CN110757503A - Fire control investigation robot lift cloud platform mechanism - Google Patents
Fire control investigation robot lift cloud platform mechanism Download PDFInfo
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- CN110757503A CN110757503A CN201910924477.1A CN201910924477A CN110757503A CN 110757503 A CN110757503 A CN 110757503A CN 201910924477 A CN201910924477 A CN 201910924477A CN 110757503 A CN110757503 A CN 110757503A
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- shell
- cloud platform
- video recording
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a fire-fighting investigation robot lifting cloud platform mechanism, which comprises a shell, a base assembled at the bottom end of the shell and a cover plate mechanism used for opening and closing the outlet end of the shell, wherein a glass cover is arranged between the shell and the cover plate mechanism; through setting up screw mechanism, can make whole cloud platform and the axostylus axostyle separation of making a video recording use, when fire-fighting robot need reconnaissance in the region that can't arrive, accessible remote control makes cloud platform and the axostylus axostyle separation of making a video recording to open electric screw, drive whole cloud platform of making a video recording and make a video recording the mechanism and fly and reconnaissance, thereby facilitate for whole reconnaissance operation, improved the practicality of whole mechanism.
Description
Technical Field
The invention relates to the field of robots, in particular to a lifting cloud deck mechanism of a fire-fighting investigation robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
The field of current robot application is wider, when carrying out fire control operation, can use fire control investigation robot usually, and traditional fire control robot drives whole cloud platform of making a video recording through electric telescopic handle and goes up and down the operation, makes things convenient for the robot to carry out the investigation operation. However, when the robot is used, the camera holder cannot be protected, and the camera is easily damaged in some high-temperature fire environments; meanwhile, when the investigation operation is carried out, the robot in a part of the regions can not reach, so that more comprehensive investigation information can not be brought to the working personnel.
Therefore, a person skilled in the art provides a lifting cradle head mechanism of a fire detection robot to solve the problems in the background art.
Disclosure of Invention
The invention mainly aims to provide a lifting cloud deck mechanism of a fire-fighting investigation robot, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a fire-fighting investigation robot lifting tripod head mechanism comprises a shell, a base assembled at the bottom end of the shell and a cover plate mechanism used for switching an outlet end of the shell, wherein a glass cover is arranged between the shell and the cover plate mechanism, a mounting ring is welded on the surface between the glass cover and the shell, a flange plate is welded at the bottom end of the base, the inner wall of the base and a robot main body is fixedly connected by arranging screws on the surface of the flange plate, an electric cylinder is installed at the bottom end of the inner wall of the shell, a shaft lever is arranged at one end of a piston rod matched with the electric cylinder, a rotating shaft motor is matched and installed between one end of the shaft lever and the piston rod, an electromagnetic chuck is installed at the other end of the shaft lever, a camera tripod head is installed on the surface of the electromagnetic chuck, a connecting seat is arranged, and the outer side of the camera shooting holder is provided with a spiral mechanism in a matching way.
Preferably, the lower surface of shell one end is provided with a plurality of lugs, a plurality of recesses have evenly been seted up all around to the base inner wall, and agree with each other between recess and the lug, the screw hole has all been seted up to the both sides on installation circle surface, and sets up screwed connection through setting up in the screw hole between the outer wall of installation circle and robot main part.
Preferably, the cover plate mechanism comprises two movable plates and a driving motor which is arranged at one end of the movable plates in a matched mode, and the two movable plates are both of a hemispherical fireproof plate structure.
Preferably, the inner wall of the shell is provided with a heat insulation layer, sand is filled in the heat insulation layer, and the thickness of the heat insulation layer is 1-2 cm.
Preferably, the inner wall of the shell is welded at a position adjacent to the mounting ring, the surface of the inner ring plate is embedded with a touch switch, and the touch switch is connected with a driving motor in the cover plate mechanism through a wire.
Preferably, the positioning mechanism comprises a first infrared sensor and a second infrared sensor, and the first infrared sensor and the second infrared sensor are respectively used as an infrared transmitting end and an infrared receiving end and are respectively installed at corresponding positions on the surfaces of the connecting base and the electromagnetic chuck in an embedded mode.
Preferably, the camera shooting mechanism comprises two camera shooting probes, a spherical shell and an internal element, the two cameras are arranged on the surface of the spherical shell, and the spherical shell is movably arranged between the supports matched with the camera shooting pan-tilt.
Preferably, screw mechanism includes electronic pivot and electric screw, four groups of inside grooves have evenly been seted up on the supporting surface of cloud platform of making a video recording, electronic pivot is installed in one side of inside groove to be connected with electric screw through welded connection pole on electronic pivot surface, electronic pivot and electric screw all adopt radio signal to be connected with positioning mechanism.
Compared with the prior art, the invention provides a lifting cradle head mechanism of a fire-fighting investigation robot, which has the following beneficial effects:
1. according to the invention, the shell structure is designed, the whole electric cylinder and the camera holder for lifting are protected, the whole shell can be fixed on the surface of the robot main body only by arranging two screws on the surface of the mounting ring through the matched connection of the shell and the base, and the time for disassembling and maintaining the mechanism can be reduced by the mode;
2. according to the invention, the screw mechanism is arranged, so that the whole camera shooting holder can be separated from the shaft lever for use, when the fire-fighting robot needs to detect the region which cannot be reached, the camera shooting holder can be separated from the shaft lever through remote control, the electric screw propeller is started, and the whole camera shooting holder and the camera shooting mechanism are driven to carry out flight detection, so that convenience is provided for the whole detection operation, and the practicability of the whole mechanism is improved;
3. according to the positioning mechanism and the electromagnetic chuck, infrared rays are transmitted and received through the two infrared sensors, when the camera shooting cloud platform is in butt joint with the electromagnetic chuck, the accuracy of the connecting position of the camera shooting cloud platform and the electromagnetic chuck can be ensured, meanwhile, the electromagnetic chuck is started after the second infrared sensor receives infrared rays, the whole camera shooting cloud platform is subjected to magnetic attraction, and the stability of the butt joint of the camera shooting cloud platform and the electromagnetic chuck is further ensured.
The parts of the device not involved are the same as or can be implemented using prior art.
Drawings
FIG. 1 is an assembly view of the overall structure of the present invention;
FIG. 2 is a sectional view showing the internal structure of the housing according to the present invention;
FIG. 3 is an enlarged view of the partial structure A of FIG. 2 according to the present invention;
fig. 4 is an enlarged view of the partial structure B of fig. 2 according to the present invention.
In the figure: 1. a housing; 2. a glass cover; 3. a cover plate mechanism; 4. installing a ring; 5. a bump; 6. a base; 7. a groove; 8. a thermal insulation layer; 9. an inner ring plate; 10. an electric cylinder; 11. a spindle motor; 12. a shaft lever; 13. a camera shooting cloud deck; 14. a camera mechanism; 15. a tactile switch; 16. a connecting seat; 17. an electromagnetic chuck; 18. a positioning mechanism; 181. a first infrared sensor; 182. a second infrared sensor; 19. an inner tank; 20. an electric rotating shaft; 21. an electric propeller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-4, a fire-fighting detection robot lifting pan head mechanism comprises a housing 1, a base 6 assembled at the bottom end of the housing 1, and a cover plate mechanism 3 for opening and closing the outlet end of the housing 1, a glass cover 2 is arranged between the housing 1 and the cover plate mechanism 3, a mounting ring 4 is welded on the surface between the glass cover 2 and the housing 1, a flange is welded at the bottom end of the base 6, the base 6 and the inner wall of a robot body are fixedly connected by screws arranged on the surface of the flange, an electric cylinder 10 is arranged at the bottom end of the inner wall of the housing 1, a shaft rod 12 is arranged at one end of a piston rod matched with the electric cylinder 10, a rotating shaft motor 11 is matched and installed between one end of the shaft rod 12 and the piston rod, an electromagnetic chuck 17 is installed at the other end of the shaft rod 12, a camera pan head 13 is installed on, the camera shooting tripod head 13 is movably provided with a camera shooting mechanism 14 inside, and the outer side of the camera shooting tripod head 13 is provided with a screw mechanism in a matching way.
Referring to fig. 1, the lower surface of one end of the shell 1 is provided with a plurality of lugs 5, a plurality of grooves 7 are uniformly formed around the inner wall of the base 6, the grooves 7 and the lugs 5 are mutually matched, screw holes are formed in two sides of the surface of the mounting ring 4, and the mounting ring 4 is connected with the outer wall of the robot main body through screws arranged in the screw holes.
Referring to fig. 1 and 2, the cover plate mechanism 3 includes two movable plates and a driving motor installed at one end of the movable plates in a matching manner, and the two movable plates are both of a hemispherical fireproof plate structure.
Referring to fig. 2, the inner wall of the casing 1 is provided with a heat insulation layer 8, sand is filled in the heat insulation layer 8, and the thickness of the heat insulation layer 8 is 1-2 cm.
The above mentioned thermal insulation layer 8, which may be filled with other thermal insulation materials, serves as thermal insulation and protection for the components inside the housing 1.
Through adopting above-mentioned technical scheme, the shell 1 of design plays the guard action to whole electric cylinder 10 and the cloud platform 13 of making a video recording that are used for going up and down, through the supporting connection of shell 1 with base 6, only need set up two screws on the surface of installing circle 4 and just can fix whole shell 1 in the main part surface of robot, and this kind of mode can reduce the time of dismantling and maintaining this mechanism.
Referring to fig. 1-3, an inner ring plate 9 is welded on the inner wall of the housing 1 at a position adjacent to the mounting ring 4, a tactile switch 15 is embedded on the surface of the inner ring plate 9, and the tactile switch 15 is connected with a driving motor in the cover plate mechanism 3 through a wire.
The above-mentioned tact switch 15 is used in cooperation with the cover plate mechanism 3, and when the whole camera pan/tilt head 13 is separated from the inner ring plate 9 (when the camera mechanism 14 needs to be used), the tact switch 15 stops working and sends a control signal to the driving motor in the cover plate mechanism 3, and the driving motor drives the two movable plates to separate, so that the opening end of the shell 1 is in an open state (the process is the same as the principle of sliding connection between the helmet and the helmet cover).
Referring to fig. 3, the positioning mechanism 18 includes a first infrared sensor 181 and a second infrared sensor 182, and the first infrared sensor 181 and the second infrared sensor 182 respectively serve as an infrared transmitting end and an infrared receiving end and are respectively embedded in corresponding positions on the surfaces of the connecting socket 16 and the electromagnetic chuck 17.
Referring to fig. 2, the camera mechanism 14 includes two cameras, a spherical housing and an internal component, the two cameras are mounted on the surface of the spherical housing, and the spherical housing is movably mounted between the supports of the camera platform 13.
By adopting the above technical scheme, receiving and sending infrared rays are carried out through two infrared sensors in the positioning mechanism 18, when the camera shooting pan-tilt 13 is in butt joint with the electromagnetic chuck 17, the accuracy of the connecting position of the camera shooting pan-tilt can be ensured, meanwhile, the electromagnetic chuck 17 is opened after the second infrared sensor 182 receives infrared rays, the whole camera shooting pan-tilt 13 is subjected to magnetic attraction, and then the stability of the butt joint of the camera shooting pan-tilt 13 and the electromagnetic chuck 17 is ensured.
Referring to fig. 4, the screw mechanism includes an electric rotating shaft 20 and an electric propeller 21, four groups of inner grooves 19 are uniformly formed on the surface of the support matched with the camera holder 13, the electric rotating shaft 20 is installed on one side of the inner grooves 19, the surface of the electric rotating shaft 20 is connected with the electric propeller 21 through a welding connecting rod, and the electric rotating shaft 20 and the electric propeller 21 are connected with the positioning mechanism 18 through wireless signals.
Through adopting above-mentioned technical scheme, can make whole cloud platform 13 and axostylus axostyle 12 separation of making a video recording use, when fire-fighting robot need reconnaissance in the region that can't arrive, accessible remote control makes cloud platform 13 and axostylus axostyle 12 separation of making a video recording to open electric screw 21, drive whole cloud platform 13 and the mechanism 14 of making a video recording and carry out the flight reconnaissance, thereby facilitate for whole reconnaissance operation, improved the practicality of whole mechanism.
The working principle is as follows: when the robot is used, the electric cylinder 10 drives the whole camera shooting pan-tilt 13 and the camera shooting mechanism 14 to move upwards, at the moment, the camera shooting pan-tilt 13 is separated from the inner ring plate 9, the touch switch 15 stops working and sends a control signal to the driving motor in the cover plate mechanism 3, the driving motor drives the two movable plates to be separated respectively, so that the opening end of the shell 1 is in an open state, then the camera shooting pan-tilt 13 is taken out of the shell 1, and a user can remotely regulate and control the whole robot (the whole mechanism has three joints, namely a joint of the camera shooting mechanism 14 and the camera shooting pan-tilt 13, the camera shooting pan-tilt 13 and the rotating shaft motor 11 from top to bottom;
if this fire-fighting robot is when meetting the region that can't advance, because include the radio signal transport module in the inside component of whole robot, be used for conveying wireless control signal, outside staff can send control command this moment, make electromagnetic chuck 17 stop working (in electromagnetic chuck 17 stop working, electronic pivot 20 and electronic screw 21 open work), electronic screw 21 and connecting rod are rolled out from inside groove 19, four groups of electronic screw 21 open the rotation this moment, drive whole cloud platform 13 that makes a video recording and lift off (its theory of operation is the same with wireless remote control's aircraft), after the use, can withdraw whole cloud platform 13 that makes a video recording in shell 1.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a fire control investigation robot lift cloud platform mechanism, includes shell (1), assembles base (6) and cover plate mechanism (3) that are used for switch housing (1) exit end in shell (1) bottom, its characterized in that: a glass cover (2) is arranged between the shell (1) and the cover plate mechanism (3), a mounting ring (4) is welded on the surface between the glass cover (2) and the shell (1), a flange plate is welded at the bottom end of the base (6), the inner wall of the base (6) and the robot main body is fixedly connected through screws arranged on the surface of the flange plate, an electric cylinder (10) is installed at the bottom end of the inner wall of the shell (1), a shaft rod (12) is arranged at one end of a piston rod matched with the electric cylinder (10), a rotating shaft motor (11) is installed between one end of the shaft rod (12) and the piston rod in a matched manner, an electromagnetic chuck (17) is installed at the other end of the shaft rod (12), a camera tripod head (13) is installed on the surface of the electromagnetic chuck (17), and a connecting seat (16) is arranged at the lower, the inside movable mounting of cloud platform (13) of making a video recording has mechanism of making a video recording (14), and the supporting spiral mechanism of installing in the outside of cloud platform of making a video recording (13).
2. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the lower surface of shell (1) one end is provided with a plurality of lugs (5), a plurality of recesses (7) have evenly been seted up all around of base (6) inner wall, and agree with each other between recess (7) and lug (5), the screw hole has all been seted up to the both sides on installation circle (4) surface, and through set up screwed connection in the screw hole between the outer wall of installation circle (4) and robot main part.
3. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the cover plate mechanism (3) comprises two movable plates and a driving motor which is arranged at one end of the movable plates in a matched mode, and the two movable plates are both of hemispherical fireproof plate structures.
4. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the inner wall of the shell (1) is provided with a heat insulation layer (8), sand is filled in the heat insulation layer (8), and the thickness of the heat insulation layer (8) is 1-2 cm.
5. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the inner wall of the shell (1) is welded with an inner ring plate (9) at the position where the mounting ring (4) is adjacent, a touch switch (15) is installed on the surface of the inner ring plate (9) in an embedded mode, and the touch switch (15) is connected with a driving motor in the cover plate mechanism (3) through a wire.
6. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the positioning mechanism (18) comprises a first infrared sensor (181) and a second infrared sensor (182), the first infrared sensor (181) and the second infrared sensor (182) are respectively used as an infrared transmitting end and an infrared receiving end, and are respectively installed at corresponding positions on the surfaces of the connecting seat (16) and the electromagnetic chuck (17) in an embedded mode.
7. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: the camera shooting mechanism (14) comprises two camera shooting probes, a spherical shell and an internal element, wherein the two cameras are installed on the surface of the spherical shell, and the spherical shell is movably installed between the supporting supports of the camera shooting cloud deck (13).
8. The fire detection robot lifting pan-tilt mechanism according to claim 1, characterized in that: screw mechanism includes electronic pivot (20) and electric screw (21), four groups inside groove (19) have evenly been seted up on the supporting support surface of cloud platform (13) of making a video recording, one side in inside groove (19) is installed in electronic pivot (20) to be connected with electric screw (21) through welded connection pole on electronic pivot (20) surface, electronic pivot (20) and electric screw (21) all adopt radio signal to be connected with positioning mechanism (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924477.1A CN110757503A (en) | 2019-09-27 | 2019-09-27 | Fire control investigation robot lift cloud platform mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924477.1A CN110757503A (en) | 2019-09-27 | 2019-09-27 | Fire control investigation robot lift cloud platform mechanism |
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| CN110757503A true CN110757503A (en) | 2020-02-07 |
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| CN201910924477.1A Pending CN110757503A (en) | 2019-09-27 | 2019-09-27 | Fire control investigation robot lift cloud platform mechanism |
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Application publication date: 20200207 |
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