CN106581890B - A kind of intelligent unmanned machine for fire-fighting - Google Patents
A kind of intelligent unmanned machine for fire-fighting Download PDFInfo
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- CN106581890B CN106581890B CN201710059008.9A CN201710059008A CN106581890B CN 106581890 B CN106581890 B CN 106581890B CN 201710059008 A CN201710059008 A CN 201710059008A CN 106581890 B CN106581890 B CN 106581890B
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000007921 spray Substances 0.000 claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 22
- 210000000515 tooth Anatomy 0.000 claims description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- RMAQACBXLXPBSY-UHFFFAOYSA-N silicic acid Chemical compound O[Si](O)(O)O RMAQACBXLXPBSY-UHFFFAOYSA-N 0.000 claims description 3
- 235000012239 silicon dioxide Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 235000019504 cigarettes Nutrition 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- BPQQTUXANYXVAA-UHFFFAOYSA-N Orthosilicate Chemical compound [O-][Si]([O-])([O-])[O-] BPQQTUXANYXVAA-UHFFFAOYSA-N 0.000 description 2
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 241000486406 Trachea Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Pest Control & Pesticides (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of intelligent unmanned machines for fire-fighting, including main body, supporting mechanism below main body is set, fire department above main body and two flying units are set, two flying units are separately positioned on the two sides of main body, the main body is equipped with camera and dedusting mechanism, the intelligent unmanned machine for being used for fire-fighting makes cleaning block move back and forth the cigarette ash removed on camera by dedusting mechanism, camera is set to restore picture image taking capability, to facilitate acquisition scene of fire figure to carry out fire-fighting fire extinguishing operation, moreover, drive spray head that angular turn occurs by fire department, make it be directed at fire source to put out a fire, since rotation spends the time few, thus improve fire-fighting efficiency, improve the practicability of equipment.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of intelligent unmanned machine for fire-fighting.
Background technique
UAV, abbreviation unmanned plane (UAV) are a kind of new concept weapon equipments being in rapid development,
It is low to have the advantages that maneuverability, rapid reaction, unmanned flight, operation require.Unmanned plane, can be with by carrying multiclass sensor
It realizes image real-time Transmission, high-risk areas detecting function, is the strong supplement of satellite remote sensing and traditional air remote sensing.Currently, nothing
Man-machine use scope has widened military affairs, scientific research, civilian three big field, specifically in electric power, communication, meteorology, agricultural, sea
Ocean, he explores, photographs, preventing and reducing natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the fields application such as public security anti-terrorism it is very wide.
In fire-fighting domain, usually spray head is arranged on unmanned plane, after being docked with water pipe, using unmanned plane by water
Pipe and spray head, which are brought, carries out fire-fighting fire extinguishing to eminence, and compared to fire-fighting of artificially climbing, unmanned plane fire-fighting is more efficient and convenient.But it is existing
Unmanned plane during fire-fighting, due to fire-fighting scene usually pyrotechnics it is strong, the cigarette ash of burning is readily adsorbed in taking the photograph for unmanned plane
As on head, causing unmanned plane that can not remove observation fire-fighting scene, to carry out corresponding fire protection, moreover, unmanned plane
On the usual direction of spray head fix, cause to need when the scene of fire to different location carries out water application by nothing in this way
Spray head alignment fire source is put out a fire after man-machine flight, since the mobile flight of unmanned plane needs to consume the regular hour, Gu
Fixed spray head will result directly in unmanned plane fire-fighting inefficiency, to reduce the practicability of equipment.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of intelligence for fire-fighting
It can type unmanned plane.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent unmanned machine for fire-fighting, packet
Include main body, the supporting mechanism that is arranged in below main body, the fire department being arranged in above main body and two flying units, two institutes
The two sides that flying unit is separately positioned on main body are stated, the main body is equipped with camera and dedusting mechanism；
The fire department includes driving unit, strut, the first frame, spray head and pillar, the driving unit and strut
Transmission connection, the top of the strut are arranged in the first frame, and first frame one end is fixedly connected with spray head, and described the
The other end of one frame and the top of pillar are hinged, and the bottom end of the pillar is fixed in main body；
The driving unit includes the second driving motor, the second drive shaft and casing, second driving motor and second
Drive shaft transmission connection, described sleeve pipe are set in the second drive shaft, and the periphery of second drive shaft is equipped with external screw thread, institute
State and be equipped with internal screw thread in casing, the internal screw thread in described sleeve pipe matches with the external screw thread in the second drive shaft, described sleeve pipe and
The bottom end of strut is fixedly connected；
The dedusting mechanism includes third driving motor, driving gear, the second frame and cleaning block, the third driving electricity
Machine is fixed in main body, the third driving motor and driving gear transmission connection, if the periphery of the driving gear is equipped with
Dry driving tooth, each driving tooth are evenly distributed on the semicircle circumferential surface of driving gear, and the driving gear is arranged in the second frame,
The inner wall both lateral sides of second frame are equipped with several driven tooths, in the driven tooth and driving gear in second frame
Active tooth engagement, the cleaning block are fixed on the side of the second frame and close to cameras.
Preferably, in order to guarantee that the steady safe falling of unmanned plane, the supporting mechanism include that tracheae and two supports are single
Member, the support unit include cylinder, piston and buffer stopper, and the cylinder is fixed in main body, the top setting of the piston
In cylinder, the bottom end of the piston is fixedly connected with buffer stopper, and two cylinders are connected to by tracheae, under the tracheae
Side is equipped with opening.
Preferably, being equipped with spring, the top of the spring in the cylinder to improve the buffer capacity of supporting mechanism
Bottom end in fixed cylinder, the other end of the spring are fixedly connected with the piston.
Preferably, using the ultralight alumina silicate fire prevention of long filament and flexible function, in order to improve the slow of supporting mechanism
It rushes ability while ensuring against the fire resistance property of buffer stopper, the buffer stopper is the ultralight silicic acid aluminium block of long filament.
Preferably, the flight function in order to realize unmanned plane, the flying unit include bracket, the first driving motor,
First drive shaft and several blades, one end of the bracket are fixed in main body, and first driving motor is fixed on bracket
The other end, the blade are circumferentially evenly distributed on the periphery of the first drive shaft, and first driving motor passes through the first drive shaft
It is sequentially connected with blade.
Preferably, the feature strong using DC servo motor driving force, in order to guarantee the driving energy of the first driving motor
Power, first driving motor are DC servo motor.
Preferably, in order to improve the intelligence degree of unmanned plane, be equipped with central control unit in the main body, it is described in
Entreating control device includes central control module, the motor control module and image capture module that connect with central control module, institute
The first driving motor, the second driving motor and third driving motor is stated to be electrically connected with motor control module, the camera with
Image capture module electrical connection.
Preferably, the feature wear-resisting using stepped tooth, in order to guarantee the service life of driving tooth, the driving tooth is ladder
Shape tooth.
Preferably, the cleaning capacity in order to guarantee cleaning block, the cleaning block is magic wiping.
Preferably, the camera is fixed in order to guarantee that camera is capable of the large-scale fire-fighting scene of shooting clear
Focus wide-angle lens.
The invention has the advantages that the intelligent unmanned machine for being used for fire-fighting makes cleaning block by dedusting mechanism to move back
The dynamic cigarette ash removed on camera, makes camera restore picture image taking capability, so that acquisition scene of fire figure be facilitated to disappear
Fire extinguishing operation moreover drives spray head that angular turn occurs by fire department, so that it is directed at fire source and puts out a fire, by
It spends the time few in rotation, thus improves fire-fighting efficiency, improve the practicability of equipment.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the intelligent unmanned machine for fire-fighting of the invention；
Fig. 2 is the top view of the intelligent unmanned machine for fire-fighting of the invention；
Fig. 3 is the structural schematic diagram of the fire department of the intelligent unmanned machine for fire-fighting of the invention；
Fig. 4 is the structural schematic diagram of the supporting mechanism of the intelligent unmanned machine for fire-fighting of the invention；
Fig. 5 is the structural schematic diagram of the supporting mechanism of the intelligent unmanned machine for fire-fighting of the invention；
Fig. 6 is the systematic schematic diagram of the intelligent unmanned machine for fire-fighting of the invention；
In figure: 1. main bodys, 2. supporting mechanisms, 3. flying units, 4. fire departments, 5. cameras, 6. dedusting mechanisms, 7.
Frame, 8. first driving motors, 9. first drive shafts, 10. blades, 11. second driving motors, 12. second drive shafts, 13. casings,
14. strut, 15. first frames, 16. spray heads, 17. pillars, 18. third driving motors, 19. driving gears, 20. driving tooths, 21.
Driven tooth, 22. second frames, 23. cleaning blocks, 24. pistons, 25. buffer stoppers, 26. tracheaes, 27. openings, 28. center control moulds
Block, 29. motor control modules, 30. image capture modules, 31. cylinders, 32. springs.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in figs 1 to 6, a kind of intelligent unmanned machine for fire-fighting, including main body 1, is arranged in below main body 1
Supporting mechanism 2, the fire department 4 and two flying units 3, two flying units 3 that side on the body 1 is arranged are respectively set
In the two sides of main body 1, the main body 1 is equipped with camera 5 and dedusting mechanism 6；
The fire department 4 includes driving unit, strut 14, the first frame 15, spray head 16 and pillar 17, and the driving is single
Member is sequentially connected with strut 14, and the top of the strut 14 is arranged in the first frame 15, described first frame, 15 one end and spray
First 16 are fixedly connected, and the top of the other end and pillar 17 of first frame 15 is hinged, and the bottom end of the pillar 17 is fixed on
In main body 1；
The driving unit includes the second driving motor 11, the second drive shaft 12 and casing 13, second driving motor
11 and second drive shaft 12 be sequentially connected, described sleeve pipe 13 is set in the second drive shaft 12, second drive shaft 12 it is outer
Week is equipped with external screw thread, is equipped with internal screw thread in described sleeve pipe 13, on the internal screw thread and the second drive shaft 12 in described sleeve pipe 13
External screw thread matches, and described sleeve pipe 13 is fixedly connected with the bottom end of strut 14；
The dedusting mechanism 6 includes third driving motor 18, drives gear 19, the second frame 22 and cleaning block 23, described
Third driving motor 18 is fixed on the body 1, and the third driving motor 18 is sequentially connected with driving gear 19, the sliding tooth
The periphery of wheel 19 is equipped with several driving tooths 20, and each driving tooth 20 is evenly distributed on the semicircle circumferential surface of driving gear 19, described
Gear 19 is driven to be arranged in the second frame 22, the inner wall both lateral sides of second frame 22 are equipped with several driven tooths 21, institute
The driven tooth 21 stated in the second frame 22 is engaged with the driving tooth 20 on driving gear 19, and the cleaning block 18 is fixed on the second frame
The side of frame 22 and close camera 5.
Preferably, in order to guarantee that the steady safe falling of unmanned plane, the supporting mechanism 2 include tracheae 26 and two supports
Unit, the support unit include cylinder 31, piston 24 and buffer stopper 25, and the cylinder 31 is fixed on the body 1, the piston
24 top is arranged in cylinder 31, and the bottom end of the piston 24 is fixedly connected with buffer stopper 25, and two cylinders 31 pass through
Tracheae 26 is connected to, and the lower section of the tracheae 26 is equipped with opening 27.
Preferably, being equipped with spring 32, the spring in the cylinder 31 to improve the buffer capacity of supporting mechanism 2
Bottom end in the fixed cylinder 31 in 32 top, the other end of the spring 32 are fixedly connected with piston 24.
Preferably, using the ultralight alumina silicate fire prevention of long filament and flexible function, in order to improve the slow of supporting mechanism 2
It rushes ability while ensuring against the fire resistance property of buffer stopper 25, the buffer stopper 25 is the ultralight silicic acid aluminium block of long filament.
Preferably, the flight function in order to realize unmanned plane, the flying unit 3 includes bracket 7, the first driving motor
8, the first drive shaft 9 and several blades 10, one end of the bracket 7 is fixed on the body 1, and first driving motor 8 is fixed
In the other end of bracket 7, the circumferential periphery for being evenly distributed on the first drive shaft 9 of the blade 10, first driving motor 8 is logical
The first drive shaft 9 is crossed to be sequentially connected with blade 10.
Preferably, the feature strong using DC servo motor driving force, in order to guarantee the driving energy of the first driving motor 8
Power, first driving motor 8 are DC servo motor.
Preferably, central control unit is equipped in the main body 1 in order to improve the intelligence degree of unmanned plane, it is described
Central control unit includes central control module 28, the motor control module connecting with central control module 28 29 and Image Acquisition
Module 30, first driving motor 8, the second driving motor 11 and third driving motor 18 are electrically connected with motor control module 29
It connects, the camera 5 is electrically connected with image capture module 30.Wherein, central control module 28, for each in control system
The module of module intelligence operation, herein, central control module 28 is not only PLC, can also be single-chip microcontroller, to improve
The intelligence of system operation；Motor control module 29 drives to control the first driving motor 8, the second driving motor 11 and third
The operation of dynamic motor 18 when first driving motor 8 is run, is able to drive the rotation of blade 10, realizes the flight performance of unmanned plane, the
Two driving motors 11 drive the rotation of the second drive shaft 12, translate casing 13, to make spray head 16 and frame 15 with pillar
17 rotate for the center of circle, so that spray head 16 be facilitated to be directed at fire source fire extinguishing；Third driving motor 18 is run, and is able to drive the second frame 22
Left and right translation makes cleaning block 23 move back and forth the flue dust on erasing camera 5, camera 5 is made to restore shooting ability；Image Acquisition
Module 30, it is main to control camera 5, Image Acquisition is carried out to scene of fire, figure is analyzed, determines that fire location carries out
Fire-fighting fire extinguishing.
Preferably, the feature wear-resisting using stepped tooth, in order to guarantee the service life of driving tooth 20, the driving tooth 20
For stepped tooth.
Preferably, the cleaning capacity in order to guarantee cleaning block 23, the cleaning block 23 is magic wiping.
Preferably, the camera 5 is in order to guarantee that camera 5 is capable of the large-scale fire-fighting scene of shooting clear
Focusing wide angle camera lens.
During unmanned plane during flying fire-fighting, scene of fire is acquired by camera 5, and by dividing the image of acquisition
It determines that fire source carries out fire-fighting fire extinguishing operation after analysis, causes to shoot fogging image when the cigarette ash of scene of fire is adsorbed on camera 5
When, processing is dusted to the surface of camera 5 by the dedusting mechanism 6 of 5 side of camera, when dedusting mechanism 6 is run, third
Driving motor 18 drive driving gear 19 along center axis thereof rotate, make drive gear 19 on driving tooth 20 by with the second frame
Driven tooth 21 on 22 inner wall of frame engages, so that the second frame 22 or so be made to move back and forth, cleaning block 23 is driven to move back and forth,
In 23 reciprocating movement of cleaning block, the cigarette ash on the camera 5 on 23 side of cleaning block is erased, so that camera 5 be made to restore
Original picture image taking capability, so that acquisition scene of fire figure be facilitated to carry out fire-fighting fire extinguishing operation.This is used for the intelligence of fire-fighting
Energy type unmanned plane makes cleaning block 23 move back and forth the cigarette ash removed on camera 5 by dedusting mechanism 6, makes 5 recovery figure of camera
As shooting ability, so that acquisition scene of fire figure be facilitated to carry out fire-fighting fire extinguishing operation.
When putting out a fire to different fire points, in order to improve fire-fighting efficiency, 16 turns of spray head are driven using fire department 4
It is dynamic, the directly alignment fire point of spray head 16 is put out a fire, when fire department 4 is run, the second driving motor 11 drives second to drive
Moving axis 12 along the second drive shaft 12 center axis thereof, so that it is flat to occur that casing 13 on the direction of the second drive shaft 12
It moves, and then strut 14 is driven to move on 12 direction of the second drive shaft, since the top of the second drive shaft 12 is arranged in the first frame
In frame 15, to make the first frame 15 with the rotation of 17 center of circle of pillar, drive spray head 16 that angular turn occurs, so that facilitating will spray
First 16, which are directed at fire source, puts out a fire, in the process, since the time of the rotation of spray head 16 is less than first unmanned plane during flying before to finger
The time in place is determined, to improve fire-fighting efficiency.The intelligent unmanned machine for being used for fire-fighting drives spray head by fire department 4
16 occur angular turn, so that it is directed at fire source and put out a fire, since rotation spends the time few, thus improve fire-fighting efficiency, make
The practicability of equipment improves.
Compared with prior art, which move back cleaning block 23 by dedusting mechanism 6
The dynamic cigarette ash removed on camera 5, makes camera 5 restore picture image taking capability, so that acquisition scene of fire figure be facilitated to carry out
Fire-fighting fire extinguishing operation moreover drives spray head 16 that angular turn occurs by fire department 4, so that it is directed at fire source and goes out
Fire since rotation spends the time few, thus improves fire-fighting efficiency, improves the practicability of equipment.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of intelligent unmanned machine for fire-fighting, which is characterized in that including main body (1), the branch being arranged below main body (1)
Support mechanism (2), the fire department (4) being arranged above main body (1) and two flying units (3), two flying units (3)
The two sides of main body (1) are separately positioned on, the main body (1) is equipped with camera (5) and dedusting mechanism (6)；
The fire department (4) includes driving unit, strut (14), the first frame (15), spray head (16) and pillar (17), described
Driving unit and strut (14) are sequentially connected, and the top setting of the strut (14) is in the first frame (15), first frame
Frame (15) one end is fixedly connected with spray head (16), and the top of the other end and pillar (17) of first frame (15) is hinged, institute
The bottom end for stating pillar (17) is fixed on main body (1)；
The driving unit includes the second driving motor (11), the second drive shaft (12) and casing (13), the second driving electricity
Machine (11) and the second drive shaft (12) are sequentially connected, and described sleeve pipe (13) is set on the second drive shaft (12), and described second drives
The periphery of moving axis (12) is equipped with external screw thread, and internal screw thread is equipped in described sleeve pipe (13), the internal screw thread in described sleeve pipe (13) with
External screw thread in second drive shaft (12) matches, and described sleeve pipe (13) is fixedly connected with the bottom end of strut (14)；
The dedusting mechanism (6) includes third driving motor (18), driving gear (19), the second frame (22) and cleaning block
(23), the third driving motor (18) is fixed on main body (1), and the third driving motor (18) and driving gear (19) pass
The periphery of dynamic connection, driving gear (19) is equipped with several driving tooths (20), and each driving tooth (20) is evenly distributed on driving
On the semicircle circumferential surface of gear (19), driving gear (19) setting is interior in the second frame (22), second frame (22)
Inner wall both lateral sides are equipped with several driven tooths (21), in the driven tooth (21) and driving gear (19) in second frame (22)
Driving tooth (20) engagement, the cleaning block (18) is fixed on the side of the second frame (22) and close to camera (5).
2. being used for the intelligent unmanned machine of fire-fighting as described in claim 1, which is characterized in that the supporting mechanism (2) includes
Tracheae (26) and two support units, the support unit include cylinder (31), piston (24) and buffer stopper (25), the cylinder
(31) it is fixed on main body (1), the setting of the top of the piston (24) is in cylinder (31), the bottom end of the piston (24) and slow
It rushes block (25) to be fixedly connected, two cylinders (31) are connected to by tracheae (26), and the lower section of the tracheae (26) is equipped with opening
(27)。
3. being used for the intelligent unmanned machine of fire-fighting as claimed in claim 2, which is characterized in that be equipped with bullet in the cylinder (31)
The bottom end in cylinder (31), the other end and piston (24) of the spring (32) are fixed in spring (32), the top of the spring (32)
It is fixedly connected.
4. being used for the intelligent unmanned machine of fire-fighting as claimed in claim 2, which is characterized in that the buffer stopper (25) is long filament
Ultralight silicic acid aluminium block.
5. being used for the intelligent unmanned machine of fire-fighting as described in claim 1, which is characterized in that the flying unit (3) includes
One end of bracket (7), the first driving motor (8), the first drive shaft (9) and several blades (10), the bracket (7) is fixed on master
On body (1), first driving motor (8) is fixed on the other end of bracket (7), and the blade (10) is circumferentially evenly distributed on the
The periphery of one drive shaft (9), first driving motor (8) are sequentially connected by the first drive shaft (9) and blade (10).
6. being used for the intelligent unmanned machine of fire-fighting as claimed in claim 5, which is characterized in that first driving motor (8)
For DC servo motor.
7. being used for the intelligent unmanned machine of fire-fighting as claimed in claim 5, which is characterized in that in being equipped in the main body (1)
Control device is entreated, the central control unit includes central control module (28), the motor that connect with central control module (28)
Control module (29) and image capture module (30), first driving motor (8), the second driving motor (11) and third driving
Motor (18) is electrically connected with motor control module (29), and the camera (5) is electrically connected with image capture module (30).
8. being used for the intelligent unmanned machine of fire-fighting as described in claim 1, which is characterized in that the driving tooth (20) is trapezoidal
Tooth.
9. being used for the intelligent unmanned machine of fire-fighting as described in claim 1, which is characterized in that the cleaning block (23) is magic
It wipes.
10. being used for the intelligent unmanned machine of fire-fighting as described in claim 1, which is characterized in that the camera (5) is fixed-focus
Wide-angle lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710059008.9A CN106581890B (en) | 2017-01-23 | 2017-01-23 | A kind of intelligent unmanned machine for fire-fighting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710059008.9A CN106581890B (en) | 2017-01-23 | 2017-01-23 | A kind of intelligent unmanned machine for fire-fighting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106581890A CN106581890A (en) | 2017-04-26 |
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| CN107185139A (en) * | 2017-06-07 | 2017-09-22 | 深圳市中科智诚科技有限公司 | A kind of intelligent extinguishing device for fire control and disaster rescue |
| CN107094597A (en) * | 2017-06-07 | 2017-08-29 | 深圳市晓控通信科技有限公司 | A kind of intelligent robot for agricultural irrigation based on Internet of Things |
| CN110433430A (en) * | 2019-08-19 | 2019-11-12 | 张荣清 | A kind of fire-fighting robot equipment of more injection equipments |
| CN111559508A (en) * | 2020-06-04 | 2020-08-21 | 王国琴 | Unmanned aerial vehicle for fire fighting emergency |
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