CN2780256Y - Hydraulic device for fire rescue robot - Google Patents
Hydraulic device for fire rescue robot Download PDFInfo
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- CN2780256Y CN2780256Y CN 200520040663 CN200520040663U CN2780256Y CN 2780256 Y CN2780256 Y CN 2780256Y CN 200520040663 CN200520040663 CN 200520040663 CN 200520040663 U CN200520040663 U CN 200520040663U CN 2780256 Y CN2780256 Y CN 2780256Y
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Abstract
The utility model relates to a hydraulic device for a fire rescue robot, which is mainly composed of a combination pump, a walking valve block, a pressure-regulating valve block, a proportional valve block, a robot trailer, a mechanical arm, a mechanical jaw hand and a barrier clearing plate. The utility model uses the combination pump to respectively supply a walking module of a robot and functional modules, such as the robot trailer, the mechanical arm, the barrier clearing plate, etc., as a power source for the modules. An electromagnetic proportional valve is used for controlling the telescopic speed of an oil cylinder of a big arm and an oil cylinder of a small arm of the mechanical arm, and a speed-regulating valve is used for controlling the rotation speed of a rotation platform of the mechanical arm. By controlling each functional module of the fire rescue robot, the utility model ensures that the fire rescue robot safely realizes each action. Thus, the goal of fire rescue is obtained.
Description
Technical field
The utility model is a fire-fighting and rescue robot hydraulic means, relates to the fire-fighting and rescue robot, is mainly used in to drive each functional module of fire-fighting and rescue robot, guarantees that the fire-fighting and rescue robot realizes various actions, reaches the purpose of fire-fighting and rescue.
Background technology
Since the early 1980s, Chinese national economy rapidly and steady-state growth, all types of industries has obtained developing rapidly, but the fire of all kinds of hazardous areas and also thereupon constantly taken place by the blast casualty accident that fire causes has become a great problem of modern fire attack.In addition, Hazardous Chemical Substances leaks toxicity, the corrosivity followed has brought serious threat for fire fighter's inherently safe, the scene is not being carried out under the situation of abundant detection and analysis, take action blindly, not only can not achieve the desired result, and tend to cause the sacrifice of innocent life, pay heavy cost.The fire-fighting and rescue robot can substitute the fire fighter and carry out on-the-spot rescue, and the expansion of rescue works such as the fire extinguishing at disaster scene, shutoff, decontamination, orcible entry is had a very important role.Be starved of such fire-fighting and rescue robot at present, but domestic also there is not this series products.
Summary of the invention
The purpose of this utility model provide a kind of simple in structure, cost is not high, the hydraulic means of fire-fighting and rescue robot safely and effectively.
The hydraulic means of fire-fighting and rescue robot is made up of Hydraulic Elements such as walking valve piece, proportioning valve piece, pressure regulating valve block, balanced valve piece, manipulator valve piece, revolving valve piece, sundstrand pump, coarse filter, big arm oil cylinder, forearm oil cylinder, trailer oil cylinder, the oil motor of walking, the oil cylinder of removing obstacles, rotary motor oil, cleft hand oil cylinder and cleft hand oil motors.
The hydraulic means of a kind of fire-fighting and rescue robot that the utility model proposes, mainly by sundstrand pump, walking valve piece, pressure regulating valve block, the proportioning valve piece, the trailer oil cylinder, the mechanical arm oil cylinder, the oil cylinder of removing obstacles, manipulator valve piece is formed, the sundstrand pump (13) that is connected by fuel tank (11) connects robot ambulation valve piece 1 (100) and walking valve piece 2 (200) respectively, it is the connection of robot ambulation power source, the sundstrand pump Third Road respectively with pressure regulating valve block (400), proportioning valve piece (500) connects, pressure regulating valve block (400) is by an electromagnetic relief valve (401), three solenoid directional control valves (402) constitute, pressure regulating valve block (400) connects trailer oil cylinder (18) respectively, the oil cylinder (19) of removing obstacles, revolving valve piece (410), proportioning valve piece (500) connects balanced valve piece 1 (510) and balanced valve piece 2 (520), thereby connect with big arm oil cylinder of mechanical arm (20) and forearm oil cylinder (21), simultaneously sundstrand pump Third Road parallel connection manipulator valve piece (300).
In the utility model, be associated with coarse filter (12) between combination valve (13) and the fuel tank.
In the utility model, be associated with swivel coupling (15) between pressure regulating valve block (400) and the revolving valve piece (410).
In the utility model, between proportioning valve piece (500) and balanced valve piece 1 (510), the balanced valve piece 2 (520) swivel coupling (15) is arranged.
In the utility model, be connected with swivel coupling (15) between sundstrand pump and the manipulator valve piece (300).
In the utility model, balanced valve piece 1 (510), balanced valve piece 2 (520) connect with the big arm oil cylinder of mechanical arm (20), forearm oil cylinder (21) respectively.
In the utility model, walking valve piece 1 (100) is a solenoid directional control valve (102), an overflow valve (101), two safety valves (103) formation.
In the utility model, revolving valve piece (410) is that two flow speed control valves (412), two electromagnetic relief valves (411) constitute.
In the utility model, proportioning valve piece (500) is that two solenoid-operated proportional reversal valves (501) constitute.
In the utility model, balanced valve piece 1 (510) is that two balanced valves (511) constitute.
In the utility model, manipulator valve piece (300) is that three solenoid directional control valves (302), two electromagnetic relief valves (301) constitute.
In the utility model, after the pressure oil operation, oil sump tank (11) has fine filter (14) on the path.
After Diesel engine starts during the utility model work, drive sundstrand pump, hydraulic oil enters sundstrand pump from fuel tank through coarse filter, form pressure oil, the sundstrand pump common property is given birth to three strands of pressure oils, and wherein two stocks are not supplied walking valve piece, as the power source of robot ambulation parts.The 3rd strand of pressure oil is as the power source of miscellaneous parts such as robot trailer, mechanical arm and the plate of removing obstacles, the 3rd strand of pressure oil supply pressure regulating valve block, proportioning valve piece and manipulator valve piece, pressure regulating valve block is mainly used to driven machine people trailer and remove obstacles oil cylinder and revolving valve piece, because the revolving valve piece is on panoramic table, before pressure regulating valve block connects the revolving valve piece, to carry out the oil circuit conversion by swivel coupling, then by revolving valve piece driving device hand rotary motor.The proportioning valve piece connects the balanced valve piece, connects also to carry out the oil circuit conversion by swivel coupling, and the speed when big arm oil cylinder of proportioning valve piece major control manipulator and the operation of forearm oil cylinder, the balanced valve piece is controlled the pressure of big arm oil cylinder and forearm oil cylinder simultaneously.Before supply manipulator valve piece, pressure oil carries out oil circuit conversion, the cleft hand rotary motor of the main driving device cleft hand of manipulator valve piece and cleft hand oil cylinder by swivel coupling.
The utility model is simple in structure, cost is not high, and the robot that makes can carry out rescue safely and effectively at the disaster scene, has a good application prospect.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Each unit number is as follows among the above-mentioned figure:
Walking valve piece 1 (100) overflow valve (101) solenoid directional control valve (102) safety valve (103);
Walking valve piece 2 (200) overflow valve (201) solenoid directional control valve (202) safety valves (203);
Manipulator valve piece (300) electromagnetic relief valve (301) solenoid directional control valve (302);
Pressure regulating valve block (400) electromagnetic relief valve (401) solenoid directional control valve (402);
The unidirectional flow speed control valve of revolving valve piece (410) electromagnetic relief valve (411) (412);
Proportioning valve piece (500) solenoid-operated proportional reversal valve (501);
Balanced valve piece 1 (510) balanced valve (511);
Balanced valve piece 2 (520) balanced valves (521);
Fuel tank (11) coarse filter (12) sundstrand pump (13) fine filter (14) swivel coupling (15) running motor 1 (16);
Running motor 2 (17) trailer oil cylinders (18) big arm oil cylinder (20) the forearm oil cylinder (21) of oil cylinder (19) of removing obstacles;
Mechanical arm rotary motor (22) cleft hand rotary motor (23) cleft hand telescopic oil cylinder (24).
The specific embodiment
Details are as follows for preferred embodiment of the utility model:
Connect each parts referring to Fig. 1, after Diesel engine connects, connect sundstrand pump, make hydraulic oil enter sundstrand pump through coarse filter from fuel tank, form pressure oil, the sundstrand pump common property is given birth to three strands of pressure oils, and wherein two stocks are not supplied the first walking valve piece and the second walking valve piece, as the power source of robot ambulation parts.The 3rd strand of pressure oil is as the power source of other parts such as robot trailer, mechanical arm and the plate of removing obstacles, the 3rd strand of pressure oil supply pressure regulating valve block, proportioning valve piece and manipulator valve piece, pressure regulating valve block is mainly used to driven machine people trailer and remove obstacles oil cylinder and revolving valve piece, because the revolving valve piece is on panoramic table, before pressure regulating valve block connects the revolving valve piece, to carry out the oil circuit conversion by swivel coupling, then by revolving valve piece driving device hand rotary motor.The proportioning valve piece connects two balanced valve pieces respectively, connect also and must carry out the oil circuit conversion by swivel coupling, speed when big arm oil cylinder of proportioning valve piece major control manipulator and the operation of forearm oil cylinder, the balanced valve piece is controlled the pressure of big arm oil cylinder and forearm oil cylinder simultaneously.Before supply manipulator valve piece, pressure oil carries out oil circuit conversion, the cleft hand rotary motor of the main driving device cleft hand of manipulator valve piece and cleft hand oil cylinder by swivel coupling.
Sundstrand pump produces three strands of pressure oils during the utility model work, wherein two stocks are not supplied walking valve piece, walking valve piece is formed, is controlled running gear pressure by overflow valve by a solenoid directional control valve, an overflow valve and two safety valves, safety valve comes the stable hydraulic oil pressure, the direction that solenoid directional control valve carries out hydraulic circuit changes, drive the walking oil motor thus, reach and advance, retreat and the purpose of turning.The 3rd strand of pressure oil is as the power source of other parts such as robot trailer, mechanical arm and the plate of removing obstacles, the 3rd strand of pressure oil supply pressure regulating valve block, proportioning valve piece and manipulator valve piece.Pressure regulating valve block is made up of an electromagnetic relief valve 4 and three solenoid directional control valves, the system pressure of other parts such as robot trailer, mechanical arm and the plate of removing obstacles all is to be controlled by the electromagnetic relief valve of pressure regulating valve block, and three solenoid directional control valves supply the revolving valve piece respectively, drive trailer oil cylinder and the driving oil cylinder of removing obstacles.Pressure regulating valve block connects the revolving valve piece by transforming joint, and the revolving valve piece is made up of two flow speed control valves and two electromagnetic relief valves, and flow speed control valve is controlled the speed of panoramic table rotary motor, when panoramic table rotary motor pressure is too high, then by the electromagnetic relief valve overflow.The proportioning valve piece is made up of two solenoid-operated proportional reversal valves, control the speed of big arm oil cylinder of manipulator and forearm oil cylinder, the hydraulic oil that while solenoid-operated proportional reversal valve is confessed is before control big arm oil cylinder of manipulator and forearm oil cylinder, need enter the balanced valve piece, be connected by transforming joint between proportioning valve piece and the balanced valve piece, with the pressure on balanced valve piece balancing cylinder both sides, the balanced valve piece is made up of two balanced valves, guarantees the oil cylinder working-pressure balance of big arm oil cylinder of manipulator and forearm oil cylinder.Before manipulator valve piece is provided, pressure oil carries out the oil circuit conversion by swivel coupling, manipulator valve piece is made up of three solenoid directional control valves and two electromagnetic relief valves, the rotary motor and the cleft hand oil cylinder of control mechanical paw, when operation, must at first want leading solenoid directional control valve work, the solenoid directional control valve that moves the back then could be realized the revolution and the holding action of mechanical paw.After all pressure oil moves, get back to fuel tank through fine filter during oil return in device, finish the one action circulation.
Claims (12)
1, the hydraulic means of a kind of fire-fighting and rescue robot, mainly by sundstrand pump, walking valve piece, pressure regulating valve block, the proportioning valve piece, the trailer oil cylinder, the mechanical arm oil cylinder, the oil cylinder of removing obstacles, manipulator valve piece is formed, it is characterized in that connecting robot ambulation valve piece 1 (100) respectively by the sundstrand pump (13) that fuel tank (11) connects, walking valve piece 2 (200), connection as the robot ambulation power source, the sundstrand pump Third Road respectively with pressure regulating valve block (400), proportioning valve piece (500) connects, pressure regulating valve block (400) is by an electromagnetic relief valve (401), three solenoid directional control valves (402) constitute, pressure regulating valve block (400) connects trailer oil cylinder (18) respectively, the oil cylinder (19) of removing obstacles, revolving valve piece (410), proportioning valve piece (500) connects balanced valve piece 1 (510) and balanced valve piece 2 (520), thereby connect with big arm oil cylinder of mechanical arm (20) and forearm oil cylinder (21), the sundstrand pump Third Road also connects manipulator valve piece (300) simultaneously.
2, device as claimed in claim 1 is characterized in that being associated with coarse filter (12) between combination valve (13) and the fuel tank (11).
3, device as claimed in claim 1 is characterized in that being associated with swivel coupling (15) between pressure regulating valve block (400) and the revolving valve piece (410).
4, device as claimed in claim 1 is characterized in that being associated with swivel coupling (15) between proportioning valve piece (500) and balanced valve piece 1 (510), the balanced valve piece 2 (520).
5, device as claimed in claim 1 is characterized in that swivel coupling (15) connects with manipulator valve piece (300).
6, device as claimed in claim 1 is characterized in that balanced valve piece 1 (510), balanced valve piece 2 (520) connect with the big arm oil cylinder of mechanical arm (20), forearm oil cylinder (21) respectively.
7, device as claimed in claim 1, the valve piece 1 (100) that it is characterized in that walking are a solenoid directional control valve (102), an overflow valve (101), two safety valves (103) formation.
8, device as claimed in claim 1 is characterized in that revolving valve piece (410) is that two flow speed control valves (412), two electromagnetic relief valves (410) constitute.
9, device as claimed in claim 1 is characterized in that proportioning valve piece (500) is that two solenoid-operated proportional reversal valves (501) constitute.
10, device as claimed in claim 1 is characterized in that balanced valve piece 1 (510) is that two balanced valves (511) constitute.
11, device as claimed in claim 1 is characterized in that manipulator valve piece (300) is that three solenoid directional control valves (302), two electromagnetic relief valves (301) constitute.
12, device as claimed in claim 1 is characterized in that oil sump tank (11) has fine filter (14) on the path after the pressure oil operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520040663 CN2780256Y (en) | 2005-04-05 | 2005-04-05 | Hydraulic device for fire rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520040663 CN2780256Y (en) | 2005-04-05 | 2005-04-05 | Hydraulic device for fire rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2780256Y true CN2780256Y (en) | 2006-05-17 |
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ID=36761455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520040663 Expired - Fee Related CN2780256Y (en) | 2005-04-05 | 2005-04-05 | Hydraulic device for fire rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2780256Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806317A (en) * | 2010-02-23 | 2010-08-18 | 华东理工大学 | Synergic control method and performer device for intelligent pump valve of biped robot |
| CN102011768A (en) * | 2010-12-10 | 2011-04-13 | 常熟市常福电力机具有限公司 | Hydraulic oil circulating filtration mechanism of wire hydraulic crimping machine |
| CN101571153B (en) * | 2009-06-04 | 2011-05-04 | 公安部上海消防研究所 | Combined type fire-fighting robot hydraulic system |
| CN103893940A (en) * | 2014-04-16 | 2014-07-02 | 山东理工大学 | Energy-saving system for remote-control emergency fire-fighting robot |
-
2005
- 2005-04-05 CN CN 200520040663 patent/CN2780256Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571153B (en) * | 2009-06-04 | 2011-05-04 | 公安部上海消防研究所 | Combined type fire-fighting robot hydraulic system |
| CN101806317A (en) * | 2010-02-23 | 2010-08-18 | 华东理工大学 | Synergic control method and performer device for intelligent pump valve of biped robot |
| CN102011768A (en) * | 2010-12-10 | 2011-04-13 | 常熟市常福电力机具有限公司 | Hydraulic oil circulating filtration mechanism of wire hydraulic crimping machine |
| CN103893940A (en) * | 2014-04-16 | 2014-07-02 | 山东理工大学 | Energy-saving system for remote-control emergency fire-fighting robot |
| CN103893940B (en) * | 2014-04-16 | 2016-03-23 | 山东理工大学 | A kind of telecontrol rescue fire-fighting robot energy conserving system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060517 Termination date: 20130405 |