CN104689940B - Accident decontamination robot is revealed in a kind of chemical plant - Google Patents
Accident decontamination robot is revealed in a kind of chemical plant Download PDFInfo
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- CN104689940B CN104689940B CN201510104025.0A CN201510104025A CN104689940B CN 104689940 B CN104689940 B CN 104689940B CN 201510104025 A CN201510104025 A CN 201510104025A CN 104689940 B CN104689940 B CN 104689940B
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Abstract
The present invention proposes a kind of chemical plant and reveals accident decontamination robot, including controlling organization, carrier frame, BOGEY WHEEL mechanism and water mist system, BOGEY WHEEL mechanism is arranged on carrier frame bottom, water mist system is arranged on carrier frame top, carrier frame and BOGEY WHEEL mechanism are coated with crawler belt, the BOGEY WHEEL mechanism includes support wheel, support wheel is connected with wheel shaft is supported, wheel shaft is supported to be connected with support bar, support bar and damping base, rolling bearing units are connected, damping base is connected with decoupling rod, decoupling rod is provided with adjusting ring, spring is set on decoupling rod and spring pedestal is spacing by adjusting ring, the back-up ring at decoupling rod top is connected with steel shaft, also a steel shaft is connected with rolling bearing units, steel shaft two ends are connected with steel shaft folder.The present invention can substitute staff, arrival when hazardous chemical occurs leakage closest to where scene, it is possible to use water mist system carries out decontamination operation, prevents workman from entering the secondary injury that field operation causes.
Description
Technical field
The present invention relates to a kind of fire-fighting robot, and in particular to a kind of for there is the temporary substitute of leakage epoch in hazardous chemical
The robot of decontamination operation is carried out as personnel.
Background technology
In recent years, Frequent Accidents are revealed in chemical plant, cause great casualties and property loss.In Chemical Manufacture
Three kinds of major accidents：Fire, poison gas are revealed and corrosion may all produce the environment that people cannot be close, and environment may be made
Become permanent damage, at this moment need staff wear biochemical defence suit or other chemical defence measures near scene carry out decontamination operation with
Eliminate the harm of environment.
So-called decontamination, refers to eliminate the major measure of contamination body and contaminated area toxic hazard, therefore hazardous chemical disaster
In accident handling, decontamination is a very important requisite link.The wash bags that disappear include physical method and chemical method, either
Physical method or chemical method, are required for the hand-held relevant device of staff to enter hazardous environment and implement decontamination operation, so
The possibility that personnel produced with secondary injury undoubtedly increased.If now there is a robot substitute people in decontamination process
Work, the personnel that substantially reduce are produced the possibility of injures and deaths, and robot can go deep into most dangerous region, carry more decontaminations
Agent, its operating efficiency can be far longer than manually, and robot time is short, can quickly enter the scene of the accident, as far as possible
Early input rescue or decontamination.
Recently as material science, sensing technology, large scale integrated circuit development, robot technology is complete day by day
Kind, the application of robot is also more and more extensive.As robot is applicable to the occasion being pernicious to people, can break through human physique's
The advantages of limitation so which has the unrivaled advantage of the mankind in disaster relief foreign lands, and will gather around and hold out broad prospects.
At the same time, with the development of national economy, surge to various daily necessities demands, all kinds of chemical plant time
The cloth whole nation.All there is HTHP, poisonous and harmful environment and the hidden danger of accident occur in most of chemical plant.Countless accident cases
Example shows that the chemical industry of China allows of no optimist safely.In a lot of chemical plant, for example chlor-alkali plant, fertilizer production plant etc., often send out
The situation of raw toxic and harmful leakage.For such case, safe processing scheme is there is no.Such as certain chemical fertilizer production enterprise
2011 occur ammonia valve leak accident, be finally think section chief wear biochemical defence suit rush in leak workshop block valve, most
Cause section chief's respiratory tract serious burn eventually, eternal cries out.
Comprehensive background above, a can hazardous chemical occur leakage when replace people reach closest to scene where profit
Decontamination operation is carried out with water mist system, even completes the simple robot for such as closing the tasks such as valve very with manipulator
It is necessary.It certainly will can be punched in most dangerous front, farthest reduce casualties and property loss.
Relatively early in the world carry out fire-fighting robot research is the U.S. and the former Soviet Union, after a while Britain, Japan, France, Germany
Deng national such technology that also begins one's study one after another.The fire-fighting robot of existing many kinds difference in functionality is used for disaster relief scene at present.
As Japanese disaster takes place frequently, the therefore heavier research and development regarding fire-fighting robot.Such as main-auxiliary vehicle fire-fighting robot, using internal combustion engine
For power, with four rubber wheel drive, water cannon is sprayed equipped with big flow, farthest jet length is up to 150m, while the robot
That equipped has gas detecting instrument and television monitor equipment.Except Japan, also there is fire-fighting machine in the country such as the U.S., France, former Soviet Union
People is come into operation.Shanghai Fire-Fighting Science Inst., The Ministry of Public Security of China also have developed multiple automatic fire controls under the support of the Ministry of Public Security
Facility and fire-fighting robot.Including " self propelled monitor " (six wheel firefighting fire extinguishing robots), the robot has independent outstanding
Six wheels that hangs, are equipped with remote control fire monitor and the double feed systems of water, foam.Control aspect, the machine built with environment with
Vehicle body temperature-sensing system, Active Eyes and corded power supply and control system, can be in the behaviour of fireman
Go deep into the scene of a fire under work, carry out fire extinguishing and chemical decontamination.
In general, fire-fighting robot includes following sections：（1）Motion parts, i.e., by internal combustion engine or Motor drive
The chassis for having certain obstacle climbing ability, some use crawler belts, some use wheels.（2）Fire plant, generally includes water storage device
（Had is directly connected to fire fighting truck or other water sources, can this device of nothing）, pipeline, spray gun, pump, Burners Positions adjusting means
Deng.（3）Control section, some employing controlled in wireless, had have carried out line traffic control with cable.Generally there is wireless video monitoring, each
Plant sensor auxiliary operator to manipulate robot.
In prior art, although have very eurypalynous robot, can be dedicated for decontamination operation but temporarily do not find
Robot.The composition of decontamination robot is very similar with general fire-fighting robot, but has its special character.Due to entrained
Decontamination solution be possible to can band be corrosive, and leak scene is probably hot and humid, poisonous and harmful, full of smoke, this
Safeguard procedures all to decontamination robot and detection measure propose requirements at the higher level.
Content of the invention
The present invention proposes a kind of chemical plant and reveals accident decontamination robot, can be when hazardous chemical occurs leakage
Staff, arrival are substituted closest to where scene, it is possible to use water mist system carries out decontamination operation, prevents workman's entrance
The secondary injury that field operation causes.
The technical scheme is that and be achieved in that：Accident decontamination robot is revealed in a kind of chemical plant, including control machine
Structure, carrier frame, BOGEY WHEEL mechanism and water mist system, BOGEY WHEEL mechanism are arranged on carrier frame bottom, and water mist system sets
Put on carrier frame top, carrier frame and BOGEY WHEEL mechanism are coated with crawler belt, the BOGEY WHEEL mechanism includes support wheel,
Support wheel is connected with wheel shaft is supported, and supports wheel shaft to be connected with support bar, and support bar is connected with damping base, rolling bearing units, damping bottom
Seat is connected with decoupling rod, and decoupling rod is provided with adjusting ring, and spring is set on decoupling rod and spring pedestal is spacing by adjusting ring, subtracts
The back-up ring in shake masthead portion is connected with steel shaft, is also connected with a steel shaft on rolling bearing units, and steel shaft two ends are connected with steel shaft folder.
The carrier frame includes drive part, cross tube, sheer pole, upper montant, lower montant, and cross tube, sheer pole lead to
Cross connecting rod to be connected, cross tube is vertical with upper montant to be connected, and sheer pole is vertical with lower montant to be connected, the steel shaft at rolling bearing units two ends
Folder is connected with lower montant, and two steel shaft folders at decoupling rod top are connected with upper montant.
The drive part includes motor, and motor is arranged on electric machine support, and motor passes through drive sprocket, driven chain wheel belt
Dynamic driving wheel is rotated, and the live axle of driving wheel is connected with upper montant by rolling bearing units.
The water mist system include water tank, water tank and ratio mixing valve be connected, another entrance of ratio mixing valve with wash
The agent storage tank that disappears is connected, and the delivery port of ratio mixing valve is connected with high-pressure plunger pump, and high-pressure plunger pump is connected with power source, high-pressure column
The delivery port of plug pump is connected with pressure gauge, spray gun.
Overflow pressure-reducing valve is also connected with flexible pipe between high-pressure plunger pump and pressure gauge, and overflow pressure-reducing valve is also connected to ratio
On flexible pipe between mixing valve, high-pressure plunger pump.
Also include monitoring system, monitoring system includes lithium battery and the electric pushrod being fixed on carrier frame, electronic push away
Bar is connected with camera, and lithium battery is coated with one layer of aluminum hull.
The electric pushrod top is connected with camera bottom base through after connecting hole, and connecting hole is arranged on connection
On plate, upper junction plate is vertically connected with middle connecting plate, and middle connecting plate is vertically connected with the lower connecting plate of L-type.
There is certain obstacle climbing ability in the robot of the present invention, can carry decontamination solution as much as possible with remote wireless control,
Decontamination operation is carried out using water mist system, the height of shower nozzle, direction can be adjusted, and decontamination flow quantity can also be adjusted.This
Bright replacement staff enters decontamination scene, is prevented from the harmful substances such as poison, the mist at scene and damages staff.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic front view of the present invention.
Fig. 2 regards schematic diagram for the right side of Fig. 1.
Fig. 3 is the schematic top plan view of Fig. 1.
Fig. 4 is the structural representation of load-bearing wheel construction.
Fig. 5 is carrier frame and load-bearing wheel construction connection status schematic diagram.
Fig. 6 is elevational schematic view in Fig. 5.
Fig. 7 is the schematic top plan view of Fig. 5.
Fig. 8 is the left view schematic diagram of Fig. 5.
Fig. 9 is load-bearing wheel construction catenation principle figure.
Figure 10 is the structural representation of through position.
Figure 11 is the theory diagram of water mist system.
Figure 12 is the theory diagram of slave computer control section.
Wherein：1. carrier frame, 1-1. driving wheel, 1-2. driven sprocket, 1-3. chain, 1-4. cross tube, 1-5. motor
Support, 1-6. motor, the upper montant of 1-7., 1-8. live axle, 1-9. sheer pole, 1-10. drive sprocket, 1-11. axle
Back-up ring is held, montant under 1-12., 1-13. connecting rod, 2. BOGEY WHEEL mechanism, 2-1. steel shaft, 2-2. back-up ring, 2-3. steel shaft
Folder, 2-4. spring, 2-5. adjusting ring, 2-6. rolling bearing units, 2-7. support bar, 2-8. damping base, 2-9. support wheel,
2-10. supports wheel shaft, 2-11. decoupling rod, 3. water mist system, 3-1. water tank, 3-2. decontaminant storage tank, 3-3. ratio
Mixing valve, 3-4. high-pressure plunger pump, 3-5. overflow pressure-reducing valve, 3-6. pressure gauge, 3-7. spray gun, 3-8. power source, 4.
Crawler belt, 5. electric pushrod, 6. camera, 7. water pump, 8. lithium battery, 9. upper support, 10. through position, 10-1.
Connecting hole, 10-2, upper junction plate, 10-3. middle connecting plate, 10-4. lower connecting plate.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not paid
Embodiment, belongs to the scope of protection of the invention.
As shown in accompanying drawing 1 ~ 10, accident decontamination robot is revealed in a kind of chemical plant, including controlling organization, carrier frame 1, is held
Roller mechanism 2 and water mist system 3, BOGEY WHEEL mechanism 2 are arranged on 1 bottom of carrier frame, and water mist system 3 is arranged on chassis frame
1 top of frame, carrier frame 1 and BOGEY WHEEL mechanism 2 are coated with crawler belt 4, and the BOGEY WHEEL mechanism 2 includes support wheel 2-9, support
Wheel 2-9 is connected with wheel shaft 2-10 is supported, and supports wheel shaft 2-10 to be connected with support bar 2-7, support bar 2-7 and damping base 2-8, band
Seat bearing 2-6 is connected, and damping base 2-8 is connected with decoupling rod 2-11, and decoupling rod 2-11 is provided with adjusting ring 2-5, spring 2-4 set
It is located on decoupling rod 2-11 and spring 2-4 bottom is spacing by adjusting ring 2-5, the back-up ring 2-2 at decoupling rod 2-11 top and steel shaft 2-1
It is connected, steel shaft 2-1 on rolling bearing units 2-6, is also connected with, steel shaft 2-1 two ends is connected with steel shaft folder 2-3.
In the present invention, each BOGEY WHEEL mechanism 2 each side arranges a support wheel 2-9,1 bottom of carrier frame or so
Both sides are respectively connected with four groups or more BOGEY WHEEL mechanisms 2, and decoupling rod 2-11, spring 2-4 and damping base 2-8 play damping work
With, BOGEY WHEEL mechanism is fixed on carrier frame by steel shaft folder 2-3, and whole BOGEY WHEEL mechanism forms a triangular structure, its
The side at middle decoupling rod 2-11 place is long and short to be changed, and play main cushioning effect.
Preferably, the carrier frame 1 includes drive part, cross tube 1-4, sheer pole 1-9, upper montant 1-7, lower perpendicular
Bar 1-12, cross tube 1-4, sheer pole 1-9 are connected by connecting rod 1-13, and cross tube 1-4 is vertical with upper montant 1-7 to be connected, under
Cross bar 1-9 is vertical with lower montant 1-12 to be connected, and the steel shaft folder 2-3 at rolling bearing units 2-6 two ends is connected with lower montant 1-12, decoupling rod
Two steel shaft folder 2-3 at 2-11 top are connected with upper montant 1-7.The drive part includes that motor 1-6, motor 1-6 are arranged on
On electric machine support 1-5, motor 1-6 drives driving wheel 1-1 to rotate by drive sprocket 1-10, driven sprocket 1-2, driving wheel 1-1
Live axle 1-8 be connected with upper montant 1-7 by rolling bearing units.Live axle 1-8 is provided with end ring 1-11.
Wherein, carrier frame 1 has and drives and the double function of load-bearing：1. driving function, carries when motor 1-6 is rotated
Dynamic drive sprocket 1-10 is rotated, and drive sprocket 1-10 drives driven sprocket 1-2 to rotate by chain 1-3, and driven sprocket 1-2 and
Driving wheel 1-1 is coaxially disposed, and when driving wheel 1-1 is rotated, drives whole device to move forward；2. weight-bearing function：By chassis
Framework and BOGEY WHEEL mechanism complete jointly, and cross tube 1-4, upper montant 1-7 are directly contacted with load-carrying, by between cross bar, montant
Connection is built, finally load-carrying is completed by BOGEY WHEEL mechanism, damping assume responsibility for the double action of partial weight-bearing and damping.
As shown in figure 11, the water mist system 3 includes that water tank 3-1, water tank 3-1 and ratio mixing valve 3-3 are connected, ratio
Another entrance of mixing valve 3-3 is connected with decontaminant storage tank 3-2, the delivery port of ratio mixing valve 3-3 and high-pressure plunger pump 3-4 phase
Even, high-pressure plunger pump 3-4 is connected with power source 3-8, and the delivery port of high-pressure plunger pump 3-4 is connected with pressure gauge 3-6, spray gun 3-7.
Also it is connected with overflow pressure-reducing valve 3-5, overflow pressure-reducing valve 3-5 to be also connected on flexible pipe between high-pressure plunger pump 3-4 and pressure gauge 3-6
On flexible pipe between ratio mixing valve 3-3, high-pressure plunger pump 3-4.
Water mist system is the major part for playing decontamination effect in whole device, high-pressure plunger pump 3-4, decontaminant storage tank
On carrier frame, power source 3-8 imparts power to high-pressure plunger pump 3-4 to 3-2, and the outlet of high-pressure plunger pump 3-4 connects
The outlet for having overflow pressure-reducing valve 3-5, overflow pressure-reducing valve 3-5 is connected with decontamination spray gun 3-7 by high-pressure hose.High-pressure plunger
When pump 3-4 works, water and decontamination agent composition spray gun 3-7 are sprayed, it is achieved that decontamination works, and water pump 7 then can be to water
Water-filling in case 3-1.Upper support 9 is connected with carrier frame, and water pump 7 etc. is disposed on bracing frame 9.
As the scene of revealing there may be, poisonous or powered dust invades control circuit or power supply can cause corrosion
Or short circuit, therefore dust-proof grade needs to reach 6, that is, entirely prevent foreign object or dust to enter.Because front end is water mist system, can produce
Life can be floatd in the presence of air-flow to around control box or power supply in a large number from the water mists of all directions, water mist system
Leak as the problem for sealing has part water droplet, splashing water droplet may be formed, therefore fixed for the classification of waterproof of circuit
Dust-proof 4 grades for IP（Prevent splashing water from immersing）.Control box in the present invention should reach IP64 standard, control box be one hermetically sealed
Structure, be ensure heat sink body by fine aluminium casting form, where outlet is PG9 water joint, switch be anti-
Water ship type is switched；Main body and upper lid are flange connections, and there is rubber seal centre, for convenience of situation in observation box, lid
Poly (methyl methacrylate) plate is used, is a closed space inside such control box.
Present invention additionally comprises monitoring system, monitoring system includes the lithium battery 8 being fixed on carrier frame and electric pushrod
5, electric pushrod 5 is connected with camera 6, and lithium battery 8 is coated with one layer of aluminum hull.Arranging aluminum hull can increase the waterproof of lithium battery
Performance, is prevented from fine grinding and splashes, and the interface of battery can adopt PG9 water joint.Preferably, 5 top of the electric pushrod passes through
It is connected with 6 bottom base of camera after connecting hole 10-1, connecting hole 10-1 is arranged on upper junction plate 10-2, upper junction plate
10-2 is vertically connected with middle connecting plate 10-3, and middle connecting plate 10-3 is vertically connected with the lower connecting plate 10-4 of L-type, and is sprayed
Rifle 3-7 is arranged on lower connecting plate 10-4, and when electric pushrod 5 works, camera and spray gun 3-7 are moved together, so
It is easy to camera to record the working condition of spray gun 3-7.
The angle, just of spray gun can be adjusted when work, to adapt to field operation.
Heretofore described controlling organization is divided into two large divisions：PC control part and slave computer control section.
PC control part includes controller, host computer and wireless communication module, its Main Function be by controller
The control word that information becomes to meet communication protocol by the reading of host computer and conversion is sent to slave computer.While host computer also has
There is the function of wireless video communication, pass through transmission of wireless signals scene image information using IP Camera.
Slave computer control section can be divided into two parts：Power section and water mists part.Power section includes 2 120W
Direct current generator；Water mists part includes：One water pump, magnetic valve, an elevating lever and a horizontal stage electric machine.Wherein move
Power part and water mists part need to use MCU control, and slave computer control principle is as shown in figure 12.
Upper parts can achieve following two tasks：（1）Read rocking bar control signal；（2）Control signal is extracted, is divided
Solution, sends the character string for meeting communication protocol to slave computer by serial ports；
The control that LabVIEW is carried can easily read the information of rocking bar, it is only necessary to rocking bar is inserted into after computer U mouth and is pacified
Dress drives.In the application, controller is a flight rocking bar for PC, with 3 rotary shafts, 4 buttons, is respectively：x
Turn to before and after axle and y-axis control and in advancing, z-axis controls pivot stud.X-axis is a reference value, and y-axis is difference value, advances x-axis
When LabVIEW read its coordinate value value（-43000-43000）, positive negative indication direction, numerical value represent size and even variation.Logical
That crosses numerical value changes into the motor control signal that two values represent, is direction position respectively（0 rotates forward, and 1 is anti-）And pwm
Position, is sent to slave computer to control body movement.
The most important function of host computer be control signal is collected after reasonably process, change into and can directly transmit
Rs 232 serial interface signal to slave computer.According to communication protocol and the information of rocking bar, the control word of 11 bytes is produced by host computer
Symbol string.Control mainly has following several states：1. the y-axis of rocking bar represents the motor of the radix of throttle, i.e., two in x-axis side-play amount
For output valve when 0, but on the radix representated by y-axis being taken as deflection factor after x-axis deflects, therefore can be expert at
Enter the steering of middle control vehicle；2. the rotation of z-axis can produce a vector, extract its direction and size, distribute to two electricity
Machine, produces two identical, in opposite direction pwm values of size so as to pivot stud；3. button 1 controls the switch of magnetic valve, presses
The opening and closing of 2 controlling pump of key, the lifting of both direction key control push-rod electric machine.
The application carries out the transmission of screen signal using with WIFI.Picture signal is gathered simultaneously certainly by a camera 6
Move and WIFI signal is distributed into, then use host computer（Notebook computer）The upper wireless camera of wireless network card connection LAN,
Can carry out seeing realtime graphic on host computer.
Slave computer software can complete two tasks：（1）The serial port communication data that host computer is sended over is parsed, and is read
Take each control bit；（2）The PC control position signal for reading is changed into the slave computer control that can directly control corresponding module
Signal processed, controls two Motor drives and four relays respectively, complete to two motors, a water pump, a magnetic valve and
The manipulation of one elevating lever.
In the application, robot performance's parameter testing list is as follows
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement that is made etc., should be included within the scope of the present invention.
Claims (5)
1. accident decontamination robot is revealed in a kind of chemical plant, including controlling organization, carrier frame（1）, BOGEY WHEEL mechanism（2）With thin
Spraying system（3）, BOGEY WHEEL mechanism（2）It is arranged on carrier frame（1）Bottom, water mist system（3）It is arranged on carrier frame（1）
Top, carrier frame（1）With BOGEY WHEEL mechanism（2）It is coated with crawler belt（4）, it is characterised in that：The BOGEY WHEEL mechanism（2）Bag
Include support wheel（2-9）, support wheel（2-9）With support wheel shaft（2-10）It is connected, supports wheel shaft（2-10）With support bar（2-7）Phase
Even, support bar（2-7）With damping base（2-8）, rolling bearing units（2-6）It is connected, damping base（2-8）With decoupling rod（2-11）Phase
Even, decoupling rod（2-11）It is provided with adjusting ring（2-5）, spring（2-4）It is set in decoupling rod（2-11）Upper and spring（2-4）Base
By adjusting ring（2-5）Spacing, decoupling rod（2-11）The back-up ring at top（2-2）With steel shaft（2-1）It is connected, rolling bearing units（2-6）On
Also a steel shaft is connected with（2-1）, steel shaft（2-1）Two ends are connected with steel shaft folder（2-3）；
The carrier frame（1）Including drive part, cross tube（1-4）, sheer pole（1-9）, upper montant（1-7）, lower montant（1-
12）, cross tube（1-4）, sheer pole（1-9）By connecting rod（1-13）It is connected, cross tube（1-4）With upper montant（1-7）Vertically
Connection, sheer pole（1-9）With lower montant（1-12）Vertical connection, rolling bearing units（2-6）The steel shaft folder at two ends（2-3）With lower montant
（1-12）It is connected, decoupling rod（2-11）Two steel shaft folders at top（2-3）With upper montant（1-7）It is connected；
The water mist system（3）Including water tank（3-1）, water tank（3-1）With ratio mixing valve（3-3）It is connected, ratio mixing valve
（3-3）Another entrance and decontaminant storage tank（3-2）It is connected, ratio mixing valve（3-3）Delivery port and high-pressure plunger pump（3-4）
It is connected, high-pressure plunger pump（3-4）With power source（3-8）It is connected, high-pressure plunger pump（3-4）Delivery port and pressure gauge（3-6）, spray
Rifle（3-7）It is connected.
2. accident decontamination robot is revealed in the chemical plant according to claim 1, it is characterised in that：The drive division subpackage
Include motor（1-6）, motor（1-6）It is arranged on electric machine support（1-5）On, motor（1-6）By drive sprocket（1-10）, driven chain
Wheel（1-2）Drive driving wheel（1-1）Rotate, driving wheel（1-1）Live axle（1-8）By rolling bearing units and upper montant（1-
7）It is connected.
3. accident decontamination robot is revealed in the chemical plant according to claim 1, it is characterised in that：High-pressure plunger pump（3-4）
With pressure gauge（3-6）Between flexible pipe on be also connected with overflow pressure-reducing valve（3-5）, overflow pressure-reducing valve（3-5）It is also connected to ratio to mix
Close valve（3-3）, high-pressure plunger pump（3-4）Between flexible pipe on.
4. accident decontamination robot is revealed in the chemical plant according to one of claim 1 ~ 3, it is characterised in that：Also include prison
Control system, monitoring system include the lithium battery being fixed on carrier frame（8）And electric pushrod（5）, electric pushrod（5）With shooting
Head（6）It is connected, lithium battery（8）It is coated with one layer of aluminum hull.
5. accident decontamination robot is revealed in chemical plant according to claim 4, it is characterised in that：The electric pushrod（5）
Top passes through connecting hole（10-1）Afterwards and camera（6）Bottom base is connected, connecting hole（10-1）It is arranged on upper junction plate
（10-2）On, upper junction plate（10-2）With middle connecting plate（10-3）It is vertically connected, middle connecting plate（10-3）Under L-type
Connecting plate（10-4）It is vertically connected.
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| CN201510104025.0A CN104689940B (en) | 2015-03-10 | 2015-03-10 | Accident decontamination robot is revealed in a kind of chemical plant |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510104025.0A CN104689940B (en) | 2015-03-10 | 2015-03-10 | Accident decontamination robot is revealed in a kind of chemical plant |
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| CN104689940A CN104689940A (en) | 2015-06-10 |
| CN104689940B true CN104689940B (en) | 2017-03-08 |
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| CN111330048A (en) * | 2020-03-09 | 2020-06-26 | 安徽荣国环保智能科技有限公司 | Intelligent robot sterilizer |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN112933483B (en) * | 2021-03-31 | 2022-09-23 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
| CN115401671B (en) * | 2022-11-02 | 2023-03-14 | 西安彬林电子科技有限公司 | Multifunctional wheeled industrial intelligent inspection robot |
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| US7252349B2 (en) * | 2004-11-19 | 2007-08-07 | Caterpillar Inc | Idler recoil and adjustment system for track type work machine |
| CN202497643U (en) * | 2012-02-27 | 2012-10-24 | 中国科学技术大学苏州研究院 | Movable water mist extinguishment and decontamination device |
| CA2878283C (en) * | 2012-07-06 | 2020-07-21 | Mtd Products Inc | Suspension and lock-out systems for a tracked vehicle |
| CN203060641U (en) * | 2013-01-23 | 2013-07-17 | 鞍山泰工工程机械股份有限公司 | Intelligent crawler-type firefighting robot |
| CN203458713U (en) * | 2013-07-31 | 2014-03-05 | 河北工程大学 | Crawler type fire-fighting robot |
| CN103706071A (en) * | 2013-12-17 | 2014-04-09 | 雅化集团绵阳实业有限公司 | Fire-fighting robot |
| CN204486105U (en) * | 2015-03-10 | 2015-07-22 | 郑州大学 | A kind of chemical plant leakage accident decontamination robot |
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