CN105797295A - Track firefighting robot - Google Patents
Track firefighting robot Download PDFInfo
- Publication number
- CN105797295A CN105797295A CN201610303161.7A CN201610303161A CN105797295A CN 105797295 A CN105797295 A CN 105797295A CN 201610303161 A CN201610303161 A CN 201610303161A CN 105797295 A CN105797295 A CN 105797295A
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- China
- Prior art keywords
- fire
- control
- rocking bar
- fighting robot
- water cannon
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Abstract
The invention discloses a track firefighting robot. The track firefighting robot comprises a chassis, a left track, a right track, a driving assembly, a remote controller and a circuit part, and is characterized in that a top plate is arranged above the chassis; a transfer pipe is arranged on the top plate; a fire hose butt joint port is formed in the back end of the chassis; a spraying head is fixed on an upper port of the transfer pipe; the top plate is fixed with a horizontal rotating motor for driving the transfer pipe to rotate in the horizontal plane; the transfer pipe is fixed with a pitching motion motor for driving the spraying head to perform pitching rotation; and the spraying head is provided with a water spraying state selecting motor for adjusting a water column state. The track firefighting robot can replace firefighters to spray water for extinguishing near a fire scene, reduces the working danger of the firefighters, largely relieves the working danger and the physical loss of the firefighters, facilitates quick fire extinguishing, and facilitates protection of life safety of the firefighters to the greatest extent.
Description
Technical field
The present invention relates to a kind of crawler type fire-fighting robot, in particular, particularly relate to a kind of fireman of replacement and injector head is brought to the scene of a fire and the crawler type fire-fighting robot of injection direction adjustment can be carried out.
Background technology
Fire-fighting is the important step of city, forest fire protection construction, on-the-spot at many fire rescues, it is necessary to the hand-held injector head alignment burning things which may cause a fire disaster of firefighters, just can reach extinguishing effect.Owing to fireman's distance burning things which may cause a fire disaster is excessively near, the life security of entail dangers to firefighters in a lot of situations, therefore, if one can be had can to bring near burning things which may cause a fire disaster by injector head, and the direction of adjustable injector head carries out the equipment put out a fire, fireman will be substituted close to scene of a fire sprinkling fire, reduce the work risk of fireman, significantly alleviate work risk and the physical ability loss of fireman.
Summary of the invention
The present invention shortcoming in order to overcome above-mentioned technical problem, it is provided that injector head is brought to the scene of a fire and can carry out the crawler type fire-fighting robot of injection direction adjustment by a kind of fireman of replacement.
The crawler type fire-fighting robot of the present invention, including chassis, left crawler belt, right-hand track chiain, drive assembly, remote controller and the circuit part controlling fire-fighting robot operation, chassis and drive assembly may be contained within left crawler belt and right-hand track chiain, left crawler belt, right-hand track chiain are respectively arranged with and order about left side servomotor and the right side servomotor that drive assembly is run；It is particular in that: described chassis be provided above top board, top board is provided with transfer tube, the rear end on chassis is provided with the fire hose docking port that the lower port with transfer tube communicates, and the upper port of transfer tube is fixed with injector head；Top board is fixed with the motor that horizontally rotates ordering about transfer tube at horizontal rotation in surface, transfer tube is fixed with the elevating movement motor ordering about injector head pitch rotation, injector head is provided with the water spray condition selecting motor that water column state is adjusted.
The crawler type fire-fighting robot of the present invention, described injector head is fixed with water cannon photographic head, with gather water spray scenic picture, chassis be fixedly arranged at the front end with walking photographic head, with gathers walk road picture；Described injector head is fixed with and gathers picture for uploading and receive the wireless transceiver of remote controller control command.
The crawler type fire-fighting robot of the present invention, described circuit part is made up of Data Control processing unit, Vehicular battery, dual-mode wireless transceiver module and signal processing module, dual-mode wireless transceiver module and Data Control processing unit are powered by Vehicular battery through internal electric source module, Data Control processing unit passes through the performance element control to channel processing module, for receiving the view data of walking photographic head and water cannon camera collection, and through dual-mode wireless transceiver module, the view data gathered is sent to remote controller；Data Control processing unit is connected to brushless servo motor controller and brush motor controller through CAN control unit, brushless servo motor controller is for being controlled the running status of left side servomotor and right side servomotor, and brush motor controller is for being controlled the operation horizontally rotating motor, elevating movement motor and water spray condition selecting motor.
The crawler type fire-fighting robot of the present invention, described remote controller is made up of signal processing unit and coupled walking rocking bar, water cannon rocking bar, video wireless module, signal wireless module, video wireless module is connected to video display screen, and signal wireless module, video wireless module are connected to signal antenna, video antenna；Walking rocking bar, water cannon rocking bar produce travelling control, water cannon control signal respectively, signal processing unit is received, by video wireless module, the image information gathered and is shown by video display screen, control command is sent, to control walking and water cannon state by signal wireless module.
The crawler type fire-fighting robot of the present invention, the front end on described chassis is provided with illuminating lamp, the extreme end of chassis be provided above control casing, circuit part be arranged in control casing；Control casing is provided with emergency stop switch, power supply indicator and charging inlet.
The fire-fighting method of the crawler type fire-fighting robot of the present invention, is realized by following steps:
A). water band connects, and during use, is first connected with the fire hose docking port on fire-fighting robot by the port of fire hose, in order to fire demand water can enter in fire hose docking port；
B). the travelling control of fire-fighting robot, operator's road picture according to the particular location of fire and walking camera collection, control fire-fighting robot by rocking bar of walking and move to the position being suitable to fight a fire, control to comprise the following steps:
B-1). advancing and control, operator promote walking rocking bar towards dead ahead, after circuit part receives order, control left side servomotor by brushless servo motor controller, right side servomotor is synchronized rotates forward, it is achieved the advance of fire-fighting robot runs；
B-2). retreating and control, operator promote walking rocking bar towards dead astern, after circuit part receives order, control left side servomotor by brushless servo motor controller, right side servomotor is synchronized rotates backward, it is achieved the fall back of fire-fighting robot；
B-3). turning left to control, operator promote walking rocking bar towards left, after circuit part receives order, control left side servomotor by brushless servo motor controller and rotate forward with the rotating speed lower than right side servomotor, it is achieved the left turn maneuver of fire-fighting robot；
B-4). turning right and control, operator promote walking rocking bar towards right, after circuit part receives order, control right side servomotor by brushless servo motor controller and rotate forward with the rotating speed lower than left side servomotor, it is achieved the right-hand rotation of fire-fighting robot runs；
B-5). original place rotates, and circuit part controls left side servomotor by brushless servo motor controller and the synchronized of right side servomotor rotates in different directions after receiving original place rotation order, and the original place namely realizing fire-fighting robot rotates；
C). water cannon rotates and regulates, and moves to behind the position being suitable to fight a fire until fire-fighting robot, and the fire picture according to the concrete orientation of fire and water cannon camera collection selects the direction of manipulation water cannon rocking bar；If promoting water cannon rocking bar to the left, then brushless servo motor controller orders about and horizontally rotates motor and rotate forward, and bears left dynamic ordering about injector head；If promoting to the right water cannon rocking bar, then brushless servo motor controller orders about and horizontally rotates motor reversal, bears right dynamic ordering about injector head；
D). water cannon pitch regulation, if operator promote water cannon rocking bar forward, then brushless servo motor controller orders about elevating movement motor and rotates forward, and orders about injector head and moves down, and namely injector head is bowed motion；If operator promote water cannon rocking bar backwards, then brushless servo motor controller orders about elevating movement motor reversal, orders about injector head and moves upward, and namely injector head does new line motion；
E). water cannon status adjustment, turn clockwise water cannon rocking bar, then brushless servo motor controller orders about water spray condition selecting motor, and the spray regime of injector head is column；Rotating water cannon rocking bar counterclockwise, condition selecting motor counteragent of spraying water, the spray regime of injector head is vaporific.
The invention has the beneficial effects as follows: the crawler type fire-fighting robot of the present invention, by arranging chassis and drive assembly on left crawler belt, right-hand track chiain, and order about left side servomotor and the right side servomotor that drive assembly is run, under the control action of circuit part, achieve the advance of fire-fighting robot, retrogressing, left-hand rotation, right-hand rotation and rotary motion, be conducive to fire-fighting robot to move to the position being convenient for fighting a fire.By arranging by transfer tube, injector head, horizontally rotating motor, elevating movement motor, the water spray water cannon assembly that forms of condition selecting motor, have effectively achieved the level of injector head, pitch rotation and the conversion of spray regime.The crawler type fire-fighting robot of the present invention; can be used for substituting fireman close to scene of a fire sprinkling fire; reduce the work risk of fireman; injector head instead of the hand-held hydraulic giant of fireman and sprays water to ignition point; after using this fire-fighting robot, fireman can spray water by this robot of Remote in the scene of a fire, significantly reduces work risk and the physical ability loss of fireman; not only improve and quickly fight a fire, be conducive to protecting to greatest extent the life security of firefighters.
Further, by arranging water cannon photographic head and walking photographic head, be conducive to operator to control fire-fighting robot according to the road picture uploaded and walk by correct path, control injector head by correct direction motion according to fire picture, be conducive to fire attack.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the crawler type fire-fighting robot of the present invention；
Fig. 2 is the front view of the crawler type fire-fighting robot of the present invention；
Fig. 3 is the left view of the crawler type fire-fighting robot of the present invention；
Fig. 4 is the right view of the crawler type fire-fighting robot of the present invention；
Fig. 5 is the top view of the crawler type fire-fighting robot of the present invention；
Fig. 6 is the circuit theory diagrams of circuit part in the present invention；
Fig. 7 is the circuit theory diagrams of remote controller in the present invention.
In figure: 1 chassis, 2 left crawler belts, 3 right-hand track chiains, 4 drive assembly, 5 top boards, servomotor on the left of in the of 6, servomotor on the right side of in the of 7,8 transfer tubes, 9 injector heads, 10 horizontally rotate motor, 11 elevating movement motors, 12 water spray condition selecting motors, 13 fire hose docking ports, 14 control casing, 15 wireless transceivers, 16 water cannon photographic head, 17 emergency stop switches, 18 power supply indicators, 19 walking photographic head；20 Data Control processing units, 21 Vehicular batteries, 22 internal electric source modules, 23 dual-mode wireless transceiver modules, 24 channel processing module, 25 performance elements, 26CAN bus control unit, 27 brushless servo motor controllers, 28 brush motor controllers, 29 illuminating lamps, 30 alarm lamps, 31 charging inlets.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described with embodiment.
As shown in Figures 1 to 5, sets forth the axonometric chart of the crawler type fire-fighting robot of the present invention, front view, left view, right view, top view, shown crawler type fire-fighting robot is by chassis 1, left crawler belt 2, right-hand track chiain 3, drive assembly 4, top board 5, left side servomotor 6, right side servomotor 7, transfer tube 8, injector head 9, horizontally rotate motor 10, elevating movement motor 11, water spray condition selecting motor 12, control casing 14 to form, shown chassis 1 and drive assembly are arranged on left crawler belt 2 and right-hand track chiain 3, left side servomotor 6 and right side servomotor 7 are used for ordering about drive assembly motion, realize chassis 1 to walk with left crawler belt 2 and right-hand track chiain 3.The forward and backward of top, chassis 1 is respectively arranged with top board 5 and controls casing 14, and circuit part is arranged in control casing 14, for controlling the operation of whole fire-fighting robot.
Shown transfer tube 8 is arranged on top board 5, and the lower end of transfer tube 8 communicates with fire hose docking port 13, and upper end communicates with injector head 9, and fire hose docking port 13 is arranged at the rear on chassis 1, for being connected with fire hose.Horizontally rotate motor 10 to be arranged on top board 5, be used for ordering about transfer tube 8 at horizontal rotation in surface；Elevating movement motor 11 is arranged on transfer tube 8, is used for ordering about injector head 9 and carries out elevating movement.Water spray condition selecting motor 12 is arranged on fountain head 9, and the spray regime for ordering about fountain head 9 is changed between water column and water smoke.
So; by the circuit part control to left side servomotor 6 and the running status of right side servomotor 7, the walking of crawler type fire-fighting robot can be controlled so that it is move to the position being easy to stamp out a fire; without firefighters near burning things which may cause a fire disaster, it is achieved that the protective effect to fireman.Regulate water spraying direction by horizontally rotating motor 10 and elevating movement motor 11, make water spray towards burning things which may cause a fire disaster, it is achieved fire extinguishing function.
Being provided with water cannon photographic head 16 and wireless transceiver 15 on shown injector head 9, water cannon photographic head 16 is used for gathering scene of fire image；The front end on chassis 1 is provided with walking photographic head 19 and illuminating lamp 29, and walking photographic head is for gathering the image on walking road surface.Controlling to be provided with on casing 14 emergency stop switch 17, power supply indicator 18 and charging inlet 31, emergency stop switch 17 is for parking in emergency circumstances.
As shown in Figure 6, give the circuit theory diagrams of circuit part in the present invention, it is made up of Data Control processing unit 20, Vehicular battery 21, internal electric source module 22, dual-mode wireless transceiver module 23, channel processing module, performance element 25, CAN control unit 26, brushless servo motor controller 27, brush motor controller 28, Data Control processing unit 20 has collection, computing and control action, and Data Control processing unit 20 and dual-mode wireless transceiver module 23 will be powered after the photovoltaic conversion of Vehicular battery 21 by internal electric source module 22.Being uploaded to dual-mode wireless transceiver module 23 after the process of the image channel processing module 24 that walking photographic head 19 and water cannon photographic head 16 gather, the image information of collection is uploaded to remote controller and receives the control signal that remote controller sends by dual-mode wireless transceiver module 23.
Signal processing module 24, illuminating lamp 29 and alarm lamp 30 are controlled by Data Control processing unit 20 by performance element 25, are connected with brushless servo motor controller 27 and brush motor controller 28 by CAN control unit 26.Brushless servo motor controller 27 is for controlling the operation of left side servomotor 6 and right side servomotor 7, to realize the walking of fire-fighting robot；The operation horizontally rotating motor 10, elevating movement motor 11 and water spray condition selecting motor 12 is controlled by brush motor controller 28, to realize water spraying direction and the adjustment of water spray state.
As shown in Figure 7, give the circuit theory diagrams of remote controller in the present invention, it is made up of signal processing unit, signal wireless module, video display screen, video wireless module, walking rocking bar, water cannon rocking bar, battery, shown signal processing unit has collection, computing and control action, walking rocking bar is for inputting the instruction controlling fire-fighting robot walking, and water cannon rocking bar controls the instruction of water column injection direction for inputting.Signal wireless module and video wireless module are for communicating with dual-mode wireless transceiver module 23, in order to receive image information and the transmission control instruction to circuit part of camera collection.The image received is shown by video display screen, observes for operator.
The rate-determining steps of the crawler type fire-fighting robot of the present invention is as follows:
Start, turn clockwise emergency stop switch 17, and emergency stop switch 17 is upspring, and power supply indicator 18 is lighted, and fire-fighting robot is started shooting.Pressing power supply of remote controller button, remote controller is started shooting.
The control of water cannon pitching, the pitching motion of water cannon is controlled by the water cannon rocking bar of remote controller.Promoting rocking bar forward (under vertical view state), elevating movement motor 11 action, water cannon vertical angle tapers into, action of namely bowing；Pulling rocking bar, elevating movement motor 11 counteragent backwards (under vertical view state), water cannon vertical angle becomes larger, and namely does new line action.
The control that water cannon rotates, water cannon rotation in horizontal plane is controlled by the water cannon rocking bar of remote controller.Promoting rocking bar towards left (under vertical view state), horizontally rotate motor 10 action, water cannon is rotary oscillation to the left；Pushing away rocking bar towards right (under vertical view state), horizontally rotate motor 10 counteragent, water cannon is rotary oscillation to the right.
The control of spray regime change, spray regime transition activities is controlled by the water cannon rocking bar of remote controller.Turn clockwise (under vertical view state) water cannon rocking bar, and condition selecting motor 12 action of spraying water, water cannon injector head 9 spray regime is column；Rotating (under vertical view state) water cannon rocking bar counterclockwise, spray regime water spray condition selecting motor 12 counteragent, water cannon injector head 9 spray regime is vaporific.
Water cannon mixing action, water cannon mixing action is controlled by the water cannon rocking bar of remote controller.Fire-fighting robot is wireless, and wireless transceiver 15 receives the water cannon actuating signal that remote controller sends, corresponding motor action, receives water cannon actuating signal simultaneously, corresponding motor action simultaneously, it is achieved that water cannon various dimensions multi-angle action.
The forward-reverse action of fire-fighting robot, forward-reverse action is controlled by the walking rocking bar of remote controller.Forward (under vertical view state, identical below) promote walking rocking bar, left side servomotor 6 and the synchronized homodromous movement of right side servomotor 7, drive left crawler belt 2 and right-hand track chiain 3 corresponding actions, fire-fighting robot advances, rocking bar promotes angle more big forward, and left side servomotor 6 and right side servomotor 7 speed in the same direction are more fast, and fire-fighting robot pace is more fast；Counteragent when pulling rocking bar, left side servomotor 6 and right side servomotor 7 synchronized with advance backwards, drives left crawler belt 2 and right-hand track chiain 3 corresponding actions, and fire-fighting robot retreats.Rocking bar pulls angle more big backwards, and left side servomotor 6 and right side servomotor 7 speed in the same direction are more fast, and fire-fighting robot astern speed is more fast.
Left-hand rotation action, right-hand rotation action, original place spinning movement, after the wireless transceiver 15 of fire-fighting robot receives the actuating signal that remote controller sends, Data Control processing unit 20 rapid computations processes signal, on the left of execution system, servomotor 6 and right side servomotor 7 perform corresponding actions, drive left crawler belt 2 and right-hand track chiain 3 corresponding actions, it is achieved robot multi-angle walking.Left-hand rotation action is that left side servomotor 6 running speed is lower than right side servomotor 7 running speed；Left side servomotor 6 and right side servomotor 7 running speed differential are more big, and left-hand rotation angle is more big.Right-hand rotation action is that right side servomotor 7 running speed is lower than left side servomotor 6 running speed；Right side servomotor 7 and left side servomotor 6 running speed differential are more big, and right-hand rotation angle is more big.It is left side servomotor 6 and the synchronized counteragent of right side servomotor 7 that original place rotates.
Illuminating lamp action, fire-fighting robot receives after the illuminating lamp action command signal of remote controller, and control can control illuminating lamp 29 and perform light or close action of going out.Manual operation water cannon action, water cannon pitching motion is controlled by manual pitching action bars, and manual pitching action bars is arranged on control casing, does not provide in the drawings, and the water cannon action that swings is controlled by action bars of manually vacillating now to the left, now to the right.Transmission of video, after fire-fighting robot receives photographic head action command, uploads image by wireless transceiver 15 in real time so that image is shown by remote controller, optional video record storage simultaneously.
Claims (6)
1. a crawler type fire-fighting robot, including chassis (1), left crawler belt (2), right-hand track chiain (3), drive assembly (4), remote controller and the circuit part controlling fire-fighting robot operation, chassis and drive assembly may be contained within left crawler belt and right-hand track chiain, left crawler belt, right-hand track chiain are respectively arranged with and order about left side servomotor (6) and the right side servomotor (7) that drive assembly is run；It is characterized in that: described chassis be provided above top board (5), top board is provided with transfer tube (8), the rear end on chassis is provided with the fire hose docking port (13) that the lower port with transfer tube communicates, and the upper port of transfer tube is fixed with injector head (9)；Top board is fixed with and orders about transfer tube and horizontally rotate motor (10) at horizontal rotation in surface, transfer tube is fixed with the elevating movement motor (11) ordering about injector head pitch rotation, injector head is provided with water spray condition selecting motor (12) that water column state is adjusted.
2. crawler type fire-fighting robot according to claim 1, it is characterized in that: described injector head (9) is fixed with water cannon photographic head (16), with gather water spray scenic picture, chassis (1) be fixedly arranged at the front end with walking photographic head (19), with gathers walk road picture；Described injector head is fixed with and gathers picture for uploading and receive the wireless transceiver (15) of remote controller control command.
3. crawler type fire-fighting robot according to claim 2, it is characterized in that: described circuit part is by Data Control processing unit (20), Vehicular battery (21), dual-mode wireless transceiver module (23) and signal processing module (24) composition, dual-mode wireless transceiver module and Data Control processing unit are powered by Vehicular battery through internal electric source module (22), Data Control processing unit passes through the performance element control to channel processing module, for receiving walking photographic head (19) and the view data that gathers of water cannon photographic head (16), and through dual-mode wireless transceiver module, the view data gathered is sent to remote controller；Data Control processing unit is connected to brushless servo motor controller (27) and brush motor controller (28) through CAN control unit (26), brushless servo motor controller is for being controlled the running status of left side servomotor (6) and right side servomotor (7), and brush motor controller is for being controlled the operation horizontally rotating motor (10), elevating movement motor (11) and water spray condition selecting motor (12).
4. crawler type fire-fighting robot according to claim 3, it is characterized in that: described remote controller is made up of signal processing unit and coupled walking rocking bar, water cannon rocking bar, video wireless module, signal wireless module, video wireless module is connected to video display screen, and signal wireless module, video wireless module are connected to signal antenna, video antenna；Walking rocking bar, water cannon rocking bar produce travelling control, water cannon control signal respectively, signal processing unit is received, by video wireless module, the image information gathered and is shown by video display screen, control command is sent, to control walking and water cannon state by signal wireless module.
5. crawler type fire-fighting robot according to claim 1 and 2, it is characterised in that: the front end of described chassis (1) is provided with illuminating lamp (29), the extreme end of chassis be provided above control casing (14), circuit part be arranged in control casing；Control casing is provided with emergency stop switch (17), power supply indicator (18) and charging inlet (31).
6. the fire-fighting method based on the crawler type fire-fighting robot described in claim 1, it is characterised in that realized by following steps:
A). water band connects, and during use, is first connected with the fire hose docking port on fire-fighting robot by the port of fire hose, in order to fire demand water can enter in fire hose docking port；
B). the travelling control of fire-fighting robot, operator's road picture according to the particular location of fire and walking camera collection, control fire-fighting robot by rocking bar of walking and move to the position being suitable to fight a fire, control to comprise the following steps:
B-1). advancing and control, operator promote walking rocking bar towards dead ahead, after circuit part receives order, control left side servomotor by brushless servo motor controller, right side servomotor is synchronized rotates forward, it is achieved the advance of fire-fighting robot runs；
B-2). retreating and control, operator promote walking rocking bar towards dead astern, after circuit part receives order, control left side servomotor by brushless servo motor controller, right side servomotor is synchronized rotates backward, it is achieved the fall back of fire-fighting robot；
B-3). turning left to control, operator promote walking rocking bar towards left, after circuit part receives order, control left side servomotor by brushless servo motor controller and rotate forward with the rotating speed lower than right side servomotor, it is achieved the left turn maneuver of fire-fighting robot；
B-4). turning right and control, operator promote walking rocking bar towards right, after circuit part receives order, control right side servomotor by brushless servo motor controller and rotate forward with the rotating speed lower than left side servomotor, it is achieved the right-hand rotation of fire-fighting robot runs；
B-5). original place rotates, and circuit part controls left side servomotor by brushless servo motor controller and the synchronized of right side servomotor rotates in different directions after receiving original place rotation order, and the original place namely realizing fire-fighting robot rotates；
C). water cannon rotates and regulates, and moves to behind the position being suitable to fight a fire until fire-fighting robot, and the fire picture according to the concrete orientation of fire and water cannon camera collection selects the direction of manipulation water cannon rocking bar；If promoting water cannon rocking bar to the left, then brushless servo motor controller orders about and horizontally rotates motor and rotate forward, and bears left dynamic ordering about injector head；If promoting to the right water cannon rocking bar, then brushless servo motor controller orders about and horizontally rotates motor reversal, bears right dynamic ordering about injector head；
D). water cannon pitch regulation, if operator promote water cannon rocking bar forward, then brushless servo motor controller orders about elevating movement motor and rotates forward, and orders about injector head and moves down, and namely injector head is bowed motion；If operator promote water cannon rocking bar backwards, then brushless servo motor controller orders about elevating movement motor reversal, orders about injector head and moves upward, and namely injector head does new line motion；
E). water cannon status adjustment, turn clockwise water cannon rocking bar, then brushless servo motor controller orders about water spray condition selecting motor, and the spray regime of injector head is column；Rotating water cannon rocking bar counterclockwise, condition selecting motor counteragent of spraying water, the spray regime of injector head is vaporific.
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| CN201610303161.7A CN105797295A (en) | 2016-05-10 | 2016-05-10 | Track firefighting robot |
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| CN201610303161.7A CN105797295A (en) | 2016-05-10 | 2016-05-10 | Track firefighting robot |
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| CN111130190A (en) * | 2020-02-19 | 2020-05-08 | 中信重工开诚智能装备有限公司 | Power supply device for large-flow explosion-proof fire-fighting robot |
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| CN110327568A (en) * | 2019-07-02 | 2019-10-15 | 石秋华 | Intelligent fire-extinguishing apparatus attitude reference device, method and storage medium |
| CN111130190A (en) * | 2020-02-19 | 2020-05-08 | 中信重工开诚智能装备有限公司 | Power supply device for large-flow explosion-proof fire-fighting robot |
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Application publication date: 20160727 |