CN106178348A - A kind of swinging intelligent fire job that requires special skills robot - Google Patents
A kind of swinging intelligent fire job that requires special skills robot Download PDFInfo
- Publication number
- CN106178348A CN106178348A CN201610491279.7A CN201610491279A CN106178348A CN 106178348 A CN106178348 A CN 106178348A CN 201610491279 A CN201610491279 A CN 201610491279A CN 106178348 A CN106178348 A CN 106178348A
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- walking
- fixed
- fire
- slide rail
- extinguishing
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- 239000007921 spray Substances 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 244000309464 bull Species 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 32
- 230000033228 biological regulation Effects 0.000 abstract description 8
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 241000628997 Flos Species 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 230000006872 improvement Effects 0.000 description 8
- 239000000126 substance Substances 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 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
- 230000006742 locomotor activity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- VZGDMQKNWNREIO-UHFFFAOYSA-N tetrachloromethane Chemical compound ClC(Cl)(Cl)Cl VZGDMQKNWNREIO-UHFFFAOYSA-N 0.000 description 2
- 235000011158 Prunus mume Nutrition 0.000 description 1
- 244000018795 Prunus mume Species 0.000 description 1
- 240000005924 Stenocarpus sinuatus Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
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
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of swinging intelligent fire job that requires special skills robot, including crawler unit, running gear system, electrical turntable, hybrid mechanism 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, hybrid mechanism is between electrical turntable and extinguishing device, and hybrid mechanism lower end is connected with electrical turntable, hybrid mechanism upper end is connected with extinguishing device.The present invention has the several functions such as compound walking, orientation regulation and extinguishing operation, can be to carrying out fire-fighting fire extinguishing operation during scene of fire, and stable movement is flexibly when automaticity height, fire extinguishing, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solve the problem that artificial fire-fighting fire extinguishing efficiency is low and danger is big.
Description
Technical field
The present invention relates to fire-fighting equipment field, specifically one swinging intelligent fire job that requires special skills robot.
Background technology
Fire refers in time or the most out of control burning, in various disasters, fire be most frequently, the most universal
Ground threatens one of major casualty of public security and social development；All there is disaster hidden-trouble, such as chemical industry in a lot of occasions and industry
Factory, home dwelling, public market, gas station, Utilities Electric Co., smeltery etc.；The reason causing fire is a lot, such as violates electricity
Gas security regulations, violation safety operation specify, throw out cigarette end and spontaneous combustion etc. without care.
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 swinging intelligent fire job that requires special skills robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of swinging intelligent fire job that requires special skills robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of swinging intelligent fire job that requires special skills robot, including crawler unit, running gear system, electric rotating
Platform, three free parallel institution and extinguishing devices；Described running gear system quantity is four, and running gear system is respectively symmetrically
Being arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electrical turntable
Being connected with crawler unit, three free parallel institutions are between electrical turntable and extinguishing device, and three free parallel institutions
Lower end is connected with electrical turntable, and three free parallel institution upper ends are 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 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit
The quantity of position spring is three；Described fixed platform and moving platform the most rounded shape structure, and moving platform is positioned at fixed platform and just goes up
Side, ear mount is positioned on the upper surface of fixed platform, and the installation angle between ear mount is 60 degree, connects seat and is positioned under moving platform
On end face, and ear mount distinguishes one_to_one corresponding with being connected seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft, electronic
Push rod top is attached by spherical hinge with being connected between seat, and limit spring is around being enclosed within electric pushrod upper end；During specific works,
The motion of moving platform can be driven by pumping of electric pushrod, and reduce freedom degree parallel connection by limit spring
Jitter during mechanism kinematic, adds the stationarity of 3-freedom parallel mechanism motion, 3-freedom parallel mechanism and cascade machine
Structure phase specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3-in motion
The form of the parallel institution of RPS, is applied to 3-freedom parallel mechanism in the present invention, on the one hand serves extinguishing device side
The regulation of parallactic angle degree, it is simple to the carrying out of the comprehensive extinguishing operation of the various attitude of the present invention, on the other hand serves extinguishing device
The effect of damping so that extinguishing device is in horizontal plateau under the present invention walks jounce condition all the time, prevents jitter
The excessive fire extinguisher to storing causes potential safety hazard.
As a further improvement on the present invention, described extinguishing device includes support plate, storage tube, fire extinguishing slide rail, locking dress
Put, spray canister fixing device, press device and turn on device, and storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press
Pressure device and the quantity turning on device are two；Described storage tube is respectively symmetrically layout along longitudinal center's axis of support plate, and
Storage tube bottom fixes with support plate upper surface, and storage tube is the hollow cylindrical structure of front opening back-end closure, storage tube
Upper front end is opening-wide state, and fire extinguishing slide rail is respectively symmetrically and is fixed on storage tube upper front end, and locking device is arranged on storage tube
Upper end, spray canister fixing device is between locking device and press device, and spray canister fixing device lower end is arranged on fire extinguishing slide rail
On, turn on device and be positioned at press device dead ahead, and turn on the device left and right sides and be separately mounted to put out a fire on slide rail.
As a further improvement on the present invention, described locking device includes fixed block, tie down screw, latch segment and turns
Dish；Described fixed block center position offers the screwed hole matched with external screw thread on tie down screw, and tie down screw is installed
In the screwed hole of fixed block upper end, tie down screw lower end is fixed with latch segment, and latch segment is arc shape structure, tie down screw
Upper end is provided with rotating disk, is provided with anti-skidding striped outside rotating disk；By rotating the rotation of driven by rotary disc tie down screw, thus drive
The raising and lowering of fixed block, it is achieved that the fixing locking to fire extinguisher stack shell.
As a further improvement on the present invention, described spray canister fixing device includes gripper shoe, cross bar, strap, stretches
Contracting connecting rod and bull stick；Described gripper shoe lower end is arranged on the left and right sides, storage tube front end, and two ends, cross bar left and right are separately fixed at
In gripper shoe at apical position, strap upper end is provided with rotating cylinder, and rotating cylinder is arranged in the middle part of cross bar, offers in the middle part of strap
Circular fixing port, the left and right sides, strap lower end is had to be respectively symmetrically and be provided with contiguous block, shrinking connecting-rod one end and contiguous block phase
Connecting, the shrinking connecting-rod other end is hinged with bull stick one end, and the bull stick other end is fixed on gripper shoe medial wall；The fixing dress of spray canister
Put and be mainly used in fire extinguisher spray canister is gripped, and by the elongation of shrinking connecting-rod and shorten motion drive strap with
Cross bar is the rotation that center of rotation carries out on vertical, it is achieved thereby that spray angle regulation during fire extinguisher spray canister spraying operation
Function.
As a further improvement on the present invention, described device of turning on includes turning on slide block, turns on electric pushrod, turns on
Frame, turn on motor, turn on rotating shaft, turn on rotating disk and stubborn bar；Described slide block of turning on is arranged on fire extinguishing slide rail, turns on electronic pushing away
Bar bottom is fixed on turns on slide block, turns on two ends, support left and right and is separately fixed at and turns on electric pushrod top, turn on support in
Disc-shaped structure, turns on motor and is fixed on and turns on stent outer wall, turn on rotating shaft one end and be connected with turning on motor output shaft,
Turn on the rotating shaft other end and be connected by key between rotating disk with turning on, turn on the circumference along its center axis on rotating disk inner side end
Direction is evenly arranged with turntable seat, twists bar bottom and is arranged on the turntable seat turning on rotating disk, twists masthead end and is provided with stubborn block, twists block
In fan shape structure；During use, first pass through the shifting turning on support to inner slide drive turning on slide block on fire extinguishing slide rail
Dynamic, it is achieved thereby that the function stubborn bar being inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on electric pushrod
Stretching motion scalable turns on the height of support, after stubborn bar is inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on
Rotating of turntable seat on rotating disk drives the rotation twisting bar, and stubborn bar is rotated 180 degree, prevents the longitudinal direction twisting bar from slipping, finally leads to
Cross and turn on rotating to drive and turning on the rotation of rotating disk of motor, thus drive the rotation that fire extinguisher Flos Mume takes turns, and then fire extinguisher is entered
Row is opened.
As a further improvement on the present invention, described press device includes pressing slide block, pressing electric pushrod, pressing and slide
Rail, press electronic slide block and press head；Described pressing slide block is arranged on fire extinguishing slide rail, and pressing electric pushrod bottom is fixed on
On pressing slide block, the pressing slide rail left and right sides is separately fixed at pressing electric pushrod top, presses electronic slide block and is arranged on pressing
On slide rail, press head is fixed on pressing slide block lower end, and offers semi-circular recesses in the middle part of press head；Pressing electronic slide block can be
Move left and right on pressing slide rail, thus the duckbill valve on fire extinguisher can be carried out para-position, then by pressing electric pushrod
Contractile motion drive the decline of press head, thus reached to press the effect of the duckbill valve on fire extinguisher.
During concrete operations, the fire extinguisher that first will be equipped with extinguishing chemical is placed in storage tube, by before fire extinguisher during placement
Head is placed outwardly, and is locked fire extinguisher by locking device；Then the spray canister of fire extinguisher is placed into spray canister solid
Determine to be fixed on device, and mix up fixed angle；The Flos Mume that stubborn bar is inserted into fire extinguisher again by turning on device is taken turns interior, with
Time by press device, press head is directed at the duckbill valve of fire extinguisher；During operation, rotate the Flos Mume of fire extinguisher by turning on device
Wheel, by the duckbill valve of press device pressing fire extinguisher, it is achieved thereby that the effect of the extinguishing chemical ejection in fire extinguisher.
Compared with prior art, the invention have the advantages that
(1) present invention has the several functions such as compound walking, orientation regulation and extinguishing operation, can carry out during scene of fire
Fire-fighting fire extinguishing operation, and when automaticity height, fire extinguishing, stable movement is flexibly, spray regime is big, fire-fighting efficiency is high and peace in fire extinguishing
Quan Xinggao, solves the problem that artificial fire-fighting fire extinguishing efficiency is low and danger is big.
(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) form of the parallel institution of the 3-freedom parallel mechanism employing 3-RPS of the present invention, by three-freedom parallel
Structure is applied in the present invention, on the one hand serves the regulation to extinguishing device orientation angles, it is simple to the various attitude of present invention side entirely
The carrying out of position extinguishing operation, on the other hand serves the effect of damping to extinguishing device so that extinguishing device is walked in the present invention
All the time it is in horizontal plateau under jounce condition, prevents the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
(4) extinguishing device of the present invention can realize storing locking, the secured adjusted of fire extinguisher spray canister, going out of fire extinguisher stack shell
The function that a series of actions such as the opening and closing of firearm Flos Mume wheel and the control of fire extinguisher duckbill valve perform, and fire extinguishing injection
Scope 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 the free parallel institution of the present invention three and extinguishing device cooperation；
Fig. 5 is the front view of the free parallel institution of the present invention three；
Fig. 6 is the overall perspective view of extinguishing device of the present invention；
Fig. 7 is the sectional perspective structural representation of extinguishing device of the present invention；
Fig. 8 is storage tube of the present invention, spray canister fixing device, turns on stereochemical structure signal when device and press device coordinate
Figure；
Fig. 9 is the perspective view that the present invention turns on device.
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 9, a kind of swinging intelligent fire job that requires special skills robot, including crawler unit 1, wheel
Formula running gear 2, electrical turntable 3, three free parallel institution 4 and extinguishing device 5；Described running gear system 2 quantity is four,
And running gear system 2 is respectively symmetrically and is arranged in crawler unit 1 left and right sides, electrical turntable 3 is positioned at crawler unit 1
Upper end center position, and electrical turntable 3 is connected with crawler unit 1, three free parallel institutions 4 be positioned at electrical turntable 3 and
Between extinguishing device 5, and three free parallel institution 4 lower ends are connected with electrical turntable 3, three free parallel institution 4 upper ends with go out
Fire device 5 is 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 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, turns
Axle 44, electric pushrod 45, spherical hinge 46, connection seat 47 and limit spring 48, and ear mount 43, rotating shaft 44, electric pushrod 45, ball pivot
The quantity of chain 46, connection seat 47 and limit spring 48 is three；Described fixed platform 41 and moving platform 42 the most rounded shape structure,
And moving platform 42 is positioned at directly over fixed platform 41, ear mount 43 is positioned on the upper surface of fixed platform 41, and the installation between ear mount 43
Angle is 60 degree, connects seat 47 and is positioned on moving platform 42 lower surface, and ear mount 43 distinguishes one_to_one corresponding with being connected seat 47；Institute
Electric pushrod 45 bottom stated is arranged in ear mount 43 by rotating shaft 44, and ball is passed through with being connected between seat 47 in electric pushrod 45 top
Hinge 46 is attached, and limit spring 48 is around being enclosed within electric pushrod 45 upper end；During specific works, upper and lower by electric pushrod 45
Reciprocating motion can drive the motion of moving platform 42, and reduced when 3-freedom parallel mechanism 4 moves by limit spring 48 and tremble
Dynamic property, adds the stationarity of 3-freedom parallel mechanism 4 motion, 3-freedom parallel mechanism 4 and serial mechanism phase specific stiffness
Greatly, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses the parallel connection of 3-RPS in motion
The form of mechanism, is applied to 3-freedom parallel mechanism 4 in the present invention, on the one hand serves extinguishing device 5 orientation angles
Regulation, 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 damping
Effect so that extinguishing device 5 is in horizontal plateau under the present invention walks jounce condition all the time, prevents jitter excessive right
The fire extinguisher stored causes potential safety hazard.
As shown in Figures 6 to 9, described extinguishing device 5 includes support plate 51, storage tube 52, fire extinguishing slide rail 53, locking device
54, spray canister fixing device 55, press device 56 and turn on device 57, and storage tube 52, fire extinguishing slide rail 53, locking device 54, spray
Tube fixing device 55, press device 56 and turn on the quantity of device 57 and be two；Described storage tube 52 is along the longitudinal direction of support plate 51
Central axis is respectively symmetrically layout, and storage tube 52 bottom fixes with support plate 51 upper surface, after storage tube 52 is front opening
The hollow cylindrical structure that end seal is closed, storage tube 52 upper front end is opening-wide state, and fire extinguishing slide rail 53 is respectively symmetrically and is fixed on storage
Putting cylinder 52 upper front end, locking device 54 is arranged on storage tube 52 upper end, spray canister fixing device 55 be positioned at locking device 54 with by
Between pressure device 56, and spray canister fixing device 55 lower end is arranged on fire extinguishing slide rail 53, turns on device 57 and is positioned at press device 56
Dead ahead, and turn on device 57 left and right sides and be separately mounted to put out a fire on slide rail 53.
As shown in Figure 6 and Figure 7, described locking device 54 includes fixed block 541, tie down screw 542, latch segment 543 and
Rotating disk 544；Described fixed block 541 center position offers the screwed hole matched with external screw thread on tie down screw 542, lock
Tight screw rod 542 is arranged in the screwed hole of fixed block 541 upper end, and tie down screw 542 lower end is fixed with latch segment 543, and locking
Block 543 is arc shape structure, and tie down screw 542 upper end is provided with rotating disk 544, is provided with anti-skidding striped outside rotating disk 544；Pass through
Rotate rotating disk 544 and drive the rotation of tie down screw 542, thus drive the raising and lowering of fixed block 543, it is achieved that to fire extinguisher
The fixing locking of stack shell.
As shown in Figure 8, described spray canister fixing device 55 includes gripper shoe 551, cross bar 552, strap 553, stretches
Connecting rod 554 and bull stick 555；Described gripper shoe 551 lower end is arranged on the left and right sides, storage tube 52 front end, cross bar about 552 two
End is separately fixed in gripper shoe 551 at apical position, and strap 553 upper end is provided with rotating cylinder, and rotating cylinder is arranged on cross bar 552
Middle part, offers circular fixing port in the middle part of strap 553, the left and right sides, strap 553 lower end is respectively symmetrically the company of being provided with
Connecing block, shrinking connecting-rod 554 one end is connected with contiguous block, and shrinking connecting-rod 554 other end is hinged with bull stick 555 one end, bull stick
555 other ends are fixed on gripper shoe 551 medial wall；It is solid that spray canister fixing device 55 is mainly used in the clamping to fire extinguisher spray canister
Determine, and the elongation and shortening motion by shrinking connecting-rod 554 drives strap 553 to hang down for center of rotation with cross bar 552
The rotation faced directly, it is achieved thereby that the function of spray angle regulation during fire extinguisher spray canister spraying operation.
As shown in Figure 8 and Figure 9, described device 57 of turning on includes turning on slide block 571, turns on electric pushrod 572, turns on
Frame 573, turn on motor 574, turn on rotating shaft 575, turn on rotating disk 576 and stubborn bar 577；Described slide block 571 of turning on is arranged on and goes out
On fire slide rail, turn on electric pushrod 572 bottom and be fixed on and turn on slide block 571, turn on support about 573 two ends and be separately fixed at
Turn on electric pushrod 572 top, turn on support 573 structure in the form of annular discs, turn on motor 574 and be fixed on and turn on outside support 573
On wall, turn on rotating shaft 575 one end and turn on motor 574 output shaft and be connected, turn on rotating shaft 575 other end and turn on rotating disk 576
Between be connected by key, turn on rotating disk 576 inner side end the circumferential direction along its center axis and be evenly arranged with turntable seat,
Twisting bar 577 bottom to be arranged on the turntable seat turning on rotating disk 576, twist bar 577 top and be provided with stubborn block, twisting block is fan shape knot
Structure；During use, first pass through the movement turning on support 573 to inner slide drive turning on slide block 571 on fire extinguishing slide rail 53,
It is achieved thereby that the function stubborn bar 577 being inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on electric pushrod 572
Stretching motion scalable turn on the height of support 573, after stubborn bar 577 is inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then
Twist the rotation of bar 577 by turning on the drive that rotates of the turntable seat on rotating disk 576, stubborn bar 577 is rotated 180 degree, prevents from twisting bar
The longitudinal direction of 577 slips, and turns on the rotation of rotating disk 576 finally by the drive that rotates turning on motor 574, thus drives fire extinguisher prunus mume (sieb.) sieb.et zucc.
The rotation of floral whorl, and then fire extinguisher is opened.
As shown in Figure 8, described press device 56 includes pressing slide block 561, pressing electric pushrod 562, pressing slide rail
563, electronic slide block 564 and press head 565 are pressed；Described pressing slide block 561 is arranged on fire extinguishing slide rail 53, presses electronic pushing away
Bar 562 bottom is fixed on pressing slide block 561, and pressing slide rail 563 left and right sides is separately fixed at pressing electric pushrod 562 and pushes up
End, presses electronic slide block 564 and is arranged on pressing slide rail 5633, and press head 565 is fixed on pressing slide block 561 lower end, and pressing
Semi-circular recesses is offered in the middle part of in the of 565；Press electronic slide block 564 to move left and right on pressing slide rail 563, thus can
Duckbill valve on fire extinguisher is carried out para-position, then drives press head 565 times by the contractile motion of pressing electric pushrod 562
Fall, thus reached to press the effect of the duckbill valve on fire extinguisher.
As shown in Figures 6 to 9, during concrete operations, the fire extinguisher that first will be equipped with extinguishing chemical is placed in storage tube 52, puts
When putting, the front of fire extinguisher is placed outwardly, and by locking device 54, fire extinguisher is locked；Then by fire extinguisher
Spray canister be placed in spray canister fixing device 55 and be fixed, and mix up fixed angle；Again by turning on device 57 by stubborn bar 577
It is inserted in the Flos Mume wheel of fire extinguisher, by press device 56, press head 565 is directed at the duckbill valve of fire extinguisher simultaneously；Operation
Time, the Flos Mume rotating fire extinguisher by turning on device 57 is taken turns, and is pressed the duckbill valve of fire extinguisher by press device 56, thus realizes
The effect of the extinguishing chemical ejection in fire extinguisher.
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 swinging intelligent fire job that requires special skills robot, it is characterised in that: include that crawler unit, running on wheels fill
Put, electrical turntable, 3-freedom parallel mechanism and extinguishing device；Described running gear system quantity is four, and running on wheels
Device is respectively symmetrically and is arranged in the crawler unit left and right sides, and electrical turntable is positioned at crawler unit upper end center position
Place, and electrical turntable and crawler unit be connected, 3-freedom parallel mechanism between electrical turntable and extinguishing device, and
3-freedom parallel mechanism lower end is connected with electrical turntable, and 3-freedom parallel mechanism upper end is connected with extinguishing device；Its
In:
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 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat
And limit spring, and the quantity of ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring is three；Described determines
Platform and moving platform the most rounded shape structure, and moving platform is positioned at directly over fixed platform, ear mount is positioned on the upper surface of fixed platform,
And the installation angle between ear mount is 60 degree, connects seat and be positioned on moving platform lower surface, and ear mount distinguishes one with being connected seat
One is corresponding；Described electric pushrod bottom is arranged in ear mount by rotating shaft, and ball is passed through with being connected between seat in electric pushrod top
Hinge is attached, and limit spring is around being enclosed within electric pushrod upper end；
Described extinguishing device includes support plate, storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press device and twists
Opening apparatus, and storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press device and turn on the quantity of device and be
Two；Described storage tube is respectively symmetrically layout along longitudinal center's axis of support plate, and storage tube bottom is solid mutually with support plate upper surface
Fixed, storage tube is the hollow cylindrical structure of front opening back-end closure, and storage tube upper front end is opening-wide state, slide rail of putting out a fire
Being respectively symmetrically and be fixed on storage tube upper front end, locking device is arranged on storage tube upper end, and spray canister fixing device is positioned at locking dress
Put between press device, and spray canister fixing device lower end be arranged on fire extinguishing slide rail on, turn on device be positioned at press device just before
Side, and turn on the device left and right sides and be separately mounted to put out a fire on slide rail；
Described spray canister fixing device includes gripper shoe, cross bar, strap, shrinking connecting-rod and bull stick；Under described gripper shoe
End is arranged on the left and right sides, storage tube front end, and two ends, cross bar left and right are separately fixed in gripper shoe at apical position, strap
Upper end is provided with rotating cylinder, and rotating cylinder is arranged in the middle part of cross bar, offers circular fixing port in the middle part of strap, and strap lower end is left
Right both sides are respectively symmetrically and are provided with contiguous block, and shrinking connecting-rod one end is connected with contiguous block, the shrinking connecting-rod other end and bull stick one
End is hinged, and the bull stick other end is fixed on gripper shoe medial wall；
Described device of turning on includes turning on slide block, turns on electric pushrod, turns on support, turns on motor, turns on rotating shaft, turns on and turn
Dish and stubborn bar；Described slide block of turning on is arranged on fire extinguishing slide rail, turns on electric pushrod bottom and is fixed on and turns on slide block, turns on
Two ends, support left and right are separately fixed at turns on electric pushrod top, turns on support structure in the form of annular discs, turns on motor and is fixed on stubborn
Spending frame lateral wall on, turn on rotating shaft one end and be connected with turning on motor output shaft, turn on the rotating shaft other end with turn on rotating disk it
Between be connected by key, turn on rotating disk inner side end the circumferential direction along its center axis and be evenly arranged with turntable seat, twist bar
Bottom is arranged on the turntable seat turning on rotating disk, twists masthead end and is provided with stubborn block, and twisting block is fan shape structure；
Described press device includes pressing slide block, presses electric pushrod, presses slide rail, presses electronic slide block and press head；Institute
The pressing slide block stated be arranged on fire extinguishing slide rail on, pressing electric pushrod bottom be fixed on pressing slide block on, pressing slide rail about two
Side is separately fixed at pressing electric pushrod top, presses electronic slide block and is arranged on pressing slide rail, and it is sliding that press head is fixed on pressing
Block lower end, and in the middle part of press head, offer semi-circular recesses.
A kind of swinging the most according to claim 1 intelligent fire job that requires special skills robot, it is characterised in that: described shoe
Band running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives motor, locking
The quantity of button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, before chassis
Rear two ends offer mounting groove respectively, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to adopt
Biaxial synchronous output motor, drive shaft one end is used to be connected with driving motor output shaft, the drive shaft other end and walking belt wheel phase
Connecting, and be fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel
On, and outside traveling crawler, it is evenly arranged with semicircle tread plate.
A kind of swinging the most according to claim 1 intelligent fire job that requires special skills robot, it is characterised in that: described lock
Tight device includes fixed block, tie down screw, latch segment and rotating disk；Described fixed block center position offers and tie down screw
The screwed hole that upper external screw thread matches, tie down screw is arranged in the screwed hole of fixed block upper end, and tie down screw lower end is fixed with
Latch segment, and latch segment is arc shape structure, tie down screw upper end is provided with rotating disk, is provided with anti-skidding striped outside rotating disk.
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| CN201610491279.7A CN106178348B (en) | 2016-06-28 | 2016-06-28 | A kind of rotary intelligent fire job that requires special skills robot |
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|---|---|---|---|
| CN201610491279.7A CN106178348B (en) | 2016-06-28 | 2016-06-28 | A kind of rotary intelligent fire job that requires special skills robot |
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| CN106178348B CN106178348B (en) | 2018-12-25 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN111184967A (en) * | 2020-01-17 | 2020-05-22 | 罗贤庆 | Water spraying vehicle for fire fighting |
| CN111215917A (en) * | 2020-02-14 | 2020-06-02 | 秦继中 | Workstation for machining |
| CN112498503A (en) * | 2020-12-10 | 2021-03-16 | 华北科技学院 | Rescue robot suitable for walking on different road surface terrains |
| CN113967331A (en) * | 2021-11-22 | 2022-01-25 | 东北林业大学 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing |
| EP3423164B1 (en) | 2016-02-29 | 2022-02-09 | Ocado Innovation Limited | Robotic fire extinguishing device and handling method |
| CN114888787A (en) * | 2022-04-19 | 2022-08-12 | 河海大学 | Tunnel dam detection and repair underwater robot |
| CN115607879A (en) * | 2022-08-24 | 2023-01-17 | 国家电投集团宁夏能源铝业中卫新能源有限公司 | Inspection equipment based on 3D-SLAM and inspection method for booster station by using inspection equipment |
| CN116914610A (en) * | 2023-07-17 | 2023-10-20 | 安徽英乐能源互联网有限公司 | Intelligent monitoring equipment and monitoring system for running state of transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11701531B2 (en) | 2016-02-29 | 2023-07-18 | Ocado Innovation Limited | Robotic fire extinguishing device and handling method |
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| CN112498503A (en) * | 2020-12-10 | 2021-03-16 | 华北科技学院 | Rescue robot suitable for walking on different road surface terrains |
| CN113967331A (en) * | 2021-11-22 | 2022-01-25 | 东北林业大学 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing |
| CN114888787A (en) * | 2022-04-19 | 2022-08-12 | 河海大学 | Tunnel dam detection and repair underwater robot |
| CN115607879B (en) * | 2022-08-24 | 2023-08-25 | 国家电投集团宁夏能源铝业中卫新能源有限公司 | 3D-SLAM-based inspection equipment and inspection method for booster station |
| CN115607879A (en) * | 2022-08-24 | 2023-01-17 | 国家电投集团宁夏能源铝业中卫新能源有限公司 | Inspection equipment based on 3D-SLAM and inspection method for booster station by using inspection equipment |
| CN116914610A (en) * | 2023-07-17 | 2023-10-20 | 安徽英乐能源互联网有限公司 | Intelligent monitoring equipment and monitoring system for running state of transformer substation |
| CN116914610B (en) * | 2023-07-17 | 2024-03-01 | 安徽英乐能源互联网有限公司 | Intelligent monitoring equipment and monitoring system for running state of transformer substation |
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| CN106178348B (en) | 2018-12-25 |
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Effective date of registration: 20181109 Address after: 362000 Xingkeng 121, Qunli Village, Zhangbanzhen, Hui'an County, Quanzhou City, Fujian Province Applicant after: Chen Shuteng 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: 20230403 Address after: Room 1701-1703, No. 37 Nanmofang Road, Chaoyang District, Beijing, 100000 (No. 177334, Huateng Beifen Centralized Office Area) Patentee after: Beijing Boyuan Hengtong Trading Co.,Ltd. Address before: 362000 Xingkeng 121, Qunli Village, Zhangbanzhen, Hui'an County, Quanzhou City, Fujian Province Patentee before: Chen Shuteng |
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Granted publication date: 20181225 |