CN109774815A - A kind of conversion traveling method of fire-fighting robot - Google Patents
A kind of conversion traveling method of fire-fighting robot Download PDFInfo
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- CN109774815A CN109774815A CN201910085514.4A CN201910085514A CN109774815A CN 109774815 A CN109774815 A CN 109774815A CN 201910085514 A CN201910085514 A CN 201910085514A CN 109774815 A CN109774815 A CN 109774815A
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Abstract
A kind of conversion traveling method of fire-fighting robot disclosed by the invention, this method is related to a kind of fire-fighting robot for converting walking manner, including Aerial Work LT, four-footed hinge linkage with four-footed walking manner and the Athey wheel mechanism with crawler travel mode, the Aerial Work LT includes driving device, four foot plates and lower plate, four-footed hinge linkage is installed on four foot plates, Athey wheel mechanism is installed on lower plate, lower plate is slidably connected four foot plates, lower plate connects driving device, driving device driving lower plate rises or falls, when lower plate decline, Athey wheel mechanism supports ground walking therewith；When lower plate rises, Athey wheel mechanism is lifted therewith, four-footed hinge linkage support ground walking.Conversion process of the invention was not only quick but also safe, and practical, four-footed walking manner makes it quickly walk on the road of relatively flat；And crawler travel mode can be as though walking upon flat ground in the environment of opposite evil slightly, plays the cross-country ability of creeper truck.
Description
Technical field
The present invention relates to fire-fighting equipment technical field, in particular to the conversion traveling method of a kind of fire-fighting robot.
Background technique
With the rapid development of social economy, it builds and the particularity of enterprise's production results in hazardous chemical and radioactivity
The leakage of substance increases, and burning, and the risk for the accidents such as explode and collapse increases.The probability that accident occurs also correspondinglys increase.
When disaster occurs, fireman faces high temperature, dark, toxic and dense smoke danger, if pouring scene without corresponding equipment,
It is not only unable to complete task, but also also adds casualties, therefore the research of fire-fighting robot has become grinding for numerous scholars
Study carefully one of direction.
Fire-fighting robot substitution fire fighter can effectively implement fire fighting and rescue, chemical analysis and the scene of a fire close to the scene of a fire and detect
Examine equal activities.Its application will improve the warfighting capabilities that especially big malignant fire puts out in fire brigade, lose to national wealth is reduced
Important role is generated with the injures and deaths of fire fighting and rescue personnel.
The one kind of fire-fighting robot as specialized robot plays very important work in fire extinguishing and rescue further
With.Various Large Scale Petrochemical Enterprises, tunnel, subway etc. are increasing, and oil product combustion gas, toxic gas leakage explosion, tunnel, subway collapse
The equal Hidden hazrads that collapse are continuously increased.Such disaster has the spies such as sudden strong, disposal process is complicated, harm is huge, prevention and treatment difficulty
Point, has become persistent ailment.Fire-fighting robot can replace fire-fighting and rescue personnel enter, and landform is severe, inflammable and explosive, toxic, anoxic, dense smoke
The equal hazards scene of the accident carries out data sampling and processing, feedback, efficiently solves the people that fire fighter faces in above-mentioned place
Body safety, the problems such as data information acquisition is insufficient.Floor manager personnel in time can graduate from old-type opera school to the condition of a disaster according to its feedback result
Judgement is learned, and correct, reasonable decision is made to disaster accident work on the spot.
Therefore, the fire-fighting robot for having different walking manners can more play powerful effect in harsh environment, such as
A kind of changeable robot of wheel leg mode disclosed in patent 201510020136.3, which includes car body, car body two sides long side
Four completely identical in structure legs and four wheels are symmetrically installed with, arc connection frame is equipped between every leg and car body, is passed through
Driving arc connection frame switches running on wheels or sufficient formula walking around four wheel rotations.But this robot is in handoff procedure
Switching amplitude it is larger, it is easy to generate collision with ground, damage car body, the practicability in severe environments is weaker.
Summary of the invention
The purpose of the present invention is to provide a kind of conversion traveling method of fire-fighting robot, walking manner has four-footed walking side
Formula and two kinds of crawler travel mode, the conversion process of two kinds of walking manners is not only quick but also safety, practical, four-footed walking manner
It is set quickly to walk on the road of relatively flat；And crawler travel mode can be as though walking upon flat ground in the environment of opposite evil slightly,
The cross-country ability of creeper truck is given full play to.
To achieve the goals above, technical scheme is as follows:
A kind of conversion traveling method of fire-fighting robot, it is characterised in that: this method is related to a kind of conversion walking manner
Fire-fighting robot including Aerial Work LT, the four-footed hinge linkage with four-footed walking manner and has crawler travel
The Athey wheel mechanism of mode, the Aerial Work LT include driving device, four foot plates and lower plate, four-footed hinge connecting rod machine
Structure is installed on four foot plates, and Athey wheel mechanism is installed on lower plate, and lower plate is slidably connected four foot plates, lower plate connection driving
Device, this method specifically:
Driving device driving lower plate rises or falls, and when lower plate decline, Athey wheel mechanism supports ground walking therewith, this
When the artificial crawler travel mode of machine；When lower plate rises, Athey wheel mechanism is lifted therewith, four-footed hinge linkage support ground
It walks, at this time the artificial four-footed walking manner of machine.
Further, the Aerial Work LT further includes four lifting supports, and the lifting support two are a bracket group,
Cross-articulation, is individually positioned in the two sides of lifting platform, and the upper end of bracket group is slidably connected at four foot plates, and the upper end of bracket group
Driving device is connected, the lower end of bracket group is slidably connected at lower plate.
Further, the lower plate is equipped with guide rail, and the lower end of bracket group is equipped with guide rail slide block, passes through guide rail slide block and guide rail
Cooperation, make bracket group lower end slide on lower plate；The driving device includes screw rod sliding block, screw rod and connection and controls
The lead screw motor of screw rod rotation slides the upper end of bracket group on four foot plates by the cooperation of screw rod and screw rod sliding block.
Further, one end of the lifting support is if being slidably connected, then the other end of lifting support is then hinged.
Further, the four-footed hinge linkage includes that stepper motor, crank, connecting rod, rear axle and structure are identical
Four long legs, the two sides of four foot plates respectively install two long legs, and long leg is one in front and one in back put, hinge among two connecting rods of intersection
It connects, both sides are respectively articulated with preceding long leg and rear long leg, and one of connecting rod connects stepper motor by crank, and stepper motor is fixed on
Afterwards on long leg, another connecting rod connects rear axle and rotates around rear axle, two preceding long legs of rear axle connected symmetrical dendrimer.
Further, four foot plate is equipped with bearing block and motor cabinet, and rear axle is fixed on four foot plates by bearing block,
Fixed between rear axle and bearing block with bearing, rear axle close to the part in outside connect before long leg and connecting rod, preceding long leg and connecting rod
Junction is equipped with axle sleeve, and stepper motor is fixed on four foot plates by motor cabinet.
Further, the long leg and connecting rod are carried out hinged by positioning pin.
Further, the Athey wheel mechanism includes that wheel row bottom plate, shaft coupling, crawler belt, synchronous belt, wheel row motor and structure are complete
Two planet Athey wheels are respectively installed in four exactly the same planet Athey wheels, the two sides of lower plate, each planet Athey wheel mainly by
Wheel support plate and a crawler belt driving wheel being fixed in wheel support plate, two crawler belt driven wheels, a synchronizing wheel composition, it is synchronous
Wheel is located at the center of wheel support plate, wheel the heart channel of Hang-Shaoyin shaft coupling fifth wheel row motor of synchronizing wheel, and wheel row motor is fixed on wheel row bottom plate
On, the synchronized band of synchronizing wheel is connect with crawler belt driving wheel, and the transmission ratio of the synchronizing wheel is 1:1, crawler belt connecting band track driving wheel
With two crawler belt driven wheels.
Further, the crawler belt uses rubber strip.
Further, upper flat plate is equipped with above four foot plate, upper flat plate connects the support column being formed on four foot plates,
The upper flat plate is equipped with small-sized steering machine, water pipe, flame sensor, camera, control panel and power supply.
After adopting the above scheme, advantages of the present invention and gain effect are:
1. robot can convert different walking manner walkings in different geographical environments, walking manner has four-footed walking
Mode and two kinds of crawler travel mode, the speed of travel of four-footed walking manner is very fast, can not only be on the road of relatively flat
Quickly walking, moreover it is possible to help Athey wheel subduction tired when robot crawler travel mode encounters and is short of power with Athey wheel recess
Border；And crawler travel mode makes robot carry out obstacle detouring in a manner of the rolling of overall track wheel when encountering higher barrier,
Enhance its obstacle climbing ability, overcomes the too slow disadvantage of the conventional track fire-fighting robot speed of service, and then the ring in opposite evil slightly
It is as though walking upon flat ground in border, give full play to the cross-country ability of crawler travel mode.
2. making four-footed hinge linkage and Athey wheel mechanism in conversion process by the elevating function of Aerial Work LT
In slowly land, avoid with ground generate shock, conversion process is simple, ensure that practicability, the safety of robot.
Below in conjunction with drawings and the specific embodiments, the present invention will be further described.
Detailed description of the invention
Fig. 1 is the perspective view of general assembly of the present invention；
Fig. 2 is the schematic diagram of Aerial Work LT of the present invention；
Fig. 3 is the schematic diagram of four-footed hinge linkage of the present invention；
Fig. 4 is the schematic diagram of Athey wheel mechanism of the present invention；
Fig. 5 is the schematic diagram of planet Athey wheel of the present invention；
Fig. 6 is the front view of general assembly of the present invention；
Fig. 7 is the side view of general assembly of the present invention；
Fig. 8 is the schematic diagram of four-footed walking manner of the present invention；
Fig. 9 is the schematic diagram of crawler travel mode of the present invention.
Label declaration
Tetra- foot plate of 1-；2- lower plate；3- guide rail；4- guide rail slide block；5,6- lifting support；7- goes up and down supporting block；8- branch
Stand；9- scaffold；10- rack sleeve；11- lead screw supporter；12- screw rod；13- screw rod sliding block；The small axis of 14-；15- screw rod
Nut；16 small shaft couplings；17- small machine seat；18- lead screw motor；19- motor cushion block；Long leg before 20-；21,22- connecting rod；23-
Long leg afterwards；24- crank；25- stepper motor；26- motor cabinet；27- positioning pin；28- rear axle；29- bearing block；30- takes turns row bottom plate；
31- shaft coupling；32- takes turns row motor；33- crawler belt；34- crawler belt driven wheel；35- takes turns support plate；36- synchronizing wheel；37- synchronous belt；
38- crawler belt driving wheel；39- Water pipe bracket；40- small-sized steering machine；41- upper flat plate；42- support column.
Specific embodiment
A kind of conversion traveling method for fire-fighting robot that the present invention discloses, refering to fig. 1-9, this method is related to a kind of conversion
The fire-fighting robot of walking manner, including including Aerial Work LT, four-footed hinge linkage and Athey wheel mechanism,
As shown in Fig. 2, the Aerial Work LT includes driving device, four foot plates 1, lower plate 2 and four lifting branch
Frame 5, two intersections of lifting support 5 are put, and it is a bracket group that intermediate infall is hinged, and two bracket group structures are identical,
The two sides of lifting platform are respectively symmetrically placed on, are described below with bracket group；
The lower end of one of lifting support 5 of bracket group is equipped with guide rail slide block 4, and the lower plate 2 is equipped with guide rail 3, leads to
The cooperation for crossing guide rail slide block 4 and guide rail 3 slides the lower end of the lifting support 5 on lower plate 2, then the lifting support 5 is upper
End is hinged on four foot plates 1, as a preferred option, is equipped with carrier base 8 on four foot plates 1, the upper end of the lifting support 5
It is hinged on carrier base 8 by a scaffold 9, carrier base 8 is played a supporting role, and is further fixed on rack sleeve on scaffold 9
10, prevent the lifting support 5 from sliding on scaffold 9；
The screw rod sliding block 13 of the small axis 14 in the upper end one connection driving device of not a lifting support 6 of bracket group, small axis 14
Connector with screw rod sliding block 13 is feed screw nut 15, rotates the upper end of this lifting support 6 around small axis 14；Screw rod sliding block
13 connection wire rods 12, and along 12 translation gliding of screw rod, lead screw motor 18 is by small 16 connection wire rod 12 of shaft coupling and controls screw rod
12 rotations, lead screw motor 18 are fixed on four foot plates 1 through small machine seat 17 and motor cushion block 19, and driving device drives this lifting
The upper end of bracket 6 is slided on four foot plates 1, then the lower end of this lifting support 6 is hinged on lower plate 2, as preferred side
Case, for support screw 12, four foot plates 1 are equipped with screw rod supporter 11 in the position of corresponding screw rod 12, and the quantity of screw rod 12 is
Two, lifting supporting block 7 is installed on lower plate 2, the lower end of this lifting support 6 is hinged on by pivot pin goes up and down supporting block 7；
Driving device drives the translation gliding on four foot plates of lifting support 6 connecting with screw rod 12, to change bracket
The angle of group horizontal sextant angle, while the translation gliding on guides 3 of guide rail slide block 4 is driven, realize the lifting of Aerial Work LT.
As shown in figure 3, four foot plate 1 installs four-footed hinge linkage, the four-footed hinge linkage includes
Stepper motor 25, crank 24, connecting rod 21,22, rear axle 28 and completely identical in structure four long legs, four foot plates 1 are in entire machine
Support and connection function are played in device people, two long legs are respectively installed in the two sides of four foot plates 1, and long leg is one in front and one in back put, passed through
Positioning pin 27, the both sides of two connecting rods of intersection are respectively articulated with preceding long leg 20 and rear long leg 23, and one of connecting rod 21 passes through song
Handle 24 connects stepper motor 25, crank 24 can 360 degree rotate, stepper motor 25 is fixed on rear long leg 23, another connecting rod 22
It connects rear axle 28 and is rotated around rear axle 28, the preceding long leg 20 of two of 28 connected symmetrical dendrimer of rear axle；
Stepper motor 25 drives 360 degree of crank rotations, and long leg 23 is swung after crank 24 drives, and rear long leg 23 passes through connecting rod
21,22 drive preceding long leg 20 to swing, and realizing robot, four-footed is walked backward forward.
As shown in Figure 1,3, four foot plate 1 is equipped with bearing block 29 and motor cabinet 26, and rear axle 28 passes through bearing block 29
Four foot plates 1 are fixed on, are fixed between rear axle 28 and bearing block 29 with bearing, rear axle 28 connects preceding long leg close to the part in outside
20 and connecting rod 22, the junction of preceding long leg 20 and connecting rod 22 is equipped with axle sleeve (not shown), and axle sleeve plays positioning, step
It is fixed on four foot plates 1 into motor 25 by motor cabinet 26, rear axle 28 plays a supporting role to preceding long leg 20 and connecting rod 22, axis
It holds 29 pairs of rear axles 28 of seat and plays the role of support.
The lower plate installs Athey wheel mechanism；As shown in figure 4, the Athey wheel mechanism includes wheel row bottom plate 30, shaft coupling
Two planet crawler belts are respectively installed in device 31, wheel row motor 32 and completely identical in structure four planet Athey wheels, the two sides of lower plate
Wheel, as shown in figure 5, each planet Athey wheel mainly by crawler belt 33, synchronous belt 37, wheel support plate 34 and is fixed on wheel support plate 34
On the synchronizing wheel 36 of crawler belt driven wheel 34, one of a crawler belt driving wheel 38, two composition, synchronizing wheel 36 be located at wheel support plate 34
Center, the 31 fifth wheel row motor 32 of wheel the heart channel of Hang-Shaoyin shaft coupling of synchronizing wheel 36, the individual wheel row electricity of each planet Athey wheel connection
Machine, wheel row motor 32 are fixed on wheel row bottom plate 30, and the synchronized band 37 of synchronizing wheel 36 is connect with crawler belt driving wheel 38, synchronizing wheel 36
Transmission ratio be 1:1.33 connecting band track driving wheel 38 of crawler belt and two crawler belt driven wheels 34, the crawler belt 33 use rubber strip,
Frictional force is larger, and bearing area is big, and ground pressure is small, is suitble in the operation of loose or muddy place；
Wheel row motor 32 drives synchronizing wheel 36 to rotate, and synchronous belt 37 drives crawler belt driving wheel 38 to rotate, then passes through crawler belt 33,
Power is transmitted to two crawler belt driven wheels 34 by crawler belt driving wheel 38, so that planet Athey wheel can be carried out around the core wheel of synchronizing wheel 36
360 degree rotation, control robot crawler travel backward forward.
As shown in Figure 6,7, upper flat plate 41 is equipped with above four foot plate 1, the connection of upper flat plate 41 is formed in four foot plates 1
On support column 42, the upper flat plate 41 is equipped with small-sized steering machine 40, control panel (not shown), power supply and (do not show in figure
Out), the Water pipe bracket 39 that an intermediate water supplying pipe is placed, the upper end of Water pipe bracket 39 is used to fill flame sensor (not to be shown in figure
Fire can be monitored in real time with real-time detection fire source, camera and show with camera (not shown), flame sensor out)
, the lower end of water pipe is equipped with suction pump；
Control panel connects small-sized steering machine 40, flame sensor, camera and above-mentioned all motors, controls entire robot
Work.
The present invention is slided by the upper end of driving arm group, is changed the angle of bracket group horizontal sextant angle, is made scissors type elevating
The lower plate 2 of platform rises or falls, and when the angle of bracket group horizontal sextant angle increases, lower plate 2 declines, and Athey wheel mechanism is therewith
Support ground is walked, at this time the artificial crawler travel mode of machine；When the angle of bracket group horizontal sextant angle reduces, lower plate 2 rises, and carries out
Belt wheel mechanism is lifted therewith, four-footed hinge linkage support ground walking, at this time the artificial four-footed walking manner of machine, to realize two
The conversion of kind walking manner.
After adopting the above scheme, advantages of the present invention and gain effect are:
1. robot can convert different walking manner walkings in different geographical environments, walking manner has four-footed walking
Mode and two kinds of crawler travel mode, the speed of travel of four-footed walking manner is very fast, can not only be on the road of relatively flat
Quickly walking, moreover it is possible to help Athey wheel subduction tired when robot crawler travel mode encounters and is short of power with Athey wheel recess
Border；And crawler travel mode makes robot carry out obstacle detouring in a manner of the rolling of overall track wheel when encountering higher barrier,
Enhance its obstacle climbing ability, overcomes the too slow disadvantage of the conventional track fire-fighting robot speed of service, and then the ring in opposite evil slightly
It is as though walking upon flat ground in border, give full play to the cross-country ability of crawler travel mode.
2. making four-footed hinge linkage and Athey wheel mechanism in conversion process by the elevating function of Aerial Work LT
In slowly land, avoid with ground generate shock, conversion process is simple, ensure that practicability, the safety of robot.
The above is only specific embodiments of the present invention, not to the restriction of protection scope of the present invention.All setting according to this case
The equivalent variations that meter thinking is done, each falls within the protection scope of this case.
Claims (10)
1. a kind of conversion traveling method of fire-fighting robot, it is characterised in that: this method is related to a kind of disappearing for conversion walking manner
Anti- robot including Aerial Work LT, the four-footed hinge linkage with four-footed walking manner and has crawler travel side
The Athey wheel mechanism of formula, the Aerial Work LT include driving device, four foot plates and lower plate, four-footed hinge linkage
It is installed on four foot plates, Athey wheel mechanism is installed on lower plate, and lower plate is slidably connected four foot plates, lower plate connection driving dress
It sets, this method specifically:
Driving device driving lower plate rises or falls, and when lower plate decline, Athey wheel mechanism supports ground walking, this opportunity therewith
The artificial crawler travel mode of device；When lower plate rises, Athey wheel mechanism is lifted therewith, four-footed hinge linkage support ground row
It walks, at this time the artificial four-footed walking manner of machine.
2. a kind of conversion traveling method of fire-fighting robot as described in claim 1, it is characterised in that: the scissors type elevating
Platform further includes four lifting supports, and the lifting support two are a bracket group, and cross-articulation is individually positioned in the two of lifting platform
Side, the upper end of bracket group is slidably connected at four foot plates, and the upper end of bracket group connects driving device, the lower end sliding of bracket group
It is connected to lower plate.
3. a kind of conversion traveling method of fire-fighting robot as claimed in claim 2, it is characterised in that: the lower plate is equipped with
The lower end of guide rail, bracket group is equipped with guide rail slide block, by the cooperation of guide rail slide block and guide rail, slides the lower end of bracket group under
On bottom plate；The driving device includes screw rod sliding block, screw rod and connection and the lead screw motor for controlling screw rod rotation, by screw rod and
The cooperation of screw rod sliding block slides the upper end of bracket group on four foot plates.
4. a kind of conversion traveling method of fire-fighting robot as claimed in claim 2, it is characterised in that: the lifting support
One end is if being slidably connected, then the other end of lifting support is then hinged.
5. a kind of conversion traveling method of fire-fighting robot as described in claim 1, it is characterised in that: the four-footed hinge connects
Linkage includes stepper motor, crank, connecting rod, rear axle and completely identical in structure four long legs, and the two sides of four foot plates are respectively pacified
Two long legs are filled, long leg is one in front and one in back put, and the both sides of two connecting rods of intersection are respectively articulated with preceding long leg and rear long leg, wherein one
A connecting rod connects stepper motor by crank, and stepper motor is fixed on rear long leg, another connecting rod connects rear axle and around rear axle
Rotation, two preceding long legs of rear axle connected symmetrical dendrimer.
6. a kind of conversion traveling method of fire-fighting robot as claimed in claim 5, it is characterised in that: on four foot plate
Equipped with bearing block and motor cabinet, rear axle is fixed on four foot plates by bearing block, is fixed between rear axle and bearing block with bearing, after
The junction of axis long leg and connecting rod before the part connection in outside, preceding long leg and connecting rod is equipped with axle sleeve, and stepper motor passes through
Motor cabinet is fixed on four foot plates.
7. a kind of conversion traveling method of fire-fighting robot as claimed in claim 5, it is characterised in that: the long leg and connecting rod
It is carried out by positioning pin hinged.
8. a kind of conversion traveling method of fire-fighting robot as described in claim 1, it is characterised in that: the Athey wheel mechanism
Including wheel row bottom plate, shaft coupling, crawler belt, synchronous belt, wheel row motor and completely identical in structure four planet Athey wheels, lower plate
Two sides two planet Athey wheels are respectively installed, each planet Athey wheel mainly by wheel support plate and be fixed in wheel support plate one
A crawler belt driving wheel, two crawler belt driven wheels, a synchronizing wheel composition, synchronizing wheel are located at the center of wheel support plate, synchronizing wheel
The heart channel of Hang-Shaoyin shaft coupling fifth wheel row motor is taken turns, wheel row motor is fixed on wheel row bottom plate, the synchronized band of synchronizing wheel and crawler belt driving wheel
Connection, the transmission ratio of the synchronizing wheel are 1:1, crawler belt connecting band track driving wheel and two crawler belt driven wheels.
9. a kind of conversion traveling method of fire-fighting robot as claimed in claim 8, it is characterised in that: the crawler belt uses rubber
Adhesive tape.
10. a kind of conversion traveling method of fire-fighting robot as described in claim 1, it is characterised in that: four foot plate
Top is equipped with upper flat plate, and upper flat plate connects the support column being formed on four foot plates, and the upper flat plate is equipped with small-sized steering machine, water
Pipe, flame sensor, camera, control panel and power supply.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462021 | 2018-11-21 | ||
| CN201811462021X | 2018-11-21 |
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| CN109774815A true CN109774815A (en) | 2019-05-21 |
| CN109774815B CN109774815B (en) | 2021-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
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| CN109774815B (en) | 2021-05-14 |
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