CN210674053U - Four-rotor fire-fighting unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses a four rotor fire control unmanned aerial vehicle that puts out a fire, its manipulator passes through activity finger base hookup on unmanned aerial vehicle's base, the manipulator includes three groups's movable fingers of centre gripping dry powder fire extinguishing ball, the contained angle of adjacent two sets of activity fingers is 120 degrees, every group activity finger includes rotates the first joint of being connected with activity finger base, second joint and the third joint of being connected with first joint rotation respectively, fourth joint of being connected with second joint rotation, rotate the fifth joint of being connected with the third joint, rotate the sixth joint of being connected with the fifth joint, rotate the fingertip of being connected with fourth joint and sixth joint, fourth joint and fifth joint rotate with the second joint simultaneously and are connected, install reduction gear and motor on the base, reduction gear hookup capstan winch, the wire rope is connected with the first joint of every group on the capstan winch. The utility model discloses a manipulator that unmanned aerial vehicle adopted can realize snatching and putting in of spherical throwing type plain type extinguishing device, snatchs firmly, and the security is high.

Description

Four-rotor fire-fighting unmanned aerial vehicle

The technical field is as follows:

the utility model belongs to the technical field of the fire-fighting equipment technique and specifically relates to a four rotor unmanned aerial vehicle that disappears.

Background art:

with the relative maturity of technologies such as platform, remote sensing, data application that the unmanned aerial vehicle system is relevant, unmanned aerial vehicle begins to stand out the corner in the fire prevention task as a high and new technological equipment. Through the approaches of air patrol investigation, real-time fire scene situation feedback and the like, the unmanned aerial vehicle can provide comprehensive, real-time and accurate fire scene information for a commander and provide scientific and reliable data support for correct decision and force deployment.

Because the fire scene environment has a lot of uncertainties, especially for open large-area fire scenes such as forests and high buildings, the actual situation of the scene is difficult to determine only by observation and experience, so that the primary observation and investigation of the fire scene can be carried out by the unmanned aerial vehicle, and meanwhile, clear images of part of key parts can be obtained. For suspicious parts and key areas in high-rise buildings, ground personnel can also utilize the base station control console to control the unmanned aerial vehicle to carry out all-dimensional investigation, and important information such as the position of a fire point, the combustion area, the fire spread condition and the like can be obtained at the first time. The unmanned aerial vehicle can go deep into a fire scene or a rescue scene to execute a high-risk task on the first line, and potential casualty risks are reduced. Carry on the unmanned aerial vehicle and put in the sky above the ignition point with simple and easy extinguishing device of small-size throwing type, common simple and easy extinguishing device is cylindricality or square mostly on the market, also has the dry powder ball of putting out a fire of being convenient for to roll, throw, the security is higher now, consequently snatchs the unmanned aerial vehicle who puts out a fire ball and accurately throw safely fast, and is very important to high-rise building, complicated fire control environment put out a fire.

The utility model has the following contents:

the utility model provides a four rotor fire control unmanned aerial vehicle that puts out a fire, the manipulator that its was furnished with can snatch dry powder ball of putting out a fire in a flexible way fast and throw, and it is convenient, efficient to put out a fire, has solved the problem that exists among the prior art.

The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be: a four-rotor fire-fighting unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote control device and a manipulator for realizing grabbing operation, wherein the manipulator is connected to a base at the lower end of the unmanned aerial vehicle body through a movable finger base, the manipulator comprises three groups of movable fingers for clamping a dry powder fire extinguishing ball, the included angle between two adjacent groups of movable fingers is 120 degrees, each group of movable fingers comprises a first joint rotatably connected with the movable finger base, a second joint and a third joint respectively rotatably connected with the first joint, a fourth joint rotatably connected with the second joint, a fifth joint rotatably connected with the third joint, a sixth joint rotatably connected with the fifth joint and fingertips rotatably connected with the fourth joint and the sixth joint, one end of the fourth joint and one end of the fifth joint are simultaneously rotatably connected with the second joint, and a speed reducer and a motor are installed on the base, the output end of the speed reducer is connected with a winch, and the extending end of a steel wire rope on the winch is connected with the first joint of each group.

And a spring is arranged between the second joint and the fourth joint.

The second joints and the first joints are movably hinged on the movable finger base through pin shafts, and steel wire rope connecting holes are formed in the opposite ends of the three first joints.

The surfaces of the second joint, the fourth joint and the finger tips which are contacted with the dry powder fire extinguishing ball are all in a sawtooth shape, and anti-skidding adhesive tapes are embedded on the sawtooth-shaped surfaces.

Remote control unit and unmanned aerial vehicle organism wireless connection, the last display screen that is equipped with of remote control unit, the unmanned aerial vehicle organism includes the frame, and the screw is located the frame upside, and the foot rest is located the frame downside, and the screw passes through brushless motor drive, still installs camera and infrared detector in the frame.

When above-mentioned four rotor fire control unmanned aerial vehicle use, utilize its manipulator to snatch dry powder ball of putting out a fire, drive the motion of the activity finger of manipulator through motor, reduction gear and capstan winch, realize opening or grasping of manipulator. When the utility model discloses an unmanned aerial vehicle detects the ignition, this unmanned aerial vehicle can put the conflagration region with the dry powder ball of putting out a fire in the manipulator, perhaps does not the centre gripping earlier put out a fire the ball but surveys earlier, and the back is returned according to the condition of a fire and is snatched the ball of putting out a fire and carry out the regional fire of conflagration. The utility model discloses a manipulator that unmanned aerial vehicle adopted can realize snatching and putting in of spherical throwing type plain type extinguishing device, snatchs firmly, and the security is high.

Description of the drawings:

fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a front view of the robot according to the embodiment of the present invention.

Fig. 3 is a left side view of the robot according to the embodiment of the present invention.

Fig. 4 is a top view of a robot according to an embodiment of the present invention.

In the figure, the robot comprises a frame 1, a frame 2, a foot rest 3, a propeller 4, a brushless motor 5, a manipulator 51, a first joint 511, a steel wire rope connecting hole 52, a second joint 53, a third joint 54, a fourth joint 55, a fifth joint 56, a sixth joint 57, fingertips 6, a movable finger base 7, a base 8, a winch 9, a reducer 10, a motor 11 and flight control.

The specific implementation mode is as follows:

in order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments in combination with the accompanying drawings.

As shown in fig. 1, the four-rotor fire-fighting unmanned aerial vehicle of this embodiment is a fire extinguishing apparatus controlled by a single person, and a single 11.1V5500mA lithium battery is arranged in the fire extinguishing apparatus and can work continuously for 1.5 hours. The unmanned aerial vehicle's of this embodiment organism includes frame 1, foot rest 2, screw 3, brushless motor 4, flies to control 11, electricity and transfers etc. and screw 3 is located 1 upside in frame, and foot rest 2 is located 1 downside in frame, and screw 3 still installs camera and infrared detector through the drive of brushless motor 4 in frame 1. Brushless motor 4 on this unmanned aerial vehicle's the rotor can select XXD2212, 2200kV brushless motor 4, and unmanned aerial vehicle's electricity is transferred and can be selected for use HOBBYWING 40A electricity and NAZA flies accuse 11, and infrared detector measurable quantity catches fire the temperature and the oxygen content of department to transmit for the ground station. Remote control unit and unmanned aerial vehicle organism wireless connection, the condition in the building that catches fire just can be observed on ground through its display screen to single operation remote control unit, and four brushless motor 4 can drive unmanned aerial vehicle and rise to in the air to can hover and wait for the operator instruction in half an empty. The dry powder fire extinguishing ball can be launched to a fire point to explode for emergency fire extinguishing at an emergency moment or when the fire is small.

As shown in fig. 2 to 4, the manipulator 5 for realizing the grabbing operation is connected to the base 7 at the lower end of the unmanned aerial vehicle body through the movable finger base 6, the manipulator 5 comprises three groups of movable fingers for clamping the dry powder fire extinguishing ball, the included angle between two adjacent groups of movable fingers is 120 degrees, each group of movable fingers comprises a first joint 51 rotationally connected with the movable finger base 6, a second joint 52 and a third joint 53 rotationally connected with the first joint 51 respectively, and a fourth joint 54 rotationally connected with the second joint 52, a fifth joint 55 rotationally connected with the third joint 53, a sixth joint 56 rotationally connected with the fifth joint 55, and a fingertip 57 rotationally connected with the fourth joint 54 and the sixth joint 56, wherein one end of the fourth joint 54 and one end of the fifth joint 55 are rotationally connected with the second joint 52 at the same time, and the rotational connection is a movable hinge formed by adopting pin connection. The base 7 is provided with a speed reducer 9 and a motor 10, the output end of the speed reducer 9 is connected with a winch 8, and the extending end of a steel wire rope on the winch 8 is connected with the first joint 51 of each group. The remote control device is in wireless connection with the flight control 11, the flight control 11 is connected with a controller of the motor 10, the controller and the flight control 11 are both installed on the rack 1, the controller is used for controlling starting and stopping of the motor 10, the motor 10 is a motor with a brake, and the motor can be reliably locked in a non-working state.

A spring is arranged between the second joint 52 and the fourth joint 54 for smooth reposition of each set of movable fingers. The second joint 52 and the first joints 51 are movably hinged on the movable finger base 6 through pin shafts, and the opposite ends of the three first joints 51 are provided with steel wire rope connections 511. The surfaces of the second joint 52, the fourth joint 54 and the finger tip 57 which are contacted with the dry powder fire extinguishing ball are all in a sawtooth shape, and anti-skid rubber strips are embedded on the sawtooth-shaped surfaces and are used for increasing the friction force between the surface of the dry powder fire extinguishing ball shell and movable fingers.

The remote control device is operated, the controller controls the motor 10 to be started, power is transmitted to the winch 8 through the speed reducer 9, the winch 8 rotates to tighten the steel wire rope, one end of the first joint 51 connected with the steel wire rope is pulled upwards, correspondingly, the second joint 52 and the third joint 53 move along with the movement of the first joint 51, correspondingly, the fourth joint 54 moves along with the movement of the second joint 52, the lower end of the fourth joint 54 moves towards the inner side of the mechanical arm 5, the fifth joint 55 moves along with the movement of the third joint 53, the sixth joint 56 moves along with the movement of the fifth joint 55, the lower end of the sixth joint 56 also moves towards the inner side of the mechanical arm 5, the finger tips 57 hinged with the fourth joint 54 and the sixth joint 56 move towards the inner side of the mechanical arm 5, three groups of movable fingers of the whole mechanical arm 5 are folded, and accordingly, the fire extinguishing ball is captured quickly and reliably, the controller controls the motor 10 to stall and the motor remains locked. During this process, the spring resistance between the second joint 52 and the fourth joint 54 is also overcome. Can aim at the ignition when four rotor unmanned aerial vehicle reach the scene of putting a fire, motor 10 starts the reversal, and reduction gear 9 transmits power to capstan winch 8, and 8 slack ropes of capstan winch are put out under the gravity and the spring action power of dry powder fire extinguishing ball, and three groups of movable fingers of manipulator 5 open, throw the fire extinguishing ball to the ignition, and motor 10 stall and locking. Certainly, the fire-fighting unmanned aerial vehicle can also return to transport the fire extinguishing ball after finding and confirming the fire point without clamping the fire extinguishing ball; if the fire extinguishing ball is put into the fire area but the fire is not extinguished successfully, the unmanned aerial vehicle can rapidly grab the fire extinguishing ball again to return to the fire area for extinguishing the fire, and the operation is repeated until the fire is extinguished successfully.

The above-mentioned specific embodiments can not be regarded as the restriction to the scope of protection of the utility model, to technical personnel in this technical field, it is right the utility model discloses any replacement improvement or transform that embodiment made all fall within the scope of protection of the utility model. The parts of the present invention not described in detail are the known techniques of those skilled in the art.

Claims (5)

1. The utility model provides a four rotor unmanned aerial vehicle that puts out a fire that disappears, includes unmanned aerial vehicle organism, remote control unit, realizes snatching the manipulator of operation, its characterized in that: the manipulator is connected to the base at the lower end of the unmanned aerial vehicle body through the movable finger base, the manipulator comprises three groups of movable fingers for clamping the dry powder fire extinguishing ball, the included angle between two adjacent groups of movable fingers is 120 degrees, each group of movable fingers comprises a first joint rotationally connected with the movable finger base, a second joint and a third joint rotationally connected with the first joint respectively, a fourth joint rotationally connected with the second joint, a fifth joint rotationally connected with the third joint, a sixth joint rotationally connected with the fifth joint, and fingertips rotationally connected with the fourth joint and the sixth joint, one end of the fourth joint and one end of the fifth joint are simultaneously and rotatably connected with the second joint, the base is provided with a speed reducer and a motor, the output end of the speed reducer is connected with a winch, and the extending end of a steel wire rope on the winch is connected with the first joint of each group.

2. The quad-rotor fire fighting unmanned aerial vehicle of claim 1, wherein: and a spring is arranged between the second joint and the fourth joint.

3. The quad-rotor fire fighting unmanned aerial vehicle of claim 2, wherein: the second joints and the first joints are movably hinged on the movable finger base through pin shafts, and steel wire rope connecting holes are formed in the opposite ends of the three first joints.

4. The quad-rotor fire fighting unmanned aerial vehicle of claim 3, wherein: the surfaces of the second joint, the fourth joint and the finger tips which are contacted with the dry powder fire extinguishing ball are all in a sawtooth shape, and anti-skidding adhesive tapes are embedded on the sawtooth-shaped surfaces.

5. The quad-rotor fire fighting unmanned aerial vehicle of claim 1, wherein: remote control unit and unmanned aerial vehicle organism wireless connection, the last display screen that is equipped with of remote control unit, the unmanned aerial vehicle organism includes the frame, and the screw is located the frame upside, and the foot rest is located the frame downside, and the screw passes through brushless motor drive, still installs camera and infrared detector in the frame.

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