CN109571509B - Intelligent humanoid fire-fighting robot - Google Patents
Intelligent humanoid fire-fighting robot Download PDFInfo
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- CN109571509B CN109571509B CN201910066098.3A CN201910066098A CN109571509B CN 109571509 B CN109571509 B CN 109571509B CN 201910066098 A CN201910066098 A CN 201910066098A CN 109571509 B CN109571509 B CN 109571509B
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- fire
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses an intelligent humanoid fire-fighting robot, which comprises an intelligent working part, a walking part and a hand arm part, and is characterized in that: the upper end of a small support arm of the walking part is fixedly arranged on a connecting shaft at the notch of a support of the intelligent working part; the walking process is completed by driving the walking wheels through the first motor of the walking part, and the small support arm, the large support arm and the fourth steering engine work in coordination to complete the balance of the machine; when a fire disaster happens, the information work processing box, the camera and the fire detector of the intelligent work part work in a coordinated way, so that the sound box gives an alarm; the fifth steering engine, the first long arm, the second hydraulic cylinder and the second long arm of the arm part work in a coordinated manner, so that the gripper is controlled to grab the fire-fighting switch; emergency people can sit on the seat plate, and the back plate, the second steering engine, the chest safety baffle, the third steering engine, the safety belt and the safety socket work in a coordinated manner, so that the people can not leave the machine in the falling process, and the rocket tube assists the machine to stably fall to the ground in the falling process.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to an intelligent humanoid fire-fighting robot.
Background
The existing common household robot can only have common household functions and does not have the function of protecting people from fire, so that a household intelligent type human-shaped fire-fighting robot is needed, a display screen and a sound can finish normal family entertainment when a fire disaster does not exist, the hand grab finishes various types of service work, dry powder can be sprayed through a fire-fighting nozzle, and people can be safely taken out when a dangerous condition occurs.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent humanoid fire-fighting robot, wherein an emergency person can sit on a seat plate, and a backrest plate, a second steering engine, a chest safety baffle, a third steering engine, a safety belt and a safety socket work in a coordinated manner, so that the person is prevented from leaving the robot in the falling process, and a rocket tube assists the robot to stably land in the falling process.
The technical scheme adopted by the invention is as follows: the utility model provides an intelligence humanoid fire-fighting robot, includes intelligent work portion, walking part, arm portion, its characterized in that: the upper end of a small support arm of the walking part is fixedly arranged on a connecting shaft at the notch of a support of the intelligent working part; bottom end surfaces of fifth steering engines of the two arm parts are fixedly arranged on end surfaces on two sides of a fire box of the intelligent working part;
the walking part comprises a fire-fighting box, a display screen, a fire-fighting nozzle, a fire-fighting switch, a first telescopic sleeve, a first hydraulic cylinder, a bearing disc, an electric rotating shaft, a gravity controller, a bracket, a first steering engine, a back board, a second steering engine, a chest safety baffle, a third steering engine, a seat board, a safety belt, a safety socket, an information work processing box, a camera, a fire-fighting detector and a sound box, wherein the fire-fighting box is a rectangular storage box, and the rear end face of the fire-fighting box is provided with the fire-fighting nozzle and the fire-fighting switch; the bottom end of the telescopic sleeve of the first telescopic sleeve is fixedly connected with the upper end face of the bearing disc, and the end part of a piston rod of the first telescopic sleeve is fixedly connected with the lower end face of the fire box; the rear end of the cylinder body of the first hydraulic cylinder is fixedly connected with a baffle on a telescopic sleeve of the first telescopic sleeve, and the end part of a piston rod of the first hydraulic cylinder is fixedly connected with the baffle on the telescopic rod of the first telescopic sleeve; one end of the electric rotating shaft is fixedly connected with the lower end face of the bearing disc, and the other end of the electric rotating shaft is fixedly connected with the upper end face of the bracket; the gravity controller is fixedly arranged on the lower end surface of the bracket; the first steering engine is fixedly arranged on the side surface of the support, and a steering engine shaft of the first steering engine is fixedly connected with a connecting shaft at the notch of the support; the back end surface of the back board is fixedly connected with the front end surface of the bearing disc; the second steering engine is fixedly arranged on the hinged supports on the end surfaces of the two sides of the back plate, and a steering engine shaft of the second steering engine is fixedly connected with a connecting shaft at the notch of the hinged support of the back plate; the rear end of the chest safety baffle is fixedly arranged on the connecting shaft at the notch of the hinged support of the backboard; the third steering engine is fixedly arranged on the side end face of the backrest plate, and a steering engine shaft of the third steering engine is fixedly connected with a connecting shaft at the notch of the backrest plate; the rear end of the seat plate is fixedly connected with a connecting shaft at the notch of the backrest plate, and a safety belt and a safety socket are arranged on two end faces of the seat plate; the information working processing box is fixedly arranged above the fire fighting box, cameras are arranged on the front end surface and the rear end surface of the information working processing box, a fire fighting detector is arranged on the upper end surface of the information working processing box, and sound equipment is arranged on the left end surface and the right end surface of the information working processing box;
the walking part comprises a small supporting arm, a large supporting arm, a fourth steering engine, a rocket bracket, a rocket barrel, a first motor and a walking wheel, wherein the lower end of the small supporting arm is fixedly connected with a connecting shaft at a support at the upper end of the large supporting arm; the fourth steering engine is fixedly arranged on the side surface of the support at the upper end of the large support arm, and a steering engine shaft of the fourth steering engine is fixedly connected with the connecting shaft at the support at the upper end of the support arm; the rocket bracket is fixedly arranged on the rear end surface of the large supporting arm, and a rocket tube is arranged on the rocket bracket; the first motor is fixedly arranged on the side surface of the large supporting arm, and a motor shaft of the first motor is fixedly connected with a connecting shaft at a notch below the large supporting arm; the traveling wheels are fixedly arranged on the connecting shaft at the notch below the large supporting arm;
the hand arm part comprises a fifth steering engine, a hinged support, a sixth steering engine, a first long arm, a second hydraulic cylinder, a second long arm and a gripper, and a steering engine shaft of the fifth steering engine is fixedly connected with the bottom end of the hinged support; the sixth steering engine is fixedly arranged on the side end face of the hinged support, and a steering engine shaft of the sixth steering engine is fixedly connected with a connecting shaft at the notch of the hinged support; the bottom end of the first long arm is fixedly connected with a connecting shaft at the notch of the hinged support; the bottom end of the second long arm is fixedly connected with the connecting shaft at the notch at the top end of the first long arm, and the top end of the second long arm is fixedly connected with the bottom end surface of the gripper; the rear end of the second hydraulic cylinder is fixedly connected with a rotating shaft at the notch of the hinged support on the first long arm, and the end part of a piston rod of the second hydraulic cylinder is fixedly connected with the rotating shaft at the notch of the hinged support on the second long arm.
Due to the adoption of the technical scheme, the invention has the following advantages: in an emergency situation, a person can sit on the seat plate, the backrest plate, the second steering engine, the chest safety baffle, the third steering engine, the safety belt and the safety socket work in a coordinated mode, the person is prevented from leaving the machine in the falling process, and the rocket tube assists the machine to fall to the ground stably in the falling process; the invention has reasonable structure and convenient operation.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4 and 5 are schematic structural diagrams of the intelligent working part of the invention.
Fig. 6 and 7 are schematic structural views of the walking part of the present invention.
Fig. 8 and 9 are schematic views of the structure of an arm part of the present invention.
Reference numerals: 1-an intelligent working part, 2-a walking part, 3-a hand arm part, 101-a fire box, 102-a display screen, 103-a fire-fighting nozzle, 104-a fire-fighting switch, 105-a first telescopic sleeve, 106-a first hydraulic cylinder, 107-a bearing plate, 108-an electric rotating shaft, 109-a gravity controller, 110-a bracket, 111-a first steering engine, 112-a backrest plate, 113-a second steering engine, 114-a chest safety baffle, 115-a third steering engine, 116-a seat plate, 117-a safety belt, 118-a safety socket, 119-an information working processing box, 120-a camera, 121-a fire-fighting detector, 122-a sound, 201-a small supporting arm, 202-a large supporting arm, 203-a fourth steering engine, 204-a rocket bracket, 205-rocket launcher, 206-first motor, 207-traveling wheel, 301-fifth steering engine, 302-hinged support, 303-sixth steering engine, 304-first long arm, 305-second hydraulic cylinder, 306-second long arm and 307-gripper.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Embodiment as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, an intelligent humanoid fire-fighting robot comprises an intelligent working part 1, a walking part 2, an arm part 3, and is characterized in that: the upper end of a small supporting arm 201 of the walking part 2 is fixedly arranged on a connecting shaft at the notch of the bracket 110 of the intelligent working part 1; the bottom end surfaces of fifth steering engines 301 of the two arm parts 3 are fixedly arranged on the end surfaces of two sides of a fire box 101 of the intelligent working part 1;
the walking part 1 comprises a fire-fighting box 101, a display screen 102, a fire-fighting nozzle 103, a fire-fighting switch 104, a first telescopic sleeve 105, a first hydraulic cylinder 106, a bearing plate 107, an electric rotating shaft 108, a gravity controller 109, a bracket 110, a first steering engine 111, a back board 112, a second steering engine 113, a chest safety baffle 114, a third steering engine 115, a seat board 116, a safety belt 117, a safety socket 118, an information work processing box 119, a camera 120, a fire-fighting detector 121 and a sound box 122, wherein the fire-fighting box 101 is a rectangular storage box, and the fire-fighting nozzle 103 and the fire-fighting switch 104 are arranged on the rear end surface; the bottom end of the telescopic sleeve of the first telescopic sleeve 105 is fixedly connected with the upper end face of the bearing disc 107, and the end part of a piston rod of the first telescopic sleeve is fixedly connected with the lower end face of the fire box 101; the rear end of the cylinder body of the first hydraulic cylinder 106 is fixedly connected with a baffle on the telescopic sleeve of the first telescopic sleeve 105, and the end part of a piston rod of the first hydraulic cylinder is fixedly connected with the baffle on the telescopic rod of the first telescopic sleeve 105; one end of the electric rotating shaft 108 is fixedly connected with the lower end face of the bearing disc 107, and the other end of the electric rotating shaft is fixedly connected with the upper end face of the bracket 110; the gravity controller 109 is fixedly arranged on the lower end surface of the bracket 110; the first steering engine 111 is fixedly arranged on the side surface of the support 110, and a steering engine shaft of the first steering engine is fixedly connected with a connecting shaft at the notch of the support 110; the back end surface of the back board 112 is fixedly connected with the front end surface of the bearing disc 107; the second steering engine 113 is fixedly arranged on the hinged supports on the end surfaces of the two sides of the back board 112, and a steering engine shaft of the second steering engine is fixedly connected with a connecting shaft at the notch of the hinged support of the back board 112; the rear end of the chest safety baffle 114 is fixedly arranged on the connecting shaft at the notch of the hinged support of the backrest plate 112; a third steering engine 115 is fixedly arranged on the end surface of the side of the back board 112, and a steering engine shaft of the third steering engine is fixedly connected with a connecting shaft at the notch of the back board 112; the rear end of the seat plate 116 is fixedly connected with the connecting shaft at the notch of the backrest plate 112, and a safety belt 117 and a safety socket 118 are arranged on the two end faces; the information processing box 119 is fixedly arranged above the fire fighting box 101, cameras 120 are arranged on the front end surface and the rear end surface of the information processing box, a fire fighting detector 121 is arranged on the upper end surface of the information processing box, and sound boxes 122 are arranged on the left end surface and the right end surface of the information processing box;
the walking part 2 comprises a small support arm 201, a large support arm 202, a fourth steering engine 203, a rocket bracket 204, a rocket tube 205, a first motor 206 and a walking wheel 207, wherein the lower end of the small support arm 201 is fixedly connected with a connecting shaft at a support at the upper end of the large support arm 202; a fourth steering engine 203 is fixedly arranged on the side surface of a support at the upper end of the large support arm 202, and a steering engine shaft of the fourth steering engine is fixedly connected with a connecting shaft at the support at the upper end of the support arm 202; the rocket bracket 204 is fixedly arranged on the rear end surface of the large supporting arm 202, and a rocket tube 205 is arranged on the rocket bracket; the first motor 206 is fixedly arranged on the side surface of the large support arm 202, and a motor shaft of the first motor is fixedly connected with a connecting shaft at a notch below the large support arm 202; the walking wheel 207 is fixedly arranged on a connecting shaft at a notch below the large supporting arm 202;
the arm part 3 comprises a fifth steering gear 301, a hinged support 302, a sixth steering gear 303, a first long arm 304, a second hydraulic cylinder 305, a second long arm 306 and a hand grip 307, wherein a steering gear shaft of the fifth steering gear 301 is fixedly connected with the bottom end of the hinged support 302; a sixth steering engine 303 is fixedly arranged on the side end surface of the hinged support 302, and a steering engine shaft of the sixth steering engine is fixedly connected with a connecting shaft at the notch of the hinged support 302; the bottom end of the first long arm 304 is fixedly connected with the connecting shaft at the notch of the hinged support 302; the bottom end of the second long arm 306 is fixedly connected with the connecting shaft at the notch at the top end of the first long arm 304, and the top end of the second long arm is fixedly connected with the bottom end surface of the hand grip 307; the rear end of the second hydraulic cylinder 305 is fixedly connected to the rotating shaft at the hinge support notch of the first long arm 304, and the end of the piston rod thereof is fixedly connected to the rotating shaft at the hinge support notch of the second long arm 306.
The working principle of the invention is as follows: when the walking mechanism is used, the first motor 206 of the walking part 2 drives the walking wheel 207 to complete the walking process, and the small support arm 201, the large support arm 202 and the fourth steering engine 203 work in a coordinated manner to complete the balance of the machine; the information work processing box 119, the camera 120 and the fire detector 121 of the intelligent working part 1 are operated in coordination when a fire occurs, thereby causing the sound 122 to give an alarm; a fifth steering engine 301, a sixth steering engine 303, a first long arm 304, a second hydraulic cylinder 305 and a second long arm 306 of the arm part 3 work in coordination, so that a gripper 307 is controlled to grab the fire switch 104, and dry powder is sprayed through the fire nozzle 103; an emergency person can sit on the seat plate 116, the backrest plate 112, the second steering engine 113, the chest safety baffle 114, the third steering engine 115, the safety belt 117 and the safety socket 118 work in a coordinated mode, the person is prevented from leaving the machine in the falling process, and the rocket tube 205 assists the machine to stably fall to the ground in the falling process; when there is no fire, the display screen 102 and the sound 122 complete normal home entertainment, and the fifth steering gear 301, the sixth steering gear 303, the first long arm 304, the second hydraulic cylinder 305 and the second long arm 306 of the arm part 3 work in coordination, so that the hand grip 307 completes various types of service work.
Claims (2)
1. The utility model provides an intelligence humanoid fire-fighting robot, includes intelligent work portion (1), walking part (2), arm portion (3), its characterized in that: the upper end of a small supporting arm (201) of the walking part (2) is fixedly arranged on a connecting shaft at the notch of a bracket (110) of the intelligent working part (1); bottom end surfaces of fifth steering engines (301) of the two arm parts (3) are fixedly arranged on end surfaces on two sides of a fire box (101) of the intelligent working part (1);
the intelligent working part (1) comprises a fire fighting box (101), a display screen (102), a fire fighting nozzle (103), a fire fighting switch (104), a first telescopic sleeve (105), a first hydraulic cylinder (106), a bearing disc (107), an electric rotating shaft (108), a gravity controller (109), a bracket (110), a first steering engine (111), a backrest plate (112), a second steering engine (113), a chest safety baffle (114), a third steering engine (115), a seat plate (116), a safety belt (117), a safety socket (118), an information working processing box (119), a camera (120), a fire fighting detector (121) and a sound box (122), wherein the fire fighting box (101) is a cuboid storage box, and the fire fighting nozzle (103) and the fire fighting switch (104) are arranged on the rear end face; the bottom end of the first telescopic sleeve (105) is fixedly connected with the upper end face of the bearing disc (107), and the end part of a piston rod of the first telescopic sleeve is fixedly connected with the lower end face of the fire box (101); the rear end of the cylinder body of the first hydraulic cylinder (106) is fixedly connected with a baffle on a first telescopic sleeve (105), and the end part of a piston rod of the first hydraulic cylinder is fixedly connected with the baffle on a telescopic rod of the first telescopic sleeve (105); one end of the electric rotating shaft (108) is fixedly connected with the lower end face of the bearing disc (107), and the other end of the electric rotating shaft is fixedly connected with the upper end face of the bracket (110); the gravity controller (109) is fixedly arranged on the lower end surface of the bracket (110); the first steering engine (111) is fixedly arranged on the side surface of the support (110), and a steering engine shaft of the first steering engine is fixedly connected with a connecting shaft at the notch of the support (110); the rear end surface of the backrest plate (112) is fixedly connected with the front end surface of the bearing plate (107); the second steering engine (113) is fixedly arranged on hinged supports on the end surfaces of the two sides of the back rest plate (112), and a steering engine shaft of the second steering engine is fixedly connected with a connecting shaft at the notch of the hinged support of the back rest plate (112); the rear end of the chest safety baffle (114) is fixedly arranged on a connecting shaft at the notch of the hinged support of the backrest plate (112); a third steering engine (115) is fixedly arranged on the end surface of the side of the back board (112), and a steering engine shaft of the third steering engine is fixedly connected with a connecting shaft at the notch of the back board (112); the rear end of the seat plate (116) is fixedly connected with a connecting shaft at the notch of the backrest plate (112), and a safety belt (117) and a safety socket (118) are arranged on two end faces of the seat plate; the information work processing box (119) is fixedly arranged above the fire fighting box (101), cameras (120) are arranged on the front end surface and the rear end surface of the information work processing box, a fire fighting detector (121) is arranged on the upper end surface of the information work processing box, and sound boxes (122) are arranged on the left end surface and the right end surface of the information work processing box;
the walking part (2) comprises a small supporting arm (201), a large supporting arm (202), a fourth steering engine (203), a rocket bracket (204), a rocket tube (205), a first motor (206) and a walking wheel (207), wherein the lower end of the small supporting arm (201) is fixedly connected with a connecting shaft at a support at the upper end of the large supporting arm (202); a fourth steering engine (203) is fixedly arranged on the side surface of a support at the upper end of the large support arm (202), and a steering engine shaft of the fourth steering engine is fixedly connected with a connecting shaft at the support at the upper end of the support arm (202); the rocket bracket (204) is fixedly arranged on the rear end surface of the large supporting arm (202), and a rocket tube (205) is arranged on the rocket bracket; the first motor (206) is fixedly arranged on the side surface of the large supporting arm (202), and a motor shaft of the first motor is fixedly connected with a connecting shaft at a notch below the large supporting arm (202); the walking wheel (207) is fixedly arranged on the connecting shaft at the notch below the large supporting arm (202).
2. An intelligent humanoid fire-fighting robot as recited in claim 1, wherein: the arm part (3) comprises a fifth steering engine (301), a hinged support (302), a sixth steering engine (303), a first long arm (304), a second hydraulic cylinder (305), a second long arm (306) and a grab handle (307), and a steering engine shaft of the fifth steering engine (301) is fixedly connected with the bottom end of the hinged support (302); a sixth steering engine (303) is fixedly arranged on the side end surface of the hinged support (302), and a steering engine shaft of the sixth steering engine is fixedly connected with a connecting shaft at the notch of the hinged support (302); the bottom end of the first long arm (304) is fixedly connected with a connecting shaft at the notch of the hinged support (302); the bottom end of the second long arm (306) is fixedly connected with the connecting shaft at the notch of the top end of the first long arm (304), and the top end of the second long arm is fixedly connected with the bottom end surface of the gripper (307); the rear end of the second hydraulic cylinder (305) is fixedly connected with a rotating shaft at the notch of the hinge support on the first long arm (304), and the end part of a piston rod of the second hydraulic cylinder is fixedly connected with the rotating shaft at the notch of the hinge support on the second long arm (306).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910066098.3A CN109571509B (en) | 2019-01-24 | 2019-01-24 | Intelligent humanoid fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910066098.3A CN109571509B (en) | 2019-01-24 | 2019-01-24 | Intelligent humanoid fire-fighting robot |
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| CN109571509A CN109571509A (en) | 2019-04-05 |
| CN109571509B true CN109571509B (en) | 2021-12-14 |
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| CN201910066098.3A Active CN109571509B (en) | 2019-01-24 | 2019-01-24 | Intelligent humanoid fire-fighting robot |
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| JPS591179A (en) * | 1982-06-28 | 1984-01-06 | ホーチキ株式会社 | Fire robot |
| GB2182634A (en) * | 1985-11-05 | 1987-05-20 | Sirius Spa | Programmable robot |
| RU2008148470A (en) * | 2008-12-08 | 2010-06-20 | Федеральное государственное учреждение Всероссийский ордена "Знак Почета" научно-исследовательский институт противопожарной обороны | METHOD AND DEVICE OF THERMAL PROTECTION OF A FIRE ROBOT |
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| CN102921117A (en) * | 2012-11-20 | 2013-02-13 | 张原� | High-rise slow-falling device adopting cylindrical umbrella |
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| CN106737744A (en) * | 2016-12-30 | 2017-05-31 | 南充市鹰派科技有限公司 | A kind of security robot |
| CN107007957A (en) * | 2017-04-28 | 2017-08-04 | 苏州商信宝信息科技有限公司 | A kind of intelligent fire robot and its control method with unmanned plane |
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| CN108992825A (en) * | 2018-06-06 | 2018-12-14 | 北方工业大学 | Intelligent fire-fighting robot and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN109571509A (en) | 2019-04-05 |
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