CN108031038A - A kind of fire-fighting robot and its method - Google Patents
A kind of fire-fighting robot and its method Download PDFInfo
- Publication number
- CN108031038A CN108031038A CN201711287740.8A CN201711287740A CN108031038A CN 108031038 A CN108031038 A CN 108031038A CN 201711287740 A CN201711287740 A CN 201711287740A CN 108031038 A CN108031038 A CN 108031038A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- fire extinguisher
- fire
- mechanical arm
- support frame
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- 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
-
- 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
Abstract
The invention discloses a kind of fire-fighting robot, including walking unit, carrying platform, hydraulic pressure cylinder seat, hydraulic cylinder, vial-type fire extinguisher, fire extinguisher folder drag, the first steering engine and mechanical arm；The carrying platform is horizontally placed in the walking unit, and the two hydraulic pressure cylinder seats are symmetrically disposed on the carrying platform, and two hydraulic cylinders are vertically installed in the two hydraulic pressure cylinder seats respectively；The push rod upper end of two hydraulic cylinders is respectively arranged with bearing block；The structure of the present invention is simple, the robot can directly using existing standardization vial-type fire extinguisher, and can dismounting and change at any time, greatly reduce cost；The robot can also accurately control the spray angle of extinguishing chemical at the same time, reach optimal extinguishing effect.
Description
Technical field
The invention belongs to fire-fighting domain, more particularly to a kind of fire-fighting robot and its method.
Background technology
Fire-fighting robot can replace fire-fighting and rescue personnel to enter the hazards accidents such as inflammable and explosive, poisonous, anoxic, dense smoke
Scene carries out, and can effectively protect the safety of fire fighter, and existing fire-fighting robot cannot use the vial-type fire extinguisher of standard, need
Fire fighting tank of the Aided design specifically for fire-fighting robot is wanted, cost is big, and mostly heavy, it is impossible to accurately controls nozzle
Spray angle, does not reach optimal flame rod effect.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides one kind and can move and can adjust
A kind of fire-fighting robot and its method of extinguishing chemical injection direction.
Technical solution：To achieve the above object, a kind of fire-fighting robot of the invention, including walking unit, carrying platform,
Hydraulic pressure cylinder seat, hydraulic cylinder, vial-type fire extinguisher, fire extinguisher folder drag, the first steering engine and mechanical arm；
The carrying platform is horizontally placed in the walking unit, and the two hydraulic pressure cylinder seats are symmetrically disposed on the carrying
On platform, two hydraulic cylinders are vertically installed in the two hydraulic pressure cylinder seats respectively；The push rod upper end difference of two hydraulic cylinders
It is provided with bearing block；
The bottle of the vial-type fire extinguisher is detachably positioned in the card slot that the fire extinguisher folder drags；The fire extinguisher folder drags
Two asymmetric sides are fixedly connected with two shafts, and two shafts are rotatably mounted on two bearing blocks respectively by bearing；
First steering engine and any one shaft are drivingly connected, and the first servo driving shaft rotates, and drive fire extinguisher folder to drag and bottle
Formula fire extinguisher is together rotated along shaft；
The manipulator of the mechanical arm can run to the safety plug for extracting vial-type fire extinguisher, the manipulator of mechanical arm and can also transport
Row to clamp and open the vial-type fire extinguisher handle switch.
Further, the top level close to the bearing block of the first steering engine side is installed with mechanical arm support platform,
The body of wherein described first steering engine is installed on the downside of the mechanical arm support platform；The mechanical arm is installed on the mechanical arm
On the upside of support platform.
Further, the mechanical arm includes the second steering engine, the second steering engine support frame, the 3rd steering engine, the 3rd steering engine branch
Support frame frame, the first joint, second joint, the 4th steering engine, the 4th steering engine support frame, the 5th steering engine and manipulator；
The second steering engine support frame is fixedly installed on the upside of the mechanical arm support platform, and second steering engine is vertical
It is installed in the second steering engine support frame；The 3rd steering engine support frame is located in the second steering engine support frame
Side, and the steering engine shaft top of second steering engine is fixedly connected with the 3rd steering engine support frame；Second steering engine can drive
The dynamic 3rd steering engine support frame rotates horizontally；The 3rd steering engine is horizontally installed with the 3rd steering engine support frame；
First joint and second joint are U-shaped frame structure；First joint and the crossbeam portion of second joint are mutual
Connection is fixedly mounted, two curb girders in first joint are pivotally mounted to the 3rd steering engine support frame both sides, and described
3rd steering engine and the curb girder in first joint are drivingly connected, and the 3rd steering engine can drive rudder of first joint along the 3rd steering engine
Arbor rotates；
4th steering engine is rotatably mounted between two curb girders of the second joint, the steering engine axis of the 4th steering engine
It is drivingly connected with two curb girders of the second joint, the steering engine body of the 4th steering engine can rotate under the driving of the 4th steering engine；It is described
The 4th steering engine support frame is installed with the steering engine body of 4th steering engine, is also installed in the 4th steering engine support frame
There is the 5th steering engine；5th steering engine is connected with the robot drives, and manipulator described in the 5th servo driving is along steering engine
Axis rotates；
Further, the steering engine axis of the 3rd steering engine is parallel with the steering engine axis of the 4th steering engine；4th steering engine
Steering engine axis it is vertical with the steering engine axis of the 5th steering engine.
Further, the manipulator includes the 6th steering engine, the 6th stent, the first engagement wheel, the second engagement wheel, the first round
Arm, the second wheel arm, the first machine pawl, the second machine pawl, the first rocking bar and the second rocking bar；
6th stent is the platy structure in "convex" shaped；The 6th stent bottom is fixedly connected with the 5th rudder
The steering engine shaft end of machine；5th steering engine can drive the 6th stent to be rotated along steering engine axis；
The one side of 6th stent is symmetrically installed with the first engagement wheel and the second engagement wheel；It is described first engagement wheel and
Second engagement wheel is partial gear structure, has teeth portion intermeshing connection between the first engagement wheel and the second engagement wheel；
The first male arms and the second male arms are also protruded respectively in the contoured wall of the first engagement wheel and the second engagement wheel, it is described
First male arms and the second male arms are opened into inverted "eight" shape upwards；
First rocking bar and the second rocking bar are symmetrical set, the lower end of first rocking bar and the second rocking bar respectively with it is described
6th stent locates articulated connection at the top of "convex" shaped；The upper end of first rocking bar and the second rocking bar respectively with first machine
The middle part of pawl and the second machine pawl is articulated and connected；The hypomere end of the first machine pawl and the second machine pawl respectively with the first male arms and
The end articulated connection of two male arms；The epimere of the first machine pawl and the second machine pawl is respectively the first gripping section and the second clamping
Section；
6th steering engine is installed on the another side of the 6th stent, and the 6th steering engine engages wheel with described second
It is drivingly connected, the 6th steering engine can drive the second engagement wheel to be rotated along axis, and by there is teeth portion to drive first engagement
Gear motion is taken turns, and then drives the clamping between the first gripping section and the second gripping section and opening.
Further, the end of first gripping section and the second gripping section has the first pull hook bent inwardly respectively
With the second drag hook；When first gripping section and the second gripping section do pinching action, the end of the first pull hook and the second drag hook to
Inner side folder is drawn.
Further, a kind of method of fire-fighting robot：
The fire extinguisher folder of fire-fighting robot drags installation vial-type fire extinguisher in advance, when a fire, passes through remote control
Mode allows fire-fighting robot to run the front for the scene of catching fire, then controlling fire-fighting robot by remote control walking unit
Towards fire position；Then the lateral attitude of vial-type fire extinguisher is adjusted by the first steering engine, and then adjusts the spray of front end extinguishing chemical
The spray angle of mouth；Then height where finely tuning vial-type fire extinguisher by hydraulic cylinder, tune bottle is determined by first three items step
The injection posture of the optimal extinguishing chemical jet port of formula fire extinguisher；
After the injection pose adjustment of fire extinguisher, start mechanical arm, by controlling the second steering engine, the 3rd steering engine and the 4th
Steering engine adjusts mechanical arm posture, the first pull hook on manipulator and the second drag hook is moved to safety plug both sides, then passes through drive
The first gripping section and the second gripping section on dynamic 6th servo driving manipulator do pinching action, and the first pull hook and second is drawn at this time
The end of hook presss from both sides drawing inwardly, and safety plug is extracted；
After safety plug is extracted, mechanical arm is restarted, by controlling the second steering engine, the 3rd steering engine, the 4th steering engine and the 5th
Steering engine adjusts mechanical arm and gripper pose, the first gripping section and the second gripping section is moved to and is located in handle switch, at this time
Pinching action is done by the first gripping section on the 6th servo driving manipulator of driving and the second gripping section, handle switch is opened
Dynamic, extinguishing chemical is sprayed from extinguishing chemical spout.
Beneficial effect：The structure of the present invention is simple, which directly can standardize vial-type fire extinguisher using existing,
And can dismounting and change at any time, greatly reduce cost；The robot can also accurately control the spray angle of extinguishing chemical at the same time,
Optimal extinguishing effect is reached.
Brief description of the drawings
Attached drawing 1 is overall first schematic diagram of the present invention；
Attached drawing 2 is overall second schematic diagram of the present invention；
Attached drawing 3 is mechanical arm structure diagram；
Attached drawing 4 is robot manipulator structure schematic diagram.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of fire-fighting robot as shown in attached drawing 1 to 4, including walking unit 32, carrying platform 30, hydraulic pressure cylinder seat 29,
Hydraulic cylinder 28, vial-type fire extinguisher 34, fire extinguisher folder drag the 70, first steering engine 25 and mechanical arm；The carrying platform 30 is horizontally disposed
In in the walking unit 32, the two hydraulic pressure cylinder seats 29 are symmetrically disposed on the carrying platform 30, two hydraulic cylinders 28
Vertically it is installed on respectively in the two hydraulic pressure cylinder seats 29；27 upper end of push rod of two hydraulic cylinders 28 is respectively arranged with bearing block
81；The bottle of the vial-type fire extinguisher 34 is detachably positioned over the fire extinguisher folder and drags in 70 card slot, and weight is only needed after used
The new vial-type fire extinguisher 34 more renewed, easy to reuse, simultaneously because directly using existing standardization vial-type fire extinguishing
Device 34, and can dismounting and change at any time, greatly reduce cost；；The fire extinguisher folder drags 70 liang of asymmetric sides to be fixedly connected with
Two shafts 26, two shafts 26 are rotatably mounted on two bearing blocks 81 respectively by bearing；First steering engine 25
Be drivingly connected with any one shaft 26,25 drive shaft 26 of the first steering engine rotates, and drive fire extinguisher folder drag 70 and vial-type go out
Firearm 34 is together rotated along shaft 26；Top level close to the bearing block 81 of 25 side of the first steering engine is installed with mechanical arm
Support platform 24, wherein the body of first steering engine 25 is installed on the downside of mechanical arm support platform 24；The mechanical arm
It is installed on the upside of mechanical arm support platform 24；Concrete principle and process：The fire extinguisher folder of fire-fighting robot is dragged on 70 in advance
Vial-type fire extinguisher 34 is installed, when a fire, allows fire-fighting robot to run to the scene of catching fire by remote control mode, then
The front of fire-fighting robot is controlled towards fire position by remote control walking unit 32；Then by the first steering engine 25 come
The lateral attitude of vial-type fire extinguisher 34 is adjusted, and then adjusts the spray angle of front end extinguishing chemical spout 35；Then hydraulic cylinder is passed through
28 to finely tune height where vial-type fire extinguisher 34, and the optimal extinguishing chemical spray for adjusting vial-type fire extinguisher 34 is determined by first three items step
The injection posture of loophole；Camera device can also be installed, easy in real time according to fire behavior come distant in the present embodiment in walking unit 32
Control adjustment posture；
The manipulator 20 of the mechanical arm can be run to the safety plug 31 for extracting vial-type fire extinguisher 34, the manipulator of mechanical arm
20 can also run to clamping and open the handle switch 36 of the vial-type fire extinguisher 34, the structure of the mechanical arm and manipulator 20 and
Principle is hereafter discussed in detail.
The mechanical arm includes the second steering engine 21, the second steering engine support frame 18, the 3rd steering engine 23, the 3rd steering engine support frame
Frame 22, the first joint 63, second joint 73, the 4th steering engine 83, the 4th steering engine support frame 19, the 5th steering engine 13 and manipulator
20；The second steering engine support frame 18 is fixedly installed in the upside of mechanical arm support platform 24, and second steering engine 21 is perpendicular
To being installed in the second steering engine support frame 18；The 3rd steering engine support frame 22 is located at the second steering engine support frame
The top of frame 18, and the steering engine shaft top of second steering engine 21 is fixedly connected with the 3rd steering engine support frame 22；Described
Two steering engines 21 can drive the 3rd steering engine support frame 22 to rotate horizontally；It is transversely mounted in the 3rd steering engine support frame 22
There is the 3rd steering engine 23；First joint 63 and second joint 73 are U-shaped frame structure；Close in first joint 63 and second
The crossbeam portion 93 of section 73, which interfixes, installs connection, and two curb girders in first joint 63 are pivotally mounted to the 3rd steering engine
22 both sides of support frame, and the 3rd steering engine 23 and the curb girder in first joint 63 are drivingly connected, the 3rd steering engine 23 can drive
Dynamic first joint 63 is rotated along the steering engine axis of the 3rd steering engine 23；4th steering engine 83 is rotatably mounted to described second and closes
Between two curb girders of section 73, the steering engine axis of the 4th steering engine 83 is drivingly connected with two curb girders of the second joint 73, and the 4th
The steering engine body of steering engine 83 can rotate under the driving of the 4th steering engine 83；It is fixedly mounted on the steering engine body of 4th steering engine 83
The 4th steering engine support frame 19 is stated, the 5th steering engine 13 is also equipped with the 4th steering engine support frame 19；Described 5th
Steering engine 13 is drivingly connected with the manipulator 20, and the 5th steering engine 13 drives the manipulator 20 to be rotated along steering engine axis；Described 3rd
The steering engine axis of steering engine 23 is parallel with the steering engine axis of the 4th steering engine 83；The steering engine axis of 4th steering engine 83 and the 5th rudder
The steering engine axis of machine 13 is vertical；The second steering engine 21, the 3rd steering engine 23 and the 4th steering engine 83 is controlled to adjust by remote control in this programme
Whole mechanical arm posture.
The manipulator 20 includes the 6th steering engine 93, the 6th stent 4, first engagement the 72, second engagement of wheel wheel 17, the first round
Arm 14, the second wheel arm 10, the first machine pawl 3, the second machine pawl 8, the first rocking bar 2 and the second rocking bar 9；6th stent 4 be in
The platy structure of "convex" shaped；6th stent, 4 bottom is fixedly connected with the steering engine shaft end of the 5th steering engine 13；Described
Five steering engines 13 can drive the 6th stent 4 to be rotated along steering engine axis；The one side of 6th stent 4 is symmetrically installed with the first engagement wheel
72 and second engage wheel 17；The first engagement wheel 72 and the second engagement wheel 17 are partial gear structure, the first engagement wheel
72 and second engagement wheel 17 between have teeth portion 71 intermeshing connection；The wheel of the first engagement wheel 72 and the second engagement wheel 17
The first male arms 14 and the second male arms 10 are also protruded on wide wall respectively, first male arms 14 and the second male arms 10 are into fallen " eight " upwards
Font opens；First rocking bar 2 and the second rocking bar 9 are symmetrical set, the lower end difference of 2 and second rocking bar 9 of the first rocking bar
Locate articulated connection at the top of "convex" shaped with the 6th stent 4；The upper end of first rocking bar, 2 and second rocking bar 9 respectively with
The middle part articulated connection of the first machine pawl 3 and the second machine pawl 8；The hypomere end difference of the first machine pawl 3 and the second machine pawl 8
It is articulated and connected with the end of the first male arms 14 and the second male arms 10；The epimere of the first machine pawl 3 and the second machine pawl 8 is respectively
One gripping section 1 and the second gripping section 7；6th steering engine 93 is installed on the another side of the 6th stent 4, the 6th rudder
Machine 93 engages wheel 17 with described second and is drivingly connected, and the 6th steering engine 93 can drive the second engagement wheel 17 to be rotated along axis, and
By there is teeth portion 71 to drive the first engagement 72 gear motions of wheel, and then drive between the first gripping section 1 and the second gripping section 7
Clamping and opening；Those skilled in the art should be understood：Under the conditions of the adjustment mechanical arm structure size of creativeness is not added with, this
The opening size and stroke of the first gripping section 1 of its in embodiment and the second gripping section 7 can be clamped to handle switch 36 enough, not
20 ratio of manipulator in by the attached drawing of this specification is less than normal to be limited.
The end of first gripping section, 1 and second gripping section 7 has the first pull hook 5 and second bent inwardly respectively
Drag hook 6；When first gripping section, 1 and second gripping section 7 does pinching action, the end of the first pull hook 5 and the second drag hook 6 is inside
Side folder is drawn, and it is to preferably extract safety plug 31 that its 5 and second drag hook 6 of the first pull hook, which cooperates,；
The application method and process interpretations of the present embodiment arrange as follows：
The fire extinguisher folder of fire-fighting robot drags installs vial-type fire extinguisher 34 in advance on 70, when a fire, by long-range
Remote control mode is run to the scene of catching fire by fire-fighting robot, then controls fire-fighting robot by remote control walking unit 32
Front towards fire position；Then the lateral attitude of vial-type fire extinguisher 34 is adjusted by the first steering engine 25, and then before adjusting
Hold the spray angle of extinguishing chemical spout 35；Then height where finely tuning vial-type fire extinguisher 34 by hydraulic cylinder 28, passes through first three
Item step determines the injection posture for the optimal extinguishing chemical jet port for adjusting vial-type fire extinguisher 34；
After the injection pose adjustment of fire extinguisher, start mechanical arm, by controlling the second steering engine 21,23 and of the 3rd steering engine
4th steering engine 83 adjusts mechanical arm posture, the first pull hook 5 on manipulator 20 and the second drag hook 6 is moved to 31 liang of safety plug
Side, then does pinching action by the first gripping section 1 in driving 93 driving manipulator 20 of the 6th steering engine and the second gripping section 7,
The end of the first pull hook 5 and the second drag hook 6 presss from both sides drawing inwardly at this time, and safety plug 31 is extracted；
After safety plug 31 is extracted, mechanical arm is restarted, by controlling the second steering engine 21, the 3rd steering engine 23, the 4th steering engine
83 and the 5th steering engine 13 adjust 20 posture of mechanical arm and manipulator, the first gripping section 1 and the second gripping section 7 is moved to and is located in
Handle switch 36, is pressed from both sides by the first gripping section 1 in driving 93 driving manipulator 20 of the 6th steering engine and the second gripping section 7 at this time
Tight action, handle switch 36 are activated, and extinguishing chemical is sprayed from extinguishing chemical spout 35.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
- A kind of 1. fire-fighting robot, it is characterised in that：Including walking unit (32), carrying platform (30), hydraulic pressure cylinder seat (29), liquid Cylinder pressure (28), vial-type fire extinguisher (34), fire extinguisher folder drag (70), the first steering engine (25) and mechanical arm；The carrying platform (30) is horizontally placed in the walking unit (32), and the two hydraulic pressure cylinder seats (29) are symmetrically disposed on On the carrying platform (30), two hydraulic cylinders (28) are vertically installed on the two hydraulic pressure cylinder seats (29) respectively；Described in two Push rod (27) upper end of hydraulic cylinder (28) is respectively arranged with bearing block (81)；The bottle of the vial-type fire extinguisher (34) is detachably positioned over the fire extinguisher folder and drags in the card slot of (70)；The fire extinguisher Folder drags (70) two asymmetric sides to be fixedly connected with two shafts (26), and two shafts (26) are rotatably mounted to respectively by bearing On two bearing blocks (81)；First steering engine (25) is drivingly connected with any one shaft (26), and the first steering engine (25) drives Turn axis (26) rotates, and drives fire extinguisher folder to drag (70) and vial-type fire extinguisher (34) together to be rotated along shaft (26)；The manipulator (20) of the mechanical arm can be run to the safety plug (31) for extracting vial-type fire extinguisher (34), the machinery of mechanical arm Hand (20) can also run to clamp and open the vial-type fire extinguisher (34) handle switch (36).
- A kind of 2. fire-fighting robot according to claim 1, it is characterised in that：Bearing close to the first steering engine (25) side The top level of seat (81) is installed with mechanical arm support platform (24), wherein the body of first steering engine (25) is installed on On the downside of the mechanical arm support platform (24)；The mechanical arm is installed on the upside of the mechanical arm support platform (24).
- A kind of 3. fire-fighting robot according to claim 2, it is characterised in that：The mechanical arm includes the second steering engine (21), the second steering engine support frame (18), the 3rd steering engine (23), the 3rd steering engine support frame (22), the first joint (63), second Joint (73), the 4th steering engine (83), the 4th steering engine support frame (19), the 5th steering engine (13) and manipulator (20)；The second steering engine support frame (18) is fixedly installed on the upside of the mechanical arm support platform (24), second steering engine (21) vertically it is installed in the second steering engine support frame (18)；The 3rd steering engine support frame (22) is located at described second Above steering engine support frame (18), and the steering engine shaft top of second steering engine (21) is fixedly connected with the 3rd steering engine support Frame (22)；Second steering engine (21) can drive the 3rd steering engine support frame (22) to rotate horizontally；3rd steering engine The 3rd steering engine (23) is horizontally installed with support frame (22)；First joint (63) and second joint (73) are U-shaped frame structure；First joint (63) and second joint (73) Crossbeam portion (93) interfix installation connection, two curb girders of first joint (63) are pivotally mounted to the 3rd steering engine Support frame (22) both sides, and the curb girder of the 3rd steering engine (23) and first joint (63) is drivingly connected, the 3rd steering engine (23) the first joint (63) can be driven to be rotated along the steering engine axis of the 3rd steering engine (23)；4th steering engine (83) is rotatably mounted between two curb girders of the second joint (73), the 4th steering engine (83) Two curb girders of steering engine axis and the second joint (73) be drivingly connected, the steering engine body of the 4th steering engine (83) can be in the 4th steering engine (83) rotated under driving；The 4th steering engine support frame is installed with the steering engine body of 4th steering engine (83) (19), it is also equipped with the 5th steering engine (13) on the 4th steering engine support frame (19)；5th steering engine (13) and institute Manipulator (20) drive connection is stated, the 5th steering engine (13) drives the manipulator (20) to be rotated along steering engine axis.
- A kind of 4. fire-fighting robot according to claim 3, it is characterised in that：The steering engine axis of 3rd steering engine (23) with The steering engine axis of 4th steering engine (83) is parallel；The steering engine axis of 4th steering engine (83) and the steering engine of the 5th steering engine (13) Axis is vertical.
- A kind of 5. fire-fighting robot according to claim 3, it is characterised in that：The manipulator (20) includes the 6th steering engine (93), the 6th stent (4), the first engagement wheel (72), the second engagement wheel (17), the first wheel arm (14), the second wheel arm (10), first Machine pawl (3), the second machine pawl (8), the first rocking bar (2) and the second rocking bar (9)；6th stent (4) is the platy structure in "convex" shaped；6th stent (4) bottom is fixedly connected with the described 5th The steering engine shaft end of steering engine (13)；5th steering engine (13) can drive the 6th stent (4) to be rotated along steering engine axis；The one side of 6th stent (4) is symmetrically installed with the first engagement wheel (72) and the second engagement wheel (17)；Described first Engagement wheel (72) and second engagement take turns (17) be partial gear structure, it is described first engagement wheel (72) and second engage take turns (17) it Between have teeth portion (71) intermeshing connection；The first male arms (14) and second are also protruded respectively in the contoured wall of the first engagement wheel (72) and the second engagement wheel (17) Male arms (10), first male arms (14) and the second male arms (10) are opened into inverted "eight" shape upwards；First rocking bar (2) and the second rocking bar (9) are symmetrical set, the lower end point of first rocking bar (2) and the second rocking bar (9) Locate articulated connection at the top of "convex" shaped not with the 6th stent (4)；First rocking bar (2) and the second rocking bar (9) it is upper End is articulated and connected with the middle part of the first machine pawl (3) and the second machine pawl (8) respectively；The first machine pawl (3) and the second machine pawl (8) hypomere end is articulated and connected with the end of the first male arms (14) and the second male arms (10) respectively；The first machine pawl (3) and The epimere of second machine pawl (8) is respectively the first gripping section (1) and the second gripping section (7)；6th steering engine (93) is installed on the another side of the 6th stent (4), the 6th steering engine (93) and described the Two engagement wheels (17) are drivingly connected, and the 6th steering engine (93) can drive the second engagement wheel (17) to be rotated along axis, and by having Teeth portion (71) drive it is described first engagement wheel (72) gear motion, and then drive the first gripping section (1) and the second gripping section (7) it Between clamping and opening.
- A kind of 6. fire-fighting robot according to claim 3, it is characterised in that：First gripping section (1) and the second folder The end for holding section (7) has the first pull hook (5) and the second drag hook (6) bent inwardly respectively；First gripping section (1) and When second gripping section (7) does pinching action, the end of the first pull hook (5) and the second drag hook (6) presss from both sides drawing inwardly.
- A kind of 7. method of fire-fighting robot, it is characterised in that：The fire extinguisher folder of fire-fighting robot drags installs vial-type fire extinguisher (34) in advance on (70), when a fire, by long-range Remote control mode is run to the scene of catching fire by fire-fighting robot, then controls fire-fighting machine by remote control walking unit (32) People's is positive towards fire position；Then the lateral attitude of vial-type fire extinguisher (34) is adjusted by the first steering engine (25), and then Adjust the spray angle of front end extinguishing chemical spout (35)；Then height where vial-type fire extinguisher (34) is finely tuned by hydraulic cylinder (28) Degree, the injection posture of the optimal extinguishing chemical jet port of vial-type fire extinguisher (34) is determined by first three items step；After the injection pose adjustment of fire extinguisher, start mechanical arm, by control the second steering engine (21), the 3rd steering engine (23) and 4th steering engine (83) adjusts mechanical arm posture, the first pull hook (5) on manipulator (20) and the second drag hook (6) is moved to insurance (31) both sides are sold, then by driving the first gripping section (1) and the second clamping in the 6th steering engine (93) driving manipulator (20) Section (7) does pinching action, and the end of the first pull hook (5) and the second drag hook (6) presss from both sides drawing inwardly at this time, and safety plug (31) is pulled out Go out；After safety plug (31) is extracted, mechanical arm is restarted, by controlling the second steering engine (21), the 3rd steering engine (23), the 4th rudder Machine (83) and the 5th steering engine (13) adjustment mechanical arm and manipulator (20) posture, make the first gripping section (1) and the second gripping section (7) Move to and be located in handle switch (36), at this time by driving the first gripping section in the 6th steering engine (93) driving manipulator (20) (1) and the second gripping section (7) does pinching action, and handle switch (36) is activated, and extinguishing chemical is sprayed from extinguishing chemical spout (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287740.8A CN108031038B (en) | 2017-12-07 | 2017-12-07 | Fire-fighting robot and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287740.8A CN108031038B (en) | 2017-12-07 | 2017-12-07 | Fire-fighting robot and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108031038A true CN108031038A (en) | 2018-05-15 |
| CN108031038B CN108031038B (en) | 2022-12-30 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| CN109513141A (en) * | 2018-10-19 | 2019-03-26 | 西安工业大学 | A kind of fire-fighting robot and its method |
| CN110812747A (en) * | 2019-12-02 | 2020-02-21 | 华南理工大学广州学院 | Fire extinguishing device of fire-fighting robot |
| CN112933483A (en) * | 2021-03-31 | 2021-06-11 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
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| CN104147729A (en) * | 2014-08-26 | 2014-11-19 | 李婷婷 | A simple fire-fighting robot |
| CN106097867A (en) * | 2016-08-09 | 2016-11-09 | 刘德平 | A kind of fire-fighting sprays fire extinguisher teaching demonstration device |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20050029368A1 (en) * | 2003-07-28 | 2005-02-10 | Stefano Giulano | Spraying device for serial spraying of work pieces |
| CN104147729A (en) * | 2014-08-26 | 2014-11-19 | 李婷婷 | A simple fire-fighting robot |
| CN106097867A (en) * | 2016-08-09 | 2016-11-09 | 刘德平 | A kind of fire-fighting sprays fire extinguisher teaching demonstration device |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| CN109513141A (en) * | 2018-10-19 | 2019-03-26 | 西安工业大学 | A kind of fire-fighting robot and its method |
| CN109513141B (en) * | 2018-10-19 | 2023-05-26 | 西安工业大学 | Fire-fighting robot and method thereof |
| CN110812747A (en) * | 2019-12-02 | 2020-02-21 | 华南理工大学广州学院 | Fire extinguishing device of fire-fighting robot |
| CN112933483A (en) * | 2021-03-31 | 2021-06-11 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
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|---|---|
| CN108031038B (en) | 2022-12-30 |
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