CN105999587A - Fire fighting unmanned aerial vehicle for power high-voltage overhead line - Google Patents
Fire fighting unmanned aerial vehicle for power high-voltage overhead line Download PDFInfo
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- CN105999587A CN105999587A CN201610491305.6A CN201610491305A CN105999587A CN 105999587 A CN105999587 A CN 105999587A CN 201610491305 A CN201610491305 A CN 201610491305A CN 105999587 A CN105999587 A CN 105999587A
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- fixed
- fire
- side chain
- frame
- electric pushrod
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention relates to a fire fighting unmanned aerial vehicle for a power high-voltage overhead line. The fire fighting unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a support table, an electric turntable, a redundant parallel mechanism and a fire extinguishing device. The support table is located at the central position of an upper end of the fire extinguishing device. The support table is of a Y-shaped structure. A lower end of the support table is fixedly connected with the fire extinguishing device, and an upper end of the support table is connected with a lower end face of the electric turntable. The redundant parallel mechanism is located between the electric turntable and the unmanned aerial vehicle main body, and a lower end of the redundant parallel mechanism is connected with an upper end face of the electric turntable, while an upper end of the redundant parallel mechanism is connected to the unmanned aerial vehicle main body. The fire fighting unmanned aerial vehicle for a power high-voltage overhead line is capable of performing high-altitude fire extinguishing operation on fire breaking out on an overhead high-voltage line, and is high in automation degree, stable and flexible in flying during fire extinguishment, large in fire extinguishing spraying range, high fire extinguishing efficiency and high safety, providing a solution to the problem of high risks in manual fire extinguishment of the overhead high-voltage line.
Description
Technical field
The present invention relates to electric power fire-fighting aircraft field, a kind of power high voltage overhead transmission line fire attack unmanned plane.
Background technology
Electric power is the energy using electric energy as power, invents in 19 century 70s, and invention and the application of electric power have started second
Secondary industrialization climax, since becoming 18th century of human history, one of three scientific and technological revolutions that the world occurs, change from this science and technology
The life of people, the large-scale electrical power system that 20th century occurred is one of most important achievement in the human engineering history of science, is by sending out
The power generation of the link compositions such as electricity, transmission of electricity, power transformation, distribution and electricity consumption and consumption system, the primary energy of nature is led to by it
Cross mechanical energy device and change into electric power, then supply power to each user through transmission of electricity, power transformation and distribution；Due to electric power from produce,
Being easiest to during transmission and use produce electric leakage or use the improper fire that causes of environment, the occasion of the easy breaking out of fire of electric power is main
By electric station, power supply station, transformer station, power distribution station, transmission line of electricity, overhead system, electric power laboratory and high-and low-voltage circuit cable
Laying ground etc., and electric power fire occurs rapidly, scene of fire is dangerous big and coverage is wide.
The fire extinguisher that at present fire-fighting uses is of a great variety, mainly have carbon dioxide extinguisher, 1211 fire extinguishers, dry powder extinguisher,
Acid subtracts foam annihilator, carbon tetrachloride fire extinguisher, mechanical foam fire extinguisher, water-type extinguisher and other fire extinguishing appliances etc.；Fire extinguishing
Device is mainly made up of stack shell, spray canister and switch valve, divides from fire-extinguishing operations step and mode, and a class is only need to extract relieving ring,
Spray canister is directed at burning things which may cause a fire disaster and directly carries out operation, another kind of, it is first to open Flos Mume wheel valve, the needs when spray canister being directed at burning things which may cause a fire disaster operation
Pressing duck-beak type valve simultaneously.
Fire extinguisher entrance fire-fighting scene is manually carried for the fire many employings of fire-fighting fire extinguishing mode and carries out artificial fire-fighting operation, for low
Fireman is delivered to eminence and carries out fire-fighting operation by empty fire many employings lift, and the dangerous property of such existing fire fighting mode is big,
Fire fighter's personal safety is caused threat greatly, has many firemans every year and sacrifice die at one's post because of on-the-spot fire-fighting operation
Numerous；Manual site's fire-fighting operation fire-fighting efficiency can gradually reduce along with the elongation of activity duration simultaneously, and fire-fighting fire extinguishing is whole
Body efficiency is low, speed slow and very flexible.In consideration of it, it is unmanned to the invention provides a kind of power high voltage overhead transmission line fire attack
Machine.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of power high voltage overhead transmission line fire attack unmanned plane.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of power high voltage overhead transmission line fire attack unmanned plane, including unmanned plane main body, trestle table, electrical turntable, redundancy also
Online structure and extinguishing device；Described trestle table is positioned at extinguishing device upper end center position, the Y-shaped structure of trestle table, props up
Pallet lower end is connected with extinguishing device, and trestle table upper end is connected with electrical turntable lower surface, and redundancy parallel mechanism is positioned at electric rotating
Between platform and unmanned plane main body, and redundancy parallel mechanism lower end is connected with electrical turntable upper surface, redundancy parallel mechanism upper end with
Unmanned plane main body is connected.
As a further improvement on the present invention, described unmanned plane main body include frame, servomotor, propeller, tight locking button and
Protective cover, and the quantity of servomotor, propeller and tight locking button is six；Described central rack is cirque structure, outside frame
Side is respectively symmetrically along its center axis and is provided with bar shaped support, and bar shaped support offers rectangle material reducing mouth, and servomotor bottom is solid
Being scheduled on bar shaped stent outer upper surface, propeller is arranged on servomotor spindle, and between propeller and servomotor spindle
Being locked by tight locking button, protective cover is positioned at directly over frame, and protective cover is semielliptical shape shell structure.
As a further improvement on the present invention, described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and second
Side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at immediately below fixed platform；Described first
The quantity of chain and the second side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the first side chain and
The two ends of the second side chain are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is
90 degree；The first described side chain include the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first connect post and
First damping spring；The first described ear mount is fixed on fixed platform lower surface, between the first ear mount and the first electric pushrod lower end
Employing Hooke's hinge is attached, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge is by the first connection post
Being fixed on the upper surface of moving platform, the first damping spring is around being enclosed within the first electric pushrod；Two sides can be carried out by Hooke's hinge
To rotation, the rotation in three directions can be carried out by the first spherical hinge, can be moved up and down by the first electric pushrod,
One side chain uses the form of 2-UPS parallel institution, and adds stationarity during first chain movement by the first damping spring,
Improve the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second ball
Hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform lower surface, the second ear mount and the
Using rotational pin to be attached between two electric pushrod lower ends, the second electric pushrod upper end is connected with the second spherical hinge, the second ball
Hinge connects post by second and is fixed on the upper surface of moving platform, and the second damping spring is around being enclosed within the second electric pushrod；Pass through
Rotational pin can carry out the rotation in a direction, can be carried out the rotation in three directions by the second spherical hinge, by the second electric pushrod
Can move up and down, the second side chain uses the form of 2-RPS parallel institution, and adds second by the second damping spring
Stationarity during chain movement, improves the exercise performance of the present invention；Redundancy parallel mechanism by fixed platform, moving platform, first
Chain and the second side chain constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its energy
Realize moving and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis along X-axis and Z axis, and four degree of freedom
All independent, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, and motion is flat
Surely, motion is flexibly；Redundancy parallel mechanism is applied in the present invention, on the one hand serves the regulation to extinguishing device orientation angles,
It is easy to the carrying out of the high aerial comprehensive extinguishing operation of various attitudes of the present invention, on the other hand extinguishing device is served the effect of damping,
Make extinguishing device be in horizontal plateau all the time under the various flight attitude of the present invention, prevent jitter excessive to going out of storing
Firearm causes potential safety hazard.
As a further improvement on the present invention, described extinguishing device includes support plate, fire extinguishing guide rail, fire extinguishing guide block, secured adjusted
Device and drop handle drawing device, and fire extinguishing guide rail, fire extinguishing guide block, the quantity of secured adjusted device and drop handle drawing device is two；
Being horizontal structure in the middle part of described support plate, the support plate left and right sides is incline structure, and fire extinguishing guide rail divides along the central transverse axis of support plate
Both sides before and after symmetry is not fixed on support plate, fire extinguishing guide block is arranged on fire extinguishing guide rail, and secured adjusted device is separately fixed at support plate
The left and right sides, drop handle drawing device is positioned at inside secured adjusted device, and drop handle drawing device lower end be fixed on fire extinguishing guide block on.
As a further improvement on the present invention, described secured adjusted device include fixed frame, regulation rotating shaft, lower limit frame, on
Position-limited rack, latch segment, shrinking connecting-rod, the first rotational pin and the second rotational pin；Described fixed frame is the framework of medial extremity opening
Structure, fixed frame longitudinal direction spaced set has sideboard, is provided with semicircular arc cushion block, fixed frame upper center between sideboard
Position is provided with crosspiece；Described lower limit frame is positioned at fixed frame inner top side, and lower limit frame lower end by regulation rotating shaft with
Fixed frame is connected, and upper limit frame is positioned at directly over lower limit frame, and upper limit frame lower end and lower limit frame upper end are offered respectively
There are upper limit position groove and lower limit groove, and upper limit position groove and lower limit groove are arcuate structure, upper limit position groove and lower limit groove difference one
One is corresponding, and before and after upper limit frame lower end, before and after both sides and lower limit frame upper end, both sides are provided with projection seat and lower projection seat respectively, and
Using latch segment to be locked between upper projection seat and lower projection seat, the first rotational pin and lower limit frame phase are passed through in shrinking connecting-rod one end
Connecting, the shrinking connecting-rod other end is connected by the crosspiece of the second rotational pin with fixed frame upper center position.
As a further improvement on the present invention, described drop handle drawing device includes mobile support saddle, rolling bearing, pulls open electronic pushing away
Bar and pulling claw；Being provided with floor outside described mobile support saddle, rolling bearing is positioned at the upper end position of mobile support saddle lateral wall, and
Rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction, pulls open electric pushrod bottom and is fixed on rolling bearing, pulls open
Electric pushrod top is provided with pulling claw, and pulls open and use the mode of threaded engagement to carry out even between electric pushrod top and pulling claw rear end
Connecing, pulling claw front end is provided with incomplete annular and hooks pawl.
During concrete operations, it is fixed in first fire extinguisher is placed into fixed frame and stores, and the spray canister of fire extinguisher is assigned into
Between upper limit position groove and the lower limit groove of lower limit frame of position-limited rack, by the relieving ring of fire extinguisher around being enclosed within pulling claw；Then when this
When invention enters operation area, by drop handle drawing device, the relieving ring on fire extinguisher is extracted so that fire extinguisher is in open mode；
The spray canister of fire extinguisher can be driven to carry out regulating rotating shaft by shrinking connecting-rod again to rotate for center of rotation, it is achieved thereby that fire extinguishing
The device adjustable angle function when fire extinguishing, fire extinguishing spray regime is wide, and fire-fighting efficiency is high.
Compared with prior art, the invention have the advantages that
(1) present invention can to overhead high voltage line breaking out of fire time carry out high altitude firefighting extinguishing operation, and automaticity is high, go out
Have a smooth flight during fire flexibly, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solve overhead high voltage line and manually disappear
The dangerous big problem of fire extinguishing.
(2) redundancy parallel mechanism of the present invention uses the parallel institution form of 2-UPS-2-RPS, and it can realize along X-axis and Z axis
Move and around X-axis and the motion in rotation totally four the degree of freedom directions around Y-axis, and four degree of freedom are all independent, by four
Degree of freedom can also co-ordination, the moving platform track made along the curvilinear motion of predetermined space, stable movement, motion flexibly, one
Aspect serves the regulation to extinguishing device orientation angles, it is simple to the carrying out of the high aerial comprehensive extinguishing operation of various attitudes of the present invention,
On the other hand extinguishing device is served the effect of damping so that extinguishing device is in water under the various flight attitude of the present invention all the time
Flat plateau, prevents the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
(3) extinguishing device of the present invention can realize fire extinguisher to store the extracting of fire extinguisher relieving ring fixing, existing, fire extinguisher spray canister solid
Fixed and the function of spraying operation adjustable angle, and fire extinguishing spray regime is wide, fire-fighting efficiency is high and safety is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view after the present invention removes unmanned plane main body；
Fig. 3 is the perspective view of redundancy parallel mechanism of the present invention；
Fig. 4 is perspective view when trestle table of the present invention, electrical turntable and extinguishing device cooperation；
Fig. 5 is the perspective view of secured adjusted device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of power high voltage overhead transmission line fire attack unmanned plane, including unmanned plane main body 1, support
Platform 2, electrical turntable 3, redundancy parallel mechanism 4 and extinguishing device 5；Described trestle table 2 is positioned at extinguishing device 5 upper end center
Position, the Y-shaped structure of trestle table 2, trestle table 2 lower end is connected with extinguishing device 5, trestle table 2 upper end and electric rotating
Platform 3 lower surface is connected, and redundancy parallel mechanism 4 is between electrical turntable 3 and unmanned plane main body 1, and redundancy parallel mechanism
4 lower ends are connected with electrical turntable 3 upper surface, and redundancy parallel mechanism 4 upper end is connected with unmanned plane main body 1.
As it is shown in figure 1, described unmanned plane main body 1 includes frame 11, servomotor 12, propeller 13, tight locking button 14 and
Protective cover 15, and the quantity of servomotor 12, propeller 13 and tight locking button 14 is six；In annulus in the middle part of described frame 11
Shape structure, is respectively symmetrically along its center axis outside frame 11 and is provided with bar shaped support, bar shaped support offers rectangle material reducing mouth,
Servomotor 12 bottom is fixed on bar shaped stent outer upper surface, and propeller 13 is arranged on servomotor 12 main shaft, and spiral shell
Being locked by tight locking button 14 between rotation oar 13 and servomotor 12 main shaft, protective cover 15 is positioned at directly over frame 11,
And protective cover 15 is in semielliptical shape shell structure.
As shown in Figures 2 and 3, described redundancy parallel mechanism 4 includes fixed platform 41, moving platform the 42, first side chain 43 and
Second side chain 44；Described fixed platform 41 and moving platform 42 are disc-shaped structure, and moving platform 42 is just being positioned at fixed platform 41
Lower section；The first described side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on
Between fixed platform 41 and moving platform 42, the two ends of the first side chain 43 and the second side chain 44 respectively with fixed platform 41 and moving platform
42 are connected, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes
First ear mount 431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge 434, first connect post 435 and first and subtract
Shake spring 436；The first described ear mount 431 is fixed on fixed platform 41 lower surface, the first ear mount 431 and the first electric pushrod
Using Hooke's hinge 432 to be attached between 433 lower ends, the first electric pushrod 433 upper end is connected with the first spherical hinge 434,
First spherical hinge 434 is fixed on the upper surface of moving platform 42 by the first connection post 435, and the first damping spring 436 is around being enclosed within
On first electric pushrod 433；The rotation of both direction can be carried out by Hooke's hinge 432, can be carried out by the first spherical hinge 434
The rotation in three directions, can be moved up and down by the first electric pushrod 433, and the first side chain 43 uses 2-UPS parallel institution
Form, and add stationarity when the first side chain 43 moves by the first damping spring 436, improve the motion of the present invention
Performance；The second described side chain 44 includes the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge
444, second connects post 445 and the second damping spring 446；The second described ear mount 441 is fixed on fixed platform 41 lower surface,
Rotational pin 442 is used to be attached, on the second electric pushrod 443 between second ear mount 441 and the second electric pushrod 443 lower end
End is connected with the second spherical hinge 444, and the second spherical hinge 444 is fixed on the upper surface of moving platform 42 by the second connection post 445
On, the second damping spring 446 is around being enclosed within the second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442,
The rotation in three directions can be carried out by the second spherical hinge 444, can be moved up and down by the second electric pushrod 443, second
Side chain 44 uses the form of 2-RPS parallel institution, and is added when the second side chain 44 moves by the second damping spring 446
Stationarity, improves the exercise performance of the present invention；Redundancy parallel mechanism 4 is by fixed platform 41, moving platform the 42, first side chain
43 and second side chain 44 constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS,
It can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four from
All independent by spending, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, fortune
Dynamic steadily redundancy parallel mechanism 4 flexibly, is applied in the present invention by motion, on the one hand serves extinguishing device 5 azimuth
The regulation of degree, it is simple to the carrying out of the high aerial comprehensive extinguishing operation of various attitudes of the present invention, on the other hand plays extinguishing device 5
The effect of damping so that extinguishing device 5 is in horizontal plateau under the various flight attitude of the present invention all the time, prevents shake
The excessive fire extinguisher to storing of property causes potential safety hazard.
As shown in Figure 4 and Figure 5, described extinguishing device 5 includes support plate 51, fire extinguishing guide rail 52, fire extinguishing guide block 53, fixes
Adjusting means 54 and drop handle drawing device 55, and fire extinguishing guide rail 52, fire extinguishing guide block 53, secured adjusted device 54 and drop handle draw
The quantity of opening apparatus 55 is two；Being horizontal structure in the middle part of described support plate 51, support plate 51 left and right sides is incline structure, goes out
Fire guide rail 52 is respectively symmetrically along the central transverse axis of support plate 51 and is fixed on both sides before and after support plate 51, and fire extinguishing guide block 53 is installed
On fire extinguishing guide rail 52, secured adjusted device 54 is separately fixed at the left and right sides of support plate 51, and drop handle drawing device 55 is positioned at
Inside secured adjusted device 54, and drop handle drawing device 55 lower end is fixed on fire extinguishing guide block 53；Described secured adjusted device
54 include fixed frame 541, regulation rotating shaft 542, lower limit frame 543, upper limit frame 544, latch segment 545, shrinking connecting-rod 546,
First rotational pin 547 and the second rotational pin 548；The described frame structure that fixed frame 541 is medial extremity opening, fixed frame 541
Longitudinal direction spaced set has sideboard, is provided with semicircular arc cushion block between sideboard, and fixed frame 541 upper center position sets
It is equipped with crosspiece；Described lower limit frame 543 is positioned at fixed frame 541 inner top side, and lower limit frame 543 lower end is turned by regulation
Axle 542 is connected with fixed frame 541, and upper limit frame 544 is positioned at directly over lower limit frame 543, and upper limit frame 544 lower end
Offer upper limit position groove and lower limit groove respectively with lower limit frame 543 upper end, and upper limit position groove and lower limit groove are arc knot
Structure, upper limit position groove and lower limit groove one_to_one corresponding respectively, before and after upper limit frame 544 lower end before both sides and lower limit frame 543 upper end
Rear both sides are provided with between projection seat and lower projection seat, and upper projection seat and lower projection seat employing latch segment 545 respectively and are locked,
Shrinking connecting-rod 546 one end is connected with lower limit frame 543 by the first rotational pin 547, and shrinking connecting-rod 545 other end passes through the
Two rotational pins 548 are connected with the crosspiece of fixed frame 541 upper center position；Described drop handle drawing device 55 includes mobile
Bearing 551, rolling bearing 552, pull open electric pushrod 553 and pulling claw 554；It is provided with rib outside described mobile support saddle 551
Plate, rolling bearing 552 is positioned at the upper end position of mobile support saddle 551 lateral wall, and rolling bearing 552 is indulged along mobile support saddle 551
Equidistantly it is evenly arranged to direction, pulls open electric pushrod 553 bottom and be fixed on rolling bearing 552, pull open electric pushrod 553
Top is provided with pulling claw 554, and pulls open and use the mode of threaded engagement to enter between electric pushrod 553 top and pulling claw 554 rear end
Row connects, and pulling claw 554 front end is provided with incomplete annular and hooks pawl.During concrete operations, first fire extinguisher is placed into fixed frame
It is fixed in 541 and stores, and the spray canister of fire extinguisher is assigned into the upper limit position groove of upper limit frame 544 and lower limit frame 543
Between lower limit groove, by the relieving ring of fire extinguisher around being enclosed within pulling claw 554；Then when the present invention enters operation area, by carrying
Relieving ring on fire extinguisher is extracted by ring drawing device 5 so that fire extinguisher is in open mode；Again can by shrinking connecting-rod 546
The spray canister driving fire extinguisher carries out rotating for center of rotation regulating rotating shaft 542, it is achieved thereby that fire extinguisher is when putting out a fire
Adjustable angle function, fire extinguishing spray regime is wide, and fire-fighting efficiency is high.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (2)
1. a power high voltage overhead transmission line fire attack unmanned plane, it is characterised in that: include unmanned plane main body, trestle table, electricity
Dynamic turntable, redundancy parallel mechanism and extinguishing device；Described trestle table is positioned at extinguishing device upper end center position, trestle table in
Y-shaped structure, trestle table lower end is connected with extinguishing device, and trestle table upper end is connected with electrical turntable lower surface, redundant parallel
Mechanism is between electrical turntable and unmanned plane main body, and redundancy parallel mechanism lower end is connected with electrical turntable upper surface, redundancy
Parallel institution upper end is connected with unmanned plane main body；Wherein:
Described unmanned plane main body includes frame, servomotor, propeller, tight locking button and protective cover, and servomotor, spiral
The quantity of oar and tight locking button is six；Described central rack is cirque structure, is respectively symmetrically along its center axis and sets outside frame
Being equipped with bar shaped support, bar shaped support offers rectangle material reducing mouth, servomotor bottom is fixed on bar shaped stent outer upper surface,
Propeller is arranged on servomotor spindle, and is locked by tight locking button between propeller and servomotor spindle, anti-
Guard shield is positioned at directly over frame, and protective cover is semielliptical shape shell structure；
Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform is flat with dynamic
Platform is disc-shaped structure, and moving platform is positioned at immediately below fixed platform；The first described side chain and the quantity of the second side chain are two,
First side chain and the second side chain are respectively positioned between fixed platform and moving platform, the two ends of the first side chain and the second side chain respectively with allocate
Platform is connected with moving platform, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；
The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first connects post and the
One damping spring；The first described ear mount is fixed on fixed platform lower surface, adopts between the first ear mount and the first electric pushrod lower end
Being attached with Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge is solid by the first connection post
Being scheduled on the upper surface of moving platform, the first damping spring is around being enclosed within the first electric pushrod；
The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, second connects post and the
Two damping springs；The second described ear mount is fixed on fixed platform lower surface, adopts between the second ear mount and the second electric pushrod lower end
Being attached with rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge is solid by the second connection post
Being scheduled on the upper surface of moving platform, the second damping spring is around being enclosed within the second electric pushrod；
Described extinguishing device includes support plate, fire extinguishing guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device, and goes out
The quantity of fire guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device is two；It it is horizontal junction in the middle part of described support plate
Structure, the support plate left and right sides is incline structure, and fire extinguishing guide rail is respectively symmetrically along the central transverse axis of support plate before and after being fixed on support plate
Both sides, fire extinguishing guide block is arranged on fire extinguishing guide rail, and secured adjusted device is separately fixed at the left and right sides of support plate, and drop handle pulls open dress
Inside secured adjusted device, and drop handle drawing device lower end is fixed on fire extinguishing guide block；
Described secured adjusted device include fixed frame, regulation rotating shaft, lower limit frame, upper limit frame, latch segment, shrinking connecting-rod,
First rotational pin and the second rotational pin；Described fixed frame is the frame structure of medial extremity opening, and fixed frame longitudinal direction is equidistant
Being provided with sideboard, be provided with semicircular arc cushion block between sideboard, fixed frame upper center position is provided with crosspiece；Under described
Position-limited rack is positioned at fixed frame inner top side, and lower limit frame lower end is connected with fixed frame by regulation rotating shaft, and upper limit frame is positioned at
Directly over lower limit frame, and upper limit frame lower end and lower limit frame upper end offer upper limit position groove and lower limit groove respectively, and on
Stopper slot and lower limit groove are arcuate structure, upper limit position groove and lower limit groove one_to_one corresponding respectively, before and after upper limit frame lower end two
Before and after side and lower limit frame upper end, both sides are provided with between projection seat and lower projection seat, and upper projection seat and lower projection seat employing locking respectively
Block is locked, and shrinking connecting-rod one end is connected with lower limit frame by the first rotational pin, and the shrinking connecting-rod other end is by the
Two rotational pins are connected with the crosspiece of fixed frame upper center position.
A kind of power high voltage overhead transmission line fire attack unmanned plane the most according to claim 1, it is characterised in that: described
Drop handle drawing device includes mobile support saddle, rolling bearing, pulls open electric pushrod and pulling claw；It is provided with outside described mobile support saddle
Floor, rolling bearing is positioned at the upper end position of mobile support saddle lateral wall, and rolling bearing is the most equal along mobile support saddle longitudinal direction
Even layout, pulls open electric pushrod bottom and is fixed on rolling bearing, pulls open electric pushrod top and is provided with pulling claw, and pulls open electronic
The mode using threaded engagement between push rod top and pulling claw rear end is attached, and pulling claw front end is provided with incomplete annular and hooks pawl.
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| CN106564597A (en) * | 2016-11-04 | 2017-04-19 | 朱怀新 | Electric power polling unmanned aerial vehicle |
| CN107380400A (en) * | 2017-08-29 | 2017-11-24 | 深圳爱易瑞科技有限公司 | A kind of aircraft for carrying fire plant, rescuing people's facility |
| CN109229384A (en) * | 2018-11-26 | 2019-01-18 | 苏静雯 | A kind of fire rescue unmanned plane |
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| CN109229384B (en) * | 2018-11-26 | 2020-04-24 | 南通亿思特机器人科技有限公司 | Unmanned aerial vehicle for fire rescue |
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