CN114191738A

CN114191738A - Fire-fighting inspection robot and fire-fighting system

Info

Publication number: CN114191738A
Application number: CN202111484379.4A
Authority: CN
Inventors: 梁喆
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-03-18

Abstract

The invention discloses a fire-fighting inspection robot and a fire-fighting system, and belongs to the technical field of intelligent robots. This robot is patrolled and examined in fire control is including removing the chassis, docking mechanism and visual mechanism, it is configured to remove the chassis and can follow the removal of predetermineeing the orbit, docking mechanism is including removing the driving body, first butt joint pipe and shower nozzle, it sets up on removing the chassis to remove the driving body, first butt joint pipe is movably worn to establish on removing the chassis, the output and the first butt joint pipe of removing the driving body are connected, and can drive first butt joint pipe and remove along predetermineeing the direction, the shower nozzle intercommunication is in the junction department of first butt joint pipe, the butt joint end of first butt joint pipe can with the butt joint of the second butt joint pipe on the fire control pipeline, so that in the fire water inflow shower nozzle in the fire control pipeline, visual mechanism rotationally sets up on removing the chassis, and be used for location condition of fire point. This robot is patrolled and examined in fire control not only can fix a position the condition of a fire point, and can put out a fire operation with the butt joint of fire control pipeline, and the functionality is stronger.

Description

Fire-fighting inspection robot and fire-fighting system

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a fire-fighting inspection robot and a fire-fighting system.

Background

With the rapid development of the logistics industry, more and more robots are used in each link of logistics, so as to achieve the purpose of reducing the labor cost and the labor intensity of workers. Warehouses are places where goods are stored, the safety of the goods is of great importance, and in daily protection, fire prevention is particularly needed.

The inspection robot is used for patrolling in the existing warehouse, so that a fire can be found in time and an alarm signal can be sent out when a fire occurs, managers can control the fire in time, and great loss caused by the fact that the fire becomes large is avoided. However, there is still a time interval between the time when the polling robot detects a fire and gives an alarm until the fire extinguishing operation is started by the staff, and at this time, if flammable and explosive articles are stored in the warehouse, irreparable loss is still caused.

Therefore, how to provide an inspection machine system capable of timely discovering fire and immediately starting fire extinguishing operation is a technical problem which needs to be solved urgently.

Disclosure of Invention

The invention aims to provide a fire-fighting inspection robot which has a fire-fighting function and strong functionality.

In order to achieve the purpose, the invention adopts the following technical scheme:

a fire protection inspection robot, comprising: a mobile chassis configured to be capable of driving the fire inspection robot to move along a track surface of a track; the butt joint mechanism comprises a movable driving body, a first butt joint pipe and a sprayer, the movable driving body is arranged on the movable chassis, the first butt joint pipe is movably arranged on the movable chassis in a penetrating mode, the output end of the movable driving body is connected with the first butt joint pipe and can drive the first butt joint pipe to move along a preset direction, one end of the first butt joint pipe is a butt joint end, the other end of the first butt joint pipe is a connecting end, the sprayer is communicated with the connecting end, and the butt joint end is configured to be capable of being in butt joint with a second butt joint pipe on a fire fighting pipeline so that fire fighting water in the fire fighting pipeline can flow into the sprayer through the first butt joint pipe; and the visual mechanism is rotatably arranged on the movable chassis and is used for positioning the fire point.

Preferably, the fire-fighting inspection robot further comprises a holder mechanism, the holder mechanism comprises a holder, a first rotating mechanism and a second rotating mechanism, the holder is rotatably arranged on the moving chassis, the first rotating mechanism is used for driving the holder to rotate around a first axis, the second rotating mechanism is used for driving the holder to rotate around a second axis, the first axis and the second axis are vertically arranged, and the visual mechanism and the spray head are arranged on the holder.

Preferably, the first rotating mechanism comprises a first holder motor, a driving gear and a driven gear, the first holder motor is fixedly connected to the moving chassis, a motor shaft of the first holder motor extends along the first axis and is in transmission connection with the driving gear, the driving gear is meshed with the driven gear and is rotatably connected to the moving chassis, and the holder is connected with the driven gear.

Preferably, the second rotating mechanism comprises a second pan/tilt motor, a motor shaft of the second pan/tilt motor extends along the second axis, and the motor shaft of the second pan/tilt motor is connected with the pan/tilt.

Preferably, the first butt joint pipe includes a first pipe and a second pipe, the first pipe is movably sleeved on the outer side of the second pipe, one end of the first pipe, which is far away from the second pipe, is the butt joint end, one end of the second pipe, which is far away from the first pipe, is the connection end, and the movable driving body is connected with the first pipe.

Preferably, the movable chassis comprises a first vertical plate, a transverse plate and a second vertical plate which are connected in a U shape; the fire-fighting inspection robot further comprises at least two driving mechanisms, wherein one driving mechanism is arranged on the first vertical plate, the other driving mechanism is arranged on the second vertical plate, each driving mechanism comprises a rotary driving body and driving wheels, the rotary driving bodies are fixedly connected onto the first vertical plate or the second vertical plate, the driving wheels are connected onto the output end of the rotary driving body, the two driving wheels are arranged on the first track plate and the second track plate in a one-to-one correspondence mode, and the track surface of the first track plate and the track surface of the second track plate can roll.

Preferably, the fire-fighting inspection robot further comprises a carbon brush collector, the carbon brush collector is used for being electrically connected with the trolley line, and the carbon brush collector is used for supplying power to the movable driving body and the rotary driving body.

Preferably, the mobile chassis further comprises a first turning plate and a second turning plate, the first turning plate is connected to the first vertical plate, the second turning plate is connected to the second vertical plate, and the first turning plate and the second turning plate are both arranged in parallel with the transverse plate and are both located right above the transverse plate; the fire-fighting inspection robot further comprises at least two guide wheels, wherein one guide wheel is rotatably connected to the first turning plate, the other guide wheel is rotatably connected to the second turning plate, the guide wheels are arranged on the first track plate and the second track plate in a one-to-one correspondence mode and can respectively roll on the guide surface of the first track plate and the guide surface of the second track plate, and the guide surfaces are perpendicular to the track surfaces.

A second object of the present invention is to provide a fire fighting system having a fire extinguishing function and a high functionality.

the utility model provides a fire extinguishing system, includes fire control pipeline, track and foretell fire control inspection robot, the fire control pipeline includes the three-way pipe, the three-way pipe include perpendicular intercommunication communicating pipe with the second is to the takeover, be provided with the track face on the track, the fire control inspection robot's removal chassis can drive the fire control inspection robot follows the track face removes.

Preferably, the fire fighting system further comprises a fire fighting monitoring probe for discovering a fire.

The invention has the beneficial effects that:

the invention discloses a fire-fighting inspection robot which comprises a movable chassis, a butting mechanism and a visual mechanism, wherein the movable chassis is configured to move along a preset track, the butting mechanism comprises a movable driving body, a first butt joint pipe and a spray head, the movable driving body is arranged on the movable chassis, the first butt joint pipe is movably arranged on the movable chassis in a penetrating mode, the output end of the movable driving body is connected with the first butt joint pipe and can drive the first butt joint pipe to move along a preset direction, one end of the first butt joint pipe is a butting end, the other end of the first butt joint pipe is a connecting end, the spray head is communicated with the connecting end, the butting end is configured to be butted with a second butt joint pipe on a fire-fighting pipeline, so that fire-fighting water in the fire-fighting pipeline can flow into the spray head through the first butt joint pipe, and the visual mechanism is rotatably arranged on the movable chassis and used for positioning a fire situation point. This robot is patrolled and examined in fire control not only can fix a position the condition of a fire point, and can dock with the fire control pipeline to put out a fire the operation, the functionality is stronger.

Drawings

FIG. 1 is a schematic diagram of a fire fighting system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a portion of a fire protection system provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a portion of a fire protection system according to an embodiment of the present invention after a fire monitoring probe is hidden;

FIG. 4 is a schematic structural diagram of a fire inspection robot of the fire protection system according to an embodiment of the present invention;

FIG. 5 is a side view of a fire inspection robot of the fire protection system provided by an embodiment of the present invention;

FIG. 6 is a schematic illustration of a first alignment pipe on the fire inspection robot misaligned with a second alignment pipe of the fire conduit provided by an embodiment of the present invention;

FIG. 7 is a schematic view of a first docking pipe on a fire inspection robot in alignment with, but undocked from, a second docking pipe of a fire conduit as provided by an embodiment of the present invention;

FIG. 8 is a schematic illustration of a first docking pipe on the fire inspection robot docking with a second docking pipe of a fire conduit in accordance with an embodiment of the present invention;

fig. 9 is a schematic diagram of an electrical connection between a carbon brush current collector and a trolley line on the fire inspection robot according to the embodiment of the invention.

In the figure:

100. a fire-fighting inspection robot;

110. moving the chassis; 111. a transverse plate; 112. a first vertical plate; 113. a second vertical plate; 114. a first flap; 115. a second flap;

120. a docking mechanism; 121. moving the driving body; 122. a first docking pipe; 123. a spray head;

130. a visualization mechanism;

140. a pan-tilt mechanism; 141. a holder; 142. a first pan/tilt motor; 143. a driving gear; 144. a driven gear; 145. a second pan/tilt motor;

150. a carbon brush current collector; 160. a rotary drive body; 170. a drive wheel; 180. a guide wheel;

200. a fire conduit;

210. a second pair of adapter tubes; 220. a communicating pipe; 230. a water outlet control motor;

300. a fire monitoring probe;

400. a track; 410. a track surface; 420. a guide surface;

500. a corner fitting;

600. a trolley line;

700. track support frame.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment provides a fire extinguishing system, and this fire extinguishing system can be used for in the warehouse to in time put out a fire the operation when taking place the condition of a fire in the warehouse, thereby avoid the conflagration to cause irrecoverable loss. Of course, the fire fighting system may be used in other locations besides warehouses, and is not limited thereto.

As shown in fig. 1 to 3, the fire fighting system includes a fire inspection robot 100, a fire fighting pipe 200, and a fire monitoring probe 300. Wherein, fire pipeline 200 is used for providing fire water, and in this embodiment, fire pipeline 200 is connected by straight tube and three-way pipe and forms, and wherein the three-way pipe includes perpendicular communicating pipe 220 and the second butt joint pipe 210 of connecting, and communicating pipe 220 and second butt joint pipe 210 intercommunication are the T style of calligraphy, and two tip of communicating pipe 220 are passed through the flange respectively and can be dismantled with the straight tube and be connected. A fire control pipe unit is constituteed with connecting in two straight tubes of its both sides to a three-way pipe, and fire pipeline 200 can set up a plurality of fire control pipe units according to the demand, and specific quantity does not do the restriction here, sets for according to the demand. The fire water may sequentially flow into the second connection pipe 210 through the straight pipe and the connection pipe 220, and optionally, in order to control the opening and closing of the water outlet of the second connection pipe 210, a water outlet control motor 230 is disposed at the second connection pipe 210, and the water outlet control motor 230 operates to open the water outlet or close the water outlet. Of course, besides the water outlet control motor 230, a control valve may be provided to open and close the water outlet.

The fire monitoring probe 300 is used for detecting fire, and the specific structure of the fire monitoring probe 300 is the prior art and will not be described in detail herein. In this embodiment, a plurality of fire monitoring probes 300 are provided, and the plurality of fire monitoring probes 300 are sequentially arranged at intervals and can be fixed on a wall of a warehouse. The specific number and arrangement of the fire monitoring probes 300 are not limited herein, and can be flexibly adjusted according to the requirements. When the fire monitoring probe 300 finds a fire, information of finding the fire can be sent, and the fire inspection robot 100 can start to move to the second docking pipe 210. Optionally, fire monitoring probe 300 is disposed above fire fighting pipeline 200.

The fire inspection robot 100 is used to locate a fire point and perform a fire extinguishing operation. As shown in fig. 4 and 5, the fire inspection robot 100 includes a mobile chassis 110, a docking mechanism 120, and a vision mechanism 130. Wherein, remove chassis 110 and be the main installation mechanism of fire control inspection robot 100, docking mechanism 120 and visual mechanism 130 all set up on removing chassis 110. The mobile chassis 110 can move along a preset track, and in this embodiment, the fire fighting system further includes a track 400, and the mobile chassis 110 can move along a track surface 410 of the track 400, so as to realize fixed-track movement.

Specifically, in the present embodiment, the moving chassis 110 includes a first vertical plate 112, a horizontal plate 111, a second vertical plate 113, a first turning plate 114, and a second turning plate 115 connected in a U shape. The first vertical plate 112 and the second vertical plate 113 are vertically connected to two ends of the transverse plate 111 and are arranged in an upward protruding manner, the first turning plate 114 is vertically connected to the first vertical plate 112, the second turning plate 115 is vertically connected to the second vertical plate 113, and the first turning plate 114 and the second turning plate 115 are both arranged in parallel with the transverse plate 111 and are both located right above the transverse plate 111. The inner wall surface of the movable chassis 110 is surrounded to form a sliding space for allowing the rail 400 to pass through.

In this embodiment, the track 400 includes a first track plate and a second track plate that are spaced and symmetrically disposed, and the first track plate and the second track plate have the same structure and are both L-shaped. The structure of two track plates will be described by taking the first track plate as an example. The first rail plate includes a horizontal plate and a vertical plate which are vertically connected, an upper surface of the horizontal plate is a rail surface 410, and an inner side surface of the vertical plate is a guide surface 420. The horizontal plate of the first track plate and the horizontal plate of the second track plate are both positioned on the outer sides of the vertical plates of the first track plate and the second track plate, and the two horizontal plates are both positioned in the sliding space. The first flap 114 is located outside the vertical plate of the first track plate and the second flap 115 is located outside the vertical plate of the second track plate.

In order to realize the automatic movement of the moving chassis 110 along the track 400, the fire inspection robot 100 further includes at least two driving mechanisms, one of which is disposed on the first vertical plate 112, and the other of which is disposed on the second vertical plate 113. Each driving mechanism includes a rotary driving body 160 and a driving wheel 170, the rotary driving body 160 is fixedly connected to the first vertical plate 112 or the second vertical plate 113, the driving wheel 170 is connected to an output end of the rotary driving body 160, and the driving wheel 170 can roll on the track surface 410. The rotation axis of the driving wheel 170 is horizontal, and the moving chassis 110 can automatically move along the rail 400 when the driving wheel 170 rolls on the rail surface 410. Optionally, the number of the driving mechanisms is even, and the driving mechanisms are arranged on the first vertical plate 112 and the second vertical plate 113 in pairs, in this embodiment, four driving mechanisms are provided, the first vertical plate 112 and the second vertical plate 113 are both in a concave shape, and the four driving mechanisms are respectively arranged on two convex plates of the first vertical plate 112 and two convex plates of the second vertical plate 113.

Further, in order to improve the moving accuracy of the moving chassis 110, the fire inspection robot 100 further includes at least two guide wheels 180, and the guide wheels 180 can roll along a preset guide track, so as to provide a guiding function for the movement of the driving wheels 170. Specifically, one guide wheel 180 of the plurality of guide wheels 180 is rotatably coupled to the first flap 114 and is capable of rolling on the guide surface 420 of the first track plate, and the other guide wheel 180 is rotatably coupled to the second flap 115 and is capable of rolling on the guide surface 420 of the second track plate. The rotation axes of the two guide wheels 180 are vertical lines, the number of the guide wheels 180 can be set to be multiple according to requirements, and in the embodiment, four guide wheels 180 are arranged. Because the first vertical plate 112 and the second vertical plate 113 are both in a shape of Chinese character 'ao', two first turning plates 114 and two second turning plates 115 connected to the four convex plates are provided, and the four guide wheels 180 are respectively arranged on the two first turning plates 114 and the two second turning plates 115.

Further, the first rail plate and the second rail plate are disposed at both sides of the fire fighting pipe 200. In order to fix the first track plate and the second track plate, the fire fighting system further comprises a track support frame 700 and an angle piece 500, wherein the first track plate and the second track plate are respectively connected with two ends of the track support frame 700, and the track support frame 700 is connected to a wall body through the angle piece 500.

Specifically, in this embodiment, track support frame 700 is "nearly" style of calligraphy, and it is including the first bottom plate that connects gradually, the first riser, the first roof, second riser and second bottom plate, the first riser, first roof and second riser form the style of calligraphy of falling U, fire pipeline 200 is located the first riser, the U type inslot that first roof and second riser formed, the first track board that is the L type supports and connects at the L type inslot that first bottom plate and first riser formed, the second track board that is the L type supports and connects at the L type inslot that second bottom plate and second riser formed. The corner fitting 500 is a right-angled tripod, one end of which is connected to the first top plate, and the other end of which is connected to the wall.

As shown in fig. 4 and 5, the docking mechanism 120 includes a moving driving body 121, a first docking pipe 122, and a shower head 123. Wherein, the moving driving body 121 is disposed on the horizontal plate 111 of the moving base plate 110, optionally, the moving driving body 121 is an electric push rod, a body of the electric push rod is connected to the horizontal plate 111, and a push rod of the electric push rod is connected to the first adapter tube 122 to drive the first adapter tube 122 to move along a preset direction, in this embodiment, the preset direction is a vertical direction. Of course, the moving driver 121 may be an air cylinder or a linear motor, instead of the electric push rod. A through hole is formed in the transverse plate 111 of the movable chassis 110, the first butt joint pipe 122 penetrates through the through hole, the end portion of the first butt joint pipe 122 located above the transverse plate 111 is a butt joint end, and the end portion located below the transverse plate 111 is a connecting end. The spray head 123 is connected at the connection end of the first nipple 122.

Optionally, the first docking pipe 122 includes a first pipe and a second pipe, the first pipe is movably sleeved on an outer side of the second pipe, an end of the first pipe far away from the second pipe is a docking end, an end of the second pipe far away from the first pipe is a connecting end, and the movable driving body 121 is connected with the first pipe. So can guarantee when butt joint end removes, the link is motionless, so can improve the stability that first butt joint pipe 122 and shower nozzle 123 are connected. Further optionally, the first tube is a hose or a threaded tube. The push rod of the electric push rod is connected with a pipe hoop sleeved on the first pipe through the pipe hoop. Under electric putter's drive, the second pipe rebound relatively of first pipe to realize the butt joint of first pipe and fire-fighting pipeline 200's second butt joint pipe 210, fire water in the fire-fighting pipeline 200 can reach shower nozzle 123 department through first butt joint pipe 122, thereby sprays to the condition of a fire, carries out the operation of putting out a fire.

With continued reference to fig. 4 and 5, the vision mechanism 130 is rotatably disposed on the mobile chassis 110 and is used to locate a fire. In the present embodiment, the visual mechanism 130 is a camera.

Further, in order to improve the flexibility of the spray heads 123 in extinguishing a fire, the fire inspection robot 100 further includes a pan and tilt head mechanism 140. Specifically, the pan/tilt mechanism 140 includes a pan/tilt 141, a first rotating mechanism and a second rotating mechanism, the pan/tilt mechanism 141 is rotatably disposed on the moving chassis 110, the first rotating mechanism is configured to drive the pan/tilt mechanism 141 to rotate around a first axis, the second rotating mechanism is configured to drive the pan/tilt mechanism 141 to rotate around a second axis, the first axis and the second axis are vertically disposed, and the viewing mechanism 130 and the nozzle 123 are both disposed on the pan/tilt mechanism 141. In this embodiment, the first axis is a vertical axis, the second axis is a horizontal axis, and the horizontal rotation and the vertical pitching of the spray head 123 and the visual mechanism 130 can be realized through the holder mechanism 140, so that the visual range and the water spraying fire extinguishing range are improved to a great extent.

Specifically, the first rotating mechanism includes a first pan/tilt motor 142, a driving gear 143, and a driven gear 144, the first pan/tilt motor 142 is fixedly connected to the moving chassis 110, a motor shaft of the first pan/tilt motor 142 extends along a first axis and is in transmission connection with the driving gear 143, the driving gear 143 is engaged with the driven gear 144 and is both rotatably connected to the moving chassis 110, and the pan/tilt 141 is connected to the driven gear 144. The second rotating mechanism includes a second pan/tilt motor 145, a motor shaft of the second pan/tilt motor 145 extends along the second axis, and the motor shaft of the second pan/tilt motor 145 is connected to the pan/tilt 141.

Further, in order to supply power to the moving driving body 121, the first pan/tilt motor 142, the second pan/tilt motor 145, and the rotating driving body 160, as shown in fig. 9, the fire inspection robot 100 further includes a carbon brush current collector 150, and the fire protection system further includes a trolley wire 600, and the trolley wire 600 is installed below the rail 400 and is connected to the power. When the fire inspection robot 100 runs on the track 400, the carbon brush current collector 150 contacts the trolley wire 600 and supplies power to the inspection robot, specifically, the moving driving body 121, the first pan/tilt motor 142, the second pan/tilt motor 145, and the rotating driving body 160.

Further, this fire extinguishing system still includes control mechanism, and control mechanism can be centralized or distributed controller, for example, the controller can be an solitary singlechip, also can be that the polylith singlechip that distributes constitutes, can run control program in the singlechip, and then control fire control patrols and examines robot 100, delivery port control motor 230 etc. and realize its function.

The working process of the fire-fighting inspection system is as follows:

first, the fire monitoring probe 300 monitors the environment in the warehouse, and sends information of finding a fire after finding a fire. At this time, the fire inspection robot 100 is in a state as shown in fig. 6, and the first butt pipe 122 of the fire inspection robot 100 and the second butt pipe 210 of the fire fighting pipe 200 are in a non-connected state of being misaligned. Then, the fire inspection robot 100 moves to the second docking pipe 210 of the fire fighting pipeline 200 according to the fire information from the fire monitoring probe 300 and reaches a state where the first docking pipe 122 of the first fire inspection robot 100 is aligned with but not connected to the second docking pipe 210 of the fire fighting pipeline 200 as shown in fig. 7. Then, the electric push rod is activated, and the electric push rod drives the first pipe of the first docking pipe 122 to move upward relative to the second pipe, so that the docking end of the first docking pipe 122 is docked with the second docking pipe 210, as shown in fig. 8. Then, the holder 141 is driven to rotate by the first and second rotating mechanisms, so that the visual mechanism 130 locates the fire and the nozzle 123 is aligned with the fire. Finally, the water outlet control motor 230 controls the water outlet of the second connection pipe 210 to be opened, and the fire-fighting water in the fire-fighting pipeline 200 reaches the nozzle 123 through the second connection pipe 210 and the first connection pipe 122, and is sprayed from the nozzle 123 to the fire point, so as to perform the fire extinguishing function.

The fire-fighting inspection robot 100 runs on the track 400, can realize large-scale patrol, can immediately start to move to the second butt joint pipe 210 of the fire-fighting pipeline 200 when a fire is found, immediately carries out fire-fighting operation after the second butt joint pipe 210 is communicated, has quick response to the fire, and can avoid irrecoverable loss.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a fire control inspection robot which characterized in that includes:

a mobile chassis (110), the mobile chassis (110) being configured to enable the fire inspection robot to be moved along a track surface (410) of a track (400);

a docking mechanism (120), the docking mechanism (120) comprising a moving drive body (121), a first docking pipe (122), and a spray head (123), the moving driving body (121) is arranged on the moving chassis (110), the first butt joint pipe (122) is movably arranged on the moving chassis (110) in a penetrating way, the output end of the moving driving body (121) is connected with the first connection pipe (122), and can drive the first butt joint pipe (122) to move along a preset direction, one end of the first butt joint pipe (122) is a butt joint end, the other end is a connecting end, the spray head (123) communicating at the connection end, the docking end configured to be able to dock with a second docking pipe (210) on a fire conduit (200), so that fire water in the fire fighting pipe (200) can flow into the spray head (123) through the first butt pipe (122);

a vision mechanism (130), the vision mechanism (130) is rotatably arranged on the moving chassis (110) and is used for positioning the fire point.

2. A fire inspection robot according to claim 1,

the fire-fighting inspection robot further comprises a holder mechanism (140), the holder mechanism (140) comprises a holder (141), a first rotating mechanism and a second rotating mechanism, the holder (141) is rotatably arranged on the moving chassis (110), the first rotating mechanism is used for driving the holder (141) to rotate around a first axis, the second rotating mechanism is used for driving the holder (141) to rotate around a second axis, the first axis and the second axis are vertically arranged, and the visual mechanism (130) and the spray head (123) are arranged on the holder (141).

3. A fire inspection robot according to claim 2,

the first rotating mechanism comprises a first holder motor (142), a driving gear (143) and a driven gear (144), the first holder motor (142) is fixedly connected to the moving chassis (110), a motor shaft of the first holder motor (142) extends along the first axis and is in transmission connection with the driving gear (143), the driving gear (143) is meshed with the driven gear (144) and is rotatably connected to the moving chassis (110), and the holder (141) is connected with the driven gear (144).

4. A fire inspection robot according to claim 2,

the second rotating mechanism comprises a second holder motor (145), a motor shaft of the second holder motor (145) extends along the second axis, and the motor shaft of the second holder motor (145) is connected with the holder (141).

5. A fire inspection robot according to claim 2,

the first butt joint pipe (122) comprises a first pipe and a second pipe, the first pipe is movably sleeved on the outer side of the second pipe, one end, far away from the second pipe, of the first pipe is the butt joint end, one end, far away from the first pipe, of the second pipe is the connecting end, and the movable driving body (121) is connected with the first pipe.

6. A fire inspection robot according to claim 1,

the movable chassis (110) comprises a first vertical plate (112), a transverse plate (111) and a second vertical plate (113) which are connected in a U shape;

the fire-fighting inspection robot further comprises at least two driving mechanisms, wherein one driving mechanism is arranged on the first vertical plate (112), the other driving mechanism is arranged on the second vertical plate (113), each driving mechanism comprises a rotary driving body (160) and a driving wheel (170), the rotary driving bodies (160) are fixedly connected to the first vertical plate (112) or the second vertical plate (113), the driving wheels (170) are connected to the output ends of the rotary driving bodies (160), and the two driving wheels (170) are correspondingly arranged on the first track plate and the second track plate of the track (400) one by one and can roll on the track surface (410) of the first track plate and the track surface (410) of the second track plate.

7. A fire inspection robot according to claim 6,

the fire-fighting inspection robot further comprises a carbon brush collector (150), the carbon brush collector (150) is used for being electrically connected with the trolley line (600), and the carbon brush collector (150) is used for supplying power to the movable driving body (121) and the rotary driving body (160).

8. A fire inspection robot according to claim 6,

the movable chassis (110) further comprises a first turning plate (114) and a second turning plate (115), the first turning plate (114) is connected to the first vertical plate (112), the second turning plate (115) is connected to the second vertical plate (113), and the first turning plate (114) and the second turning plate (115) are both arranged in parallel with the transverse plate (111) and are both located right above the transverse plate (111);

the fire-fighting inspection robot further comprises at least two guide wheels (180), wherein one guide wheel (180) is rotatably connected to the first turning plate (114), the other guide wheel (180) is rotatably connected to the second turning plate (115), the two guide wheels (180) are correspondingly arranged on the first track plate and the second track plate one by one and can roll on a guide surface (420) of the first track plate and a guide surface (420) of the second track plate respectively, and the guide surfaces (420) and the track surfaces (410) are vertically arranged.

9. A fire protection system, characterized by, include fire-fighting pipeline (200), track (400) and the fire protection inspection robot of any one of claims 1-8, fire-fighting pipeline (200) includes the three-way pipe, the three-way pipe includes communicating pipe (220) and the second butt joint pipe (210) of perpendicular intercommunication, be provided with track face (410) on track (400), fire protection inspection robot's removal chassis (110) can drive fire protection inspection robot along track face (410) removes.

10. A fire fighting system as defined in claim 9,

the fire fighting system further comprises a fire fighting monitoring probe (300), the fire fighting monitoring probe (300) being used for discovering a fire.