CN108500986A - A kind of fire-fighting robot - Google Patents
A kind of fire-fighting robot Download PDFInfo
- Publication number
- CN108500986A CN108500986A CN201810253103.7A CN201810253103A CN108500986A CN 108500986 A CN108500986 A CN 108500986A CN 201810253103 A CN201810253103 A CN 201810253103A CN 108500986 A CN108500986 A CN 108500986A
- Authority
- CN
- China
- Prior art keywords
- gear
- rack
- transmission shaft
- worm screw
- cross bar
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of fire-fighting robots, including rack, the rack is equipped with running gear, the running gear includes the movable motor being set in the rack, the output gear being connected on the movable motor, the transmission gear being meshed with the output gear and two foot tools, the transmission gear center is equipped with transmission shaft, the transmission shaft is installed on pedestal, the pedestal is installed in rack, the both ends of the transmission shaft are respectively provided with one group of epicyclic gearing, the epicyclic gearing includes planetary gear, the sun gear being fixedly installed on transmission shaft and rotational installation are in the disk on transmission shaft, the disk is equipped with gear ring, the planetary gear respectively with sun gear, gear ring is meshed.The running gear of the present invention controls foot tool alternating movement by epicyclic gearing, can make travelling forward for robot continued smooth, simple in structure, reasonable design, motion credibility height.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of fire-fighting robot.
Background technology
Currently, the walking manner of robot is single, mostly roller type, in addition robot have a single function, the fire extinguishing of carrying is made
Industry device uses inconvenience.
Invention content
(1) technical problems to be solved
Technical problem to be solved by the invention is to provide a kind of fire-fighting robots, to solve the robot of the prior art
Walking manner it is single, mostly roller type, in addition robot have a single function, the extinguishing operation device of carrying uses inconvenience
The technical issues of.
(2) technical solution
In order to solve the above technical problems, the embodiment of the present invention provides a kind of fire-fighting robot, including rack, the machine
Frame is equipped with running gear, and the running gear includes the movable motor being set in the rack, is connected to the movable motor
On output gear, the transmission gear that is meshed with the output gear and two foot tools, the transmission gear center is equipped with
Transmission shaft, the transmission shaft are installed on pedestal, and the pedestal is installed in rack, and the both ends of the transmission shaft are respectively provided with one group
Epicyclic gearing, the epicyclic gearing includes planetary gear, the sun gear that is fixedly installed on transmission shaft and rotation peace
Loaded on the disk on transmission shaft, the disk is equipped with gear ring, and the planetary gear is meshed with sun gear, gear ring respectively, described
Foot tool includes montant, cross bar and support plate, and the cross bar is horizontally disposed along the direction of advance of robot, and the middle part of the cross bar is hung down
The direct-connected bottom end for being connected to montant, respectively there are one the supports for connection in the vertical direction of horizontal plane on the both ends of the cross bar
Plate, the length direction of the support plate is towards frame side, and the top of the montant is fixedly connected on the planetary gear, the circle
Axial displacement of the baffle for limiting the planetary gear is additionally provided on disk；
Solar power supply apparatus is additionally provided in the rack, the solar power supply apparatus includes the upright bar being set in rack
With the sliding rail being vertically arranged, the upright bar is equipped with cross bar, is slidably connected frame by sliding block on the sliding rail, the frame side
Wall is equipped with rack, and the cross bar outer end is equipped with first gear, and the first gear is meshed transmission with rack, first tooth
Wheel is driven by third motor to drive frame to move up and down, and mounting bracket is equipped in the frame, is set in the mounting bracket
There are horizontal air cylinder, the output end of the horizontal air cylinder to be equipped with connecting plate, oblique cylinder, the connecting plate are equipped with above the connecting plate
One end be hinged with solar panels, the solar panels are connected with accumulator, the output end phase of the solar panels and oblique cylinder
It is hinged.
It is additionally provided with extinguishing device in the rack, the extinguishing device includes the first worm screw that interval is set in rack and the
Two worm screws, first worm screw and the second worm screw are arranged in parallel, and first motor drives the rotation of the first worm screw, the second motor driving the
Two worm screws rotate, and engaged transmission is equipped with a worm gear between first worm screw and the second worm screw, and the worm gear upper edge is axially arranged with
The end of one supporting rod, the supporting rod is equipped with Water outlet spray head, is arranged with sliding block on the supporting rod, the sliding block both sides are equipped with
Draw runner, the draw runner are slideably positioned in sliding slot, sliding slot setting parallel with the first screw rod.
(3) advantageous effect
The present invention is compared to the prior art, has the advantages that：
The running gear of the present invention controls foot tool alternating movement by epicyclic gearing, can make robot continued smooth
It travels forward, simple in structure, reasonable design, motion credibility height.Worm gear can pass through two worm screws in the extinguishing device of the present invention
Movement accurately control, and when motor stop, there is self-locking effect, be conducive to accurate operation.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structure chart of the epicyclic gearing of the running gear of the present invention.
Fig. 3 is the structure chart of the present invention having enough.
Fig. 4 is the structure chart of the extinguishing device of the present invention.
Fig. 5 is the structure chart of the solar power supply apparatus of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
As shown in Figure 1 to Figure 3, the embodiment of the present invention provides a kind of fire-fighting robot, including rack 100, the rack
100 are equipped with running gear, and the running gear includes the movable motor 11 being set in the rack 100, is connected to the row
The output gear 12 on motor 11, the transmission gear 13 being meshed with the output gear 12 and two foot tools 20 are walked, it is described
13 center of transmission gear is equipped with transmission shaft 14, and the transmission shaft 14 is installed on pedestal 15, and the pedestal 15 is installed on rack 100
On, the both ends of the transmission shaft 14 are respectively provided with one group of epicyclic gearing 30, and the epicyclic gearing 30 includes planetary gear
31, the sun gear 32 being fixedly installed on transmission shaft 14 and rotational installation are in the disk 33 on transmission shaft 14, the disk 33
It is equipped with gear ring 34, the planetary gear 31 is meshed with sun gear 32, gear ring 34 respectively, and the foot tool 20 includes montant 21, cross
Bar 22 and support plate 23, the cross bar 22 is horizontally disposed along the direction of advance of robot, the middle part vertical connection of the cross bar 22
In respectively there are one the support plates for connection in the vertical direction of horizontal plane on the bottom end of montant 21, the both ends of the cross bar 22
23, for the length direction of the support plate 23 towards 100 side of rack, the top of the montant 21 is fixedly connected on the planetary gear
On 31, the baffle axial displacement (not shown) for limiting the planetary gear 31 is additionally provided on the disk 33, so that planetary gear
31 remain and are meshed with sun gear 32, gear ring 34；In two groups of epicyclic gearing 30, planetary gear 31 and sun gear 32
Tooth matching angle differs 180 °, i.e., when the planetary gear in one of which epicyclic gearing moves to the position directly above of sun gear
When, the planetary gear of another group of epicyclic gearing moves at the following position directly of sun gear.Due to two groups of epicyclic gearing
Angle of rotation differ 180 °, therefore when starts movable motor after, transmission shaft drive left and right two it is sufficient have alternately takes exercises, when one
When the planetary gear of side turns to minimum point, the foot tool of the side is in contact condition with ground, and the planetary gear of the other side is located at highest
Point is maximum distance between the foot tool of the side and ground, and when planetary gear goes to horizontal position, two foots have while contacting to earth, into
The capable exchange having enough that lands, alternating movement can make travelling forward for robot continued smooth.
As shown in Figure 1 and Figure 4, extinguishing device 40 is additionally provided in the rack 100, the extinguishing device 40 includes interval
And the first worm screw 41 and the second worm screw 42 being set in rack 100 are rotated, first worm screw 41 is parallel with the second worm screw 42 to be set
It sets, first motor 43 drives the rotation of the first worm screw 41, the second motor 44 to drive the rotation of the second worm screw 42, first worm screw 41
And second engaged transmission between worm screw 42 be equipped with a worm gear 45,45 upper edge of the worm gear is axially arranged with a supporting rod 46, the branch
The end of strut 46 is equipped with Water outlet spray head 47, and the Water outlet spray head 47 is connected with water tank by water pump (not shown) (does not scheme
Show), sliding block 48 is arranged on the supporting rod 46,48 both sides of the sliding block are equipped with draw runner 49, and the draw runner 49 is slideably positioned in
In sliding slot 50, the setting parallel with the first screw rod 41 of the sliding slot 50.When two worm screws are with identical velocity of rotation, identical rotation side
To when movement, worm gear just moves in a straight line；When two worm screws are moved with identical velocity of rotation, reversely rotated direction, worm gear is just
Do original place rotation；When two worm screws are moved with different velocities of rotation, identical rotation direction, worm gear, which moves in a straight line, also to be occurred
Rotation.Worm gear can be accurately controlled by the movement of two worm screws, and when motor stops, and have self-locking effect, be conducive to accurate
Operation.
As shown in Figure 1 and Figure 5, solar power supply apparatus 70, the solar power supply apparatus are additionally provided in the rack 100
70 include the upright bar 71 being set in rack 100 and the sliding rail 72 being vertically arranged, and the upright bar 71 is equipped with cross bar 73, the sliding rail
It is slidably connected frame 75 by sliding block 74 on 72,75 side wall of the frame is equipped with rack 76, and 73 outer end of the cross bar is equipped with the
One gear 77, the first gear 77 are meshed transmission with rack 76, and the first gear 77 is driven by third motor is (not shown)
Dynamic that mounting bracket 78 is equipped in the frame 75 to drive frame 75 to move up and down, the mounting bracket 78 is equipped with level
The output end of cylinder 79, the horizontal air cylinder 79 is equipped with connecting plate 80, and 80 top of the connecting plate is equipped with oblique cylinder 81, described
One end of connecting plate 80 is hinged with solar panels 82, and the solar panels 82 are connected with accumulator 83, the solar panels 82 with
The output end of oblique cylinder 81 is hinged.On sunny daytime, start third motor, first gear band carry-over bar is to make on frame
It rises, oblique cylinder makes solar panels convert suitable lighting angle, and then receive the sun with making solar panels maximum area in east
Can, and solar energy is stored into accumulator, can be used for powering, when wind and rain day, solar panels can be accommodated in frame, from
Wind and rain is invaded, and service life is increased, and has the feature of environmental protection.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of fire-fighting robot, including rack, which is characterized in that the rack is equipped with running gear, the walking dress
Set including in the rack movable motor, be connected on the movable motor output gear, with the output gear
The transmission gear being meshed and two foot tools, the transmission gear center are equipped with transmission shaft, and the transmission shaft is installed on pedestal
On, the pedestal is installed in rack, and the both ends of the transmission shaft are respectively provided with one group of epicyclic gearing, the planetary gear dress
It sets including planetary gear, the sun gear being fixedly installed on transmission shaft and rotational installation in the disk on transmission shaft, the disk
It is equipped with gear ring, the planetary gear is meshed with sun gear, gear ring respectively, and the foot tool includes montant, cross bar and support plate, institute
The direction of advance that cross bar is stated along robot is horizontally disposed, and the bottom end of montant, the cross bar are vertically connected in the middle part of the cross bar
Both ends on respectively connection is there are one the support plate in the vertical direction of horizontal plane, the length direction of the support plate is towards machine
The top of frame side, the montant is fixedly connected on the planetary gear, and baffle is additionally provided on the disk for limiting the row
The axial displacement of star-wheel；
Solar power supply apparatus is additionally provided in the rack, the solar power supply apparatus includes the upright bar being set in rack and erects
The sliding rail being directly arranged, the upright bar are equipped with cross bar, are slidably connected frame by sliding block on the sliding rail, on the frame side wall
Equipped with rack, the cross bar outer end is equipped with first gear, and the first gear is meshed transmission with rack, the first gear by
Third motor drives to drive frame to move up and down, and mounting bracket is equipped in the frame, and the mounting bracket is equipped with water
Flat cylinder, the output end of the horizontal air cylinder are equipped with connecting plate, are equipped with oblique cylinder above the connecting plate, and the one of the connecting plate
End is hinged with solar panels, and the solar panels are connected with accumulator, and the output end of the solar panels and oblique cylinder is hinged.
2. fire-fighting robot according to claim 1, which is characterized in that be additionally provided with extinguishing device, institute in the rack
It includes the first worm screw and the second worm screw that interval is set in rack to state extinguishing device, and first worm screw is parallel with the second worm screw to be set
Set, first motor drives the rotation of the first worm screw, and the second motor drives the rotation of the second worm screw, first worm screw and the second worm screw it
Between engaged transmission be equipped with a worm gear, the worm gear upper edge is axially arranged with a supporting rod, and the end of the supporting rod is equipped with water outlet and sprays
Head is arranged with sliding block on the supporting rod, and the sliding block both sides are equipped with draw runner, and the draw runner is slideably positioned in sliding slot, described
Sliding slot setting parallel with the first screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253103.7A CN108500986A (en) | 2018-03-26 | 2018-03-26 | A kind of fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253103.7A CN108500986A (en) | 2018-03-26 | 2018-03-26 | A kind of fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108500986A true CN108500986A (en) | 2018-09-07 |
Family
ID=63378513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810253103.7A Withdrawn CN108500986A (en) | 2018-03-26 | 2018-03-26 | A kind of fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108500986A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111186503A (en) * | 2019-10-11 | 2020-05-22 | 朱留超 | Fire emergency rescue is with portable robot that discharges fume |
| CN113318363A (en) * | 2021-05-06 | 2021-08-31 | 上海景文同安机电消防工程有限公司 | Energy-concerving and environment-protective type rescue equipment |
-
2018
- 2018-03-26 CN CN201810253103.7A patent/CN108500986A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111186503A (en) * | 2019-10-11 | 2020-05-22 | 朱留超 | Fire emergency rescue is with portable robot that discharges fume |
| CN113318363A (en) * | 2021-05-06 | 2021-08-31 | 上海景文同安机电消防工程有限公司 | Energy-concerving and environment-protective type rescue equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180907 |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Chaoxian Document name: Notification of Approving Refund |