阅读说明：本技术 一种消防机器人的自校准导向轮 (Self-calibration guide wheel of fire-fighting robot ) 是由 许云 孔常剑 张新霞 潘小敏 陈岚 解雅梅 于 2021-09-03 设计创作，主要内容包括：本发明公开了一种消防机器人的自校准导向轮,包括底座,所述底座的一侧表面设置有高清摄像装置,所述高清摄像装置的一侧表面固定连接有高清摄像头,所述高清摄像头的内部一端固定连接有钢化玻璃,所述高清摄像装置的内部安装有消防用红外热像仪,所述底座的两侧表面两端均固定连接有延长块,所述延长块的一侧表面固定连接有驱动机箱,所述驱动机箱的一侧表面设置有驱动电机,且所述驱动电机的一端传动连接有转动轴,本发明通过设置的高清摄像装置,且在高清摄像装置内部安装有消防用红外热像仪,可以使消防机器人在火灾现场准确的确定人员的位置和火灾的形式,从而辅助消防人员制定更加安全可靠的消防措施。(The invention discloses a self-calibration guide wheel of a fire-fighting robot, which comprises a base, wherein a high-definition camera device is arranged on one side surface of the base, a high-definition camera is fixedly connected on one side surface of the high-definition camera device, tempered glass is fixedly connected at one end inside the high-definition camera device, a fire-fighting thermal infrared imager is arranged inside the high-definition camera device, extension blocks are fixedly connected at two ends of two side surfaces of the base, a driving case is fixedly connected on one side surface of the extension block, a driving motor is arranged on one side surface of the driving case, and a rotating shaft is connected at one end of the driving motor in a transmission manner. Thereby assisting the fire fighter to make safer and more reliable fire control measures.)

1. The utility model provides a fire-fighting robot's self calibration leading wheel, includes base (1), its characterized in that: a high-definition camera device (6) is arranged on one side surface of the base (1), a high-definition camera (7) is fixedly connected to one side surface of the high-definition camera device (6), tempered glass (8) is fixedly connected to one end of the interior of the high-definition camera (7), a fire-fighting thermal infrared imager is installed inside the high-definition camera device (6), extension blocks (13) are fixedly connected to two ends of the two side surfaces of the base (1), a driving case (14) is fixedly connected to one side surface of each extension block (13), a driving motor (15) is arranged on one side surface of each driving case (14), a rotating shaft (16) is connected to one end of each driving motor (15) in a transmission manner, a driving gear (17) is fixedly connected to the surface of each rotating shaft (16), and a driven gear (18) is meshed with one side of each driving gear (17), driven gear (18) inside runs through and is provided with drive pivot (19), just drive pivot (19), driven gear (18), drive gear (17) and axis of rotation (16) all set up the inside at drive machine case (14), the inboard of extension piece (13) is provided with rolling wheel (20), just rolling wheel (20) fixed connection is on the surface of drive pivot (19).

2. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: the upper surface of the base (1) is fixedly connected with fire-fighting equipment through a fixing block (2).

3. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: the number of the rolling wheels (20) is four, and the two rolling wheels (20) are connected with each other through a transmission crawler belt (22).

4. A self-aligning guide wheel for a fire fighting robot as recited in claim 3, wherein: the inner side surface of the transmission crawler belt (22) and the outer side surface of the rolling wheel (20) are fixedly connected with meshing teeth (21), and a plurality of meshing teeth (21) are arranged.

5. A self-aligning guide wheel for a fire fighting robot as recited in claim 3, wherein: the outer side surface of the transmission crawler belt (22) is fixedly connected with saw teeth (23), and the saw teeth (23) are provided with a plurality of saw teeth.

6. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: the damping device is characterized in that damping rollers (25) are arranged on two sides of the lower surface of the base (1) through damping springs (24), and the damping rollers (25) are in contact with meshing teeth (21) on the inner side surface of the transmission crawler (22).

7. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: mounting groove (3) have been seted up to inside one side of base (1), draw-in groove (4) have all been seted up on the inside both sides surface of mounting groove (3).

8. The self-aligning guide wheel of a fire fighting robot of claim 7, wherein: the two clamping grooves (4) are arranged, and the miniature electric push rods (5) are arranged inside the two clamping grooves (4).

9. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: high definition camera device (6) keep away from one end fixedly connected with inserted block (9) of high definition camera (7), reset groove (10) have all been seted up on the inside both sides surface of inserted block (9), reset groove (10) inside is provided with fixture block (11) through reset spring (12).

10. The self-aligning guide wheel of a fire fighting robot of claim 1, wherein: the high-definition camera device (6) is installed on one side surface of the base (1) through the inserting block (9) and the installing groove (3).

Technical Field

The invention belongs to the technical field of fire-fighting robots, and particularly relates to a self-calibration guide wheel of a fire-fighting robot.

Background

The fire-fighting robot is one of special robots and plays an important role in fire extinguishing and emergency rescue.

The guide wheel is used for guiding the direction of a soft pipeline or soft linear objects such as steel wires, nylon ropes and the like in the moving process. The guide wheel is provided with a pulley structure, and the guide wheel can play a role in saving power in certain projects or products. The guide wheel accessory is an important part of the electric shovel walking system, and the performance of the guide wheel accessory plays a decisive role in the stability and the safety and reliability of the whole electric shovel walking system. The guide wheel plays a role of tensioning the track in the walking system, so the guide wheel is also called a tensioning wheel and a tensioning wheel. The tightness of the crawler belt can be effectively adjusted, and the walking stability and high efficiency of the electric shovel are effectively realized.

General fire-fighting robot can only use remote control unit control fire-fighting robot to put out a fire and rescue the operation when in-service use at present, but because scene of fire smog is great, the fire fighter only can't learn the scene of fire's personnel particular case through high definition digtal camera, greatly increased the fire fighter's the degree of difficulty of suing and labouring, and fire-fighting robot is because the scene of fire topography is complicated when the scene of fire removes, lead to the camera vibrations easily, the fire fighter has been hindered to the survey on-the-spot of fire, the degree of difficulty that the conflagration was suid and laboured has further been increased.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the existing defects, and provide a self-calibration guide wheel of a fire-fighting robot, so as to solve the problems that the general fire-fighting robot proposed in the background technology can only control the fire-fighting robot to carry out fire extinguishing rescue operation by a fireman through a remote control device in actual use, but the fireman cannot know the specific conditions of the fireman through a high-definition camera only due to large smoke in the fire scene, so that the rescue difficulty of the fireman is greatly increased, and the fireman is hindered from surveying the fire scene due to the vibration of the camera caused by the complex scene terrain when the fire-fighting robot moves in the fire scene, so that the fire rescue difficulty is further increased.

In order to achieve the purpose, the invention provides the following technical scheme: a self-calibration guide wheel of a fire-fighting robot comprises a base, wherein a high-definition camera device is arranged on one side surface of the base, a high-definition camera is fixedly connected to one side surface of the high-definition camera device, tempered glass is fixedly connected to one end inside the high-definition camera device, a thermal infrared imager for fire fighting is installed inside the high-definition camera device, extension blocks are fixedly connected to two ends of the two side surfaces of the base, a driving case is fixedly connected to one side surface of each extension block, a driving motor is arranged on one side surface of the driving case, a rotating shaft is connected to one end of the driving motor in a transmission manner, a driving gear is fixedly connected to the surface of the rotating shaft, a driven gear is connected to one side of the driving gear in a meshing manner, a driving rotating shaft penetrates through the inside of the driven gear, and the driving rotating shaft, the driven gear, the driving gear and the rotating shaft are all arranged inside the driving case, the inner side of the extension block is provided with a rolling wheel, and the rolling wheel is fixedly connected to the surface of the driving rotating shaft.

Preferably, the upper surface of the base is fixedly connected with fire-fighting equipment through a fixing block.

Preferably, the number of the rolling wheels is four, and the two rolling wheels are connected with each other through a transmission crawler.

Preferably, the inner side surface of the transmission crawler and the outer side surface of the rolling wheel are fixedly connected with meshing teeth, and the meshing teeth are provided with a plurality of teeth.

Preferably, the outer side surface of the transmission crawler belt is fixedly connected with a plurality of saw teeth.

Preferably, the damping rollers are arranged on two sides of the lower surface of the base through damping springs, and the damping rollers are in contact with the meshing teeth on the inner side surface of the transmission track.

Preferably, a mounting groove is formed in one side of the inside of the base, and clamping grooves are formed in the surfaces of the two sides of the inside of the mounting groove.

Preferably, the number of the clamping grooves is two, and the miniature electric push rods are arranged in the two clamping grooves.

Preferably, the high definition camera device keeps away from the one end fixedly connected with inserted block of high definition camera, the groove that resets has all been seted up on the inside both sides surface of inserted block, the inside in groove that resets is provided with the fixture block through reset spring.

Preferably, the high-definition camera device is installed on one side surface of the base through an insertion block and an installation groove.

Compared with the prior art, the invention provides a self-calibration guide wheel of a fire-fighting robot, which has the following beneficial effects:

1. the invention adopts the high-definition camera device, and the infrared thermal imager for fire fighting is arranged in the high-definition camera device, the fire-fighting robot can accurately determine the position of personnel and the form of fire in the fire scene, thereby assisting the fire fighters to make safer and more reliable fire fighting measures, effectively avoiding the problem that the fire fighting robot can only be controlled by the firemen to carry out fire extinguishing rescue operation by using a remote control device when the general fire fighting robot is actually used, but because the smoke in the fire scene is larger, the fire fighters can not know the specific situation of the fire scene by only the high-definition camera, thereby greatly increasing the rescue difficulty of the fire fighters, the safety of the internal high-definition camera in a fire scene is effectively guaranteed through the arranged toughened glass, the high-definition camera is prevented from being burnt by fire, loss is prevented, and meanwhile fire fighting work is prevented;

2. according to the invention, through the arrangement of the damping spring and the damping roller, when the fire-fighting robot normally runs on a fire scene, the terrain of the fire scene is generally complex, so that the pictures shot by the high-definition camera arranged on the fire-fighting robot easily shake, thereby increasing the difficulty of fire extinguishing;

3. according to the invention, the front and rear rolling wheels are connected with each other through the transmission crawler belt, and when the fire-fighting robot runs, the rear wheels are driven to rotate through the rotation of the front wheels and the transmission crawler belt, so that the purpose of rotating the four wheels together is realized;

4. according to the invention, through the arranged meshing teeth, the friction force between the transmission crawler and the four rolling wheels is further increased, the phenomenon that the fire-fighting robot slips in the running process is effectively prevented, so that the fire-fighting robot breaks down, the fixed block is fixedly connected to the upper surface of the base through the arranged base, and various fire-fighting devices can be conveniently fixed at the upper end of the base through the fixed block, so that the aim of fire fighting of the robot is fulfilled;

5. when the high-definition camera device is installed, the inserting block is inserted into the installation groove through the arranged micro electric push rod and the clamping groove, then the clamping block is ejected out by the reset spring and clamped in the clamping groove, so that the installation of the high-definition camera device can be completed, when the high-definition camera device needs to be detached, the micro electric push rod is controlled to extend, and the clamping block is ejected into the reset groove again, the plug-in block of the high-definition camera device is pulled out from the inside of the mounting groove, so that the disassembly process can be completed, and the assembly and disassembly processes of the high-definition camera device are greatly facilitated.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

FIG. 1 is a schematic structural diagram of a self-calibration guide wheel of a fire-fighting robot according to the present invention;

FIG. 2 is a front view of a self-aligning guide wheel of the fire fighting robot of the present invention;

FIG. 3 is a schematic structural view of a transmission track in a self-calibration guide wheel of the fire-fighting robot according to the present invention;

FIG. 4 is a top view of a self-aligning guide wheel of the fire fighting robot of the present invention;

FIG. 5 is a cross-sectional view of a drive housing in a self-aligning guide wheel of a fire fighting robot according to the present invention;

FIG. 6 is a left side view of a base in the self-aligning guide wheel of the fire fighting robot according to the present invention;

FIG. 7 is a cross-sectional view of a base in a self-aligning guide wheel of the fire fighting robot according to the present invention from a top view;

fig. 8 is a schematic structural view of a high-definition camera device in a self-calibration guide wheel of the fire-fighting robot provided by the invention;

in the figure: 1. a base; 2. a fixed block; 3. mounting grooves; 4. a card slot; 5. a miniature electric push rod; 6. a high-definition camera device; 7. a high-definition camera; 8. tempering the glass; 9. inserting a block; 10. a reset groove; 11. a clamping block; 12. a return spring; 13. a lengthening block; 14. a drive chassis; 15. a drive motor; 16. a rotating shaft; 17. a drive gear; 18. a driven gear; 19. driving the rotating shaft; 20. a rolling wheel; 21. meshing teeth; 22. a drive track; 23. saw teeth; 24. a damping spring; 25. shock attenuation gyro wheel.

Detailed Description

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

Referring to fig. 1-8, the present invention provides a technical solution: a self-calibration guide wheel of a fire-fighting robot comprises a base 1, wherein a high-definition camera device 6 is arranged on one side surface of the base 1, a high-definition camera 7 is fixedly connected on one side surface of the high-definition camera device 6, tempered glass 8 is fixedly connected at one end inside the high-definition camera 7, a fire-fighting thermal infrared imager is installed inside the high-definition camera device 6, extension blocks 13 are fixedly connected at two ends of two side surfaces of the base 1, a driving case 14 is fixedly connected on one side surface of each extension block 13, a driving motor 15 is arranged on one side surface of each driving case 14, a rotating shaft 16 is connected at one end of each driving motor 15 in a transmission manner, a driving gear 17 is fixedly connected on the surface of each rotating shaft 16, a driven gear 18 is connected to one side of each driving gear 17 in a meshing manner, a driving rotating shaft 19 penetrates through the inside of each driven gear 18, and the driving rotating shaft 19, the driven gears 18, the driving gears 17 and the rotating shafts 16 are all arranged inside the driving case 14, the invention uses the driving case 14, when in use, the driving motor 15 drives the rotating shaft 16 to rotate, so as to drive the driving gear 17 fixedly connected to the top end of the rotating shaft 16 to rotate, the driven gear 18 meshed and connected with the driving gear 17 is driven to rotate by the rotation of the driving gear 17, the driving rotating shaft 19 fixedly connected to one side surface of the driven gear 18 is driven to rotate, and finally the rolling wheel 20 is driven to rotate, so as to realize the purpose of moving the fire-fighting robot, the invention uses the high-definition camera device 6, and the infrared thermal imager for fire fighting is arranged in the high-definition camera device 6, so that the fire-fighting robot can accurately determine the position of personnel and the form of fire in the fire scene, thereby assisting the fire-fighting personnel to formulate safer and more reliable fire-fighting measures, and effectually avoided general fire-fighting robot can only use remote control unit control fire-fighting robot to put out a fire and rescue the operation when in-service use, but because the scene of fire smog is great, the fire fighter only can't learn the scene of fire's personnel particular case through high definition digtal camera 7, greatly increased the problem of the fire fighter's the difficulty of rescuing, toughened glass 8 through setting up, the effectual security of inside high definition digtal camera 7 at the scene of fire of having guaranteed, prevent that high definition digtal camera 7 from being burnt by the big fire, the going on of fire control work has been hindered when causing the loss.

In the invention, preferably, the upper surface of the base 1 is fixedly connected with fire-fighting equipment through the fixing block 2, the upper surface of the base 1 is fixedly connected with the fixing block 2 through the arranged base 1, and various fire-fighting equipment can be conveniently fixed at the upper end of the base 1 through the fixing block 2, so that the aim of robot fire-fighting is fulfilled.

In the invention, preferably, four rolling wheels 20 are arranged, two rolling wheels 20 are connected with each other through a transmission crawler 22, the two rolling wheels 20 at the front and the back are connected with each other through the transmission crawler 22, and when the fire-fighting robot runs, the rear wheels are driven to rotate through the rotation of the front wheels and the transmission crawler 22, so that the purpose of rotating the four wheels together is realized.

In the invention, preferably, the inner side surface of the transmission crawler 22 and the outer side surface of the rolling wheels 20 are fixedly connected with the meshing teeth 21, and a plurality of meshing teeth 21 are arranged, so that the friction force between the transmission crawler 22 and the four rolling wheels 20 is further increased through the arranged meshing teeth 21, and the phenomenon that the fire-fighting robot slips in the running process to cause the fault of the fire-fighting robot is effectively prevented.

In the present invention, it is preferable that the outer side surface of the driving track 22 is fixedly connected with the saw teeth 23, the saw teeth 23 are provided in plurality, and the grip performance of the fire-fighting robot when the fire-fighting robot travels on the ground in a fire scene is increased by the saw teeth 23 provided on the outer side surface of the driving track 22, and the friction between the driving track 22 and the ground is increased, thereby ensuring the normal travel of the fire-fighting robot.

In the invention, preferably, the two sides of the lower surface of the base 1 are both provided with the damping rollers 25 through the damping springs 24, and the damping rollers 25 are contacted with the meshing teeth 21 on the inner side surface of the transmission crawler 22, through the damping springs 24 and the damping rollers 25, when the fire-fighting robot normally runs in a fire scene, because the terrain of the fire scene is generally complex, the pictures shot by the high-definition camera 7 arranged on the fire-fighting robot can be easily and violently shaken, thereby increasing the difficulty of fire extinguishing, through the damping springs 24 and the damping rollers 25, the fire-fighting robot can effectively run in the fire scene more stably, the pictures shot by the high-definition camera 7 arranged on the fire-fighting robot can be more stably cleaned, and the problem that the camera is easily vibrated due to the complex terrain of the fire scene when the fire-fighting robot moves in the fire scene is effectively avoided, the fire fighters are hindered from surveying the fire scene, and the difficulty of fire rescue is further increased.

In the invention, preferably, one side inside the base 1 is provided with an installation groove 3, and the surfaces of two sides inside the installation groove 3 are both provided with clamping grooves 4.

In the invention, preferably, two clamping grooves 4 are arranged, and the miniature electric push rods 5 are arranged in the two clamping grooves 4.

In the invention, preferably, an insertion block 9 is fixedly connected to one end of the high-definition camera device 6 far away from the high-definition camera 7, reset grooves 10 are formed in two side surfaces of the inside of the insertion block 9, and a clamping block 11 is arranged inside the reset grooves 10 through a reset spring 12.

In the invention, preferably, the high-definition camera device 6 is installed on one side surface of the base 1 through the inserting block 9 and the installing groove 3, when the high-definition camera device 6 is installed, the inserting block 9 is inserted into the installing groove 3 through the arranged micro electric push rod 5 and the clamping groove 4, then the clamping block 11 is ejected out by the reset spring 12 and clamped inside the clamping groove 4, and the installation of the high-definition camera device 6 can be completed, when the high-definition camera device 6 needs to be detached, the disassembling process can be completed by controlling the extension of the micro electric push rod 5 and re-ejecting the clamping block 11 into the reset groove 10, and then the inserting block 9 of the high-definition camera device 6 is pulled out from the installing groove 3, so that the installation and the disassembly process of the high-definition camera device 6 are greatly facilitated.

The working principle and the using process of the invention are as follows: when the high-definition camera 6 is used, firstly, the high-definition camera 6 needs to be installed on one side surface of a base 1 of a fire-fighting robot, when the high-definition camera 6 is installed, an inserting block 9 is inserted into an installing groove 3, in the inserting process, a clamping block 11 arranged in a reset groove 10 is extruded into the reset groove 10, when the inserting block 9 is inserted into the bottom end of the installing groove 3, the clamping block 11 is popped out of the reset groove 10 by a reset spring 12, the clamping block 11 is clamped in a clamping groove 4 at the moment, so that the installing process of the high-definition camera 6 is completed, the fireproof performance of the high-definition camera 7 on a fire scene can be effectively improved through toughened glass 8 arranged at the top end of the high-definition camera 7, the accuracy of a picture shot by the high-definition camera 6 on the fire scene can be ensured through a fire-fighting infrared camera installed in the high-definition camera 6, so as to assist fire fighters to formulate a safer and more reliable fire-fighting plan, the fire fighter can start through remote control unit control fire-fighting robot afterwards, it rotates to drive axis of rotation 16 through driving motor 15, thereby drive gear 17 and rotate, drive gear 17 drives and rotates with driven gear 18 that drive gear 17 intermeshing is connected, thereby drive pivot 19 and rotate, finally drive two rolling wheels 20 that set up at base 1 both sides front end and rotate, through transmission track 22 interconnect between the rolling wheel 20 of front and back, consequently, can drive back rolling wheel 20 and rotate when preceding rolling wheel 20 rotates, thereby realize the purpose of fire-fighting robot walking, the fire equipment that will use later passes through fixed block 2 and installs the upper surface at base 1, when fire-fighting robot gets into the scene of a fire, because the terrain condition at the scene of a fire is comparatively complicated, consequently, can effectually guarantee through damping spring 24 and the shock attenuation gyro wheel 25 that the fire-fighting robot itself is in a comparatively flat The stability of the picture of shooting through high definition digtal camera 7 has further been guaranteed to steady state, helps supplementary fire fighter to carry out accurate judgement to the scene of a fire, and greatly increased resident's security.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.