CN108482512B - Fire-fighting robot motion adjusting method - Google Patents
Fire-fighting robot motion adjusting method Download PDFInfo
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- CN108482512B CN108482512B CN201810302978.1A CN201810302978A CN108482512B CN 108482512 B CN108482512 B CN 108482512B CN 201810302978 A CN201810302978 A CN 201810302978A CN 108482512 B CN108482512 B CN 108482512B
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- fire
- connecting rod
- robot
- stepping motor
- water tank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
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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
Abstract
The invention relates to a fire-fighting robot, and belongs to the technical field of fire-fighting detection equipment. The invention comprises a fire-fighting lance, a water tank I, a water tank II, a chassis and footings; a water tank I and a water tank II are respectively arranged on a chassis, a fire-fighting lance is arranged on the water tank I, and feet are arranged on the periphery of the chassis. The fire-fighting robot can utilize the unique sole sensor to perform motion feedback on toes, can effectively avoid high-altitude falling objects generated by combustion in the walking process, and can improve the safety of fire-fighting operation; the high-pressure fire-fighting lance head has large sweeping area of the outlet, can effectively extinguish fire near the fire point which cannot be reached by fire fighters by using the high-pressure fire-fighting lance, saves time and labor, and is safe and reliable; the high-pressure water gun is pressurized by a secondary pump, so that the pressure of the water pump is higher, and the fire is more effectively extinguished; the weight of the main body can be reduced, the installation and the disassembly are convenient, and the replacement of vulnerable parts is convenient; the operation is convenient to implement.
Description
The application is a divisional application of the invention patent application 'a fire-fighting robot'.
Application date of the original case: 2016-05-04.
Original application No.: 2016102878946.
the name of the original invention is: a fire-fighting robot.
Technical Field
The invention relates to a fire-fighting robot, and belongs to the technical field of fire-fighting detection equipment.
Background
With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident rate is correspondingly increased. In case of disaster accidents, firefighters can rush into the scene without corresponding equipment when facing high temperature, darkness, toxicity, dense smoke and other harmful environments, so that the tasks can not be completed, and casualties can be increased.
The fire-fighting robot is one of special robots and plays a role in fire extinguishing and emergency rescue. A fire-fighting robot generally has a vehicle body, a motor connected to a power supply is provided on the vehicle body, a wheel linked with the motor is provided under the vehicle body, and a spraying device for spraying a fire-fighting liquid is provided on the vehicle body. In the existing fire-fighting robot, single-stage pressurization is adopted at the inlet end and the nozzle end, and pressurization is not adopted, so that the pressurization effect is not obvious, the work is unstable, and the fire control effect is very poor. The walking device of the fire-fighting robot generally adopts a crawler type or a wheel type, the crawler type device is expensive and high in damage rate, a robot main body cannot deform correspondingly according to the terrain, the adaptability is poor, the wheel type walking device is high in requirement on the terrain condition, the fire is complex, avoidance cannot be achieved when the road surface is complex, meanwhile, the fire resistance of the wheel type walking device is poor, and the fire extinguishing efficiency is greatly reduced. In the aspect of chassis drive, current fire-fighting robot technique uses brush motor control walking and turns to usually, and its control accuracy is poor to chassis height and chassis gradient can not adjust, and this makes machine theme flexibility and environmental suitability poor, and the instability of operation improves, greatly reduced work efficiency.
Disclosure of Invention
The invention aims to provide a fire-fighting robot, which solves the problems that the existing fire-fighting robot is inflexible to walk, cannot avoid complex road surfaces, is poor in fire-fighting effect and the like.
The invention is realized according to the following technical scheme: a fire-fighting robot comprises a fire-fighting lance 1, a water tank I2, a water tank II 3, a chassis 4 and footings 5; the water tank I2 and the water tank II 3 are respectively arranged on a chassis 4, the fire-fighting lance 1 is arranged on the water tank I2, the foothold 5 is arranged on the periphery of the chassis 4, and the fire-fighting lance 1 comprises a barrel I6, a barrel II 7, a barrel III 8, a water pump 9, a barrel V10, a barrel IV 11, a steering engine 12, a coupling 13, a connecting rod I14, a connecting rod II 15, a gun nozzle I16, a gun nozzle II 17, a connecting rod III 18, a steering engine supporting seat 19, an adjusting valve 20, a check valve 21, a pump body I22, a pump body II 23, a pressure tank 24, a motor I25, a motor shaft 26, an inlet flange 27, a water pump adapter I28, a motor II 29, a water pump adapter II 30; one end of a gun barrel I6 is connected with one end of a gun barrel II 7, a steering engine supporting seat 19 is installed at one end of the gun barrel I6, a steering engine 12 is installed on the steering engine supporting seat 19, a coupler 13 is installed on an output shaft of the steering engine 12, one end of a connecting rod I14 and one end of a connecting rod II 15 are respectively connected with the coupler 13, a connecting rod III 18 is connected with the other end of the connecting rod II 15, a muzzle I16 and a muzzle II 17 are installed at the other end of the gun barrel I6, the muzzle I16 is positioned at the lower part of the muzzle II 17, the muzzle I16 is connected with the other end of the connecting rod I14, the muzzle II 17 is connected with the other end of the connecting rod II 15, one end of the gun barrel III 8 is connected with the other end of the gun barrel II 7 through a water pipe clamp 31, one, the water tank I2 is provided with a boss 33, the water tank II 3 is provided with a groove 32, the water tank I2 is matched with the groove 32 through the boss 33 and is connected with the water tank II 3, the step foot 5 comprises a toe 34, a hydraulic rod 35, a step motor I36, a thigh 37, a combined motor supporting seat 38, a step motor II 39, a step motor III 40, a spring 41, a foot connecting piece 42, a sensor 43, a toe I connecting rod 44, A toe connecting rod II 45 and a shank 47; the combined motor supporting seat 38 is arranged on the periphery of the chassis 4, a stepping motor supporting column I50 and a stepping motor supporting column II 51 are arranged on the combined motor supporting seat 38, a stepping motor II 39 is arranged on the stepping motor supporting column II 51, a stepping motor III 40 is arranged on the stepping motor supporting column I50, one end of a thigh 37 is arranged on the stepping motor II 39, a stepping motor mounting position 48 is arranged on a shank 47, a stepping motor I36 is arranged on the stepping motor mounting position 48 of the shank 47, a spring fixing column 46 is arranged on the shank 47, the shank 47 is connected with a foot connecting piece 42 through a foot connecting piece fixing column 49 arranged on the shank 47, a spring 41 is arranged on the spring fixing column 46 and the foot connecting piece fixing column 49, the other end of the thigh 37 is arranged on the stepping motor I36, a sensor 43 is arranged at the bottom of the foot connecting piece 42, one end of a toe connecting rod I44, the toe 34 is connected with the toe connecting rod I44 in a matching mode with a fixing column II 53 arranged at the other end of the toe connecting rod I44, one end of a hydraulic rod 35 is installed on the toe 34, the other end of the hydraulic rod is connected with the upper portion of the foot connecting piece 42, the other end of the toe connecting rod II 45 is connected with the toe 34 through a fixing column I52 arranged on the toe connecting rod II 45, and the toe connecting rod I44 and the toe connecting rod II 45 are connected with the lower portion of the foot connecting piece 42 through a fixing column.
The chassis 4 comprises a chassis supporting seat I56, an upper chassis 58, a chassis supporting seat II 59 and a lower chassis 60; go up chassis 58 and install on lower chassis 60 through chassis supporting seat I56, chassis supporting seat II 59, go up chassis 58, seted up on the chassis 60 step installation position 55, step 5 is installed in chassis 4 week portion through combination motor supporting seat 38 and step installation position 55 cooperation, has seted up water tank installation position 57 on going up the chassis 58, and water tank I2 is installed on water tank installation position 57.
The gun barrel III 8 is of an L shape, and the gun barrel IV 11 is of an S shape.
The thigh 37 is V-shaped.
The toe 34 is horseshoe-shaped.
The working principle of the fire-fighting robot is as follows: when the fire-fighting robot starts to move, firstly, two walking feet 5 close to the outside on the left side and a middle walking foot 5 on the right side form a triangular bracket so as to ensure that the gravity center of the robot is positioned in a triangle, so that the robot has stability and is not easy to fall down; the two walking feet 5 which are close to the outside on the right side and the walking foot 5 which is in the middle of the left side are lifted to prepare for swinging forwards to advance; the three feet 5 swing forward to stride; because the two walking feet 5 close to the outer part of the right side and the walking feet 5 in the middle of the left side swing in a striding mode, the supporting walking feet (the two walking feet 5 close to the outer part of the left side and the walking feet 5 in the middle of the right side) swing at a certain angle, and the whole robot moves forwards by half step length while supporting the chassis of the robot; after the robot integrally moves forward by half step length, the swing footsteps (the two footsteps 5 outside the right side and the footstep 5 in the middle of the left side) are quickly put down to take over the new triangular support formed by the two footsteps 5 outside the left side and the middle footstep 5 in the right side, the gravity center position of the robot is stably positioned in a triangular support formed by the two footsteps 5 outside the right side and the three support footsteps 5 in the middle of the left side, the two footsteps 5 outside the left side and the middle footstep 5 in the right side are lifted up to enter a swing state, preparation for forward striding is made, the two footsteps 5 outside the left side and the middle footstep 5 in the right side swing forwards, the two footsteps 5 outside the right side and the middle footstep 5 in the left side support the chassis while driving the robot integrally to move forward by half step length, and the whole period is formed. In order to guarantee the step flexibility and the whole adaptability of the robot under the severe environment, the robot can adjust a stepping motor I36 to change the stride height of the robot, the gravity center height of the robot is changed by adjusting a stepping motor II 39, and the walking step length of the robot is changed by adjusting a stepping motor III 40.
When the robot walks, the feet fall to the ground to generate larger impact force, which is very easy to damage the body. In order to ensure the walking flexibility and the overall adaptability of the robot in a severe environment, the robot can adjust the rotating angle of a stepping motor I36, so that the height of the walking of the robot is changed on the basis of ensuring the walking flexibility of the robot, and further the walking height of the robot is changed; the height of the gravity center of the robot is changed by adjusting the rotating angle of the stepping motor II 39, and the walking step length of the robot is changed by adjusting the rotating angle of the stepping motor III 40. In the walking process of the robot, the feet can generate larger impact force instantly when falling to the ground, so that the machine body is extremely easy to damage, and the passive suspension mechanism spring 41 and the hydraulic rod 35 of the feet of the robot form a shock absorbing mechanism, so that the complexity of the feet can be effectively reduced, the working stability of the machine is enhanced, and the shock generated in the motion process is passively absorbed.
When fire-fighting robot began to carry out the task of putting out a fire, fire-fighting lance 1 gets into operating condition, steering wheel 12 rotated certain angle, drive I14 and II 15 motions of connecting rod, make the opening angle of connecting rod I14 and II 15 of connecting rod diminish, I16 of rifle mouth and II 17 of rifle mouth open this moment, motor I25 and II 29 on the water pump 9 begin high-speed rotatory fire-fighting water pressurization for the rifle pipe, when fire-fighting lance 1 aimed at the fire source, governing valve 20 and check valve 21 adjust suitable operating position and implement to put out a fire.
The invention has the following beneficial effects:
1. the fire-fighting robot can utilize the unique sole sensor to perform motion feedback on toes, can effectively avoid high-altitude falling objects generated by combustion in the walking process, and can improve the safety of fire-fighting operation;
2. the high-pressure fire-fighting lance head has large sweeping area of the outlet, can effectively extinguish fire near the fire point which cannot be reached by fire fighters by using the high-pressure fire-fighting lance, saves time and labor, and is safe and reliable;
3. the high-pressure water gun is pressurized by a secondary pump, so that the pressure of the water pump is higher, and the fire is more effectively extinguished;
4. the fire-fighting robot adopts a frame type structure, so that the weight of a main body can be reduced, the fire-fighting robot is convenient to mount and dismount, and meanwhile, the function of the fire-fighting robot adopts a modular design, so that the replacement of easily damaged parts is convenient;
5. six limbs of the fire-fighting robot can move in multiple degrees of freedom, and the height of the chassis can be adjusted, so that the robot can make different motion changes according to complex terrains, and operation is convenient to implement.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a fire-fighting lance according to the present invention;
FIG. 3 is a schematic view of the barrel I of the present invention;
FIG. 4 is a schematic structural view of a barrel III of the present invention;
FIG. 5 is a schematic view of the pump body of the present invention;
FIG. 6 is a schematic view of the structure of a water tank I of the present invention;
FIG. 7 is a schematic structural diagram of a water tank II of the present invention;
FIG. 8 is a schematic view of a step foot configuration of the present invention;
FIG. 9 is a schematic view of the toe link structure of the present invention;
FIG. 10 is a schematic view of the lower leg structure of the present invention;
FIG. 11 is a schematic view of the foot link of the present invention;
FIG. 12 is a schematic view of a support structure of the combined motor of the present invention;
FIG. 13 is a schematic view of a thigh configuration of the present invention;
FIG. 14 is a schematic view of the toe structure of the present invention;
FIG. 15 is a schematic view of the toe link connection arrangement of the present invention;
fig. 16 is a schematic structural view of the chassis of the present invention.
The reference numbers in the figures are: 1: fire-fighting lance, 2: water tank I, 3: water tank II, 4: a chassis, 5: step, 6: barrel I, 7: barrel II, 8: barrel III, 9: water pump, 10: barrel V, 11: barrel IV, 12: steering engine, 13: coupling, 14: connecting rod I, 15: connecting rods II, 16: gun nozzle I, 17: gun nozzle II, 18, connecting rod III, 19: steering engine supporting seat, 20: regulating valve, 21: check valve, 22: pump body I, 23: pump bodies ii, 24: pressure tank, 25: motors I, 26: motor shaft, 27: inlet flange, 28: water pump couplings i, 29: motors II, 30: water pump couplings ii, 31: water pipe clamp, 32: groove, 33: boss, 34: toe, 35: hydraulic rod, 36: step motor I, 37: thigh, 38: combination motor supporting seat, 39: step motors II, 40: stepping motors iii, 41: spring, 42: foot link, 43: sensor, 44: toe connecting rod I, 45: toe link ii, 46: spring fixing posts i, 47: shank, 48: mounting position of stepping motor, 49: foot link fixation post, 50: step motor support column I, 51: step motor support column ii, 52: fixing columns I and 53: fixing columns II and 54: fixing columns III and 55: step mounting position, 56: chassis supporting seat I, 57: water tank installation position, 58: upper chassis, 59: chassis supporting seat II, 60: and (4) a lower chassis.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-16, a fire-fighting robot comprises a fire-fighting lance 1, a water tank I2, a water tank II 3, a chassis 4 and a step 5; the water tank I2 and the water tank II 3 are respectively arranged on a chassis 4, the fire-fighting lance 1 is arranged on the water tank I2, the foothold 5 is arranged on the periphery of the chassis 4, and the fire-fighting lance 1 comprises a barrel I6, a barrel II 7, a barrel III 8, a water pump 9, a barrel V10, a barrel IV 11, a steering engine 12, a coupling 13, a connecting rod I14, a connecting rod II 15, a gun nozzle I16, a gun nozzle II 17, a connecting rod III 18, a steering engine supporting seat 19, an adjusting valve 20, a check valve 21, a pump body I22, a pump body II 23, a pressure tank 24, a motor I25, a motor shaft 26, an inlet flange 27, a water pump adapter I28, a motor II 29, a water pump adapter II 30; one end of a gun barrel I6 is connected with one end of a gun barrel II 7, a steering engine supporting seat 19 is installed at one end of the gun barrel I6, a steering engine 12 is installed on the steering engine supporting seat 19, a coupler 13 is installed on an output shaft of the steering engine 12, one end of a connecting rod I14 and one end of a connecting rod II 15 are respectively connected with the coupler 13, a connecting rod III 18 is connected with the other end of the connecting rod II 15, a muzzle I16 and a muzzle II 17 are installed at the other end of the gun barrel I6, the muzzle I16 is positioned at the lower part of the muzzle II 17, the muzzle I16 is connected with the other end of the connecting rod I14, the muzzle II 17 is connected with the other end of the connecting rod II 15, one end of the gun barrel III 8 is connected with the other end of the gun barrel II 7 through a water pipe clamp 31, one, the water tank I2 is provided with a boss 33, the water tank II 3 is provided with a groove 32, the water tank I2 is matched with the groove 32 through the boss 33 and is connected with the water tank II 3, the step foot 5 comprises a toe 34, a hydraulic rod 35, a step motor I36, a thigh 37, a combined motor supporting seat 38, a step motor II 39, a step motor III 40, a spring 41, a foot connecting piece 42, a sensor 43, a toe I connecting rod 44, A toe connecting rod II 45 and a shank 47; the combined motor supporting seat 38 is arranged on the periphery of the chassis 4, a stepping motor supporting column I50 and a stepping motor supporting column II 51 are arranged on the combined motor supporting seat 38, a stepping motor II 39 is arranged on the stepping motor supporting column II 51, a stepping motor III 40 is arranged on the stepping motor supporting column I50, one end of a thigh 37 is arranged on the stepping motor II 39, a stepping motor mounting position 48 is arranged on a shank 47, a stepping motor I36 is arranged on the stepping motor mounting position 48 of the shank 47, a spring fixing column 46 is arranged on the shank 47, the shank 47 is connected with a foot connecting piece 42 through a foot connecting piece fixing column 49 arranged on the shank 47, a spring 41 is arranged on the spring fixing column 46 and the foot connecting piece fixing column 49, the other end of the thigh 37 is arranged on the stepping motor I36, a sensor 43 is arranged at the bottom of the foot connecting piece 42, one end of a toe connecting rod I44, the toe 34 is connected with the toe connecting rod I44 in a matching mode with a fixing column II 53 arranged at the other end of the toe connecting rod I44, one end of a hydraulic rod 35 is installed on the toe 34, the other end of the hydraulic rod is connected with the upper portion of the foot connecting piece 42, the other end of the toe connecting rod II 45 is connected with the toe 34 through a fixing column I52 arranged on the toe connecting rod II 45, and the toe connecting rod I44 and the toe connecting rod II 45 are connected with the lower portion of the foot connecting piece 42 through a fixing column.
The chassis 4 comprises a chassis supporting seat I56, an upper chassis 58, a chassis supporting seat II 59 and a lower chassis 60; go up chassis 58 and install on lower chassis 60 through chassis supporting seat I56, chassis supporting seat II 59, go up chassis 58, seted up on the chassis 60 step installation position 55, step 5 is installed in chassis 4 week portion through combination motor supporting seat 38 and step installation position 55 cooperation, has seted up water tank installation position 57 on going up the chassis 58, and water tank I2 is installed on water tank installation position 57.
The gun barrel III 8 is L-shaped, and the gun barrel IV 11 is S-shaped. Thigh 37 is V-shaped. The toe 34 is horseshoe shaped.
Claims (1)
1. The fire-fighting robot motion adjusting method comprises the following steps:
step a, two walking feet (5) close to the outside on the left side and a middle walking foot (5) on the right side form a triangular bracket so as to ensure that the gravity center of the robot is positioned in a triangle, so that the robot has stability and is not easy to fall down;
b, lifting two walking feet (5) at the outer side of the right side and the middle walking foot (5) at the left side to prepare for swinging forwards to advance;
c, swinging the three footsteps (5) forwards to stride; the two outer footsteps (5) on the right side and the middle footstep (5) on the left side swing in a striding mode, the two outer footsteps (5) on the left side and the middle footstep (5) on the right side swing in a certain angle, and the whole robot moves forwards by half step length while supporting the chassis of the robot;
in the step d, the step of the method, after the robot integrally moves forward by half step length, two outer steps (5) on the right side and a middle step (5) on the left side are quickly put down to take over the two outer steps (5) on the left side and the middle step (5) on the right side to form a new triangular support, the gravity center position of the robot is stably positioned in a triangular bracket formed by the two outer steps (5) on the right side and the three support steps (5) on the middle step (5) on the left side, the two outer steps (5) on the left side and the middle step (5) on the right side are lifted up to enter a swinging state, preparation for forward stepping is well made, the two outer steps (5) on the left side and the middle step (5) on the right side swing forwards in a stepping mode, the two outer steps (5) on the right side and the middle step (5) on the left side support the chassis at one side, the robot is driven to integrally move forwards by half step length at one side, and the motion is a whole period;
the motion adjusting method of the fire-fighting robot comprises the steps of changing the stride height of the robot by adjusting a stepping motor I (36), changing the gravity center height of the robot by adjusting a stepping motor II (39), and changing the walking step length of the robot by adjusting a stepping motor III (40);
the motion adjusting method of the fire-fighting robot is applied to the fire-fighting robot,
the method is characterized in that:
the fire-fighting robot comprises a fire-fighting lance (1), a water tank I (2), a water tank II (3), a chassis (4) and a step foot (5); the water tank I (2) and the water tank II (3) are respectively arranged on the chassis (4), the fire-fighting lance (1) is arranged on the water tank I (2), the foothold (5) is arranged on the periphery of the chassis (4), the fire-fighting lance (1) comprises a lance tube I (6), a lance tube II (7), a lance tube III (8), a water pump (9), a lance tube V (10), a lance tube IV (11), a steering engine (12), a coupler (13), a connecting rod I (14), a connecting rod II (15), a gun nozzle I (16), a gun nozzle II (17), a connecting rod III (18), a steering engine supporting seat (19), a regulating valve (20), a check valve (21), a pump body I (22), a pump body II (23), a pressure tank (24), a motor I (25), a motor shaft (26), an inlet flange (27), a water pump adapter I (28), a motor II (29), a water pump adapter II (30) and a water pipe clamp (31); one end of a gun barrel I (6) is connected with one end of a gun barrel II (7), a steering engine supporting seat (19) is installed at one end of the gun barrel I (6), a steering engine (12) is installed on the steering engine supporting seat (19), a coupler (13) is installed on an output shaft of the steering engine (12), one ends of a connecting rod I (14) and a connecting rod II (15) are respectively connected with the coupler (13), a connecting rod III (18) is connected with the other end of the connecting rod II (15), a muzzle I (16) and a muzzle II (17) are installed at the other end of the gun barrel I (6), the muzzle I (16) is positioned at the lower part of the muzzle II (17), the muzzle I (16) is connected with the other end of the connecting rod I (14), the muzzle II (17) is connected with the other end of the connecting rod II (15), one end of the gun barrel III (8) is connected with the other end of the gun barrel III (7), one end of a gun barrel V (10) is connected with the other end of a gun barrel IV (11) through a water pump adapter I (28), an inlet flange (27) is installed at the other end of the gun barrel V (10), a motor I (25) is installed on a water pump adapter II (30), a pump body II (23) is installed at the end part of the motor I (25), a pump body I (22) is installed on the pump body II (23) in a connecting manner, a check valve (21) is installed on the pump body I (22), a motor shaft (26) is installed on the motor I (25), an adjusting valve (20) is installed on the end part of the motor shaft (26), a pressure tank (24) is installed on the pump body II (23), a motor II (29) is installed on the water pump adapter I (28), a fire-fighting lance (1) is installed on a water tank I (2) through the inlet flange (27) of the gun barrel V (10), a boss (33) is arranged on the water tank I (2, the water tank I (2) is matched with the groove (32) through a boss (33) and is connected with the water tank II (3), and the step foot (5) comprises a toe (34), a hydraulic rod (35), a stepping motor I (36), a thigh (37), a combined motor supporting seat (38), a stepping motor II (39), a stepping motor III (40), a spring (41), a foot connecting piece (42), a sensor (43), a toe connecting rod I (44), a toe connecting rod II (45) and a shank (47); the combined motor supporting seat (38) is arranged on the periphery of the chassis (4), a stepping motor supporting column I (50) and a stepping motor supporting column II (51) are arranged on the combined motor supporting seat (38), a stepping motor II (39) is arranged on the stepping motor supporting column II (51), a stepping motor III (40) is arranged on the stepping motor supporting column I (50), one end of a thigh (37) is arranged on the stepping motor II (39), a stepping motor mounting position (48) is arranged on a shank (47), a stepping motor I (36) is arranged on the stepping motor mounting position (48) of the shank (47), a spring fixing column (46) is arranged on the shank (47), the shank (47) is connected with a foot connecting piece (42) through a foot connecting piece fixing column (49) arranged on the shank (47), a spring (41) is arranged on the spring fixing column (46) and the foot connecting piece fixing column (49), the other end of a thigh (37) is installed on a stepping motor I (36), a sensor (43) is installed at the bottom of a foot connecting piece (42), one end of a toe connecting rod I (44) is connected with one end of a toe connecting rod II (45) through a fixing column III (54) installed on the toe connecting rod I (44), a toe (34) is matched with a fixing column II (53) installed on the other end of the toe connecting rod I (44) to be connected with the toe connecting rod I (44), one end of a hydraulic rod (35) is installed on the toe (34), the other end of the hydraulic rod is connected with the upper portion of the foot connecting piece (42), the other end of the toe connecting rod II (45) is connected with the toe (34) through a fixing column I (52) installed on the toe connecting rod I (44), and the toe connecting rod II (45) is connected with the lower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810302978.1A CN108482512B (en) | 2016-05-04 | 2016-05-04 | Fire-fighting robot motion adjusting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810302978.1A CN108482512B (en) | 2016-05-04 | 2016-05-04 | Fire-fighting robot motion adjusting method |
| CN201610287894.6A CN105857436B (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610287894.6A Division CN105857436B (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot |
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| Publication Number | Publication Date |
|---|---|
| CN108482512A CN108482512A (en) | 2018-09-04 |
| CN108482512B true CN108482512B (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610287894.6A Active CN105857436B (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot |
| CN201810302977.7A Active CN108466664B (en) | 2016-05-04 | 2016-05-04 | Fire fighting method |
| CN201810302978.1A Active CN108482512B (en) | 2016-05-04 | 2016-05-04 | Fire-fighting robot motion adjusting method |
| CN201810302979.6A Active CN108438085B (en) | 2016-05-04 | 2016-05-04 | Fire fighting equipment |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610287894.6A Active CN105857436B (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot |
| CN201810302977.7A Active CN108466664B (en) | 2016-05-04 | 2016-05-04 | Fire fighting method |
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| CN105857436B (en) * | 2016-05-04 | 2018-08-31 | 昆明理工大学 | A kind of fire-fighting robot |
| CN106362337A (en) * | 2016-11-18 | 2017-02-01 | 芜湖黑石智能科技有限公司 | Multifunctional lifting obstacle removing fire control extinguishment robot |
| CN106891340A (en) * | 2017-02-10 | 2017-06-27 | 东莞产权交易中心 | A kind of intelligent fire rescue robot |
| CN107380294A (en) * | 2017-03-31 | 2017-11-24 | 西华大学 | The bionical foot of quadruped robot |
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| CN108888887B (en) * | 2018-06-08 | 2019-12-17 | 湖北江南专用特种汽车有限公司 | special robot for fire rescue |
| CN109018066A (en) * | 2018-09-19 | 2018-12-18 | 聊城大学 | A kind of biped firefighting robot and its traveling method |
| 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 |
| CN113212592B (en) * | 2021-05-17 | 2022-04-08 | 中国北方车辆研究所 | Adjustable foot end of legged robot |
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Also Published As
| Publication number | Publication date |
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| CN105857436B (en) | 2018-08-31 |
| CN108438085B (en) | 2020-09-22 |
| CN108438085A (en) | 2018-08-24 |
| CN108466664B (en) | 2021-08-10 |
| CN108466664A (en) | 2018-08-31 |
| CN108482512A (en) | 2018-09-04 |
| CN105857436A (en) | 2016-08-17 |
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