CN106039619B - A kind of substation's fire rescue robot - Google Patents
A kind of substation's fire rescue robot Download PDFInfo
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- CN106039619B CN106039619B CN201610500014.9A CN201610500014A CN106039619B CN 106039619 B CN106039619 B CN 106039619B CN 201610500014 A CN201610500014 A CN 201610500014A CN 106039619 B CN106039619 B CN 106039619B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 30
- 239000007921 spray Substances 0.000 abstract description 12
- 230000005611 electricity Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical group O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- VZGDMQKNWNREIO-UHFFFAOYSA-N tetrachloromethane Chemical compound ClC(Cl)(Cl)Cl VZGDMQKNWNREIO-UHFFFAOYSA-N 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- CDBYLPFSWZWCQE-UHFFFAOYSA-L Sodium Carbonate Chemical compound [Na+].[Na+].[O-]C([O-])=O CDBYLPFSWZWCQE-UHFFFAOYSA-L 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of substation's fire rescue robots, including crawler unit, running gear system, electrical turntable, delta parallel institution and extinguishing device；The running gear system quantity is four, and running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electrical turntable and crawler unit are connected, delta parallel institution is between electrical turntable and extinguishing device, and delta parallel institution lower end is connected with electrical turntable, delta parallel institution upper end is connected with extinguishing device.Substation can be occurred for the present invention to carry out fire-fighting fire extinguishing operation when fire, and movement is steady flexibly, fire extinguishing spray regime is big, fire-fighting efficiency is high and highly-safe when high degree of automation, fire extinguishing, solves the problems, such as that the artificial fire-fighting fire extinguishing risk of substation is big.
Description
Technical field
The present invention relates to electric power fire-fighting equipment fields, specifically a kind of substation's fire rescue robot.
Background technique
Electric power is the energy using electric energy as power, and invention is started in 19 century 70s, the invention and application of electric power
Second of industrialization climax, since becoming 18th century of human history, one of scientific and technological revolution three times that the world occurs, from this section's technological transformation
Becoming people's lives, the large-scale electrical power system that 20th century occurred is one of most important achievement in the human engineering history of science,
The power generation and consumption system being made of links such as power generation, transmission of electricity, power transformation, distribution and electricity consumptions, it is by the primary of nature
The energy is converted to electric power by mechanical energy device, then supplies power to each user through transmission of electricity, power transformation and distribution；Due to electric power from
It generates, most easily produce electric leakage in transmission and use process or use environment is improper causes fire, fire easily occurs for electric power
Occasion is mainly by power station, power supply station, substation, power distribution station, transmission line of electricity, overhead system, electric power laboratory and height crimping
Road cable laying etc., and electric power fire occurs rapidly, and scene of fire risk is big and coverage is wide.
The fire extinguisher species that fire-fighting at present uses are various, mainly there is carbon dioxide extinguisher, 1211 fire extinguishers, dry-chemical fire extinguishing
Device, soda acid foam annihilator, carbon tetrachloride fire extinguisher, mechanical foam fire extinguisher, water-type extinguisher and other fire extinguishing appliances etc.；It goes out
Firearm is mainly made of stack shell, spray canister and switch valve, is divided from fire-extinguishing operations step and mode, and one kind is need to only to extract insurance
Spray canister alignment fire source is directly carried out operation by ring, another kind of, is first to open plum blossom wheel valve, when spray canister is directed at fire source operation
It needs to press duck-beak type valve simultaneously.
The artificial fire extinguisher that carries is mostly used to enter fire-fighting scene progress artificial fire-fighting operation fire fire-fighting fire-fighting mode,
Such dangerous property of existing fire fighting mode is big, causes great threat to fire fighter's personal safety, has every year not
Few fireman sacrifices because of live fire-fighting operation；Live fire-fighting operation fire-fighting efficiency artificial simultaneously can be with the drawing of activity duration
It grows and gradually reduces, fire-fighting fire extinguishing whole efficiency is low, speed is slow and flexibility is poor.In consideration of it, the present invention provides a kind of power transformations
It stands fire rescue robot.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of substation's fire rescue robots.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of substation's fire rescue robot, including crawler unit, running gear system, electrical turntable, delta
Parallel institution and extinguishing device；The running gear system quantity is four, and running gear system is symmetrically arranged at shoe
At left and right sides of band running gear, electrical turntable is located at crawler unit upper end center position, and electrical turntable and crawler belt row
Walking apparatus be connected, delta parallel institution between electrical turntable and extinguishing device, and delta parallel institution lower end with it is electronic
Turntable is connected, and delta parallel institution upper end is connected with extinguishing device.
As a further improvement of the present invention, the crawler unit includes chassis, driving motor, drive shaft, row
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor and traveling crawler is two, drive shaft, tight locking button and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively
It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding rotating around covering on treads wheel, and on the outside of traveling crawler
Item.
As a further improvement of the present invention, the running gear system includes walking fixed plate, walking sliding rail, walking
Sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking support rod, rotating block, movable motor, movable motor
Frame, walking axle and walking runner；The walking sliding rail is fixed on walking fixed plate lower end surface, and walking sliding block is mounted on walking
On sliding rail, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shaped structure to stand upside down, and walking ear mount is located at walking
At sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through No.1 shaft and ear mount of walking
It is connected, walking connecting rod is provided at mobile holder medium position, walking support rod one end is slided by No. two shafts and walking
Block lower end is connected, and the walking support rod other end is connected by rotating block with the walking connecting rod in the middle part of mobile holder, and row
Walking support rod is pneumatic telescopic structure, and movable motor is fixed on mobile holder lateral wall by movable motor frame, and row
It walks electric machine main shaft to be connected with walking axle, walking axle both ends are separately fixed on the left and right inner sidewall of mobile holder lower end, walking
Runner is mounted at walking axle medium position.
When the present invention advances, when flat road surface is walked, pass through outward movement of the walking sliding block on walking sliding rail
Walking support rod stretching routine outward counterclockwise is driven, and walks support rod and mobile holder links, to drive walking branch
Frame carries out rotary motion outward counterclockwise by rotation center of No.1 shaft, on walking rotatable wheel contacts ground, entire crawler belt
Running gear is separated with ground, is in by lift dummy status, while passing through the rotation that movable motor drives walking runner, is realized
The walking of running gear system is mobile, and the speed of travel is fast, overcome the slow problem of the crawler unit speed of travel；Work as chance
When to hogwallow, walking support rod is driven to receive inwardly clockwise by movement inwardly of the walking sliding block on walking sliding rail
Contracting movement, and walk support rod and mobile holder linkage, so that it is suitable to drive mobile holder to carry out using No.1 shaft as rotation center
Hour hands rotary motion inwardly, realizes the contraction of running gear system, when runner of walking is detached from ground, entire crawler travel
Device and ground face contact, the rotation of walking belt wheel is driven by the rotation of driving motor, to drive the movement of traveling crawler, is carried out
Be mainly used for walking of the invention, movement and steering with running gear, and crawler unit by using track structure more
The walking for adding convenient for hollow topography condition, so that applicability of the invention is stronger；It is filled by crawler unit and running on wheels
The cooperation conversion set, improves walking ability of the invention.
As a further improvement of the present invention, the delta parallel institution includes fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located at right above fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat
It is arranged on moving platform lower end surface centered on the center of circle of platform in positive triangle shape, and motor cabinet installation site and rotating basis installation
Position corresponds respectively, and installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod lower end, and first
It is attached between small end and second connecting rod lower end using rotational pin, second connecting rod upper end is connected with second shaft one end
It connects, the second shaft other end is mounted on rotating basis, and rotating basis upper end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform lower end surface is mutually fixed, and rotating basis lower end is provided with the double end sleeve matched with the second shaft, first connecting rod middle inside
Be respectively arranged with the first mounting base and the second mounting base with second connecting rod middle inside, limit spring be located at the first mounting base and
Between second mounting base, and limit spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base
It connects；When specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motors
Connection to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives the movement of moving platform, and pass through limit
Jitter when spring reduces the movement of delta parallel institution, increases the stationarity of delta parallel institution movement, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and flexibly, stable structure, bearing capacity is strong and fine motion precision is high, delta parallel machine for movement
Structure can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institution is applied in the present invention, the tune to extinguishing device orientation angles is on the one hand played
On the other hand section plays the effect of damping convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention to extinguishing device,
So that extinguishing device is in horizontal steady state in the case where the present invention walks jounce condition always, prevent jitter excessive to storage
Fire extinguisher causes security risk.
As a further improvement of the present invention, the extinguishing device includes supporting plate, fire extinguishing guide rail, fire extinguishing guide block, fixation
Regulating device and drop handle drawing device, and the quantity of guide rail of putting out a fire, put out a fire guide block, secured adjusted device and drop handle drawing device is equal
It is two；It is horizontal structure in the middle part of the supporting plate, is incline structure, transverse center of the fire extinguishing guide rail along supporting plate at left and right sides of supporting plate
Axis is respectively symmetrically fixed on the front and rear sides of supporting plate, and fire extinguishing guide block is mounted on fire extinguishing guide rail, and secured adjusted device is solid respectively
It is scheduled on the left and right sides of supporting plate, drop handle drawing device is located on the inside of secured adjusted device, and drop handle drawing device lower end is fixed on
It puts out a fire on guide block.
As a further improvement of the present invention, the secured adjusted device includes fixed frame, adjusts shaft, lower limit
Frame, upper limit frame, latch segment, shrinking connecting-rod, the first rotational pin and the second rotational pin；The fixed frame is inside end opening
Frame structure, fixed frame longitudinal direction spaced set have sideboard, and semicircular arc cushion block, fixed frame upper end are provided between sideboard
Crosspiece is provided at medium position；The lower limit frame is located at fixed frame inner top side, and lower limit frame lower end passes through adjusting
Shaft is connected with fixed frame, and upper limit frame is located at right above lower limit frame, and upper limit frame lower end and lower limit frame upper end are equal
Upper limit position groove and lower limit slot are offered respectively, and upper limit position groove and lower limit slot are arcuate structure, upper limit position groove and lower limit
Position slot corresponds respectively, and upper limit frame lower end front and rear sides and lower limit frame upper end front and rear sides are respectively arranged with projection seat
It with lower projection seat, and is locked between upper projection seat and lower projection seat using latch segment, shrinking connecting-rod one end passes through the first rotation
Pin is connected with lower limit frame, and the shrinking connecting-rod other end passes through the second rotational pin and the crosspiece phase at fixed frame upper center position
Connection.
As a further improvement of the present invention, the drop handle drawing device includes mobile support saddle, rolling bearing, pulls open electricity
Dynamic push rod and pulling claw；It is provided with floor on the outside of the mobile support saddle, rolling bearing is located at mobile support saddle lateral wall upper end position
Place, and rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction, is pulled open electric pushrod bottom end and is fixed on rolling bearing
On, it pulls open electric pushrod top pulling claw is installed, and pull open between electric pushrod top and pulling claw rear end using being threadedly engaged
Mode is attached, and pulling claw front end is provided with incomplete circular ring shape and hooks pawl.
When specific operation, fire extinguisher is placed into fixed frame first and storage is fixed, and the spray canister of fire extinguisher is pacified
It is inserted between the upper limit position groove of upper limit frame and the lower limit slot of lower limit frame, by the relieving ring of fire extinguisher around covering on pulling claw；
Then when the present invention enters operation area, the relieving ring on fire extinguisher is extracted by drop handle drawing device, so that at fire extinguisher
In opening state；The spray canister of fire extinguisher can be driven rotated to adjust shaft as rotation center by shrinking connecting-rod again,
To realize adjustable angle function of the fire extinguisher in fire extinguishing, fire extinguishing spray regime is wide, and fire-fighting efficiency is high.
Compared with prior art, the invention has the following advantages that
(1) substation can occur for the present invention to carry out fire-fighting fire extinguishing operation when fire, and high degree of automation, fire extinguishing luck
It is dynamic steady flexibly, fire extinguishing spray regime is big, fire-fighting efficiency is high and highly-safe, solve the artificial fire-fighting fire extinguishing risk of substation
Big problem.
(2) crawler unit of the invention and running gear system cooperation conversion use, and conversion is convenient and efficient, can fit
The walking of Ying Yu differently condition, crawler unit are mainly used for the walking of hogwallow, and running gear system is mainly used for putting down
The walking on smooth ground, the speed of travel are fast.
(3) delta parallel institution of the invention can carry out three translations three in space and rotate total six-freedom degree direction
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institution is applied in the present invention, a side
Face plays the adjusting to extinguishing device orientation angles, another convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention
Aspect plays the effect of damping to extinguishing device, so that extinguishing device is in the case where the present invention walks jounce condition always in level
Steady state prevents jitter excessive and causes security risk to the fire extinguisher of storage.
(4) extinguishing device of the invention can realize the extraction of fixed, the existing fire extinguisher relieving ring of fire extinguisher storage, fire extinguisher spray
The function of cylinder fixation and spraying operation adjustable angle, and fire extinguishing spray regime is wide, fire-fighting efficiency is high and safety is good.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Schematic perspective view when Fig. 2 is crawler unit and running gear system of the present invention cooperation；
Fig. 3 is the schematic perspective view of running gear system of the present invention；
Schematic perspective view when Fig. 4 is delta parallel institution and extinguishing device of the present invention cooperation；
Fig. 5 is the main view of delta parallel institution of the present invention；
Fig. 6 is the schematic perspective view of extinguishing device of the present invention；
Fig. 7 is the schematic perspective view of secured adjusted device of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 7, a kind of substation's fire rescue robot, including crawler unit 1, running on wheels dress
Set 2, electrical turntable 3, delta parallel institution 4 and extinguishing device 5；2 quantity of running gear system is four, and wheeled row
Walking apparatus 2 is symmetrically arranged at 1 left and right sides of crawler unit, and electrical turntable 3 is located at 1 upper end center of crawler unit
At position, and electrical turntable 3 and crawler unit 1 are connected, and delta parallel institution 4 is located at electrical turntable 3 and extinguishing device 5
Between, and 4 lower end of delta parallel institution is connected with electrical turntable 3,4 upper end of delta parallel institution is connected with extinguishing device 5
It connects.
As shown in Fig. 2, the crawler unit 1 includes chassis 11, driving motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12 and traveling crawler 16 is two, drive shaft 13, tight locking button
15 and walking 14 quantity of belt wheel be four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers mounting groove respectively,
Driving motor 12 is separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is using Biaxial synchronous output electricity
Machine, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14, and drive
It is fixed between moving axis 13 and walking belt wheel 14 by tight locking button 15,16 both ends of traveling crawler are rotating around covering in treads wheel 14
On, and semicircle tread plate is evenly arranged on the outside of traveling crawler 16.
As shown in Figures 2 and 3, the running gear system 2 includes walking fixed plate 21, walking sliding rail 22, walking cunning
Block 23, walking ear mount 24, No.1 shaft 25,26, No. two shafts 27 of mobile holder, walking support rod 28, rotating block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；The walking sliding rail 22 is fixed on walking fixed plate 21
On lower end surface, walking sliding block 23 is mounted on walking sliding rail 22, and 23 upper end of sliding block of walking is concave structure, is walked under sliding block 23
End is the U-shaped structure to stand upside down, and walking ear mount 24 is located at walking 22 back-end location of sliding rail, and walk ear mount 24 and walking fixed plate
21 are connected, and 26 upper end of mobile holder is connected by No.1 shaft 25 with walking ear mount 24, set at 26 medium position of mobile holder
It is equipped with walking connecting rod, walking 28 one end of support rod is connected by No. two shafts 27 with walking 23 lower end of sliding block, walking support
28 other end of bar is connected by rotating block 29 with the walking connecting rod at 26 middle part of mobile holder, and support rod 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on 26 lateral wall of mobile holder by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and 212 both ends of walking axle are separately fixed on the left and right inner sidewall of 26 lower end of mobile holder,
Walking runner 213 is mounted at 212 medium position of walking axle.
As shown in Figure 1 to Figure 3, it when the present invention advances, when flat road surface is walked, is slided by walking sliding block 23 in walking
Movement outward on rail 22 drives walking support rod 28 stretching routine outward counterclockwise, and walk support rod 28 and walking branch
Frame 26 links, so that mobile holder 26 is driven to carry out rotary motion outward counterclockwise with No.1 shaft 25 for rotation center, when
Runner 213 of walking contacts on ground, and entire crawler unit 1 is separated with ground, in by lift dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, and the walking for realizing running gear system 2 is mobile, and the speed of travel is fast,
Overcome the slow problem of 1 speed of travel of crawler unit；When encountering hogwallow, by walking sliding block 23 in walking sliding rail
Movement inwardly on 22 drives walking support rod 28 contractile motion inwardly clockwise, and walk support rod 28 and mobile holder
26 linkages are realized so that mobile holder 26 be driven to carry out rotary motion inwardly clockwise with No.1 shaft 25 for rotation center
The contraction of running gear system 2, when runner 213 of walking is detached from ground, entire crawler unit 1 and ground face contact are led to
The rotation of motor 12 of overdriving drives the rotation of walking belt wheel 14, to drive the movement of traveling crawler 16, crawler unit 1
It is mainly used for walking of the invention, movement and steering, and crawler unit 1 easily facilitates hollow by using track structure
Topography condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion, improves walking ability of the invention.
As shown in Figure 4 and Figure 5, the delta parallel institution 4 includes fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit
Position spring 411；Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at right above fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on 41 upper surface of fixed platform, rotating basis 410 is arranged in centered on the center of circle of moving platform 42 in positive triangle shape dynamic
On 42 lower end surface of platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis correspond respectively, parallel-connected induction motors 44
Be fixed installation by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, 45 one end of first rotating shaft with
44 main shaft of parallel-connected induction motors is connected, and 45 other end of first rotating shaft is connected with 46 lower end of first connecting rod, 46 upper end of first connecting rod with
It being attached between 48 lower end of second connecting rod using rotational pin 47,48 upper end of second connecting rod is connected with 49 one end of the second shaft,
Second shaft, 49 other end is mounted on rotating basis 410, and 410 upper end of rotating basis is provided with swivel bearing, and swivel bearing
It is mutually fixed with 42 lower end surface of moving platform, 410 lower end of rotating basis is provided with the double end sleeve matched with the second shaft 49, and first
46 middle inside of connecting rod and 48 middle inside of second connecting rod are respectively arranged with the first mounting base and the second mounting base, limit spring
411 between the first mounting base and the second mounting base, and 411 upper end of limit spring is connected with the first mounting base, limits bullet
411 lower end of spring is connected with the second mounting base；When specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motors 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so that the rotation by first connecting rod 46 drives second connecting rod 48
Rotation, and then drive moving platform 42 movement, and by limit spring 411 reduce delta parallel institution 4 move when shake
Property, the stationarity of the movement of delta parallel institution 4 is increased, the rigidity compared with serial mechanism of delta parallel institution 4 is big, movement spirit
Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institution 4 can carry out three translations three rotation altogether in space
The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Delta parallel institution 4 is answered
It uses in the present invention, on the one hand plays the adjusting to 5 orientation angles of extinguishing device, go out convenient for the various postures of the present invention are comprehensive
The progress of fiery operation, on the other hand plays the effect of damping to extinguishing device 5, so that extinguishing device 5 is on present invention walking top
Always it is in horizontal steady state under state of winnowing with a dustpan, prevents jitter excessive and security risk is caused to the fire extinguisher of storage.
As shown in Figures 4 to 7, the extinguishing device 5 includes supporting plate 51, fire extinguishing guide rail 52, fire extinguishing guide block 53, fixed tune
Regulating device 54 and drop handle drawing device 55, and guide rail 52 of putting out a fire, fire extinguishing guide block 53, secured adjusted device 54 and drop handle drawing device
55 quantity is two；It is horizontal structure in the middle part of the supporting plate 51, is incline structure at left and right sides of supporting plate 51, guide rail 52 of putting out a fire
The front and rear sides of supporting plate 51 are respectively symmetrically fixed on along the central transverse axis of supporting plate 51, fire extinguishing guide block 53 is mounted on fire extinguishing guide rail
On 52, secured adjusted device 54 is separately fixed at the left and right sides of supporting plate 51, and drop handle drawing device 55 is located at secured adjusted device
54 insides, and 55 lower end of drop handle drawing device is fixed on fire extinguishing guide block 53；The secured adjusted device 54 includes fixed frame
541, shaft 542, lower limit frame 543, upper limit frame 544, latch segment 545, shrinking connecting-rod 546,547 and of the first rotational pin are adjusted
Second rotational pin 548；The fixed frame 541 is the frame structure of inside end opening, and 541 longitudinal direction of fixed frame is equidistantly set
It is equipped with sideboard, semicircular arc cushion block is provided between sideboard, fixed frame is provided with crosspiece at 541 upper center position；Described
Lower limit frame 543 is located at 541 inner top side of fixed frame, and 543 lower end of lower limit frame is by adjusting shaft 542 and fixed frame 541
It is connected, upper limit frame 544 is located at right above lower limit frame 543, and 544 lower end of upper limit frame and 543 upper end of lower limit frame are equal
Upper limit position groove and lower limit slot are offered respectively, and upper limit position groove and lower limit slot are arcuate structure, upper limit position groove and lower limit
Position slot corresponds respectively, and 544 lower end front and rear sides of upper limit frame and 543 upper end front and rear sides of lower limit frame are respectively arranged with
Upper projection seat and lower projection seat, and be locked between upper projection seat and lower projection seat using latch segment 545,546 one end of shrinking connecting-rod
It is connected by the first rotational pin 547 with lower limit frame 543,546 other end of shrinking connecting-rod is by the second rotational pin 548 and fixes
Crosspiece at 541 upper center position of frame is connected；The drop handle drawing device 55 includes mobile support saddle 551, rolling bearing
552, electric pushrod 553 and pulling claw 554 are pulled open；Floor is provided on the outside of the mobile support saddle 551, rolling bearing 552 is located at
At 551 lateral wall upper end position of mobile support saddle, and rolling bearing 552 is equidistantly evenly arranged along 551 longitudinal direction of mobile support saddle,
It pulls open 553 bottom end of electric pushrod to be fixed on rolling bearing 552, pulls open 553 top of electric pushrod and pulling claw 554 is installed, and draw
It opens and is attached by the way of being threadedly engaged between 554 rear end of 553 top of electric pushrod and pulling claw, the setting of 554 front end of pulling claw
There is incomplete circular ring shape to hook pawl.When specific operation, fire extinguisher is placed into fixed frame 541 first and storage is fixed, and will
The spray canister of fire extinguisher assigns between the upper limit position groove of upper limit frame 544 and the lower limit slot of lower limit frame 543, by fire extinguisher
Relieving ring is around covering on pulling claw 554；It then, will be on fire extinguisher by drop handle drawing device 5 when the present invention enters operation area
Relieving ring is extracted, so that fire extinguisher is in the open state；The spray canister of fire extinguisher can be driven to carry out to adjust by shrinking connecting-rod 546 again
Section shaft 542 is that rotation center is rotated, to realize adjustable angle function of the fire extinguisher in fire extinguishing, model is sprayed in fire extinguishing
Enclose wide, fire-fighting efficiency height.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (3)
1. a kind of substation's fire rescue robot, it is characterised in that: including crawler unit, running gear system, electronic
Turntable, delta parallel institution and extinguishing device；The running gear system quantity is four, and running gear system is right respectively
Title is arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center position, and electric rotating
Platform and crawler unit are connected, and delta parallel institution is between electrical turntable and extinguishing device, and delta parallel institution
Lower end is connected with electrical turntable, and delta parallel institution upper end is connected with extinguishing device；Wherein:
The running gear system includes walking fixed plate, walking sliding rail, walking sliding block, walking ear mount, No.1 shaft, walking
Bracket, No. two shafts, walking support rod, rotating block, movable motor, movable motor frame, walking axle and walking runner；The row
It walks sliding rail to be fixed on walking fixed plate lower end surface, walking sliding block is mounted on walking sliding rail, and upper end of slide block of walking is concave
Structure, walking sliding block lower end be stand upside down U-shaped structure, walking ear mount be located at walking sliding rail rear end position at, and walk ear mount and
Fixed plate of walking is connected, and mobile holder upper end is connected by No.1 shaft with walking ear mount, sets at mobile holder medium position
It is equipped with walking connecting rod, walking support rod one end is connected by No. two shafts with walking sliding block lower end, and walking support rod is another
End is connected by rotating block with the walking connecting rod in the middle part of mobile holder, and support rod of walking is pneumatic telescopic structure,
Movable motor is fixed on mobile holder lateral wall by movable motor frame, and movable motor main shaft is connected with walking axle, row
It walks axis both ends to be separately fixed on the left and right inner sidewall of mobile holder lower end, walking runner is mounted at walking axle medium position；
The delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turns
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at right above fixed platform, and the quantity of motor cabinet and rotating basis is three, during motor cabinet with the center of circle of fixed platform is
The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
It sets on moving platform lower end surface, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors are logical
It crosses motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod lower end, between first connecting rod upper end and second connecting rod lower end
It is attached using rotational pin, second connecting rod upper end is connected with second shaft one end, and the second shaft other end is mounted on rotation
On pedestal, rotating basis upper end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform lower end surface, rotating basis lower end
It is provided with the double end sleeve matched with the second shaft, first connecting rod middle inside and second connecting rod middle inside are respectively set
There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring
End is connected with the first mounting base, and limit spring lower end is connected with the second mounting base；
The extinguishing device includes supporting plate, fire extinguishing guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device, and is gone out
Fiery guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device quantity be two；It is horizontal junction in the middle part of the supporting plate
Structure, is incline structure at left and right sides of supporting plate, before fire extinguishing guide rail is respectively symmetrically fixed on supporting plate along the central transverse axis of supporting plate
Two sides afterwards, fire extinguishing guide block are mounted on fire extinguishing guide rail, and secured adjusted device is separately fixed at the left and right sides of supporting plate, and drop handle pulls open
Device is located on the inside of secured adjusted device, and drop handle drawing device lower end is fixed on fire extinguishing guide block；
The secured adjusted device include fixed frame, adjust shaft, lower limit frame, upper limit frame, latch segment, shrinking connecting-rod,
First rotational pin and the second rotational pin；The fixed frame is the frame structure of inside end opening, between fixed frame longitudinal direction etc.
Away from sideboard is provided with, semicircular arc cushion block is provided between sideboard, fixed frame upper center is provided with crosspiece at position；Described
Lower limit frame is located at fixed frame inner top side, and lower limit frame lower end is connected by adjusting shaft with fixed frame, upper limit frame
Right above lower limit frame, and upper limit frame lower end and lower limit frame upper end offer upper limit position groove and lower limit respectively
Slot, and upper limit position groove and lower limit slot are arcuate structure, upper limit position groove and lower limit slot correspond respectively, under upper limit frame
End front and rear sides and lower limit frame upper end front and rear sides are respectively arranged with projection seat and lower projection seat, and upper projection seat and lower projection seat it
Between be locked using latch segment, shrinking connecting-rod one end is connected by the first rotational pin with lower limit frame, shrinking connecting-rod
The other end is connected by the second rotational pin with the crosspiece at fixed frame upper center position.
2. a kind of substation's fire rescue robot according to claim 1, it is characterised in that: the crawler travel dress
It sets including chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and the number of driving motor and traveling crawler
Amount is two, and drive shaft, tight locking button and walking belt wheel quantity are four；The chassis is in rectangular configuration, chassis rear and front end point
Mounting groove is not offered, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and driving motor is same using twin shaft
Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives
It is fixed between moving axis and walking belt wheel by tight locking button, traveling crawler both ends are walked rotating around covering on treads wheel
Semicircle tread plate is evenly arranged on the outside of crawler belt.
3. a kind of substation's fire rescue robot according to claim 1, it is characterised in that: the drop handle pulls open dress
It sets including mobile support saddle, rolling bearing, pull open electric pushrod and pulling claw；It is provided with floor on the outside of the mobile support saddle, is rotated
Bearing is located at mobile support saddle lateral wall upper end position, and rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction,
It pulls open electric pushrod bottom end to be fixed on rolling bearing, pulls open electric pushrod top and pulling claw is installed, and pull open electric pushrod top
It is attached by the way of being threadedly engaged between end and pulling claw rear end, pulling claw front end is provided with incomplete circular ring shape and hooks pawl.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610500014.9A CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610500014.9A CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
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| CN106039619A CN106039619A (en) | 2016-10-26 |
| CN106039619B true CN106039619B (en) | 2019-04-23 |
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| CN201610500014.9A Active CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472385B (en) * | 2017-07-31 | 2023-06-20 | 华南理工大学 | Wheel-track composite robot capable of rapidly converting form |
| CN109676586B (en) * | 2018-12-29 | 2023-09-22 | 镇江高等职业技术学校 | Air pump telescopic space overturning grabbing walking robot |
| CN110721427B (en) * | 2019-11-18 | 2024-04-09 | 九江市庐峰消防装备有限公司 | Ground support of general portable fire extinguishing device |
| CN112498503A (en) * | 2020-12-10 | 2021-03-16 | 华北科技学院 | Rescue robot suitable for walking on different road surface terrains |
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|---|---|---|---|---|
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN105617590A (en) * | 2016-03-31 | 2016-06-01 | 扬州恒源自来水喷泉设备有限公司 | All-direction automatic fire extinguishing robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040216932A1 (en) * | 2001-07-09 | 2004-11-04 | United Defense, Lp | Hybrid wheel and track vehicle drive system |
| JP4607442B2 (en) * | 2003-10-07 | 2011-01-05 | 国立大学法人東京工業大学 | Crawler type traveling robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN105617590A (en) * | 2016-03-31 | 2016-06-01 | 扬州恒源自来水喷泉设备有限公司 | All-direction automatic fire extinguishing robot |
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Application publication date: 20161026 Assignee: Jiaxing kopuno Machinery Technology Co.,Ltd. Assignor: XINCHANG HUANHONG AGRICULTURAL Co.,Ltd. Contract record no.: X2021330000235 Denomination of invention: A substation fire rescue robot Granted publication date: 20190423 License type: Common License Record date: 20210904 |
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Application publication date: 20161026 Assignee: Jiaxing Dingshan Information Technology Co.,Ltd. Assignor: XINCHANG HUANHONG AGRICULTURAL Co.,Ltd. Contract record no.: X2022330000384 Denomination of invention: A substation fire rescue robot Granted publication date: 20190423 License type: Common License Record date: 20220805 |
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