CN106110551A - A kind of power distribution station Intelligent fire-fighting robot - Google Patents
A kind of power distribution station Intelligent fire-fighting robot Download PDFInfo
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- CN106110551A CN106110551A CN201610490846.7A CN201610490846A CN106110551A CN 106110551 A CN106110551 A CN 106110551A CN 201610490846 A CN201610490846 A CN 201610490846A CN 106110551 A CN106110551 A CN 106110551A
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- walking
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- frame
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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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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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of power distribution station Intelligent fire-fighting robot, including crawler unit, running gear system, electrical turntable, Stewart parallel institution and extinguishing device；Described running gear system quantity is four, and running gear system is respectively symmetrically and is arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electrical turntable is connected with crawler unit, Stewart parallel institution is between electrical turntable and extinguishing device, and Stewart parallel institution lower end is connected with electrical turntable, Stewart parallel institution upper end is connected with extinguishing device.The present invention can to power distribution station breaking out of fire time carry out fire-fighting fire extinguishing operation, and automaticity is high, fire extinguishing time stable movement flexibly, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solves the dangerous big problem of the artificial fire-fighting fire extinguishing of power distribution station.
Description
Technical field
The present invention relates to electric power fire-fighting equipment field, specifically one power distribution station Intelligent fire-fighting robot.
Background technology
Electric power is the energy using electric energy as power, invents in 19 century 70s, and invention and the application of electric power start
Industrialization climax for the second time, since becoming 18th century of human history, one of three scientific and technological revolutions that the world occurs, from this section's technological transformation
Having become the life of people, 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 being made up of links such as generating, transmission of electricity, power transformation, distribution and electricity consumptions and consumption system, it is by nature once
The energy changes into 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
Produce, transmit and use during be easiest to produce electric leakage or use the improper fire that causes of environment, the easy breaking out of fire of electric power
Occasion is mainly by electric station, power supply station, transformer station, power distribution station, transmission line of electricity, overhead system, electric power laboratory and height line ball
Cable laying ground, road etc., and electric power fire occurs rapidly, and scene of fire is dangerous big and coverage is wide.
The fire extinguisher that fire-fighting at present uses is of a great variety, mainly has carbon dioxide extinguisher, 1211 fire extinguishers, dry-chemical fire extinguishing
Device, acid subtract foam annihilator, carbon tetrachloride fire extinguisher, mechanical foam fire extinguisher, water-type extinguisher and other fire extinguishing appliances etc.；Go out
Firearm is mainly made up of stack shell, spray canister and switch valve, divides from fire-extinguishing operations step and mode, and a class is only need to extract insurance
Ring, is directed at spray canister burning things which may cause a fire disaster and directly carries out operation, another kind of, is first to open Flos Mume wheel valve, when spray canister is directed at burning things which may cause a fire disaster operation
Need to press duck-beak type valve simultaneously.
Fire extinguisher entrance fire-fighting scene is manually carried for the fire many employings of fire-fighting fire extinguishing mode and carries out artificial fire-fighting operation,
The dangerous property of such existing fire fighting mode is big, fire fighter's personal safety causes threat greatly, has every year not
Few fireman sacrifice because of on-the-spot fire-fighting operation die at one's post numerous；Manual site's fire-fighting operation fire-fighting efficiency can be along with simultaneously
The elongation of activity duration and gradually reduce, fire-fighting fire extinguishing whole efficiency is low, speed slow and very flexible.In consideration of it, the present invention carries
Supply a kind of power distribution station Intelligent fire-fighting robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of power distribution station Intelligent fire-fighting robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of power distribution station Intelligent fire-fighting robot, including crawler unit, running gear system, electrical turntable,
Stewart parallel institution and extinguishing device；Described running gear system quantity is four, and running gear system is respectively symmetrically cloth
Putting in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electrical turntable with
Crawler unit is connected, and Stewart parallel institution is between electrical turntable and extinguishing device, and Stewart parallel institution
Lower end is connected with electrical turntable, and Stewart parallel institution upper end is connected with extinguishing device.
As a further improvement on the present invention, described crawler unit includes chassis, drives motor, drive shaft, OK
Walk belt wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor solid respectively
Be scheduled on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive 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
Being fixed, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle anti-skidding outside traveling crawler
Bar.
As a further improvement on the present invention, described running gear system includes walk fixed plate, walking slide rail, walking
Slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motors
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking slide block is arranged on walking
On slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is the U-shape structure stood upside down, and walking ear mount is positioned at walking
Sliding rail rear end position, and walking ear mount is connected with walking fixed plate, mobile roof support upper end is by a rotating shaft and walking ear mount
Being connected, be provided with walking connecting rod at mobile roof support medium position, walking support bar one end is sliding with walking by No. two rotating shafts
Block lower end is connected, and the walking support bar other end is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and row
Walking support bar is pneumatic telescopic structure, and movable motor is fixed on mobile roof support lateral wall by movable motor frame, and row
Walking electric machine main shaft to be connected with walking axle, walking axle two ends are separately fixed on the medial wall, left and right of mobile roof support lower end, walking
Runner is arranged at walking axle medium position.
When the present invention advances, when walking in flat road surface, by the motion laterally on walking slide rail of the walking slide block
Drive walking support bar stretching the most laterally, and walking support bar links with mobile roof support, thus drive walking
Frame carries out rotary motion laterally counterclockwise with rotating shaft for center of rotation, when on walking rotatable wheel contacts ground, and whole crawler belt
Running gear separates with ground, is in and is lifted dummy status, is driven the rotation of walking runner by movable motor simultaneously, it is achieved
The walking of running gear system is moved, and the speed of travel is fast, overcomes the problem that the crawler unit speed of travel is slow；Work as chance
During to hogwallow, received inside walking support bar clockwise direction by walking slide block driving to medial motion on walking slide rail
Contracting motion, and walk support bar and mobile roof support linkage, thus drive mobile roof support to carry out suitable with a rotating shaft for center of rotation
Hour hands inside side rotary motion, it is achieved that the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, by driving the rotation rotating drive treads wheel of motor, thus drives the motion of traveling crawler, carries out
It is mainly used in the walking of the present invention, movement with running gear and turns to, and crawler unit is by using track structure more
Add the walking being easy to hollow physical features ground condition so that the suitability of the present invention is higher；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, described Stewart parallel institution include fixed platform, moving platform, connection seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, moving platform is positioned at directly over fixed platform, connects seat and is arranged on the upper surface of fixed platform, and connects seat at fixed platform
On in equilateral triangle location arrangements, Triangulum is arranged on moving platform lower surface, and connects the installation position between seat and Triangulum
Putting and interlock two-by-two, and Triangulum is equilateral triangle column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclination
Face, inclined plane offers the installation screwed hole matched with lower spherical hinge lower end external screw thread, and electric pushrod bottom is by upper ball
Hinge is connected with being connected seat, and electric pushrod top is connected with block plate seat lower end, block plate seat upper end and lower spherical hinge one end phase
Connecting, the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one end is with electric
Dynamic push rod is connected, and the limit spring other end is connected with block plate seat；By the stretching motion up and down of electric pushrod, thus drive
Pumping of moving platform, and the stationarity of moving platform is added by limit spring, the present invention uses 6-SPS's
Stewart parallel institution, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, Stewart
Parallel institution can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and motion flexibility is good, motion sky
Between little, movement velocity is fast, kinematic dexterity good, is applied in the present invention by Stewart parallel institution, on the one hand serve going out
The regulation of fire tool face azimuth angle, it is simple to the carrying out of the comprehensive extinguishing operation of the various attitude of the present invention, on the other hand to fire extinguishing dress
Put the effect serving damping so that extinguishing device is in horizontal plateau under the present invention walks jounce condition all the time, anti-
Only the excessive fire extinguisher to storing of jitter causes potential safety hazard.
As a further improvement on the present invention, described extinguishing device includes support plate, fire extinguishing guide rail, fire extinguishing guide block, fixes
Adjusting means and drop handle drawing device, and the quantity of fire extinguishing guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device is equal
It is two；Being horizontal structure in the middle part of described support plate, the support plate left and right sides is incline structure, and fire extinguishing guide rail is along the transverse center of support plate
Axis is respectively symmetrically and is fixed on both sides before and after support plate, and fire extinguishing guide block is arranged on fire extinguishing guide rail, and secured adjusted device is solid respectively
Being scheduled on the left and right sides of support plate, drop handle drawing device is positioned at inside secured adjusted device, and drop handle drawing device lower end is fixed on
On fire extinguishing guide block.
As a further improvement on the present invention, described secured adjusted device includes fixed frame, regulation rotating shaft, lower limit
Frame, upper limit frame, latch segment, shrinking connecting-rod, the first rotational pin and the second rotational pin；Described fixed frame is medial extremity opening
Frame structure, fixed frame longitudinal direction spaced set has sideboard, is provided with semicircular arc cushion block, fixed frame upper end between sideboard
Crosspiece it is provided with at medium position；Described lower limit frame is positioned at fixed frame inner top side, and lower limit frame lower end is by regulation
Rotating shaft is connected with fixed frame, and upper limit frame is positioned at directly over lower limit frame, and upper limit frame lower end and lower limit frame upper end equal
Offer upper limit position groove and lower limit groove respectively, and upper limit position groove and lower limit groove are arcuate structure, upper limit position groove and lower limit
Position groove respectively one_to_one corresponding, before and after upper limit frame lower end, before and after both sides and lower limit frame upper end, both sides are provided with projection seat respectively
Being locked with employing latch segment between lower projection seat, and upper projection seat and lower projection seat, shrinking connecting-rod one end is by the first rotation
Pin is connected with lower limit frame, and the shrinking connecting-rod other end is by the crosspiece phase of the second rotational pin with fixed frame upper center position
Connect.
As a further improvement on the present invention, described drop handle drawing device includes mobile support saddle, rolling bearing, pulls open electricity
Dynamic push rod and pulling claw；Being provided with floor outside described mobile support saddle, rolling bearing is positioned at mobile support saddle lateral wall upper end position
Locate, and rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction, pulls open electric pushrod bottom and is fixed on rolling bearing
On, pull open electric pushrod top and pulling claw is installed, and pull open employing threaded engagement between electric pushrod top and pulling claw rear end
Mode is attached, and pulling claw front end is provided with incomplete annular and hooks pawl.
During concrete operations, it is fixed in first fire extinguisher is placed into fixed frame and stores, 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 groove of lower limit frame, by the relieving ring of fire extinguisher around being enclosed within pulling claw；
Then, when the present invention enters operation area, by drop handle drawing device, the relieving ring on fire extinguisher is extracted so that at fire extinguisher
In open mode；The spray canister of fire extinguisher can be driven to carry out regulating rotating shaft by shrinking connecting-rod again to rotate for center of rotation,
It is achieved thereby that the adjustable angle function that fire extinguisher is when fire extinguishing, fire extinguishing spray regime is wide, and fire-fighting efficiency is high.
Compared with prior art, the invention have the advantages that
(1) present invention can to power distribution station breaking out of fire time carry out fire-fighting fire extinguishing operation, and automaticity is high, fire extinguishing luck
Dynamic the most flexibly, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solves the artificial fire-fighting fire extinguishing of power distribution station dangerous
Big problem.
(2) crawler unit and the running gear system of the present invention coordinates conversion to use, and changes convenient and swift, can fit
The walking of Ying Yu differently condition, crawler unit is mainly used in the walking of hogwallow, and running gear system is mainly used in putting down
The walking on smooth ground, the speed of travel is fast.
(3) present invention uses the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, and Stability Analysis of Structures is held
Loading capability is strong and fine motion precision is high, and Stewart parallel institution can carry out three translations three in space and rotate six-freedom degree side altogether
To motion, on the one hand serve the regulation to extinguishing device orientation angles, it is simple to the comprehensive fire extinguishing of the various attitude of the present invention is made
On the other hand the carrying out of industry, serves the effect of damping to extinguishing device so that extinguishing device is walked jounce condition in the present invention
Under be in horizontal plateau all the time, prevent the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
(4) extinguishing device of the present invention can realize fire extinguisher and stores the extracting of fire extinguisher relieving ring fixing, existing, fire extinguisher spray
Cylinder is fixing and the function of spraying operation adjustable angle, and fire extinguishing spray regime is wide, fire-fighting efficiency is high and safety is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when crawler unit of the present invention and running gear system cooperation；
Fig. 3 is the perspective view of running gear system of the present invention；
Fig. 4 is perspective view when Stewart parallel institution of the present invention and extinguishing device cooperation；
Fig. 5 is the perspective view of Stewart parallel institution of the present invention；
Fig. 6 is the perspective view of extinguishing device of the present invention；
Fig. 7 is the perspective view of secured adjusted device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 7, a kind of power distribution station Intelligent fire-fighting robot, including crawler unit 1, running on wheels dress
Put 2, electrical turntable 3, Stewart parallel institution 4 and extinguishing device 5；Described running gear system 2 quantity is four, and wheeled
Running gear 2 is respectively symmetrically and is arranged in crawler unit 1 left and right sides, and electrical turntable 3 is positioned in crawler unit 1 upper end
Heart position, and electrical turntable 3 is connected with crawler unit 1, Stewart parallel institution 4 is positioned at electrical turntable 3 and fire extinguishing dress
Put between 5, and Stewart parallel institution 4 lower end is connected with electrical turntable 3, Stewart parallel institution 4 upper end and fire extinguishing dress
Put 5 to be connected.
As in figure 2 it is shown, described crawler unit 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively,
Drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drive motor 12 to use Biaxial synchronous output electricity
Machine, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drives
Being fixed by tight locking button 15 between moving axis 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14
On, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes that walking fixed plate 21, walking slide rail 22, walking are slided
Block 23, walking 24, rotating shaft 25 of ear mount, 26, No. two rotating shafts 27 of mobile roof support, walking support bar 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；Described walking slide rail 22 is fixed on walking fixed plate 21
On lower surface, walking slide block 23 is arranged on walking slide rail 22, and walking slide block 23 upper end is concave structure, walking slide block 23 times
The U-shape structure for standing upside down, walking ear mount 24 is held to be positioned at walking slide rail 22 back-end location, and walk ear mount 24 and walking fixed plate
21 are connected, and mobile roof support 26 upper end is connected with walking ear mount 24 by a rotating shaft 25, sets at mobile roof support 26 medium position
Being equipped with walking connecting rod, walking support bar 28 one end is connected with walking slide block 23 lower end by No. two rotating shafts 27, and walking supports
Bar 28 other end is connected with the walking connecting rod in the middle part of mobile roof support 26 by moving block 29, and walking support bar 28 is pneumatic
Telescopic structure, movable motor 210 is fixed on mobile roof support 26 lateral wall by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 two ends are separately fixed on the medial wall, left and right of mobile roof support 26 lower end,
Walking runner 213 is arranged at walking axle 212 medium position.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, sliding in walking by walking slide block 23
Motion laterally on rail 22 drives walking support bar 28 stretching the most laterally, and walk support bar 28 and walking
Frame 26 links, thus drives mobile roof support 26 to carry out rotary motion laterally counterclockwise with a rotating shaft 25 for center of rotation, when
Walking runner 213 contacts on ground, and whole crawler unit 1 separates with ground, is in and is lifted dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, it is achieved that the walking of running gear system 2 is moved, and the speed of travel is fast,
Overcome the problem that crawler unit 1 speed of travel is slow；When running into hogwallow, by walking slide block 23 at walking slide rail
Contractile motion inside medial motion drive walking support bar 28 clockwise direction on 22, and walk support bar 28 and mobile roof support
26 linkages, thus drive mobile roof support 26 to carry out rotary motion inside clockwise direction with a rotating shaft 25 for center of rotation, it is achieved
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, leads to
That overdrives motor 12 rotates the rotation driving treads wheel 14, thus drives the motion of traveling crawler 16, crawler unit 1
It is mainly used in the walking of the present invention, movement and turns to, and crawler unit 1 is by using track structure to easily facilitate hollow
The walking of physical features ground condition so that the suitability of the present invention is higher；By crawler unit 1 and the cooperation of running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described Stewart parallel institution 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described connection seat 43
Being three with Triangulum 48 quantity, the quantity of upper spherical hinge 44, electric pushrod 45, block plate seat 46 and lower spherical hinge 47 is six, institute
The fixed platform 41 stated and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41, connects seat 43 and installs
On the upper surface of fixed platform 41, and connecting seat 43 on fixed platform 41 in equilateral triangle location arrangements, Triangulum 48 is arranged on
On moving platform 42 lower surface, and the installation site connected between seat 43 and Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in positive three
Dihedral column structure, Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower ball
The installation screwed hole that hinge 47 lower end external screw thread matches, electric pushrod 45 bottom is connected with being connected seat 43 by upper spherical hinge 44
Connecing, electric pushrod 45 top is connected with block plate seat 46 lower end, and block plate seat 46 upper end is connected with lower spherical hinge 47 one end, lower ball
Hinge 47 other end is arranged on Triangulum 48, limit spring 49 around being enclosed within electric pushrod 45, and limit spring 49 one end with
Electric pushrod 45 is connected, and limit spring 49 other end is connected with block plate seat 46；By the flexible up and down fortune of electric pushrod 45
Dynamic, thus drive pumping of moving platform 42, and the stationarity of moving platform 42 is added by limit spring 49, this
The Stewart parallel institution 4 of bright employing 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion
Precision is high, and Stewart parallel institution 4 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and fortune
Dynamic flexible, space is little, movement velocity is fast, kinematic dexterity is good, Stewart parallel institution 4 is applied in the present invention,
On the one hand the regulation to extinguishing device 5 orientation angles is served, it is simple to the carrying out of the comprehensive extinguishing operation of the various attitude of the present invention,
On the other hand extinguishing device 5 is served the effect of damping so that extinguishing device 5 is located under the present invention walks jounce condition all the time
In horizontal plateau, prevent the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
As shown in Figures 4 to 7, described extinguishing device 5 includes support plate 51, fire extinguishing guide rail 52, fire extinguishing guide block 53, fixing tune
Regulating device 54 and drop handle drawing device 55, and fire extinguishing guide rail 52, fire extinguishing guide block 53, secured adjusted device 54 and drop handle drawing device
The quantity of 55 is two；Being horizontal structure in the middle part of described support plate 51, support plate 51 left and right sides is incline structure, guide rail 52 of putting out a fire
Being respectively symmetrically along the central transverse axis of support plate 51 and be fixed on both sides before and after support plate 51, fire extinguishing guide block 53 is arranged on fire extinguishing guide rail
On 52, secured adjusted device 54 is separately fixed at the left and right sides of support plate 51, and drop handle drawing device 55 is positioned at secured adjusted device
Inside 54, and drop handle drawing device 55 lower end is fixed on fire extinguishing guide block 53；Described secured adjusted device 54 includes fixed frame
541, regulation rotating shaft 542, lower limit frame 543, upper limit frame 544, latch segment 545, shrinking connecting-rod the 546, first rotational pin 547 and
Second rotational pin 548；The described frame structure that fixed frame 541 is medial extremity opening, fixed frame 541 longitudinal direction equidistantly sets
Being equipped with sideboard, be provided with semicircular arc cushion block between sideboard, fixed frame 541 upper center position is provided with crosspiece；Described
Lower limit frame 543 is positioned at fixed frame 541 inner top side, and lower limit frame 543 lower end is by regulation rotating shaft 542 and fixed frame 541
Being connected, upper limit frame 544 is positioned at directly over lower limit frame 543, and upper limit frame 544 lower end and lower limit frame 543 upper end equal
Offer upper limit position groove and lower limit groove respectively, and upper limit position groove and lower limit groove are arcuate structure, upper limit position groove and lower limit
Position groove respectively one_to_one corresponding, before and after upper limit frame 544 lower end, before and after both sides and lower limit frame 543 upper end, both sides are provided with respectively
Latch segment 545 is used to be locked between upper projection seat and lower projection seat, and upper projection seat and lower projection seat, shrinking connecting-rod 546 one end
Being connected with lower limit frame 543 by the first rotational pin 547, shrinking connecting-rod 545 other end is by the second rotational pin 548 and fixes
The crosspiece of frame 541 upper center position is connected；Described drop handle drawing device 55 includes mobile support saddle 551, rolling bearing
552, electric pushrod 553 and pulling claw 554 are pulled open；Being provided with floor outside described mobile support saddle 551, rolling bearing 552 is positioned at
At the upper end position of mobile support saddle 551 lateral wall, and rolling bearing 552 is equidistantly evenly arranged along mobile support saddle 551 longitudinal direction,
Pull open electric pushrod 553 bottom to be fixed on rolling bearing 552, pull open electric pushrod 553 top and pulling claw 554 is installed, and draw
Opening uses the mode of threaded engagement to be attached between electric pushrod 553 top and pulling claw 554 rear end, and pulling claw 554 front end is arranged
Incomplete annular is had to hook pawl.During concrete operations, it is fixed in first fire extinguisher is placed into fixed frame 541 and stores, and will
The spray canister of fire extinguisher assigns between the upper limit position groove of upper limit frame 544 and the lower limit groove of lower limit frame 543, by fire extinguisher
Relieving ring is around being enclosed within pulling claw 554；Then when the present invention enters operation area, by drop handle drawing device 5 by fire extinguisher
Relieving ring is extracted so that fire extinguisher is in open mode；The spray canister of fire extinguisher can be driven to carry out adjusting by shrinking connecting-rod 546 again
Joint rotating shaft 542 rotates for center of rotation, it is achieved thereby that the adjustable angle function that fire extinguisher is when fire extinguishing, fire extinguishing injection model
Enclosing wide, fire-fighting efficiency is high.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a power distribution station Intelligent fire-fighting robot, it is characterised in that: include crawler unit, running gear system, electronic
Turntable, Stewart parallel institution and extinguishing device；Described running gear system quantity is four, and running gear system is respectively
Being arranged symmetrically in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electronic
Turntable is connected with crawler unit, and Stewart parallel institution is between electrical turntable and extinguishing device, and Stewart is also
Online structure lower end is connected with electrical turntable, and Stewart parallel institution upper end is connected with extinguishing device；Wherein:
Described running gear system includes walk fixed plate, walking slide rail, walking slide block, walking ear mount, rotating shaft, a walking
Support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor frame, walk axle and walking runners；Described row
Walking slide rail to be fixed on walking fixed plate lower surface, walking slide block is arranged on walking slide rail, and walking upper end of slide block is matrix
Structure, walking slide block lower end be stand upside down U-shape structure, walking ear mount be positioned at walking sliding rail rear end position, and walking ear mount with
Walking fixed plate is connected, and mobile roof support upper end is connected with walking ear mount by a rotating shaft, sets at mobile roof support medium position
Being equipped with walking connecting rod, walking support bar one end is connected with slide block lower end of walking by No. two rotating shafts, walk support bar another
End is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and walking support bar is pneumatic telescopic structure,
Movable motor is fixed on mobile roof support lateral wall by movable motor frame, and movable motor main shaft is connected, OK with walking axle
Walking axle two ends to be separately fixed on the medial wall, left and right of mobile roof support lower end, walking runner is arranged at walking axle medium position；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, under
Spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate seat
Being six with the quantity of lower spherical hinge, described fixed platform and moving platform the most rounded shape structure, moving platform is just being positioned at fixed platform
Top, connects seat and is arranged on the upper surface of fixed platform, and connects seat on fixed platform in equilateral triangle location arrangements, Triangulum
It is arranged on moving platform lower surface, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is positive triangle
Shape column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower spherical hinge
The installation screwed hole that lower end external screw thread matches, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod
Top is connected with block plate seat lower end, and block plate seat upper end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on three
In angled seat, limit spring is around being enclosed within electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end
It is connected with block plate seat；
Described extinguishing device includes support plate, fire extinguishing guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device, and goes out
The quantity of fire guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device is two；It it is horizontal junction in the middle part of described support plate
Structure, the support plate left and right sides is incline structure, and fire extinguishing guide rail is respectively symmetrically along the central transverse axis of support plate before being fixed on support plate
Rear both sides, fire extinguishing guide block is arranged on fire extinguishing guide rail, and secured adjusted device is separately fixed at the left and right sides of support plate, and drop handle pulls open
Device is positioned at inside secured adjusted device, and drop handle drawing device lower end is fixed on fire extinguishing guide block；
Described secured adjusted device include fixed frame, regulation rotating shaft, lower limit frame, upper limit frame, latch segment, shrinking connecting-rod,
First rotational pin and the second rotational pin；Described fixed frame is the frame structure of medial extremity opening, between fixed frame longitudinal direction etc.
Away from being provided with sideboard, being provided with semicircular arc cushion block between sideboard, fixed frame upper center position is provided with crosspiece；Described
Lower limit frame is positioned at fixed frame inner top side, and lower limit frame lower end is connected with fixed frame by regulation rotating shaft, upper limit frame
It is positioned at directly over lower limit frame, and upper limit frame lower end and lower limit frame upper end offer upper limit position groove and lower limit respectively
Groove, and upper limit position groove and lower limit groove be arcuate structure, upper limit position groove and lower limit groove one_to_one corresponding respectively, under upper limit frame
Before and after end, before and after both sides and lower limit frame upper end, both sides are provided with projection seat and lower projection seat respectively, and upper projection seat and lower projection seat it
Between use latch segment be locked, shrinking connecting-rod one end is connected with lower limit frame by the first rotational pin, shrinking connecting-rod
The other end is connected by the crosspiece of the second rotational pin with fixed frame upper center position.
A kind of power distribution station the most according to claim 1 Intelligent fire-fighting robot, it is characterised in that: described crawler travel dress
Put and include chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drive motor, tight locking button and walking
The quantity of crawler belt is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, and rear and front end, chassis is divided
Do not offer mounting groove, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor use twin shaft with
Step output motor, 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
Being fixed by tight locking button between moving axis and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and walking
Semicircle tread plate it is evenly arranged with outside crawler belt.
A kind of power distribution station the most according to claim 1 Intelligent fire-fighting robot, it is characterised in that: described drop handle pulls open dress
Put and include mobile support saddle, rolling bearing, pull open electric pushrod and pulling claw；It is provided with floor outside described mobile support saddle, rotates
Bearing is positioned at the upper end position of mobile support saddle lateral wall, and rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction,
Pull open electric pushrod bottom to be fixed on rolling bearing, pull open electric pushrod top and pulling claw is installed, and pull open electric pushrod top
Using the mode of threaded engagement to be attached between end and pulling claw rear end, pulling claw front end is provided with incomplete annular and hooks pawl.
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| CN201610490846.7A CN106110551B (en) | 2016-06-28 | 2016-06-28 | A kind of power distribution station Intelligent fire-fighting robot |
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| CN201610490846.7A CN106110551B (en) | 2016-06-28 | 2016-06-28 | A kind of power distribution station Intelligent fire-fighting robot |
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| CN106110551B CN106110551B (en) | 2018-12-25 |
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| CN107310648A (en) * | 2017-06-22 | 2017-11-03 | 昆明理工大学 | A kind of achievable wheel, the fighter toy for carrying out replacement |
| CN110101994A (en) * | 2019-06-04 | 2019-08-09 | 北京新松融通机器人科技有限公司 | A kind of automatic open device of hand fire extinguisher |
| CN110721427A (en) * | 2019-11-18 | 2020-01-24 | 九江市庐峰消防装备有限公司 | General portable extinguishing device's ground support |
| CN113274665A (en) * | 2021-04-29 | 2021-08-20 | 湖北鄂电德力电气有限公司 | Transformer fire extinguishing device with opening operation |
| CN113274666A (en) * | 2021-04-29 | 2021-08-20 | 湖北鄂电德力电气有限公司 | Fire extinguishing device for transformer |
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| CN113274666A (en) * | 2021-04-29 | 2021-08-20 | 湖北鄂电德力电气有限公司 | Fire extinguishing device for transformer |
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| Publication number | Publication date |
|---|---|
| CN106110551B (en) | 2018-12-25 |
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Effective date of registration: 20181109 Address after: 362000 Xingkeng 200, Qunli Village, Zhangbanzhen, Huian County, Quanzhou City, Fujian Province Applicant after: Zeng Pinzhu Address before: 246001 315, room 1, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: ANHUI SAOBAO INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221207 Address after: 274000 No. 888 Zhonghua East Road, Heze Development Zone, Shandong Patentee after: SHANDONG YUHUANG NEW ENERGY TECHNOLOGY Co.,Ltd. Address before: 362000 Xingkeng 200, Qunli Village, Zhangbanzhen, Huian County, Quanzhou City, Fujian Province Patentee before: Zeng Pinzhu |