CN106039619A - Fire rescue robot for transformer substation - Google Patents
Fire rescue robot for transformer substation Download PDFInfo
- Publication number
- CN106039619A CN106039619A CN201610500014.9A CN201610500014A CN106039619A CN 106039619 A CN106039619 A CN 106039619A CN 201610500014 A CN201610500014 A CN 201610500014A CN 106039619 A CN106039619 A CN 106039619A
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- Prior art keywords
- walking
- fixed
- fire
- frame
- rotating shaft
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- 210000000078 claw Anatomy 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 10
- 230000033228 biological regulation Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 239000004744 fabric Substances 0.000 claims 1
- 239000011159 matrix material Substances 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 239000007921 spray Substances 0.000 abstract description 12
- 230000007246 mechanism Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 29
- 230000005611 electricity Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000006742 locomotor activity Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- VZGDMQKNWNREIO-UHFFFAOYSA-N tetrachloromethane Chemical compound ClC(Cl)(Cl)Cl VZGDMQKNWNREIO-UHFFFAOYSA-N 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention relates to a fire rescue robot for a transformer substation. The fire rescue robot comprises a crawler unit, four wheeled running gears, an electric turntable, a delta parallel mechanism and a fire extinguishing device, wherein the four wheeled running gears are symmetrically arranged on the left side and the right side of the crawler unit respectively; the electric turntable is located in the center of the upper end of the crawler unit and fixedly connected with the crawler unit; the delta parallel mechanism is located between the electric turntable and the fire extinguishing device; the lower end of the delta parallel mechanism is connected with the electric turntable; and the upper end of the delta parallel mechanism is connected with the fire extinguishing device. The fire rescue robot can perform fire extinguishing operation on the transformer substation in case of a fire hazard, is high in automation degree, steady and flexible in operation during fire extinguishing, large in fire extinguishing spray range, and high in fire extinguishing efficiency and security, and solves the problem of high risk in manual fire extinguishing of the transformer substation.
Description
Technical field
The present invention relates to electric power fire-fighting equipment field, fire rescue robot of a kind of transformer station.
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 start
Industrialization climax for the second time, since becoming 18th century of human history, one of three scientific and technological revolutions that the world occurs, from this section's technological transformation
Having become 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,
The power generation being made up of links such as generating, transmission of electricity, power transformation, distribution and electricity consumptions and consumption system, it is by nature once
The energy changes into electric power by mechanical energy device, then supplies power to each user through transmission of electricity, power transformation and distribution；Due to electric power from
Produce, transmit and use during be easiest to produce electric leakage or use the improper fire that causes of environment, the easy breaking out of fire of electric power
Occasion is mainly by electric station, power supply station, transformer station, power distribution station, transmission line of electricity, overhead system, electric power laboratory and height line ball
Cable laying ground, road etc., and electric power fire occurs rapidly, and scene of fire is dangerous big and coverage is wide.
The fire extinguisher that fire-fighting at present uses is of a great variety, mainly has carbon dioxide extinguisher, 1211 fire extinguishers, dry-chemical fire extinguishing
Device, acid subtract foam annihilator, carbon tetrachloride fire extinguisher, mechanical foam fire extinguisher, water-type extinguisher and other fire extinguishing appliances etc.；Go out
Firearm 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 insurance
Ring, is directed at spray canister burning things which may cause a fire disaster and directly carries out operation, another kind of, is first to open Flos Mume wheel valve, when spray canister is directed at burning things which may cause a fire disaster operation
Need to press 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,
The dangerous property of such existing fire fighting mode is big, fire fighter's personal safety causes threat greatly, has every year not
Few fireman sacrifice because of on-the-spot fire-fighting operation die at one's post numerous；Manual site's fire-fighting operation fire-fighting efficiency can be along with simultaneously
The elongation of activity duration and gradually reduce, fire-fighting fire extinguishing whole efficiency is low, speed slow and very flexible.In consideration of it, the present invention carries
Supply fire rescue robot of a kind of transformer station.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides fire rescue robot of a kind of transformer station.
The present invention to solve its technical problem and realize by the following technical solutions.
Fire rescue robot of a kind of transformer station, including crawler unit, running gear system, electrical turntable, delta
Parallel institution and extinguishing device；Described running gear system quantity is four, and running gear system is respectively symmetrically and is arranged in shoe
The band running gear left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electrical turntable and crawler belt row
Walking apparatus is connected, and delta parallel institution is between electrical turntable and extinguishing device, and delta parallel institution lower end is with electronic
Turntable is connected, and delta parallel institution upper end is connected with extinguishing device.
As a further improvement on the present invention, described crawler unit includes chassis, drives motor, drive shaft, OK
Walk belt wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor solid respectively
Be scheduled on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
Being fixed, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle anti-skidding outside traveling crawler
Bar.
As a further improvement on the present invention, described running gear system includes walk fixed plate, walking slide rail, walking
Slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motors
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking slide block is arranged on walking
On slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is the U-shape structure stood upside down, and walking ear mount is positioned at walking
Sliding rail rear end position, and walking ear mount is connected with walking fixed plate, mobile roof support upper end is by a rotating shaft and walking ear mount
Being connected, be provided with walking connecting rod at mobile roof support medium position, walking support bar one end is sliding with walking by No. two rotating shafts
Block lower end is connected, and the walking support bar other end is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and row
Walking support bar is pneumatic telescopic structure, and movable motor is fixed on mobile roof support lateral wall by movable motor frame, and row
Walking electric machine main shaft to be connected with walking axle, walking axle two ends are separately fixed on the medial wall, left and right of mobile roof support lower end, walking
Runner is arranged at walking axle medium position.
When the present invention advances, when walking in flat road surface, by the motion laterally on walking slide rail of the walking slide block
Drive walking support bar stretching the most laterally, and walking support bar links with mobile roof support, thus drive walking
Frame carries out rotary motion laterally counterclockwise with rotating shaft for center of rotation, when on walking rotatable wheel contacts ground, and whole crawler belt
Running gear separates with ground, is in and is lifted dummy status, is driven the rotation of walking runner by movable motor simultaneously, it is achieved
The walking of running gear system is moved, and the speed of travel is fast, overcomes the problem that the crawler unit speed of travel is slow；Work as chance
During to hogwallow, received inside walking support bar clockwise direction by walking slide block driving to medial motion on walking slide rail
Contracting motion, and walk support bar and mobile roof support linkage, thus drive mobile roof support to carry out suitable with a rotating shaft for center of rotation
Hour hands inside side rotary motion, it is achieved that the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, by driving the rotation rotating drive treads wheel of motor, thus drives the motion of traveling crawler, carries out
It is mainly used in the walking of the present invention, movement with running gear and turns to, and crawler unit is by using track structure more
Add the walking being easy to hollow physical features ground condition so that the suitability of the present invention is higher；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, described delta parallel institution include fixed platform, moving platform, motor cabinet and
Connection motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described determines
Platform and moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with dynamic flat
It is arranged on moving platform lower surface in equilateral triangle shape centered by the center of circle of platform, and motor cabinet installation site and rotating basis are installed
Position one_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses the output of adjustable speed twin shaft
Motor, first rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
Using rotational pin to be attached between connecting rod lower end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end
Connecing, the second rotating shaft other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is flat with dynamic
Platform upper surface fixes, and rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, first connecting rod middle inside
Be provided with the first mounting seat and the second mounting seat respectively with second connecting rod middle inside, limit spring be positioned at the first mounting seat and
Between second mounting seat, and limit spring upper end is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat
Connect；During specific works, the rotation rotating drive the first rotating shaft of motor, and first connecting rod in parallel and the first coaxial phase of rotating shaft
Connect, thus by the rotation rotating drive second connecting rod of first connecting rod, and then the motion of drive moving platform, and by spacing
Jitter when spring reduces the motion of delta parallel institution, adds the stationarity of delta parallel institution motion, and delta is in parallel
Mechanism is big with serial mechanism phase specific stiffness, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, delta parallel machine in motion
Structure can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, fortune
Dynamic motility is good, is applied in the present invention by delta parallel institution, on the one hand serves the tune to extinguishing device orientation angles
Joint, it is simple to the carrying out of the comprehensive extinguishing operation of the various attitude of the present invention, on the other hand serves the effect of damping to extinguishing device,
Make the extinguishing device to be in horizontal plateau under the present invention walks jounce condition all the time, prevent jitter excessive to storing
Fire extinguisher 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, fixes
Adjusting means and drop handle drawing device, and the quantity of fire extinguishing guide rail, fire extinguishing guide block, secured adjusted device and drop handle drawing device is equal
It 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 is along the transverse center of support plate
Axis is respectively symmetrically and is fixed on both sides before and after support plate, and fire extinguishing guide block is arranged on fire extinguishing guide rail, and secured adjusted device is solid respectively
Being scheduled on the left and right sides of support plate, drop handle drawing device is positioned at inside secured adjusted device, and drop handle drawing device lower end is fixed on
On fire extinguishing guide block.
As a further improvement on the present invention, described secured adjusted device includes fixed frame, regulation rotating shaft, lower limit
Frame, upper limit frame, latch segment, shrinking connecting-rod, the first rotational pin and the second rotational pin；Described fixed frame is medial extremity opening
Frame structure, fixed frame longitudinal direction spaced set has sideboard, is provided with semicircular arc cushion block, fixed frame upper end between sideboard
Crosspiece it is provided with at medium position；Described lower limit frame is positioned at fixed frame inner top side, and lower limit frame lower end is by regulation
Rotating shaft is connected with fixed frame, and upper limit frame is positioned at directly over lower limit frame, and upper limit frame lower end and lower limit frame upper end equal
Offer upper limit position groove and lower limit groove respectively, and upper limit position groove and lower limit groove are arcuate structure, upper limit position groove and lower limit
Position groove respectively one_to_one corresponding, 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 respectively
Being locked with employing latch segment between lower projection seat, and upper projection seat and lower projection seat, shrinking connecting-rod one end is by the first rotation
Pin is connected with lower limit frame, and the shrinking connecting-rod other end is by the crosspiece phase of the second rotational pin with fixed frame upper center position
Connect.
As a further improvement on the present invention, described drop handle drawing device includes mobile support saddle, rolling bearing, pulls open electricity
Dynamic push rod and pulling claw；Being provided with floor outside described mobile support saddle, rolling bearing is positioned at mobile support saddle lateral wall upper end position
Locate, and rolling bearing is equidistantly evenly arranged along mobile support saddle longitudinal direction, pulls open electric pushrod bottom and is fixed on rolling bearing
On, pull open electric pushrod top and pulling claw is installed, and pull open employing threaded engagement between electric pushrod top and pulling claw rear end
Mode is attached, and 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 pacified
It is inserted between the upper limit position groove of upper limit frame and the lower limit groove of lower limit frame, by the relieving ring of fire extinguisher around being enclosed within pulling claw；
Then, when the present invention enters operation area, by drop handle drawing device, the relieving ring on fire extinguisher is extracted so that at fire extinguisher
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 the adjustable angle function that fire extinguisher is 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 transformer station's breaking out of fire time carry out fire-fighting fire extinguishing operation, and automaticity is high, fire extinguishing luck
Dynamic the most flexibly, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solves the artificial fire-fighting fire extinguishing of transformer station dangerous
Big problem.
(2) crawler unit and the running gear system of the present invention coordinates conversion to use, and changes convenient and swift, can fit
The walking of Ying Yu differently condition, crawler unit is mainly used in the walking of hogwallow, and running gear system is mainly used in putting down
The walking on smooth ground, the speed of travel is fast.
(3) the delta parallel institution of the present invention can carry out three translations three rotation six-freedom degree directions altogether in space
Motion, and space is little, movement velocity is fast, kinematic dexterity is good, is applied in the present invention by delta parallel institution, a side
Face serves the regulation to extinguishing device orientation angles, it is simple to the carrying out of the comprehensive extinguishing operation of the various attitude of the present invention, another
Aspect serves the effect of damping to extinguishing device so that extinguishing device is in level under the present invention walks jounce condition all the time
Plateau, prevents the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
(4) extinguishing device of the present invention can realize fire extinguisher and stores the extracting of fire extinguisher relieving ring fixing, existing, fire extinguisher spray
Cylinder is fixing 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 perspective view when crawler unit of the present invention and running gear system cooperation；
Fig. 3 is the perspective view of running gear system of the present invention；
Fig. 4 is perspective view when delta parallel institution of the present invention and extinguishing device cooperation；
Fig. 5 is the front view of delta parallel institution of the present invention；
Fig. 6 is the perspective view of extinguishing device of the present invention；
Fig. 7 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 knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 7, fire rescue robot of a kind of transformer station, including crawler unit 1, running on wheels dress
Put 2, electrical turntable 3, delta parallel institution 4 and extinguishing device 5；Described running gear system 2 quantity is four, and wheeled row
Walking apparatus 2 is respectively symmetrically and is arranged in crawler unit 1 left and right sides, and electrical turntable 3 is positioned at crawler unit 1 upper end center
Position, and electrical turntable 3 is connected with crawler unit 1, delta parallel institution 4 is positioned at electrical turntable 3 and extinguishing device 5
Between, and delta parallel institution 4 lower end is connected with electrical turntable 3, delta parallel institution 4 upper end is connected with extinguishing device 5
Connect.
As in figure 2 it is shown, described crawler unit 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively,
Drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drive motor 12 to use Biaxial synchronous output electricity
Machine, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drives
Being fixed by tight locking button 15 between moving axis 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14
On, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes that walking fixed plate 21, walking slide rail 22, walking are slided
Block 23, walking 24, rotating shaft 25 of ear mount, 26, No. two rotating shafts 27 of mobile roof support, walking support bar 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；Described walking slide rail 22 is fixed on walking fixed plate 21
On lower surface, walking slide block 23 is arranged on walking slide rail 22, and walking slide block 23 upper end is concave structure, walking slide block 23 times
The U-shape structure for standing upside down, walking ear mount 24 is held to be positioned at walking slide rail 22 back-end location, and walk ear mount 24 and walking fixed plate
21 are connected, and mobile roof support 26 upper end is connected with walking ear mount 24 by a rotating shaft 25, sets at mobile roof support 26 medium position
Being equipped with walking connecting rod, walking support bar 28 one end is connected with walking slide block 23 lower end by No. two rotating shafts 27, and walking supports
Bar 28 other end is connected with the walking connecting rod in the middle part of mobile roof support 26 by moving block 29, and walking support bar 28 is pneumatic
Telescopic structure, movable motor 210 is fixed on mobile roof support 26 lateral wall by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 two ends are separately fixed on the medial wall, left and right of mobile roof support 26 lower end,
Walking runner 213 is arranged at walking axle 212 medium position.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, sliding in walking by walking slide block 23
Motion laterally on rail 22 drives walking support bar 28 stretching the most laterally, and walk support bar 28 and walking
Frame 26 links, thus drives mobile roof support 26 to carry out rotary motion laterally counterclockwise with a rotating shaft 25 for center of rotation, when
Walking runner 213 contacts on ground, and whole crawler unit 1 separates with ground, is in and is lifted dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, it is achieved that the walking of running gear system 2 is moved, and the speed of travel is fast,
Overcome the problem that crawler unit 1 speed of travel is slow；When running into hogwallow, by walking slide block 23 at walking slide rail
Contractile motion inside medial motion drive walking support bar 28 clockwise direction on 22, and walk support bar 28 and mobile roof support
26 linkages, thus drive mobile roof support 26 to carry out rotary motion inside clockwise direction with a rotating shaft 25 for center of rotation, it is achieved
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, leads to
That overdrives motor 12 rotates the rotation driving treads wheel 14, thus drives the motion of traveling crawler 16, crawler unit 1
It is mainly used in the walking of the present invention, movement and turns to, and crawler unit 1 is by using track structure to easily facilitate hollow
The walking of physical features ground condition so that the suitability of the present invention is higher；By crawler unit 1 and the cooperation of running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43 and
Connection motor the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis 410 and limit
Position spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, motor cabinet 43 centered by the center of circle of fixed platform 41 in equilateral triangle shape
Being fixed on fixed platform 41 upper surface, rotating basis 410 is arranged in dynamic in equilateral triangle shape centered by the center of circle of moving platform 42
On platform 42 lower surface, and motor cabinet 43 installation site and rotating basis 410 installation site one_to_one corresponding, parallel-connected induction motors 44 respectively
Be fixed installation by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, first rotating shaft 45 one end with
Parallel-connected induction motors 44 main shaft is connected, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end, first connecting rod 46 lower end with
Using rotational pin 47 to be attached between second connecting rod 48 upper end, second connecting rod 48 lower end is connected with second rotating shaft 49 one end,
Second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with swivel bearing, and swivel bearing
Fixing with moving platform 42 upper surface, rotating basis 410 upper end is provided with the double end sleeve matched with the second rotating shaft 49, and first
Connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat and the second mounting seat, limit spring respectively
411 between the first mounting seat and the second mounting seat, and limit spring 411 upper end is connected with the first mounting seat, spacing bullet
Spring 411 lower end is connected with the second mounting seat；During specific works, the rotation rotating drive the first rotating shaft 45 of motor 44 in parallel
Turn, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 motion, and by limit spring 411 reduce when delta parallel institution 4 moves shake
Property, adding the stationarity of delta parallel institution 4 motion, delta parallel institution 4 is big with serial mechanism phase specific stiffness, motion spirit
Living, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and space is little, movement velocity is fast, kinematic dexterity is good；Should by delta parallel institution 4
Use in the present invention, on the one hand serve the regulation to extinguishing device 5 orientation angles, it is simple to the various attitude of the present invention is comprehensive goes out
On the other hand the carrying out of fire operation, serves the effect of damping to extinguishing device 5 so that extinguishing device 5 is walked top in the present invention
All the time it is in horizontal plateau under state of winnowing with a dustpan, prevents the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
As shown in Figures 4 to 7, described extinguishing device 5 includes support plate 51, fire extinguishing guide rail 52, fire extinguishing guide block 53, fixing tune
Regulating device 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 drawing device
The quantity of 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, guide rail 52 of putting out a fire
Being respectively symmetrically along the central transverse axis of support plate 51 and be fixed on both sides before and after support plate 51, fire extinguishing guide block 53 is arranged on fire extinguishing guide rail
On 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 secured adjusted device
Inside 54, and drop handle drawing device 55 lower end is fixed on fire extinguishing guide block 53；Described secured adjusted device 54 includes fixed frame
541, regulation rotating shaft 542, lower limit frame 543, upper limit frame 544, latch segment 545, shrinking connecting-rod the 546, first rotational pin 547 and
Second rotational pin 548；The described frame structure that fixed frame 541 is medial extremity opening, fixed frame 541 longitudinal direction equidistantly sets
Being equipped with sideboard, be provided with semicircular arc cushion block between sideboard, fixed frame 541 upper center position is provided with crosspiece；Described
Lower limit frame 543 is positioned at fixed frame 541 inner top side, and lower limit frame 543 lower end is by regulation rotating shaft 542 and fixed frame 541
Being connected, upper limit frame 544 is positioned at directly over lower limit frame 543, and upper limit frame 544 lower end and lower limit frame 543 upper end equal
Offer upper limit position groove and lower limit groove respectively, and upper limit position groove and lower limit groove are arcuate structure, upper limit position groove and lower limit
Position groove respectively one_to_one corresponding, before and after upper limit frame 544 lower end, before and after both sides and lower limit frame 543 upper end, both sides are provided with respectively
Latch segment 545 is used to be locked between upper projection seat and lower projection seat, and upper projection seat and lower projection seat, shrinking connecting-rod 546 one end
Being connected with lower limit frame 543 by the first rotational pin 547, shrinking connecting-rod 545 other end is by the second rotational pin 548 and fixes
The crosspiece of frame 541 upper center position is connected；Described drop handle drawing device 55 includes mobile support saddle 551, rolling bearing
552, electric pushrod 553 and pulling claw 554 are pulled open；Being provided with floor outside described mobile support saddle 551, rolling bearing 552 is positioned at
At the upper end position of mobile support saddle 551 lateral wall, and rolling bearing 552 is equidistantly evenly arranged along mobile support saddle 551 longitudinal direction,
Pull open electric pushrod 553 bottom to be fixed on rolling bearing 552, pull open electric pushrod 553 top and pulling claw 554 is installed, and draw
Opening uses the mode of threaded engagement to be attached between electric pushrod 553 top and pulling claw 554 rear end, and pulling claw 554 front end is arranged
Incomplete annular is had to hook pawl.During concrete operations, it is fixed in first fire extinguisher is placed into fixed frame 541 and stores, and will
The spray canister of fire extinguisher assigns between the upper limit position groove of upper limit frame 544 and the lower limit groove of lower limit frame 543, by fire extinguisher
Relieving ring is around being enclosed within pulling claw 554；Then when the present invention enters operation area, by drop handle drawing device 5 by fire extinguisher
Relieving ring is extracted so that fire extinguisher is in open mode；The spray canister of fire extinguisher can be driven to carry out adjusting by shrinking connecting-rod 546 again
Joint rotating shaft 542 rotates for center of rotation, it is achieved thereby that the adjustable angle function that fire extinguisher is when fire extinguishing, fire extinguishing injection model
Enclosing wide, fire-fighting efficiency is high.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a fire rescue robot of transformer station, it is characterised in that: include crawler unit, running gear system, electronic
Turntable, delta parallel institution and extinguishing device；Described running gear system quantity is four, and running gear system is the most right
Claiming to be arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electric rotating
Platform is connected with crawler unit, and delta parallel institution is between electrical turntable and extinguishing device, and delta parallel institution
Lower end is connected with electrical turntable, and delta parallel institution upper end is connected with extinguishing device；Wherein:
Described running gear system includes walk fixed plate, walking slide rail, walking slide block, walking ear mount, rotating shaft, a walking
Support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor frame, walk axle and walking runners；Described row
Walking slide rail to be fixed on walking fixed plate lower surface, walking slide block is arranged on walking slide rail, and walking upper end of slide block is matrix
Structure, walking slide block lower end be stand upside down U-shape structure, walking ear mount be positioned at walking sliding rail rear end position, and walking ear mount with
Walking fixed plate is connected, and mobile roof support upper end is connected with walking ear mount by a rotating shaft, sets at mobile roof support medium position
Being equipped with walking connecting rod, walking support bar one end is connected with slide block lower end of walking by No. two rotating shafts, walk support bar another
End is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and walking support bar is pneumatic telescopic structure,
Movable motor is fixed on mobile roof support lateral wall by movable motor frame, and movable motor main shaft is connected, OK with walking axle
Walking axle two ends to be separately fixed on the medial wall, left and right of mobile roof support lower end, walking runner is arranged at walking axle medium position；
Described delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod, turns
Untie-sell, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape structure,
Moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, during motor cabinet with the center of circle of fixed platform is
The heart is that equilateral triangle shape is fixed on fixed platform upper surface, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors leads to
Cross motor cabinet and be fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, the first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
Employing rotational pin is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end
It is provided with the double end sleeve matched with the second rotating shaft, first connecting rod middle inside and second connecting rod middle inside to arrange respectively
Having the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring
End is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat；
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 being fixed on support plate
Rear 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
Device is positioned at 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, between fixed frame longitudinal direction etc.
Away from being provided with sideboard, being provided with semicircular arc cushion block between sideboard, fixed frame upper center position is provided with crosspiece；Described
Lower limit frame is positioned at fixed frame inner top side, and lower limit frame lower end is connected with fixed frame by regulation rotating shaft, upper limit frame
It 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 respectively
Groove, and upper limit position groove and lower limit groove be arcuate structure, upper limit position groove and lower limit groove one_to_one corresponding respectively, under upper limit frame
Before and after 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 upper projection seat and lower projection seat it
Between use latch segment be locked, shrinking connecting-rod one end is connected with lower limit frame by the first rotational pin, shrinking connecting-rod
The other end is connected by the crosspiece of the second rotational pin with fixed frame upper center position.
Fire rescue robot of a kind of transformer station the most according to claim 1, it is characterised in that: described crawler travel dress
Put and include chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drive motor, tight locking button and walking
The quantity of crawler belt is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, and rear and front end, chassis is divided
Do not offer mounting groove, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor use twin shaft with
Step output motor, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives
Being fixed by tight locking button between moving axis and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and walking
Semicircle tread plate it is evenly arranged with outside crawler belt.
Fire rescue robot of a kind of transformer station the most according to claim 1, it is characterised in that: described drop handle pulls open dress
Put and include mobile support saddle, rolling bearing, pull open electric pushrod and pulling claw；It is provided with floor outside described mobile support saddle, rotates
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,
Pull open electric pushrod bottom to be fixed on rolling bearing, pull open electric pushrod top and pulling claw is installed, and pull open electric pushrod top
Using the mode of threaded engagement to be attached between end and pulling claw rear end, pulling claw front end is provided with incomplete annular and hooks pawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610500014.9A CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610500014.9A CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
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| Publication Number | Publication Date |
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| CN106039619A true CN106039619A (en) | 2016-10-26 |
| CN106039619B CN106039619B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610500014.9A Active CN106039619B (en) | 2016-06-28 | 2016-06-28 | A kind of substation's fire rescue robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107472385A (en) * | 2017-07-31 | 2017-12-15 | 华南理工大学 | It is a kind of can rapid translating form wheel-track combined robot |
| CN109676586A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of space that air pump is telescopic overturning crawl walking robot |
| CN110721427A (en) * | 2019-11-18 | 2020-01-24 | 九江市庐峰消防装备有限公司 | General portable extinguishing device's ground support |
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| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN105617590A (en) * | 2016-03-31 | 2016-06-01 | 扬州恒源自来水喷泉设备有限公司 | All-direction automatic fire extinguishing robot |
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| US20040216932A1 (en) * | 2001-07-09 | 2004-11-04 | United Defense, Lp | Hybrid wheel and track vehicle drive system |
| JP2005111595A (en) * | 2003-10-07 | 2005-04-28 | Rikogaku Shinkokai | Crawler type traveling robot |
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107472385A (en) * | 2017-07-31 | 2017-12-15 | 华南理工大学 | It is a kind of can rapid translating form wheel-track combined robot |
| CN109676586A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of space that air pump is telescopic overturning crawl walking robot |
| CN109676586B (en) * | 2018-12-29 | 2023-09-22 | 镇江高等职业技术学校 | Air pump telescopic space overturning grabbing walking robot |
| CN110721427A (en) * | 2019-11-18 | 2020-01-24 | 九江市庐峰消防装备有限公司 | General portable extinguishing device's ground support |
| CN110721427B (en) * | 2019-11-18 | 2024-04-09 | 九江市庐峰消防装备有限公司 | Ground support of general portable fire extinguishing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106039619B (en) | 2019-04-23 |
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