CN106178369A - A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator - Google Patents
A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator Download PDFInfo
- Publication number
- CN106178369A CN106178369A CN201610493421.1A CN201610493421A CN106178369A CN 106178369 A CN106178369 A CN 106178369A CN 201610493421 A CN201610493421 A CN 201610493421A CN 106178369 A CN106178369 A CN 106178369A
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- Prior art keywords
- fire
- fixed
- turns
- extinguishing
- rotating
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
Abstract
The present invention relates to a kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator, including delta parallel institution and extinguishing device；Described delta parallel institution is positioned at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device.The present invention has the several functions such as orientation regulation and extinguishing operation, can be to carrying out fire-fighting fire extinguishing operation during scene of fire, and automaticity is high, during fire extinguishing, stable movement is flexible, fire extinguishing spray regime is big, fire-fighting efficiency is high and safety is high, solve the problem that artificial fire-fighting fire extinguishing efficiency is low and danger is big, its delta parallel institution can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, on the one hand the regulation to extinguishing device orientation angles is served, on the other hand extinguishing device is served the effect of damping, prevent the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
Description
Technical field
The present invention relates to fire-fighting equipment field, a kind of multifunctional fire-fighting intelligence equipment multi-joint machinery
Hands.
Background technology
Fire refers in time or the most out of control burning, in various disasters, fire be most frequently, the most universal
Ground threatens one of major casualty of public security and social development；All there is disaster hidden-trouble, such as chemical industry in a lot of occasions and industry
Factory, home dwelling, public market, gas station, Utilities Electric Co., smeltery etc.；The reason causing fire is a lot, such as violates electricity
Gas security regulations, violation safety operation specify, throw out cigarette end and spontaneous combustion etc. without care.
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
For a kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of multifunctional fire-fighting intelligence equipment multi-joint machinery
Hands.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator, including delta parallel institution and extinguishing device；Described
Delta parallel institution be positioned at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device.
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 extinguishing device be in horizontal plateau all the time, prevent the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
As a further improvement on the present invention, described extinguishing device includes support plate, storage tube, fire extinguishing slide rail, locking dress
Put, spray canister fixing device, press device and turn on device, and storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press
Pressure device and the quantity turning on device are two；Described storage tube is respectively symmetrically layout along longitudinal center's axis of support plate, and
Storage tube bottom fixes with support plate upper surface, and storage tube is the hollow cylindrical structure of front opening back-end closure, storage tube
Upper front end is opening-wide state, and fire extinguishing slide rail is respectively symmetrically and is fixed on storage tube upper front end, and locking device is arranged on storage tube
Upper end, spray canister fixing device is between locking device and press device, and spray canister fixing device lower end is arranged on fire extinguishing slide rail
On, turn on device and be positioned at press device dead ahead, and turn on the device left and right sides and be separately mounted to put out a fire on slide rail.
As a further improvement on the present invention, described locking device includes fixed block, tie down screw, latch segment and turns
Dish；Described fixed block center position offers the screwed hole matched with external screw thread on tie down screw, and tie down screw is installed
In the screwed hole of fixed block upper end, tie down screw lower end is fixed with latch segment, and latch segment is arc shape structure, tie down screw
Upper end is provided with rotating disk, is provided with anti-skidding striped outside rotating disk；By rotating the rotation of driven by rotary disc tie down screw, thus drive
The raising and lowering of fixed block, it is achieved that the fixing locking to fire extinguisher stack shell.
As a further improvement on the present invention, described spray canister fixing device includes gripper shoe, cross bar, strap, stretches
Contracting connecting rod and bull stick；Described gripper shoe lower end is arranged on the left and right sides, storage tube front end, and two ends, cross bar left and right are separately fixed at
In gripper shoe at apical position, strap upper end is provided with rotating cylinder, and rotating cylinder is arranged in the middle part of cross bar, offers in the middle part of strap
Circular fixing port, the left and right sides, strap lower end is had to be respectively symmetrically and be provided with contiguous block, shrinking connecting-rod one end and contiguous block phase
Connecting, the shrinking connecting-rod other end is hinged with bull stick one end, and the bull stick other end is fixed on gripper shoe medial wall；The fixing dress of spray canister
Put and be mainly used in fire extinguisher spray canister is gripped, and by the elongation of shrinking connecting-rod and shorten motion drive strap with
Cross bar is the rotation that center of rotation carries out on vertical, it is achieved thereby that spray angle regulation during fire extinguisher spray canister spraying operation
Function.
As a further improvement on the present invention, described device of turning on includes turning on slide block, turns on electric pushrod, turns on
Frame, turn on motor, turn on rotating shaft, turn on rotating disk and stubborn bar；Described slide block of turning on is arranged on fire extinguishing slide rail, turns on electronic pushing away
Bar bottom is fixed on turns on slide block, turns on two ends, support left and right and is separately fixed at and turns on electric pushrod top, turn on support in
Disc-shaped structure, turns on motor and is fixed on and turns on stent outer wall, turn on rotating shaft one end and be connected with turning on motor output shaft,
Turn on the rotating shaft other end and be connected by key between rotating disk with turning on, turn on the circumference along its center axis on rotating disk inner side end
Direction is evenly arranged with turntable seat, twists bar bottom and is arranged on the turntable seat turning on rotating disk, twists masthead end and is provided with stubborn block, twists block
In fan shape structure；During use, first pass through the shifting turning on support to inner slide drive turning on slide block on fire extinguishing slide rail
Dynamic, it is achieved thereby that the function stubborn bar being inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on electric pushrod
Stretching motion scalable turns on the height of support, after stubborn bar is inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on
Rotating of turntable seat on rotating disk drives the rotation twisting bar, and stubborn bar is rotated 180 degree, prevents the longitudinal direction twisting bar from slipping, finally leads to
Cross and turn on rotating to drive and turning on the rotation of rotating disk of motor, thus drive the rotation that fire extinguisher Flos Mume takes turns, and then fire extinguisher is entered
Row is opened.
As a further improvement on the present invention, described press device includes pressing slide block, pressing electric pushrod, pressing and slide
Rail, press electronic slide block and press head；Described pressing slide block is arranged on fire extinguishing slide rail, and pressing electric pushrod bottom is fixed on
On pressing slide block, the pressing slide rail left and right sides is separately fixed at pressing electric pushrod top, presses electronic slide block and is arranged on pressing
On slide rail, press head is fixed on pressing slide block lower end, and offers semi-circular recesses in the middle part of press head；Pressing electronic slide block can be
Move left and right on pressing slide rail, thus the duckbill valve on fire extinguisher can be carried out para-position, then by pressing electric pushrod
Contractile motion drive the decline of press head, thus reached to press the effect of the duckbill valve on fire extinguisher.
During concrete operations, the fire extinguisher that first will be equipped with extinguishing chemical is placed in storage tube, by before fire extinguisher during placement
Head is placed outwardly, and is locked fire extinguisher by locking device；Then the spray canister of fire extinguisher is placed into spray canister solid
Determine to be fixed on device, and mix up fixed angle；The Flos Mume that stubborn bar is inserted into fire extinguisher again by turning on device is taken turns interior, with
Time by press device, press head is directed at the duckbill valve of fire extinguisher；During operation, rotate the Flos Mume of fire extinguisher by turning on device
Wheel, by the duckbill valve of press device pressing fire extinguisher, it is achieved thereby that the effect of the extinguishing chemical ejection in fire extinguisher.
Compared with prior art, the invention have the advantages that
(1) present invention has the several functions such as orientation regulation and extinguishing operation, can be to carrying out fire-fighting fire extinguishing during scene of fire
Operation, and when automaticity height, fire extinguishing, stable movement is flexibly, spray regime is big, fire-fighting efficiency is high and safety is high in fire extinguishing, solves
The problem that artificial fire-fighting fire extinguishing efficiency of having determined is low and danger is big.
(2) 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 horizontal plateau all the time, prevents jitter mistake
Greatly the fire extinguisher stored is caused potential safety hazard.
(3) extinguishing device of the present invention can realize storing locking, the secured adjusted of fire extinguisher spray canister, going out of fire extinguisher stack shell
The function that a series of actions such as the opening and closing of firearm Flos Mume wheel and the control of fire extinguisher duckbill valve perform, and fire extinguishing injection
Scope 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 of delta parallel institution of the present invention；
Fig. 3 is the overall perspective view of extinguishing device of the present invention；
Fig. 4 is the sectional perspective structural representation of extinguishing device of the present invention；
Fig. 5 is storage tube of the present invention, spray canister fixing device, turns on stereochemical structure signal when device and press device coordinate
Figure；
Fig. 6 is the perspective view that the present invention turns on device.
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 6, a kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator, including delta parallel institution
4 and extinguishing device 5；Described delta parallel institution 4 is positioned at immediately below extinguishing device 5, and delta parallel institution 4 upper end with go out
Fire device 5 is connected.
As depicted in figs. 1 and 2, 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
The carrying out of fire operation, on the other hand serves the effect of damping to extinguishing device 5 so that extinguishing device 5 is in level all the time and puts down
Steady state, prevents the excessive fire extinguisher to storing of jitter from causing potential safety hazard.
As shown in Figures 3 to 6, described extinguishing device 5 includes support plate 51, storage tube 52, fire extinguishing slide rail 53, locking device
54, spray canister fixing device 55, press device 56 and turn on device 57, and storage tube 52, fire extinguishing slide rail 53, locking device 54, spray
Tube fixing device 55, press device 56 and turn on the quantity of device 57 and be two；Described storage tube 52 is along the longitudinal direction of support plate 51
Central axis is respectively symmetrically layout, and storage tube 52 bottom fixes with support plate 51 upper surface, after storage tube 52 is front opening
The hollow cylindrical structure that end seal is closed, storage tube 52 upper front end is opening-wide state, and fire extinguishing slide rail 53 is respectively symmetrically and is fixed on storage
Putting cylinder 52 upper front end, locking device 54 is arranged on storage tube 52 upper end, spray canister fixing device 55 be positioned at locking device 54 with by
Between pressure device 56, and spray canister fixing device 55 lower end is arranged on fire extinguishing slide rail 53, turns on device 57 and is positioned at press device 56
Dead ahead, and turn on device 57 left and right sides and be separately mounted to put out a fire on slide rail 53.
As shown in Figure 3 and Figure 4, described locking device 54 includes fixed block 541, tie down screw 542, latch segment 543 and
Rotating disk 544；Described fixed block 541 center position offers the screwed hole matched with external screw thread on tie down screw 542, lock
Tight screw rod 542 is arranged in the screwed hole of fixed block 541 upper end, and tie down screw 542 lower end is fixed with latch segment 543, and locking
Block 543 is arc shape structure, and tie down screw 542 upper end is provided with rotating disk 544, is provided with anti-skidding striped outside rotating disk 544；Pass through
Rotate rotating disk 544 and drive the rotation of tie down screw 542, thus drive the raising and lowering of fixed block 543, it is achieved that to fire extinguisher
The fixing locking of stack shell.
As it is shown in figure 5, described spray canister fixing device 55 includes gripper shoe 551, cross bar 552, strap 553, stretches
Connecting rod 554 and bull stick 555；Described gripper shoe 551 lower end is arranged on the left and right sides, storage tube 52 front end, cross bar about 552 two
End is separately fixed in gripper shoe 551 at apical position, and strap 553 upper end is provided with rotating cylinder, and rotating cylinder is arranged on cross bar 552
Middle part, offers circular fixing port in the middle part of strap 553, the left and right sides, strap 553 lower end is respectively symmetrically the company of being provided with
Connecing block, shrinking connecting-rod 554 one end is connected with contiguous block, and shrinking connecting-rod 554 other end is hinged with bull stick 555 one end, bull stick
555 other ends are fixed on gripper shoe 551 medial wall；It is solid that spray canister fixing device 55 is mainly used in the clamping to fire extinguisher spray canister
Determine, and the elongation and shortening motion by shrinking connecting-rod 554 drives strap 553 to hang down for center of rotation with cross bar 552
The rotation faced directly, it is achieved thereby that the function of spray angle regulation during fire extinguisher spray canister spraying operation.
As shown in Figure 5 and Figure 6, described device 57 of turning on includes turning on slide block 571, turns on electric pushrod 572, turns on
Frame 573, turn on motor 574, turn on rotating shaft 575, turn on rotating disk 576 and stubborn bar 577；Described slide block 571 of turning on is arranged on and goes out
On fire slide rail, turn on electric pushrod 572 bottom and be fixed on and turn on slide block 571, turn on support about 573 two ends and be separately fixed at
Turn on electric pushrod 572 top, turn on support 573 structure in the form of annular discs, turn on motor 574 and be fixed on and turn on outside support 573
On wall, turn on rotating shaft 575 one end and turn on motor 574 output shaft and be connected, turn on rotating shaft 575 other end and turn on rotating disk 576
Between be connected by key, turn on rotating disk 576 inner side end the circumferential direction along its center axis and be evenly arranged with turntable seat,
Twisting bar 577 bottom to be arranged on the turntable seat turning on rotating disk 576, twist bar 577 top and be provided with stubborn block, twisting block is fan shape knot
Structure；During use, first pass through the movement turning on support 573 to inner slide drive turning on slide block 571 on fire extinguishing slide rail 53,
It is achieved thereby that the function stubborn bar 577 being inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then by turning on electric pushrod 572
Stretching motion scalable turn on the height of support 573, after stubborn bar 577 is inserted in the fan-shaped space of fire extinguisher Flos Mume wheel, then
Twist the rotation of bar 577 by turning on the drive that rotates of the turntable seat on rotating disk 576, stubborn bar 577 is rotated 180 degree, prevents from twisting bar
The longitudinal direction of 577 slips, and turns on the rotation of rotating disk 576 finally by the drive that rotates turning on motor 574, thus drives fire extinguisher prunus mume (sieb.) sieb.et zucc.
The rotation of floral whorl, and then fire extinguisher is opened.
As it is shown in figure 5, described press device 56 includes pressing slide block 561, pressing electric pushrod 562, pressing slide rail
563, electronic slide block 564 and press head 565 are pressed；Described pressing slide block 561 is arranged on fire extinguishing slide rail 53, presses electronic pushing away
Bar 562 bottom is fixed on pressing slide block 561, and pressing slide rail 563 left and right sides is separately fixed at pressing electric pushrod 562 and pushes up
End, presses electronic slide block 564 and is arranged on pressing slide rail 5633, and press head 565 is fixed on pressing slide block 561 lower end, and pressing
Semi-circular recesses is offered in the middle part of in the of 565；Press electronic slide block 564 to move left and right on pressing slide rail 563, thus can
Duckbill valve on fire extinguisher is carried out para-position, then drives press head 565 times by the contractile motion of pressing electric pushrod 562
Fall, thus reached to press the effect of the duckbill valve on fire extinguisher.
As shown in Figures 3 to 6, during concrete operations, the fire extinguisher that first will be equipped with extinguishing chemical is placed in storage tube 52, puts
When putting, the front of fire extinguisher is placed outwardly, and by locking device 54, fire extinguisher is locked；Then by fire extinguisher
Spray canister be placed in spray canister fixing device 55 and be fixed, and mix up fixed angle；Again by turning on device 57 by stubborn bar 577
It is inserted in the Flos Mume wheel of fire extinguisher, by press device 56, press head 565 is directed at the duckbill valve of fire extinguisher simultaneously；Operation
Time, the Flos Mume rotating fire extinguisher by turning on device 57 is taken turns, and is pressed the duckbill valve of fire extinguisher by press device 56, thus realizes
The effect of the extinguishing chemical ejection in fire extinguisher.
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 (1)
1. a multifunctional fire-fighting intelligence equipment multi-joint manipulator, it is characterised in that: include delta parallel institution and fire extinguishing
Device；Described delta parallel institution is positioned at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device
Connect；Wherein:
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, storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press device and twists
Opening apparatus, and storage tube, fire extinguishing slide rail, locking device, spray canister fixing device, press device and turn on the quantity of device and be
Two；Described storage tube is respectively symmetrically layout along longitudinal center's axis of support plate, and storage tube bottom is solid mutually with support plate upper surface
Fixed, storage tube is the hollow cylindrical structure of front opening back-end closure, and storage tube upper front end is opening-wide state, slide rail of putting out a fire
Being respectively symmetrically and be fixed on storage tube upper front end, locking device is arranged on storage tube upper end, and spray canister fixing device is positioned at locking dress
Put between press device, and spray canister fixing device lower end be arranged on fire extinguishing slide rail on, turn on device be positioned at press device just before
Side, and turn on the device left and right sides and be separately mounted to put out a fire on slide rail；
Described spray canister fixing device includes gripper shoe, cross bar, strap, shrinking connecting-rod and bull stick；Under described gripper shoe
End is arranged on the left and right sides, storage tube front end, and two ends, cross bar left and right are separately fixed in gripper shoe at apical position, strap
Upper end is provided with rotating cylinder, and rotating cylinder is arranged in the middle part of cross bar, offers circular fixing port in the middle part of strap, and strap lower end is left
Right both sides are respectively symmetrically and are provided with contiguous block, and shrinking connecting-rod one end is connected with contiguous block, the shrinking connecting-rod other end and bull stick one
End is hinged, and the bull stick other end is fixed on gripper shoe medial wall；
Described device of turning on includes turning on slide block, turns on electric pushrod, turns on support, turns on motor, turns on rotating shaft, turns on and turn
Dish and stubborn bar；Described slide block of turning on is arranged on fire extinguishing slide rail, turns on electric pushrod bottom and is fixed on and turns on slide block, turns on
Two ends, support left and right are separately fixed at turns on electric pushrod top, turns on support structure in the form of annular discs, turns on motor and is fixed on stubborn
Spending frame lateral wall on, turn on rotating shaft one end and be connected with turning on motor output shaft, turn on the rotating shaft other end with turn on rotating disk it
Between be connected by key, turn on rotating disk inner side end the circumferential direction along its center axis and be evenly arranged with turntable seat, twist bar
Bottom is arranged on the turntable seat turning on rotating disk, twists masthead end and is provided with stubborn block, and twisting block is fan shape structure；
Described press device includes pressing slide block, presses electric pushrod, presses slide rail, presses electronic slide block and press head；Institute
The pressing slide block stated be arranged on fire extinguishing slide rail on, pressing electric pushrod bottom be fixed on pressing slide block on, pressing slide rail about two
Side is separately fixed at pressing electric pushrod top, presses electronic slide block and is arranged on pressing slide rail, and it is sliding that press head is fixed on pressing
Block lower end, and in the middle part of press head, offer semi-circular recesses；
Described locking device includes fixed block, tie down screw, latch segment and rotating disk；Described fixed block center position is offered
Having the screwed hole matched with external screw thread on tie down screw, tie down screw is arranged in the screwed hole of fixed block upper end, locking screw
Bar lower end is fixed with latch segment, and latch segment is arc shape structure, and tie down screw upper end is provided with rotating disk, is provided with outside rotating disk
Anti-skidding striped.
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| CN106178369A true CN106178369A (en) | 2016-12-07 |
| CN106178369B CN106178369B (en) | 2018-12-21 |
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| CN114699697A (en) * | 2022-03-29 | 2022-07-05 | 马秀芬 | Intelligent fire-fighting method |
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|---|---|
| CN106178369B (en) | 2018-12-21 |
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