CN110368619A - A kind of intelligent extinguishing device based on Bionic flexible arm - Google Patents
A kind of intelligent extinguishing device based on Bionic flexible arm Download PDFInfo
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- CN110368619A CN110368619A CN201910628245.1A CN201910628245A CN110368619A CN 110368619 A CN110368619 A CN 110368619A CN 201910628245 A CN201910628245 A CN 201910628245A CN 110368619 A CN110368619 A CN 110368619A
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- motor
- flexible arm
- case
- guide
- ropes
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a kind of intelligent extinguishing devices based on Bionic flexible arm, can move to point of origin by walking mechanism and concentrate fire extinguishing, with strong points, effect of having gone out is good.The present invention is using flexible arm connection fire extinguishing platform, and the platform that can will be put out a fire by the movement of flexible arm takes at point of origin, and flexibility is good, good extinguishing effect.Be inside flexible arm of the invention it is hollow, eliminate the extinguishing chemical transfer pipeline of independent occupied space, reduce the volume of whole device, so that device still has good movenent performance under complicated narrow environment.
Description
Technical field
The present invention relates to intelligent extinguishing devices, more particularly to a kind of intelligent extinguishing device based on Bionic flexible arm.
Background technique
Bio-robot refers to foundation bionics principle, the superior performance of the designs such as mimic biology structure, kinetic characteristic
Mechatronic Systems, gradually anti-terrorism is explosion-proof, space probation, rescue and relief work etc. are not suitable for the environment saliency for undertaking task by people
Good application prospect out.Currently, conventional industrial robot is mostly made of rigid link and joint, since its volume is larger, just
Property it is higher, operational capacity is poor under complicated unstructured moving grids, can not be adapted to the working environment of relative narrowness.But it is based on
Bionics principle, for people by imitating trunk, the animal organs such as octopus tentacle have devised being capable of flexible curved non-individual body machine
Device people can overcome some disadvantages of conventional rigid robot.Compared to traditional mechanical arm, flexible arm has hyper-redundant special
Property, light weight is small in size, and the bending of multiple continuous parts may be implemented and stretch, and has very strong movement in restricted clearance
And operational capacity.
Underground pipe gallery has improvement urban environment, reduces utilities pipeline maintenance cost, and effective use Urban Underground is empty
Between equal be a little widely used.However, due to inside pipe gallery there are the electric power of a large amount of different roles, communication cable, one
Fire occurs for denier, can cause the influence for being difficult to estimate and loss to entire city.Therefore the importance of its security against fire problem is not
It says and explains.In conjunction with the big space characteristic of pipe gallery length, from economy, feasibility, reasonability, applicability, angularly synthesis is examined
Consider, more feasible scheme is ultrafine dry powder extinguishing installation at present.For the device without pipe network, system is simple, installation cost and fire extinguishing
It is at low cost, but low visibility when its injection, human-computer interaction collaboration capabilities are poor.Meanwhile suspended structure belongs to static structure, spirit
Activity and specific aim are poor, cannot concentrate and put out a fire directly against point of origin, generally could obtain ratio using total flooding fire-fighting mode
Preferable extinguishing effect, therefore extinguishing effect is poor.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of intelligent extinguishing devices based on Bionic flexible arm, are able to solve
The technical issues of " extinguishing effect is poor " existing in the prior art.
Technical solution: to reach this purpose, the invention adopts the following technical scheme:
Intelligent extinguishing device of the present invention based on Bionic flexible arm, including guide rail and flexible arm, guide rail connection row
Mechanism case is walked, is equipped with walking mechanism in walking mechanism case, walking mechanism case is separately connected extinguishing chemical case and flexible arm control case, goes out
Extinguishing chemical is equipped in fiery agent case, flexible arm control case connects motor guide case, is equipped with electromagnetic valve, motor in flexible arm control case
Guide case connects drive control box, the motor for driving flexible arm to move is equipped in motor guide case, flexible arm one end passes through
Electromagnetic valve connects extinguishing chemical case, and the other end of flexible arm is pierced by motor guide case and connects fire extinguishing platform, sets on platform of putting out a fire
There are fighting nozzle, thermal camera, visible light camera and Temperature Humidity Sensor, control module is equipped in drive control box, is used
Valve control module in control electromagnetic valve and the motor driver for driving motor movement, control module are separately connected electricity
Machine driver, walking mechanism, valve control module, thermal camera, visible light camera and Temperature Humidity Sensor.
Further, the cross sectional shape of the guide rail is I-shaped, and guide rail includes parallel top and bottom, top and bottom
Between be equipped with side wall perpendicular to top surface, the walking mechanism includes the combination of two ground-engaging elements, two ground-engaging elements combinations point
Not She Yu the side wall two sides, the combination of each ground-engaging element include guide wheel, the guide wheel motor for driving guide wheel to rotate with
And the guide wheel motor driver for driving guide wheel motor to rotate.
Further, the flexible arm includes nine ropes and hollow flexible duct, and flexible duct outer wall is equipped with interval
The first articular sclerite, second joint piece and the third articular sclerite of distribution, are all provided with that there are six through-hole and three fixations on three articular sclerites
Point, third articular sclerite connect fire extinguishing platform, and the motor in the motor guide case has nine, and one end of nine ropes is separately connected
The output shaft of nine motors in motor guide case, the other end of nine ropes are pierced by motor guide case, wherein three ropes is another
One end is separately connected three fixed points on the first articular sclerite, and the other end of six roots of sensation rope is each passed through six on the first articular sclerite
Wherein the other end of three ropes is separately connected three fixed points of second joint on piece after a through-hole, is left the another of three ropes
One end is each passed through three fixed points being separately connected after three through-holes of second joint on piece on third articular sclerite.
Further, the positional relationship of six through-holes and three fixed points are as follows: be arranged two between two neighboring fixed point
A through-hole, and be all spaced between adjacent fixed point and fixed point, between adjacent fixed point and through-hole, between adjacent through-holes and through-hole
40°。
Further, the motor driver in the drive control box has nine, and nine coilings are additionally provided in motor guide case
Device, nine encoders and nine directive wheels, motor driver, motor, winder, encoder and directive wheel correspond, motor
Output shaft be separately connected winder and encoder, encoder is used to record the circle number of motor rotation and is sent to control module,
The other end of rope is pierced by motor guide case after the guiding of directive wheel.
Further, a motor and corresponding winder, encoder and directive wheel are referred to as a motor guiding
Group, nine motor guiding groups are coplanar, 40 ° of interval is arranged, wherein three ropes connecting with three fixed points on the first articular sclerite
Three corresponding motor guiding groups are located on the maximum circumference of radius, three connect with three fixed points of second joint on piece
Three motor guiding groups corresponding to rope are located on the big circumference of radius time, connect with three fixed points on third articular sclerite
Three motor guiding groups corresponding to three ropes are located on the smallest circumference of radius.
Further, further include the power supply box for connecting walking mechanism case, be equipped with power module in power supply box, power module is used for
It powers for walking mechanism and control module.
The utility model has the advantages that the invention discloses a kind of intelligent extinguishing devices based on Bionic flexible arm, compared with prior art,
With following the utility model has the advantages that
1) present invention can move to point of origin by walking mechanism and concentrate fire extinguishing, and with strong points, effect of having gone out is good；
2) using flexible arm connection fire extinguishing platform, the platform that can will be put out a fire by the movement of flexible arm takes on fire the present invention
At point, flexibility is good, good extinguishing effect；
3) be inside flexible arm of the invention it is hollow, eliminate the extinguishing chemical transfer pipeline of independent occupied space, reduce
The volume of whole device, so that device still has good movenent performance under complicated narrow environment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of extinguishing device in the specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of walking mechanism case in the specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of nine motor guiding groups in the specific embodiment of the invention；
Fig. 4 is the top view of nine motor guiding groups in the specific embodiment of the invention；
Fig. 5 is the structural schematic diagram of first motor guiding group in the specific embodiment of the invention；
Fig. 6 is the control process figure of control module in the specific embodiment of the invention.
Specific embodiment
Technical solution of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of intelligent extinguishing device based on Bionic flexible arm, as shown in Figure 1, including leading
Rail 7 and flexible arm 4, guide rail 7 connect walking mechanism case 8, are equipped with walking mechanism in walking mechanism case 8, walking mechanism case 8 connects respectively
Extinguishing chemical case 2 and flexible arm control case 1 are connect, extinguishing chemical is equipped in extinguishing chemical case 2, flexible arm control case 1 connects motor guide case
11, it is equipped with electromagnetic valve 13 in flexible arm control case 1, motor guide case 11 connects drive control box 12, in motor guide case 11
Equipped with the motor for driving flexible arm 4 to move, 4 one end of flexible arm connects extinguishing chemical case 2, flexible arm 4 by electromagnetic valve 13
The other end motor guide case 11 is pierced by by the hole 110 of 11 bottom of motor guide case and connects fire extinguishing platform 5, platform 5 of putting out a fire
It is equipped with fighting nozzle 54, thermal camera 51, visible light camera 52 and Temperature Humidity Sensor 53, is set in drive control box 12
There are control module, the valve control module for controlling electromagnetic valve 13 and the motor driver for driving motor movement, control
Molding block is separately connected motor driver, walking mechanism, valve control module, thermal camera 51,52 and of visible light camera
Temperature Humidity Sensor 53.The present apparatus further includes the power supply box 3 for connecting walking mechanism case 8, and power module, electricity are equipped in power supply box 3
Source module is used to power for walking mechanism and control module.For the structure in display flexible arm control case 1, by flexible arm in Fig. 1
The shell of control cabinet 1 eliminates.Fig. 6 shows the control process of control module.
The cross sectional shape of guide rail 7 is I-shaped, as shown in Figure 1, guide rail 7 includes parallel top and bottom, top surface and bottom
The side wall perpendicular to top surface is equipped between face, walking mechanism includes two ground-engaging element combinations, two ground-engaging element combination difference
Set on the two sides of the side wall, each ground-engaging element combination includes guide wheel 82, the guide wheel motor for driving guide wheel 82 to rotate
81 and for drive guide wheel motor 81 rotate guide wheel motor driver 83, as shown in Figure 2.
Flexible arm 4 includes nine ropes 6 and hollow flexible duct, and flexible duct uses Tango rubber-like materials, flexible
Pipeline is connected to fighting nozzle 54, as shown in Figure 1, flexible duct outer wall is equipped with the first articular sclerite 411, second being spaced apart
Articular sclerite 412 and third articular sclerite 413, wherein flexible duct is located at the portion between motor guide case 11 and the first articular sclerite 411
Divide and be known as first segment flexible duct 401, part of the flexible duct between the first articular sclerite 411 and second joint piece 412 claims
For the second section flexible duct 402, part of the flexible duct between second joint piece 412 and third articular sclerite 413 is known as
Three section flexible ducts 403, the part that flexible duct is located in drive control box 12 are known as Section of four flexible duct 404.Three passes
It is all provided on nodal plate there are six through-hole and three fixed points, the connection fire extinguishing platform 5 of third articular sclerite 413, in motor guide case 11
Motor has nine, and one end of nine ropes 6 is separately connected the output shaft of nine motors in motor guide case 11, nine ropes 6
The other end is pierced by motor guide case 11, wherein the other end of three ropes 6 is separately connected three fixations on the first articular sclerite 411
Point, the other end of six roots of sensation rope 6 are each passed through after six through-holes on the first articular sclerite 411 the wherein other end of three ropes 6
The other end of three fixed points being separately connected on second joint piece 412, remaining three ropes 6 is each passed through second joint piece
Three fixed points being separately connected after three through-holes on 412 on third articular sclerite 413.The position of six through-holes and three fixed points
Set relationship are as follows: between two neighboring fixed point be arranged two through-holes, and between adjacent fixed point and fixed point, adjacent fixed point with
Between through-hole, 40 ° are all spaced between adjacent through-holes and through-hole.
Motor driver in drive control box 12 has nine, and nine winders, nine are additionally provided in motor guide case 11
Encoder and nine directive wheels, motor driver, motor, winder, encoder and directive wheel correspond, the output shaft of motor
It is separately connected winder and encoder, encoder is used to record the circle number of motor rotation and is sent to control module, control module
The current length of corresponding rope 6 is calculated by the circle number that motor rotates to obtain the current pose of flexible arm 4, and winder is used
In realize rope 6 winding with loosen, the other end of rope 6 is pierced by motor guide case 11 after the guiding of directive wheel.One
Motor and corresponding winder, encoder and directive wheel are referred to as a motor guiding group, share nine motor guiding
Group, respectively first motor guiding group 111, the second motor guiding group 112, third motor guiding group 113, the 4th motor guiding group
114, the 5th motor guiding group 115, the 6th motor guiding group 116, the 7th motor guiding group 117,118 and of the 8th motor guiding group
9th motor guiding group 119, as shown in Figure 3.Nine motor guiding groups are coplanar, 40 ° of interval is arranged, as shown in Figure 4, wherein with
First motor guiding group 111 corresponding to three ropes 6 that three fixed points connect on first articular sclerite 411, the second motor are led
It is located on the maximum circumference of radius to group 112 and third motor guiding group 113 these three motor guiding groups, with second joint piece
4th motor guiding group 114 corresponding to three ropes 6 that three fixed points connect on 412, the 5th motor guiding group 115 and the
These three motor guiding groups of six motor guiding groups 116 are located on the big circumference of radius time, with three fixations on third articular sclerite 413
7th motor guiding group 117, the 8th motor guiding group 118 and the 9th motor guiding group corresponding to three ropes 6 of point connection
119 these three motor guiding groups are located on the smallest circumference of radius.The structure of nine motor guiding groups is identical, and Fig. 5 shows
The structure of one motor guiding group 111 comprising first motor 1111, the first winder 1112, the first encoder 1113 and first
Directive wheel 1114.
The course of work of the present apparatus is described below:
The present apparatus issues control signal to guide wheel motor driver 83 by control module, and guide wheel motor driver 83 drives
Guide wheel motor 81 moves, and drives guide wheel 82 to move, to realize that the present apparatus carries out autonomous inspection in orbit.Thermal camera
51, visible light camera 52 and Temperature Humidity Sensor 53 are monitored environmental information, and by the data transmission of monitoring to control
Module.The image information that control module sends thermal camera 51 and visible light camera 52 carries out pretreatment and color is known
Not, spatial modeling is carried out, the spatial position of point of origin is obtained, controls rope 6 by control motor driver then to change
The posture for becoming flexible arm 4, makes flexible arm 4 gradually close to point of origin.In 4 moving process of flexible arm, constantly obtain under new pose
Environmental information, by identify objective contour, judge the position deviation of target in the picture, correspondingly correct flexible arm 4 sky
Between posture.When point of origin is located at the center of image, and the fighting nozzle 54 of 4 end of flexible arm is sufficiently closed to point of origin
When, i.e. completion pose calibration.Control module control valve control module opening electromagnetic valve 13 at this time, spray fire extinguishing agent, thus
Extinguish fire source.
Claims (7)
1. a kind of intelligent extinguishing device based on Bionic flexible arm, it is characterised in that: including guide rail (7) and flexible arm (4), guide rail
(7) walking mechanism case (8) are connected, walking mechanism is equipped in walking mechanism case (8), walking mechanism case (8) is separately connected extinguishing chemical
Case (2) and flexible arm control case (1), extinguishing chemical case (2) is interior to be equipped with extinguishing chemical, and flexible arm control case (1) connects motor guide case
(11), electromagnetic valve (13) are equipped in flexible arm control case (1), motor guide case (11) connects drive control box (12), motor
The motor for driving flexible arm (4) to move is equipped in guide case (11), flexible arm (4) one end is connected by electromagnetic valve (13)
Extinguishing chemical case (2), the other end of flexible arm (4) are pierced by motor guide case (11) and connect fire extinguishing platform (5), put out a fire platform (5)
It is equipped with fighting nozzle (54), thermal camera (51), visible light camera (52) and Temperature Humidity Sensor (53), drive control
Equipped with control module, the valve control module for controlling electromagnetic valve (13) and the electricity for driving motor movement in case (12)
Machine driver, control module are separately connected motor driver, walking mechanism, valve control module, thermal camera (51), visible
Light video camera (52) and Temperature Humidity Sensor (53).
2. the intelligent extinguishing device according to claim 1 based on Bionic flexible arm, it is characterised in that: the guide rail (7)
Cross sectional shape be it is I-shaped, guide rail (7) includes parallel top and bottom, is equipped between top and bottom perpendicular to top surface
Side wall, the walking mechanism include two ground-engaging element combinations, and two ground-engaging element combinations are respectively arranged on the two sides of the side wall,
The combination of each ground-engaging element includes guide wheel (82), the guide wheel motor (81) for driving guide wheel (82) to rotate and for driving
The guide wheel motor driver (83) of guide wheel motor (81) rotation.
3. the intelligent extinguishing device according to claim 1 based on Bionic flexible arm, it is characterised in that: the flexible arm
It (4) include nine ropes (6) and hollow flexible duct, flexible duct outer wall is equipped with the first articular sclerite being spaced apart
(411), second joint piece (412) and third articular sclerite (413), are all provided with that there are six through-hole and three fixations on three articular sclerites
Point, third articular sclerite (413) connection are put out a fire platform (5), and the motor in the motor guide case (11) has nine, nine ropes
(6) one end is separately connected the output shaft of nine motors in motor guide case (11), and the other end of nine ropes (6) is pierced by motor
Guide case (11), wherein the other end of three ropes (6) is separately connected three fixed points on the first articular sclerite (411), the six roots of sensation
The other end of rope (6) is each passed through after six through-holes on the first articular sclerite (411) the wherein other end of three ropes (6) point
Not Lian Jie three fixed points on second joint piece (412), the other end of remaining three ropes (6) is each passed through second joint piece
(412) three fixed points being separately connected after three through-holes on third articular sclerite (413).
4. the intelligent extinguishing device according to claim 3 based on Bionic flexible arm, it is characterised in that: six through-holes
With the positional relationship of three fixed points are as follows: two through-holes, and adjacent fixed point and fixed point are arranged between two neighboring fixed point
Between, between adjacent fixed point and through-hole, between adjacent through-holes and through-hole be all spaced 40 °.
5. the intelligent extinguishing device according to claim 3 based on Bionic flexible arm, it is characterised in that: the drive control
Motor driver in case (12) has nine, and nine winders, nine encoders and nine are additionally provided in motor guide case (11)
Directive wheel, motor driver, motor, winder, encoder and directive wheel correspond, and the output shaft of motor is separately connected coiling
Device and encoder, encoder are used to record the circle number of motor rotation and are sent to control module, and the other end of rope (6) is by leading
Motor guide case (11) are pierced by after to the guiding of wheel.
6. the intelligent extinguishing device according to claim 5 based on Bionic flexible arm, it is characterised in that: a motor and
Corresponding winder, encoder and directive wheel is referred to as a motor guiding group, and nine motor guiding groups are coplanar, are spaced
40 ° of settings, wherein three motors corresponding to three ropes (6) connecting with upper three fixed points of the first articular sclerite (411) are led
It is located on the maximum circumference of radius to group, three ropes (6) connecting with upper three fixed points of second joint piece (412) are corresponding
Three motor guiding groups be located on time big circumference of radius, three connect with upper three fixed points of third articular sclerite (413)
Three motor guiding groups corresponding to rope (6) are located on the smallest circumference of radius.
7. the intelligent extinguishing device according to claim 1 based on Bionic flexible arm, it is characterised in that: further include connection row
The power supply box (3) of mechanism case (8) is walked, power module is equipped in power supply box (3), power module is used for as walking mechanism and control mould
Block power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628245.1A CN110368619B (en) | 2019-07-12 | 2019-07-12 | Intelligent fire extinguishing device based on bionic flexible arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628245.1A CN110368619B (en) | 2019-07-12 | 2019-07-12 | Intelligent fire extinguishing device based on bionic flexible arm |
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| CN110368619A true CN110368619A (en) | 2019-10-25 |
| CN110368619B CN110368619B (en) | 2021-02-19 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111084946A (en) * | 2019-12-28 | 2020-05-01 | 国网新疆电力有限公司检修公司 | Transformer substation is with accurate fire extinguishing systems of large-scale oil charge equipment |
| CN113124261A (en) * | 2021-04-19 | 2021-07-16 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
| CN113334405A (en) * | 2021-06-12 | 2021-09-03 | 四川德鑫源机器人有限公司 | Garage security protection patrols and examines robot |
| CN113977600A (en) * | 2021-10-27 | 2022-01-28 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency disposal function |
| CN115107060A (en) * | 2022-08-29 | 2022-09-27 | 江苏中尚机器人科技有限公司 | Bionic arm for service robot |
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| CN113977600A (en) * | 2021-10-27 | 2022-01-28 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency disposal function |
| CN115107060A (en) * | 2022-08-29 | 2022-09-27 | 江苏中尚机器人科技有限公司 | Bionic arm for service robot |
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| Publication number | Publication date |
|---|---|
| CN110368619B (en) | 2021-02-19 |
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