CN108031038B - Fire-fighting robot and method thereof - Google Patents
Fire-fighting robot and method thereof Download PDFInfo
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- CN108031038B CN108031038B CN201711287740.8A CN201711287740A CN108031038B CN 108031038 B CN108031038 B CN 108031038B CN 201711287740 A CN201711287740 A CN 201711287740A CN 108031038 B CN108031038 B CN 108031038B
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- steering engine
- mechanical arm
- fire extinguisher
- fire
- clamping section
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- 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
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- 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
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a fire-fighting robot, which comprises a walking unit, a bearing platform, a hydraulic cylinder seat, a hydraulic cylinder, a bottle-type fire extinguisher, a fire extinguisher clamp, a first steering engine and a mechanical arm, wherein the walking unit is arranged on the bearing platform; the bearing platform is horizontally arranged on the walking unit, the two hydraulic cylinder seats are symmetrically arranged on the bearing platform, and the two hydraulic cylinders are respectively and vertically arranged on the two hydraulic cylinder seats; the upper ends of the push rods of the two hydraulic cylinders are respectively provided with a bearing seat; the robot has a simple structure, can directly adopt the existing standard bottle-type fire extinguisher, can be detached and replaced at any time, and greatly reduces the cost; meanwhile, the robot can also accurately control the spraying angle of the fire extinguishing agent, so that the optimal fire extinguishing effect is achieved.
Description
Technical Field
The invention belongs to the field of fire fighting, and particularly relates to a fire fighting robot and a method thereof.
Background
The fire-fighting robot can replace fire rescue personnel to get into dangerous disaster accident scene such as inflammable and explosive, poisonous, oxygen deficiency, dense smoke and go on, can effectively protect fire fighter's safety, and current fire-fighting robot can not use the bottle formula fire extinguisher of standard, needs supporting design to be directed against fire-fighting robot's fire control jar specially, and is with high costs to most heavy, the injection angle of control nozzle that can not be accurate, can not reach the best effect of spouting sparks.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a movable fire-fighting robot capable of adjusting the spraying direction of a fire extinguishing agent and a method thereof.
The technical scheme is as follows: in order to achieve the purpose, the fire-fighting robot comprises a walking unit, a bearing platform, a hydraulic cylinder seat, a hydraulic cylinder, a bottle-type fire extinguisher, a fire extinguisher clamp, a first steering engine and a mechanical arm, wherein the walking unit is connected with the hydraulic cylinder seat;
the bearing platform is horizontally arranged on the walking unit, the two hydraulic cylinder seats are symmetrically arranged on the bearing platform, and the two hydraulic cylinders are respectively and vertically arranged on the two hydraulic cylinder seats; the upper ends of the push rods of the two hydraulic cylinders are respectively provided with a bearing seat;
the bottle body of the bottle type fire extinguisher is detachably arranged in the clamping groove of the fire extinguisher holder; the two symmetrical side parts of the fire extinguisher clamp puller are fixedly connected with two rotating shafts, and the two rotating shafts are respectively and rotatably arranged on the two bearing seats through bearings; the first steering engine is in driving connection with any one rotating shaft, drives the rotating shaft to rotate and drives the fire extinguisher clamp puller and the bottle type fire extinguisher to rotate together along the rotating shaft;
the mechanical arm of the mechanical arm can move to pull out the safety pin of the bottle-type fire extinguisher and can also move to clamp and open the press handle switch of the bottle-type fire extinguisher.
Further, a mechanical arm supporting platform is horizontally and fixedly mounted at the top end of the bearing seat close to one side of the first steering engine, wherein the body of the first steering engine is mounted on the lower side of the mechanical arm supporting platform; the mechanical arm is arranged on the upper side of the mechanical arm supporting platform.
Further, the mechanical arm comprises a second steering engine, a second steering engine supporting frame, a third steering engine supporting frame, a first joint, a second joint, a fourth steering engine supporting frame, a fifth steering engine and a mechanical arm;
the second steering engine supporting frame is fixedly arranged on the upper side of the mechanical arm supporting platform, and the second steering engine is vertically arranged in the second steering engine supporting frame; the third steering engine supporting frame is positioned above the second steering engine supporting frame, and the top end of a steering engine rotating shaft of the second steering engine is fixedly connected with the third steering engine supporting frame; the second steering engine can drive the third steering engine supporting frame to rotate horizontally; the third steering engine is transversely arranged in the third steering engine supporting frame;
the first joint and the second joint are of U-shaped frame structures; the cross beam parts of the first joint and the second joint are fixedly installed and connected with each other, the beams on two sides of the first joint are rotatably installed on two sides of a third steering engine supporting frame, the third steering engine is in driving connection with the side beam of the first joint, and the third steering engine can drive the first joint to rotate along the steering engine shaft of the third steering engine;
the fourth steering engine is rotatably arranged between the beams on the two sides of the second joint, a steering engine shaft of the fourth steering engine is in driving connection with the beams on the two sides of the second joint, and a steering engine body of the fourth steering engine can rotate under the driving of the fourth steering engine; the fourth steering engine supporting frame is fixedly mounted on a steering engine body of the fourth steering engine, and the fifth steering engine is further mounted on the fourth steering engine supporting frame; the fifth steering engine is in driving connection with the manipulator and drives the manipulator to rotate along a steering engine shaft;
furthermore, a steering engine shaft of the third steering engine is parallel to a steering engine shaft of the fourth steering engine; and a steering engine shaft of the fourth steering engine is perpendicular to a steering engine shaft of the fifth steering engine.
Furthermore, the manipulator comprises a sixth steering engine, a sixth support, a first meshing wheel, a second meshing wheel, a first convex arm, a second convex arm, a first claw, a second claw, a first rocker and a second rocker;
the sixth bracket is of a convex plate-shaped structure; the bottom end of the sixth support is fixedly connected with the tail end of a steering engine shaft of the fifth steering engine; the fifth steering engine can drive the sixth support to rotate along the steering engine shaft;
a first meshing wheel and a second meshing wheel are symmetrically arranged on one side face of the sixth support; the first meshing wheel and the second meshing wheel are of a local gear structure, and toothed parts between the first meshing wheel and the second meshing wheel are meshed and connected with each other;
the contour walls of the first meshing wheel and the second meshing wheel are respectively provided with a first convex arm and a second convex arm in a protruding way, and the first convex arm and the second convex arm are upwards opened in a reversed splayed way;
the first rocker and the second rocker are arranged in bilateral symmetry, and the lower ends of the first rocker and the second rocker are respectively hinged with the sixth bracket at the top of the shape like the Chinese character 'tu'; the upper ends of the first rocker and the second rocker are hinged with the middle parts of the first claw and the second claw respectively; the lower end parts of the first claw and the second claw are respectively hinged with the tail ends of the first convex arm and the second convex arm; the upper sections of the first gripper and the second gripper are respectively a first clamping section and a second clamping section;
the sixth steering wheel install in the another side of sixth support, the sixth steering wheel with the second meshing wheel drive is connected, the sixth steering wheel can drive the second meshing wheel and rotate along the axis to drive through toothed part first meshing wheel meshing motion, and then drive the clamp between first centre gripping section and the second centre gripping section tightly and open.
Furthermore, the tail ends of the first clamping section and the second clamping section are respectively provided with a first pull hook and a second pull hook which are bent inwards; when the first clamping section and the second clamping section do clamping action, the tail ends of the first pull hook and the second pull hook are clamped and pulled inwards.
Further, a method of a fire fighting robot:
the fire extinguisher clamp of the fire-fighting robot is dragged with a bottle-type fire extinguisher which is installed in advance, when a fire breaks out, the fire-fighting robot is operated to a fire site in a remote control mode, and then the front side of the fire-fighting robot is controlled to face the fire site through a remote control walking unit; then the inclined posture of the bottle-type fire extinguisher is adjusted through the first steering engine, and the spraying angle of the fire extinguishing agent nozzle at the front end is further adjusted; then the height of the bottle-type fire extinguisher is finely adjusted through a hydraulic cylinder, and the spraying posture of the optimal fire extinguishing agent spraying nozzle of the bottle-type fire extinguisher is determined through the first three steps;
after the spraying posture of the fire extinguisher is adjusted, starting the mechanical arm, adjusting the posture of the mechanical arm by controlling a second steering engine, a third steering engine and a fourth steering engine, enabling a first pull hook and a second pull hook on the mechanical arm to move to two sides of the safety pin, then driving a sixth steering engine to drive a first clamping section and a second clamping section on the mechanical arm to do clamping action, and clamping and pulling the tail ends of the first pull hook and the second pull hook to the inner side at the moment to pull out the safety pin;
after the safety pin is pulled out, the mechanical arm is restarted, the postures of the mechanical arm and the mechanical arm are adjusted by controlling the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine, the first clamping section and the second clamping section move to be clamped on the pressing handle switch, the first clamping section and the second clamping section on the mechanical arm are driven to do clamping action by driving the sixth steering engine, the pressing handle switch is started, and the fire extinguishing agent is sprayed out from the fire extinguishing agent nozzle.
Has the advantages that: the robot has a simple structure, can directly adopt the existing standard bottle-type fire extinguisher, can be detached and replaced at any time, and greatly reduces the cost; meanwhile, the robot can also accurately control the spraying angle of the fire extinguishing agent, so that the optimal fire extinguishing effect is achieved.
Drawings
FIG. 1 is an overall first schematic view of the present invention;
FIG. 2 is an overall second schematic view of the present invention;
FIG. 3 is a schematic view of a robot arm structure;
fig. 4 is a schematic structural view of the robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The fire-fighting robot shown in the attached figures 1 to 4 comprises a walking unit 32, a bearing platform 30, a hydraulic cylinder seat 29, a hydraulic cylinder 28, a bottle type fire extinguisher 34, a fire extinguisher clamp puller 70, a first steering engine 25 and a mechanical arm; the bearing platform 30 is horizontally arranged on the walking unit 32, the two hydraulic cylinder bases 29 are symmetrically arranged on the bearing platform 30, and the two hydraulic cylinders 28 are respectively and vertically arranged on the two hydraulic cylinder bases 29; the upper ends of the push rods 27 of the two hydraulic cylinders 28 are respectively provided with a bearing block 81; the bottle body of the bottle-type fire extinguisher 34 can be detachably placed in the clamping groove of the fire extinguisher clamp holder 70, and only a new bottle-type fire extinguisher 34 needs to be replaced after the bottle-type fire extinguisher is used, so that the bottle-type fire extinguisher is convenient to recycle, and meanwhile, the existing standard bottle-type fire extinguisher 34 is directly adopted and can be detached and replaced at any time, so that the cost is greatly reduced; (ii) a The two symmetrical side parts of the fire extinguisher clamp holder 70 are fixedly connected with two rotating shafts 26, and the two rotating shafts 26 are respectively and rotatably arranged on the two bearing seats 81 through bearings; the first steering engine 25 is in driving connection with any one rotating shaft 26, the first steering engine 25 drives the rotating shaft 26 to rotate and drives the fire extinguisher clamp puller 70 and the bottle type fire extinguisher 34 to rotate along the rotating shaft 26; a mechanical arm supporting platform 24 is horizontally and fixedly mounted at the top end of the bearing seat 81 close to one side of the first steering engine 25, wherein the body of the first steering engine 25 is mounted at the lower side of the mechanical arm supporting platform 24; the mechanical arm is arranged on the upper side of the mechanical arm supporting platform 24; the specific principle and process are as follows: the fire extinguisher clamp 70 of the fire-fighting robot is provided with the bottle type fire extinguisher 34 in advance, when a fire breaks out, the fire-fighting robot is operated to a fire site in a remote control mode, and then the front side of the fire-fighting robot is controlled to face the fire site through the remote control walking unit 32; then the inclined posture of the bottle-type fire extinguisher 34 is adjusted through the first steering engine 25, and the spraying angle of the fire extinguishing agent nozzle 35 at the front end is further adjusted; then the height of the bottle type fire extinguisher 34 is finely adjusted through the hydraulic cylinder 28, and the spraying posture of the optimal fire extinguishing agent spraying nozzle of the bottle type fire extinguisher 34 is determined through the first three steps; in this embodiment, the walking unit 32 may further be provided with a camera device, so that the posture can be remotely adjusted in real time according to the fire condition;
the mechanical arm 20 of the mechanical arm can be operated to pull out the safety pin 31 of the bottle-type fire extinguisher 34, the mechanical arm 20 of the mechanical arm can be operated to clamp and open the handle-pressing switch 36 of the bottle-type fire extinguisher 34, and the structure and the principle of the mechanical arm and the mechanical arm 20 are described in detail below.
The mechanical arm comprises a second steering engine 21, a second steering engine supporting frame 18, a third steering engine 23, a third steering engine supporting frame 22, a first joint 63, a second joint 73, a fourth steering engine 83, a fourth steering engine supporting frame 19, a fifth steering engine 13 and a mechanical arm 20; the second steering engine support frame 18 is fixedly arranged on the upper side of the mechanical arm support platform 24, and the second steering engine 21 is vertically arranged in the second steering engine support frame 18; the third steering engine support frame 22 is positioned above the second steering engine support frame 18, and the top end of the steering engine rotating shaft of the second steering engine 21 is fixedly connected with the third steering engine support frame 22; the second steering engine 21 can drive the third steering engine support frame 22 to rotate horizontally; the third steering engine 23 is transversely arranged in the third steering engine supporting frame 22; the first joint 63 and the second joint 73 are of U-shaped frame structures; the cross beam parts 93 of the first joint 63 and the second joint 73 are fixedly installed and connected with each other, beams on two sides of the first joint 63 are rotatably installed on two sides of the third steering engine supporting frame 22, the third steering engine 23 is in driving connection with a side beam of the first joint 63, and the third steering engine 23 can drive the first joint 63 to rotate along a steering engine shaft of the third steering engine 23; the fourth steering engine 83 is rotatably mounted between the beams on the two sides of the second joint 73, a steering engine shaft of the fourth steering engine 83 is in driving connection with the beams on the two sides of the second joint 73, and a steering engine body of the fourth steering engine 83 can rotate under the driving of the fourth steering engine 83; the fourth steering engine supporting frame 19 is fixedly mounted on the steering engine body of the fourth steering engine 83, and the fifth steering engine 13 is further mounted on the fourth steering engine supporting frame 19; the fifth steering engine 13 is in driving connection with the manipulator 20, and the fifth steering engine 13 drives the manipulator 20 to rotate along a steering engine shaft; the steering engine shaft of the third steering engine 23 is parallel to the steering engine shaft of the fourth steering engine 83; a steering engine shaft of the fourth steering engine 83 is perpendicular to a steering engine shaft of the fifth steering engine 13; in the scheme, the postures of the mechanical arms are adjusted by controlling the second steering engine 21, the third steering engine 23 and the fourth steering engine 83 through remote control.
The manipulator 20 comprises a sixth steering engine 930, a sixth bracket 4, a first meshing wheel 72, a second meshing wheel 17, a first convex arm 14, a second convex arm 10, a first claw 3, a second claw 8, a first rocker 2 and a second rocker 9; the sixth bracket 4 is of a plate-shaped structure in a shape of a Chinese character 'tu'; the bottom end of the sixth support 4 is fixedly connected with the tail end of a steering engine shaft of the fifth steering engine 13; the fifth steering engine 13 can drive the sixth bracket 4 to rotate along the steering engine shaft; a first meshing wheel 72 and a second meshing wheel 17 are symmetrically arranged on one side surface of the sixth bracket 4; the first meshing wheel 72 and the second meshing wheel 17 are of a partial gear structure, and the toothed parts 71 between the first meshing wheel 72 and the second meshing wheel 17 are meshed and connected with each other; the contour walls of the first meshing wheel 72 and the second meshing wheel 17 are respectively provided with a first convex arm 14 and a second convex arm 10 in a protruding mode, and the first convex arm 14 and the second convex arm 10 are upwards opened in a reverse splayed mode; the first rocker 2 and the second rocker 9 are arranged in bilateral symmetry, and the lower ends of the first rocker 2 and the second rocker 9 are respectively hinged with the sixth support 4 at the top of the shape of the Chinese character 'tu'; the upper ends of the first rocker 2 and the second rocker 9 are respectively hinged with the middle parts of the first claw 3 and the second claw 8; the lower end parts of the first claw 3 and the second claw 8 are respectively hinged with the tail ends of the first convex arm 14 and the second convex arm 10; the upper sections of the first gripper 3 and the second gripper 8 are respectively a first clamping section 1 and a second clamping section 7; the sixth steering engine 930 is mounted on the other side surface of the sixth support 4, the sixth steering engine 930 is in driving connection with the second meshing wheel 17, the sixth steering engine 930 can drive the second meshing wheel 17 to rotate along the axis and drive the first meshing wheel 72 to perform meshing motion through the toothed part 71, so as to drive the first clamping section 1 and the second clamping section 7 to clamp and open; those skilled in the art will understand that: the opening size and the stroke of the first clamping section 1 and the second clamping section 7 in this embodiment can be enough to clamp the handle pressing switch 36 without creative adjustment of the size of the mechanical arm structure, and are not limited by the scale of the manipulator 20 in the drawings of this specification.
The tail ends of the first clamping section 1 and the second clamping section 7 are respectively provided with a first pull hook 5 and a second pull hook 6 which are bent inwards; when the first clamping section 1 and the second clamping section 7 perform clamping action, the tail ends of the first pull hook 5 and the second pull hook 6 are clamped inwards, and the first pull hook 5 and the second pull hook 6 are matched with each other to better pull out the safety pin 31;
the explanation and arrangement of the application method and the process of the embodiment are as follows:
the fire extinguisher clamp 70 of the fire-fighting robot is provided with the bottle type fire extinguisher 34 in advance, when a fire breaks out, the fire-fighting robot is operated to a fire site in a remote control mode, and then the front side of the fire-fighting robot is controlled to face the fire site through the remote control walking unit 32; then the inclined posture of the bottle-type fire extinguisher 34 is adjusted through the first steering engine 25, and the spraying angle of the fire extinguishing agent nozzle 35 at the front end is further adjusted; then the height of the bottle type fire extinguisher 34 is finely adjusted through the hydraulic cylinder 28, and the spraying posture of the optimal fire extinguishing agent spraying nozzle of the bottle type fire extinguisher 34 is determined through the first three steps;
after the spraying posture of the fire extinguisher is adjusted, starting a mechanical arm, adjusting the posture of the mechanical arm by controlling a second steering engine 21, a third steering engine 23 and a fourth steering engine 83, enabling a first pull hook 5 and a second pull hook 6 on the mechanical arm 20 to move to two sides of a safety pin 31, driving a sixth steering engine 930 to drive a first clamping section 1 and a second clamping section 7 on the mechanical arm 20 to perform clamping action, and clamping and pulling the tail ends of the first pull hook 5 and the second pull hook 6 to the inner side at the moment to pull out the safety pin 31;
after the safety pin 31 is pulled out, the mechanical arm is restarted, the postures of the mechanical arm and the mechanical arm 20 are adjusted by controlling the second steering engine 21, the third steering engine 23, the fourth steering engine 83 and the fifth steering engine 13, so that the first clamping section 1 and the second clamping section 7 move to be clamped on the pressure handle switch 36, the first clamping section 1 and the second clamping section 7 on the mechanical arm 20 are driven to do clamping actions by driving the sixth steering engine 930 at the moment, the pressure handle switch 36 is started, and the fire extinguishing agent is sprayed out from the fire extinguishing agent nozzle 35.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. A fire-fighting robot is characterized in that: the fire extinguisher comprises a walking unit (32), a bearing platform (30), a hydraulic cylinder base (29), a hydraulic cylinder (28), a bottle type fire extinguisher (34), a fire extinguisher clamp puller (70), a first steering engine (25) and a mechanical arm;
the bearing platform (30) is horizontally arranged on the walking unit (32), the two hydraulic cylinder seats (29) are symmetrically arranged on the bearing platform (30), and the two hydraulic cylinders (28) are respectively and vertically arranged on the two hydraulic cylinder seats (29); the upper ends of push rods (27) of the two hydraulic cylinders (28) are respectively provided with a bearing seat (81);
the bottle body of the bottle-type fire extinguisher (34) is detachably placed in the clamping groove of the fire extinguisher clamp holder (70); two symmetrical side parts of the fire extinguisher clamp support (70) are fixedly connected with two rotating shafts (26), and the two rotating shafts (26) are respectively and rotatably arranged on the two bearing blocks (81) through bearings; the first steering engine (25) is in driving connection with any one rotating shaft (26), the rotating shaft (26) is driven to rotate by the first steering engine (25), and the fire extinguisher clamp puller (70) and the bottle type fire extinguisher (34) are driven to rotate along the rotating shaft (26) together;
the mechanical arm (20) of the mechanical arm can run to and pull out the safety pin (31) of the bottle-type fire extinguisher (34), and the mechanical arm (20) of the mechanical arm can also run to and clamp and open a press handle switch (36) of the bottle-type fire extinguisher (34);
a mechanical arm supporting platform (24) is horizontally and fixedly mounted at the top end of a bearing seat (81) close to one side of a first steering engine (25), wherein the body of the first steering engine (25) is mounted on the lower side of the mechanical arm supporting platform (24); the mechanical arm is arranged on the upper side of the mechanical arm supporting platform (24);
the mechanical arm comprises a second steering engine (21), a second steering engine supporting frame (18), a third steering engine (23), a third steering engine supporting frame (22), a first joint (63), a second joint (73), a fourth steering engine (83), a fourth steering engine supporting frame (19), a fifth steering engine (13) and a mechanical arm (20);
the second steering engine supporting frame (18) is fixedly arranged on the upper side of the mechanical arm supporting platform (24), and the second steering engine (21) is vertically arranged in the second steering engine supporting frame (18); the third steering engine supporting frame (22) is positioned above the second steering engine supporting frame (18), and the top end of a steering engine rotating shaft of the second steering engine (21) is fixedly connected with the third steering engine supporting frame (22); the second steering engine (21) can drive the third steering engine supporting frame (22) to horizontally rotate; the third steering engine (23) is transversely arranged in the third steering engine supporting frame (22);
the first joint (63) and the second joint (73) are of U-shaped frame structures; the cross beam parts (93) of the first joint (63) and the second joint (73) are fixedly installed and connected with each other, beams on two sides of the first joint (63) are rotatably installed on two sides of the third steering engine supporting frame (22), the third steering engine (23) is in driving connection with a side beam of the first joint (63), and the third steering engine (23) can drive the first joint (63) to rotate along a steering engine shaft of the third steering engine (23);
the fourth steering engine (83) is rotatably arranged between the beams at the two sides of the second joint (73), a steering engine shaft of the fourth steering engine (83) is in driving connection with the beams at the two sides of the second joint (73), and the steering engine body of the fourth steering engine (83) can rotate under the driving of the fourth steering engine (83); the fourth steering engine supporting frame (19) is fixedly mounted on the steering engine body of the fourth steering engine (83), and the fifth steering engine (13) is further mounted on the fourth steering engine supporting frame (19); the fifth steering engine (13) is in driving connection with the manipulator (20), and the fifth steering engine (13) drives the manipulator (20) to rotate along a steering engine shaft;
the steering engine shaft of the third steering engine (23) is parallel to the steering engine shaft of the fourth steering engine (83); and a steering engine shaft of the fourth steering engine (83) is vertical to a steering engine shaft of the fifth steering engine (13).
2. A fire fighting robot as recited in claim 1, wherein: the manipulator (20) comprises a sixth steering engine (930), a sixth support (4), a first meshing wheel (72), a second meshing wheel (17), a first convex arm (14), a second convex arm (10), a first claw (3), a second claw (8), a first rocker (2) and a second rocker (9);
the sixth bracket (4) is of a convex plate-shaped structure; the bottom end of the sixth support (4) is fixedly connected with the tail end of a steering engine shaft of the fifth steering engine (13); the fifth steering engine (13) can drive the sixth support (4) to rotate along a steering engine shaft;
a first meshing wheel (72) and a second meshing wheel (17) are symmetrically arranged on one side surface of the sixth bracket (4); the first meshing wheel (72) and the second meshing wheel (17) are of a partial gear structure, and the first meshing wheel (72) and the second meshing wheel (17) are meshed with each other through a toothed part (71);
the contour walls of the first meshing wheel (72) and the second meshing wheel (17) are respectively provided with a first convex arm (14) and a second convex arm (10) in a protruding way, and the first convex arm (14) and the second convex arm (10) are upwards opened in an inverted splayed way;
the first rocker (2) and the second rocker (9) are arranged in bilateral symmetry, and the lower ends of the first rocker (2) and the second rocker (9) are respectively hinged with the sixth support (4) at the top of the shape of the Chinese character 'tu'; the upper ends of the first rocker (2) and the second rocker (9) are respectively hinged with the middle parts of the first claw (3) and the second claw (8); the lower end parts of the first claw (3) and the second claw (8) are respectively hinged with the tail ends of the first convex arm (14) and the second convex arm (10); the upper sections of the first gripper (3) and the second gripper (8) are a first clamping section (1) and a second clamping section (7) respectively;
the sixth steering engine (930) is installed on the other side face of the sixth support (4), the sixth steering engine (930) is in driving connection with the second meshing wheel (17), the sixth steering engine (930) can drive the second meshing wheel (17) to rotate along an axis, the first meshing wheel (72) is driven to do meshing motion through the toothed portion (71), and then the first clamping section (1) and the second clamping section (7) are driven to clamp and open.
3. A fire fighting robot as recited in claim 2, wherein: the tail ends of the first clamping section (1) and the second clamping section (7) are respectively provided with a first pull hook (5) and a second pull hook (6) which are bent inwards; when the first clamping section (1) and the second clamping section (7) do clamping action, the tail ends of the first pull hook (5) and the second pull hook (6) are clamped and pulled inwards.
4. A working method of a fire fighting robot as recited in claim 3, characterized in that:
a bottle type fire extinguisher (34) is pre-installed on a fire extinguisher clamp support (70) of the fire-fighting robot, when a fire disaster occurs, the fire-fighting robot is operated to a fire site in a remote control mode, and then the front side of the fire-fighting robot is controlled to face the fire part through a remote control walking unit (32); then the inclined posture of the bottle-type fire extinguisher (34) is adjusted through the first steering engine (25), and the spraying angle of a fire extinguishing agent nozzle (35) at the front end is further adjusted; then, the height of the bottle-type fire extinguisher (34) is finely adjusted through a hydraulic cylinder (28), and the spraying posture of the optimal fire extinguishing agent spraying nozzle of the bottle-type fire extinguisher (34) is determined through the three steps;
after the spraying posture of the fire extinguisher is adjusted, starting a mechanical arm, adjusting the posture of the mechanical arm by controlling a second steering engine (21), a third steering engine (23) and a fourth steering engine (83), enabling a first pull hook (5) and a second pull hook (6) on the mechanical arm (20) to move to two sides of a safety pin (31), then driving a sixth steering engine (930) to drive a first clamping section (1) and a second clamping section (7) on the mechanical arm (20) to do clamping action, and clamping and pulling the tail ends of the first pull hook (5) and the second pull hook (6) inwards to pull out the safety pin (31);
after the safety pin (31) is pulled out, the mechanical arm is restarted, the postures of the mechanical arm and the mechanical arm (20) are adjusted by controlling a second steering engine (21), a third steering engine (23), a fourth steering engine (83) and a fifth steering engine (13), so that the first clamping section (1) and the second clamping section (7) move to clamp a pressing handle switch (36), the first clamping section (1) and the second clamping section (7) on the mechanical arm (20) are driven to do clamping actions by driving a sixth steering engine (930), the pressing handle switch (36) is started, and the fire extinguishing agent is sprayed out from a fire extinguishing agent nozzle (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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287740.8A CN108031038B (en) | 2017-12-07 | 2017-12-07 | Fire-fighting robot and method thereof |
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| Publication Number | Publication Date |
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| CN108031038A CN108031038A (en) | 2018-05-15 |
| CN108031038B true CN108031038B (en) | 2022-12-30 |
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| CN201711287740.8A Active CN108031038B (en) | 2017-12-07 | 2017-12-07 | Fire-fighting robot and method thereof |
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| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| CN109513141B (en) * | 2018-10-19 | 2023-05-26 | 西安工业大学 | Fire-fighting robot and method thereof |
| CN110812747B (en) * | 2019-12-02 | 2021-09-21 | 华南理工大学广州学院 | Fire extinguishing device of fire-fighting robot |
| CN112933483B (en) * | 2021-03-31 | 2022-09-23 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
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| ES2330632T3 (en) * | 2003-07-28 | 2009-12-14 | Durr Systems Gmbh | SPRAY DEVICE WITH COLOR CHANGER FOR PARTS SERIAL COATING. |
| CN104147729B (en) * | 2014-08-26 | 2018-01-09 | 广州森莱宝实业有限公司 | A kind of simple firefighting robot |
| CN106097867B (en) * | 2016-08-09 | 2018-09-04 | 骆鑫宁 | 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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