CN106891340A - A kind of intelligent fire rescue robot - Google Patents
A kind of intelligent fire rescue robot Download PDFInfo
- Publication number
- CN106891340A CN106891340A CN201710073390.9A CN201710073390A CN106891340A CN 106891340 A CN106891340 A CN 106891340A CN 201710073390 A CN201710073390 A CN 201710073390A CN 106891340 A CN106891340 A CN 106891340A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- lever arm
- high pressure
- intelligent fire
- fire rescue
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
Abstract
The present invention relates to firefighting fire extinguishing robot technical field, refer in particular to a kind of intelligent fire rescue robot, including fuselage, fuselage is loaded with extinguishing device, walking mechanism is provided with four angles of the fuselage bottom, the walking mechanism is ridden including being articulated with the second lever arm that first lever arm and the first lever arm of fuselage are hinged and the 3rd lever arm that the second lever arm is hinged and being articulated with the shifting of climbing of the 3rd lever arm；The fuselage roof is respectively provided on two sides with a set of extinguishing device, the extinguishing device includes high pressure water jet pipe, delivery pipe, hydraulic ejector and spray control system, the spray control system and the hydraulic ejector side for being located at fuselage roof arranged side by side, the high-pressure foam jet pipe are connected by delivery pipe with the hydraulic ejector.Simple structure of the present invention, compact, reliable operation, strong adaptability can be applied to high-rise metope work, and the dangerous line of fire one is promptly entered instead of fireman, reduce rescue time.
Description
Technical field
The present invention relates to firefighting fire extinguishing robot technical field, a kind of intelligent fire rescue robot is referred in particular to.
Background technology
Robot is the product that modern age electronic technology is combined with traditional mechanical structure, be computer science, cybernetics,
The high-tech product of the multidisciplinary synthesis such as structure, information science and sensing technology, is also a kind of apery operation, transports at a high speed
Row, repeat and automation equipment that precision is higher.With the development of existing science and technology, climbing robot is gradually applied to build
Build, fire-fighting, the industry such as petrochemical industry, meanwhile, the development in existing city occurs in that increasing skyscraper, the outdoor of skyscraper
If cleaning and maintenance work abut manual work, its operating efficiency is very low, and its staff is careless slightly will likely make
Into the generation of casualty accident, meanwhile, skyscraper itself there is also many potential safety hazards, once there is fire, the condition of a fire is by difficulty
To control, therefore, the development of intelligent rescue robot meets contemporary actual and reality need.
The content of the invention
The intelligent fire rescue that the present invention provides a kind of stabilization of walking, can be walked on wall for problem of the prior art
Robot.
In order to solve the above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of intelligent fire rescue robot that the present invention is provided, including fuselage, fuselage are loaded with extinguishing device, the fuselage bottom
Walking mechanism is provided with four angles in portion, the walking mechanism includes being articulated with first lever arm and the first lever arm of fuselage
The 3rd lever arm that the second lever arm and the second lever arm being hinged are hinged and be articulated with the 3rd lever arm to climb shifting foot-operated；
The fuselage roof is respectively provided on two sides with a set of extinguishing device, and the extinguishing device includes high pressure water jet pipe, delivery pipe, waterpower
Injector and spray control system, the spray control system and the hydraulic ejector it is arranged side by side be located at fuselage roof one
Side, the high-pressure foam jet pipe is connected by delivery pipe with the hydraulic ejector.
It is therein, it is described climb to move foot-operated include climbing shifting sucker and for detecting ambient temperature for inhale that wall climbs shifting
Temperature inductor.
It is therein, several siphunculus and the irradiation light for illuminating track route are provided with the high pressure water jet pipe.
Therein, the top of the fuselage is provided with the tune for adjusting extinguishing device angle between two extinguishing devices
Section mechanism, the governor motion includes being arranged on the chute of fuselage roof, coordinates the sliding part for sliding with chute, is articulated with slip
The connecting rod of part and the fix bar being fixedly connected with fuselage in chute side, the connecting rod are provided with and two with respect to one end of sliding part
The first transverse axis that side high pressure water jet pipe middle part is hinged, the fix bar is provided with second be hinged with both sides high pressure water jet pipe rearward end
Transverse axis.
Therein, second lever arm is equipped with for driving it to rotate with the hinged place at the 3rd lever arm two ends
Motor.
Therein, the extinguishing device is provided with warning lamp.
Therein, the fuselage bottom is provided with the damper being hinged with the first lever arm, for reducing robot in walking
During vibrations to fuselage.
Therein, the side that the fuselage is located at the sprinkling direction of the high pressure water jet pipe is provided with camera.
Therein, the side that the fuselage is located at the high pressure water jet pipe rearward end is provided with high pressure intake.
It is therein, it is provided with above the high pressure intake for the first-aid kit equipped with first-aid applicance.
Beneficial effects of the present invention：
A kind of intelligent fire rescue robot that the present invention is provided, the bionic walking mechanism being provided with by fuselage and extinguishing device,
Can stabilized walking in various dangerous, narrow and small scenes of fire, and walking mechanism is provided with sucker and can also realize climbing wall entrance
Interior carries out rescue, and simple structure of the present invention, compact, reliable operation, strong adaptability can be applied to high-rise metope work,
Promptly enter the dangerous line of fire one instead of fireman, reduce rescue time.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is another structural representation of the invention.
Fig. 3 is Structure explosion diagram of the invention.
Fig. 4 is the Structure explosion diagram of extinguishing device.
Description of reference numerals
1- fuselages；2- extinguishing devices；21- high pressure water jet pipes；211- siphunculus；212- irradiation lights；22- delivery pipes；23- water-jets
Device；24- spray control systems；25- warning lamps；3- walking mechanisms；The lever arms of 31- first；The lever arms of 32- second；34- the 3rd lives
Swing arm；It is foot-operated that 35- climbs shifting；351- climbs shifting sucker；352- temperature inductors；36- motors；37- dampers；4- adjusts machine
Structure；41- chutes；42- sliding parts；43- connecting rods；The transverse axis of 431- first；44- fix bars；The transverse axis of 432- second；5- cameras；6-
First-aid kit；7- high pressure intakes.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing
It is bright, the content that implementation method is referred to not limitation of the invention.The present invention is described in detail below in conjunction with accompanying drawing.
As shown in Figure 1 to Figure 3, a kind of intelligent fire rescue robot that the present invention is provided, including fuselage 1, fuselage 1 are uploaded
There is extinguishing device 2, walking mechanism 3 is provided with four angles of the bottom of the fuselage 1, the walking mechanism 3 includes being articulated with fuselage 1
The first lever arm 31 and the 3rd activity that is hinged of the second lever arm 32 for being hinged of the first lever arm 31 and the second lever arm 32
Arm 34 and be articulated with the 3rd lever arm 34 climb shifting foot-operated 35.Wherein, it is described to climb shifting foot-operated 35 including climbing shifting for inhaling wall
Climb shifting sucker 351.The present invention constitutes a kind of robot of imitative gecko using the walking mechanism 3, and gecko is that one kind can be on ground, steep
The quadruped of freedom and flexibility motion on the difference normal plane such as wall, ceiling.Therefore, drive of the invention in several lever arms
The fire corner that fireman can not reach can be walked in down, meanwhile, the invention has climbs shifting sucker 351, can realize climbing wall
Walking, and enter scene of fire from exterior wall, instead of fireman and use aerial ladder, the rescue time of fire fighting is substantially increased, have
Very big practicality.
As shown in Figure 1 to Figure 3, in the present embodiment, biomimetic control system, second lever arm are provided with the fuselage 1
32 are equipped with the motor 36 for driving it to rotate with the hinged place at the two ends of the 3rd lever arm 34, and described climbing moves foot-operated
35 are provided with temperature inductor 352.The temperature inversion of surrounding can be data signal by temperature inductor 352, be sent to bionical control
System processed, judges the direction of fire, so as to drive each lever arm to enter using biomimetic control system command motor 36
Row bionic movement, drives the present invention mobile toward fire place, is put out a fire using extinguishing device 2.
As shown in figure 4, in the present embodiment, the top of the fuselage 1 is respectively provided on two sides with a set of extinguishing device 2, described to go out
Fiery device 2 includes high pressure water jet pipe 21, delivery pipe 22, hydraulic ejector 23 and spray control system 24, the sprinkling control system
System 24 and the side for being located at the top of fuselage 1 arranged side by side of the hydraulic ejector 23, the high pressure water jet pipe 21 pass through delivery pipe 22
It is connected with the hydraulic ejector 23.Wherein, the fuselage 1 is provided with high pressure positioned at the side of the rearward end of the high pressure water jet pipe 21
Water inlet 7.The present invention helps to strengthen extinguishing ability using double extinguishing devices 2, improves its extinguishing effect.In fire extinguishing procedure,
The high pressure intake 7 is connected fire hydrant and is intake by fire-fighting leather hose, and water body flows into the accumulation of energy of hydraulic ejector 23, then by water body
Sprayed from high pressure water jet pipe 21 by delivery pipe 22 and put out a fire.The spray control system 24 can be according to the signal of temperature sensor
Feedback, the size of current is controlled according to temperature, is effectively saved water consumption.
As shown in figure 4, in the present embodiment, being provided with several siphunculus 211 in the high pressure water jet pipe 21, several siphunculus
211 are conducive to water under high pressure that some Shu Shuizhu dispersions are formed in the high pressure water jet pipe 21 sprays, and effectively expands fire extinguishing scope.
As shown in Figure 3 and Figure 4, in the present embodiment, the fuselage 1 is located at the one of the sprinkling direction of the high pressure water jet pipe 21
Side is provided with camera 5.Wherein, the irradiation light 212 for illuminating track route is provided with the high pressure water jet pipe 21.Camera 5
Under the using cooperatively of irradiation light 212, be conducive to the operator can be with the environment around remote reviewing or interior using camera 5
Situation so that the preferably movement and fire extinguishing of operation robot.
As shown in figure 3, in the present embodiment, the top of the fuselage 1 is provided with for adjusting between being located at two extinguishing devices 2
The governor motion 4 of the angle of extinguishing device 2, the governor motion 4 includes being arranged on the chute 41 at the top of fuselage 1, matches somebody with somebody with chute 41
Close the sliding part 42 for sliding, the fix bar for being articulated with the connecting rod 43 of sliding part 42 and being fixedly connected with fuselage 1 in the side of chute 41
44, the connecting rod is provided with the first transverse axis 431 being hinged with the middle part of both sides high pressure water jet pipe 21, institute with respect to one end of sliding part 42
State fix bar 44 and be provided with the second transverse axis 432 being hinged with the rearward end of both sides high pressure water jet pipe 21.It is provided with for driving in the fuselage 1
The cylinder that dynamic sliding part 42 is slided, when air cylinder driven sliding part 42 is moved toward shower nozzle direction, the high pressure water jet pipe 21 is around the
Two transverse axis 432 rotate away from fuselage 1；Conversely, the high pressure water jet pipe 21 rotates around the second transverse axis 432 near fuselage 1.In fire extinguishing
When, robot can be sprayed with rotary high pressure sparge pipe 21, the burning things which may cause a fire disaster to eminence.
As shown in Figure 1 to Figure 3, in the present embodiment, the bottom of the fuselage 1 is provided with the damper being hinged with the first lever arm 31
37, for reducing robot in the process of walking to the vibrations of fuselage 1, in order to avoid making fuselage 1 produce resonance, damage in fuselage 1
Parts.
As shown in Fig. 2 in the present embodiment, the top of the high pressure intake 7 is provided with the first-aid kit equipped with first-aid applicance
6, it is placed with box respirator in the first-aid box, emergency luminaire and the first-aid applicance such as hammer for breaking glass.Extreme
Under disaster relief environment, fireman is difficult to reach the spot, but promptly can be sent to first-aid applicance by the first-aid kit 6 of robot waits to rescue
In personnel.
As shown in Fig. 2 in the present embodiment, the extinguishing device 2 is provided with warning lamp 25, in robot work or can not be just
Often during operation, warning lamp 25 can be flashed to show notice with different light colors, facilitate operating personnel to know the working condition of robot.
The above, is only present pre-ferred embodiments, and any formal limitation is not made to the present invention, although
The present invention is disclosed as above with preferred embodiment, but is not limited to the present invention, any those skilled in the art,
Do not depart from the range of technical solution of the present invention, when making a little change using the technology contents of the disclosure above or be modified to equivalent change
The Equivalent embodiments of change, as long as it, without departing from technical solution of the present invention content, refers to above example according to the technology of the present invention to be
Any simple modification, equivalent variations and the modification made, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of intelligent fire rescue robot, including fuselage, fuselage is loaded with extinguishing device, it is characterised in that：The fuselage
Walking mechanism is provided with four angles of bottom, the walking mechanism includes being articulated with the first lever arm of fuselage and the first activity
The 3rd lever arm that the second lever arm and the second lever arm that arm is hinged are hinged and be articulated with the 3rd lever arm climb shifting pin
Step on；The fuselage roof is respectively provided on two sides with a set of extinguishing device, the extinguishing device include high pressure water jet pipe, delivery pipe,
Hydraulic ejector and spray control system, the spray control system and the hydraulic ejector it is arranged side by side be located at fuselage roof
Side, the high pressure water jet pipe is connected by delivery pipe with the hydraulic ejector.
2. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：It is described to climb that shifting is foot-operated to include use
Sucker and temperature inductor for detecting ambient temperature are moved in inhaling wall and climbing climbing for shifting.
3. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：Set in the high pressure water jet pipe
There are several siphunculus and the irradiation light for illuminating track route.
4. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：The top of the fuselage is located at
The governor motion for adjusting extinguishing device angle is provided between two extinguishing devices, the governor motion includes being arranged on fuselage
The chute at top, coordinates the sliding part of slip, is articulated with the connecting rod of sliding part and in chute side and fuselage fixation company with chute
The fix bar for connecing, the connecting rod is provided with the first transverse axis being hinged with both sides high pressure water jet pipe middle part with respect to one end of sliding part,
The fix bar is provided with the second transverse axis being hinged with both sides high pressure water jet pipe rearward end.
5. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：Second lever arm and institute
State the 3rd lever arm two ends hinged place be equipped with for drive its rotate motor.
6. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：The extinguishing device is provided with police
Show lamp.
7. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：The fuselage bottom be provided with
The damper that first lever arm is hinged, for reducing robot in the process of walking to the vibrations of fuselage.
8. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：The fuselage is located at the height
The side in the sprinkling direction of sparge pipe is pressed to be provided with camera.
9. a kind of intelligent fire rescue robot according to claim 1, it is characterised in that：The fuselage is located at the height
The side of sparge pipe rearward end is pressed to be provided with high pressure intake.
10. a kind of intelligent fire rescue robot according to claim 9, it is characterised in that：The high pressure intake
Top is provided with for the first-aid kit equipped with first-aid applicance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073390.9A CN106891340A (en) | 2017-02-10 | 2017-02-10 | A kind of intelligent fire rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073390.9A CN106891340A (en) | 2017-02-10 | 2017-02-10 | A kind of intelligent fire rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891340A true CN106891340A (en) | 2017-06-27 |
Family
ID=59198275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710073390.9A Pending CN106891340A (en) | 2017-02-10 | 2017-02-10 | A kind of intelligent fire rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106891340A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211187A (en) * | 2018-01-25 | 2018-06-29 | 南安市祥发消防设备有限公司 | A kind of adjustable fire water spray nozzle of big flow |
| CN108818515A (en) * | 2018-08-16 | 2018-11-16 | 邢明的 | A kind of multi-functional police dog robot |
| CN108888887A (en) * | 2018-06-08 | 2018-11-27 | 广州市奇瓦机器人技术有限责任公司 | A kind of fire rescue special purpose robot |
| CN108939366A (en) * | 2018-08-14 | 2018-12-07 | 贺婷 | A kind of firefighting fire extinguishing robot |
| CN110898357A (en) * | 2019-10-22 | 2020-03-24 | 浙江宇安消防装备有限公司 | Foot-shaped investigation fire-extinguishing rescue robot system and method |
| CN111298328A (en) * | 2020-02-24 | 2020-06-19 | 江苏工程职业技术学院 | Forest fire control is with climbing robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857436A (en) * | 2016-05-04 | 2016-08-17 | 昆明理工大学 | Fire-fighting robot |
-
2017
- 2017-02-10 CN CN201710073390.9A patent/CN106891340A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857436A (en) * | 2016-05-04 | 2016-08-17 | 昆明理工大学 | Fire-fighting robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211187A (en) * | 2018-01-25 | 2018-06-29 | 南安市祥发消防设备有限公司 | A kind of adjustable fire water spray nozzle of big flow |
| CN108211187B (en) * | 2018-01-25 | 2023-03-17 | 南安市祥发消防设备有限公司 | Large-traffic adjustable fire control watering shower nozzle |
| CN108888887A (en) * | 2018-06-08 | 2018-11-27 | 广州市奇瓦机器人技术有限责任公司 | A kind of fire rescue special purpose robot |
| CN108939366A (en) * | 2018-08-14 | 2018-12-07 | 贺婷 | A kind of firefighting fire extinguishing robot |
| CN108818515A (en) * | 2018-08-16 | 2018-11-16 | 邢明的 | A kind of multi-functional police dog robot |
| CN110898357A (en) * | 2019-10-22 | 2020-03-24 | 浙江宇安消防装备有限公司 | Foot-shaped investigation fire-extinguishing rescue robot system and method |
| CN111298328A (en) * | 2020-02-24 | 2020-06-19 | 江苏工程职业技术学院 | Forest fire control is with climbing robot |
| CN111298328B (en) * | 2020-02-24 | 2021-03-26 | 江苏工程职业技术学院 | Forest fire control is with climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |
|
| RJ01 | Rejection of invention patent application after publication |