CN108545122A - A kind of environmental protection fire-fighting robot - Google Patents
A kind of environmental protection fire-fighting robot Download PDFInfo
- Publication number
- CN108545122A CN108545122A CN201810253089.0A CN201810253089A CN108545122A CN 108545122 A CN108545122 A CN 108545122A CN 201810253089 A CN201810253089 A CN 201810253089A CN 108545122 A CN108545122 A CN 108545122A
- Authority
- CN
- China
- Prior art keywords
- gear
- rack
- transmission shaft
- worm screw
- parts
- 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- Withdrawn
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C22/00—Chemical surface treatment of metallic material by reaction of the surface with a reactive liquid, leaving reaction products of surface material in the coating, e.g. conversion coatings, passivation of metals
- C23C22/05—Chemical surface treatment of metallic material by reaction of the surface with a reactive liquid, leaving reaction products of surface material in the coating, e.g. conversion coatings, passivation of metals using aqueous solutions
Abstract
The invention discloses a kind of environmentally friendly 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 environmentally friendly 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 environmentally friendly fire-fighting robots, to solve the machine of the prior art
The walking manner of people is single, mostly roller type, and in addition robot has a single function, and the extinguishing operation device of carrying uses not side
Just 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 environmentally friendly fire-fighting robot, including rack, it is described
Rack is equipped with running gear, and the running gear includes the movable motor being set in the rack, is connected to the walking electricity
Output gear on machine, the transmission gear being meshed with the output gear and two foot tools, the transmission gear center is set
There are transmission shaft, the transmission shaft to be installed on pedestal, 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
The disk being installed on transmission shaft, the disk are equipped with gear ring, and the planetary gear is meshed with sun gear, gear ring respectively, institute
It includes montant, cross bar and support plate to state foot tool, and the cross bar is horizontally disposed along the direction of advance of robot, the middle part of the cross bar
It is vertically connected at the bottom end of 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；
The rack be equipped with metal rust preventing spray coating liquor, the metal rust preventing spray coating liquor by following mass fraction each component
Composition：12 parts of triethanolamine, 4 parts of borax, 1 part of sodium molybdate, 3 parts of niter cake, 1 part of diethanol amine, 2 parts of isobutanol, isopropanol 1
Part, 1 part of sodium chloride, 8 parts of ethyl alcohol, 85 parts of water；The preparation method of the metal rust preventing spray coating liquor is：
(1) triethanolamine of formula ratio, borax, sodium molybdate, niter cake, diethanol amine and ethyl alcohol are mixed, is heated to
85 DEG C, keep the temperature 30min；
(2) water and sodium chloride of formula ratio, insulated and stirred 10min is added；
(3) it is down to room temperature, the isobutanol and isopropanol of formula ratio is added, stirring 5min to obtain the final product.
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.
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 environmentally friendly fire-fighting robot, including rack 100, the machine
Frame 100 is equipped with running gear, and the running gear includes the movable motor 11 being set in the rack 100, it is described to be connected to
Output gear 12 on movable motor 11, the transmission gear 13 being meshed with the output gear 12 and two foot tools 20, institute
It states 13 center of transmission gear and is equipped with transmission shaft 14, the transmission shaft 14 is installed on pedestal 15, and the pedestal 15 is installed on rack
On 100, 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 31
On, the baffle axial displacement (not shown) for limiting the planetary gear 31 is additionally provided on the disk 33, so that planetary gear 31
It remains and is meshed with sun gear 32, gear ring 34；In two groups of epicyclic gearing 30, planetary gear 31 is engaged with sun gear 32
Angle differs 180 °, i.e., when the planetary gear in one of which epicyclic gearing moves to the position directly above of sun gear, separately
The planetary gear of one group of epicyclic gearing moves at the following position directly of sun gear.Due to the rotation of two groups of epicyclic gearing
Angle differs 180 °, therefore after starting movable motor, and transmission shaft drives the foot tool of left and right two alternately to take exercises, when the row of side
When star-wheel 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 peak, the side
Foot tool ground between be maximum distance, when planetary gear goes to horizontal position, two foot tool and meanwhile contact to earth, carry out the foot that lands
The exchange of tool, 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.
The rack be equipped with metal rust preventing spray coating liquor, the metal rust preventing spray coating liquor by following mass fraction each component
Composition：12 parts of triethanolamine, 4 parts of borax, 1 part of sodium molybdate, 3 parts of niter cake, 1 part of diethanol amine, 2 parts of isobutanol, isopropanol 1
Part, 1 part of sodium chloride, 8 parts of ethyl alcohol, 85 parts of water；The preparation method of the metal rust preventing spray coating liquor is：
(1) triethanolamine of formula ratio, borax, sodium molybdate, niter cake, diethanol amine and ethyl alcohol are mixed, is heated to
85 DEG C, keep the temperature 30min；
(2) water and sodium chloride of formula ratio, insulated and stirred 10min is added；
(3) it is down to room temperature, the isobutanol and isopropanol of formula ratio is added, stirring 5min to obtain the final product.
Metal rust preventing spray coating liquor spray metal workpiece can form one layer of protective oxide layer, group in metal surface
It is subtle to knit compact structure, particle, to reach rust-proof effect, increases service life, there is 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 environmental protection fire-fighting robot, including rack, which is characterized in that the rack is equipped with running gear, the walking
Device includes the movable motor being set in the rack, the output gear being connected on the movable motor and the output gear
It takes turns the transmission gear being meshed and two foot tools, the transmission gear center is equipped with transmission shaft, the transmission shaft is installed on axis
On frame, 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
Device includes planetary gear, is fixedly installed on transmission shaft sun gear and rotational installation are in the disk on transmission shaft, the circle
Disk is equipped with gear ring, and the planetary gear is meshed with sun gear, gear ring respectively, and the foot tool includes montant, cross bar and support plate,
The cross bar is horizontally disposed along the direction of advance of robot, and the bottom end of montant, the cross are vertically connected in the middle part of the cross bar
Respectively there are one the support plate, the length direction directions of the support plate for connection in the vertical direction of horizontal plane on the both ends of bar
The top of frame side, the montant is fixedly connected on the planetary gear, and it is described for limiting that baffle is additionally provided on the disk
The axial displacement of planetary gear；
The rack is equipped with metal rust preventing spray coating liquor, and the metal rust preventing spray coating liquor is grouped by each group of following mass fraction
At：12 parts of triethanolamine, 4 parts of borax, 1 part of sodium molybdate, 3 parts of niter cake, 1 part of diethanol amine, 2 parts of isobutanol, isopropanol 1
Part, 1 part of sodium chloride, 8 parts of ethyl alcohol, 85 parts of water；The preparation method of the metal rust preventing spray coating liquor is：
(1) triethanolamine of formula ratio, borax, sodium molybdate, niter cake, diethanol amine and ethyl alcohol are mixed, are heated to 85 DEG C,
Keep the temperature 30min；
(2) water and sodium chloride of formula ratio, insulated and stirred 10min is added；
(3) it is down to room temperature, the isobutanol and isopropanol of formula ratio is added, stirring 5min to obtain the final product.
2. environmental protection fire-fighting robot according to claim 1, which is characterized in that it is additionally provided with extinguishing device in the rack,
The extinguishing device includes the first worm screw and the second worm screw that interval is set in rack, and first worm screw is parallel with the second worm screw
Setting, first motor drive the rotation of the first worm screw, the second motor to drive the rotation of the second worm screw, first worm screw and the second worm screw
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
Nozzle 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, institute
State sliding slot setting parallel with the first screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253089.0A CN108545122A (en) | 2018-03-26 | 2018-03-26 | A kind of environmental protection fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253089.0A CN108545122A (en) | 2018-03-26 | 2018-03-26 | A kind of environmental protection fire-fighting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108545122A true CN108545122A (en) | 2018-09-18 |
Family
ID=63517043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810253089.0A Withdrawn CN108545122A (en) | 2018-03-26 | 2018-03-26 | A kind of environmental protection fire-fighting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108545122A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972629A (en) * | 2018-10-11 | 2018-12-11 | 漳浦县圆周率工业设计有限公司 | A kind of robot device containing optical fiber line stretcher |
| WO2023067444A1 (en) * | 2021-10-18 | 2023-04-27 | Tyco Fire Products Lp | Fire-fighting foam composition |
-
2018
- 2018-03-26 CN CN201810253089.0A patent/CN108545122A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972629A (en) * | 2018-10-11 | 2018-12-11 | 漳浦县圆周率工业设计有限公司 | A kind of robot device containing optical fiber line stretcher |
| WO2023067444A1 (en) * | 2021-10-18 | 2023-04-27 | Tyco Fire Products Lp | Fire-fighting foam composition |
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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 |
Application publication date: 20180918 |
|
| WW01 | Invention patent application withdrawn after publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Chen Wei Document name: Notification of Approving Refund |
|
| DD01 | Delivery of document by public notice |