CN105233453A - Pole-climbing and wall-climbing dual purpose fire-fighting robot - Google Patents
Pole-climbing and wall-climbing dual purpose fire-fighting robot Download PDFInfo
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- CN105233453A CN105233453A CN201510010513.5A CN201510010513A CN105233453A CN 105233453 A CN105233453 A CN 105233453A CN 201510010513 A CN201510010513 A CN 201510010513A CN 105233453 A CN105233453 A CN 105233453A
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- climbing
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- fire
- pole
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Abstract
The invention discloses a pole-climbing and wall-climbing dual purpose fire-fighting robot. A pole-climbing robot body serves as a main body of the pole-climbing and wall-climbing dual purpose fire-fighting robot. Due to the fact that usually a drain pipe of a building has few obstacles and is beneficial to climb, when the dual purpose fire-fighting robot climb to a specified height, a single wall-climbing robot body is separated through control of a motor to move freely on a wall for fire fighting and disaster prevention. The pole-climbing and wall-climbing dual purpose fire-fighting robot is composed of a manipulator, left suction cups, left crawler wheels, a manipulator II, a movable cam, right crawler wheels, right suction cups, a crank, pressing springs, a driving device, a connection rod, suction cup bases, a rotation device and the like. The movable cam and the crank are connected and driven through a cranked rod. The cranked rod is controlled to move through a pneumatic device on the crank, and accordingly the manipulators are driven to move. The rotation device can coaxially rotate with fixing frames on the two sides or can be separated from the fixing frames; in this way, the steering motion of a wall-climbing base body is controlled. The suction cup bases control the motion of a separated body after steering.
Description
Technical field
The invention belongs to fire-fighting technology field, relate to a kind of pole-climbing and climb the dual-purpose fire-fighting robot of wall.
Background technology
Scene of fire is breakneck, and it is vital for how fire-fighting equipment being delivered to ignition point fast.But catch fire if run into high level, and the intensity of a fire is swift and violent, so fire fighter is difficult to close to scene of fire, needs fire robot to perform fire extinguishing task to replace fire fighter.There are crawler type and six wheeled robot of walking on the ground and adsorbed wall-climbing rescue robots in the fire rescue robot at present our market occurred, first two situation is using motor as power, wheeled or the crawler type walking mechanism of configuration driven, but can only at land operations, can climb, obstacle-overpass, carries out the fire-fighting work at scene, ground, for high-rise fire then without the power of resisting.And for the latter, simple adsorbed wall-climbing rescue robot is often because the alternating barrier of wall, window often can not be produced the best possible results.
Summary of the invention
A kind of Disaster Relief Robot can creeped along downcomer and wall of the present invention, when high-rise building with fire disaster, first fire-fighting robot can creep along sewer, to arrive after predetermined altitude can then isolate and climb wall device, transport fire-fighting equipment.The invention provides a kind of improved climbing robot, it is based on climbing level robot, the usual barrier of downcomer due to building is less, be beneficial to climbing, so when robot climbs to specified altitude assignment, isolate single climbing robot by the control of motor, carry out the freely-movable on wall, the fire extinguishing disaster relief.The present invention is by the following technical solutions: the dual-purpose fire-fighting robot of wall is climbed in a kind of pole-climbing, taken turns (6), right sucker (7), crank (8), holddown spring (9), drive unit (10), connecting rod (11), sucker base (12), tumbler (13) disc cam in parallel (14) etc. formed by manipulator I (1), left sucker (2), left Athey wheel (3), manipulator II (4), translating cam (5), right-hand track chiain.Its main feature is that it can be born extinguishing device and climbs along downcomer, after arriving accurate location, can launch to move freely along wall, put out a fire.Translating cam (5) and manipulator (1) clamped contact mutually, crank and lower manipulator (4) clamp mutually, become drive connection.By curved bar (11) connection for transmission between translating cam (5) and crank (8), control mobile by the pneumatic shuttle of crank.Curved bar (11) is superimposed with right-hand track chiain wheel (6) in vertical direction.The integrated overturn that holddown spring (9) regulates robot is controlled by the drive unit (10) of the right and left.Sucker also can be adsorbed on wall by magnetic suck by negative-pressure adsorption.It can bear extinguishing device can be water, foam or any one, several mixing extinguishing device.Tumbler with both sides fixed mount coaxial rotation or can be separated.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that the dual-purpose fire-fighting robot of wall is climbed in a kind of pole-climbing of the present invention;
Detailed description of the invention
The dual-purpose fire-fighting robot of wall is climbed in pole-climbing, is taken turns (6), right sucker (7), crank (8), holddown spring (9), drive unit (10), connecting rod (11), sucker base (12), tumbler (13) etc. formed by manipulator I (1), left sucker (2), left Athey wheel (3), manipulator II (4), translating cam (5), right-hand track chiain.By curved bar (11) connection for transmission between translating cam (5) and crank (8), control curved bar by the pneumatic shuttle of crank and move, thus driving mechanical hands movement.Tumbler with both sides fixed mount coaxial rotation or can be separated, and controls the divertical motion of climbing wall matrix.Sucker base (12) then controls the motion of the chorista after turning to.
In an initial condition, lower manipulator (4) clamping, upper manipulator (1) are unclamped, and lower translating cam (5) is and then contained on the output shaft of motor.Motor turns round, the disc cam in parallel (14) that driving crank (8) and lift angle and crank are fixed together rotates clockwise, promote lower mechanical arm to swing, the upper translating cam (5) that drive simultaneously and connecting rod connect moves down, and in promotion, mechanical arm swings.Instantly when cam (14) turns over, lower manipulator unclamps, and overhead cam is moved downward to idle stroke simultaneously, and upper manipulator promptly.Motor continues in turning course, and lower manipulator unclamps, and motor lower portion is up moved under the lifting pulling force of motor, when crank (8) and connecting rod (11) overlapping conllinear, robot bottom is promoted, and goes round and begins again, and robot constantly moves upward.
When robot climbs to specified altitude assignment, coordinate holddown spring (9) to control sucker base (12) by the motor (10) of the right and left and do fixed-axis rotation along edge bars, and turn to opposite side.Simultaneously by both sides Electric Machine Control crawler belt air-breathing under chassis, be adsorbed on wall by the effect of negative pressure by crawler belt climbing robot, locking is opened with the returning of bar, by the four groups of motors motion up and down of control on wall respectively at Athey wheel place.
Claims (8)
1. the dual-purpose fire-fighting robot of wall is climbed in a pole-climbing, by manipulator I (1), left sucker (2), left Athey wheel (3), manipulator II (4), translating cam (5), right-hand track chiain wheel (6), right sucker (7), crank (8), holddown spring (9), drive unit (10), connecting rod (11), sucker base (12), the compositions such as tumbler (13) disc cam in parallel (14), it is characterized in that it can be born extinguishing device and climb along downcomer, after arriving accurate location, can launch to move freely along wall, put out a fire.
2., according to the device described in claim one, it is characterized in that translating cam (5) and manipulator (1) clamped contact mutually, crank and lower manipulator (4) clamp mutually, become drive connection.
3. according to the device described in claim one, it is characterized in that by curved bar (11) connection for transmission between translating cam (5) and crank (8), control mobile by the pneumatic shuttle of crank.
4., according to the device described in claim one, it is characterized in that curved bar (11) is superimposed with right-hand track chiain wheel (6) in vertical direction.
5., according to the device described in claim one, it is characterized in that controlling by the drive unit of the right and left (10) integrated overturn that holddown spring (9) regulates robot.
6., according to the device described in claim one, it is characterized in that sucker also can be adsorbed on wall by magnetic suck by negative-pressure adsorption.
7. according to the device described in claim one, it is characterized in that it can bear extinguishing device can be water, foam or any one, several mixing extinguishing device.
8., according to the device described in claim one, it is characterized in that tumbler with both sides fixed mount coaxial rotation or can be separated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510010513.5A CN105233453A (en) | 2015-01-09 | 2015-01-09 | Pole-climbing and wall-climbing dual purpose fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510010513.5A CN105233453A (en) | 2015-01-09 | 2015-01-09 | Pole-climbing and wall-climbing dual purpose fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105233453A true CN105233453A (en) | 2016-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510010513.5A Pending CN105233453A (en) | 2015-01-09 | 2015-01-09 | Pole-climbing and wall-climbing dual purpose fire-fighting robot |
Country Status (1)
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| CN (1) | CN105233453A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310652A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot of wall is climbed in a kind of pole-climbing |
| CN107310650A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot pole-climbing mechanism of wall is climbed in a kind of pole-climbing |
| CN107310649A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot Pan Bi mechanisms of wall are climbed in a kind of pole-climbing |
| CN107867343A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of double firefighting robots of creeping |
| CN108340364A (en) * | 2017-01-24 | 2018-07-31 | 南京原觉信息科技有限公司 | Crawling machine device and its dispositions method |
| CN110215639A (en) * | 2019-07-01 | 2019-09-10 | 北京力升高科科技有限公司 | A kind of switching of water band and ejection system |
| CN112426651A (en) * | 2020-11-24 | 2021-03-02 | 胡永星 | Wall-climbing fire-fighting robot |
-
2015
- 2015-01-09 CN CN201510010513.5A patent/CN105233453A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310652A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot of wall is climbed in a kind of pole-climbing |
| CN107310650A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot pole-climbing mechanism of wall is climbed in a kind of pole-climbing |
| CN107310649A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot Pan Bi mechanisms of wall are climbed in a kind of pole-climbing |
| CN107867343A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of double firefighting robots of creeping |
| CN108340364A (en) * | 2017-01-24 | 2018-07-31 | 南京原觉信息科技有限公司 | Crawling machine device and its dispositions method |
| CN110215639A (en) * | 2019-07-01 | 2019-09-10 | 北京力升高科科技有限公司 | A kind of switching of water band and ejection system |
| CN110215639B (en) * | 2019-07-01 | 2023-08-15 | 北京力升高科科技有限公司 | Water hose switching and ejection system |
| CN112426651A (en) * | 2020-11-24 | 2021-03-02 | 胡永星 | Wall-climbing fire-fighting robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160113 |