spray pipe and hose can not only transport water, but also foam, dry powder, gas, and their mixtures.
[0069] As a preferred technical solution:
[0070] The first push rod drive source is a first push rod motor, or a hydraulic rod, or a pneumatic rod, or a rotary motor, or a motor with a ball screw structure.
[0071] Or / and, the second push rod drive source is a second push rod motor or hydraulic rod or pneumatic rod or rotary motor or motor with ball screw structure;
[0072] Or / and, the first connecting part and the second connecting part are respectively ball valves, rotary joints, universal joints or ball connectors for adjusting the direction of water flow;
[0073] Or / and, the water hose is folded and placed on the abdomen of the robot body, with water hose interfaces at both ends;
[0074] Or / and, the water hose is fixed to the abdomen of the robot body by an elastic tightening strap.
[0075] As the robot moves towards the fire to extinguish it, the folded hose carried on its abdomen unfolds synchronously under the drag force, thus eliminating the need for manual laying of fire hoses. The structure is simple, practical, and feasible.
[0076] Or / and, the cannon head is located at the head of the robot body;
[0077] Or / and, the robot body is a quadruped robot, a humanoid robot, a bipedal robot, or a spherical robot.
[0078] Preferably, the robot body is a quadruped robot. The use of a quadruped robot to replace the traditional tracked chassis improves the flexibility of the fire-fighting robot and enhances its ability to overcome obstacles and climb stairs, enabling it to adapt to more complex terrains, such as stairs and narrow passages. This allows it to replace manual labor in carrying water hoses to approach the fire point for firefighting.
[0079] To achieve one of the above objectives, the third technical solution of the present invention is as follows:
[0080] A quadruped robot with good fire extinguishing effect includes a quadruped robot body, a water cannon pipe, a cannon head, and a water cannon base;
[0081] The water cannon pipe and the cannon head are rotatably connected in sequence via a first connecting member and a second connecting member;
[0082] The water cannon base or water cannon pipe is provided with a first push rod drive source for controlling the cannon head to swing in a first direction; the water cannon base is provided with a second push rod drive source for controlling the cannon head to swing in a second direction;
[0083] The first push rod drive source can output driving force to cause the cannon head to swing relative to the quadruped robot body in a first direction, and the second push rod drive source can output driving force to cause the cannon head to swing relative to the quadruped robot body in a second direction.
[0084] Through continuous exploration and experimentation, this invention fully considers the characteristics of high-pressure water flow. It incorporates a water cannon pipe, a cannon head, and a water cannon base into the quadruped robot body. A first and second connecting component allow the water cannon pipe and cannon head to rotate and connect. The water cannon base is equipped with a first push rod drive source for controlling the cannon head to swing in a first direction and a second push rod drive source for controlling the cannon head to swing in a second direction. By transforming the water cannon pipe and cannon head into a three-section structure that can rotate relative to each other, the adjustment resistance is effectively reduced. This allows for flexible, simple, and quick adjustment of the robot's water spray angle using a smaller driving force. Furthermore, compared to a ring adjustment structure, this invention enables precise control of the water spray direction, making it particularly suitable for water-based fire extinguishing scenarios.
[0085] Furthermore, this invention fully utilizes the excellent mobility and stability of quadruped robots, enabling the firefighting robot of this invention to operate stably in high-temperature environments, effectively resist smoke interference, and easily cope with various complex terrains. At the same time, this invention features long endurance, high stability, high fire extinguishing efficiency, and good adaptability to fire scenes.
[0086] Furthermore, the first direction is a vertical or inclined upward or inclined downward direction; the second direction is a horizontal or longitudinal direction or an inclined direction at a certain angle. Beneficial effects
[0087] Through continuous exploration and experimentation, this invention equips the robot body with a water spray pipe and a snap-fit connector for connecting the hose. When firefighting is required, the hose connector and the snap-fit connector are assembled together to form a detachable water spray structure. When the robot completes firefighting or encounters danger, the power source outputs driving force to push the hose connector away from the snap-fit connector, allowing the hose to quickly detach from the robot body, facilitating the robot's rapid and safe departure from the firefighting site. Therefore, this invention effectively prevents the robot from tripping or losing balance and falling due to hose entanglement, thus effectively preventing damage or premature scrapping of the firefighting robot and extending its service life. The structure is simple, practical, and feasible.
[0088] Furthermore, through continuous exploration and experimentation, this invention fully considers the characteristics of high-pressure water flow and incorporates a water cannon pipe, a cannon head, and a water cannon base into the quadruped robot body. The water cannon pipe and cannon head are rotatably connected via a first and a second connecting component. Simultaneously, the water cannon base is equipped with a first push rod drive source for controlling the cannon head to swing in a first direction and a second push rod drive source for controlling the cannon head to swing in a second direction. By transforming the water cannon pipe and cannon head into a three-section structure capable of relative rotation, the adjustment resistance is effectively reduced. This allows for flexible, simple, and quick adjustment of the robot's water spray angle using a smaller driving force. Compared to a ring adjustment structure, this invention enables precise control of the water spray direction, making it particularly suitable for water-based fire extinguishing scenarios.
[0089] Furthermore, this invention provides a fire-fighting robot that uses a quadruped robot instead of a traditional tracked chassis, improving the robot's flexibility and enhancing its ability to overcome obstacles and climb stairs, enabling it to adapt to more complex terrains such as stairs and narrow passages. It can replace manual labor in carrying fire hoses to approach the fire point for firefighting. During the process of advancing to the fire point, the folded fire hose carried on its abdomen unfolds synchronously under the drag force, thus eliminating the need for manual laying of fire hoses. After the firefighting operation is completed, the third push rod motor is controlled by a wireless communication module. The third push rod motor pushes a movable push ring, thereby disengaging the hose connector from the clip connector, achieving automatic hose release. Compared with other hose release solutions, it adopts a single-motor drive and arched linkage symmetrical transmission structure, resulting in a short transmission link and compact structure; low drive current, uniform and reliable force distribution; and simple component structure, making it inexpensive.
[0090] Furthermore, this invention enables fire-fighting robots to autonomously deploy fire hoses, spray water for fire extinguishing, and detach fire hoses for evacuation, ensuring that the fire-fighting robots can evacuate in a timely, rapid, and safe manner.
[0091] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description
[0092] Figure 1 is an overall schematic diagram of the fire-fighting robot of the present invention;
[0093] Figure 2 is an explosion diagram of the fire-fighting robot of the present invention;
[0094] Figure 3 is an exploded view of a portion of the fire-fighting robot of the present invention.
[0095] Figure 4 is a schematic diagram of the water cannon unit of the fire extinguishing robot of the present invention.
[0096] In the diagram: 1. Quadruped robot body; 101. Front observation camera; 2. Water hose; 3. Water cannon base; 4. Water cannon pipe; 5. Cannon head; 6. Card-type interface; 7. First push rod motor; 8. Second push rod motor; 9. Visible light lens; 10. Thermal imaging lens; 11. Electrical control module; 12. Wireless communication module; 13. Water hose interface; 14. Movable push ring; 15. Third push rod motor; 16. Arched connecting rod; 17. Guide rod; 18. Wiper assembly; 19. Sprayer assembly; 20. First connecting piece; 21. Second connecting piece; 22. Elastic tightening strap; 23. Mounting plate; 24. Protective cover; 25. Fastener with wrench; 191. Water pipe; 192. Sprayer head. Embodiments of the present invention
[0097] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.
[0098] It should be noted that when two components are "fixedly connected," "fixed," or "rotatably connected," the two components can be directly connected or connected through an intermediate component. Conversely, when a component is referred to as being "directly on" another component, there is no intermediate component. The terms "horizontal," "vertical," "lateral," "upper," "lower," "left," "right," and similar expressions used in this document are for illustrative purposes only.
[0099] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.
[0100] As shown in Figures 1, 2, 3, and 4, the first specific embodiment of the fire-fighting robot of the present invention is as follows:
[0101] A fire-fighting robot includes a quadruped robot body 1 with a front observation camera 101, a water cannon unit fixed to the back of the quadruped robot body 1, and a water hose 2 placed on the abdomen of the quadruped robot body 1. The water cannon unit includes a water cannon base 3 and a water cannon pipe 4 fixed to the water cannon base 3. One end of the water cannon pipe 4 is movably connected to a cannon head 5, and the other end is provided with a snap-fit interface 6. The water cannon base 3 is provided with a first push rod motor 7 for controlling the up-and-down swing of the cannon head 5 and a second push rod motor 8 for controlling the left-and-right swing of the cannon head 5. A vision unit for smoke and fire detection is fixed on the cannon head 5. The vision unit includes a visible light lens 9 and a thermal imaging lens 10.
[0102] The water cannon base 3 or the quadruped robot body 1 is equipped with an electronic control module 11 and a wireless communication module 12 that communicates with a remote control terminal. The electronic control module 11 is used to control the actions of the first push rod motor 7 and the second push rod motor 8.
[0103] The water hose 2 is folded and placed on the abdomen of the quadruped robot body 1, with water hose interfaces 13 at both ends. One of the water hose interfaces 13 is detachably connected to the snap-fit interface 6. The snap-fit interface 6 is fitted with a movable push ring 14. A third push rod motor 15 is fixed on the water cannon pipe 4. When the snap-fit interface 6 and the water hose interface 13 need to be separated, the third push rod motor 15 pushes the movable push ring 14 to disengage the water hose interface 13 from the snap-fit interface 6.
[0104] Furthermore, the up-and-down swing can be a vertical swing, an upward swing, or a downward swing; the left-and-right swing can be a swing on a horizontal plane, or a horizontal swing, a vertical swing, or a tilted swing.
[0105] In this embodiment: an arched connecting rod 16 and a guide rod 17 are assembled between the third push rod motor 15 and the movable push ring 14. The third push rod motor 15 pushes the movable push ring 14 through the arched connecting rod 16 and the guide rod 17. The vision unit also includes a wiper assembly 18 for cleaning the visible light lens 9 and the thermal imaging lens 10. The vision unit and the wiper assembly 18 are mounted on the lower wall of the gun head 5, which can accurately acquire images from the perspective of the gun head 5, and effectively protect the vision unit and the wiper assembly 18 by means of the shielding provided by the gun head 5.
[0106] The water cannon base 3 or water cannon pipe 4 is equipped with a self-spraying assembly 19, which includes an upright water pipe 191 and a nozzle 192. The nozzle 192 is mounted on the upper end of the water pipe 191, and its spray area can cover the quadruped robot body 1 and the water cannon unit, so that the fire-fighting robot can spray water to cool itself during fire-fighting operations and prevent damage caused by high temperatures in the fire scene. The wiper assembly 18 wipes water stains and dirt from the visible light lens 9 and the thermal imaging lens 10 to prevent the lenses from being blocked and affecting remote control.
[0107] In this embodiment: the water cannon pipe 4 and the cannon head 5 are rotatably connected in sequence through the first connecting member 20 and the second connecting member 21. The first push rod motor 7 drives the cannon head 5 to swing up and down by extension and retraction. The second push rod motor 8 drives the cannon head 5 to swing left and right by extension and retraction. The water hose 2 is fixed to the abdomen of the quadruped robot body 1 by the elastic tightening strap 22. The cannon head 5 is located at the head of the quadruped robot body 1.
[0108] In this embodiment: the water cannon base 3 is composed of one or more brackets, the brackets are U-shaped structures, and are assembled on the quadruped robot body 1 through mounting plate 23.
[0109] The mounting plate 23 is fixed to the back of the quadruped robot body 1 by fasteners 25 with wrenches, allowing the water cannon unit to be installed on the quadruped robot in a modular manner. This enables the water cannon unit to be quickly installed on the quadruped robot, facilitating flexible modification of existing quadruped robots. The solution is simple, practical, and feasible. Simultaneously, a protective cover 24 covers the water cannon unit to effectively protect the water cannon unit, the electrical control module 11, and the corresponding motors to cope with the complex environment of a fire scene.
[0110] Existing automated fire monitors mostly use a "stepper motor + worm gear" as the head angle adjustment mechanism. At the same time, the monitor body pipes are tortuous, the structure is large and heavy, and the center of gravity is high, making it unsuitable for use on quadruped robots. In contrast, the angle of the head 5 in this technical solution is controlled by a "push rod motor + ball valve", which realizes the up and down and left and right adjustment of the head 5. It is easy to operate, the body is straight, the whole structure is compact, and the center of gravity is low, making it suitable for mounting on the quadruped robot body 1.
[0111] A second specific embodiment of the fire-fighting robot of the present invention:
[0112] A fire-fighting robot includes a robot body, a water spray pipe, and a water hose 2;
[0113] A water spray pipe is mounted on the robot body, with a nozzle 5 for spraying water at one end and a snap-fit connector 6 for connecting a water hose 2 at the other end; the water hose 2 has a hose connector 13; the hose connector 13 and the snap-fit connector 6 are assembled together to form a detachable structure; an adjacent detachable structure is provided with a power source for separating the hose connector 13 from the snap-fit connector 6; the power source outputs driving force, which enables the water hose 2 to detach from the robot body.
[0114] The third specific embodiment of the fire-fighting robot of the present invention:
[0115] A fire-fighting robot includes a robot body and a water spray pipe. The water spray pipe is mounted on the robot body, with a nozzle at one end for spraying water and a snap-fit connector 6 at the other end for connecting to a hose connector 13. A power source is provided next to the snap-fit connector 6 to separate the hose connector 13 from the snap-fit connector 6, forming a self-detaching hose structure. The power source outputs driving force to detach the hose 2 from the robot body.
[0116] In this embodiment: a cannon head 5 is mounted on the nozzle. The cannon head 5 is a tubular structure made of metal. The cannon head 5 is located at the head of the robot body, which is a quadruped robot or a humanoid robot.
[0117] The sprinkler pipe is a water cannon pipe 4, which is made of metal. The water hose 2 is a plain weave hose, which is made of polyurethane. The clip-on connector 6 and the hose connector 13 are clip-on fire hose connectors.
[0118] In this embodiment: the power source is fixed at the adjacent card-type interface 6 of the water cannon pipe 4, and a movable push ring 14 is sleeved on it; the movable push ring 14 is fixedly connected to the movable end of the power source; when the card-type interface 6 and the water hose interface 13 need to be separated, the power source pushes the movable push ring 14 to separate the water hose interface 13 from the card-type interface 6.
[0119] In this embodiment: the power source is a third push rod motor 15, which is equipped with an arched connecting rod 16 and a guide rod 17 between itself and the movable push ring 14. The third push rod motor 15 pushes the movable push ring 14 through the arched connecting rod 16 and the guide rod 17.
[0120] After the firefighting operation is completed, the third push rod motor 15 is controlled by the wireless communication module 12. The third push rod motor 15 pushes the movable push ring 14, thereby disengaging the hose connector 13 from the card connector 6, achieving automatic hose release. Compared with other hose release schemes, it adopts a structure of single motor drive and symmetrical transmission of arched connecting rod 16. The transmission link is short, the structure is compact, the drive current is small, the force is uniform and reliable, the component structure is simple, and the manufacturing cost is low.
[0121] In this embodiment: the water cannon pipe 4 is fixed on the water cannon base 3 to form a water cannon unit; the water cannon pipe 4 is provided with a first push rod drive source for controlling the vertical swing of the cannon head 5, and the water cannon base 3 is provided with a second push rod drive source for controlling the horizontal swing of the cannon head 5; the water cannon pipe 4 and the cannon head 5 are rotatably connected in sequence through a first connecting member 20 and a second connecting member 21; the first push rod drive source drives the cannon head 5 to swing vertically by outputting driving force, and the second push rod drive source drives the cannon head 5 to swing horizontally by outputting driving force.
[0122] Furthermore, a first push rod motor 7 is installed at the upper end of the water cannon pipe 4, so that the first push rod motor 7 is located at the rear end of the cannon head 5, which facilitates driving the cannon head 5 to swing up and down; a second push rod motor 8 is installed on the side wall of the water cannon base 3, so that the second push rod motor 8 is located on the side of the cannon head 5, which facilitates pushing the cannon head 5 to swing left and right. At the same time, the existing space of the water cannon unit can be utilized to the maximum extent, making the fire-fighting robot structure compact.
[0123] In this embodiment: the first push rod drive source is the first push rod motor 7; the second push rod drive source is the second push rod motor 8. The first connecting member 20 and the second connecting member 21 are spherical rotary joints used to adjust the direction of water flow. The water hose 2 is folded and placed on the abdomen of the robot body, with water hose interfaces 13 at both ends; and is fixed to the abdomen of the quadruped robot body 1 by elastic tightening straps 22.
[0124] As the robot moves towards the fire to extinguish it, the folded water hose 2 carried on its abdomen is simultaneously laid down under the dragging force, thus eliminating the need for manual laying of the fire hose 2. The structure is simple, practical, and feasible.
[0125] The fourth specific embodiment of the fire-fighting robot of the present invention
[0126] A quadruped robot with good fire extinguishing effect, using the above-mentioned fire extinguishing robot, includes a quadruped robot body 1, a water cannon pipe 4, a cannon head 5, a water cannon base 3, and a water hose 2; the water cannon pipe 4 and the cannon head 5 are rotatably connected in sequence through a first connecting member 20 and a second connecting member 21; the water cannon base 3 is provided with a first push rod drive source for controlling the cannon head 5 to swing in a first direction and a second push rod drive source for controlling the cannon head 5 to swing in a second direction; the first push rod drive source drives the cannon head 5 to swing in the first direction by outputting driving force, and the second push rod drive source drives the cannon head 5 to swing in the second direction by outputting driving force.
[0127] A specific embodiment of using the robot of this invention for fire extinguishing:
[0128] The fire extinguishing method using the fire-fighting robot of this invention comprises the following specific implementation steps:
[0129] S1: Start the quadruped robot body 1, fold the water hose 2 and fix it to the abdomen of the quadruped robot body 1 through the elastic tightening strap 22, and connect the water hose interfaces 13 at both ends of the water hose 2 to the card interface 6 and the water source outlet respectively.
[0130] S2: The remotely controlled fire extinguishing robot moves to the fire point. During this process, the water hose 2 is simultaneously lowered under the action of reverse drag force. At the same time, the smoke and fire information is obtained through the front observation camera 101 and the vision unit, and transmitted back to the remote control terminal through the wireless communication module 12.
[0131] S3: After the fire-fighting robot moves to the fire point, it circulates water through the water hose 2. The remote control unit observes the location of the fire point through the vision unit and adjusts the water outlet angle of the nozzle 5 through the first push rod motor 7 and the second push rod motor 8. At the same time, the self-spraying assembly 19 is turned on to cool down and protect the fire-fighting robot itself.
[0132] S4: After the fire extinguishing operation is completed, the water supply is stopped. The remote control terminal pushes the movable push ring 14 through the third push rod motor 15, thereby pushing the water hose interface 13 to separate from the card interface 6, thereby realizing the separation of the water hose 2 from the quadruped robot body 1, so that the quadruped robot body 1 can quickly leave the fire extinguishing operation site.
[0133] In this application, the fixed connection or fixed connection method can be riveting, plugging, or connection through a third component. Those skilled in the art can choose according to the actual working conditions.
[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.
Claims
1. A fire-fighting robot, characterized in that, It includes a quadruped robot body (1), a water cannon unit fixed to the back of the quadruped robot body (1), and a water hose (2) placed on the abdomen of the quadruped robot body (1). The water cannon unit includes a water cannon base (3) and a water cannon pipe (4) fixed on the water cannon base (3). One end of the water cannon pipe (4) is movably connected to the cannon head (5), and the other end is provided with a snap-fit interface (6). The water cannon base (3) or the water cannon pipe (4) is provided with a first push rod motor (7) for controlling the up and down swing of the cannon head (5), and the water cannon base (3) is provided with a second push rod motor (8) for controlling the left and right swing of the cannon head (5). The water hose (2) is folded and placed on the abdomen of the quadruped robot body (1), and both ends are provided with water hose interfaces (13). One of the water hose interfaces (13) is connected to the card interface (6) in a detachable manner. The card-type interface (6) is fitted with a movable push ring (14), and a third push rod motor (15) is fixed on the water cannon pipe (4). When the card-type interface (6) and the water hose interface (13) need to be separated, the third push rod motor (15) pushes the movable push ring (14) to separate the water hose interface (13) from the card-type interface (6).
2. The fire-fighting robot as described in claim 1, characterized in that, An arched connecting rod (16) and a guide rod (17) are connected in sequence between the third push rod motor (15) and the movable push ring (14). The third push rod motor (15) pushes the movable push ring (14) through the arched connecting rod (16) and the guide rod (17).
3. A fire-fighting robot as described in claim 2, characterized in that, The water cannon pipe (4) and the cannon head (5) are rotatably connected by the first connector (20) and the second connector (21) in sequence. The first push rod motor (7) drives the cannon head (5) to swing up and down through the push rod extension and retraction action, and the second push rod motor (8) drives the cannon head (5) to swing left and right through the push rod extension and retraction action. Or / and, the water hose (2) is fixed to the abdomen of the quadruped robot body (1) by an elastic tightening strap (22); Or / and, the cannon head (5) is located on the head of the quadruped robot body (1); Or / and, a vision unit for fire detection is fixed on the gun head (5); The vision unit includes a visible light lens (9) and / or a thermal imaging lens (10); or / and, the vision unit includes a wiper assembly (18) for cleaning the visible light lens (9) and / or the thermal imaging lens (10). Or / and, the water cannon base (3) or the water cannon pipe (4) is provided with a self-spraying assembly (19). Or / and, the water cannon base (3) or the quadruped robot body (1) is provided with an electronic control module (11) and a wireless communication module (12) for communicating with a remote control terminal. The electronic control module (11) is used to control the action of the first push rod motor (7) and the second push rod motor (8). Or / and, the quadruped robot body (1) is equipped with a pre-assembly observation camera (101).
4. A fire-fighting robot as described in claim 3, characterized in that, The water cannon base (3) consists of one or more brackets, which are X-shaped, V-shaped, U-shaped or square-shaped structures, and are mounted on the quadruped robot body (1) by mounting plate (23). The mounting plate (23) is fixed to the back of the quadruped robot body (1) by fasteners (25) with wrenches or bolts, so that the water cannon unit can be installed on the quadruped robot in a modular manner. Or / and, the water cannon unit is covered by a protective cover (24). Or / and, the vision unit and wiper assembly (18) are mounted on the lower wall of the gun head (5); Or / and, the self-spraying assembly (19) includes an upright water pipe (191) and a nozzle (192); the nozzle (192) is mounted on the upper end of the water pipe (191) and its spray area is capable of covering the quadruped robot body (1) and the water cannon unit.
5. A fire-fighting robot, characterized in that, Includes the robot body and water spray pipes; The water spray pipe is mounted on the robot body and is equipped with a card-type interface (6) for connecting the water hose interface (13). The adjacent card-type interface (6) is provided with a power source to separate the water hose interface (13) from the card-type interface (6), forming a self-detaching structure; The power source outputs driving force, which enables the water hose (2) to detach from the robot body.
6. A fire-fighting robot as described in claim 5, characterized in that, The water spray pipe is equipped with a cannon head (5), which is a tubular structure, a water gun structure, a water cannon structure, or a cylindrical structure, and is made of metal material, fireproof material, or composite material. Or / and, the water spray pipe is a tubular, strip, or cylindrical structure, and is made of metal, fire-resistant, or composite materials; Or / and, also includes a water hose (2), which is a plain weave water hose or a twill weave water hose made of rubber and synthetic fiber materials, or made of polyurethane and synthetic fiber materials; Or / and, the card-type interface (6) and the water hose interface (13) are respectively card-type fire-fighting interface or snap-on interface or clamp interface or pin interface or screw interface; Or / and, the power source is a push rod motor, hydraulic rod, pneumatic rod, rotary motor, or motor with a ball screw structure.
7. A fire-fighting robot as described in claim 5, characterized in that, The power source is fixed at the adjacent card interface (6) of the water spray pipe, and a movable push ring (14) is fitted on it. The movable push ring (14) is fixedly connected to the movable end of the power source; when the card interface (6) and the water hose interface (13) need to be separated, the power source pushes the movable push ring (14) to separate the water hose interface (13) from the card interface (6); Alternatively, the power source is a third push rod motor (15), which is equipped with an arched connecting rod (16) and a guide rod (17) between itself and the movable push ring (14). The third push rod motor (15) pushes the movable push ring (14) through the arched connecting rod (16) and the guide rod (17).
8. A fire-fighting robot as described in claim 6, characterized in that, The water spray pipe is a water cannon pipe (4), which is fixed on the water cannon base (3) to form a water cannon unit; The water cannon base (3) or the water cannon pipe (4) is provided with a first push rod drive source for controlling the vertical swing of the cannon head (5) and a second push rod drive source for controlling the horizontal swing of the cannon head (5); or the water cannon pipe (4) is provided with a first push rod drive source for controlling the vertical swing of the cannon head (5); the water cannon base (3) is provided with a second push rod drive source for controlling the horizontal swing of the cannon head (5); The water cannon pipe (4) and the cannon head (5) are rotatably connected in sequence through the first connector (20) and the second connector (21); The first push rod drive source can output driving force to drive the cannon head (5) to swing vertically relative to the robot body, and the second push rod drive source can output driving force to drive the cannon head (5) to swing laterally relative to the robot body.
9. A fire-fighting robot as described in claim 8, characterized in that, The first push rod drive source is a first push rod motor (7) or a hydraulic rod or a pneumatic rod or a rotary motor or a motor with a ball screw structure; Or / and, the second push rod drive source is a second push rod motor (8) or a hydraulic rod or a pneumatic rod or a rotary motor or a motor with a ball screw structure; Or / and, the first connecting part (20) and the second connecting part (21) are respectively ball valves, rotary joints, universal joints or ball connectors for adjusting the direction of water flow; Or / and, the water hose (2) is folded and placed on the abdomen of the robot body, and water hose interfaces (13) are provided at both ends. Or / and, the water hose (2) is fixed to the abdomen of the robot body by an elastic tightening strap (22); Or / and, the cannon head (5) is located at the head of the robot body; Or / and, the robot body is a quadruped robot, a humanoid robot, a bipedal robot, or a spherical robot.
10. A quadruped robot with good fire extinguishing effect, characterized in that, It includes the quadruped robot body (1), water cannon pipe (4), cannon head (5) and water cannon base (3); The water cannon pipe (4) and the cannon head (5) are rotatably connected in sequence through the first connector (20) and the second connector (21); The water cannon base (3) or water cannon pipe (4) is provided with a first push rod drive source for controlling the cannon head (5) to swing in a first direction; the water cannon base (3) is provided with a second push rod drive source for controlling the cannon head (5) to swing in a second direction. The first push rod drive source can output driving force to drive the cannon head (5) to swing in a first direction relative to the quadruped robot body (1), and the second push rod drive source can output driving force to drive the cannon head (5) to swing in a second direction relative to the quadruped robot body (1).