CN106178369B - A kind of intelligent equip of multifunctional fire-fighting uses multi-joint manipulator - Google Patents
A kind of intelligent equip of multifunctional fire-fighting uses multi-joint manipulator Download PDFInfo
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- CN106178369B CN106178369B CN201610493421.1A CN201610493421A CN106178369B CN 106178369 B CN106178369 B CN 106178369B CN 201610493421 A CN201610493421 A CN 201610493421A CN 106178369 B CN106178369 B CN 106178369B
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- fire
- fixed
- unscrew
- shaft
- extinguishing
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The present invention relates to a kind of multifunctional fire-fighting intelligence equipment multi-joint manipulators, including delta parallel institution and extinguishing device；The delta parallel institution is located at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device.There is the present invention orientation to adjust and the multiple functions such as extinguishing operation, fire-fighting fire extinguishing operation is carried out when can be to scene of fire, and high degree of automation, it is moved when fire extinguishing steady flexible, spray regime of putting out a fire is big, fire-fighting efficiency is high and highly-safe, solve the problems, such as that artificial fire-fighting fire extinguishing low efficiency and risk are big, its delta parallel institution can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, on the one hand the adjusting to extinguishing device orientation angles is played, on the other hand the effect of damping is played to extinguishing device, it prevents jitter excessive and security risk is caused to the fire extinguisher of storage.
Description
Technical field
The present invention relates to fire-fighting equipment field, intelligently equipment is mechanical with multi-joint for specifically a kind of multifunctional fire-fighting
Hand.
Background technique
Fire refers to the out of control burning on time or space, and in various disasters, fire is most frequently, most generally
Ground threatens one of public security and the major casualty of social development；All there is fire hazard, such as chemical industry in many occasions and industry
Factory, home dwelling, public market, gas station, Utilities Electric Co., smeltery etc.；There are many reason of causing fire, for example violate electricity
Gas security regulations violate safety operation regulation, throw out cigarette butt and spontaneous combustion etc. without care.
The fire extinguisher species that fire-fighting at present uses are various, mainly there is 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.；It goes out
Firearm is mainly made of stack shell, spray canister and switch valve, is divided from fire-extinguishing operations step and mode, and one kind is need to only to extract insurance
Spray canister alignment fire source is directly carried out operation by ring, another kind of, is first to open plum blossom wheel valve, when spray canister is directed at fire source operation
It needs to press duck-beak type valve simultaneously.
The artificial fire extinguisher that carries is mostly used to enter fire-fighting scene progress artificial fire-fighting operation fire fire-fighting fire-fighting mode,
Such dangerous property of existing fire fighting mode is big, causes great threat to fire fighter's personal safety, has every year not
Few fireman sacrificed because of live fire-fighting operation die at one's post it is numerous；Artificial live fire-fighting operation fire-fighting efficiency can be with simultaneously
The elongation of activity duration and gradually reduce, fire-fighting fire extinguishing whole efficiency is low, speed is slow and flexibility is poor.In consideration of it, the present invention mentions
For a kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of multifunctional fire-fighting intelligence equipment multi-joint machinery
Hand.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of multifunctional fire-fighting intelligently equipment multi-joint manipulator, including delta parallel institution and extinguishing device；It is described
Delta parallel institution be located at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device.
As a further improvement of the present invention, the delta parallel institution includes fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located at right above fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat
It is arranged on moving platform lower end surface centered on the center of circle of platform in positive triangle shape, and motor cabinet installation site and rotating basis installation
Position corresponds respectively, and installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are exported using adjustable speed twin shaft
Motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod lower end, and first
It is attached between small end and second connecting rod lower end using rotational pin, second connecting rod upper end is connected with second shaft one end
It connects, the second shaft other end is mounted on rotating basis, and rotating basis upper end is provided with swivel bearing, and swivel bearing is put down with dynamic
Platform lower end surface is mutually fixed, and rotating basis lower end is provided with the double end sleeve matched with the second shaft, first connecting rod middle inside
Be respectively arranged with the first mounting base and the second mounting base with second connecting rod middle inside, limit spring be located at the first mounting base and
Between second mounting base, and limit spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base
It connects；When specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motors
Connection to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives the movement of moving platform, and pass through limit
Jitter when spring reduces the movement of delta parallel institution, increases the stationarity of delta parallel institution movement, and delta is in parallel
Mechanism rigidity compared with serial mechanism is big, and flexibly, stable structure, bearing capacity is strong and fine motion precision is high, delta parallel machine for movement
Structure can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune
Dynamic flexibility is good, and delta parallel institution is applied in the present invention, the tune to extinguishing device orientation angles is on the one hand played
On the other hand section plays the effect of damping convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention to extinguishing device,
So that extinguishing device is in horizontal steady state always, prevents jitter excessive and security risk is caused to the fire extinguisher of storage.
As a further improvement of the present invention, the extinguishing device includes supporting plate, storage tube, fire extinguishing sliding rail, locking dress
Set, spray tube fixing device, press device and unscrew device, and storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press
Pressure device and the quantity for unscrewing device are two；The storage tube is symmetrically arranged along the longitudinal center axis of supporting plate, and
Storage tube bottom end is mutually fixed with supporting 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 sliding rail is respectively symmetrically fixed on storage tube upper front end, and locking device is mounted on storage tube
Tube fixing device is sprayed between locking device and press device in upper end, and sprays tube fixing device lower end and be mounted on fire extinguishing sliding rail
On, it unscrews device and is located at immediately ahead of press device, and unscrew and be separately mounted at left and right sides of device on fire extinguishing sliding rail.
As a further improvement of the present invention, the locking device includes fixed block, tie down screw, latch segment and turns
Disk；The fixed block center position offers the threaded hole matched with external screw thread on tie down screw, tie down screw installation
In the threaded hole of upper end of fixing block, tie down screw lower end is fixed with latch segment, and latch segment is arc shape structure, tie down screw
Upper end is equipped with turntable, is provided with skid resistance strip on the outside of turntable；By rotating the rotation of driven by rotary disc tie down screw, to drive
The raising and lowering of fixed block realizes the fixed locking to fire extinguisher stack shell.
As a further improvement of the present invention, the spray tube fixing device includes support plate, cross bar, strap, stretches
Contracting connecting rod and bull stick；The support plate lower end is mounted at left and right sides of storage tube front end, and cross bar left and right ends are separately fixed at
In support plate at apical position, strap upper end is provided with rotating cylinder, and rotating cylinder is mounted in the middle part of cross bar, opens up in the middle part of strap
There is round fixing port, has been symmetrically arranged link block, shrinking connecting-rod one end and link block phase at left and right sides of strap lower end
Connection, the shrinking connecting-rod other end are hinged with bull stick one end, and the bull stick other end is fixed on support plate inner sidewall；The fixed dress of spray canister
Set and be mainly used for gripping fire extinguisher spray canister, and by the elongation of shrinking connecting-rod and shorten movement drive strap with
Cross bar is the rotation on rotation center progress vertical plane, thus spray angle adjusting when realizing fire extinguisher spray canister spraying operation
Function.
As a further improvement of the present invention, the device of unscrewing includes unscrewing sliding block, unscrewing electric pushrod, unscrew branch
Frame unscrews motor, unscrews shaft, unscrewing turntable and stubborn bar；The sliding block of unscrewing is mounted on fire extinguishing sliding rail, unscrews electronic push away
Bar bottom end, which is fixed on, unscrews on sliding block, unscrews bracket left and right ends and is separately fixed at and unscrew electric pushrod top, unscrewing bracket is in
Disc-shaped structure is unscrewed motor and is fixed on and unscrew on stent outer wall, unscrews shaft one end and be connected with motor output shaft is unscrewed,
It unscrews the shaft other end and is connected by key between turntable with unscrewing, unscrew the circumferential direction on turntable inner side end along center axis thereof
Direction is evenly arranged with turntable seat, twists bar bottom end and is mounted on the turntable seat for unscrewing turntable, twists bar top and is provided with stubborn block, twists block
Fan-shaped shape structure；In use, the shifting of bracket is unscrewed by unscrewing the drive of sliding inwardly of the sliding block on fire extinguishing sliding rail first
It is dynamic, so that the function being inserted into stubborn bar in the fan-shaped gap of fire extinguisher plum blossom wheel is realized, then by unscrewing electric pushrod
The adjustable height for unscrewing bracket of stretching motion, after stubborn bar, which is inserted into fire extinguisher plum blossom, takes turns in fan-shaped gap, then by unscrewing
The rotation of turntable seat on turntable drives the rotation for twisting bar, and stubborn bar is rotated 180 degree, prevents the longitudinal of stubborn bar from slipping, finally leads to
Cross and unscrew the rotation of motor and drive and unscrew the rotation of turntable, thus the rotation for driving fire extinguisher plum blossom to take turns, and then by fire extinguisher into
Row is opened.
As a further improvement of the present invention, the press device includes pressing sliding block, pressing electric pushrod, pressing cunning
Rail, the electronic sliding block of pressing and press head；The pressing sliding block is mounted on fire extinguishing sliding rail, and pressing electric pushrod bottom end is fixed on
It presses on sliding block, pressing electric pushrod top is separately fixed at left and right sides of pressing sliding rail, electronic sliding block is pressed and is mounted on pressing
On sliding rail, press head is fixed on pressing sliding rail lower end, and offers semi-circular recesses in the middle part of press head；Pressing electronic sliding block can be
It is moved left and right on pressing sliding rail, so as to align to the duckbill valve on fire extinguisher, then passes through pressing electric pushrod
Contractile motion drive press head decline, thus achieved the effect that press fire extinguisher on duckbill valve.
When specific operation, it will be placed into storage tube equipped with the fire extinguisher of extinguishing chemical first, when placement will be before fire extinguisher
Head is placed outwardly, and is locked by locking device to fire extinguisher；Then the spray canister of fire extinguisher spray canister is placed into consolidate
Determine to be fixed on device, and mixes up fixed angle；Stubborn bar is inserted into the plum blossom wheel of fire extinguisher by unscrewing device again, together
When by press device by press head be aligned fire extinguisher duckbill valve；When operation, the plum blossom of fire extinguisher is rotated by unscrewing device
Wheel, the duckbill valve of fire extinguisher is pressed by press device, to realize the effect that the extinguishing chemical in fire extinguisher sprays.
Compared with prior art, the invention has the following advantages that
(1) there is the present invention orientation to adjust and the multiple functions such as extinguishing operation, carry out fire-fighting fire extinguishing when can be to scene of fire
Operation, and movement is steady flexibly, fire extinguishing spray regime is big when high degree of automation, fire extinguishing, fire-fighting efficiency is high and highly-safe, solution
Artificial fire-fighting fire extinguishing low efficiency of having determined and the big problem of risk.
(2) delta parallel institution of the invention can carry out three translations three in space and rotate total six-freedom degree direction
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institution is applied in the present invention, a side
Face plays the adjusting to extinguishing device orientation angles, another convenient for the progress of the various comprehensive extinguishing operations of posture of the present invention
Aspect plays the effect of damping to extinguishing device, so that extinguishing device is in horizontal steady state always, prevents jitter mistake
Security risk is caused to the fire extinguisher of storage greatly.
(3) extinguishing device of the invention can realize that the storage of fire extinguisher stack shell locks, the secured adjusted of fire extinguisher spray canister, goes out
The function that a series of actions such as the control of opening and closing and fire extinguisher duckbill valve that firearm plum blossom is taken turns execute, and injection of putting out a fire
Range is wide, fire-fighting efficiency is high and safety is good.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of delta parallel institution of the present invention；
Fig. 3 is the entirety perspective view of extinguishing device of the present invention；
Fig. 4 is the sectional perspective structural schematic diagram of extinguishing device of the present invention；
Fig. 5 is storage tube of the present invention, spray tube fixing device, unscrews device and stereochemical structure signal when press device cooperates
Figure；
Fig. 6 is the schematic perspective view that the present invention unscrews device.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 6, a kind of multifunctional fire-fighting intelligently equipment multi-joint manipulator, including delta parallel institution
4 and extinguishing device 5；The delta parallel institution 4 is located at immediately below extinguishing device 5, and 4 upper end of delta parallel institution with go out
Fiery device 5 is connected.
As depicted in figs. 1 and 2, the delta parallel institution 4 includes fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit
Position spring 411；Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at right above fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41
It is fixed on 41 upper surface of fixed platform, rotating basis 410 is arranged in centered on the center of circle of moving platform 42 in positive triangle shape dynamic
On 42 lower end surface of platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis correspond respectively, parallel-connected induction motors 44
Be fixed installation by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, 45 one end of first rotating shaft with
44 main shaft of parallel-connected induction motors is connected, and 45 other end of first rotating shaft is connected with 46 lower end of first connecting rod, 46 upper end of first connecting rod with
It being attached between 48 lower end of second connecting rod using rotational pin 47,48 upper end of second connecting rod is connected with 49 one end of the second shaft,
Second shaft, 49 other end is mounted on rotating basis 410, and 410 upper end of rotating basis is provided with swivel bearing, and swivel bearing
It is mutually fixed with 42 lower end surface of moving platform, 410 lower end of rotating basis is provided with the double end sleeve matched with the second shaft 49, and first
46 middle inside of connecting rod and 48 middle inside of second connecting rod are respectively arranged with the first mounting base and the second mounting base, limit spring
411 between the first mounting base and the second mounting base, and 411 upper end of limit spring is connected with the first mounting base, limits bullet
411 lower end of spring is connected with the second mounting base；When specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motors 44
Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so that the rotation by first connecting rod 46 drives second connecting rod 48
Rotation, and then drive moving platform 42 movement, and by limit spring 411 reduce delta parallel institution 4 move when shake
Property, the stationarity of the movement of delta parallel institution 4 is increased, the rigidity compared with serial mechanism of delta parallel institution 4 is big, movement spirit
Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institution 4 can carry out three translations three rotation altogether in space
The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good；Delta parallel institution 4 is answered
It uses in the present invention, on the one hand plays the adjusting to 5 orientation angles of extinguishing device, go out convenient for the various postures of the present invention are comprehensive
The progress of fiery operation, on the other hand plays the effect of damping to extinguishing device 5, so that extinguishing device 5 is always in horizontal flat
Steady state prevents jitter excessive and causes security risk to the fire extinguisher of storage.
As shown in Figures 3 to 6, the extinguishing device 5 includes supporting plate 51, storage tube 52, fire extinguishing sliding rail 53, locking device
54, it sprays tube fixing device 55, press device 56 and unscrews device 57, and storage tube 52, fire extinguishing sliding rail 53, locking device 54, spray
Tube fixing device 55, press device 56 and to unscrew the quantity of device 57 be two；The storage tube 52 is along the longitudinal direction of supporting plate 51
Central axis is symmetrically arranged, and 52 bottom end of storage tube is mutually fixed with 51 upper surface of supporting plate, and storage tube 52 is after front opening
Closed hollow cylindrical structure is held, 52 upper front end of storage tube is opening-wide state, and fire extinguishing sliding rail 53 is respectively symmetrically fixed on storage
52 upper front end of cylinder is put, locking device 54 is mounted on 52 upper end of storage tube, and spray tube fixing device 55 is located at locking device 54 and presses
It between pressure device 56, and sprays 55 lower end of tube fixing device and is mounted on fire extinguishing sliding rail 53, unscrew device 57 and be located at press device 56
Front, and unscrew and be separately mounted at left and right sides of device 57 on fire extinguishing sliding rail 53.
As shown in Figure 3 and Figure 4, the locking device 54 includes fixed block 541, tie down screw 542,543 and of latch segment
Turntable 544；541 center position of fixed block offers and the threaded hole that external screw thread matches on tie down screw 542, lock
Tight screw rod 542 is mounted in the threaded hole of 541 upper end of fixed block, and 542 lower end of tie down screw is fixed with latch segment 543, and locks
Block 543 is arc shape structure, and 542 upper end of tie down screw is equipped with turntable 544, is provided with skid resistance strip on the outside of turntable 544；Pass through
Rotation turntable 544 drives the rotation of tie down screw 542 to realize to drive the raising and lowering of fixed block 543 to fire extinguisher
The fixed locking of stack shell.
As shown in figure 5, the spray tube fixing device 55 includes support plate 551, cross bar 552, strap 553, stretches
Connecting rod 554 and bull stick 555；551 lower end of support plate is mounted at left and right sides of 52 front end of storage tube, cross bar 552 or so two
End is separately fixed in support plate 551 at apical position, and 553 upper end of strap is provided with rotating cylinder, and rotating cylinder is mounted on cross bar 552
Middle part offers round fixing port, the company of being symmetrically arranged at left and right sides of 553 lower end of strap in the middle part of strap 553
Block is connect, 554 one end of shrinking connecting-rod is connected with link block, and 554 other end of shrinking connecting-rod is hinged with 555 one end of bull stick, bull stick
555 other ends are fixed on 551 inner sidewall of support plate；It is solid that spray tube fixing device 55 is mainly used for the clamping to fire extinguisher spray canister
It is fixed, and drive strap 553 to hang down with cross bar 552 for rotation center by the elongation of shrinking connecting-rod 554 and shortening movement
The rotation faced directly, thus the function that spray angle is adjusted when realizing fire extinguisher spray canister spraying operation.
As shown in Figure 5 and Figure 6, the device 57 of unscrewing includes unscrewing sliding block 571, unscrewing electric pushrod 572, unscrew branch
Frame 573 unscrews motor 574, unscrews shaft 575, unscrews turntable 576 and stubborn bar 577；It is described unscrew sliding block 571 and be mounted on go out
On fiery sliding rail, unscrews 572 bottom end of electric pushrod and be fixed on and unscrew on sliding block 571, unscrew 573 left and right ends of bracket and be separately fixed at
572 top of electric pushrod is unscrewed, the structure in the form of annular discs of bracket 573 is unscrewed, motor 574 is unscrewed and is fixed on and unscrew the outside of bracket 573
It on wall, unscrews 575 one end of shaft and is connected with 574 output shaft of motor is unscrewed, unscrew 575 other end of shaft and unscrew turntable 576
Between be connected by key, unscrew the circumferential direction on 576 inner side end of turntable along center axis thereof and be evenly arranged with turntable seat,
It twists 577 bottom end of bar to be mounted on the turntable seat for unscrewing turntable 576, twists 577 top of bar and be provided with stubborn block, twist the fan-shaped shape knot of block
Structure；In use, the movement of bracket 573 is unscrewed by unscrewing the drive of sliding inwardly of the sliding block 571 on fire extinguishing sliding rail 53 first,
To realize the function being inserted into stubborn bar 577 in the fan-shaped gap of fire extinguisher plum blossom wheel, then by unscrewing electric pushrod 572
The adjustable height for unscrewing bracket 573 of stretching motion, after stubborn bar 577 is inserted into fire extinguisher plum blossom wheel sector gap, then
Rotation by unscrewing the turntable seat on turntable 576 drives the rotation for twisting bar 577, and stubborn bar 577 is rotated 180 degree, prevents from twisting bar
577 longitudinal slippage, the rotation for unscrewing turntable 576 is driven finally by the rotation for unscrewing motor 574, to drive fire extinguisher plum
The rotation of floral whorl, and then fire extinguisher is opened.
As shown in figure 5, the press device 56 includes pressing sliding block 561, pressing electric pushrod 562, pressing sliding rail
563, electronic sliding block 564 and press head 565 are pressed；The pressing sliding block 561 is mounted on fire extinguishing sliding rail 53, presses electronic push away
562 bottom end of bar is fixed on pressing sliding block 561, is pressed and is separately fixed at pressing electric pushrod 562 top at left and right sides of sliding rail 563
End presses electronic sliding block 564 and is mounted on pressing sliding rail 5633, and press head 565 is fixed on pressing 563 lower end of sliding rail, and presses
First 565 middle part offers semi-circular recesses；Pressing electronic sliding block 564 can be moved left and right on pressing sliding rail 563, so as to
Duckbill valve on fire extinguisher is aligned, is then driven under press head 565 by the contractile motion of pressing electric pushrod 562
Drop, to achieve the effect that press the duckbill valve on fire extinguisher.
As shown in Figures 3 to 6, when specific operation, the fire extinguisher equipped with extinguishing chemical is placed into storage tube 52 first, is put
The front of fire extinguisher is placed outwardly when setting, and is locked by locking device 54 to fire extinguisher；Then by fire extinguisher
Spray canister be placed on spray tube fixing device 55 and be fixed, and mix up fixed angle；Again by unscrewing device 57 for stubborn bar 577
It is inserted into the plum blossom wheel of fire extinguisher, while press head 565 being aligned to the duckbill valve of fire extinguisher by press device 56；Operation
When, the plum blossom that fire extinguisher is rotated by unscrewing device 57 is taken turns, and the duckbill valve of fire extinguisher is pressed by press device 56, to realize
The effect that extinguishing chemical in fire extinguisher sprays.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of multifunctional fire-fighting is intelligently equipped and uses multi-joint manipulator, it is characterised in that: including delta parallel institution and fire extinguishing
Device；The delta parallel institution is located at immediately below extinguishing device, and delta parallel institution upper end is connected with extinguishing device
It connects；Wherein:
The delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turns
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at right above 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 fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
It sets on moving platform lower end surface, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors are logical
It crosses motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, 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 lower end, between first connecting rod upper end and second connecting rod lower end
It is attached using rotational pin, second connecting rod upper end is connected with second shaft one end, and the second shaft other end is mounted on rotation
On pedestal, rotating basis upper end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform lower end surface, rotating basis lower end
It is provided with the double end sleeve matched with the second shaft, first connecting rod middle inside and second connecting rod middle inside are respectively set
There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring
End is connected with the first mounting base, and limit spring lower end is connected with the second mounting base；
The extinguishing device includes supporting plate, storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press device and twists
Opening apparatus, and storage tube, fire extinguishing sliding rail, locking device, spray tube fixing device, press device and unscrew the quantity of device and be
Two；The storage tube is symmetrically arranged along the longitudinal center axis of supporting plate, and storage tube bottom end and supporting plate upper surface are mutually solid
Fixed, storage tube is the hollow cylindrical structure of front opening back-end closure, and storage tube upper front end is opening-wide state, sliding rail of putting out a fire
It is respectively symmetrically fixed on storage tube upper front end, locking device is mounted on storage tube upper end, and spray tube fixing device is located at locking dress
It sets between press device, and sprays tube fixing device lower end and be mounted on fire extinguishing sliding rail, unscrew before device is located at press device just
Side, and unscrew and be separately mounted at left and right sides of device on fire extinguishing sliding rail；
The spray tube fixing device includes support plate, cross bar, strap, shrinking connecting-rod and bull stick；Under the support plate
End is mounted at left and right sides of storage tube front end, and cross bar left and right ends are separately fixed in support plate at apical position, strap
Upper end is provided with rotating cylinder, and rotating cylinder is mounted in the middle part of cross bar, and round fixing port is offered in the middle part of strap, and strap lower end is left
Right two sides have been symmetrically arranged link block, and shrinking connecting-rod one end is connected with link block, the shrinking connecting-rod other end and bull stick one
End is hinged, and the bull stick other end is fixed on support plate inner sidewall；
The described device of unscrewing includes unscrewing sliding block, unscrewing electric pushrod, unscrew bracket, unscrew motor, unscrew shaft, unscrewing and turn
Disk and stubborn bar；The described sliding block of unscrewing is mounted on fire extinguishing sliding rail, is unscrewed electric pushrod bottom end and is fixed on and unscrew on sliding block, unscrews
Bracket left and right ends, which are separately fixed at, unscrews electric pushrod top, unscrews bracket structure in the form of annular discs, unscrew motor be fixed on it is stubborn
Pay wages frame lateral wall on, unscrew shaft one end and be connected with motor output shaft is unscrewed, unscrew the shaft other end with unscrew turntable it
Between be connected by key, unscrew the circumferential direction on turntable inner side end along center axis thereof and be evenly arranged with turntable seat, twist bar
Bottom end is mounted on the turntable seat for unscrewing turntable, is twisted bar top and is provided with stubborn block, twists the fan-shaped shape structure of block；
The press device includes pressing sliding block, pressing electric pushrod, pressing sliding rail, the electronic sliding block of pressing and press head；Institute
The pressing sliding block stated is mounted on fire extinguishing sliding rail, and pressing electric pushrod bottom end is fixed on pressing sliding block, pressing sliding rail or so two
Side is separately fixed at pressing electric pushrod top, presses electronic sliding block and is mounted on pressing sliding rail, press head is fixed on pressing and slides
Rail lower end, and semi-circular recesses are offered in the middle part of press head；
The locking device includes fixed block, tie down screw, latch segment and turntable；The fixed block center position opens up
There is the threaded hole matched with external screw thread on tie down screw, tie down screw is mounted in the threaded hole of upper end of fixing block, locking screw
Bar lower end is fixed with latch segment, and latch segment is arc shape structure, and tie down screw upper end is equipped with turntable, is provided on the outside of turntable
Skid resistance strip.
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| CN106178369B true CN106178369B (en) | 2018-12-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108088387A (en) * | 2017-12-21 | 2018-05-29 | 重庆大学 | Six degree of freedom gear measuring system based on digital raster |
| CN114699697B (en) * | 2022-03-29 | 2023-11-17 | 广东进安消防机电工程有限公司 | Intelligent fire-fighting method |
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| JPH10122321A (en) * | 1996-08-28 | 1998-05-15 | Karuchia Mach:Kk | Motion mechanism and conveyer device |
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| US3830382A (en) * | 1971-11-06 | 1974-08-20 | Fujikoshi Ishigane Kk | Article handling apparatus with spring-assisted pantagraph raising mechanism |
| GB2455374A (en) * | 2008-06-16 | 2009-06-10 | Middlesex University Higher Ed | Unmanned aerial vehicle comprising a triangular array of rotors |
| CN101973401A (en) * | 2010-10-21 | 2011-02-16 | 哈尔滨工程大学 | Modularized intelligent nacelle for throwing forest fire-extinguishing bomb |
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