CN105031859A - Fire-fighting robot - Google Patents
Fire-fighting robot Download PDFInfo
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- CN105031859A CN105031859A CN201510530360.7A CN201510530360A CN105031859A CN 105031859 A CN105031859 A CN 105031859A CN 201510530360 A CN201510530360 A CN 201510530360A CN 105031859 A CN105031859 A CN 105031859A
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- firefighting robot
- pipeline
- supporting leg
- robot according
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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Abstract
The invention discloses a fire-fighting robot which comprises a chassis, power mechanisms, a transmission mechanism, a rack, a pipeline assembly and a fire monitor mounting base. The power mechanisms are connected with the transmission mechanism, the transmission mechanism is connected with wheels in the chassis, and a water outlet of the pipeline assembly is communicated with a water inlet of a fire monitor. A plurality of supporting leg assemblies, driving mechanisms for driving the supporting leg assemblies to be lifted or put down and connecting rod mechanisms are further included. The fire-fighting robot can move freely, and it can be guaranteed that the fire-fighting robot can be stably located when working; and the fire-fighting robot has the beneficial effects of being safe, reliable, high in practicality and the like, and the significant function is achieved in quick and effective control over difficult and dangerous disasters.
Description
Technical field
The present invention relates to a kind of firefighting robot, belongs to fire-fighting equipment technical field.
Background technology
Society, along with the continuous progress of modern science and technology, emerging in large numbers in batch of skyscraper, the condition of a disaster of fire is become increasingly complex, and the task of fire-fighting operation is more and more arduous, and the danger that fire fighter faces is also increasing.In recent years, in order to fully ensure the life safety of fire fighter, to can not close fire process time, adopt remote controlled manner control firefighting robot put out a fire, such as number of patent application is the firefighting robot described in the patent of 038266148.But firefighting robot, when outwards spraying water with high pressure, can produce a recoil strength to firefighting robot usually.Firefighting robot, under the effect of recoil strength, is easily moved.Firefighting robot after movement, effectively cannot put out a fire to the fire of appointed place, thus causes the condition of a disaster effectively not controlled fast.
Summary of the invention
For the problems referred to above that prior art exists, the object of this invention is to provide a kind of not only can freely to have walked but also can the firefighting robot of firm operation.
For achieving the above object, the present invention adopts following technical scheme:
A kind of firefighting robot, comprise chassis, actuating unit, transmission mechanism, frame, pipeline assembly and fire monitor mount pad, described actuating unit is connected with transmission mechanism, described transmission mechanism is connected with the wheel in chassis, and the described delivery port of pipeline assembly is connected with the water inlet of fire monitor; It is characterized in that: also comprise some supporting leg assemblies, and order about the driving mechanism and linkage that supporting leg assembly lifts or put down.
As a kind of embodiment, described supporting leg assembly comprises support bar and support wheel, and described support wheel is arranged on one end of described support bar, and the other end of described support bar is connected with linkage.
As a kind of preferred version, the number of described supporting leg assembly is the multiple of 2, is at least 2.
As a kind of preferred version, described supporting leg assembly is symmetricly set on frame rear and front end or/and the frame left and right sides.
As a kind of preferred version, described supporting leg assembly is symmetricly set on the both sides of frame front end or/and the both sides of frame rear end.
As a kind of embodiment, described driving mechanism is cylinder, and the water inlet of described cylinder is connected with the delivery port of pipeline assembly, and cylinder piston rod is connected with linkage.
As a kind of embodiment, described linkage comprises drive link and connecting rod, one end and the driving mechanism of described drive link are in transmission connection, the other end and the connecting rod of described drive link are affixed, described connecting rod is installed in rotation in frame, and the other end of described support bar is fixed on described connecting rod.
As a kind of embodiment, described linkage also comprises pull bar and spring, and one end of described pull bar is fixed in frame, and the other end of described pull bar is connected with spring, and the other end of described spring is fixed on connecting rod.
As a kind of embodiment, described drive link is in transmission connection by joint and driving mechanism, and wherein: one end of drive link and joint is hinged, the other end and the driving mechanism of joint are affixed.
As a kind of embodiment, described pipeline assembly comprises inlet pipeline and self-insurance pipeline, and the water inlet of described inlet pipeline is connected with external fluid delivery conduit, and the described water inlet of self-insurance pipeline is connected with the delivery port of inlet pipeline.
As a kind of embodiment, described self-insurance pipeline comprises some self-insurance branch roads, and the water outlet of every bar self-insurance branch road is all provided with shower nozzle.
As a kind of preferred version, described self-insurance pipeline comprises 6 self-insurance branch roads, is separately positioned on both sides, frame front end, frame rear end both sides and frame pars intermedia both sides.
Compared to prior art, Advantageous Effects of the present invention is:
Firefighting robot provided by the invention, by arranging some supporting leg assemblies and ordering about the driving mechanism and linkage that supporting leg assembly lifts or put down, achieve firefighting robot can not only move freely, and can strong fix when operation, can effectively solve firefighting robot when outwards spraying water with high pressure, the problem that the recoil strength of generation causes firefighting robot to be shifted; Especially, when described driving mechanism adopts cylinder, when the water inlet of described cylinder is connected with the delivery port of pipeline assembly, hydraulic pressure not only can be utilized as the power of cylinder, economize energy, can guarantee that the driving effect of described driving mechanism to supporting leg assembly is synchronous with the job state of firefighting robot, to ensure that firefighting robot moves the reliability with operation simultaneously; In a word, firefighting robot of the present invention has the advantages such as safe and reliable, practical, has conspicuousness effect for effective control fast that be difficult, dangerous the condition of a disaster.
Accompanying drawing explanation
The part-structure schematic diagram of a kind of firefighting robot that Fig. 1 provides for embodiment;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the side sectional view of Fig. 1;
Fig. 4 is the rearview of Fig. 1;
The structural representation of the firefighting robot that Fig. 5 provides for embodiment when non-operation.
Number in the figure is schematically as follows:
1, chassis; 11, wheel; 2, actuating unit; 3, transmission mechanism; 4, frame; 5, pipeline assembly; 51, inlet pipeline; 511, water inlet; 52, self-insurance pipeline; 521, self-insurance branch road; 522, shower nozzle; 53, fire monitor mount pad; 6, fire monitor; 7, supporting leg assembly; 71, support bar; 72, support wheel; 8, driving mechanism; 81, cylinder; 811, cylinder piston rod; 9, linkage; 91, drive link; 92, connecting rod; 93, joint; 94, pull bar; 95, spring; 10, casing.
Detailed description of the invention
Below with reference to drawings and Examples technical scheme of the present invention done and describe clearly and completely further.
Embodiment
As shown in Figure 1: a kind of firefighting robot that the present embodiment provides, comprise chassis 1, and be fixedly mounted on the One On The Chassis actuating unit 2, transmission mechanism 3 and frame 4, and be fixedly mounted on pipeline assembly 5 in frame 4, fire monitor mount pad 53, some supporting leg assemblies 7, order about driving mechanism 8 and linkage 9 that supporting leg assembly 7 lifts or put down; Described actuating unit 2 is connected with transmission mechanism 3, described transmission mechanism 3 is connected with the wheel 11 in chassis 1, described pipeline assembly 5 comprises inlet pipeline 51 and self-insurance pipeline 52, the water inlet 511 of described inlet pipeline 51 is connected with external fluid delivery conduit, described self-insurance pipeline 52 comprises some self-insurance branch roads 521 and (there is shown 6, but be not limited only to 6), every water inlet of bar self-insurance branch road 521 is connected with the delivery port (not shown) of inlet pipeline 51, and the water outlet of every bar self-insurance branch road 521 is all provided with shower nozzle 522; Because the object arranging self-insurance pipeline 52 prevents firefighting robot itself catches fire, therefore, self-insurance branch road 521 is preferably arranged round all sides of frame 4, such as: be separately positioned on both sides, frame front end, frame rear end both sides and frame pars intermedia both sides, and shower nozzle 522 is sprayed water from all side direction of firefighting robot.
Described actuating unit 2 is preferably motor 21, and described transmission mechanism 3 is preferably chain gear transmission.
Described supporting leg assembly 7 comprises support bar 71 and support wheel 72, and described support wheel 72 is arranged on one end of described support bar 71.The number of described supporting leg assembly 7 is preferably the multiple of 2, is at least 2, to realize balance support.Described supporting leg assembly 7 can be symmetricly set on frame rear and front end or/and the frame left and right sides, also can be symmetricly set on the both sides of frame front end or/and the both sides of frame rear end.The present embodiment there is shown 2, and is symmetricly set on the both sides of frame rear end, but is not limited thereto this set of embodiment.Described support wheel 72 can select rubber friction wheel, is beneficial to support stop.
Described driving mechanism 8 is preferably cylinder 81, the water inlet of described cylinder is connected with the delivery port of pipeline assembly, hydraulic pressure not only can be utilized as the power of cylinder, can guarantee that the driving effect of described driving mechanism 8 pairs of supporting leg assemblies 7 is synchronous with the job state of firefighting robot, to ensure that firefighting robot moves the reliability with operation simultaneously.
As shown in Figures 1 to 4: described linkage 9 comprises drive link 91 and connecting rod 92, described drive link 91 is in transmission connection by joint 93 and the cylinder 81 as driving mechanism 8, wherein: drive link 91 is hinged with one end of joint 93, the other end and the cylinder piston rod 811 of joint 93 are affixed, the other end and the connecting rod 92 of described drive link 91 are affixed, described connecting rod 92 is installed in rotation in frame 4, and the other end of described support bar 71 is fixed on described connecting rod 92.
As shown in Figure 3: described linkage 9 also comprises pull bar 94 and spring 95, one end of described pull bar 94 is fixed in frame 4, and the other end of described pull bar 94 is connected with spring 95, and the other end of described spring 95 is fixed on connecting rod 92; When supporting leg assembly 7 upwards lifts, spring 95 is in extended state, and when supporting leg assembly 7 puts down, spring 95 is in reset mode, can guarantee that supporting leg assembly 7 completes further and lifts by setting up this mechanism or put down.
As shown in Figure 5: described fire monitor 6 is fixedly mounted on fire monitor mount pad 53, the water inlet of fire monitor is connected with the delivery port of inlet pipeline 51 (not shown).Frame 4 also can be covered and establish casing 10, with play dust-proof, protection and increase beauty function.
Described in the present embodiment, the operation principle of firefighting robot is as follows:
Be connected with external fluid delivery conduit by the water inlet 511 of the inlet pipeline 51 of described firefighting robot, then the water outlet in inlet pipeline 51 a: road enters fire monitor 6, for fire monitor 6 fire extinguishing provides water source; Another road enters cylinder 81, for cylinder 81 provides thrust; The water outlet branch road be connected with the water inlet of self-insurance branch road 521 in addition, for the shower nozzle 522 being located at self-insurance branch road 521 one end provides the water source spilt to firefighting robot week side spray, to prevent firefighting robot itself catches fire.
Shown in composition graphs 1 and Fig. 3: cylinder 81 makes cylinder piston rod 811 do extend action under the promotion of hydraulic pressure, thus drive link 91 is pushed forward, because the end positions of drive link 91 limits, therefore make the active force on drive link 91 be transferred on connecting rod 92, make connecting rod 92 that inside rotation occur, thus support bar 71 is put down, support wheel 72 and earth surface play a supportive role; In addition, due to connecting rod 92 occur inwardly to rotate time, spring 95 is in reset mode, can guarantee that supporting leg assembly 7 completes further and put down action; On the contrary, when firefighting robot not operation, hydraulic pressure effect will be there is no in cylinder 81, therefore cylinder piston rod 811 does homing action, thus it is dynamic that drive link 91 is pulled rearward, because the end positions of drive link 91 limits, therefore make the active force on drive link 91 be transferred on connecting rod 92, make connecting rod 92 that outside rotation occur, thus support bar 71 is lifted, support wheel 72 and ground depart from; In addition, due to connecting rod 92 occur outwards to rotate time, spring 95 is in extended state, can guarantee that supporting leg assembly 7 completes further and lift action, thus it is mobile not affect freely walking of firefighting robot.
Finally be necessary to herein means out: the foregoing is only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (10)
1. a firefighting robot, comprise chassis, actuating unit, transmission mechanism, frame, pipeline assembly and fire monitor mount pad, described actuating unit is connected with transmission mechanism, described transmission mechanism is connected with the wheel in chassis, and the described delivery port of pipeline assembly is connected with the water inlet of fire monitor; It is characterized in that: also comprise some supporting leg assemblies, and order about the driving mechanism and linkage that supporting leg assembly lifts or put down.
2. firefighting robot according to claim 1, is characterized in that: described supporting leg assembly comprises support bar and support wheel, and described support wheel is arranged on one end of described support bar, and the other end of described support bar is connected with linkage.
3. firefighting robot according to claim 1 and 2, is characterized in that: the number of described supporting leg assembly is the multiple of 2, is at least 2.
4. firefighting robot according to claim 1 and 2, is characterized in that: described supporting leg assembly is symmetricly set on frame rear and front end or/and the frame left and right sides.
5. firefighting robot according to claim 1 and 2, is characterized in that: described supporting leg assembly is symmetricly set on the both sides of frame front end or/and the both sides of frame rear end.
6. firefighting robot according to claim 1, is characterized in that: described driving mechanism is cylinder, and the water inlet of described cylinder is connected with the delivery port of pipeline assembly, and cylinder piston rod is connected with linkage.
7. the firefighting robot according to claim 1 or 6, it is characterized in that: described linkage comprises drive link and connecting rod, one end and the driving mechanism of described drive link are in transmission connection, the other end and the connecting rod of described drive link are affixed, described connecting rod is installed in rotation in frame, and the other end of described support bar is fixed on described connecting rod.
8. firefighting robot according to claim 7, is characterized in that: described linkage also comprises pull bar and spring, and one end of described pull bar is fixed in frame, and the other end of described pull bar is connected with spring, and the other end of described spring is fixed on connecting rod.
9. firefighting robot according to claim 7, is characterized in that: described drive link is in transmission connection by joint and driving mechanism, and wherein: one end of drive link and joint is hinged, the other end and the driving mechanism of joint are affixed.
10. firefighting robot according to claim 1, it is characterized in that: described pipeline assembly comprises inlet pipeline and self-insurance pipeline, the water inlet of described inlet pipeline is connected with external fluid delivery conduit, and the described water inlet of self-insurance pipeline is connected with the delivery port of inlet pipeline; Described self-insurance pipeline comprises some self-insurance branch roads, and the water outlet of every bar self-insurance branch road is all provided with shower nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510530360.7A CN105031859A (en) | 2015-08-26 | 2015-08-26 | Fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510530360.7A CN105031859A (en) | 2015-08-26 | 2015-08-26 | Fire-fighting robot |
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| CN105031859A true CN105031859A (en) | 2015-11-11 |
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| CN201510530360.7A Pending CN105031859A (en) | 2015-08-26 | 2015-08-26 | Fire-fighting robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105498128A (en) * | 2015-12-28 | 2016-04-20 | 青岛克路德机器人有限公司 | Auxiliary supporting device of firefighting robot |
| CN106267645A (en) * | 2016-08-16 | 2017-01-04 | 中国科学技术大学 | A kind of hydrodynamic force fire-fighting robot |
| CN106863331A (en) * | 2017-03-14 | 2017-06-20 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
| CN107932470A (en) * | 2017-11-17 | 2018-04-20 | 泰州市海博汽车科技有限公司 | A kind of weight support device of fire-fighting robot |
| CN108888887A (en) * | 2018-06-08 | 2018-11-27 | 广州市奇瓦机器人技术有限责任公司 | A kind of fire rescue special purpose robot |
| CN109675236A (en) * | 2019-01-30 | 2019-04-26 | 苏州新鼎应急装备科技有限公司 | A kind of fire-fighting robot water lines and frame integral structure |
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN110013635A (en) * | 2019-04-25 | 2019-07-16 | 济南大学 | A kind of sufficient fire-fighting robot of novel bionic six |
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105498128A (en) * | 2015-12-28 | 2016-04-20 | 青岛克路德机器人有限公司 | Auxiliary supporting device of firefighting robot |
| CN106267645A (en) * | 2016-08-16 | 2017-01-04 | 中国科学技术大学 | A kind of hydrodynamic force fire-fighting robot |
| CN106863331A (en) * | 2017-03-14 | 2017-06-20 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
| CN107932470A (en) * | 2017-11-17 | 2018-04-20 | 泰州市海博汽车科技有限公司 | A kind of weight support device of fire-fighting robot |
| CN108888887A (en) * | 2018-06-08 | 2018-11-27 | 广州市奇瓦机器人技术有限责任公司 | A kind of fire rescue special purpose robot |
| CN109675236A (en) * | 2019-01-30 | 2019-04-26 | 苏州新鼎应急装备科技有限公司 | A kind of fire-fighting robot water lines and frame integral structure |
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| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN109916457B (en) * | 2019-04-23 | 2023-08-22 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
| CN110013635A (en) * | 2019-04-25 | 2019-07-16 | 济南大学 | A kind of sufficient fire-fighting robot of novel bionic six |
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
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Application publication date: 20151111 |