CN112847393B - Explosion-proof fire-fighting robot - Google Patents
Explosion-proof fire-fighting robot Download PDFInfo
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- CN112847393B CN112847393B CN202110000095.7A CN202110000095A CN112847393B CN 112847393 B CN112847393 B CN 112847393B CN 202110000095 A CN202110000095 A CN 202110000095A CN 112847393 B CN112847393 B CN 112847393B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D1/00—Devices using naturally cold air or cold water
- F25D1/02—Devices using naturally cold air or cold water using naturally cold water, e.g. household tap water
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- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
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- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, and particularly relates to an explosion-proof fire-fighting robot which comprises a shell; the shell is spherical, a working cavity is arranged in the shell, a balance block is fixedly connected to the middle of the bottom end of the working cavity, driving grooves are symmetrically formed in the bottom ends of the shell on two sides of the balance block, driving motors are symmetrically arranged at two ends in the driving grooves, the end parts of the driving motors are respectively connected with rollers through rotating shafts, and a camera capable of shooting an external environment is arranged in the shell; according to the invention, by arranging the structure of the fire-fighting robot, the shell of the robot can be effectively reset after being turned over, the roller can be always contacted and attached with the ground and can drive the shell to stably move forwards, the situation that the robot cannot continue to move forwards due to the fact that the robot is turned over is prevented, the capability of the robot for dealing with a complex fire scene is greatly improved, and the fire-fighting robot can stably and effectively survey the fire scene.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an explosion-proof fire-fighting robot.
Background
With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident probability is correspondingly improved. In case of disaster accidents, when a fireman faces the hazardous environments such as high temperature, darkness, toxicity and dense smoke, if no corresponding equipment rushes into the scene, the fireman can not complete the task and can also casualty by casualties in vain, and the explosion-proof fire-fighting reconnaissance robot is taken as one of special robots and plays a role in putting out a fire and rescuing more and more. Various large petrochemical enterprises, tunnels, subways and the like are continuously increased, and the hidden dangers of oil product gas and toxic gas leakage explosion, tunnel collapse, subway collapse and the like are continuously increased. The disasters have the characteristics of strong burst property, complex disposal process, huge harm, difficult prevention and treatment and the like, and become stubborn diseases. The explosion-proof fire-fighting reconnaissance robot can replace fire rescue personnel to enter dangerous disaster accident sites such as inflammable, explosive, toxic, anoxic and dense smoke for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire fighters in the places.
Some technical solutions related to explosion-proof fire-fighting robots also appear in the prior art, such as a chinese patent, patent No. 2019102043517, the invention provides an explosion-proof fire-fighting robot, which comprises a box body, wherein the inner wall of the bottom of the box body is provided with a first rotating hole, a rotating column is rotatably arranged in the first rotating hole and penetrates through the first rotating hole, a fixed block is fixedly arranged at the bottom of the box body, the top of the fixed block is provided with a fixed groove, the inner wall of the bottom of the fixed groove is fixedly provided with a first motor, the output shaft of the first motor is fixedly connected with the bottom end of the rotating column, the top of the rotating column is fixedly provided with a first bevel gear, the second of all having seted up on the both sides inner wall of box rotates the hole, rotates respectively in two second rotation holes and installs first pivot and second pivot, first pivot and second pivot run through corresponding second rotation hole respectively. The invention has high practicability, high fire extinguishing efficiency during rescue, high information collecting efficiency and improved rescue efficiency.
However, when the fire-fighting robot in the above technology encounters a fire scene with a complex terrain, the fire-fighting robot is prone to toppling and turning over when moving on an uneven ground, so that effective survey of the fire scene by the robot is affected.
In view of the above, the invention provides an explosion-proof fire-fighting robot, and by arranging the structure of the fire-fighting robot, the shell of the robot can be effectively reset after being turned over, the roller can be always contacted and attached with the ground and can drive the shell to stably move forward, so that the situation that the robot cannot continue to move forward due to the fact that the robot is turned over is prevented, the capability of the robot for dealing with a complex fire scene is greatly improved, and the fire-fighting robot can stably and effectively survey the fire scene.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides the explosion-proof fire-fighting robot, and the shell of the robot can be effectively reset after being turned over laterally by arranging the structure of the fire-fighting robot, and the roller can be always contacted and attached with the ground and can drive the shell to stably move forward, so that the situation that the robot cannot continuously move forward due to the fact that the robot is turned over laterally is prevented, the capability of the robot for dealing with complex fire scenes is greatly improved, and the fire-fighting robot can stably and effectively survey the fire scenes.
The technical scheme adopted by the invention for solving the technical problems is as follows: an explosion-proof fire-fighting robot comprises a shell; the robot comprises a shell, a driving motor, a controller and a robot, wherein the shell is spherical, a working cavity is arranged in the shell, a balance block is fixedly connected to the middle of the bottom end of the working cavity, driving grooves are symmetrically formed in the bottom ends of the shell at two sides of the balance block, the driving motors are symmetrically arranged at two ends in the driving grooves, the end parts of the driving motors are respectively connected with rollers which are attached to the ground through rotating shafts, a camera capable of shooting an external environment is arranged in the shell, and the controller is arranged in the shell and used for controlling the robot to automatically run; when the robot works, when a fire scene with complex terrain is encountered, the fire-fighting robot in the prior art is easy to topple and turn over, particularly when the robot moves on uneven ground, so that the effective survey of the robot on the fire scene is influenced; when the fire-fighting robot works, the controller can drive the rollers to rotate by controlling the driving motor to work, thereby leading the shell to move under the driving of the rollers, simultaneously leading the rollers at the two sides of the shell to be capable of adjusting the self advancing direction under the action of the rotating speed difference by controlling the rotating speed of the rollers, meanwhile, when the shell meets the uneven ground, the shell can roll by depending on the spherical surface, and can effectively reset under the gravity center action of the balance block, so that the roller can always contact and attach with the ground and can drive the shell to stably move forward, the condition that the robot cannot continue to move forward due to side turning is prevented, the capability of the robot for dealing with complex fire scenes is greatly improved, so that the fire-fighting robot can stably and effectively survey the fire scenes.
Preferably, a balance plate is arranged in the shell, a rotary groove is arranged in the balance plate, a rotary ball is rotatably connected in the rotary groove, a connecting rod is arranged at the bottom end of the rotary ball, a gravity block is arranged at the bottom end of the connecting rod, and the camera is mounted on the connecting rod; the during operation, when the casing takes place crooked, the connecting rod that sets up this moment drives the commentaries on classics ball and rotates at the rotating chute inside under the effect of gravity piece for the connecting rod is in vertical state all the time, thereby makes the camera on the connecting rod can carry out stable shooting to the scene of fire, prevents that the casing from taking place to rock or crooked lead to the camera to rock in step or crooked at the in-process of marcing, thereby influences the camera and stablizes the condition of shooing to the scene of fire, has further improved the stability of robot at the during operation.
Preferably, support plates are respectively arranged in the shell on one side of the motor, water bags are respectively arranged on the support plates, a pressure plate is arranged on the side wall of the rotating shaft corresponding to the bottom end of each water bag, the rotating shaft can drive the outer end of the pressure plate to extrude the water bags on the top when rotating, a water outlet groove is formed in the side wall of the shell, and the inner end of the water outlet groove is connected with the water bags through a water pipe; the during operation, at the in-process that the casing was marchd, the pivot can drive the clamp plate and rotate in step to carry out intermittent type nature extrusion to the water pocket of one side, the water pocket can pass through the water pipe with the cooling water of inside when the pressurized and impress water outlet tank department this moment, and can follow water outlet tank blowout to the casing surface, thereby can cool down the casing surface, prevent that casing surface temperature is too high and influence the condition of the effective work of robot.
Preferably, the water outlet groove is arranged on the outer surface corresponding to the top end of the vertical axis of the shell, and the water pipe is connected with the bottom end of the water bag; during operation, through setting up the position of play basin for from the most top of casing from the top down to flow all around of play basin spun cooling water, thereby make cooling water can bigger area with the surface contact of casing and to its cooling, make the surface of the casing can more fully even cooling, simultaneously through setting up the water pipe in the water pocket bottom, make the cooling water more fully flow out through the water pipe of water pocket bottom, the effectual utilization effect that improves the inside cooling water of water pocket.
Preferably, the top end of the shell is provided with an arc-shaped plate capable of shielding the top end of the water outlet groove; the during operation, when the cooling water is from the basin blowout, spun cooling water can be beaten on the arc on top this moment, make the rivers of beating on the arc can more even scatter or along the face of arc to all directions following current, this moment from basin spun cooling water can more abundant even the falling on the casing surface, and make the casing surface obtain more abundant even cooling treatment, prevent rivers and concentrate the bundling and to the not good condition of casing external surface cooling effect when the blowout, also prevent simultaneously that direct spun rivers from falling on external object and being difficult to the condition of flowing to the casing surface, the cooling effect of casing surface has further been improved.
Preferably, a pressure ball capable of plugging the top end of the water outlet groove is arranged at the opening of the water outlet groove, an elastic body is connected between the bottom end of the pressure ball and the inner end of the water outlet groove, a water absorbing layer is arranged between the arc-shaped plate and the corresponding outer surface of the shell, and one-way valves are respectively arranged at the positions where the inner end of the water outlet groove is communicated with the water pipe; when the water cooling device works, when cooling water in the water bag is extruded out through the water pipe, the cooling water is preserved in the water outlet groove cavity on the inner side of the pressure ball in advance under the action of the one-way valve, when the water flow in the cavity is full, the cooling water is pressed into the water outlet groove again, the pressure ball slides towards the outer end of the water outlet groove under the action of the water pressure at the inner end, meanwhile, the water flow overflowing from the inner part of the water outlet groove can be absorbed by the water absorbing layer and preserved in the water outlet groove, the moving pressure ball can extrude the water absorbing layer at the top end of the pressure ball, so that the cooling water stored in the water absorbing layer can be extruded out after being pressed, and the extruded cooling water can smoothly flow in all directions of the outer surface of the shell and cool the shell; the cooling water is preserved and stably released in advance through the water absorbing layer, so that the situation that the effective amount of the cooling water is reduced due to splashing after water flow is directly sprayed is prevented, and the utilization rate of the cooling water in the water bag is greatly improved.
Preferably, the side wall of the pressure ball is connected with a pressure plate, and the outer ends of the pressure plate respectively penetrate through the inside of the water absorbing layer; the during operation, when pressure ball upward movement, pressure ball can drive the pressure plate and carry out more abundant compression to water absorption layer top this moment, and the pressure plate can compress to water absorption layer bottom when the downstream simultaneously to make the cooling water that absorbs water the inside storage of layer can more timely abundant extrusion and cool down the casing, further improved the cooling effect of casing surface.
Preferably, the shell consists of two hemispherical unit shells, the end parts of the two unit shells which are matched with each other are respectively provided with an annular extending part and a recessed part, and the extending part is in threaded connection with the recessed part; the during operation through the constitution and the connected mode that set up the casing for the casing is convenient more to be dismantled and the installation, and the casing surface is more smooth level and smooth after the installation simultaneously, thereby makes things convenient for effective roll and the reseing of casing, has further improved the result of use of robot.
The invention has the following beneficial effects:
1. according to the invention, by arranging the structure of the fire-fighting robot, the shell of the robot can be effectively reset after being turned over, the roller can be always contacted and attached with the ground and can drive the shell to stably move forwards, the situation that the robot cannot continue to move forwards due to the fact that the robot is turned over is prevented, the capability of the robot for dealing with a complex fire scene is greatly improved, and the fire-fighting robot can stably and effectively survey the fire scene.
2. According to the invention, the shell is more convenient to disassemble and assemble by arranging the components and the connection mode of the shell, and the outer surface of the shell is smoother and smoother after the shell is assembled, so that the shell is convenient to effectively roll and reset, and the use effect of the robot is further improved.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is an enlarged view at A in FIG. 2;
FIG. 4 is an enlarged view at B in FIG. 2;
FIG. 5 is a schematic view of a portion of the present invention;
in the figure: the device comprises a shell 1, a working cavity 2, a balance block 3, a driving groove 4, a driving motor 5, a rotating shaft 6, a roller 7, a camera 8, a balance plate 9, a rotating ball 10, a connecting rod 11, a gravity block 12, a supporting plate 13, a water bag 14, a pressure plate 15, a water outlet groove 16, a water pipe 17, an arc-shaped plate 18, a pressure ball 19, an elastic body 20, a water absorbing layer 21, a one-way valve 22, a pressure plate 23, a unit shell 24, an extending part 25 and a concave part 26.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the following embodiments.
As shown in fig. 1 to 5, the explosion-proof fire-fighting robot of the present invention comprises a housing 1; the robot comprises a shell 1, a working chamber 2, a balance block 3, driving grooves 4, driving motors 5, rollers 7, a camera 8 and a controller, wherein the shell 1 is spherical, the working chamber 2 is arranged in the shell 1, the balance block 3 is fixedly connected to the middle of the bottom end of the working chamber 2, the driving grooves 4 are symmetrically formed in the bottom ends of the shell 1 on two sides of the balance block 3, the driving motors 5 are symmetrically arranged at two ends in the driving grooves 4, the end parts of the driving motors 5 are respectively connected with the rollers 7 which are attached to the ground through rotating shafts 6, the camera 8 capable of shooting an external environment is arranged in the shell 1, and the controller is arranged in the shell 1 and used for controlling the automatic operation of the robot; when the robot works, when a fire scene with complex terrain is encountered, the fire-fighting robot in the prior art is easy to topple and turn over, particularly when the robot moves on uneven ground, so that the effective survey of the robot on the fire scene is influenced; when the fire-fighting robot works, the controller can control the driving motor 5 to work, so that the rotating shaft 6 drives each roller 7 to rotate, so that the shell 1 is driven by the roller 7 to move, and simultaneously, by controlling the rotating speed of the roller 7, so that the running rollers 7 on the two sides of the shell 1 can adjust the self advancing direction under the action of the rotating speed difference, meanwhile, when the shell 1 meets the rugged ground, the shell 1 can roll by means of the spherical surface, and can effectively reset under the action of the gravity center of the balance block 3, so that the roller 7 can always contact and attach with the ground and can drive the shell 1 to stably move forwards, the condition that the robot cannot continue to move forwards due to side turning is prevented, the capability of the robot for dealing with complex fire scenes is greatly improved, so that the fire-fighting robot can stably and effectively survey the fire scenes.
As an embodiment of the present invention, a balance plate 9 is arranged inside the housing 1, a rotary groove is arranged inside the balance plate 9, a rotary ball 10 is rotatably connected in the rotary groove, a connecting rod 11 is arranged at the bottom end of the rotary ball 10, a gravity block 12 is arranged at the bottom end of the connecting rod 11, and the camera 8 is mounted on the connecting rod 11; the during operation, when casing 1 takes place crooked, connecting rod 11 that sets up this moment drives commentaries on classics ball 10 and rotates at the rotating groove inside under the effect of gravity piece 12, make connecting rod 11 be in vertical state all the time, thereby make camera 8 on the connecting rod 11 can carry out stable shooting to the scene of fire, prevent that casing 1 from taking place to rock or crooked lead to camera 8 to rock in step or crooked at the in-process of advancing, thereby influence the camera 8 and stablize the condition of shooing to the scene of fire, the stability of robot at the during operation has further been improved.
As an embodiment of the present invention, support plates 13 are respectively arranged in the housing 1 on one side of the motor, water bags 14 are respectively arranged on the support plates 13, a pressure plate 15 is arranged on a side wall of the rotating shaft 6 corresponding to the bottom end of the water bag 14, the rotating shaft 6 can drive an outer end of the pressure plate 15 to extrude the water bag 14 at the top when rotating, a water outlet groove 16 is arranged on a side wall of the housing 1, and an inner end of the water outlet groove 16 is connected with the water bags 14 through a water pipe 17; during operation, in the process that casing 1 marchs, pivot 6 can drive clamp plate 15 synchronous rotation to carry out intermittent type nature's extrusion to the water pocket 14 of one side, water pocket 14 can pass through water pipe 17 with the cooling water of inside when the pressurized and impress water outlet tank 16 department, and can spout to casing 1 surface from water outlet tank 16 this moment, thereby can cool down casing 1 surface, prevent that casing 1 surface temperature is too high and influence the condition of the effective work of robot.
As an embodiment of the present invention, the water outlet groove 16 is disposed at the outer surface corresponding to the top end of the vertical axis of the housing 1, and the water pipe 17 is connected to the bottom end of the water bag 14; during operation, through setting up the position of play basin 16, make from the most top of casing 1 from the top down to flow all around of play basin 16 spun cooling water, thereby make cooling water can bigger area with the surface contact of casing 1 and cool off it, make the more abundant even cooling of casing 1 surface, simultaneously through setting up water pipe 17 in water pocket 14 bottom, make cooling water more abundant outflow through the water pipe 17 of water pocket 14 bottom, the effectual utilization effect that improves the inside cooling water of water pocket 14.
As an embodiment of the invention, the top end of the shell 1 is provided with an arc-shaped plate 18 which can shield the top end of the water outlet groove 16; the during operation, when the cooling water is from outlet chute 16 blowout, spun cooling water can beat on the arc 18 on top this moment, make the rivers of beating on arc 18 can more even scatter or along the face of arc 18 to all directions following current, this moment from outlet chute 16 spun cooling water can more fully even drop on casing 1 surface, and make casing 1 surface obtain more fully even cooling and handle, prevent rivers and concentrate the beam forming and to the not good condition of casing 1 surface cooling effect when the blowout, also prevent simultaneously that direct spun rivers from falling on external object and being difficult to the condition of flowing to casing 1 surface, the cooling effect of casing 1 surface has further been improved.
As an embodiment of the present invention, a pressure ball 19 capable of plugging the top end of the water outlet tank 16 is disposed at the opening of the water outlet tank 16, an elastic body 20 is connected between the bottom end of the pressure ball 19 and the inner end of the water outlet tank 16, a water absorbing layer 21 is disposed between the arc plate 18 and the outer surface of the corresponding housing 1, and one-way valves 22 are disposed at positions where the inner end of the water outlet tank 16 is communicated with the water pipe 17; in operation, when the cooling water in the water bag 14 is squeezed out through the water pipe 17, the cooling water is held in the cavity of the water outlet groove 16 inside the pressure ball 19 in advance under the action of the one-way valve 22, when the water flow in the cavity is full, and the cooling water is pressed into the water outlet groove 16 again, the pressure ball 19 slides towards the outer end of the water outlet groove 16 under the action of the water pressure at the inner end, meanwhile, the water flow overflowing from the interior of the water outlet groove 16 can be absorbed by the water absorbing layer 21 and held therein, the moving pressure ball 19 can press the water absorbing layer 21 at the top end thereof, so that the water absorbing layer 21 can press out the cooling water stored therein after being pressed, and the pressed cooling water can smoothly flow in all directions of the outer surface of the housing 1 and cool the cooling water; the water absorbing layer 21 is used for storing and stably releasing the cooling water in advance, so that the situation that the effective amount of the cooling water is reduced due to splashing after water flow is directly sprayed is prevented, and the utilization rate of the cooling water in the water bag 14 is greatly improved.
As an embodiment of the invention, pressure plates 23 are connected to the side walls of the pressure balls 19, and the outer ends of the pressure plates 23 respectively penetrate through the inside of the water absorbing layer 21; the during operation, when pressure ball 19 upwards moved, pressure ball 19 can drive pressure plate 23 and carry out more abundant compression to water-absorbing layer 21 top this moment, and pressure plate 23 can compress to water-absorbing layer 21 bottom when the downstream simultaneously to make the inside cooling water of storing of water-absorbing layer 21 can more timely abundant extrusion and cool down casing 1, further improved the cooling effect of casing 1 surface.
As an embodiment of the present invention, the housing 1 is composed of two hemispherical unit shells 24, and the ends of the two unit shells 24 that are fitted to each other are respectively provided with an annular extension portion 25 and a recess portion 26, and the extension portion 25 and the recess portion 26 are in threaded connection; during operation, through the constitution and the connected mode that set up casing 1 for casing 1 is convenient more to be dismantled and the installation, and casing 1 surface is more smooth level and smooth after the installation simultaneously, thereby makes things convenient for effective roll and the reseing of casing 1, has further improved the result of use of robot.
When in work, the controller can control the motor to work, so that the rotating shaft 6 can drive each roller 7 to rotate, so that the shell 1 is driven by the roller 7 to move, and simultaneously, by controlling the rotating speed of the roller 7, so that the running rollers 7 on the two sides of the shell 1 can adjust the self advancing direction under the action of the speed difference, meanwhile, when the shell 1 meets the rugged ground, the shell 1 can roll by means of the spherical surface, and can effectively reset under the action of the gravity center of the balance block 3, so that the roller 7 can always contact and attach with the ground and can drive the shell 1 to stably move forwards, the condition that the robot cannot continue to move forwards due to side turning is prevented, the capability of the robot for dealing with complex fire scenes is greatly improved, so that the fire-fighting robot can stably and effectively survey the fire scenes.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An explosion-proof fire-fighting robot comprises a shell (1); the method is characterized in that: the automatic water-saving device is characterized in that the shell (1) is spherical, the working chamber (2) is arranged in the shell (1), the balance block (3) is fixedly connected to the middle of the bottom of the working chamber (2), the driving grooves (4) are symmetrically formed in the bottom ends of the shell (1) on the two sides of the balance block (3), the driving motors (5) are symmetrically arranged at the two ends of the inside of the driving grooves (4), the end parts of the driving motors (5) are respectively connected with a roller (7) which is attached to the ground through a rotating shaft (6), the camera (8) which can shoot the external environment is arranged in the shell (1), a controller is arranged in the shell (1) and used for controlling the automatic operation of a robot, a supporting plate (13) is respectively arranged in the shell (1) on one side of the motor, a water bag (14) is respectively arranged on the supporting plate (13), and a pressing plate (15) is arranged on the side wall of the rotating shaft (6) corresponding to the bottom end of the water bag (14), the rotating shaft (6) can drive the outer end of the pressing plate (15) to extrude the water bag (14) at the top when rotating, a water outlet groove (16) is formed in the side wall of the shell (1), and the inner end of the water outlet groove (16) is connected with the water bag (14) through a water pipe (17).
2. The explosion-proof fire-fighting robot of claim 1, wherein: the utility model discloses a camera, including casing (1), balancing plate (9), rolling groove internal rotation are connected with and change ball (10), it is equipped with connecting rod (11) to change ball (10) bottom, connecting rod (11) bottom is equipped with gravity piece (12), camera (8) are installed on connecting rod (11).
3. The explosion-proof fire-fighting robot of claim 1, wherein: the water outlet groove (16) is arranged on the outer surface corresponding to the top end of the vertical axis of the shell (1), and the water pipe (17) is connected with the bottom end of the water bag (14).
4. The explosion-proof fire-fighting robot of claim 3, wherein: the top end of the shell (1) is provided with an arc-shaped plate (18) which can shield the top end of the water outlet groove (16).
5. The explosion-proof fire-fighting robot of claim 4, wherein: the water outlet device is characterized in that a pressure ball (19) capable of plugging the top end of the water outlet groove (16) is arranged at an opening of the water outlet groove (16), an elastic body (20) is connected between the bottom end of the pressure ball (19) and the inner end of the water outlet groove (16), a water absorbing layer (21) is arranged between the arc-shaped plate (18) and the outer surface of the corresponding shell (1), and one-way valves (22) are respectively arranged at positions where the inner end of the water outlet groove (16) is communicated with the water pipe (17).
6. The explosion-proof fire-fighting robot of claim 5, wherein: the side wall of the pressure ball (19) is connected with a pressure plate (23), and the outer end of the pressure plate (23) penetrates through the inside of the water absorbing layer (21) respectively.
7. The explosion-proof fire-fighting robot of claim 1, wherein: the shell (1) is composed of two hemispherical unit shells (24), annular extending parts (25) and recessed parts (26) are respectively arranged at the mutually matched end parts of the two unit shells (24), and the extending parts (25) are in threaded connection with the recessed parts (26).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110000095.7A CN112847393B (en) | 2021-01-01 | 2021-01-01 | Explosion-proof fire-fighting robot |
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| CN202110000095.7A CN112847393B (en) | 2021-01-01 | 2021-01-01 | Explosion-proof fire-fighting robot |
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| CN112847393A CN112847393A (en) | 2021-05-28 |
| CN112847393B true CN112847393B (en) | 2021-12-03 |
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| CN114642843B (en) * | 2022-04-08 | 2022-11-01 | 湖北理工学院 | Fire extinguishing device capable of extinguishing fire accurately on large scale |
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