CN106166358B - A kind of full-automatic fire-fighting all-in-one machine type variable manipulator - Google Patents
A kind of full-automatic fire-fighting all-in-one machine type variable manipulator Download PDFInfo
- Publication number
- CN106166358B CN106166358B CN201610494395.4A CN201610494395A CN106166358B CN 106166358 B CN106166358 B CN 106166358B CN 201610494395 A CN201610494395 A CN 201610494395A CN 106166358 B CN106166358 B CN 106166358B
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- fire
- fixed
- sliding block
- extinguishing
- unscrew
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The present invention relates to a kind of new automatic fire-fighting all-in-one machine type variable manipulators, including hybrid mechanism and extinguishing device；The hybrid mechanism is located at immediately below extinguishing device, and hybrid mechanism upper end is connected with extinguishing device.Orientation of the present invention adjusts and the multiple functions such as extinguishing operation, fire-fighting fire extinguishing operation is carried out when can be to scene of fire, and movement is steady flexibly when high degree of automation, fire extinguishing, fire extinguishing spray regime is big, fire-fighting efficiency is high and highly-safe, solves the problems, such as that artificial fire-fighting fire extinguishing low efficiency and risk are big；Its roll-out tray uses the cascaded structure of a translation, four-freedom parallel mechanism uses the parallel institution of 4-UPS form, the movement that a translation three rotates totally four freedom degree directions can be achieved, on the one hand the adjusting to extinguishing device orientation angles is played, on the other hand the effect that damping is played to extinguishing device, prevents jitter excessive and causes security risk to the fire extinguisher of storage.
Description
Technical field
The present invention relates to fire-fighting equipment field, specifically a kind of full-automatic fire-fighting all-in-one machine type variable manipulator.
Background technique
Fire refers to the out of control burning on time or space, and in various disasters, fire is most frequently, most generally
Ground threatens one of public security and the major casualty of social development；All there is fire hazard, such as chemical industry in many occasions and industry
Factory, home dwelling, public market, gas station, Utilities Electric Co., smeltery etc.；There are many reason of causing fire, for example violate electricity
Gas security regulations violate safety operation regulation, throw out cigarette butt and spontaneous combustion etc. without care.
The fire extinguisher species that fire-fighting at present uses are various, mainly there is carbon dioxide extinguisher, 1211 fire extinguishers, dry-chemical fire extinguishing
Device, soda acid foam annihilator, carbon tetrachloride fire extinguisher, mechanical foam fire extinguisher, water-type extinguisher and other fire extinguishing appliances etc.；It goes out
Firearm is mainly made of stack shell, spray canister and switch valve, is divided from fire-extinguishing operations step and mode, and one kind is need to only to extract insurance
Spray canister alignment fire source is directly carried out operation by ring, another kind of, is first to open plum blossom wheel valve, when spray canister is directed at fire source operation
It needs to press duck-beak type valve simultaneously.
The artificial fire extinguisher that carries is mostly used to enter fire-fighting scene progress artificial fire-fighting operation fire fire-fighting fire-fighting mode,
Such dangerous property of existing fire fighting mode is big, causes great threat to fire fighter's personal safety, has every year not
Few fireman sacrifices because of live fire-fighting operation, dies at one's post numerous；Artificial live fire-fighting operation fire-fighting efficiency can be with simultaneously
The elongation of activity duration and gradually reduce, fire-fighting fire extinguishing whole efficiency is low, speed is slow and flexibility is poor.In consideration of it, of the invention
Provide a kind of full-automatic fire-fighting all-in-one machine type variable manipulator.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of full-automatic fire-fighting all-in-one machine type variable machinery
Hand.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of full-automatic fire-fighting all-in-one machine type variable manipulator, including hybrid mechanism and extinguishing device；The mixed connection
Mechanism is located at immediately below extinguishing device, and hybrid mechanism upper end is connected with extinguishing device.
As a further improvement of the present invention, the hybrid mechanism includes roll-out tray and four-freedom parallel mechanism,
Roll-out tray is located at below four-freedom parallel mechanism, and roll-out tray and four-freedom parallel mechanism are connected；The movement
Chassis includes bottom plate, shifting sledge, sliding block, limit spring and locking post, and the quantity of shifting sledge and sliding block is four, limit
Number of springs is 16, and the quantity of locking post is 32；The bottom plate is fixed on four-freedom parallel mechanism, mobile to slide
Rail is symmetrically arranged along the longitudinal center axis of bottom plate, and shifting sledge both ends are respectively arranged with baffle, and sliding block is mounted on movement
On sliding rail, limit spring is between sliding block and the baffle of shifting sledge, and limit spring one end passes through locking post and mobile cunning
The baffle of rail is connected, and the limit spring other end is connected by locking post with sliding block, and the baffle medial surface of shifting sledge and
Installation threaded hole is offered on the front/rear end of sliding block, locking post one end is provided with the tight locking button for fixing limit spring,
The locking post other end is provided with the external screw thread closed with installation corresponding threaded holes；Roll-out tray uses the cascaded structure of a translation, moves
Dynamic chassis can be moved forward and backward, and the back-and-forth motion of four-freedom parallel mechanism can be driven by roll-out tray；The four selfs
It include fixed platform, Hooke's hinge, telescopic rod, spherical hinge and moving platform by degree parallel institution, and Hooke's hinge, telescopic rod and spherical hinge
Quantity is four；The fixed platform and moving platform is disc-shaped structure, and moving platform is located at right above fixed platform, fixed platform
Upper part and moving platform end portion are respectively arranged with installation screw thread, and telescopic rod bottom end is connected by Hooke's hinge with sliding block
It connects, telescopic rod top end is connected by spherical hinge with moving platform；Four-freedom parallel mechanism uses the parallel machine of 4-UPS form
For structure, it can be achieved that a translation three rotates the movement of totally four freedom degree directions, movement effects are good, and freedom of motion is more, compact-sized
And bearing capacity is strong；Hybrid mechanism is applied in the present invention, on the one hand plays the adjusting to extinguishing device orientation angles, just
In the progress of the various comprehensive extinguishing operations of posture of the present invention, the effect of damping is on the other hand played to extinguishing device, so that
Extinguishing device is in horizontal steady state always, prevents jitter excessive and causes security risk to the fire extinguisher of storage.
As a further improvement of the present invention, the extinguishing device includes supporting plate, storage tube, fire extinguishing sliding rail, locking dress
Set, spray tube fixing device, press device and unscrew device, and storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press
Pressure device and the quantity for unscrewing device are two；The storage tube is symmetrically arranged along the longitudinal center axis of supporting plate, and
Storage tube bottom end is mutually fixed with supporting plate upper surface, and storage tube is the hollow cylindrical structure of front opening back-end closure, storage tube
Upper front end is opening-wide state, and fire extinguishing sliding rail is respectively symmetrically fixed on storage tube upper front end, and locking device is mounted on storage tube
Tube fixing device is sprayed between locking device and press device in upper end, and sprays tube fixing device lower end and be mounted on fire extinguishing sliding rail
On, it unscrews device and is located at immediately ahead of press device, and unscrew and be separately mounted at left and right sides of device on fire extinguishing sliding rail.
As a further improvement of the present invention, the locking device includes fixed block, tie down screw, latch segment and turns
Disk；The fixed block center position offers the threaded hole matched with external screw thread on tie down screw, tie down screw installation
In the threaded hole of upper end of fixing block, tie down screw lower end is fixed with latch segment, and latch segment is arc shape structure, tie down screw
Upper end is equipped with turntable, is provided with skid resistance strip on the outside of turntable；By rotating the rotation of driven by rotary disc tie down screw, to drive
The raising and lowering of latch segment realizes the fixed locking to fire extinguisher stack shell.
As a further improvement of the present invention, the spray tube fixing device includes support plate, cross bar, strap, stretches
Contracting connecting rod and bull stick；The support plate lower end is mounted at left and right sides of storage tube front end, and cross bar left and right ends are separately fixed at
In support plate at apical position, strap upper end is provided with rotating cylinder, and rotating cylinder is mounted in the middle part of cross bar, opens up in the middle part of strap
There is round fixing port, has been symmetrically arranged link block, shrinking connecting-rod one end and link block phase at left and right sides of strap lower end
Connection, the shrinking connecting-rod other end are hinged with bull stick one end, and the bull stick other end is fixed on support plate inner sidewall；The fixed dress of spray canister
Set and be mainly used for gripping fire extinguisher spray canister, and by the elongation of shrinking connecting-rod and shorten movement drive strap with
Cross bar is the rotation on rotation center progress vertical plane, thus spray angle adjusting when realizing fire extinguisher spray canister spraying operation
Function.
As a further improvement of the present invention, the device of unscrewing includes unscrewing sliding block, unscrewing electric pushrod, unscrew branch
Frame unscrews motor, unscrews shaft, unscrewing turntable and stubborn bar；The sliding block of unscrewing is mounted on fire extinguishing sliding rail, unscrews electronic push away
Bar bottom end, which is fixed on, unscrews on sliding block, unscrews bracket left and right ends and is separately fixed at and unscrew electric pushrod top, unscrewing bracket is in
Disc-shaped structure is unscrewed motor and is fixed on and unscrew on stent outer wall, unscrews shaft one end and be connected with motor output shaft is unscrewed,
It unscrews the shaft other end and is connected by key between turntable with unscrewing, unscrew the circumferential direction on turntable inner side end along center axis thereof
Direction is evenly arranged with turntable seat, twists bar bottom end and is mounted on the turntable seat for unscrewing turntable, twists bar top and is provided with stubborn block, twists block
Fan-shaped shape structure；In use, the shifting of bracket is unscrewed by unscrewing the drive of sliding inwardly of the sliding block on fire extinguishing sliding rail first
It is dynamic, so that the function being inserted into stubborn bar in the fan-shaped gap of fire extinguisher plum blossom wheel is realized, then by unscrewing electric pushrod
The adjustable height for unscrewing bracket of stretching motion, after stubborn bar, which is inserted into fire extinguisher plum blossom, takes turns in fan-shaped gap, then by unscrewing
The rotation of turntable seat on turntable drives the rotation for twisting bar, and stubborn bar is rotated 180 degree, prevents the longitudinal of stubborn bar from slipping, finally leads to
Cross and unscrew the rotation of motor and drive and unscrew the rotation of turntable, thus the rotation for driving fire extinguisher plum blossom to take turns, and then by fire extinguisher into
Row is opened.
As a further improvement of the present invention, the press device includes pressing sliding block, pressing electric pushrod, pressing cunning
Rail, the electronic sliding block of pressing and press head；The pressing sliding block is mounted on fire extinguishing sliding rail, and pressing electric pushrod bottom end is fixed on
It presses on sliding block, pressing electric pushrod top is separately fixed at left and right sides of pressing sliding rail, electronic sliding block is pressed and is mounted on pressing
On sliding rail, press head is fixed on the electronic sliding block lower end of pressing, and offers semi-circular recesses in the middle part of press head；Press electronic sliding block
It can be moved left and right on pressing sliding rail, it is then electronic by pressing so as to be aligned to the duckbill valve on fire extinguisher
The contractile motion of push rod drives the decline of press head, to achieve the effect that press the duckbill valve on fire extinguisher.
When specific operation, it will be placed into storage tube equipped with the fire extinguisher of extinguishing chemical first, when placement will be before fire extinguisher
Head is placed outwardly, and is locked by locking device to fire extinguisher；Then the spray canister of fire extinguisher spray canister is placed into consolidate
Determine to be fixed on device, and mixes up fixed angle；Stubborn bar is inserted into the plum blossom wheel of fire extinguisher by unscrewing device again, together
When by press device by press head be aligned fire extinguisher duckbill valve；When operation, the plum blossom of fire extinguisher is rotated by unscrewing device
Wheel, the duckbill valve of fire extinguisher is pressed by press device, to realize the effect that the extinguishing chemical in fire extinguisher sprays.
Compared with prior art, the invention has the following advantages that
(1) orientation of the present invention is adjusted and the multiple functions such as extinguishing operation, carries out fire-fighting fire extinguishing operation when can be to scene of fire,
And movement is steady flexibly when high degree of automation, fire extinguishing, fire extinguishing spray regime is big, fire-fighting efficiency is high and highly-safe, solves
Artificial fire-fighting fire extinguishing low efficiency and the big problem of risk.
(2) roll-out tray of the invention uses the cascaded structure of a translation, and four-freedom parallel mechanism uses 4-UPS form
Parallel institution, it can be achieved that three rotation totally four freedom degree directions of a translation movements, movement effects are good, and freedom of motion is more,
Compact-sized and bearing capacity is strong；Hybrid mechanism is applied in the present invention, is on the one hand played to extinguishing device orientation angles
Adjusting damping on the other hand is played to extinguishing device convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention
Effect prevents jitter excessive and causes safety hidden in the fire extinguisher of storage so that extinguishing device is in horizontal steady state always
Suffer from.
(3) extinguishing device of the invention can realize that the storage of fire extinguisher stack shell locks, the secured adjusted of fire extinguisher spray canister, goes out
The function that a series of actions such as the control of opening and closing and fire extinguisher duckbill valve that firearm plum blossom is taken turns execute, and injection of putting out a fire
Range is wide, fire-fighting efficiency is high and safety is good.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of hybrid mechanism of the present invention；
Fig. 3 is the entirety perspective view of extinguishing device of the present invention；
Fig. 4 is the sectional perspective structural schematic diagram of extinguishing device of the present invention；
Fig. 5 is storage tube of the present invention, spray tube fixing device, unscrews device and stereochemical structure signal when press device cooperates
Figure；
Fig. 6 is the schematic perspective view that the present invention unscrews device.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 6, a kind of full-automatic fire-fighting all-in-one machine type variable manipulator, including hybrid mechanism 4 and fire extinguishing
Device 5；The hybrid mechanism 4 is located at immediately below extinguishing device 5, and 4 upper end of hybrid mechanism is connected with extinguishing device 5.
As depicted in figs. 1 and 2, the hybrid mechanism 4 includes roll-out tray 41 and four-freedom parallel mechanism 42, movement
Chassis 41 is located at 42 lower section of four-freedom parallel mechanism, and roll-out tray 41 and four-freedom parallel mechanism 42 are connected；Described
Roll-out tray 41 includes bottom plate 411, shifting sledge 412, sliding block 413, limit spring 414 and locking post 415, and shifting sledge
412 and the quantity of sliding block 413 be four, 414 quantity of limit spring is 16, and the quantity of locking post 415 is 32；Described
Bottom plate 411 is fixed on four-freedom parallel mechanism 42, shifting sledge 412 along bottom plate 411 longitudinal center axis respectively symmetrically
Arrangement, 412 both ends of shifting sledge are respectively arranged with baffle, and sliding block 413 is mounted on shifting sledge 412, and limit spring 414 is located at
Between sliding block 413 and the baffle of shifting sledge 412, and 414 one end of limit spring passes through locking post 415 and shifting sledge 412
Baffle is connected, and 414 other end of limit spring is connected by locking post 415 with sliding block 413, and the baffle of shifting sledge 412
Installation threaded hole is offered on the front/rear end of medial surface and sliding block 413,415 one end of locking post is provided with for fixed limit
The tight locking button of spring 414,415 other end of locking post are provided with the external screw thread closed with installation corresponding threaded holes；Roll-out tray 41 is adopted
With the cascaded structure of a translation, roll-out tray 41 can be moved forward and backward, and four-degree-of-freedom can be driven in parallel by roll-out tray 41
The back-and-forth motion of mechanism 42；The four-freedom parallel mechanism 42 includes fixed platform 421, Hooke's hinge 422, telescopic rod 423, ball
Hinge 424 and moving platform 425, and the quantity of Hooke's hinge 422, telescopic rod 423 and spherical hinge 424 is four；The fixed platform
424 and moving platform 425 be disc-shaped structure, and moving platform 425 is located at right above fixed platform 425,421 upper part of fixed platform
It is respectively arranged with installation screw thread with 425 end portion of moving platform, 423 bottom end of telescopic rod passes through Hooke's hinge 422 and 413 phase of sliding block
Connection, 423 top of telescopic rod are connected by spherical hinge 424 with moving platform 425；Four-freedom parallel mechanism 42 uses 4-UPS
The parallel institution of form is, it can be achieved that a translation three rotates the movement of totally four freedom degree directions, and movement effects are good, freedom of motion
More, compact-sized and bearing capacity is strong；Hybrid mechanism 4 is applied in the present invention, is on the one hand played to 5 orientation of extinguishing device
On the other hand the adjusting of angle plays extinguishing device 5 convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention and subtracts
The effect of shake prevents jitter mistake so that extinguishing device 5 is in horizontal steady state in the case where the present invention walks jounce condition always
Security risk is caused to the fire extinguisher of storage greatly.
As shown in Figures 3 to 6, the extinguishing device 5 includes supporting plate 51, storage tube 52, fire extinguishing sliding rail 53, locking device
54, it sprays tube fixing device 55, press device 56 and unscrews device 57, and storage tube 52, fire extinguishing sliding rail 53, locking device 54, spray
Tube fixing device 55, press device 56 and to unscrew the quantity of device 57 be two；The storage tube 52 is along the longitudinal direction of supporting plate 51
Central axis is symmetrically arranged, and 52 bottom end of storage tube is mutually fixed with 51 upper surface of supporting plate, and storage tube 52 is after front opening
Closed hollow cylindrical structure is held, 52 upper front end of storage tube is opening-wide state, and fire extinguishing sliding rail 53 is respectively symmetrically fixed on storage
52 upper front end of cylinder is put, locking device 54 is mounted on 52 upper end of storage tube, and spray tube fixing device 55 is located at locking device 54 and presses
It between pressure device 56, and sprays 55 lower end of tube fixing device and is mounted on fire extinguishing sliding rail 53, unscrew device 57 and be located at press device 56
Front, and unscrew and be separately mounted at left and right sides of device 57 on fire extinguishing sliding rail 53；
As shown in Figure 3 and Figure 4, the locking device 54 includes fixed block 541, tie down screw 542,543 and of latch segment
Turntable 544；541 center position of fixed block offers and the threaded hole that external screw thread matches on tie down screw 542, lock
Tight screw rod 542 is mounted in the threaded hole of 541 upper end of fixed block, and 542 lower end of tie down screw is fixed with latch segment 543, and locks
Block 543 is arc shape structure, and 542 upper end of tie down screw is equipped with turntable 544, is provided with skid resistance strip on the outside of turntable 544；Pass through
Rotation turntable 544 drives the rotation of tie down screw 542 to realize to drive the raising and lowering of latch segment 543 to fire extinguisher
The fixed locking of stack shell.
As shown in figure 5, the spray tube fixing device 55 includes support plate 551, cross bar 552, strap 553, stretches
Connecting rod 554 and bull stick 555；551 lower end of support plate is mounted at left and right sides of 52 front end of storage tube, cross bar 552 or so two
End is separately fixed in support plate 551 at apical position, and 553 upper end of strap is provided with rotating cylinder, and rotating cylinder is mounted on cross bar 552
Middle part offers round fixing port, the company of being symmetrically arranged at left and right sides of 553 lower end of strap in the middle part of strap 553
Block is connect, 554 one end of shrinking connecting-rod is connected with link block, and 554 other end of shrinking connecting-rod is hinged with 555 one end of bull stick, bull stick
555 other ends are fixed on 551 inner sidewall of support plate；It is solid that spray tube fixing device 55 is mainly used for the clamping to fire extinguisher spray canister
It is fixed, and drive strap 553 to hang down with cross bar 552 for rotation center by the elongation of shrinking connecting-rod 554 and shortening movement
The rotation faced directly, thus the function that spray angle is adjusted when realizing fire extinguisher spray canister spraying operation.
As shown in Figure 5 and Figure 6, the device 57 of unscrewing includes unscrewing sliding block 571, unscrewing electric pushrod 572, unscrew branch
Frame 573 unscrews motor 574, unscrews shaft 575, unscrews turntable 576 and stubborn bar 577；It is described unscrew sliding block 571 and be mounted on go out
On fiery sliding rail, unscrews 572 bottom end of electric pushrod and be fixed on and unscrew on sliding block 571, unscrew 573 left and right ends of bracket and be separately fixed at
572 top of electric pushrod is unscrewed, the structure in the form of annular discs of bracket 573 is unscrewed, motor 574 is unscrewed and is fixed on and unscrew the outside of bracket 573
It on wall, unscrews 575 one end of shaft and is connected with 574 output shaft of motor is unscrewed, unscrew 575 other end of shaft and unscrew turntable 576
Between be connected by key, unscrew the circumferential direction on 576 inner side end of turntable along center axis thereof and be evenly arranged with turntable seat,
It twists 577 bottom end of bar to be mounted on the turntable seat for unscrewing turntable 576, twists 577 top of bar and be provided with stubborn block, twist the fan-shaped shape knot of block
Structure；In use, the movement of bracket 573 is unscrewed by unscrewing the drive of sliding inwardly of the sliding block 571 on fire extinguishing sliding rail 53 first,
To realize the function being inserted into stubborn bar 577 in the fan-shaped gap of fire extinguisher plum blossom wheel, then by unscrewing electric pushrod 572
The adjustable height for unscrewing bracket 573 of stretching motion, after stubborn bar 577 is inserted into fire extinguisher plum blossom wheel sector gap, then
Rotation by unscrewing the turntable seat on turntable 576 drives the rotation for twisting bar 577, and stubborn bar 577 is rotated 180 degree, prevents from twisting bar
577 longitudinal slippage, the rotation for unscrewing turntable 576 is driven finally by the rotation for unscrewing motor 574, to drive fire extinguisher plum
The rotation of floral whorl, and then fire extinguisher is opened.
As shown in figure 5, the press device 56 includes pressing sliding block 561, pressing electric pushrod 562, pressing sliding rail
563, electronic sliding block 564 and press head 565 are pressed；The pressing sliding block 561 is mounted on fire extinguishing sliding rail 53, presses electronic push away
562 bottom end of bar is fixed on pressing sliding block 561, is pressed and is separately fixed at pressing electric pushrod 562 top at left and right sides of sliding rail 563
End presses electronic sliding block 564 and is mounted on pressing sliding rail 563, and press head 565 is fixed on electronic 564 lower end of sliding block of pressing, and presses
Semi-circular recesses are offered in the middle part of pressure head 565；Pressing electronic sliding block 564 can be moved left and right on pressing sliding rail 563, thus
Duckbill valve on fire extinguisher can be aligned, press head 565 is then driven by the contractile motion of pressing electric pushrod 562
Decline, to achieve the effect that press the duckbill valve on fire extinguisher.
As shown in Figures 3 to 6, when specific operation, the fire extinguisher equipped with extinguishing chemical is placed into storage tube 52 first, is put
The front of fire extinguisher is placed outwardly when setting, and is locked by locking device 54 to fire extinguisher；Then by fire extinguisher
Spray canister be placed on spray tube fixing device 55 and be fixed, and mix up fixed angle；Again by unscrewing device 57 for stubborn bar 577
It is inserted into the plum blossom wheel of fire extinguisher, while press head 565 being aligned to the duckbill valve of fire extinguisher by press device 56；Operation
When, the plum blossom that fire extinguisher is rotated by unscrewing device 57 is taken turns, and the duckbill valve of fire extinguisher is pressed by press device 56, to realize
The effect that extinguishing chemical in fire extinguisher sprays.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (2)
1. a kind of full-automatic fire-fighting all-in-one machine type variable manipulator, it is characterised in that: including hybrid mechanism and extinguishing device；Institute
The hybrid mechanism stated is located at immediately below extinguishing device, and hybrid mechanism upper end is connected with extinguishing device；Wherein:
The hybrid mechanism includes roll-out tray and four-freedom parallel mechanism, and roll-out tray is located at four-freedom parallel mechanism
Lower section, and roll-out tray and four-freedom parallel mechanism are connected；The roll-out tray includes bottom plate, shifting sledge, sliding block, limit
Position spring and locking post, and the quantity of shifting sledge and sliding block is four, limit spring quantity is 16, and the quantity of locking post is
32；The bottom plate is fixed on four-freedom parallel mechanism, and shifting sledge is right respectively along the longitudinal center axis of bottom plate
Claim arrangement, shifting sledge both ends are respectively arranged with baffle, and sliding block is mounted on shifting sledge, and limit spring is located at sliding block and movement
Between the baffle of sliding rail, and limit spring one end is connected by locking post with the baffle of shifting sledge, the limit spring other end
It is connected by locking post with sliding block, and offers installation spiral shell on the baffle medial surface of shifting sledge and the front/rear end of sliding block
Pit, locking post one end are provided with the tight locking button for fixing limit spring, and the locking post other end is provided with and installation threaded hole
The external screw thread matched；The four-freedom parallel mechanism includes fixed platform, Hooke's hinge, telescopic rod, spherical hinge and moving platform,
And the quantity of Hooke's hinge, telescopic rod and spherical hinge is four；The fixed platform and moving platform is disc-shaped structure, and dynamic flat
Platform is located at right above fixed platform, and fixed platform upper part and moving platform end portion are respectively arranged with installation screw thread, telescopic rod
Bottom end is connected by Hooke's hinge with sliding block, and telescopic rod top end is connected by spherical hinge with moving platform；
The extinguishing device includes supporting plate, storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press device and twists
Opening apparatus, and storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press device and unscrew the quantity of device and be
Two；The storage tube is symmetrically arranged along the longitudinal center axis of supporting plate, and storage tube bottom end and supporting plate upper surface are mutually solid
Fixed, storage tube is the hollow cylindrical structure of front opening back-end closure, and storage tube upper front end is opening-wide state, sliding rail of putting out a fire
It is respectively symmetrically fixed on storage tube upper front end, locking device is mounted on storage tube upper end, and spray tube fixing device is located at locking dress
It sets between press device, and sprays tube fixing device lower end and be mounted on fire extinguishing sliding rail, unscrew before device is located at press device just
Side, and unscrew and be separately mounted at left and right sides of device on fire extinguishing sliding rail；
The spray tube fixing device includes support plate, cross bar, strap, shrinking connecting-rod and bull stick；Under the support plate
End is mounted at left and right sides of storage tube front end, and cross bar left and right ends are separately fixed in support plate at apical position, strap
Upper end is provided with rotating cylinder, and rotating cylinder is mounted in the middle part of cross bar, and round fixing port is offered in the middle part of strap, and strap lower end is left
Right two sides have been symmetrically arranged link block, and shrinking connecting-rod one end is connected with link block, the shrinking connecting-rod other end and bull stick one
End is hinged, and the bull stick other end is fixed on support plate inner sidewall；
The described device of unscrewing includes unscrewing sliding block, unscrewing electric pushrod, unscrew bracket, unscrew motor, unscrew shaft, unscrewing and turn
Disk and stubborn bar；The described sliding block of unscrewing is mounted on fire extinguishing sliding rail, is unscrewed electric pushrod bottom end and is fixed on and unscrew on sliding block, unscrews
Bracket left and right ends, which are separately fixed at, unscrews electric pushrod top, unscrews bracket structure in the form of annular discs, unscrew motor be fixed on it is stubborn
Pay wages frame lateral wall on, unscrew shaft one end and be connected with motor output shaft is unscrewed, unscrew the shaft other end with unscrew turntable it
Between be connected by key, unscrew the circumferential direction on turntable inner side end along center axis thereof and be evenly arranged with turntable seat, twist bar
Bottom end is mounted on the turntable seat for unscrewing turntable, is twisted bar top and is provided with stubborn block, twists the fan-shaped shape structure of block；
The press device includes pressing sliding block, pressing electric pushrod, pressing sliding rail, the electronic sliding block of pressing and press head；Institute
The pressing sliding block stated is mounted on fire extinguishing sliding rail, and pressing electric pushrod bottom end is fixed on pressing sliding block, pressing sliding rail or so two
Side is separately fixed at pressing electric pushrod top, presses electronic sliding block and is mounted on pressing sliding rail, press head is fixed on by piezoelectricity
Movable slider lower end, and semi-circular recesses are offered in the middle part of press head.
2. a kind of full-automatic fire-fighting all-in-one machine type variable manipulator according to claim 1, it is characterised in that: described
Locking device includes fixed block, tie down screw, latch segment and turntable；The fixed block center position offers and locking screw
The threaded hole that external screw thread matches on bar, tie down screw are mounted in the threaded hole of upper end of fixing block, and tie down screw lower end is fixed
There is latch segment, and latch segment is arc shape structure, tie down screw upper end is equipped with turntable, is provided with skid resistance strip on the outside of turntable.
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| CN201610494395.4A CN106166358B (en) | 2016-06-28 | 2016-06-28 | A kind of full-automatic fire-fighting all-in-one machine type variable manipulator |
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| CN201610494395.4A CN106166358B (en) | 2016-06-28 | 2016-06-28 | A kind of full-automatic fire-fighting all-in-one machine type variable manipulator |
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| CN106166358A CN106166358A (en) | 2016-11-30 |
| CN106166358B true CN106166358B (en) | 2019-04-16 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1104924A (en) * | 1994-01-07 | 1995-07-12 | 张平顺 | Fire-fighting robot |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN102582705A (en) * | 2012-03-09 | 2012-07-18 | 浙江理工大学 | Tread-variable center-height-adjustable disaster relief robot |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0409548D0 (en) * | 2004-04-29 | 2004-06-02 | King S College London | Robotic hand |
-
2016
- 2016-06-28 CN CN201610494395.4A patent/CN106166358B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1104924A (en) * | 1994-01-07 | 1995-07-12 | 张平顺 | Fire-fighting robot |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN102582705A (en) * | 2012-03-09 | 2012-07-18 | 浙江理工大学 | Tread-variable center-height-adjustable disaster relief robot |
| CN103862457A (en) * | 2014-03-13 | 2014-06-18 | 湖南信息职业技术学院 | Service robot with visual system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106166358A (en) | 2016-11-30 |
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Effective date of registration: 20190322 Address after: 312500 Shicicun No. 167, Rulan Town, Xinchang County, Shaoxing City, Zhejiang Province Applicant after: Xinchang Wujie Agricultural Technology Co., Ltd. Address before: 246001 315, room 1, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
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Application publication date: 20161130 Assignee: Xinchang Huandi Technology Co.,Ltd. Assignor: Xinchang Wujie Agricultural Technology Co.,Ltd. Contract record no.: X2022330000189 Denomination of invention: A variable manipulator for full-automatic fire fighting machine Granted publication date: 20190416 License type: Common License Record date: 20220609 |
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