CN108969941A - A kind of crawler belt security robot - Google Patents
A kind of crawler belt security robot Download PDFInfo
- Publication number
- CN108969941A CN108969941A CN201810875334.1A CN201810875334A CN108969941A CN 108969941 A CN108969941 A CN 108969941A CN 201810875334 A CN201810875334 A CN 201810875334A CN 108969941 A CN108969941 A CN 108969941A
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- Prior art keywords
- wheel
- crawler belt
- arm
- spring
- thrust
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Classifications
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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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crawler belt security robots, in crawler unit, execute under mechanical arm, information collecting device, extinguishing device, self-protection system coordination cooperation, robot is able to enter scene of a fire prospecting, acquire information, automatic seeking fire, is put out a fire by the direction that mechanical arm adjusts fountain head；Electronic circuitry part is protected equipped with water-cooling system, crawler body can cross over various obstacles, be equipped with the mechanical paw of forcible entry, opening/shutting valve or can carry barrier etc. at the scene；Information collecting device is able to detect field harmful gas concentration, collection site image etc. and the information of acquisition can be sent to over-the-counter control centre by radio receiving transmitting module, enable fire fighter that the scene of the accident is analyzed and be scouted comprehensively, it formulates rationally effective rescue plan and takes action, reduce the loss of people's lives and properties as far as possible and reduce the life threat to fire fighter.
Description
Technical field
The present invention relates to field of security technologies, more particularly to a kind of crawler belt security robot.
Background technique
With the rapid development of China and industrial level, all kinds of chemical petroleum enterprises are increasing, inflammable and explosive, toxic
The quantity of chemicals sharply increases, and the fire of these hazardous areas and all kinds of accidents by fire initiation frequently occur.In fire
Calamity starts initial stage and is often easy to put out it, but can not often find in time, and hazardous chemical is on fire, building
In the accidents such as burning, toxic gas diffusion, combustible gas leakage explosion, fireman can not often reach scene at the first time, and arrive
Fire fighter is also needed to carry out analysis analysis to environmental factors such as building structure, toxic gases inside the scene of a fire and detect after up to scene
It looks into, which consumes a large amount of quality time；And the diffusion of strong corrosive noxious material, fuel gas subsequent explosion, high humidity are high
Good fortune penetrates equal environment and causes serious threat to the safety of fire fighter.
Summary of the invention
The purpose of the present invention is being improved and being innovated for disadvantage present in background technique and problem, a kind of shoe is provided
Band security robot.
The technical scheme is that a kind of crawler belt security robot, which is characterized in that including chassis cabinet 1 and setting
Crawler unit 12, mechanical arm 6, extinguishing device, information collecting device and self-protection system on chassis cabinet 1；
The crawler unit 12 is equipped with drive train, thrust wheel system, tensioning guide wheel system and moping pulley and crawler belt 17；It is described
Drive train is made of sprocket wheel 20, chain 21, sprocket wheel support plate 22, driving wheel, feed rod；The sprocket wheel is divided into drive chain
Wheel and driven sprocket, drive sprocket are connect with feed rod, are connect by chain with driven sprocket, two sprocket wheels are supported by sprocket wheel
Plate 22 carries out position and fixes, and driven sprocket outlet side is equipped with driving wheel, and the power transmission shaft is connect with gear wheel 15, gear wheel
15 engage with pinion gear 14, and 13 power output shaft of decelerating motor is fixedly connected with pinion gear 13, and the driving wheel is nibbled with crawler belt 17
It closes；The thrust wheel is by thrust wheel spring 18, thrust wheel gas spring 25, thrust wheel bearing frame 24, bogies 26, Zhi Chong
Wheel 27 is constituted；The thrust wheel bearing frame 24 intersects installation, and centre is equipped with sliding axle, the hinged thrust wheel gas spring 25 in top,
The thrust wheel spring 18 is installed among thrust wheel gas spring 25, and the thrust wheel 27 is installed on bogies 26, branch
Roller 27 is pressed in 17 inner face of crawler belt, and the bogies 26 is articulated on thrust wheel bearing frame 24；The thrust wheel is by chain
Wheel large arm 23 is connected by fixing screws with drive train；The tensioning guide wheel is by tensioning spring fixed frame 29, guiding
Wheel support 30, small directive wheel 31, big directive wheel 32, directive wheel spring 33, directive wheel gas spring 34 are constituted；The spring is fixed
Frame 29 is fixed in connecting rod 28, and the guide wheel bracket 30 is articulated in connecting rod 28, and the installation of about 30 guide wheel bracket is big
Directive wheel 32, small directive wheel 31；Described 34 one end of directive wheel gas spring is articulated on tensioning spring fixed frame 29, other end hinge
It is connected on guide wheel bracket 30, the directive wheel spring 33 is installed on 34 middle part of directive wheel gas spring；The moping pulley 19 is pacified
Upper left side is liked loaded on thrust wheel, there are two idler wheels and an elongated shaft to form；
The mechanical arm 6 is made of rotating base 44, large arm 42, middle arm 40, forearm 38 and end gripper；The rotating base
Rotating electric machine 45 is installed, the output shaft of rotating electric machine 44 is inserted into mechanical arm fixing seat 3 on 44；The large arm 42 is installed on
On rotating base 44, large arm rotating electric machine 43 is installed on rotating base 44；The middle arm 40 is articulated in large arm 42, and
It is hinged with middle arm push rod 41 on middle arm and provides rotary power for it, middle 40 end of arm is equipped with forearm motor 39 and reduction gearbox；
The reduction gearbox output shaft of the forearm 38 and middle arm 40 is fixed；The end gripper is by gripper 35, gripper connecting rod 36, electric pushrod
37 are constituted, and the gripper 35 or so each one is articulated with forearm end, and described 36 one end of gripper connecting rod is articulated with push rod end, another
End is articulated on gripper 35, and the electric pushrod 37 is installed on inside forearm 38, and push rod end is equipped with pushing block and is equipped with hinged
Hole；
The extinguishing device is equipped with high-pressure nozzle 7 on forearm 38, and 7 lower part of high-pressure nozzle, which is equipped with, to be buckled for fixing, high pressure spray
First 7 one end is connected with hose, and the hose other end is connected with extinguishing chemical device 9, and outside is equipped with solenoid valve, and hose embedment is mechanical
In arm；
The information collecting device is passed by front camera 5, rear camera 8, ultrasonic wave module 10, gas sensor, temperature
Sensor composition, the front camera 5 are fixed on 1 front of chassis cabinet using screw, and the rear camera 8 is fixed on middle arm
Top, the ultrasonic wave module 10 are fixed on each one before and after the cabinet of chassis, and the gas sensor, temperature sensor invest machinery
Inside arm；
The self-protection system is equipped with the cooling U-tube of cooling water tank inside 16, water cooling spray head 2 and internal control system, described
Cooling water tank inside 16 is connect with water cooling spray head 2 and cooling U-tube by bend pipe, water pump is equipped at tank outlet, entire
Insulation coating is coated on fuselage.
Further improved, the chassis cabinet 1 is welded by steel plate, and is provided with water cooling spray head mounting hole above,
Front and back is equipped with cover board 11.
Further improved, described 25 one end of thrust wheel gas spring is equipped with the hand nutting other end and is equipped with spring stop,
Thrust wheel spring 18 is pressed between hand nutting and spring stop, tensioning wheel gas spring structure is consistent with its, not superfluous
It states.
Further improved, the thrust wheel bearing frame 24 is provided with sliding slot in centre, and is equipped with sliding axle.
Further improved, the tensioning spring fixed frame 29 is secured entirely in connecting rod 28.
Further improved, the large and small directive wheel 32,31 each two is pressed in track edges two sides.
Further improved, the forearm motor 39 is fixed on reduction gearbox, and reduction gearbox is welded in middle arm end, and inside is set
There is big pinion gear to engage, gear wheel output shaft extends to outer end, and is equipped with flange terminal pad.
Further improved, described 38 one end of forearm is equipped with flange terminal pad and uses bolt in gear wheel output shaft ring flange
It is fixedly connected, the other end is welded with gripper body cradle.
Further improved, the extinguishing chemical device 9 is welded into frame by square steel tube, and inside is fixed with fire-extinguishing bottle,
Whole device is fixed on mechanical arm rear.
Further improved, the front camera 5 and rear camera 8 are all made of latest generation uncooled ir technology
With the remote thermal imaging camera of continuous vari-focus infrared optics technological development, monolithic case is reached using superpower aluminium alloy, internal
Seal nitrogen charging.
Further improved, the control system uses STM32F4ZET6 as main control chip, and wireless messages are housed
Transmission module.
Advantages of the present invention and beneficial effect, crawler belt security robot of the invention, in crawler unit, execute machinery
Arm, information collecting device, extinguishing device, self-protection system coordination cooperation under, usually can according to a fixed line into
Row security protection, when finding fire, robot can quickly enter scene of a fire prospecting, acquire information, and automatic seeking fire passes through machinery
The direction that arm adjusts fountain head is put out a fire；Electronic circuitry part is protected equipped with water-cooling system, crawler body can be across respectively
Kind of obstacle, is equipped with the mechanical paw of forcible entry, opening/shutting valve or can carry barrier etc. at the scene；Information collecting device
It is able to detect field harmful gas concentration, collection site image etc. and the information of acquisition can be sent to by radio receiving transmitting module
Over-the-counter control centre.
Detailed description of the invention
The label in content and figure expressed by the attached drawing to this specification is briefly described below:
Fig. 1 is a kind of overall structure diagram of crawler belt security robot provided in an embodiment of the present invention；
Fig. 2 is a kind of chassis box inner structure schematic diagram of crawler belt security robot provided in an embodiment of the present invention；
Fig. 3 is a kind of crawler unit structural schematic diagram of crawler belt security robot provided in an embodiment of the present invention；
Fig. 4 is a kind of execution mechanical arm structural schematic diagram of crawler belt security robot provided in an embodiment of the present invention；
In the figure, it is marked as the chassis 1- cabinet；2- water cooling fog-spray nozzle；3- mechanical arm fixing seat；4- fastening screw；The preposition camera shooting of 5-
Head；6- mechanical arm；7- high-pressure nozzle；8- rear camera；9- extinguishing chemical device；10- ultrasonic wave module；The chassis 11- cabinet
Back shroud；12- crawler unit；13- DC speed-reducing；14- pinion gear；15- gear wheel；16- cooling water tank inside；
17- crawler belt；18- thrust wheel spring；19- moping pulley；20- sprocket wheel；21- chain；22- sprocket wheel support plate；23- sprocket wheel large arm；24-
Thrust wheel bearing frame；25- thrust wheel gas spring；26- bogies；27- thrust wheel；28- connecting rod；29- tensioning spring is solid
Determine frame；30- guide wheel bracket；The small directive wheel of 31-；The big directive wheel of 32-；33- directive wheel spring；34- directive wheel gas spring；
35- gripper；36- gripper connecting rod；37- electric pushrod；38- forearm；39- forearm motor；Arm in 40-；Arm push rod in 41-；42- is big
Arm；43- large arm rotating electric machine；44- rotating base；45- rotating electric machine.
Specific embodiment
The effect of to make to structure feature of the invention and being reached, has a better understanding and awareness, preferably to implement
Example and attached drawing cooperation detailed description, are described as follows:
Below against attached drawing, by the description of the embodiment, specific embodiments of the present invention will be described in further detail,
Purpose, which is to aid in those skilled in the art, more complete, accurate and deep understanding to design of the invention, technical solution, and
Facilitate its implementation.
As shown in Figures 1 to 4, the present invention is a kind of crawler belt security robot, including chassis cabinet 1 and setting in chassis case
Crawler unit 12, mechanical arm 6, extinguishing device, information collecting device, self-protection system and control system on body 1,
As shown in Figure 1；
The crawler unit 12 is equipped with drive train, thrust wheel system, tensioning guide wheel system and moping pulley and crawler belt 17；It is described
Drive train is made of sprocket wheel 20, chain 21, sprocket wheel support plate 22, driving wheel, feed rod；The sprocket wheel is divided into drive chain
Wheel and driven sprocket, drive sprocket are connect with feed rod, are connect by chain with driven sprocket, two sprocket wheels are supported by sprocket wheel
Plate 22 carries out position and fixes, and driven sprocket outlet side is equipped with driving wheel, and the power transmission shaft is connect with gear wheel 15, gear wheel
15 engage with pinion gear 14, and 13 power output shaft of decelerating motor is fixedly connected with pinion gear 13, and the driving wheel is nibbled with crawler belt 17
It closes, the work of decelerating motor 13 send power transmission to drive sprocket via chain to driven sprocket again, makes to be fixed on driven sprocket
Driving wheel afterwards drives crawler belt 17 to move；The thrust wheel is held by thrust wheel spring 18, thrust wheel gas spring 25, thrust wheel
Weight frame 24, bogies 26, thrust wheel 27 are constituted；The thrust wheel bearing frame 24 intersects installation, and centre is equipped with sliding axle, top
Hinged thrust wheel gas spring 25, the thrust wheel spring 18 is installed among thrust wheel gas spring 25, the thrust wheel 27
It is installed on bogies 26, thrust wheel 27 is pressed in 17 inner face of crawler belt, and the bogies 26 is articulated with thrust wheel bearing frame
On 24；The thrust wheel is connected by fixing screws with drive train by sprocket wheel large arm 23, when caterpillar drive to barrier
Or pressure increase when, thrust wheel 27 drive thrust wheel bearing frame 24 slide in the opposite direction, at this time thrust wheel spring 18 by
Left and right pulling force will be stretched, and thrust wheel gas spring 25 is then consistent with external force force direction, and piston rod has the tendency that pushing up outward,
Its entire thrust wheel system is set to be in equilibrium state；The tensioning guide wheel by tensioning spring fixed frame 29, guide wheel bracket 30,
Small directive wheel 31, big directive wheel 32, directive wheel spring 33, directive wheel gas spring 34 are constituted；The spring anchorage bracket 29 is fixed
In in connecting rod 28, the guide wheel bracket 30 is articulated in connecting rod 28, about 30 guide wheel bracket install big directive wheel 32,
Small directive wheel 31；Described 34 one end of directive wheel gas spring is articulated on tensioning spring fixed frame 29, and the other end is articulated with guiding
On wheel support 30, the directive wheel spring 33 is installed on 34 middle part of directive wheel gas spring, the tensioning train principle and Zhi Chong
Train is consistent, repeats no more；The moping pulley 19 is installed on thrust wheel happiness upper left side, and there are two idler wheels and an elongated shaft to form,
Two roller supportings make crawler belt be not easy to fluff and fall off in crawler belt left and right edges two sides；
The mechanical arm 6 is made of rotating base 44, large arm 42, middle arm 40, forearm 38 and end gripper；The rotating base
Rotating electric machine 45 is installed, the output shaft of rotating electric machine 44 is inserted into mechanical arm fixing seat 3 on 44；The large arm 42 is installed on
On rotating base 44, large arm rotating electric machine 43 is installed on rotating base 44；The middle arm 40 is articulated in large arm 42, and
It is hinged with middle arm push rod 41 on middle arm and provides rotary power for it, middle 40 end of arm is equipped with forearm motor 39 and reduction gearbox；
The reduction gearbox output shaft of the forearm 38 and middle arm 40 is fixed；The end gripper is by gripper 35, gripper connecting rod 36, electric pushrod
37 are constituted, and the gripper 35 or so each one is articulated with forearm end, and described 36 one end of gripper connecting rod is articulated with push rod end, another
End is articulated on gripper 35, and the electric pushrod 37 is installed on inside forearm 38, and push rod end is equipped with pushing block and is equipped with hinged
Hole, the mechanical arm possesses 4 freedom degrees under the cooperation of each motor and electric pushrod, and end mechanical paw connects in gripper
Crawl article can be opened and closed under the cooperation of bar 36 and electric pushrod 37 in parallel；
The extinguishing device is equipped with high-pressure nozzle 7 on forearm 38, and 7 lower part of high-pressure nozzle, which is equipped with, to be buckled for fixing, high pressure spray
First 7 one end is connected with hose, and the hose other end is connected with extinguishing chemical device 9, and outside is equipped with solenoid valve, and hose embedment is mechanical
In arm, when recognizing fire source, control system issues instruction opens solenoid valve, and extinguishing chemical sprays fire extinguishing by high-pressure nozzle 7；
The information collecting device is passed by front camera 5, rear camera 8, ultrasonic wave module 10, gas sensor, temperature
Sensor composition, the front camera 5 are fixed on 1 front of chassis cabinet using screw, and the rear camera 8 is fixed on middle arm
Top, the ultrasonic wave module 10 are fixed on each one before and after the cabinet of chassis, and the gas sensor, temperature sensor invest machinery
Inside arm, it is hardly damaged it；
The self-protection system is equipped with the cooling U-tube of cooling water tank inside 16, water cooling spray head 2 and internal control system, described
Cooling water tank inside 16 is connect with water cooling spray head 2 and cooling U-tube by bend pipe, water pump is equipped at tank outlet, entire
Insulation coating is coated on fuselage, water cooling spray head can spray water mist to the certain cooling processing of progress outside robot；
The present invention is a kind of crawler belt security robot, which is provided to each cell, factory and harbour etc., under normal circumstances
The robot will be gone on patrol according to the operating path of setting, when finding fire in crawler unit 12, mechanical arm
6, the scene of a fire, information can timely be entered under the cooperation of extinguishing device, information collecting device, self-protection system and control system
Acquisition device is able to detect field harmful gas concentration, collection site image and scene of a fire internal information is passed through wireless information transfer
Device is sent to control centre in time, after finding fire source, can be put out a fire by the direction that mechanical arm adjusts high-pressure nozzle；Match
Water-cooling system protection electronic circuitry part is had, crawler body can cross over various obstacles, be equipped with the mechanical paw of forcible entry,
Opening/shutting valve or barrier etc. can be carried at the scene.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (10)
1. a kind of crawler belt security robot, which is characterized in that including chassis cabinet 1 and the crawler belt row being arranged on chassis cabinet 1
Walking apparatus 12, mechanical arm 6, extinguishing device, information collecting device and self-protection system；The crawler unit 12 is equipped with
Drive train, thrust wheel system, tensioning guide wheel system and moping pulley and crawler belt 17；The drive train is by sprocket wheel 20, chain 21, chain
Support plate 22, driving wheel, feed rod is taken turns to constitute；The sprocket wheel is divided into drive sprocket and driven sprocket, drive sprocket and dynamic
Power transmits axis connection, is connect by chain with driven sprocket, and two sprocket wheels carry out position by sprocket wheel support plate 22 and fix, driven sprocket
Outlet side is equipped with driving wheel, and the power transmission shaft is connect with gear wheel 15, and gear wheel 15 is engaged with pinion gear 14, decelerating motor
13 power output shafts are fixedly connected with pinion gear 13, and the driving wheel is engaged with crawler belt 17；The thrust wheel is by thrust wheel bullet
Spring 18, thrust wheel gas spring 25, thrust wheel bearing frame 24, bogies 26, thrust wheel 27 are constituted；The thrust wheel bearing frame
24 intersect installation, and centre is equipped with sliding axle, the hinged thrust wheel gas spring 25 in top, and the thrust wheel spring 18 is installed on Zhi Chong
It takes turns among gas spring 25, the thrust wheel 27 is installed on bogies 26, and thrust wheel 27 is pressed in 17 inner face of crawler belt, described
Bogies 26 is articulated on thrust wheel bearing frame 24；The thrust wheel passes through fixing screws and driving wheel by sprocket wheel large arm 23
System is connected；The tensioning guide wheel is by tensioning spring fixed frame 29, guide wheel bracket 30, small directive wheel 31, big directive wheel
32, directive wheel spring 33, directive wheel gas spring 34 are constituted；The spring anchorage bracket 29 is fixed in connecting rod 28, described to lead
It is articulated in connecting rod 28 to wheel support 30, about 30 guide wheel bracket installs big directive wheel 32, small directive wheel 31；The guiding
Wheel 34 one end of gas spring is articulated on tensioning spring fixed frame 29, and the other end is articulated on guide wheel bracket 30, the guiding
Wheel spring 33 is installed on 34 middle part of directive wheel gas spring；The moping pulley 19 is installed on thrust wheel system upper left side, and there are two rollings
Wheel and elongated shaft composition；The mechanical arm 6 is by rotating base 44, large arm 42, middle arm 40, forearm 38 and end gripper structure
At；Rotating electric machine 45 is installed, the output shaft of rotating electric machine 44 is inserted into mechanical arm fixing seat 3 on the rotating base 44；
The large arm 42 is installed on rotating base 44, and large arm rotating electric machine 43 is equipped on rotating base 44；The middle arm 40 is cut with scissors
It is connected in large arm 42, and arm push rod 41 in being hinged on middle arm, middle 40 end of arm is equipped with forearm motor 39 and reduction gearbox；
The reduction gearbox output shaft of the forearm 38 and middle arm 40 is fixed；The end gripper is by gripper 35, gripper connecting rod 36, electric pushrod
37 are constituted, and the gripper 35 or so each one is articulated with forearm end, and described 36 one end of gripper connecting rod is articulated with push rod end, another
End is articulated on gripper 35, and the electric pushrod 37 is installed on inside forearm 38, and push rod end is equipped with pushing block and is equipped with hinged
Hole；The extinguishing device is equipped with high-pressure nozzle 7 on forearm 38, and 7 lower part of high-pressure nozzle, which is equipped with, to be buckled for fixing, high-pressure nozzle
7 one end are connected with hose, and the hose other end is connected with extinguishing chemical device 9, and outside is equipped with solenoid valve, and hose is embedded to manipulator
In arm；The information collecting device is passed by front camera 5, rear camera 8, ultrasonic wave module 10, gas sensor, temperature
Sensor composition, the front camera 5 are fixed on 1 front of chassis cabinet using screw, and the rear camera 8 is fixed on middle arm
Top, the ultrasonic wave module 10 are fixed on each one before and after the cabinet of chassis, and the gas sensor, temperature sensor invest machinery
Inside arm；The self-protection system is equipped with the cooling U-tube of cooling water tank inside 16, water cooling spray head 2 and internal control system, institute
It states cooling water tank inside 16 and is connect with water cooling spray head 2 and cooling U-tube by bend pipe, water pump is equipped at tank outlet, whole
Insulation coating is coated on a fuselage.
2. a kind of crawler belt security robot according to claim 1, it is characterised in that: the chassis cabinet 1 is welded by steel plate
It connects, and is provided with water cooling spray head mounting hole above, front and back is equipped with cover board 11.
3. a kind of crawler belt security robot according to claim 1, it is characterised in that: the thrust wheel gas spring 25 1
End is equipped with the hand nutting other end and is equipped with spring stop, and thrust wheel spring 18 is pressed between hand nutting and spring stop,
Tensioning wheel gas spring structure is consistent with its.
4. a kind of crawler belt security robot according to claim 1, it is characterised in that: the thrust wheel bearing frame 24 is in
Between be provided with sliding slot, and sliding axle is installed.
5. a kind of crawler belt security robot according to claim 1, it is characterised in that: the tensioning spring fixed frame 29 is complete
It is fixed in connecting rod 28 entirely.
6. a kind of crawler belt security robot according to claim 1, it is characterised in that: the large and small directive wheel 32,31 is each
Two, it is pressed in track edges two sides.
7. a kind of crawler belt security robot according to claim 1, it is characterised in that: the forearm motor 39, which is fixed on, to be subtracted
On fast case, reduction gearbox is welded in middle arm end, and inside is equipped with big pinion gear and engages, and gear wheel output shaft extends to outer end, and sets
There is flange terminal pad.
8. a kind of crawler belt security robot according to claim 1, it is characterised in that: described 38 one end of forearm is equipped with flange
Terminal pad is fixedly connected in gear wheel output shaft ring flange using bolt, and the other end is welded with gripper body cradle；The extinguishing chemical
Device 9 is welded into frame by square steel tube, and inside is fixed with fire-extinguishing bottle, and whole device is fixed on mechanical arm rear.
9. a kind of crawler belt security robot according to claim 1, it is characterised in that: the front camera 5 and postposition
Camera 8 is all made of latest generation uncooled ir technology and the remote thermal imaging of continuous vari-focus infrared optics technological development is taken the photograph
Camera, monolithic case are reached using superpower aluminium alloy, inner sealing nitrogen charging.
10. a kind of crawler belt security robot according to claim 1, it is characterised in that: the control system uses
STM32F4ZET6 is equipped with wireless information transfer module as main control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810875334.1A CN108969941A (en) | 2018-08-03 | 2018-08-03 | A kind of crawler belt security robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810875334.1A CN108969941A (en) | 2018-08-03 | 2018-08-03 | A kind of crawler belt security robot |
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| CN108969941A true CN108969941A (en) | 2018-12-11 |
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| CN201810875334.1A Pending CN108969941A (en) | 2018-08-03 | 2018-08-03 | A kind of crawler belt security robot |
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| CN110211357A (en) * | 2019-06-03 | 2019-09-06 | 淮南师范学院 | A kind of robot wireless telecommunication system based on Corba middleware Technology Yu Ad hoc network |
| CN110718035A (en) * | 2019-11-04 | 2020-01-21 | 江苏安防科技有限公司 | Monitoring and early warning system based on sudden spontaneous combustion hazard in pipe rack space |
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| CN111482972A (en) * | 2020-03-19 | 2020-08-04 | 季华实验室 | Fire-fighting and disaster-relief robot and system |
| CN111821625A (en) * | 2020-07-30 | 2020-10-27 | 嘉兴学院 | Inspection robot with fire-extinguishing mechanical arm capable of freely stretching |
| CN112059638A (en) * | 2020-07-28 | 2020-12-11 | 张学河 | Automatic mobile rescue robot for chemical plant |
| CN112057785A (en) * | 2020-08-24 | 2020-12-11 | 盐城工学院 | Fire-fighting robot for high-temperature work |
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| CN111482972A (en) * | 2020-03-19 | 2020-08-04 | 季华实验室 | Fire-fighting and disaster-relief robot and system |
| CN112059638A (en) * | 2020-07-28 | 2020-12-11 | 张学河 | Automatic mobile rescue robot for chemical plant |
| CN111821625A (en) * | 2020-07-30 | 2020-10-27 | 嘉兴学院 | Inspection robot with fire-extinguishing mechanical arm capable of freely stretching |
| CN112057785A (en) * | 2020-08-24 | 2020-12-11 | 盐城工学院 | Fire-fighting robot for high-temperature work |
| CN112873165A (en) * | 2021-01-21 | 2021-06-01 | 四川前立应急救援设备有限公司 | Multifunctional household robot |
| CN112873165B (en) * | 2021-01-21 | 2024-04-02 | 四川前立应急救援设备有限公司 | Multifunctional household robot |
| CN113247126A (en) * | 2021-06-29 | 2021-08-13 | 哈尔滨工业大学 | High-temperature-resistant crawler-type robot chassis |
| CN113247126B (en) * | 2021-06-29 | 2022-08-26 | 哈尔滨工业大学 | High-temperature-resistant crawler-type robot chassis |
| CN113441501A (en) * | 2021-07-07 | 2021-09-28 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113441501B (en) * | 2021-07-07 | 2022-05-27 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
| CN113877095A (en) * | 2021-10-09 | 2022-01-04 | 张现伟 | High-rise building fire control unmanned aerial vehicle |
| CN115414619A (en) * | 2022-11-04 | 2022-12-02 | 天津曼诺电气设备科技有限公司 | Fire safety rescue intelligent robot that puts out a fire |
| CN115414619B (en) * | 2022-11-04 | 2023-02-03 | 天津曼诺电气设备科技有限公司 | Fire safety rescue intelligent robot that puts out a fire |
| CN116495070A (en) * | 2023-05-30 | 2023-07-28 | 临沂万和精工机械有限公司 | Crawler belt walking driving device for harvesting machinery |
| CN116495070B (en) * | 2023-05-30 | 2024-01-23 | 临沂万和精工机械有限公司 | Crawler belt walking driving device for harvesting machinery |
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