CN110115817A - A kind of Lu Kong forest fire prevention and control robot - Google Patents
A kind of Lu Kong forest fire prevention and control robot Download PDFInfo
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- CN110115817A CN110115817A CN201910380693.4A CN201910380693A CN110115817A CN 110115817 A CN110115817 A CN 110115817A CN 201910380693 A CN201910380693 A CN 201910380693A CN 110115817 A CN110115817 A CN 110115817A
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- 230000002265 prevention Effects 0.000 title claims abstract description 25
- 239000000843 powder Substances 0.000 claims abstract description 30
- 239000007921 spray Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 110
- 230000007246 mechanism Effects 0.000 claims description 79
- 210000000707 wrist Anatomy 0.000 claims description 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 21
- 239000011664 nicotinic acid Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 9
- 238000004140 cleaning Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 26
- 230000033001 locomotion Effects 0.000 description 4
- 238000000151 deposition Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- 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
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0271—Detection of area conflagration fires
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Public Health (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Biodiversity & Conservation Biology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Lu Kong forest fire prevention and control robots, including fire extinguishing bullet launching device, crawl arm segments, barrier-breaking arm segments, two track components, powder fire monitor, spray, body parts, land sky to defence system jointly；Fire extinguishing bullet launching device is mounted on the front of body parts, two track components are mounted on the two sides of body parts, grab arm segments, barrier-breaking arm segments are separately mounted to right side in the middle part of body parts, left side, spray is mounted on the front of body parts and is located at the front of fire extinguishing bullet launching device, powder fire monitor is mounted on the rear portion of body parts, each component is defenced system jointly with land sky and is connect, cleaning barrier control fire behavior in gully can be passed through in real time for forest landform fire-fighting robot provided by the invention complicated and changeable, it reduces because of fire bring economy, Ecological Loss, ensure the life safety of fire fighter.
Description
Technical field
The present invention relates to a kind of Lu Kong forest fire prevention and control robots, belong to fire-fighting robot technical field.
Background technique
Forest fire is big to the destructiveness of forest, harm is deep, relief is extremely difficult, caused by economic loss it is serious, by generation
Boundary is known as one of eight the Nature disasters.China occurs forest fire more than 6600 times every year, burned areas 5.16 ten thousand
Km2 causes the loss that can not be retrieved to national economy and ecological construction.When forest fire occurs, cigarette that comburant is discharged
Mist and exhaust gas are brought to the personal safety of fire fighter to be seriously threatened, and complicated forest terrain environment also greatly hinders rescue
The entrance of equipment.
The operation keypoint of fire-fighting robot focuses mostly on the region flatter in the landform such as city and factory at this stage, for machine
The path planning and obstacle climbing ability of device people's motion process require relatively low.However the terrain environment of forest is complicated and changeable, fire-fighting
The complexity that robot needs real-time judge landform to pass through during the motion, have pass through gully, bushes and climbing,
Clear up barrier ability, and in its motion process stability and speed have certain requirement.In addition, forest fire prevention and control
Robot wants that fire location and publication warning information can be investigated in time, to a certain extent integrates environment sensing and analysis decision
Together, has higher adaptive capacity to environment.
Currently, the robot for being applied to forest fire prevention and control operation is seldom, trace it to its cause: first is that being engaged in forest fire prevention and control robot
The scientific research personnel of research is few, second is that the terrain environment of forest fire prevention and control robot manipulating task is severe, third is that forest fire prevention and control robot manipulating task
Environment does not ensure the safety of its own.Nowadays, the Frequent forest fire in global range, therefore bring huge person wound
Harmful and property loss.In this case, the forest fire prevention and control robot for developing operation under rough topography environment is extremely urgent.
Summary of the invention
The object of the present invention is to provide a kind of Lu Kong forest fire prevention and control robots, to solve to cope with forest landform complicated and changeable
Fire-fighting robot can pass through gully cleaning barrier control fire behavior in real time, reduce because of fire bring economy, Ecological Loss, ensure
The life safety of fire fighter.
The present invention is realized by following technical scheme: a kind of Lu Kong forest fire prevention and control robot includes fire extinguishing bullet launching device, grabs
Arm segments, barrier-breaking arm segments, two track components, powder fire monitor, spray, body parts, land sky is taken to defence system jointly；
The fire extinguishing bullet launching device is mounted on the front of body parts, and described two track components are mounted on the two of body parts
Side, the crawl arm segments, barrier-breaking arm segments are separately mounted to right side, left side, the fire extinguishing in the middle part of body parts
Machine is mounted on the front of body parts and is located at the front of fire extinguishing bullet launching device, and powder fire monitor is mounted on the rear portion of body parts,
The fire extinguishing bullet launching device, crawl arm segments, barrier-breaking arm segments, two track components, powder fire monitor, spray,
Body parts are defenced system jointly with land sky and are connect.
The body parts include fuselage, axle support, undercarriage, two worm screws, motor, the driving of rear undercarriage after two
Axis, nose-gear, four worm bearings, nose-gear drive shaft, rear-wheel, two gears；
The fuselage includes two blocks of side plates, one piece of bottom plate, one piece of cover board, front end inclined plate, rear end inclined plate, two blocks of side plates difference
Connect with the two sides of bottom plate, front end inclined plate, rear end inclined plate are installed in the both ends of bottom plate respectively, two blocks of side plates and front end inclined plate, after
It holds the top of inclined plate to be equipped with cover board, offers the fixed shaft mounting hole I of crawler belt on the both side plate of fuselage respectively, on front fuselage inclined plate
It is provided with strip through-hole, the pan front of fuselage is equipped with sliding slot, and the pan front of fuselage opens up a nose-gear telescopic hole, and preceding
It falls frame telescopic hole and is located at sliding slot rear, undercarriage telescopic hole after bottom rear opens up two, the front and rear of bottom plate also opens up
There is gear operation hole, axle support is installed respectively on four angles of the bottom plate in fuselage, on two axle supports of front
Nose-gear drive shaft is installed, undercarriage drive shaft after being installed on two axle supports at rear portion, undercarriage after two
One end is mounted in rear undercarriage drive shaft, undercarriage after the other end of undercarriage is located at that bottom rear opens up after two two
In telescopic hole, the other end of undercarriage installs rear-wheel respectively after two, and motor is installed on rear-wheel, and one end of nose-gear is mounted on
In nose-gear drive shaft, the other end of nose-gear is located in the nose-gear telescopic hole that pan front opens up, nose-gear
The other end front-wheel is installed, described two gears are separately mounted to nose-gear drive shaft, in rear undercarriage drive shaft, and two
In the gear operation hole that the bottom of gear is located at pan front, rear portion opens up, four worm screws are installed on the bottom plate in fuselage
Support, two of them worm bearing are located at the front and rear sides in the gear operation hole of pan front, other two worm bearing is located at
The front and rear sides in the gear operation hole of bottom rear, two worm screws are separately mounted to the gear operation hole of pan front, rear portion
On two worm bearings of front and rear sides, motor is installed in one end of two worm screws respectively, and two gears respectively with two worm screws
It engages, is opened on cover board there are two rectangular channel, two rectangular channels tops are equipped with hinge plate, fire extinguishing bullet launching device peace is provided on cover board
Fill hole.
The structure of undercarriages is identical after described two, it is each after undercarriage include sleeve I, axis I and L-type mounting plate, axis
The other end of one end and sleeve connection, axis is connect with L-type mounting plate, and the sleeve is mounted in rear undercarriage drive shaft, L-type peace
Loading board is located in the rear undercarriage telescopic hole that bottom rear opens up, and rear-wheel, the nose-gear packet are installed in the side of L-type mounting plate
It includes sleeve II, axis II and cylindrical mounting cylinder, one end of axis II to connect with sleeve II, the other end of axis II and cylindrical mounting cylinder
Top connection, cylindrical mounting cylinder is bottomless, and side is provided with the slot for making front-drive, and front-wheel is mounted on cylindrical mounting cylinder
It is interior, and front-wheel is connect by fixing axle with the side of cylindrical mounting cylinder.
The structure of described two track components is identical, and each track components include crawler belt motor, crawler rack, idler wheel, two
A idler wheel connecting plate, extraordinary band, fixed column；Crawler rack is triangular supports, is provided with crawler belt in the middle part of the transverse slat of crawler rack
Fixed shaft mounting hole II, two idler wheel connecting plates are connect with the bottom both ends of crawler rack respectively, and the two of two idler wheel connecting plates
Idler wheel is installed at end respectively, and one end of the fixed column and the side panel of crawler rack connect, and the other end of fixed column installs rolling
Wheel, the extraordinary band drive block of top installation of crawler rack, extraordinary band drive block are hollow barrel, and outside is that hollow out rolls up dentation, are carried out
Translator is mounted in extraordinary band drive block, and extraordinary band is wound on the idler wheel and extraordinary band drive block of crawler rack bottom, side,
The fixed shaft mounting hole II of the crawler belt opened in the middle part of the transverse slat of one end of crawler belt fixing axle and crawler rack connects, crawler belt fixing axle it is another
The fixed shaft mounting hole I of the crawler belt opened up on the side plate of the fuselage of one end and body parts connects.
The crawl arm segments include manipulator grasping mechanism, driving mechanism I and crawl mechanical arm visual sensor,
Driving mechanism I include pedestal, mechanical arm motor I, transmission gear V, big actuating arm, cradle head, small actuating arm, driving wrist,
Connecting column I, driving turntable, mechanical arm housing, mechanical arm motor II, connecting rod hold-down support, motor fixing plate, transmission gear II,
Bevel gear I, bevel gear II；
The crawl mechanical arm visual sensor is mounted on the base, and the pedestal is mounted in crawl mechanical arm supporting table, is grabbed
It takes mechanical arm supporting table to be mounted on the bottom plate of the fuselage of body parts, transmission shaft I is equipped in the pedestal, transmission gear I, is passed
Moving gear II, transmission gear III, transmission gear IV, transmission shaft II, transmission shaft I, transmission shaft II top respectively pass through bearing pacify
It mounted in motor fixing plate, drives on the lower surface of turntable, transmission gear II, transmission gear III, transmission gear is installed on transmission shaft I
II is located at the top of transmission gear III, installs transmission gear IV on transmission shaft II, wherein transmission gear III is nibbled with transmission gear IV
It closing, motor fixing plate is mounted on base top, and driving turntable is placed on pedestal, mechanical arm motor I is installed on motor fixing plate,
The output shaft of mechanical arm motor I passes through motor fixing plate and protrudes into pedestal, installs transmission gear on the output shaft of mechanical arm motor I
I, transmission gear I is engaged with transmission gear II, is driven and is installed mechanical arm housing on turntable, mechanical arm electricity is equipped in mechanical arm housing
Machine III, transmission shaft III are connect by end cap with mechanical arm housing, and transmission shaft III stretches out the one side of mechanical arm housing and stretching out
Transmission gear II is installed, mechanical arm motor III is mounted on driving turntable, and mechanical arm motor III is located at machinery on partial axis
In arm housing, the output shaft of mechanical arm motor III passes through mechanical arm housing and installs transmission gear V, transmission gear V and transmission
Gear II engages, and by gear band connection, the bottom of big actuating arm is mounted on transmission shaft III for transmission gear II and transmission gear V
On, the top of big actuating arm is connect by cradle head with one end of small actuating arm, cradle head include joint housing, shaft,
Flange, joint motor, joint housing install joint motor, one end of shaft pass through joint housing protrude into inside joint housing and with
The output axis connection of joint motor, shaft by the cage connection of flange and joint housing, driving wrist include wrist bottom plate and
Two circular side panels vertical with wrist bottom plate, central enclosure, transmission shaft III, mechanical arm motor II, the bottom for driving wrist bottom plate
Equipped with support column, mechanical arm motor II is mounted on the side of central enclosure, and the output shaft of mechanical arm motor II passes through central enclosure
Side protrude into central enclosure and bevel gear I be installed, the two sides of central enclosure and difference are stretched out in the both ends of transmission shaft III respectively
It is connect by bearing with two circular side panels, bevel gear II is installed on transmission shaft III, bevel gear I engages with bevel gear II, small driving
The other end of arm is connect with the central enclosure of driving wrist, and driving wrist is connect with manipulator grasping mechanism；
Manipulator grasping mechanism includes 4 connecting columns I, pneumatic cylinder, connecting rod hold-down support, 4 connecting columns, II, 4 group of link mechanism,
The top of 4 connecting columns I is connect with the lower surface of driving wrist bottom plate respectively, and the bottom of 4 connecting columns I is connected to
On circular slab, the centre of circular slab is equipped with circular hole, and the pneumatic cylinder is connect by motor fixing plate with 4 connecting columns I, air pressure
The hydraulic stem of cylinder is connect with the middle part of connecting rod hold-down support, and the bottom of circular slab is equipped with 4 connecting columns II, on connecting rod hold-down support
4 groups of link mechanisms are installed, the structure of 4 groups of link mechanisms is identical, every group of link mechanism include two linear type connecting rods, L-type connecting rod,
U-shaped connecting rod, the bionic mechanical palm, wherein two linear type connecting rods are in being arranged above and below, one end of two linear type connecting rods is cut with scissors jointly
It connects on connecting rod hold-down support, the other end of two linear type connecting rods is hinged with the top of L-type connecting rod respectively, the bottom of L-type connecting rod
Portion and the bionic mechanical palm connect, and one end of U-shaped connecting rod connect with the linear type connecting rod being located above, U-shaped connecting rod it is another
End is connect with the bottom connecting column II of circular slab.
The barrier-breaking arm segments include manipulator barrier-breaking mechanism, driving mechanism II and barrier-breaking mechanical arm visual sensing
Device, wherein the structure of driving mechanism II is identical as the crawl driving mechanism I of arm segments, the barrier-breaking mechanical arm visual sensing
Device is mounted on the pedestal of driving mechanism II, and the pedestal of driving mechanism II is mounted in barrier-breaking mechanical arm supporting table, and barrier-breaking is mechanical
Arm supporting table is mounted on the bottom plate of the fuselage of body parts, and manipulator barrier-breaking mechanism includes 4 connecting columns, III, 2 company
Connect column IV, two group of support rod mechanism, barrier-breaking plate, saw tooth belt, sawtooth translator, the top of 4 connecting columns III respectively with driving machine
The lower surface of the wrist bottom plate of the driving wrist of structure II connects, and the bottom of 4 connecting columns III is connected on circular slab, round
The bottom of plate is equipped with 2 connecting columns IV, and every connecting column IV is separately connected support rod mechanism, and support rod mechanism is by two linear types
Connecting rod composition, the end of two groups of support rod mechanisms are respectively equipped with link block, and two pieces of link blocks are separately connected the two sides of barrier-breaking plate, circle
The bottom of shape plate is also equipped with motor support block, and the bottom of motor support block is ring structure, and sawtooth translator is mounted on motor
In the annular of supporting block, and belt wheel is installed on the output shaft of sawtooth translator, belt wheel is located at one end of barrier-breaking plate, saw tooth belt suit
On the outer surface of barrier-breaking plate and belt wheel, saw tooth belt is equipped with sawtooth, the engagement on belt wheel and saw tooth belt；
The big actuating arm of the crawl arm segments and barrier-breaking arm segments, which is stretched out respectively on the cover boards of body parts, to be provided with
Two rectangular channels above the hinge plate that is equipped with.
The spray includes air blower, connecting rod, motor fixing frame, sliding block, motor, motor fixing frame；
The strip through-hole being provided on the front fuselage inclined plate of the front end stretching body parts of air blower, the rear end of air blower and sliding block
Connection, sliding block are mounted in the sliding slot of the pan front of the fuselage of body parts, and the top of sliding block and one end of connecting rod connect, even
The other end of bar passes through motor fixing frame and passes through the output axis connection of shaft coupling and motor, and motor is mounted on motor fixing frame
On, motor fixing frame is fixed on the bottom plate of the fuselage of body parts.
High pressure dry powder is housed inside the powder fire monitor, the ejection of dry powder is controlled by valve switch.
The motor of the body parts, the crawler belt motor of two track components, crawl arm segments, barrier-breaking machinery arm
The driving mechanism I of part, mechanical arm motor II, the pneumatic cylinder for grabbing arm segments, is grabbed at the mechanical arm motor I of driving mechanism II
Take mechanical arm visual sensor, the barrier-breaking mechanical arm visual sensor of barrier-breaking arm segments, sawtooth translator, spray drum
Blower, motor and powder fire monitor are defenced system jointly with land sky and are connect.
A kind of Lu Kong forest fire prevention and control robot working principle: system and thermal infrared imaging etc. are defenced jointly by the land sky of unmanned plane
Extraneous technology determines that forest fire fire location, robot pass through multiple by the extraordinary band operating of two track components to robot
Miscellaneous landform goes to fire source point, if meet on the way by burning fall trees stop current when, the big actuating arm of barrier-breaking arm segments is logical
The hinge plate crossed on the cover board on body parts top stretches out fuselage, is cut according to barrier-breaking mechanical arm visual sensor to barrier
It cuts, crawl arm segments clear up barrier according to crawl mechanical arm visual sensor；When forest fire prevention and control robot is met
When to small-sized fire source, the spray for passing through fore-body blows out fire source, the robot adjustment direction when encountering large-scale fire source, by machine
The powder fire monitor alignment fire source in portion, when fire location is special, and robot can not be close, is led to by spraying high pressure dry-chemical fire extinguishing behind
The fire extinguishing bullet launching device transmitting fire extinguisher bomb for crossing fore-body eliminates the fire source of complicated landform；It a series of is arranged by this
It applies and effectively control effectively for the forest fire of different situations.
The beneficial effects of the present invention are:
(1) present invention is that driving device can cope with more complex environments with extraordinary band.
(2) present invention greatly improves obstacle cleaning efficiency using double mechanical arms structure.
(3) present invention takes the mode of remote control, greatly reduces casualties.
(4) fire-fighting mode of the present invention is more, and environment adaptibility to response is strong.
(5) present invention uses complete mechanical, can quickly control fire behavior.
Detailed description of the invention
Fig. 1 is overall appearance schematic diagram of the invention；
Fig. 2 is overall structure diagram of the invention；
Fig. 3 is fuselage interior structural schematic diagram of the invention；
Fig. 4 is the structural schematic diagram of crawler belt of the invention；
Fig. 5 is the structural schematic diagram of fuselage bottom of the invention；
Fig. 6 is the schematic diagram of body shell of the invention；
Fig. 7 is the appearance diagram of cover board of the invention；
Fig. 8 is the appearance diagram of fire extinguishing bullet launching device of the invention；
Fig. 9 is the structural schematic diagram of trigger mechanism of the invention；
Figure 10 is the structural schematic diagram of magazine device of the invention；
Figure 11 is the structural schematic diagram of trajectory fixed block of the invention；
Figure 12 is the structural schematic diagram of impeller of the invention；
Figure 13 is the structural schematic diagram for depositing magazine of the invention；
Figure 14 is the structural schematic diagram of crawl mechanical arm of the invention；
Figure 15 is the transmission schematic diagram of the transmission gear of crawl mechanical arm of the invention；
Figure 16 is the structural schematic diagram of the driving dial portion of crawl mechanical arm of the invention；
Figure 17 is the mounting structure schematic diagram of mechanical arm motor III and transmission shaft III of the invention；
Figure 18 is the schematic diagram of internal structure of cradle head of the invention；
Figure 19 is the part drawing of driving turntable of the invention；
Figure 20 is the part drawing of present invention driving wrist；
Figure 21 is the attachment structure schematic diagram of the mechanical arm of present invention crawl mechanical arm；
Figure 22 is the attachment structure schematic diagram of driving wrist and link mechanism of the invention；
Figure 23 is the structural schematic diagram of the catching robot of crawl mechanical arm of the invention；
Figure 24 is the structural schematic diagram of barrier-breaking mechanical arm of the invention；
Figure 25 is the attachment structure schematic diagram of the mechanical arm of barrier-breaking mechanical arm of the invention；
Figure 26 is the attachment structure schematic diagram of driving wrist and support rod mechanism of the invention；
Figure 27 is the attachment structure schematic diagram of manipulator barrier-breaking mechanism and support rod mechanism of the invention；
Figure 28 is the structural schematic diagram of spray of the invention；
Figure 29 is powder fire monitor schematic view of the mounting position of the invention；
Each label in figure are as follows: 1- fire extinguishing bullet launching device, 2- grab arm segments, 3- barrier-breaking arm segments, 4- crawler belt portion
Part, 5- powder fire monitor, 6- spray, 7- body parts, 8- grab mechanical arm supporting table, 9- barrier-breaking mechanical arm supporting table, 10- crawler belt
Undercarriage drive shaft after undercarriage, 13- worm screw, 14- motor, 15- after fixing axle, 11- axle support, 12-, 16- nose-gear,
17- worm bearing, 18- nose-gear drive shaft, 19- crawler belt motor, 20- crawler rack, 21- idler wheel, 22- idler wheel connecting plate,
23- fixes shaft mounting hole II, 24- special type band, 25- special type band drive block, 26- front-wheel, 27- rear-wheel, the installation of 28- crawler belt fixing axle
After hole I, 29- sliding slot, 30- gear, 31- cover board, 32- nose-gear telescopic hole, 33- strip through-hole, 34- gear operation hole, 35-
Undercarriage telescopic hole, 36- chassis, 37- emitter motor I, 38- fixing axle, 39- emitter support frame, 40- emitter
Motor II, 41- magazine device, 42- transitional crust, 43- add cartridge box, 44- protective cover, 45- plate I, 46- trajectory fixed block, 47- bullet
Road, 48- friction pulley emitter motor, 49- strip emitter motor, 50- magazine, 51- emitter axis, 52- plate II,
53- friction pulley, 54- tilted block, 55- deposit magazine, 56- impeller, 57- fire extinguisher bomb, 58- limited block, 59- trigger mechanism, the hole 60- I,
The hole 61- II, 62- hinge plate, 63- fire extinguishing bullet launching device mounting hole, 64- pedestal, 65- mechanical arm motor I, 66- transmission gear
V, the big actuating arm of 67-, 68- cradle head, the small actuating arm of 69-, 70- driving wrist, 71- connecting column I, 72- transmission gear I,
73- transmission gear III, 74- transmission gear IV, 75- driving turntable, 76- transmission shaft III, 77- machinery arm housing, 78- mechanical arm electricity
Machine III, 79- mechanical arm motor II, 80- flange, 81- shaft, the 82- bionic mechanical palm, 83-L type connecting rod, 84- linear type connecting rod,
85-U type connecting rod, 86- pneumatic cylinder, 87- connecting rod hold-down support, 88- transmission shaft I, 89- transmission gear II, 90- transmission shaft II,
91- motor fixing plate, 92- transmission gear II, 93- transmission shaft III, 94- bevel gear I, 95- bevel gear II, 96- connecting column II,
97- joint motor, 98- gear band, 99- barrier-breaking plate, 100- saw tooth belt, 101- sawtooth translator, 102- motor support block, 103-
Support rod mechanism, 104- link block, 105- circular slab, 106- belt wheel, 107- air blower, 108- connecting rod, 109- motor fixing frame,
110- sliding block, 111- connecting column III, 112- connecting column IV.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the invention will be further described.
Embodiment 1: as shown in Fig. 1 ~ 28, this Lu Kong forest fire prevention and control robot, including fire extinguishing bullet launching device 1, gripper
Tool the upper arm member 2, barrier-breaking arm segments 3, two track components 4, powder fire monitor 5, spray 6, body parts 7, land skies are defenced jointly and are
System；
Described two track components 4 are mounted on the two sides of body parts 7, the crawl arm segments 2, barrier-breaking arm segments
3 are separately mounted to 7 middle part right side of body parts, left side, and the spray 6 is mounted on the front of body parts 7 and is located at fire extinguishing
The front of emitter 1 is played, powder fire monitor 5 is mounted on the rear portion of body parts 7, the fire extinguishing bullet launching device 1, crawl mechanical arm
Component 2, barrier-breaking arm segments 3, two track components 4, powder fire monitor 5, spray 6, body parts 7 defence system jointly with land sky
Connection.
The body parts 7 include fuselage, 12, two worm screws 13 of undercarriage after axle support 11, two, motor 14, after
27, two undercarriage drive shaft 15,16, four worm bearings 17 of nose-gear, nose-gear drive shaft 18, rear-wheel gears 30；
The fuselage includes two blocks of side plates, one piece of bottom plate, one piece of cover board 31, front end inclined plate, rear end inclined plate, two blocks of side plates point
It not being connect with the two sides of bottom plate, front end inclined plate, rear end inclined plate are installed in the both ends of bottom plate respectively, two blocks of side plates and front end inclined plate,
The top of rear end inclined plate is equipped with cover board 31, offers the fixed shaft mounting hole I 28 of crawler belt on the both side plate of fuselage 7 respectively, before fuselage
Strip through-hole 33 is provided on the inclined plate of end, the pan front of fuselage 7 is equipped with sliding slot 29, and the pan front of fuselage rises and falls before opening up one
Frame telescopic hole 32, nose-gear telescopic hole 32 are located at 29 rear of sliding slot, undercarriage telescopic hole 35, bottom after bottom rear opens up two
The front and rear of plate is also provided with gear operation hole 34, installs axle support 11 respectively on four angles of the bottom plate in fuselage,
Nose-gear drive shaft 18 is installed on two axle supports 11 of front, is installed on two axle supports 11 at rear portion
Undercarriage drive shaft 15 afterwards, one end of undercarriage 12 is mounted in rear undercarriage drive shaft 15 after two, undercarriage 12 after two
The other end be located at two that bottom rear opens up after in undercarriage telescopic hole 35, the other end of undercarriage 12 is pacified respectively after two
Rear-wheel 27 is filled, motor 14 is installed on rear-wheel 27, one end of nose-gear 16 is mounted in nose-gear drive shaft 18, nose-gear
16 other end is located in the nose-gear telescopic hole 32 that pan front opens up, and the other end of nose-gear 16 installs front-wheel 26,
Described two gears 30 are separately mounted to nose-gear drive shaft 18, in rear undercarriage drive shaft 15, and the bottom of two gears 30
In the gear operation hole 34 that portion is located at pan front, rear portion opens up, four worm bearings are installed on the bottom plate in fuselage 7
17, two of them worm bearing 17 is located at the front and rear sides in the gear operation hole 34 of pan front, other two worm bearing 17
Positioned at the front and rear sides in the gear operation hole 34 of bottom rear, two worm screws 13 are separately mounted to the gear of pan front, rear portion
On two worm bearings 17 for operating the front and rear sides in hole 34, motor 14, and two teeth are installed in one end of two worm screws 13 respectively
Wheel 30 is engaged with two worm screws 13 respectively, is opened on cover board 31 there are two rectangular channel, two rectangular channels tops are equipped with hinge plate 62, lid
Fire extinguishing bullet launching device mounting hole 63 is provided on plate 31.
The structure of undercarriage 12 is identical after described two, and each rear undercarriage 12 includes sleeve I, axis I and L-type mounting plate,
The other end of one end of axis and sleeve connection, axis is connect with L-type mounting plate, and the sleeve is mounted on rear undercarriage drive shaft 15
On, L-type mounting plate is located in the rear undercarriage telescopic hole 35 that bottom rear opens up, and rear-wheel 27, institute are installed in the side of L-type mounting plate
Stating nose-gear 16 includes that sleeve II, axis II and cylindrical mounting cylinder, one end of axis II are connect with sleeve II, the other end of axis II
It is connect with the top of cylindrical mounting cylinder, cylindrical mounting cylinder is bottomless, and side is provided with the slot for rotating front-wheel 26, and front-wheel 26 is pacified
In cylindrical mounting cylinder, and front-wheel 26 is connect by fixing axle with the side of cylindrical mounting cylinder.
The structure of described two track components 4 is identical, and each track components include crawler belt motor 19, crawler rack 20, rolling
Take turns 21, two idler wheel connecting plates 22, extraordinary band 24, fixed column；Crawler rack 20 is triangular supports, the transverse slat of crawler rack 20
Middle part be provided with the fixed shaft mounting hole II 23 of crawler belt, two idler wheel connecting plates 22 connect with the bottom both ends of crawler rack 20 respectively
It connects, idler wheel 21, one end of the fixed column and the one side of crawler rack 20 are installed in the both ends of two idler wheel connecting plates 22 respectively
Plate connection, the other end of fixed column install idler wheel 21, the extraordinary band drive block 25 of top installation of crawler rack 20, extraordinary band driving
Block 25 is hollow barrel, and outside is that hollow out rolls up dentation, and crawler belt motor 19 is mounted in extraordinary band drive block 25, and extraordinary band 24 is wound on
On 20 bottom of crawler rack, the idler wheel 21 of side and special type band drive block 25, one end of crawler belt fixing axle 10 and crawler rack 20
Transverse slat in the middle part of the fixed shaft mounting hole II 23 of the crawler belt opened connect, the other end of crawler belt fixing axle 10 and the fuselage 7 of body parts
Side plate on the fixed shaft mounting hole I 28 of the crawler belt that opens up connect.
The crawl arm segments 2 include manipulator grasping mechanism, driving mechanism I and crawl mechanical arm visual sensing
Device, driving mechanism I include pedestal 64, mechanical arm motor I 65, transmission gear V 66, big actuating arm 67, cradle head 68, small drive
Swing arm 69, driving wrist 70, connecting column I 71, driving turntable 75, mechanical arm housing 77, mechanical arm motor II 79, the fixed branch of connecting rod
Seat 87, motor fixing plate 91, transmission gear II 92, bevel gear I 94, bevel gear II 95；
The crawl mechanical arm visual sensor is mounted on pedestal 64, and the pedestal 64 is mounted on crawl mechanical arm supporting table 8
On, on the bottom plate for the fuselage that crawl mechanical arm supporting table 8 is mounted on body parts, it is equipped with transmission shaft I 88 in the pedestal 64, passes
Moving gear I 72, transmission gear II 89, transmission gear III 73, transmission gear IV 74, transmission shaft II 90, transmission shaft I 88, transmission shaft
II 90 top passes through bearing respectively and is mounted on motor fixing plate 91, drives on the lower surface of turntable 75, installs on transmission shaft I 88
Transmission gear II 89, transmission gear III 73, transmission gear II 89 are located at the top of transmission gear III 73, install on transmission shaft II 90
Transmission gear IV 74, wherein transmission gear III 73 is engaged with transmission gear IV 74, and motor fixing plate 91 is mounted on 64 top of pedestal,
Driving turntable 75 is placed on pedestal 64, and mechanical arm motor I 65, the output of mechanical arm motor I 65 are installed on motor fixing plate 91
Axis passes through motor fixing plate 91 and protrudes into pedestal 64, and transmission gear I 72, driving cog are installed on the output shaft of mechanical arm motor I 65
It takes turns I 72 to engage with transmission gear II 89, drives and mechanical arm housing 77 is installed on turntable 75, be equipped with mechanical arm in mechanical arm housing 77
Motor III 78, transmission shaft III 76 are connect by end cap with mechanical arm housing 77, and transmission shaft III 76 stretches out the one of mechanical arm housing 77
Transmission gear II 92 is simultaneously installed in side on the axis of extension, and mechanical arm motor III 78 is mounted on driving turntable 75, and machine
Tool arm motor III 78 is located in mechanical arm housing 77, and the output shaft of mechanical arm motor III 78 passes through mechanical arm housing 77 and installs biography
Moving gear V 66, transmission gear V 66 are engaged with transmission gear II 92, and transmission gear II 92 and transmission gear V 66 pass through gear
Band 98 connects, and the bottom of big actuating arm 67 is mounted on transmission shaft III 76, the top of big actuating arm 67 by cradle head 68 with
One end of small actuating arm 69 connects, and cradle head 68 includes joint housing, shaft 81, flange 80, joint motor 97, joint housing
Joint motor 97 is installed, one end of shaft 81 passes through joint housing and protrudes into joint housing inside and the output shaft with joint motor 97
Connection, shaft 81 by the cage connection of flange 80 and joint housing, driving wrist 70 including wrist bottom plate and with wrist bottom plate
Vertical two circular side panels, central enclosure, transmission shaft III 93, mechanical arm motor II 79 drive the bottom of 70 bottom plate of wrist to be equipped with
Support column, mechanical arm motor II 79 are mounted on the side of central enclosure, and the output shaft of mechanical arm motor II 79 passes through central enclosure
Side protrude into central enclosure and bevel gear I 94 be installed, the two sides of central enclosure are stretched out simultaneously in the both ends of transmission shaft III 93 respectively
It is connect respectively by bearing with two circular side panels, bevel gear II 95, bevel gear I 94 and bevel gear II 95 is installed on transmission shaft III 93
The other end of engagement, small actuating arm 69 is connect with the central enclosure of driving wrist 70, driving wrist 70 and manipulator grasping mechanism
Connection；
Manipulator grasping mechanism includes 4 connecting columns I 71, II 96,4 groups pneumatic cylinder 86, connecting rod hold-down support 87,4 of connecting column
Link mechanism, the top of 4 connecting columns I 71 are connect with the lower surface of driving 70 bottom plate of wrist respectively, 4 connecting columns I 71
Bottom be connected on circular slab, the centre of circular slab is equipped with circular hole, and the pneumatic cylinder 86 passes through motor fixing plate and 4
Root connecting column I 71 connects, and the hydraulic stem of pneumatic cylinder 86 is connect with the middle part of connecting rod hold-down support 87, and the bottom of circular slab is equipped with 4
Root connecting column II 96 installs 4 groups of link mechanisms on connecting rod hold-down support 87, and the structure of 4 groups of link mechanisms is identical, every group of connecting rod machine
Structure includes two linear type connecting rods 84, L-type connecting rod 83, U-shaped connecting rod 85, the bionic mechanical palm 82, wherein two linear type connecting rods
84 in being arranged above and below, and one end of two linear type connecting rods 84 is hinged on jointly on connecting rod hold-down support 87, two linear type connecting rods
87 other end is hinged with the top of L-type connecting rod 83 respectively, and the bottom of L-type connecting rod 83 is connect with the bionic mechanical palm 82, U-shaped connection
One end of bar 85 is connect with the linear type connecting rod 84 being located above, and the other end of U-shaped connecting rod 85 and the bottom of circular slab connect
Column II 96 connects.
The barrier-breaking arm segments 3 include manipulator barrier-breaking mechanism, driving mechanism II and barrier-breaking mechanical arm visual sensing
Device, wherein the structure of driving mechanism II is identical as the crawl driving mechanism I of arm segments 1, and the barrier-breaking mechanical arm vision passes
Sensor is mounted on the pedestal 64 of driving mechanism II, and the pedestal 64 of driving mechanism II is mounted in barrier-breaking mechanical arm supporting table 9, is broken
Barrier mechanical arm supporting table 9 is mounted on the bottom plate of fuselage 7 of body parts, and manipulator barrier-breaking mechanism includes 4 connecting columns
III 111,2 connecting columns IV 112, two groups of support rod mechanisms 103, barrier-breaking plates 99,101,4 saw tooth belt 100, sawtooth translator companies
The top for connecing column III 111 is connect with the lower surface of the wrist bottom plate of the driving wrist 70 of driving mechanism II respectively, 4 connecting columns III
111 bottom is connected on circular slab 105, and the bottom of circular slab 105 is equipped with 2 connecting columns IV 112, every connecting column IV
112 are separately connected support rod mechanism 103, and support rod mechanism 103 is made of two linear type connecting rods, two groups of support rod mechanisms 103
End be respectively equipped with link block 104, two pieces of link blocks 104 are separately connected the two sides of barrier-breaking plate 99, and the bottom of circular slab 105 is also
Motor support block 102 is installed, the bottom of motor support block 102 is ring structure, and sawtooth translator 101 is mounted on motor support
In the annular of block 102, and belt wheel 106 is installed on the output shaft of sawtooth translator 101, belt wheel 106 is located at one end of barrier-breaking plate 99,
Saw tooth belt 100 is sleeved on the outer surface of barrier-breaking plate 99 and belt wheel 106, and saw tooth belt 100 is equipped with sawtooth, belt wheel 106 and sawtooth
With the engagement on 100；
The big actuating arm 67 of the crawl arm segments 2 and barrier-breaking arm segments 3 stretches out the cover board 31 of body parts 7 respectively
On the hinge plate 62 that is equipped with above two rectangular channels being provided with.
The spray 6 is solid including air blower 107, connecting rod 108, motor fixing frame 109, sliding block 110, motor 14, motor
Determine frame 109；
The strip through-hole 33 being provided on the 7 front end inclined plate of fuselage of the front end stretching body parts of air blower 107, air blower 107
Rear end is connect with sliding block 110, and sliding block 110 is mounted in the sliding slot 29 of the pan front of the fuselage 7 of body parts, sliding block 110
Top is connect with one end of connecting rod 108, and the other end of connecting rod 108 passes through motor fixing frame 109 and by shaft coupling and motor 14
Output axis connection, motor 14 is mounted on motor fixing frame 109, and motor fixing frame 109 is fixed on the fuselage 7 of body parts
On bottom plate.
Embodiment 2: the present embodiment structure with embodiment 1, the difference is that, the fire extinguishing bullet launching device 1 is mounted on
The front of body parts 7, the fire extinguisher bomb emission element 1 include fixed under chassis 36, emitter motor I 37, emitter
Axis 38, emitter support frame 39, emitter motor II 40, magazine device 41, transitional crust 42 plus cartridge box 43, plate II 52, hair
Penetrate mechanism 59；
The chassis 36 includes two pieces of vertical plates and one piece of transverse slat, and the transverse slat is located at the top of two pieces of vertical plates, two pieces of vertical plates
Bottom be mounted on the pan front of fuselage 7, emitter motor I 37 is installed, under emitter on the inner surface of the transverse slat
One end of fixing axle 38 passes through the transverse slat of chassis 36 and passes through the output axis connection of shaft coupling and emitter motor I 37, transmitting
The other end of fixing axle 38 is connect with the bottom of emitter support frame 39 under device, and fixing axle 38 passes through cover board under emitter
The fire extinguishing bullet launching device mounting hole 63 being provided on 31, the emitter motor II 40 are mounted on 39 side of emitter support frame
Portion, trigger mechanism 59 are mounted on emitter motor II 40, and trigger mechanism 59 includes protective cover 44, plate I 45, trajectory fixed block
46, trajectory 47, friction pulley emitter motor 48, emitter axis 51, plate II 52, friction pulley 53, the one of emitter axis 51
It holds the side across emitter support frame 39 and passes through the output axis connection of shaft coupling and emitter motor II 40, transmitting
The other end of assembly axis 51 is mounted on the other side of emitter support frame 39, and plate II 52 is mounted on emitter axis 51,
Plate I 45 is mounted on plate II 52, and trajectory fixed block 46 is mounted on one end bottom of plate I 45, and trajectory 47 is mounted on trajectory fixed block
46 one end, the other end of trajectory fixed block 46 are offered into magazine 50, before friction pulley emitter motor 48 is mounted on plate I 45
Portion bottom end, friction pulley 53 are mounted on the output shaft of friction pulley emitter motor 48, and protective cover 44 is mounted on plate I 45, bullet
Bin device 41 is mounted on trigger mechanism 59, and transitional crust 42 is mounted on magazine device 41, and cartridge box 43 is added to be mounted on transitional crust 42
On, the magazine device 41 includes strip emitter motor 49, tilted block 54, deposits magazine 55, impeller 56, fire extinguisher bomb 57, limit
Position block 58, deposits 55 bottom of magazine and offers hole I 60, hole II 61, deposit magazine 55 and be mounted on plate I 45, deposit the hole I 60 of magazine 55 with
Corresponding into 50 position of magazine, 49 through hole I 60 of strip emitter motor, which is mounted on, deposits 55 bottom of magazine, and impeller 56 is mounted on length
49 end of emitter motor, which is located at, deposits in magazine 55, and fire extinguisher bomb 57, which is placed in, to be deposited in magazine 55, and limited block 58, which is mounted on, to be deposited
Inside 55 one end of magazine, tilted block 54, which is mounted on, deposits 55 the other end of magazine.
Bullet falls into the depositing in magazine 55 of magazine device 41, strip transmitting dress by adding cartridge box 43 to enter, by transitional crust 42
Set motor 49 work drive impeller 56 rotate, stir bullet rotation and the hole I 60 by depositing magazine 55 fall into magazine 50, then into
Enter trajectory 47, when at arrival trajectory fixed block 46, two friction pulleys 53 are with two high-speed rotating friction pulleys transmitting dresses
The not rotating Vortex for setting motor 48, due to frictional force, bullet is extruded between two friction pulleys 53, is ejected at once later
Trajectory 47 realizes transmitting, and emitter motor I 37 works, so that fixing axle 38 rotates under emitter, to drive transmitter
Structure integrally realizes the 360 degree rotation in horizontal direction, and emitter motor II 40 works, so that trigger mechanism is along pitch orientation
Rotation；Realize the variation and transmitting of launch angle.
Embodiment 3: the present embodiment structure is with embodiment 2, the difference is that pressing dry inside the powder fire monitor 5 equipped with height
Powder, controls the ejection of dry powder by valve switch, the structure of powder fire monitor 5 compared with fire extinguisher structure it is identical.
Crawler belt motor 19, the crawl arm segments 2, barrier-breaking of 14, two track components 4 of motor of the body parts 7
The driving mechanism I of arm segments 3, mechanical arm motor II 79, grabs mechanical arm at the mechanical arm motor I 65 of driving mechanism II
The pneumatic cylinder 86 of part 2, crawl mechanical arm visual sensor, the barrier-breaking mechanical arm visual sensor of barrier-breaking arm segments 3, sawtooth
Translator 101, the air blower 107 of spray 6, motor 14 and powder fire monitor 5 are defenced system jointly with land sky and are connect.The land sky association
Anti- system is integration module, controls the work of each motor, sensor and powder fire monitor.
The present embodiment Lu Kong forest fire prevention and control robot course of work is as follows: defencing system jointly to machine by the land sky of unmanned plane
People determines forest fire fire location, and defences the movement of system control machine device people jointly by land sky, and robot passes through two crawler belts
The operating of extraordinary band 24 of component passes through complicated landform and goes to fire source point, if meet on the way by burning fall trees stop current when, break
The hinge plate 62 on cover board 31 that the big actuating arm 67 for hindering arm segments 3 passes through 7 top of body parts stretches out fuselage, according to broken
Barrier mechanical arm visual sensor cuts barrier, and crawl arm segments 2 are according to crawl mechanical arm visual sensor pair
Barrier is cleared up；When forest fire prevention and control robot encounters small-sized fire source, fire source is blown out by the spray 6 of fore-body,
The powder fire monitor 5 of fuselage afterbody is directed at fire source and is gone out by spraying high pressure dry powder by the robot adjustment direction when encountering large-scale fire source
Fire, when fire location is special, and robot can not be close, the fire extinguishing bullet launching device 1 for passing through fore-body emits fire extinguisher bomb pair
The fire source of complicated landform is eliminated；It is effectively controlled by the forest fire that this series of measure is effectively directed to different situations
System.
Specific embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Example is applied, it within the knowledge of a person skilled in the art, can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (8)
1. a kind of Lu Kong forest fire prevention and control robot, which is characterized in that including fire extinguishing bullet launching device (1), crawl arm segments
(2), barrier-breaking arm segments (3), two track components (4), powder fire monitor (5), spray (6), body parts (7), land sky association
Anti- system；
The fire extinguishing bullet launching device (1) is mounted on the front of body parts (7), and described two track components (4) are mounted on machine
The two sides of body component (7), the crawl arm segments (2), barrier-breaking arm segments (3) are separately mounted to body parts (7)
Middle part right side, left side, before the spray (6) is mounted on the front of body parts (7) and is located at fire extinguishing bullet launching device (1)
Side, powder fire monitor (5) are mounted on the rear portion of body parts (7), the fire extinguishing bullet launching device (1), crawl arm segments (2),
Barrier-breaking arm segments (3), two track components (4), powder fire monitor (5), spray (6), body parts (7) are defenced jointly with land sky
System connection.
2. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: the body parts (7) include
Fuselage, axle support (11), undercarriage (12) after two, two worm screws (13), motor (14), rear undercarriage drive shaft (15),
Nose-gear (16), four worm bearings (17), nose-gear drive shaft (18), rear-wheel (27), two gears (30)；
The fuselage includes two blocks of side plates, one piece of bottom plate, one piece of cover board (31), front end inclined plate, rear end inclined plate, two blocks of side plates
It is connect respectively with the two sides of bottom plate, front end inclined plate, rear end inclined plate are installed in the both ends of bottom plate respectively, and two blocks of side plates and front end are oblique
Plate, rear end inclined plate top be equipped with cover board (31), the fixed shaft mounting hole I of crawler belt is offered on the both side plate of fuselage (7) respectively
(28), it is provided with strip through-hole (33) on the inclined plate of fuselage (7) front end, the pan front of fuselage (7) is equipped with sliding slot (29), fuselage (7)
Pan front open up a nose-gear telescopic hole (32), nose-gear telescopic hole (32) is located at sliding slot (29) rear, bottom plate
Undercarriage telescopic hole (35) after rear portion opens up two, the front and rear of bottom plate are also provided with gear operation hole (34), fuselage (7)
On four angles of interior bottom plate axle support (11) are installed respectively, rise and fall before being installed on two axle supports (11) of front
Frame drive shaft (18), undercarriage drive shaft (15) after being installed on two axle supports (11) at rear portion, undercarriage after two
(12) one end is mounted on rear undercarriage drive shaft (15), and the other end of undercarriage (12) is opened up positioned at bottom rear after two
Two after in undercarriage telescopic hole (35), the other end of undercarriage (12) is installed rear-wheel (27) respectively after two, rear-wheel (27)
Upper installation motor (14), one end of nose-gear (16) are mounted on nose-gear drive shaft (18), nose-gear (16) it is another
One end is located in the nose-gear telescopic hole (32) that pan front opens up, and the other end of nose-gear (16) installs front-wheel (26),
Described two gears (30) are separately mounted to nose-gear drive shaft (18), in rear undercarriage drive shaft (15), and two gears
(30) in the gear operation hole (34) that bottom is located at pan front, rear portion opens up, four are installed on the bottom plate in fuselage (7)
A worm bearing (17), two of them worm bearing (17) are located at the front and rear sides in the gear operation hole (34) of pan front, separately
Outer two worm bearings (17) are located at the front and rear sides in the gear operation hole (34) of bottom rear, and two worm screws (13) are installed respectively
On two worm bearings (17) of the front and rear sides in the gear operation hole (34) at pan front, rear portion, two worm screws (13)
One end is installed motor (14) respectively, and two gears (30) are engaged with two worm screws (13) respectively, opened on cover board (31) there are two
Rectangular channel, two rectangular channels tops are equipped with hinge plate (62), are provided with fire extinguishing bullet launching device mounting hole (63) on cover board (31).
3. Lu Kong forest fire prevention and control according to claim 2 robot, it is characterised in that: undercarriage (12) after described two
Structure is identical, it is each after undercarriage (12) include sleeve I, axis I and L-type mounting plate, one end of axis and sleeve connection, axis it is another
End is connect with L-type mounting plate, and the sleeve is mounted on rear undercarriage drive shaft (15), and L-type mounting plate is opened positioned at bottom rear
If rear undercarriage telescopic hole (35) in, rear-wheel (27) are installed in the side of L-type mounting plate, and the nose-gear (16) includes sleeve
II, axis II and cylindrical mounting cylinder, one end of axis II are connect with sleeve II, the top of the other end of axis II and cylindrical mounting cylinder
Connection, cylindrical mounting cylinder is bottomless, and side is provided with the slot for rotating front-wheel (26), and front-wheel (26) is mounted on cylindrical mounting cylinder
It is interior, and front-wheel (26) is connect by fixing axle with the side of cylindrical mounting cylinder.
4. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: described two track components (4)
Structure is identical, and each track components include crawler belt motor (19), crawler rack (20), idler wheel (21), two idler wheel connecting plates
(22), extraordinary band (24), fixed column；Crawler rack (20) is triangular supports, is provided in the middle part of the transverse slat of crawler rack (20)
Crawler belt is fixed shaft mounting hole II (23), and two idler wheel connecting plates (22) connect with the bottom both ends of crawler rack (20) respectively, and two
The both ends of a idler wheel connecting plate (22) are installed idler wheel (21) respectively, one end of the fixed column and the one side of crawler rack (20)
The other end of plate connection, fixed column installs idler wheel (21), extraordinary band drive block (25) of top installation of crawler rack (20), extraordinary
Band drive block (25) is hollow barrel, and outside is that hollow out rolls up dentation, and crawler belt motor (19) is mounted in extraordinary band drive block (25),
Extraordinary band (24) is wound on the idler wheel (21) and extraordinary band drive block (25) of crawler rack (20) bottom, side, crawler belt fixing axle
(10) crawler belt fixed shaft mounting hole II (23) opened in the middle part of one end and the transverse slat of crawler rack (20) is connect, crawler belt fixing axle
(10) crawler belt fixed shaft mounting hole I (28) connection opened up on the side plate of the fuselage (7) of the other end and body parts.
5. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: the crawl arm segments (2)
Including manipulator grasping mechanism, driving mechanism I and crawl mechanical arm visual sensor, driving mechanism I includes pedestal (64), machinery
Arm motor I (65), transmission gear V (66), big actuating arm (67), cradle head (68), small actuating arm (69), driving wrist
(70), connecting column I (71), driving turntable (75), mechanical arm housing (77), mechanical arm motor II (79), connecting rod hold-down support
(87), motor fixing plate (91), transmission gear II (92), bevel gear I (94), bevel gear II (95)；
The crawl mechanical arm visual sensor is mounted on pedestal (64), and the pedestal (64) is mounted on crawl mechanical arm support
On platform (8), on the bottom plate for the fuselage that crawl mechanical arm supporting table (8) is mounted on body parts, it is equipped with and passes in the pedestal (64)
Moving axis I (88), transmission gear I (72), transmission gear II (89), transmission gear III (73), transmission gear IV (74), transmission shaft II
(90), transmission shaft I (88), transmission shaft II (90) top pass through respectively bearing be mounted on motor fixing plate (91), driving turntable
(75) on lower surface, transmission gear II (89), transmission gear III (73), transmission gear II (89) are installed on transmission shaft I (88)
Transmission gear IV (74) are installed on the top of transmission gear III (73), transmission shaft II (90), wherein transmission gear III (73)
It is engaged with transmission gear IV (74), motor fixing plate (91) is mounted at the top of pedestal (64), and driving turntable (75) is placed on pedestal
(64) on, mechanical arm motor I (65) are installed on motor fixing plate (91), the output shaft of mechanical arm motor I (65) is solid across motor
Fixed board (91) protrudes into pedestal (64), installs transmission gear I (72) on the output shaft of mechanical arm motor I (65), transmission gear I
(72) it is engaged with transmission gear II (89), mechanical arm housing (77) is installed in driving turntable (75), is set in mechanical arm housing (77)
There are mechanical arm motor III (78), transmission shaft III (76) to connect by end cap with mechanical arm housing (77), transmission shaft III (76) stretches out
The one side of mechanical arm housing (77) simultaneously installs transmission gear II (92) on the axis of extension, mechanical arm motor III (78) peace
In driving turntable (75), and mechanical arm motor III (78) is located in mechanical arm housing (77), mechanical arm motor III (78)
Output shaft passes through mechanical arm housing (77) and installs transmission gear V (66), and transmission gear V (66) is nibbled with transmission gear II (92)
It closes, transmission gear II (92) is connect with transmission gear V (66) by gear band (98), and the bottom of big actuating arm (67) is mounted on
On transmission shaft III (76), the top of big actuating arm (67) is connect by cradle head (68) with one end of small actuating arm (69), is turned
Movable joint (68) includes joint housing, shaft (81), flange (80), joint motor (97), and joint housing installs joint motor
(97), one end of shaft (81) passes through joint housing and protrudes into joint housing inside and the output axis connection with joint motor (97),
Shaft (81) by the cage connections of flange (80) and joint housing, drive wrist (70) include wrist bottom plate and with wrist bottom plate
Vertical two circular side panels, central enclosure, transmission shaft III (93), mechanical arm motor II (79), the bottom for driving wrist (70) bottom plate
Portion is equipped with support column, and mechanical arm motor II (79) is mounted on the side of central enclosure, and the output shaft of mechanical arm motor II (79) is worn
The side for crossing central enclosure is protruded into central enclosure and installs bevel gear I (94), during the both ends of transmission shaft III (93) are stretched out respectively
The two sides of portion's shell are simultaneously connect by bearing with two circular side panels respectively, install bevel gear II (95) on transmission shaft III (93), cone
Gear I (94) is engaged with bevel gear II (95), and the other end of small actuating arm (69) is connect with the central enclosure of driving wrist (70),
Driving wrist (70) is connect with manipulator grasping mechanism；
Manipulator grasping mechanism includes 4 connecting columns I (71), pneumatic cylinder (86), connecting rod hold-down support (87), 4 connecting columns II
(96), 4 groups of link mechanisms, the top of 4 connecting columns I (71) are connect with the lower surface of driving wrist (70) bottom plate respectively, and 4
The bottom of root connecting column I (71) is connected on circular slab, and the centre of circular slab is equipped with circular hole, and the pneumatic cylinder (86) is led to
It crosses motor fixing plate to connect with 4 connecting columns I (71), connect in the middle part of the hydraulic stem of pneumatic cylinder (86) and connecting rod hold-down support (87)
It connects, the bottom of circular slab is equipped with 4 connecting columns II (96), installs 4 groups of link mechanisms, 4 groups of connecting rods on connecting rod hold-down support (87)
The structure of mechanism is identical, every group of link mechanism include two linear type connecting rods (84), L-type connecting rod (83), U-shaped connecting rod (85),
Bionic mechanical slaps (82), wherein two linear type connecting rods (84) are in being arranged above and below, one end of two linear type connecting rods (84) is common
It is hinged on connecting rod hold-down support (87), the other end of two linear type connecting rods (87) is cut with scissors with the top of L-type connecting rod (83) respectively
It connects, the bottom of L-type connecting rod (83) is connect with the bionic mechanical palm (82), one end of U-shaped connecting rod (85) and the straight line being located above
Type connecting rod (84) connection, the other end of U-shaped connecting rod (85) and the bottom connecting column II (96) of circular slab connect；
The barrier-breaking arm segments (3) include manipulator barrier-breaking mechanism, driving mechanism II and barrier-breaking mechanical arm visual sensor,
Wherein the structure of driving mechanism II is identical as the crawl driving mechanism I of arm segments (1), the barrier-breaking mechanical arm visual sensing
Device is mounted on the pedestal (64) of driving mechanism II, and the pedestal (64) of driving mechanism II is mounted on barrier-breaking mechanical arm supporting table (9)
On, barrier-breaking mechanical arm supporting table (9) is mounted on the bottom plate of fuselage (7) of body parts, and manipulator barrier-breaking mechanism includes 4
Root connecting column III (111), 2 connecting columns IV (112), two groups of support rod mechanisms (103), barrier-breaking plate (99), saw tooth belt (100),
Sawtooth translator (101), the top of 4 connecting columns III (111) the wrist bottom with the driving wrist (70) of driving mechanism II respectively
The lower surface of plate connects, and the bottom of 4 connecting columns III (111) is connected on circular slab (105), the bottom of circular slab (105)
Portion is equipped with 2 connecting columns IV (112), and every connecting column IV (112) is separately connected support rod mechanism (103), support rod mechanism
(103) You Lianggen linear type connecting rod forms, and the end of two groups of support rod mechanisms (103) is respectively equipped with link block (104), two pieces of companies
The two sides that block (104) is separately connected barrier-breaking plate (99) are connect, the bottom of circular slab (105) is also equipped with motor support block (102), electricity
The bottom of machine supporting block (102) is ring structure, and sawtooth translator (101) is mounted in the annular of motor support block (102), and
Belt wheel (106) are installed on the output shaft of sawtooth translator (101), belt wheel (106) is located at one end of barrier-breaking plate (99), saw tooth belt
(100) be sleeved on the outer surface of barrier-breaking plate (99) and belt wheel (106), saw tooth belt (100) be equipped with sawtooth, belt wheel (106) with
Engagement on saw tooth belt (100)；
The big actuating arm (67) of crawl arm segments (2) and barrier-breaking arm segments (3) stretches out body parts (7) respectively
Cover board (31) on the hinge plate (62) that is equipped with above two rectangular channels being provided with.
6. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: the spray (6) includes air blast
Machine (107), connecting rod (108), motor fixing frame (109), sliding block (110), motor (14), motor fixing frame (109)；
The strip through-hole (33) being provided on fuselage (7) front end inclined plate of the front end stretching body parts of air blower (107), air blower
(107) rear end is connect with sliding block (110), and sliding block (110) is mounted on the sliding slot of the pan front of the fuselage (7) of body parts
(29) in, the top of sliding block (110) is connect with one end of connecting rod (108), and the other end of connecting rod (108) passes through motor fixing frame
(109) and by the output axis connection of shaft coupling and motor (14), motor (14) is mounted on motor fixing frame (109), motor
Fixed frame (109) is fixed on the bottom plate of fuselage (7) of body parts.
7. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: be equipped with inside the powder fire monitor (5)
High pressure dry powder controls the ejection of dry powder by valve switch.
8. Lu Kong forest fire prevention and control according to claim 1 robot, it is characterised in that: the motor of the body parts (7)
(14), the driving of the crawler belt motor (19) of two track components (4), crawl arm segments (2), barrier-breaking arm segments (3)
Mechanism I, the mechanical arm motor I (65) of driving mechanism II, mechanical arm motor II (79), the pneumatic cylinder for grabbing arm segments (2)
(86), mechanical arm visual sensor, the barrier-breaking mechanical arm visual sensor of barrier-breaking arm segments (3), sawtooth translator are grabbed
(101), the air blower (107) of spray (6), motor (14) and powder fire monitor (5) are defenced system jointly with land sky and are connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910380693.4A CN110115817A (en) | 2019-05-08 | 2019-05-08 | A kind of Lu Kong forest fire prevention and control robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910380693.4A CN110115817A (en) | 2019-05-08 | 2019-05-08 | A kind of Lu Kong forest fire prevention and control robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110115817A true CN110115817A (en) | 2019-08-13 |
Family
ID=67521893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910380693.4A Pending CN110115817A (en) | 2019-05-08 | 2019-05-08 | A kind of Lu Kong forest fire prevention and control robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110115817A (en) |
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| CN110514065A (en) * | 2019-09-27 | 2019-11-29 | 北京机械设备研究所 | A kind of the firefighting cartridge launcher and adjusting method of adjustable pitching and orientation |
| CN112729924A (en) * | 2021-01-15 | 2021-04-30 | 苏东义 | Forest resource detection vehicle |
| CN114227718A (en) * | 2021-12-31 | 2022-03-25 | 国家石油天然气管网集团有限公司 | Floating cabin detection robot |
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