CN113967331B - Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishment - Google Patents
Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishment Download PDFInfo
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- CN113967331B CN113967331B CN202111387675.2A CN202111387675A CN113967331B CN 113967331 B CN113967331 B CN 113967331B CN 202111387675 A CN202111387675 A CN 202111387675A CN 113967331 B CN113967331 B CN 113967331B
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- 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
- A62C3/0207—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires by blowing air or gas currents with or without dispersion of fire extinguishing agents; Apparatus therefor, e.g. fans
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The invention discloses a self-propelled drainage type wind power fire extinguishing robot applied to forest fire extinguishing, relates to the technical field of forest fire prevention and extinguishing devices, and solves the problems that fire fighters have high fire extinguishing risk, great potential safety hazard and high physical consumption, the existing crawler type wind power fire extinguishing machine is difficult to enter a fire area or run in the fire area, the fan extinguishes fire, has low fire extinguishing efficiency, large consumed power and the like, and the self-propelled drainage type wind power fire extinguishing robot comprises: crawler travel chassis mechanism, promote and rotate rack platform, high-pressure centrifugal fan, the dryer and the power portion of putting out a fire, self-propelled drainage formula wind-force fire-fighting robot can walk at complicated topography through the walking track, and is small, and the quality is light, effectively increases wind pressure and amount of wind through the dryer of putting out a fire, reduces high-pressure centrifugal fan's power consumption, can adjust the position of putting out a fire through promoting to rotate rack platform, can realize computer remote control simultaneously, guarantees fire fighter safety.
Description
Technical Field
The invention relates to the technical field of forest fire prevention and extinguishing devices, in particular to a self-propelled drainage type wind power fire extinguishing robot applied to forest fire extinguishing.
Background
The fire extinguishing resource taken by the wind power fire extinguisher during working is air in the atmosphere, and the backpack type and the hand-held type wind power fire extinguishers have the great advantage of being free from the limitation of the fire extinguishing resource, a working site, a water source and the like during fire extinguishing work, are fire extinguishing machines regularly used by fire fighters during fire extinguishing work, although the total weight of the backpack type and the hand-held type wind power fire extinguishers is lighter, the physical strength of the fire fighters is seriously examined due to the continuous carrying and the hand-held type wind power fire extinguishers by the fire fighters and the continuous vibration and noise generated by the wind power fire extinguishers in a working state, and therefore, the fire fighters need to be continuously rotated in the fire extinguishing process. In addition, fire fighters have certain potential safety hazards in the fire extinguishing process in a fire scene, and in case of fire, the fire fights are higher than 1.5m or the height of the grass plants is higher than 1m, the fire fighters are difficult to enter, the fire extinguishing effect of the backpack or handheld fire extinguisher is poor, hidden fire may exist in some areas, large fire fighting equipment is not needed, the existing fire extinguisher mostly adopts the modes of water storage fire extinguishing and foam fire extinguishing, the size is large, partial areas cannot enter the fire extinguishing mode to extinguish the fire, the fire area cannot be continuously extinguished, the fan is light in weight, long-time continuous fire extinguishing work can be performed, but the low fire extinguishing efficiency of the fan causes large power consumption, and meanwhile, the wheel type design is difficult to drive in partial areas.
In conclusion, fire fighters have high fire extinguishing risk, great potential safety hazard and high physical consumption, the existing fire extinguisher is difficult to enter a fire area or run in the fire area, and the problems of low fire extinguishing efficiency, high consumed power and the like of the fan fire extinguishing exist.
Disclosure of Invention
In view of the problems, the invention aims to provide a self-propelled drainage type wind power fire-extinguishing robot applied to forest fire-extinguishing.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a self-propelled drainage formula wind-force fire extinguishing robot for forest is put out a fire, wherein, includes: crawler-belt walking chassis mechanism 1, promote to rotate rack platform 2, high-pressure centrifugal fan 3, the dryer 4 and the power portion 5 of putting out a fire, crawler-belt walking chassis mechanism 1 includes: a chassis supporting frame 11 and a walking crawler 12, wherein the walking crawler 12 is arranged on both sides of the chassis supporting frame 11, the self-propelled drainage type wind power fire-extinguishing robot moves through the walking tracks 12 positioned at the two sides of the chassis supporting frame 11, the pushing rotary rack platform 2 is arranged on the chassis supporting frame 11, at least one high-pressure centrifugal fan 3 and at least one fire-extinguishing air cylinder 4 are arranged on the pushing rotary rack platform 2, an air outlet 34 of each fire-extinguishing air cylinder 4 and one high-pressure centrifugal fan 3 are operatively and movably connected through a plurality of loose piece buckles 45, the air quantity and the air pressure in the fire extinguishing air cylinder 4 are adjusted by adjusting the distance between the air outlet 34 of the high-pressure centrifugal fan 3 and the fire extinguishing air cylinder 4, the walking crawler 12, the pushing and rotating frame 2 and the high-pressure centrifugal fan 3 are all connected with the power part 5.
Foretell self-propelled drainage formula wind-force fire-fighting robot that is applied to forest and puts out a fire, wherein, it includes to promote to rotate frame platform 2: the support body 21, support body 21 installs on the chassis support frame 11, install sliding mounting plate on the support body 21, sliding mounting plate is operatable slide on the support body 21.
Foretell self-propelled drainage formula wind-force fire-fighting robot that is applied to forest and puts out a fire, wherein, it still includes to promote to rotate frame platform 2: the rotary table rotating mechanism 23 and the bearing seat 24, the rotary table rotating mechanism 23 is installed on the sliding installation plate, the bearing seat 24 is installed on the rotary table rotating mechanism 23, the bearing seat 24 can rotate in a vertical plane in an operable mode through the rotary table rotating mechanism 23, and the high-pressure centrifugal fan 3 is installed on the bearing seat 24.
Foretell self-propelled drainage formula wind-force fire-fighting robot that is applied to forest and puts out a fire, wherein, it still includes to promote to rotate frame platform 2: first driving motor and lead screw pushing mechanism 22, lead screw pushing mechanism 22's stiff end is installed on the support body 21, install on the stiff end first driving motor, lead screw pushing mechanism 22's promotion end with sliding mounting panel connects, first driving motor with power portion 5 is connected.
Foretell self-propelled drainage formula wind-force fire extinguishing robot that is applied to forest and puts out a fire, wherein, revolving stage slewing mechanism 23 includes: the turntable supporting bearing seats 233 and the turntable supporting shaft 234 are arranged on the sliding mounting plate, the two turntable supporting bearing seats 233 are arranged on the sliding mounting plate, two ends of the turntable supporting shaft 234 are respectively arranged in one turntable supporting bearing seat 233, and the lower surface of the bearing seat 24 is connected with the middle part of the turntable supporting shaft 234.
Foretell self-propelled drainage formula wind-force fire extinguishing robot that is applied to forest and puts out a fire, wherein, revolving stage slewing mechanism 23 still includes: a rack and pinion auxiliary rotating mechanism 235, the rack and pinion auxiliary rotating mechanism 235 comprising: rack portion and gear portion of intermeshing, the gear portion install on the revolving stage supports the axle 234, be equipped with the slide rail on the slidable mounting panel, rack portion passes through the slide rail with slidable mounting panel sliding connection.
Foretell self-propelled drainage formula wind-force fire extinguishing robot that is applied to forest and puts out a fire, wherein, revolving stage slewing mechanism 23 still includes: second driving motor, worm-gear bearing seat 231 and worm gear structure 232 install two worm-gear bearing seats 231 on the sliding mounting board, and worm gear structure 232 includes: the worm part and the worm wheel part are meshed with each other, two ends of the worm part are respectively installed in one worm wheel bearing seat 231, the worm wheel part is installed on the turntable supporting shaft 234, the worm part is connected with the second driving motor, and the second driving motor is connected with the power part 5.
Foretell be applied to self-propelled drainage formula wind-force fire extinguishing robot that forest was put out a fire, wherein, each high-pressure centrifugal fan 3 includes: power component 31, fan spiral case 32 and impeller 33, be equipped with air outlet 34 on the fan spiral case 32, fan spiral case 32 is installed bear on the seat 24, install on the fan spiral case 32 power component 31, be equipped with in the fan spiral case 32 and be connected with power component 31's drive end impeller 33, power component 31 with power portion 5 connects.
Foretell be applied to self-propelled drainage formula wind-force fire extinguishing machines people that forest was put out a fire, wherein, the dryer 4 of putting out a fire includes: third driving motor, supplementary dryer rotating-structure 41 of rack and pinion, crank hinge 42, dryer connecting device 43 and toper dryer mechanism 44, the air intake and an air outlet 34 of each toper dryer mechanism 44 pass through a plurality of loose piece buckles 45 sliding connection, and a plurality of toper dryer mechanisms 44 pass through dryer connecting device 43 connects, the one end of crank hinge 42 with dryer connecting device 43 rotates the connection, supplementary dryer rotating-structure 41 of rack and pinion includes: mutually meshed air duct adjusting gears and air duct adjusting racks, the other end of the crank hinge 42 is connected with the air duct adjusting gears, the air duct adjusting racks are installed on the bearing seat 24, the air duct adjusting gears are connected with the third driving motor, and the third driving motor is connected with the power part (5).
Foretell self-propelled drainage formula wind-force fire extinguishing robot that is applied to forest and puts out a fire, wherein, still include: the visual imaging device, the control system and the signal transceiver are all installed on the frame body 21 and are connected with the power part 5, the walking crawler 12, the pushing rotating stand 2, the high-pressure centrifugal fan 3, the walking crawler 12 and the signal transceiver are all connected with the control system, the visual imaging device is connected with the signal transceiver and is used for monitoring the surrounding environment of the self-propelled drainage type wind power fire-extinguishing robot, the control system is connected with a computer through the signal transceiver, and is used for controlling the walking of the self-propelled wind power fire-extinguishing robot, controlling the pushing rotating stand 2 to adjust the fire-extinguishing position and the fire-extinguishing wind power size and controlling the high-pressure centrifugal fan 3 Opening and closing.
Due to the adoption of the technology, compared with the prior art, the invention has the positive effects that:
(1) The fire scene fire extinguishing robot can select a manual driving or remote control operation mode according to the size of the fire scene, namely when the fire scene is small and people cannot generate danger when entering the fire scene, the robot can be manually driven to enter the fire scene for extinguishing fire; when the fire scene is large and people operate machines to be dangerous, the remote control robot can be selected to enter the fire scene to extinguish fire;
(2) through manual operation or remote control through the regulation to the guide rail lead screw pushing mechanism and the rack and pinion auxiliary rotating mechanism who promotes rotation rack platform, realize that the back-and-forth movement and the luffing motion of the dryer of putting out a fire adjust the best point of putting out a fire and the angle of putting out a fire, and simultaneously, the distance between first air outlet of loose piece buckle control and the tapered dryer mechanism is passed through to the condition of a fire of difference, thereby control high pressure centrifugal fan and put out a fire the distance between the dryer and adjust the air input of air, effectively increase the wind speed, amount of wind and wind pressure, thereby improve fire extinguishing efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing.
Fig. 2 is an axonometric view of the self-propelled drainage type wind power fire-fighting robot applied to forest fire fighting.
Fig. 3 is a schematic front view of a self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing.
FIG. 4 is a schematic side view of a self-propelled drainage type wind fire-fighting robot applied to forest fire-fighting.
FIG. 5 is a rear view of the self-propelled drainage type wind fire-fighting robot applied to forest fire-fighting.
Fig. 6 is a schematic top view of a self-propelled drainage type wind power fire-extinguishing robot applied to forest fire-extinguishing.
In the drawings: 1. a crawler travel mechanism; 11. a chassis support frame; 12. a traveling crawler; 2. pushing the rotating frame table; 21. a frame body; 22. a guide rail lead screw pushing mechanism; 23. a turntable rotating mechanism; 231. a worm gear bearing seat; 232. a worm and gear structure; 233. the turntable supports the bearing seat; 234. a turntable supporting shaft; 235. a rack and pinion auxiliary rotating mechanism; 24. a bearing seat; 3. a high pressure centrifugal fan; 31. a power assembly; 32. a fan volute; 33. an impeller; 34. an air outlet; 4. a fire extinguishing wind barrel; 41. the gear rack assists the wind tunnel to rotate the structure; 42. a crank hinge; 43. an air duct connecting device; 44. a conical air duct structure; 45. a loose piece is buckled; 5. a power section.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 6, a self-propelled drainage type wind fire-fighting robot applied to forest fire-fighting is shown, wherein the robot comprises: crawler-belt walking chassis mechanism 1, promote to rotate rack platform 2, high-pressure centrifugal fan 3, put out a fire dryer 4 and power portion 5, crawler-belt walking chassis mechanism 1 includes: chassis support frame 11 and walking track 12, walking track 12 is all installed to chassis support frame 11's both sides, self-propelled drainage formula wind-force fire-extinguishing robot removes through the walking track 12 that is located chassis support frame 11 both sides, promote to rotate rack platform 2 and install on chassis support frame 11, promote to rotate and install at least one high-pressure centrifugal fan 3 and at least one dryer 4 of putting out a fire on rack platform 2, each air outlet 34 of dryer 4 and a high-pressure centrifugal fan 3 of putting out a fire is through the operable swing joint of a plurality of loose pieces buckle 45, interval between 34 and the dryer 4 of putting out a fire of air outlet through adjusting high-pressure centrifugal fan 3 is with the amount of wind and the wind pressure in adjusting the dryer 4 of putting out a fire, walking track 12, promote to rotate rack platform 2 and high-pressure centrifugal fan 3 and all be connected with power portion 5.
Further, in a preferred embodiment, the push-turn gantry 2 comprises: the frame body 21, the frame body 21 is installed on chassis support frame 11, installs the slidable mounting panel on the frame body 21, and the slidable mounting panel is operatable and slides on the frame body 21.
Further, in a preferred embodiment, the pushing and rotating gantry 2 further comprises: the rotary table rotating mechanism 23 and bear the seat 24, the rotary table rotating mechanism 23 is installed on the sliding mounting board, bear the seat 24 and install on the rotary table rotating mechanism 23, bear the seat 24 and can operationally rotate in the vertical plane through the rotary table rotating mechanism 23, a plurality of high-pressure centrifugal fan 3 are installed on bearing the seat 24.
Further, in a preferred embodiment, the pushing and rotating frame 2 further comprises: first driving motor and guide rail lead screw pushing mechanism 22, the stiff end of guide rail lead screw pushing mechanism 22 is installed on support body 21, installs first driving motor on the stiff end, and guide rail lead screw pushing mechanism 22's promotion end and sliding mounting board are connected, and first driving motor is connected with power portion 5.
Further, in a preferred embodiment, the turntable rotating mechanism 23 includes: the sliding mounting plate is provided with two turntable supporting bearing seats 233, two ends of the turntable supporting bearing 234 are respectively arranged in one turntable supporting bearing seat 233, and the lower surface of the bearing seat 24 is connected with the middle part of the turntable supporting bearing 234.
Further, in a preferred embodiment, the turntable rotating mechanism 23 further includes: rack and pinion auxiliary rotating mechanism 235, rack and pinion auxiliary rotating mechanism 235 includes: and the rack part and the gear part are meshed with each other, the gear part is installed on the turntable supporting shaft 234, the sliding mounting plate is provided with a sliding rail, and the rack part is connected with the sliding mounting plate in a sliding mode through the sliding rail.
Further, in a preferred embodiment, the turntable rotating mechanism 23 further includes: second driving motor, worm gear bearing frame 231 and worm gear structure 232 install two worm gear bearing frames 231 on the sliding mounting board, and worm gear structure 232 includes: the worm gear part and the worm wheel part are meshed with each other, two ends of the worm wheel part are respectively installed in a worm wheel bearing seat 231, the worm wheel part is installed on the turntable supporting shaft 234 and is connected with the second driving motor, and the second driving motor is connected with the power part 5.
Further, in a preferred embodiment, each high-pressure centrifugal fan 3 comprises: the fan volute 32 is provided with an air outlet 34, the fan volute 32 is mounted on the bearing seat 24, the fan volute 32 is provided with the power component 31, the fan volute 32 is internally provided with the impeller 33 connected with the driving end of the power component 31, and the power component 31 is connected with the power part 5.
Further, in a preferred embodiment, the fire extinguishing air duct 4 includes: third driving motor, supplementary dryer rotating-structure 41 of rack and pinion, crank hinge 42, dryer connecting device 43 and toper dryer mechanism 44, the air intake and an air outlet 34 of each toper dryer mechanism 44 are through 45 sliding connection of a plurality of loose pieces buckle, and a plurality of toper dryer mechanisms 44 pass through dryer connecting device 43 and connect, and crank hinge 42's one end and dryer connecting device 43 rotate to be connected, and rack and pinion assists dryer rotating-structure 41 to include: the other end of the crank hinge 42 is connected with the air duct adjusting gear, the air duct adjusting rack is installed on the bearing seat 24, the air duct adjusting gear is connected with a third driving motor, and the third driving motor is connected with the power part 5.
Further, in a preferred embodiment, the method further comprises: visual imaging device, controlling means and signal transceiver, visual imaging device, control system and signal transceiver all install on support body 21, visual imaging device, control system and signal transceiver all are connected with power part 5, walking track 12, promote to rotate rack platform 2, high-pressure centrifugal fan 3, visual imaging device and signal transceiver all are connected with control system, visual imaging device and signal transceiver are connected, visual imaging device is used for monitoring self-propelled drainage formula wind-force fire extinguishing robot's surrounding environment, control system passes through signal transceiver and computer connection, control system is used for controlling the walking of self-propelled drainage formula wind-force fire extinguishing robot, control promotes to rotate rack platform 2 and adjusts the position of putting out a fire and put out a fire wind-force size and control opening and closing of high-pressure centrifugal fan 3.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments based on the above description:
in a further embodiment of the invention, the fan and the air cylinder are separated, and the novel self-propelled drainage type wind power fire-extinguishing robot which can obviously improve the fire-extinguishing efficiency and is applied to forest fire extinguishment is designed, so that the forest fire-extinguishing efficiency can be greatly improved.
In a further embodiment of the present invention, a novel self-propelled drainage type wind fire-fighting robot applied to forest fire-fighting comprises:
a crawler traveling chassis mechanism 1;
the crawler belt type traveling mechanism comprises a crawler belt type traveling mechanism 1, a pushing rotating machine frame 2, a high-pressure centrifugal fan 3, a driving rotating machine frame 2, a driving rotating machine frame and a driving rotating machine frame, wherein the pushing rotating machine frame 2 is fixedly installed on the front side of the middle part of the crawler belt type traveling mechanism 1, and the upper end of the pushing rotating machine frame 2 is fixedly connected with the high-pressure centrifugal fan 3;
the high-pressure centrifugal fan 3 is fixedly arranged on the front side of the middle part of the pushing and rotating rack table, and an air outlet 34 at the top end of the high-pressure centrifugal fan 3 is connected with the fire extinguishing air cylinder 4 through a loose piece buckle 45;
and the power part 5, wherein the power part 5 is fixedly arranged on the crawler walking chassis mechanism 1.
In a further embodiment of the invention, the wind speed and the wind pressure of the wind drum air outlet can be greatly improved in a drainage mode, meanwhile, the invention can greatly reduce the occurrence of danger through remote control.
In a further embodiment of the invention, the crawler chassis unit 1 comprises:
the chassis support frame 11 pushes the rotating frame platform 2 and the power part 5 to be respectively and fixedly installed on the front side and the rear side of the top end of the chassis support frame 11.
Two walking tracks 12 are provided, and the walking tracks 12 are symmetrically arranged at two sides of the chassis support frame 11.
The power part 5 is fixedly arranged at the top end of the chassis supporting frame 11, and the power part 5 is in transmission connection with the two walking tracks 12.
In a further embodiment of the present invention, the power part 5 may be an engine or an electric motor.
In a further embodiment of the invention, the technical scheme has the beneficial effects that the rotary frame pushing frame 2 and the power part 5 are both arranged on the chassis supporting frame 11, so that the structural stability of the chassis can be improved, and the walking crawler 12 can adapt to complex forest road conditions.
In a further embodiment of the present invention, the pusher-turn gantry 2 comprises:
the frame body 21 is fixedly arranged on the upper side of the chassis support frame 11, and the upper part of the frame body 21 is connected with the guide rail lead screw pushing mechanism 22;
the lower part of the guide rail lead screw pushing mechanism 22 is fixedly arranged on the frame body 21, and the upper part of the guide rail lead screw pushing mechanism 22 is connected with the rotary table rotating mechanism 23;
the lower part of the rotary table rotating mechanism 23 is connected with the guide rail screw rod pushing structure, and the upper part of the rotary table rotating mechanism 23 is connected with the bearing seat 24;
the lower part of the bearing seat 24 is connected with the rotary table rotating mechanism 23, and the upper part is connected with the high-pressure centrifugal fan 3.
In a further embodiment of the invention, the technical scheme has the beneficial effects that one end of the guide rail lead screw pushing mechanism 22 is connected with the frame body 21, the other end of the guide rail lead screw pushing mechanism 22 is connected with the bearing seat 24 of the fire extinguishing wind cylinder 4, the fire extinguishing wind cylinder 4 can move back and forth along the track traveling direction by adjusting the guide rail lead screw pushing mechanism 22, and the fire extinguishing requirements under different conditions can be greatly met.
In a further embodiment of the present invention, the turntable rotating mechanism 23 includes:
the lower part of the worm wheel bearing seat 231 is fixedly connected to the chassis supporting frame 11, and the worm wheel bearing seat 231 is connected with the worm gear structure 232;
the upper side of the worm and gear structure 232 is fixedly connected with the bearing seat 24;
the lower parts of the turntable supporting bearing seats 233 are fixedly connected to two sides of the chassis supporting frame 11, and turntable supporting shafts 234 are connected between the turntable supporting bearing seats 233 at two ends;
a turntable support shaft 234, both ends of the turntable support shaft 234 being connected to the turntable support bearing seats 233;
the auxiliary rotating mechanism 235 of the gear and the rack, the lower part of the auxiliary rotating mechanism 235 of the gear and the rack is fixedly connected with the chassis supporting frame 11 through a guide rail, and the upper part of the auxiliary rotating mechanism 235 of the gear and the rack is fixedly connected with the bearing seat 24.
In a further embodiment of the invention, the technical scheme has the beneficial effects that the lower part of the gear rack auxiliary rotating mechanism 235 is fixedly connected with the chassis supporting frame 11 through a guide rail, the power of the gear rack auxiliary rotating mechanism 235 can drive the rotary table supporting shaft 234 to rotate, the upper end of the rotary table supporting shaft 234 is fixedly connected with the bearing seat 24, the rotary table supporting shaft 234 drives the bearing seat 24 to rotate along the direction vertical to the walking direction of the crawler belt, so that the fire extinguishing air duct 4 is driven to rotate, the rotation of the fire extinguishing air duct 4 at an angle of up and down 30 degrees is realized, and the fire extinguishing efficiency is greatly improved.
Further, the high-pressure centrifugal fan 3 includes:
the power assembly 31, the power assembly 31 is fixedly mounted on the top end of the bearing seat 24;
the bottom of the fan volute 32 is fixedly arranged at the top end of the bearing seat 24, an impeller 33 is arranged inside the fan volute 32, the driving end of the power component 31 is fixedly connected with the impeller 33, and an air outlet 34 is formed in the top end of the fan volute 32;
in a further embodiment of the present invention, the technical solution has the beneficial effect that the power assembly 31 drives the impeller 33 to rotate, so as to generate a larger wind power.
In a further embodiment of the invention, the fire extinguishing air duct 4 comprises:
The lower part of the gear rack auxiliary air duct rotating structure 41 is fixedly connected with the bearing seat 24, and one end of the gear rack auxiliary air duct rotating structure 41 is connected with a crank hinge 42;
the other end of the crank hinge 42 is connected with the air duct connecting device 43;
the middle of the air duct connecting device 43 is connected with the crank hinge 42, and two ends of the air duct connecting device 43 are respectively and fixedly connected with two air ducts of the conical air duct mechanism 44;
the conical air duct mechanism 44, the interior of the conical air duct mechanism 44 is connected with the air outlet 34 through a loose piece buckle 45;
in a further embodiment of the invention, the technical scheme has the advantages that the distance between the air outlet 34 and the conical air duct mechanism 44 can be controlled through the loose piece buckle 45, so that the air inflow during drainage is controlled, and the high-pressure centrifugal fan 3 can drive air near the air inlet of the fire-extinguishing air duct 4 to enter the fire-extinguishing air duct 4 together when working, so that the air pressure and the air speed at the air outlet can be increased, and the fire-extinguishing efficiency can be greatly improved.
The embodiment of the invention discloses a self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishment, which comprises:
a crawler traveling chassis mechanism 1;
the rotary machine frame is pushed to move 2, the rotary machine frame is pushed to move 2 to be fixedly installed on the front side of the middle of the crawler traveling mechanism 1, and the high-pressure centrifugal fan 3 is fixedly connected to the upper end of the rotary machine frame 2;
The high-pressure centrifugal fan 3 is fixedly arranged on the front side of the middle part of the pushing and rotating frame platform 2, and an air outlet 34 at the top end of the high-pressure centrifugal fan 3 is connected with the fire extinguishing air cylinder 4 through a loose piece buckle 45;
and the power part 5, wherein the power part 5 is fixedly arranged on the crawler belt walking chassis mechanism 1.
In a further embodiment of the invention, the crawler chassis unit 1 comprises:
the chassis support frame 11 pushes the rotating frame platform 2 and the power part 5 to be respectively and fixedly installed on the front side and the rear side of the top end of the chassis support frame 11.
Two walking crawler belts 12 are arranged on two sides of the chassis support frame 11 symmetrically.
The power part 5 is fixedly arranged at the top end of the chassis supporting frame 11, and the power part 5 is in transmission connection with the two walking tracks 12.
In a further embodiment of the present invention, the power unit 5 may be an engine or an electric motor connected to the power supply device.
In a further embodiment of the present invention, the push rotating gantry 2 comprises:
the frame body 21 is fixedly arranged in the middle of the top end of the chassis supporting frame 11, and the upper part of the frame body 21 is connected with the guide rail lead screw pushing mechanism 22;
the lower part of the guide rail lead screw pushing mechanism 22 is fixedly arranged on the frame body 21, and the upper part is connected with the rotary table rotating mechanism 23;
the lower part of the turntable rotating mechanism 23 is connected with the guide rail screw rod pushing structure 22, and the upper part is connected with the bearing seat 24;
The lower part of the bearing seat 24 is connected with the rotary table rotating mechanism 23, and the upper part is connected with the high-pressure centrifugal fan 3.
The turntable rotating mechanism 23 includes:
the lower part of the worm wheel bearing seat 231 is fixedly connected to the chassis supporting frame 11, and the worm wheel bearing seat 231 is connected with the worm gear structure 232;
the upper side of the worm and gear structure 232 is fixedly connected with the bearing seat 24;
the lower parts of the turntable supporting bearing seats 233 are fixedly connected to the two sides of the chassis supporting frame 11, and turntable supporting shafts 234 are connected between the turntable supporting bearing seats 233 at the two ends;
a turntable support shaft 234, both ends of the turntable support shaft 234 being connected to the turntable support bearing seats 233;
the lower part of the gear rack auxiliary rotating mechanism 235 is fixedly connected with the chassis supporting frame 11 through a guide rail, and the upper part of the gear rack auxiliary rotating mechanism 235 is fixedly connected with the bearing seat 24.
In a further embodiment of the invention, the high-pressure centrifugal fan 3 comprises:
the power assembly 31, the power assembly 31 is fixedly installed on the top end of the bearing seat 24;
the bottom of the fan volute 32 is fixedly arranged at the top end of the bearing seat 24, an impeller 33 is arranged inside the fan volute 32, the driving end of the power assembly 31 is fixedly connected with the impeller 33, and an air outlet 34 is formed in the top end of the fan volute 32;
In a further embodiment of the invention, the fire extinguishing air duct 4 comprises:
the lower part of the gear rack auxiliary air duct rotating structure 41 is fixedly connected with the bearing seat 24, and one end of the gear rack auxiliary air duct rotating structure 41 is connected with a crank hinge 42;
the other end of the crank hinge 42 is connected with the air duct connecting device 43;
the middle of the air duct connecting device 43 is connected with the crank hinge 42, and two ends of the air duct connecting device 43 are respectively and fixedly connected with two air ducts of the conical air duct mechanism 44;
the interior of the conical air duct mechanism 44 is connected with the air outlet 34 through a loose piece buckle 45;
in a further embodiment of the invention, a manual driving or remote control operation mode can be selected according to the size of a fire scene, namely when the fire scene is small and people cannot generate danger when entering the fire scene, the robot can be manually driven to enter the fire scene for extinguishing fire; when the fire scene is large and people operate machines to be dangerous, the remote control robot can be selected to enter the fire scene to extinguish fire.
In a further embodiment of the invention, after the robot enters a fire scene, the optimal fire extinguishing point and fire extinguishing angle are adjusted through the back-and-forth movement and the up-and-down swing of the fire extinguishing air cylinder through manual operation or remote control, and meanwhile, the air input is adjusted by controlling the distance between the high-pressure centrifugal fan 3 and the fire extinguishing air cylinder 4 according to different fire conditions, so that the air speed, the air volume and the air pressure are effectively increased, and the fire extinguishing efficiency is improved.
In a further embodiment of the invention, the high-pressure centrifugal fan 3 of the drainage type fire extinguisher is separated from the fire extinguishing air duct 4, so that the high-pressure centrifugal fan 3 can drive air near the air inlet of the fire extinguishing air duct 4 to enter the fire extinguishing air duct 4 together when working, thereby increasing the air pressure and the air speed at the air outlet and improving the fire extinguishing efficiency.
In a further embodiment of the invention, the bearing seat 24 is installed on the turntable rotating mechanism 23, the high-pressure centrifugal fan 3 and the fire extinguishing air duct 4 are installed on the bearing seat 24, and the rotation of the bearing seat 24 on the vertical plane is realized through the turntable rotating mechanism 23, so that the rotation of the high-pressure centrifugal fan 3 and the fire extinguishing air duct 4 on the vertical plane is realized, and the fire extinguishing position is adjusted.
In a further embodiment of the present invention, the turntable support shaft 234 is fixedly connected to the bottom of the carrying seat 24, and the worm gear 232 rotates the turntable support shaft 234, so as to rotate the carrying seat 24 in the vertical plane.
In a further embodiment of the present invention, the turntable supporting shaft 234 is fixedly connected to the bottom of the bearing seat 24, and the rack-and-pinion auxiliary rotating mechanism 235 is installed on the turntable supporting shaft 234, so as to reduce the working pressure of the worm gear structure 232 and achieve the precise adjustment of the rotation angle of the bearing seat 24.
In a further embodiment of the invention, the gear rack auxiliary air duct rotating structure 41 is connected with a third driving motor, and the third driving motor drives an air duct adjusting gear to move on an air duct adjusting rack, so that the distance between the high-pressure centrifugal fan 3 and the fire extinguishing air duct 4 is adjusted, and the controllability of wind power and wind pressure is realized.
In a further embodiment of the invention, the control system is provided with a control panel, and manual driving can be carried out manually.
In a further embodiment of the invention, the control system is in signal connection with the computer through the signal transceiver, remote control can be carried out through the computer, the visual imaging device sends the surrounding environment of the self-propelled drainage type wind power fire-extinguishing robot to the computer through the signal transceiver, and an operator can accurately regulate and control the fire-extinguishing process of the self-propelled drainage type wind power fire-extinguishing robot in front of the computer.
In a further embodiment of the present invention, a plurality of rotating wheels are installed on two sides of the chassis supporting frame 11, at least one output main shaft is installed in the chassis supporting frame 11, each output main shaft is connected to the power portion 5, the power portion 5 drives the plurality of output main shafts to rotate, driving pulleys are installed on the ends of the plurality of output main shafts, the walking crawler 12 is arranged around the plurality of driving pulleys and the plurality of rotating wheels, and the power portion 5 drives the walking crawler 12 on two sides to walk and turn through the plurality of output main shafts.
In a further embodiment of the invention, the self-propelled drainage type wind power fire-extinguishing robot can walk on complex terrains through the walking crawler 12, has small volume and light weight, effectively increases wind pressure and wind volume through the fire-extinguishing wind cylinder 4, reduces power consumption of the high-pressure centrifugal fan 3, can adjust the fire-extinguishing position by pushing the rotating frame platform 2, can realize remote control of a computer and ensures the safety of fire fighters.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (2)
1. The utility model provides a self-propelled drainage formula wind-force fire extinguishing robot for forest is put out a fire which characterized in that includes: crawler-belt walking chassis mechanism (1), promotion rotate rack platform (2), high-pressure centrifugal fan (3), dryer (4) and power portion (5) put out a fire, crawler-belt walking chassis mechanism (1) includes: chassis support frame (11) and walking track (12), the both sides of chassis support frame (11) are all installed walking track (12), self-propelled drainage formula wind-force fire-fighting robot is through being located the walking track (12) of chassis support frame (11) both sides is removed, promote to rotate rack platform (2) and install on chassis support frame (11), promote to rotate and install at least one on rack platform (2) high-pressure centrifugal fan (3) and at least one put out a fire dryer (4), each put out a fire air duct (4) and air outlet (34) of a high-pressure centrifugal fan (3) through a plurality of loose piece buckles (45) operable swing joint, through adjusting air outlet (34) of high-pressure centrifugal fan (3) with interval between the dryer of putting out a fire (4) is in order to adjust the amount of wind and the wind pressure of putting out a fire in the dryer (4), the walking crawler (12), the pushing and rotating stand (2) and the high-pressure centrifugal fan (3) are all connected with the power part (5); the fire extinguishing air duct (4) comprises: the air inlet and the air outlet (34) of each conical air duct mechanism (44) are in sliding connection through a plurality of loose piece buckles (45), the plurality of conical air duct mechanisms (44) are connected through the air duct connecting device (43), one end of each crank hinge (42) is in rotating connection with the corresponding air duct connecting device (43), the distance between the air outlet (34) and each conical air duct mechanism (44) is controlled through the corresponding loose piece buckle (45), so that the air inflow during drainage is controlled, the high-pressure centrifugal fan (3) drives air near the air inlet of the fire extinguishing air duct (4) to enter the fire extinguishing air duct (4) together during working, and the air pressure and the air speed at the air outlet are increased;
The pushing and rotating rack table (2) comprises: the frame body (21) is mounted on the chassis support frame (11), a sliding mounting plate is mounted on the frame body (21), and the sliding mounting plate can slide on the frame body (21);
the pushing and rotating stand platform (2) further comprises: the rotary table rotating mechanism (23) is mounted on the sliding mounting plate, the bearing seat (24) is mounted on the rotary table rotating mechanism (23), the bearing seat (24) can rotate in a vertical plane in an operable mode through the rotary table rotating mechanism (23), and the high-pressure centrifugal fans (3) are mounted on the bearing seat (24);
the pushing and rotating stand platform (2) further comprises: the fixing end of the guide rail lead screw pushing mechanism (22) is installed on the frame body (21), the first driving motor is installed on the fixing end, the pushing end of the guide rail lead screw pushing mechanism (22) is connected with the sliding installation plate, and the first driving motor is connected with the power part (5);
the turntable rotating mechanism (23) includes: the turntable supporting bearing seats (233) and the turntable supporting shafts (234) are arranged on the sliding mounting plate, the two turntable supporting bearing seats (233) are arranged on the sliding mounting plate, two ends of each turntable supporting shaft (234) are respectively arranged in one turntable supporting bearing seat (233), and the lower surfaces of the bearing seats (24) are connected with the middle parts of the turntable supporting shafts (234);
The turntable rotating mechanism (23) further comprises: a rack and pinion auxiliary rotating mechanism (235), the rack and pinion auxiliary rotating mechanism (235) comprising: the rack part and the gear part are meshed with each other, the gear part is installed on the turntable supporting shaft (234), a sliding rail is arranged on the sliding installation plate, and the rack part is connected with the sliding installation plate in a sliding mode through the sliding rail;
the turntable rotating mechanism (23) further comprises: second driving motor, worm-gear bearing seat (231) and worm gear structure (232), install two worm-gear bearing seats (231) on the sliding mounting board, worm gear structure (232) include: the worm part and the worm wheel part are meshed with each other, two ends of the worm part are respectively installed in one worm wheel bearing seat (231), the worm wheel part is installed on the rotary table supporting shaft (234), the worm part is connected with the second driving motor, and the second driving motor is connected with the power part (5);
each of the high-pressure centrifugal fans (3) includes: the fan volute comprises a power component (31), a fan volute (32) and an impeller (33), wherein an air outlet (34) is formed in the fan volute (32), the fan volute (32) is installed on the bearing seat (24), the power component (31) is installed on the fan volute (32), the impeller (33) connected with the driving end of the power component (31) is arranged in the fan volute (32), and the power component (31) is connected with the power part (5);
Supplementary dryer revolution mechanic of rack and pinion (41) includes: mutually engaged's dryer adjusting gear and dryer adjusting rack, the other end of crank hinge (42) with dryer adjusting gear connects, dryer adjusting rack installs bear on seat (24), dryer adjusting gear with third driving motor connects, third driving motor with power portion (5) are connected.
2. The self-propelled drainage type wind fire-fighting robot applied to forest fire fighting as recited in claim 1, further comprising: the self-propelled wind power fire extinguishing robot comprises a vision imaging device, a control device and a signal receiving and sending device, wherein the vision imaging device, the control system and the signal receiving and sending device are all installed on a frame body (21), the vision imaging device, the control system and the signal receiving and sending device are all connected with a power part (5), a walking crawler belt (12) is used for pushing a rotating stand (2), a high-pressure centrifugal fan (3), the vision imaging device and the signal receiving and sending device are all connected with the control system, the vision imaging device is connected with the signal receiving and sending device, the vision imaging device is used for monitoring the surrounding environment of the self-propelled wind power fire extinguishing robot, the control system is connected with a computer through the signal receiving and sending device, and the control system is used for controlling the walking, the running and the distribution of the self-propelled wind power fire extinguishing robot, And controlling the pushing and rotating rack table (2) to adjust the fire extinguishing position and the fire extinguishing wind power and controlling the high-pressure centrifugal fan (3) to be opened and closed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111387675.2A CN113967331B (en) | 2021-11-22 | 2021-11-22 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishment |
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| CN202111387675.2A CN113967331B (en) | 2021-11-22 | 2021-11-22 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishment |
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| CN113967331B true CN113967331B (en) | 2022-06-14 |
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| CN114404849B (en) * | 2022-03-07 | 2022-09-30 | 中国石油大学(华东) | Fire engine for extinguishing fire by using sandy soil |
| CN116440443A (en) * | 2023-04-18 | 2023-07-18 | 广东工业大学 | Intelligent fire extinguishing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8381826B2 (en) * | 2010-03-29 | 2013-02-26 | Hadi A. Al-Azemi | Fire fighting robot |
| CN104922828B (en) * | 2014-03-21 | 2018-08-17 | 孙士庆 | From pendulum-type blowing spray |
| CN104857655B (en) * | 2015-05-21 | 2018-01-30 | 北华大学 | One kind climbing fire extinguishing, clean robot |
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| CN106178348B (en) * | 2016-06-28 | 2018-12-25 | 陈淑腾 | A kind of rotary intelligent fire job that requires special skills robot |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN108261708A (en) * | 2018-01-18 | 2018-07-10 | 大连科技学院 | A kind of five-axle linkage firefighting robot |
| CN111388925B (en) * | 2020-03-27 | 2021-07-23 | 焦作大学 | Automatic control system of fire extinguishing equipment |
| CN113041538A (en) * | 2021-01-14 | 2021-06-29 | 西安量子智能科技有限公司 | Hanging rail type fire extinguishing robot |
| CN112827098A (en) * | 2021-01-22 | 2021-05-25 | 东北林业大学 | Self-propelled crawler-type intelligent wind powder fire extinguishing robot for forest fire extinguishing and fire prevention |
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