CN211986768U

CN211986768U - Chassis anti-collision mechanism of fire-fighting robot

Info

Publication number: CN211986768U
Application number: CN202020361674.5U
Authority: CN
Inventors: 杨冬亮; 施晓吉
Original assignee: Wolf Shanghai Security Technology Co ltd
Current assignee: Wolf Shanghai Security Technology Co ltd
Priority date: 2020-03-20
Filing date: 2020-03-20
Publication date: 2020-11-24
Anticipated expiration: 2030-03-20

Abstract

The utility model belongs to the technical field of the robot protection, especially, fire-fighting robot's chassis anticollision institution, the chassis to in the contrast file does not have buffer stop, can not guarantee the problem of fire-fighting robot's security, the scheme as follows now is proposed, and it includes the robot shell, and the both sides of robot shell all are connected with two action wheels, lie in the robot shell and all be connected with same track on two action wheels with one side, and the top of robot shell is provided with pumping chamber and squirt, and the front side of robot shell is provided with two lights, the front side and the rear side of robot shell are all fixed and are provided with the anticollision box, and equal perpendicular sliding connection has the connecting plate in two anticollision boxes, and two equal fixedly connected with in bottom of two connecting plates have two anticollision landing legs, are provided with actuating mechanism on the bottom inner wall of anticollision box. The utility model discloses it can play the anticollision guard action to the robot housing to have add buffer stop, has improved fire-fighting robot's safety in utilization.

Description

Chassis anti-collision mechanism of fire-fighting robot

Technical Field

The utility model relates to a robot protection technical field especially relates to a chassis anticollision institution of fire-fighting robot.

Background

The fire-fighting robot is widely applied to the field of fire fighting, the fire-fighting accident site has the possibility of having explosive gas environment and explosive dust environment, various types of explosive gas and explosive dust are possible to appear, and the fire-fighting robot is used for fire extinguishing observation, so that the casualties of fire fighters can be reduced. By way of retrieval, application No.: 201920816654.X or an authorization bulletin number: CN 210020933U discloses an explosion-proof fire-fighting robot chassis, which comprises a robot shell, a rotator is arranged in the center of the top of the robot shell, a base is arranged at the bottom of the rotator, a hobbing is arranged in the center of the top of the base, a thin rod is clamped on the inner wall of the hobbing, a pressurizing chamber is arranged at the top of the thin rod, a water gun is arranged on the front of the pressurizing chamber, a thin tube is arranged at one end of the water gun, a thick tube is arranged at one end of the thin tube, a water outlet tube is arranged at one end of the thick tube, a connecting tube is arranged at the back of the pressurizing chamber, a fixing head is arranged at one end of the connecting tube, a first inner tube is connected with the inner wall of the pressurizing chamber, the first inner tube is fixedly connected with the pressurizing chamber, a pressurizing tube is arranged at one end of the first inner tube, a second inner tube, and then make the robot can spray the water column of bigger pressure for the water pressure of water can be increased to robot chassis self.

The ground of the fire-fighting robot becomes wet and slippery when in fire fighting, if the fire-fighting robot encounters a downhill, the fire-fighting robot is easy to slide, the belt pulley is difficult to stably position, and the fire-fighting robot is easy to hit the wall surface or a stone pillar and the like after the downhill and is easy to artificially damage the fire-fighting robot, so an anti-collision device needs to be arranged on the chassis;

the chassis in the above-mentioned patent document does not have an anti-collision device, and cannot ensure the safety of the fire-fighting robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the chassis among the comparison file and not having buffer stop, can not guarantee the shortcoming of fire-fighting robot's security, and the chassis anticollision institution of a fire-fighting robot who provides.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a chassis anticollision mechanism of a fire-fighting robot comprises a robot shell, wherein two driving wheels are respectively connected to two sides of the robot shell, the two driving wheels positioned on the same side of the robot shell are respectively connected with the same crawler belt, a pressurizing chamber and a water gun are arranged at the top of the robot shell, two illuminating lamps are arranged on the front side of the robot shell, anticollision boxes are respectively and fixedly arranged on the front side and the rear side of the robot shell, connecting plates are respectively and vertically and slidably connected in the two anticollision boxes, two anticollision support legs are respectively and fixedly connected to the bottoms of the two connecting plates, a driving mechanism is arranged on the inner wall of the bottom of each anticollision box, the connecting plates are matched with the corresponding driving mechanisms, airbag cushions are respectively embedded in the sides, far away from each other, of the two anticollision boxes, an inflation structure is communicated on the two airbag cushions, cameras are respectively arranged on the sides, far away from, the two controllers are respectively connected with the two driving mechanisms.

Preferably, actuating mechanism includes servo motor and lead screw, and servo motor fixed connection is on the bottom inner wall of anticollision box, and the bottom fixed mounting of lead screw is on servo motor's output shaft, and the top of lead screw is rotated and is installed on the top inner wall of anticollision box, connecting plate and the lead screw threaded connection who corresponds.

Preferably, the inflatable structure comprises a cylindrical barrel, a pressure plug, a thrust rod and a communicating pipe, the cylindrical barrel is fixedly connected to the inner wall of the bottom of the anti-collision box, the pressure plug is slidably mounted in the cylindrical barrel, the bottom end of the thrust rod is fixedly connected with the top of the pressure plug, the thrust rod is slidably connected with the cylindrical barrel, the top end of the thrust rod is fixedly connected with the bottom of the connecting plate, one end of the communicating pipe is communicated with the cylindrical barrel, and the other end of the communicating pipe is communicated with the corresponding airbag cushion.

Preferably, two vertical rods are vertically and fixedly installed in the anti-collision box, and the connecting plate is in sliding connection with the two corresponding vertical rods.

Preferably, the bottom fixedly connected with slipmat of anticollision landing leg, anticollision landing leg are the slope setting, anticollision landing leg and the crashproof box sliding connection who corresponds.

Compared with the prior art, the utility model has the advantages of:

(1) according to the scheme, the environment is observed through the cameras arranged on the front side and the rear side, when a downhill occurs and the ground is slippery and cannot be braked, the driving mechanism drives the connecting plate to move downwards, the connecting plate drives the two corresponding anti-collision supporting legs to move downwards to be in contact with the ground, friction force is increased through friction between the anti-slip pad and the ground, and the moving speed of a shell of the robot is reduced;

(2) the connecting plate inflates the air bag cushion through the inflation structure, so that the air bag cushion is inflated and expanded, a buffer effect can be achieved when the robot shell collides with a hard object, and the robot shell can be effectively protected;

the utility model discloses it can play the anticollision guard action to the robot housing to have add buffer stop, has improved fire-fighting robot's safety in utilization.

Drawings

Fig. 1 is a schematic structural view of a chassis collision avoidance mechanism of a fire-fighting robot provided by the present invention;

fig. 2 is a schematic side view of a chassis collision avoidance mechanism of a fire-fighting robot according to the present invention;

fig. 3 is the utility model provides a side inner structure schematic diagram of chassis anticollision institution's of fire-fighting robot anticollision box.

In the figure: the robot comprises a water gun 1, a pressurizing chamber 2, a robot shell 3, a driving wheel 4, a crawler 5, an anti-collision box 6, an air bag cushion 7, a servo motor 8, a screw rod 9, a vertical rod 10, a connecting plate 11, anti-collision supporting legs 12, an anti-slip cushion 13, a cylindrical barrel 14, a communicating pipe 15, a pressure plug 16, a thrust rod 17, a camera 18 and a lighting lamp 19.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, but not all embodiments.

Example one

Referring to fig. 1-3, a chassis collision avoidance mechanism of a fire-fighting robot comprises a robot shell 3, two driving wheels 4 are connected to two sides of the robot shell 3, the two driving wheels 4 positioned on the same side of the robot shell 3 are connected with the same crawler 5, a pressurizing chamber and a water gun 1 are arranged at the top of the robot shell 3, two illuminating lamps 19 are arranged at the front side of the robot shell 3, collision avoidance boxes 6 are fixedly arranged at the front side and the rear side of the robot shell 3, connecting plates 11 are vertically and slidably connected in the two collision avoidance boxes 6, two collision avoidance legs 12 are fixedly connected at the bottoms of the two connecting plates 11, a driving mechanism is arranged on the inner wall of the bottom of each collision avoidance box 6, the connecting plates 11 are matched with the corresponding driving mechanism, air bag cushions 7 are embedded in the sides of the two collision avoidance boxes 6 far away from each other, and an inflation structure is communicated with, one side that two anticollision boxes 6 kept away from each other all is provided with camera 18, is connected with the controller on two cameras 18 respectively, and two controllers are connected with two actuating mechanism respectively, and camera 18 observes the environment to send the controller with the environment, whether the controller judges to be in the state of out of control, and control servo motor 8 and start and close.

In this embodiment, actuating mechanism includes servo motor 8 and lead screw 9, and servo motor 8 fixed connection is on the bottom inner wall of anticollision box 6, and the bottom fixed mounting of lead screw 9 is on servo motor 8's output shaft, and the top of lead screw 9 is rotated and is installed on the top inner wall of anticollision box 6, connecting plate 11 and the lead screw 9 threaded connection who corresponds, and servo motor 8 rotates through lead screw 9 and drives 11 vertical motions of connecting plate.

In this embodiment, the inflation structure includes cylinder 14, pressure plug 16, thrust rod 17 and communicating pipe 15, cylinder 14 fixed connection is on the bottom inner wall of anticollision box 6, pressure plug 16 slidable mounting is in cylinder 14, the bottom of thrust rod 17 and the top fixed connection of pressure plug 16, thrust rod 17 and cylinder 14 slidable connection, the top of thrust rod 17 and the bottom fixed connection of connecting plate 11, the one end and the cylinder 14 intercommunication of communicating pipe 15, the other end and the gasbag pad 7 that corresponds of communicating pipe 15 communicate, thrust plate 17 passes through pressure plug 16 and in cylinder 14 inside downward slip production atmospheric pressure gets into the gasbag pad 7 that corresponds through communicating pipe 15, gasbag pad 7 inflates and expands.

In this embodiment, perpendicular fixed mounting has two vertical poles 10 in the anticollision box 6, and connecting plate 11 and two vertical poles 10 sliding connection that correspond, two vertical poles 10 are spacing to connecting plate 11.

In this embodiment, the bottom fixedly connected with slipmat 13 of anticollision landing leg 12, anticollision landing leg 12 are the slope setting, anticollision landing leg 12 and the 6 sliding connection of anticollision box that correspond, and anticollision landing leg 12 downstream and ground contact slow down the rate of motion of robot shell 3 through slipmat 13 and ground friction increase frictional force.

Example two

Referring to fig. 1-3, a chassis collision avoidance mechanism of a fire-fighting robot comprises a robot shell 3, two driving wheels 4 are connected to two sides of the robot shell 3, the two driving wheels 4 positioned on the same side of the robot shell 3 are connected with the same crawler 5, a pressurizing chamber and a water gun 1 are arranged at the top of the robot shell 3, two illuminating lamps 19 are arranged at the front side of the robot shell 3, collision avoidance boxes 6 are fixedly arranged at the front side and the rear side of the robot shell 3, connecting plates 11 are vertically and slidably connected in the two collision avoidance boxes 6, two collision avoidance legs 12 are fixedly connected at the bottoms of the two connecting plates 11 through screws, a driving mechanism is arranged on the inner wall of the bottom of the collision avoidance boxes 6, the connecting plates 11 are matched with the corresponding driving mechanism, airbag cushions 7 are embedded in the sides of the two collision avoidance boxes 6 far away from each other, and an inflation structure is communicated with the, one side that two anticollision boxes 6 kept away from each other all is provided with camera 18, is connected with the controller on two cameras 18 respectively, and two controllers are connected with two actuating mechanism respectively, and camera 18 observes the environment to send the controller with the environment, whether the controller judges to be in the state of out of control, and control servo motor 8 and start and close.

In this embodiment, actuating mechanism includes servo motor 8 and lead screw 9, and servo motor 8 passes through screw fixed connection on the bottom inner wall of anticollision box 6, and welded fastening installs on servo motor 8's output shaft bottom of lead screw 9, and the top of lead screw 9 is rotated and is installed on the top inner wall of anticollision box 6, connecting plate 11 and the lead screw 9 threaded connection who corresponds, and servo motor 8 rotates through lead screw 9 and drives 11 vertical movements of connecting plate.

In this embodiment, the inflation structure includes a plurality of cylindrical barrels 14, a plurality of pressure plugs 16, a plurality of thrust rods 17 and a plurality of communicating pipes 15, the plurality of cylindrical barrels 14 are all fixedly connected to the inner wall of the bottom of the crash box 6 through screws, the pressure plugs 16 are slidably mounted in the corresponding cylindrical barrels 14, the bottom ends of the thrust rods 17 are fixedly connected to the tops of the corresponding pressure plugs 16 through screws, the thrust rods 17 are slidably connected to the corresponding cylindrical barrels 14, the top ends of the plurality of thrust rods 17 are fixedly connected to the bottoms of the connecting plates 11 through screws, one ends of the plurality of communicating pipes 15 are respectively communicated with the plurality of cylindrical barrels 14, the other ends of the plurality of communicating pipes 15 are respectively communicated with the corresponding airbag cushions 7, the thrust plates 17 generate air pressure through downward sliding of the pressure plugs 16 in the cylindrical barrels 14 and enter the corresponding airbag cushions 7 through the communicating pipes 15, the airbag cushions 7 are inflated and expanded, and the plurality of cylindrical barrels 14 are arranged, The plurality of pressure plugs 16, the plurality of thrust rods 17 and the plurality of communicating pipes 15 can improve the inflation amount and the anti-collision performance of the airbag cushion 7.

In this embodiment, vertically in the anticollision box 6 through welded fastening install two vertical poles 10, connecting plate 11 and two vertical poles 10 sliding connection that correspond, two vertical poles 10 are spacing to connecting plate 11.

In this embodiment, screw fixedly connected with slipmat 13 is passed through to the bottom of crashproof landing leg 12, and crashproof landing leg 12 sets up for the slope, crashproof landing leg 12 and the 6 sliding connection of anticollision box that correspond, and crashproof landing leg 12 downstream and ground contact slow down the rate of motion of robot shell 3 through slipmat 13 and ground friction increase frictional force.

In the embodiment, when the device is used, a comparison file shows that whether the performance of each part of the device is normal or not is checked by an operator, if the performance of some parts is abnormal, the device is required to be repaired or replaced in time, after the performance of each part of the device to be checked is normal, the device is arranged at a designated operation place and starts to work, the operator sends a signal through a remote controller, then the signal is received by an antenna, then a driving wheel 4 rotates and drives a crawler belt 5 to rotate clockwise, then a backward force is given to the ground by a friction strip, meanwhile, a forward force is given to the friction strip by the ground, the robot chassis moves forward until the robot chassis reaches the designated place, then a fixing head is fixedly connected with a water pipe, then water in the water pipe enters a connecting pipe through the fixing head, then enters a pressurizing chamber 2 through the connecting pipe and firstly enters a first inner pipe of the pressurizing chamber 2, then water enters the pressure increasing pipe from the first inner pipe, then the pressure increasing pipe accumulates potential for a short time, when the pressure of the water reaches a certain degree, the water blocking film is flushed away, the water enters the second inner pipe, after the signal received by the antenna receives information again, the water blocking valve is opened, then the water enters the water gun 1 and is sprayed out at a high speed through the water outlet pipe, when the spraying direction of the water gun 1 needs to be changed, the antenna continues to receive the signal, then the hobbing teeth roll, the thin rod is driven to rotate at the same time, meanwhile, the thin rod drives the whole upper component to rotate directionally, so that the position of the water gun 1 is changed all the time until the robot chassis finishes the fire fighting task, in the application document, when the robot shell 3 moves, the environment is observed through the cameras 18 arranged on the front side and the rear side, when the robot shell is in a downhill and the ground is slippery, the brake cannot be carried out, the servo motor 8 is started, under the condition that the two vertical rods 10 limit the connecting plate 11, the servo motor 8 rotates through the lead screw 9 to drive the connecting plate 11 to move downwards, the connecting plate 11 drives the two corresponding anti-collision legs 12 to move downwards to be contacted with the ground, the friction force is increased through the friction between the anti-slip pad 13 and the ground, the moving speed of the robot shell 3 is reduced, meanwhile, the connecting plate 11 drives the corresponding thrust plate 17 to move downwards, the thrust plate 17 slides downwards in the cylindrical barrel 14 through the pressure plug 16 to generate air pressure to enter the corresponding air bag pad 7 through the communicating pipe 15, the air bag pad 7 is inflated and expanded, the buffer effect can be achieved when the robot shell 3 collides with a hard object, the robot shell 3 can be effectively protected, after collision prevention is completed, the servo motor 8 is started reversely, so that the connecting plate 11 drives the two corresponding anti-collision legs 12 to move upwards to leave the ground, at the same time, the upward movement of the pressure plug 16 sucks out the gas inside the airbag cushion 7, so that the airbag cushion 7 is restored to the original shape and can continue to work.

The above descriptions are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the utility model concepts of the present invention are equivalent to, replaced or changed.

Claims

1. A chassis anti-collision mechanism of a fire-fighting robot comprises a robot shell (3), two driving wheels (4) are connected to two sides of the robot shell (3), the two driving wheels (4) positioned on the same side of the robot shell (3) are connected with the same crawler belt (5), a pressurizing chamber and a water gun (1) are arranged at the top of the robot shell (3), two illuminating lamps (19) are arranged on the front side of the robot shell (3), the chassis anti-collision mechanism is characterized in that anti-collision boxes (6) are fixedly arranged on the front side and the rear side of the robot shell (3), connecting plates (11) are vertically and slidably connected in the two anti-collision boxes (6), two anti-collision legs (12) are fixedly connected at the bottoms of the two connecting plates (11), a driving mechanism is arranged on the inner wall of the bottom of each anti-collision box (6), and the connecting plates (11) are matched with the, one side that two anticollision box (6) kept away from each other all is embedded to have gasbag pad (7), and the intercommunication has inflatable structure on two gasbag pads (7), and one side that two anticollision box (6) kept away from each other all is provided with camera (18), is connected with the controller on two cameras (18) respectively, and two controllers are connected with two actuating mechanism respectively.

2. The chassis collision avoidance mechanism of a fire-fighting robot according to claim 1, wherein the driving mechanism comprises a servo motor (8) and a screw rod (9), the servo motor (8) is fixedly connected to the inner wall of the bottom of the collision avoidance box (6), the bottom end of the screw rod (9) is fixedly installed on the output shaft of the servo motor (8), the top end of the screw rod (9) is rotatably installed on the inner wall of the top of the collision avoidance box (6), and the connecting plate (11) is in threaded connection with the corresponding screw rod (9).

3. The chassis collision avoidance mechanism of a fire-fighting robot according to claim 1, wherein the inflation structure comprises a cylindrical tube (14), a pressure plug (16), a thrust rod (17) and a communication tube (15), the cylindrical tube (14) is fixedly connected to the inner wall of the bottom of the crash box (6), the pressure plug (16) is slidably mounted in the cylindrical tube (14), the bottom end of the thrust rod (17) is fixedly connected to the top of the pressure plug (16), the thrust rod (17) is slidably connected to the cylindrical tube (14), the top end of the thrust rod (17) is fixedly connected to the bottom of the connection plate (11), one end of the communication tube (15) is communicated with the cylindrical tube (14), and the other end of the communication tube (15) is communicated with the corresponding airbag cushion (7).

4. The chassis collision avoidance mechanism of a fire-fighting robot according to claim 1, characterized in that two vertical rods (10) are vertically and fixedly installed in the collision avoidance box (6), and the connecting plate (11) is slidably connected with the two corresponding vertical rods (10).

5. The chassis collision avoidance mechanism of a fire-fighting robot according to claim 1, characterized in that the bottom ends of the collision legs (12) are fixedly connected with a non-slip mat (13), the collision legs (12) are arranged obliquely, and the collision legs (12) are slidably connected with the corresponding anti-collision boxes (6).