CN107185140B

CN107185140B - Pneumatic fire-fighting robot

Info

Publication number: CN107185140B
Application number: CN201710600165.6A
Authority: CN
Inventors: 宋卫国; 宋京涛; 黄中意; 夏龙
Original assignee: University of Science and Technology of China USTC
Current assignee: University of Science and Technology of China USTC
Priority date: 2017-07-21
Filing date: 2017-07-21
Publication date: 2022-10-28
Anticipated expiration: 2037-07-21
Also published as: CN107185140A

Abstract

The invention discloses a pneumatic fire-fighting robot, which comprises a vehicle body provided with a moving device, a water cannon arranged on the vehicle body, a pneumatic motor for driving the moving device, a gas storage tank for providing high-pressure gas for the pneumatic motor, and a gas path valve control device for controlling the starting, stopping and forward and reverse rotation of the pneumatic motor, wherein the vehicle body is provided with a gas receiving pipeline connected with the gas storage tank and capable of being connected with an external high-pressure gas source, and a high-pressure water receiving pipeline connected with the water cannon and capable of being connected with an external high-pressure water source. According to the pneumatic fire-fighting robot, the pneumatic driving mode different from that of a traditional robot is adopted, the fire resistance, the explosion resistance and the flexibility of the robot are enhanced, the cost of a vehicle body is reduced, the robot can work closer to a fire source, and the efficiency is improved.

Description

Pneumatic fire-fighting robot

Technical Field

The invention relates to the technical field of robots, in particular to a pneumatic fire-fighting robot.

Background

At present, many fire-fighting robots are gradually added to a fire-fighting task to replace fire-fighting and fire-fighting personnel to carry out fire-fighting operations on the line.

For example, a fire-fighting robot moving carrier disclosed in patent document CN105059413A has a waterproof feature, in which a motor is used to provide power for walking and other moving parts, and a battery and a driving circuit are mounted inside the fire-fighting robot moving carrier.

In addition, the crawler-type intelligent fire-fighting robot with the publication number of CN203060641U adopts diesel oil as power, the robot is provided with an air compressor driven by a diesel engine, the air compressor generates high-pressure gas to drive a pneumatic motor and an air cylinder to drive the robot, the robot can resist the high temperature below 400 ℃, but the mechanism is complex, the cost is high, and the diesel oil tank has the risk of explosion at the high temperature.

However, since the robot carries a precise and complicated power mechanism, the cost is high; almost all robots need to carry an oil tank or a battery, so that the high temperature resistance and the explosion resistance of the robots are poor; most robots need to carry fire hoses to work, and the friction force between the fire hoses filled with water and the ground is large, so that the robots are difficult to move.

Disclosure of Invention

In view of this, the present invention provides a pneumatic fire-fighting robot, which adopts a pneumatic driving mode different from that of a conventional robot, enhances fire resistance, explosion resistance and flexibility of the robot, reduces cost of a vehicle body, can work closer to a fire source, and improves efficiency.

The invention provides a pneumatic fire-fighting robot which comprises a vehicle body provided with a moving device, a water cannon arranged on the vehicle body, a pneumatic motor driving the moving device, a gas storage tank used for providing high-pressure gas for the pneumatic motor, and a gas path valve control device used for controlling the starting, stopping and forward and reverse rotation of the pneumatic motor, wherein a gas receiving pipeline connected with the gas storage tank and capable of being connected with an external high-pressure gas source, and a high-pressure water receiving pipeline connected with the water cannon and capable of being connected with an external high-pressure water source are arranged on the vehicle body.

Preferably, the gas receiving device further comprises a water-gas double-layer pipe belt, the water-gas double-layer pipe belt comprises an inner layer pipeline and an outer layer pipeline sleeved on the periphery of the inner layer pipeline, one of the inner layer pipe belt and the outer layer pipe belt is connected with the gas receiving pipeline, and the other one of the inner layer pipe belt and the outer layer pipe belt is connected with the high-pressure water receiving pipeline.

Preferably, the outer layer pipeline is connected with the high-pressure water receiving pipeline, the inner layer pipeline is connected with the gas receiving pipeline, and the outer layer pipeline is provided with a water discharging gas pipe communicated with the inside of the outer layer pipeline and capable of being connected with an external high-pressure gas source.

Preferably, the left side and the right side of the vehicle body are provided with the moving devices, the number of the pneumatic motors is two, the pneumatic motors are in one-to-one transmission connection with the moving devices, and the air passage valve control devices can respectively control the positive and negative rotation of the pneumatic motors.

Preferably, the lifting driving device is connected with the water cannon and used for driving the water cannon to lift.

Preferably, the water cannon is rotatably connected to the vehicle body, and the lifting driving device is used for driving the water cannon to rotate so as to lift the cannon mouth end of the water cannon.

Preferably, the lifting driving device is a cylinder connected with the air storage tank, and the air path valve control device can control the extension and retraction of a piston rod of the cylinder.

Preferably, the gas receiving pipeline is sleeved inside the high-pressure water receiving pipeline.

Preferably, the drain pipe is arranged at a position close to one end of the outer layer pipeline for connecting the external high-pressure water source.

Preferably, the cylinder is connected with the water cannon through a connecting rod, and a spring is connected between the cylinder and the connecting rod.

Preferably, the air passage valve control means includes three air passages connected between the air storage tank and the two air motors and the air cylinder, and valve means controlling the respective air passages.

Preferably, the moving means comprises a drive wheel and a track driven by the drive wheel.

According to the technical scheme provided by the invention, an external high-pressure water source and an external high-pressure air source can remotely supply high-pressure air and high-pressure water to an air storage tank and a water cannon respectively through a fire hose and an air belt, part of the high-pressure air in the air storage tank is used for providing high-pressure air to a pneumatic motor so as to drive a vehicle body by the pneumatic motor, and an air path valve control device is used for controlling the starting, stopping, forward and reverse rotation of the pneumatic motor so as to control the forward, reverse and steering of the vehicle body. The pneumatic fire-fighting robot provided by the invention does not need to carry a motor, an oil tank, a battery and the like, has the advantages of high temperature resistance and good explosion resistance, and is simple in structure and low in manufacturing cost.

In addition, in a preferred scheme of the invention, the outer layer pipeline is connected with the high-pressure water receiving pipeline, the inner layer pipeline is connected with the gas receiving pipeline, and the outer layer pipeline is provided with a drainage gas pipe which is communicated with the inside of the outer layer pipeline and can be connected with an external high-pressure gas source. The double-deck pipe of aqueous vapor takes the outside to be the water route promptly, and inside is the gas circuit, and the water route can be for inside gas circuit provides fire prevention function, avoids the gas circuit to be burnt by the fire and decreases.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic exterior view of a pneumatic fire-fighting robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the interior of the pneumatic fire-fighting robot in the embodiment of the invention;

FIG. 3 is a schematic view of a gas circuit valve control apparatus according to an embodiment of the present invention;

FIG. 4 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a schematic structural diagram of a water-gas integrated pipeline system according to an embodiment of the present invention;

FIG. 6 is a schematic view of a water cannon in accordance with an embodiment of the present invention.

In fig. 1-6:

1. a vehicle body; 2. a mobile device; 21. a drive wheel; 22. a thrust wheel; 23. a baffle plate; 24. a driven wheel; 25. a crawler belt; 26. a coupling; 27. a pneumatic motor; 3. a water cannon lift system; 31. a cylinder; 32. a fisheye joint; 33. a connecting rod; 34. a spring; 35. a Y-shaped water cannon support; 36. water cannons; 4. a water-gas integrated pipeline system; 41. a water path and gas path separating device; 411. a gas receiving line; 412. a water and gas receiving port; 413. an outlet of the high-pressure air pipe; 414. an outlet of the high-pressure water pipe; 42. a water-gas double-layer pipe belt; 421. an inner layer pipeline; 422. an outer layer pipeline; 43. a water path and air path combining device; 431. a power air pipe; 432. a water discharge air pipe; 433. a water and gas delivery interface; 434. a high pressure water pipe; 5. a gas circuit valve control device; 51. a two-position five-way reversing valve; 52. an electromagnetic valve; 53. an input pipeline; 54. an exhaust line; 55. an output pipeline; 6. an air storage tank.

Detailed Description

An object of this embodiment is to provide a pneumatic fire-fighting robot, and it has adopted the pneumatic drive mode who is different from traditional robot, has strengthened the fire resistance of robot, blast resistance and flexibility, has reduced the cost of automobile body, can be closer to the operation of fire source, raises the efficiency. Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.

Referring to fig. 1 and 2, the pneumatic fire-fighting robot provided in this embodiment includes a vehicle body 1 provided with a moving device 2, a water cannon 36 disposed on the vehicle body 1, a pneumatic motor 27 for driving the moving device 2, an air storage tank 6 for supplying high-pressure air to the pneumatic motor 27, and an air passage valve control device 5 for controlling the start, stop, forward and reverse rotation of the pneumatic motor 27, wherein the vehicle body 1 is provided with an air receiving pipeline 411 connected to the air storage tank 6 and capable of being connected to an external high-pressure air source, and a high-pressure water receiving pipeline connected to the water cannon 36 and capable of being connected to an external high-pressure water source.

The moving device of the vehicle body may be specifically shown in fig. 1 and 2, and includes a driving wheel 21, a thrust wheel 22, a baffle 23, a driven wheel 24, a crawler 25, a coupling 26, and an air motor 27.

The pneumatic motors 27 are two and respectively and independently drive the driving wheels 21 on the two sides, the baffle 23 can play a role in preventing fire and impurities, and in the embodiment, the crawler-type moving device 2 can enable the pneumatic fire-fighting robot to normally walk in a complex fire environment.

It should be noted that the above-mentioned moving device 2 is a crawler-type moving device, which is a preferred solution of the present invention, and in other embodiments, the moving device 2 may be of other types, for example, a moving device without a crawler. The number of wheels of the moving device 2 can also be specifically set according to actual conditions.

When the two pneumatic motors 27 work, the pneumatic motors are respectively controlled by the air path valve control device 5, the pneumatic motors 27 are provided with two air inlet holes and one air outlet hole, air enters from different air inlet holes to realize positive and negative rotation, when the rotation directions of the two pneumatic motors 27 are consistent, the vehicle body 1 runs straight, and when the rotation directions are opposite, the robot turns.

In this embodiment, the driven wheel 24 of the pneumatic fire-fighting robot can be arranged at the rear, and during operation, the pneumatic motor 27 can convert the energy carried by the high-pressure gas into kinetic energy, which is connected with the driving wheel 21 through the coupling 26 to drive the track 25 to move.

In addition, the pneumatic fire-fighting robot that this embodiment provided can also include the double-deck pipe area of aqueous vapor, the double-deck pipe area of aqueous vapor includes inlayer pipeline 421 and the outer pipeline 422 of the periphery of cover at the inlayer pipeline, inlayer pipe area 421 and outer pipe area 422, one of them is connected with gas receiving pipe, another is connected with high pressure water receiving pipe, the double-deck pipe area of aqueous vapor can be accepted mouthful and is realized being connected with gas receiving pipe and high pressure water receiving pipe through aqueous vapor, so set up, set up aqueous vapor conveying pipeline into integral type structure, the structure has been simplified, can avoid causing the inconvenient problem of pneumatic fire-fighting robot walking because of conveying pipe in the scene of a fire as far as possible.

Further, the outer layer pipeline 422 is connected with a high-pressure water receiving pipeline, the inner layer pipeline 421 is connected with a gas receiving pipeline, the outer layer pipeline 422 is provided with a drainage air pipe 432 which is communicated with the inside of the outer layer pipeline and can be connected with an external high-pressure gas source, wherein the outer layer pipeline 422 is used for conveying high-pressure water, and meanwhile, the inner layer air pipe can play a role in fire protection, when the drainage air pipe 432 is filled with high-pressure gas, water in the outer layer pipeline can be discharged, and the robot can move conveniently. In this way, a water and gas integrated pipeline system 4 is formed, and for convenience of understanding, please refer to fig. 4, and the present embodiment will be described in detail with reference to fig. 4.

The water and gas integrated pipeline system 4 comprises a water path and gas path separating device 41, a water and gas double-layer pipe belt 42 and a water path and gas path combining device 43 which are connected in sequence through connectors. The water path and air path separating device 41 is arranged on the vehicle body and used for respectively conveying the conveyed water and air to the air storage tank and the water cannon. The water-gas double-layer pipe belt 42 and the water path and air path combining device 43 are arranged outside the vehicle body, and the water path and air path combining device 43 is used for being connected with an external high-pressure water source and an external air source.

The water path and gas path separating device 41 comprises a gas receiving pipeline 411, a water vapor receiving port 412, a high-pressure gas pipe outlet 413 and a high-pressure water pipe outlet 414, and is used for separating the input high-pressure gas and the input high-pressure water, wherein the high-pressure gas enters the gas storage tank 6 through the gas receiving pipeline 411 and the high-pressure gas pipe outlet 413, and the high-pressure water enters the water cannon 36 through the high-pressure water pipe outlet 414 and the Y-shaped water cannon support 35.

The water path and air path combining device 43 is disposed at a remote end, i.e., an end far away from the vehicle body, and includes a power air pipe 431, a drain air pipe 432, an air delivery port 433, and a high-pressure water pipe 434. The water path and air path combining device 43 is connected with the water path and air path separating device 41 through a water-gas double-layer pipe belt 42. When the high-pressure water pipe 434 is filled with high-pressure water, the power air pipe 431 is filled with high-pressure air, and the drainage air pipe 432 is blocked, the transportation of the high-pressure air and the high-pressure water can be realized; when the high-pressure water pipe 434 and the power air pipe 431 are blocked, the water stored in the water hose can be drained when high-pressure air is introduced into the drainage air pipe 432, and the movement is convenient.

In addition, in order to realize that the water cannon sprays water to positions with different heights to extinguish fire, a water cannon lifting system which is connected with the water cannon and drives the water cannon to lift can be further arranged. The water cannon lifting system can be specifically arranged as follows.

As shown in fig. 6, the water cannon lifting system 3 includes a cylinder 31, a fisheye joint 32, a connecting rod 33, a spring 34, a Y-shaped water cannon support 35, and a water cannon 36. The cylinder 31 can realize the horizontal movement of the piston by utilizing the flowing direction of high-pressure gas, the piston rod is sleeved with a spring 34, the piston can be positioned at different positions by controlling the air inflow, and the tail part of the piston rod is connected with a fisheye joint 32 and a connecting rod 33, so that the lifting height of the water cannon 36 is controlled.

The cylinder 31 may be controlled by the air passage valve control device 5, and the air passage valve control device 5 may be specifically provided as follows.

The air passage valve control box 5, as shown in fig. 3 and 4, includes 3 two-position five-way

directional valves

51,3 electromagnetic valves 52, an input pipeline 53, an exhaust pipeline 54, and an output pipeline 55. These components form three independent control units, and respectively control 3 routes of high-pressure gas conveyed by the gas storage tank 6. The high pressure gas enters the three-way control unit via input line 53 and then enters the two air motors 27 and cylinders 31, respectively, via output line 55. The control units of the pneumatic motors 27 on both sides realize forward/reverse rotation and start/stop of the pneumatic motors 27 by controlling the two-position five-way reversing valve 51 and the electromagnetic valve 52, and similarly, the control unit of the middle cylinder 31 realizes the in/out movement and position locking of the piston rod of the cylinder 31 by controlling the corresponding two-position five-way reversing valve and the electromagnetic valve. The exhaust line 54 may vent exhaust gases while providing for convective cooling of the air valve control box 5.

So set up, the pneumatic fire-fighting robot that this embodiment provided, its working process can be as follows:

when the robot moves, two situations are distinguished: 1. when the fire hose 422 has no water, high-pressure gas is introduced into the power air pipe 431, reaches the water path and air path separating device 41 through the water-air double-layer pipe belt 42, then enters the air path valve control box, controls the opening of the electromagnetic valve 52 of the starting motor 27 at the moment, and switches the corresponding state through the two-position five-way valve 51, so that the robot can go straight and turn. 2. When the fire hose 422 is full of water, the high-pressure gas needs to be introduced into the drain pipe 432, and after the water in the fire hose 422 is drained, the ventilation is stopped, and then the operation of case 1 is performed. When the robot is in fire extinguishing operation, the power air pipe 431 stops ventilating, the high-pressure water pipe 434 conducts high-pressure water, the high-pressure water flows through the fire hose 422, the high-pressure water pipe outlet 414 and the Y-shaped water cannon support 35 enter the water cannon 36 to conduct fire extinguishing operation; when the robot lifts the water cannon, high-pressure gas is introduced into the power gas pipe 431, reaches the water path and gas path separating device 41 through the water-gas double-layer pipe belt 42, enters the gas path valve control box 5, at the moment, the solenoid valve 52 of the control cylinder 31 is opened, the two-position five-way valve 51 switches the corresponding state, the movement of the piston of the control cylinder 31 is controlled, and the tail part of the piston rod is connected with the connecting rod 33, so that the lifting of the water cannon 36 is realized.

So set up, the pneumatic fire-fighting robot of aerodynamic force that this embodiment provided utilizes pneumatic drive and pneumatic control, moves up to safe rear with expensive accurate power unit from the robot that gos deep into the scene of a fire, and the robot only carries low in cost's equipment mechanism, even suffer to damage in the scene of a fire and also can not produce huge economic loss. In addition, the pneumatic fire-fighting robot provided by the embodiment uses high-pressure gas as power, so that the robot is prevented from being directly carried with flammable and explosive driving equipment with larger mass, such as a fuel engine, a large-capacity storage battery and the like, and the stability, fire resistance and explosion resistance of the robot are improved. In addition, the water for fighting in the fire hose can be discharged quickly and conveniently through the inflation mode, the burden of the robot can be reduced, the robot can drag the hose to move conveniently, and compared with a pneumatic fire-fighting robot which directly drags the hose, the action capability is stronger.

The above-mentioned scheme is exemplified in a progressive manner, and the schemes in the above-mentioned embodiments may be independent technical schemes or may be mutually overlapped. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pneumatic fire-fighting robot is characterized by comprising a vehicle body provided with a moving device, a water cannon arranged on the vehicle body, a pneumatic motor driving the moving device, a gas storage tank used for providing high-pressure gas for the pneumatic motor, and a gas path valve control device used for controlling the starting, stopping and forward and reverse rotation of the pneumatic motor, wherein a gas receiving pipeline connected with the gas storage tank and capable of being connected with an external high-pressure gas source, and a high-pressure water receiving pipeline connected with the water cannon and capable of being connected with an external high-pressure water source are arranged on the vehicle body;

the pneumatic fire-fighting robot further comprises a water-gas double-layer pipe belt, the water-gas double-layer pipe belt comprises an inner-layer pipeline and an outer-layer pipeline sleeved on the periphery of the inner-layer pipeline, one of the inner-layer pipeline and the outer-layer pipeline is connected with the gas receiving pipeline, and the other one of the inner-layer pipeline and the outer-layer pipeline is connected with the high-pressure water receiving pipeline;

the outer layer pipeline is connected with the high-pressure water receiving pipeline, the inner layer pipeline is connected with the gas receiving pipeline, and the outer layer pipeline is provided with a water discharging gas pipe which is communicated with the inside of the outer layer pipeline and can be connected with an external high-pressure gas source.

2. The pneumatic fire-fighting robot of claim 1, wherein the moving devices are provided on both left and right sides of the vehicle body, the number of the pneumatic motors is two, and the two pneumatic motors are in one-to-one transmission connection with the two moving devices, and the pneumatic circuit valve control device can control the forward and reverse rotation of the two pneumatic motors respectively.

3. The pneumatic fire fighting robot of claim 2, further comprising a lift driving device connected to the monitor to drive the monitor up and down.

4. The pneumatic fire fighting robot of claim 3, wherein said water cannon is rotatably coupled to said carriage body, and said elevation drive means is adapted to drive said water cannon to rotate to elevate a muzzle end of said water cannon.

5. The pneumatic fire-fighting robot as recited in claim 4, wherein said elevating drive means is a cylinder connected to said air tank, and said air passage valve control means is capable of controlling extension and retraction of a piston rod of said cylinder.

6. A pneumatic fire fighting robot as recited in claim 1, wherein said gas receiving line is nested inside said high pressure water receiving line.

7. A pneumatic fire fighting robot as recited in claim 1, wherein said drain hose is disposed adjacent to an end of said outer pipe for connection to said external high pressure water source.

8. A pneumatic fire fighting robot as recited in claim 5, wherein said cylinder is connected to said water cannon by a link, and a spring is connected between said cylinder and said link.

9. A pneumatic fire fighting robot as recited in claim 5, wherein said air passage valve control means includes three air passages connected between said air tank and both of said pneumatic motor and said air cylinder, and valve means controlling each air passage.

10. A pneumatic fire fighting robot as recited in claim 1, wherein said moving means comprises drive wheels and tracks driven by said drive wheels.