CN109774815B - Conversion walking method of fire-fighting robot - Google Patents
Conversion walking method of fire-fighting robot Download PDFInfo
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- CN109774815B CN109774815B CN201910085514.4A CN201910085514A CN109774815B CN 109774815 B CN109774815 B CN 109774815B CN 201910085514 A CN201910085514 A CN 201910085514A CN 109774815 B CN109774815 B CN 109774815B
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Abstract
The invention discloses a conversion walking method of a fire-fighting robot, which relates to a fire-fighting robot with a conversion walking mode, and comprises a scissor-type lifting platform, a four-foot hinge connecting rod mechanism with a four-foot walking mode and a crawler wheel mechanism with a crawler walking mode, wherein the scissor-type lifting platform comprises a driving device, a four-foot bottom plate and a lower bottom plate; when the lower base plate rises, the crawler wheel mechanism is lifted along with the lower base plate, and the four-foot hinge connecting rod mechanism walks in a supporting mode. The conversion process is quick and safe, the practicability is strong, and the four-foot walking mode enables the vehicle to quickly walk on a relatively flat road; the crawler traveling mode can be used for traveling on the flat ground in a relatively harsh environment, and the off-road performance of the crawler is exerted.
Description
Technical Field
The invention relates to the technical field of fire fighting equipment, in particular to a method for converting walking of a fire fighting robot.
Background
With the rapid development of social economy, the particularity of construction and enterprise production leads to increased leakage of dangerous chemicals and radioactive substances and increased risk of accidents such as combustion, explosion and collapse. The probability of the occurrence of an accident is also increased accordingly. When a disaster occurs, a fireman faces the dangers of high temperature, darkness, toxicity and heavy smoke, if no corresponding equipment is flushed into the scene, the fire-fighting robot can not complete the task, and casualties are increased, so that the research of the fire-fighting robot becomes one of the research directions of numerous scholars.
The fire-fighting robot can effectively carry out activities such as fire-fighting rescue, chemical inspection, fire scene reconnaissance and the like instead of a firefighter approaching a fire scene. The application of the fire fighting agent can improve the actual combat capability of fire fighting troops for extinguishing extremely serious fire, and plays an important role in reducing national property loss and casualties of fire fighting rescue workers.
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. Various large petrochemical enterprises, tunnels, subways and the like are continuously increased, and the hidden dangers of oil product gas and toxic gas leakage explosion, tunnel collapse, subway collapse and the like are continuously increased. The disasters have the characteristics of strong burst property, complex disposal process, huge harm, difficult prevention and treatment and the like, and become stubborn diseases. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with severe terrain, flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire-fighting personnel in the places. The field commander can make scientific judgment on the disaster situation in time according to the feedback result and make correct and reasonable decision on the field work of the disaster accident.
Therefore, the fire-fighting robot with different walking modes can play a strong role in severe environments, for example, a wheel-leg mode-switchable robot disclosed in patent 201510020136.3, which comprises a vehicle body, wherein four legs and four wheels with the same structure are symmetrically arranged on the long sides of the vehicle body, an arc-shaped connecting frame is arranged between each leg and the vehicle body, and the arc-shaped connecting frame is driven to rotate around the four wheels to switch wheel walking or foot walking. However, the switching range of the robot in the switching process is large, the robot is easy to collide with the ground, the vehicle body is damaged, and the practicability in a severe environment is weak.
Disclosure of Invention
The invention aims to provide a conversion walking method of a fire-fighting robot, wherein the walking modes comprise a four-foot walking mode and a crawler walking mode, the conversion process of the two walking modes is quick and safe, the practicability is strong, and the four-foot walking mode enables the fire-fighting robot to quickly walk on a relatively flat road; the crawler traveling mode can be used for traveling on the flat ground in a relatively harsh environment, and the off-road performance of the crawler is fully exerted.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a conversion walking method of a fire-fighting robot is characterized in that: the method relates to a fire-fighting robot capable of converting walking modes, which comprises a scissor-type lifting platform, a four-foot hinge connecting rod mechanism with a four-foot walking mode and a crawler wheel mechanism with a crawler walking mode, wherein the scissor-type lifting platform comprises a driving device, a four-foot bottom plate and a lower bottom plate, the four-foot hinge connecting rod mechanism is installed on the four-foot bottom plate, the crawler wheel mechanism is installed on the lower bottom plate, the lower bottom plate is in sliding connection with the four-foot bottom plate, and the lower bottom plate is connected with the driving device, and the method specifically comprises the following steps:
the driving device drives the lower bottom plate to ascend or descend, when the lower bottom plate descends, the crawler wheel mechanism walks along with the lower bottom plate in a supporting mode, and at the moment, the robot adopts a crawler walking mode; when the lower base plate rises, the crawler wheel mechanism is lifted along with the lower base plate, the four-foot hinge connecting rod mechanism walks in a supporting mode, and at the moment, the robot adopts a four-foot walking mode.
Further, cut fork elevating platform and still include four lifting support, two lifting support are a support group, and the cross-hinged is placed respectively in the both sides of elevating platform, and the upper end sliding connection of support group is at the four-footed bottom plate, and the upper end of support group connects drive arrangement, and the lower extreme sliding connection of support group is at the bottom plate.
Furthermore, the lower bottom plate is provided with a guide rail, the lower end of the bracket group is provided with a guide rail sliding block, and the lower end of the bracket group slides on the lower bottom plate through the matching of the guide rail sliding block and the guide rail; the driving device comprises a screw rod sliding block, a screw rod and a screw rod motor which is connected with and controls the screw rod to rotate, and the upper end of the bracket group slides on the four-foot bottom plate through the matching of the screw rod and the screw rod sliding block.
Furthermore, if one end of the lifting support is in sliding connection, the other end of the lifting support is hinged.
Furthermore, the four-foot hinge link mechanism comprises a stepping motor, a crank, connecting rods, a rear shaft and four long legs with the same structure, wherein two long legs are respectively arranged on two sides of the four-foot bottom plate, the long legs are arranged in a front-to-back manner, the middle of the two crossed connecting rods is hinged, the front long leg and the rear long leg are respectively hinged on two sides, one connecting rod is connected with the stepping motor through the crank, the stepping motor is fixed on the rear long leg, the other connecting rod is connected with the rear shaft and rotates around the rear shaft, and the rear shaft is connected with the two symmetrical front long legs.
Furthermore, a bearing seat and a motor base are arranged on the four-foot bottom plate, the rear shaft is fixed on the four-foot bottom plate through the bearing seat, the rear shaft and the bearing seat are fixed through a bearing, the part, close to the outer side, of the rear shaft is connected with the front long leg and the connecting rod, a shaft sleeve is arranged at the joint of the front long leg and the connecting rod, and the stepping motor is fixed on the four-foot bottom plate through the motor base.
Further, the long legs and the connecting rod are hinged through positioning pins.
The crawler wheel mechanism comprises a crawler base plate, a coupler, a crawler belt, a synchronous belt, a crawler motor and four planetary crawler wheels with the same structure, wherein two planetary crawler wheels are arranged on two sides of the lower base plate respectively, each planetary crawler wheel mainly comprises a wheel supporting plate, a crawler driving wheel, two crawler driven wheels and a synchronous wheel, the crawler driving wheel, the two crawler driven wheels and the synchronous wheel are fixed on the wheel supporting plate, the synchronous wheel is located in the center of the wheel supporting plate, the wheel center of the synchronous wheel is connected with the crawler motor through the coupler, the crawler motor is fixed on the crawler base plate, the synchronous wheel is connected with the crawler driving wheel through the synchronous belt, the transmission ratio of the synchronous wheel is 1:1, and the crawler belt is connected with the crawler driving wheel.
Further, the crawler belt is a rubber belt.
Furthermore, an upper flat plate is arranged above the four-foot bottom plate and connected with support columns formed on the four-foot bottom plate, and a small steering engine, a water pipe, a flame sensor, a camera, a control panel and a power supply are installed on the upper flat plate.
After the scheme is adopted, the invention has the advantages and gain effects that:
1. the robot can change different walking modes to walk in different geographic environments, the walking modes comprise a four-foot walking mode and a crawler walking mode, the walking speed of the four-foot walking mode is high, the robot can quickly walk on a relatively flat road, and the robot can help a crawler wheel to relieve the dilemma when the crawler walking mode for the robot meets the conditions of insufficient power and crawler wheel depression; the crawler walking mode enables the robot to cross obstacles in a mode that the whole crawler wheels roll when encountering high obstacles, the obstacle crossing capability of the robot is enhanced, the defect that the traditional crawler fire-fighting robot is too slow in running speed is overcome, and the cross-country performance of the crawler walking mode is fully exerted as if the robot runs on the flat ground in a relatively severe environment.
2. Through the lifting function of the scissor-fork type lifting platform, the four-foot hinge link mechanism and the crawler wheel mechanism slowly land in the conversion process, the collision with the ground is avoided, the conversion process is simple, and the practicability and the safety of the robot are guaranteed.
The invention is further described with reference to the following drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of the general assembly of the present invention;
FIG. 2 is a schematic view of a scissor lift of the present invention;
FIG. 3 is a schematic view of the four-legged hinge linkage of the present invention;
FIG. 4 is a schematic view of the track wheel mechanism of the present invention;
FIG. 5 is a schematic view of the planetary track wheel of the present invention;
FIG. 6 is a front elevational view of the general assembly of the present invention;
FIG. 7 is a side view of the general assembly of the present invention;
FIG. 8 is a schematic view of the four-footed walking mode of the present invention;
fig. 9 is a schematic view of the crawler travel system of the present invention.
Description of the reference symbols
1-a four-footed base plate; 2-lower bottom plate; 3-a guide rail; 4-a guide rail slide block; 5, 6-lifting support; 7-lifting supporting blocks; 8-a support base; 9-long axis of stent; 10-a bracket shaft sleeve; 11-a screw support; 12-a screw rod; 13-a screw slide block; 14-small shaft; 15-screw nut; 16 small couplings; 17-a small motor base; 18-a screw motor; 19-motor cushion block; 20-front long leg; 21, 22-connecting rod; 23-rear long leg; 24-a crank; 25-a stepper motor; 26-a motor base; 27-a locating pin; 28-rear axle; 29-a bearing seat; 30-a wheeling floor; 31-a coupler; 32-wheel-driven motor; 33-a crawler belt; 34-track driven wheels; 35-a wheel support plate; 36-a synchronizing wheel; 37-a synchronous belt; 38-crawler driving wheel; 39-water pipe support; 40-a small steering engine; 41-upper flat plate; 42-support column.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The invention discloses a method for converting walking of a fire-fighting robot, and relates to the fire-fighting robot with a converted walking mode, which comprises a scissor-type lifting platform, a four-foot hinge connecting rod mechanism and a crawler wheel mechanism,
as shown in fig. 2, the scissor lift comprises a driving device, a four-foot bottom plate 1, a lower bottom plate 2 and four lifting brackets 5, wherein the two lifting brackets 5 are arranged in a crossed manner, the crossed part in the middle is hinged to form a bracket group, the two bracket groups have the same structure and are respectively and symmetrically arranged at two sides of the lift, and the lower part of the two bracket groups is described by one bracket group;
the lower end of one lifting support 5 of the support group is provided with a guide rail sliding block 4, the lower base plate 2 is provided with a guide rail 3, the lower end of the lifting support 5 slides on the lower base plate 2 through the matching of the guide rail sliding block 4 and the guide rail 3, and the upper end of the lifting support 5 is hinged on the four-foot base plate 1, as a preferred scheme, a support base 8 is arranged on the four-foot base plate 1, the upper end of the lifting support 5 is hinged on the support base 8 through a support long shaft 9, the support base 8 plays a supporting role, and a support shaft sleeve 10 is further fixed on the support long shaft 9 to prevent the lifting support 5 from sliding on the support long shaft 9;
the upper end of each lifting bracket 6 of the bracket group is connected with a screw rod slide block 13 of a driving device through a small shaft 14, and a connecting piece of the small shaft 14 and the screw rod slide block 13 is a screw rod nut 15, so that the upper end of each lifting bracket 6 can rotate around the small shaft 14; the lead screw slider 13 is connected with the lead screw 12 and slides in a translation manner along the lead screw 12, the lead screw motor 18 is connected with the lead screw 12 through the small coupler 16 and controls the lead screw 12 to rotate, the lead screw motor 18 is fixed on the four-footed base plate 1 through the small motor base 17 and the motor cushion block 19, the driving device drives the upper end of the lifting support 6 to slide on the four-footed base plate 1, and then the lower end of the lifting support 6 is hinged on the lower base plate 2;
the driving device drives the lifting support 6 connected with the screw rod 12 to horizontally slide on the four-foot bottom plate, so that the angle of the horizontal included angle of the support group is changed, and meanwhile, the guide rail sliding block 4 is driven to horizontally slide on the guide rail 3, and the lifting of the scissor-fork type lifting platform is realized.
As shown in fig. 3, the four-footed floor 1 is provided with a four-footed hinge linkage mechanism, the four-footed hinge linkage mechanism comprises a stepping motor 25, a crank 24, connecting rods 21,22, a rear shaft 28 and four long legs with the same structure, the four-footed floor 1 plays a role in supporting and connecting in the whole robot, two long legs are respectively arranged on two sides of the four-footed floor 1, the long legs are arranged in front of each other and behind each other, two crossed connecting rods are respectively hinged with the front long leg 20 and the rear long leg 23 through a positioning pin 27, one connecting rod 21 is connected with the stepping motor 25 through the crank 24, the crank 24 can rotate for 360 degrees, the stepping motor 25 is fixed on the rear long leg 23, the other connecting rod 22 is connected with the rear shaft 28 and rotates around the rear shaft 28, and the rear shaft 28 is connected with the two symmetrical front long;
the step motor 25 drives the crank to rotate for 360 degrees, the crank 24 drives the rear long leg 23 to swing, the rear long leg 23 drives the front long leg 20 to swing through the connecting rods 21 and 22, and the robot walks forwards and backwards with four feet.
As shown in fig. 1 and 3, a bearing seat 29 and a motor base 26 are arranged on the four-footed base plate 1, a rear shaft 28 is fixed on the four-footed base plate 1 through the bearing seat 29, the rear shaft 28 and the bearing seat 29 are fixed through a bearing, the part of the rear shaft 28 close to the outer side is connected with the front long leg 20 and the connecting rod 22, a shaft sleeve (not shown in the figure) is arranged at the joint of the front long leg 20 and the connecting rod 22 and plays a role in positioning, the stepping motor 25 is fixed on the four-footed base plate 1 through the motor base 26, the rear shaft 28 plays a role in supporting the front long leg 20 and the connecting rod 22, and the bearing seat 29 plays a role.
The lower bottom plate is provided with a crawler wheel mechanism; as shown in fig. 4, the crawler wheel mechanism includes a crawler base plate 30, a coupler 31, a crawler motor 32 and four planetary crawler wheels having the same structure, two planetary crawler wheels are respectively installed on two sides of the lower base plate, as shown in fig. 5, each planetary crawler wheel mainly includes a crawler 33, a synchronous belt 37, a wheel support plate 34, a crawler driving wheel 38 fixed on the wheel support plate 34, two crawler driven wheels 34, and a synchronous wheel 36, the synchronous wheel 36 is located at the center of the wheel support plate 34, the wheel center of the synchronous wheel 36 is connected with the crawler motor 32 through the coupler 31, each planetary crawler wheel is connected with a separate crawler motor, the crawler motor 32 is fixed on the crawler base plate 30, the synchronous wheel 36 is connected with the crawler driving wheel 38 through the synchronous belt 37, and the transmission ratio of the synchronous wheel 36 is 1: 1. The crawler 33 is connected with the crawler driving wheel 38 and the two crawler driven wheels 34, the crawler 33 is made of rubber belts, and is large in friction force, large in supporting area, small in grounding pressure and suitable for operation in loose or muddy places;
the wheel-moving motor 32 drives the synchronous wheel 36 to rotate, the synchronous belt 37 drives the track driving wheel 38 to rotate, then the track driving wheel 38 transmits power to the two track driven wheels 34 through the track 33, and therefore the planetary track wheels can rotate 360 degrees around the wheel center of the synchronous wheel 36 to control the robot to walk forwards and backwards through the track.
As shown in fig. 6 and 7, an upper flat plate 41 is arranged above the four-foot bottom plate 1, the upper flat plate 41 is connected with a support column 42 formed on the four-foot bottom plate 1, the upper flat plate 41 is provided with a small steering engine 40, a control panel (not shown), a power supply (not shown), and a water pipe bracket 39 with a middle water supply pipe, the upper end of the water pipe bracket 39 is used for installing a flame sensor (not shown) and a camera (not shown), the flame sensor can detect a fire source in real time, the camera can monitor a fire scene in real time, and the lower end of the water pipe is provided with a water pump;
the control panel is connected with small steering engine 40, flame sensor, camera and above-mentioned all motors, controls whole robot work.
According to the invention, the upper end of the support group is driven to slide, the angle of the horizontal included angle of the support group is changed, so that the lower base plate 2 of the scissor-fork type lifting platform is lifted or lowered, when the angle of the horizontal included angle of the support group is increased, the lower base plate 2 is lowered, the crawler wheel mechanism is supported to walk along with the crawler wheel mechanism, and at the moment, the robot adopts a crawler belt walking mode; when the angle of the horizontal included angle of the support group is reduced, the lower base plate 2 rises, the crawler wheel mechanism is lifted along with the lower base plate, the four-foot hinge connecting rod mechanism walks in a supporting mode, and the robot adopts a four-foot walking mode at the moment, so that the two walking modes are converted.
After the scheme is adopted, the invention has the advantages and gain effects that:
1. the robot can change different walking modes to walk in different geographic environments, the walking modes comprise a four-foot walking mode and a crawler walking mode, the walking speed of the four-foot walking mode is high, the robot can quickly walk on a relatively flat road, and the robot can help a crawler wheel to relieve the dilemma when the crawler walking mode for the robot meets the conditions of insufficient power and crawler wheel depression; the crawler walking mode enables the robot to cross obstacles in a mode that the whole crawler wheels roll when encountering high obstacles, the obstacle crossing capability of the robot is enhanced, the defect that the traditional crawler fire-fighting robot is too slow in running speed is overcome, and the cross-country performance of the crawler walking mode is fully exerted as if the robot runs on the flat ground in a relatively severe environment.
2. Through the lifting function of the scissor-fork type lifting platform, the four-foot hinge link mechanism and the crawler wheel mechanism slowly land in the conversion process, the collision with the ground is avoided, the conversion process is simple, and the practicability and the safety of the robot are guaranteed.
The above are merely specific examples of the present invention, and do not limit the scope of the present invention. All equivalent changes made according to the design idea of the present application fall within the protection scope of the present application.
Claims (10)
1. A conversion walking method of a fire-fighting robot is characterized in that: the method relates to a fire-fighting robot capable of converting walking modes, which comprises a scissor-type lifting platform, a four-foot hinge connecting rod mechanism with a four-foot walking mode and a crawler wheel mechanism with a crawler walking mode, wherein the scissor-type lifting platform comprises a driving device, a four-foot bottom plate and a lower bottom plate, the four-foot hinge connecting rod mechanism is installed on the four-foot bottom plate, the crawler wheel mechanism is installed on the lower bottom plate, the lower bottom plate is in sliding connection with the four-foot bottom plate, and the lower bottom plate is connected with the driving device, and the method specifically comprises the following steps:
the driving device drives the lower bottom plate to ascend or descend, when the lower bottom plate descends, the crawler wheel mechanism walks along with the lower bottom plate in a supporting mode, and at the moment, the robot adopts a crawler walking mode; when the lower base plate rises, the crawler wheel mechanism is lifted along with the lower base plate, the four-foot hinge connecting rod mechanism walks in a supporting mode, and at the moment, the robot adopts a four-foot walking mode.
2. The transition walking method of a fire fighting robot as recited in claim 1, characterized in that: the scissor-fork type lifting platform further comprises four lifting supports, wherein the two lifting supports are support groups which are hinged in a crossed mode and are respectively placed on two sides of the lifting platform, the upper ends of the support groups are connected to the four-foot bottom plate in a sliding mode, the upper ends of the support groups are connected with the driving device, and the lower ends of the support groups are connected to the lower bottom plate in a sliding mode.
3. The transition walking method of a fire fighting robot as recited in claim 2, characterized in that: the lower bottom plate is provided with a guide rail, the lower end of the bracket group is provided with a guide rail sliding block, and the lower end of the bracket group slides on the lower bottom plate through the matching of the guide rail sliding block and the guide rail; the driving device comprises a screw rod sliding block, a screw rod and a screw rod motor which is connected with and controls the screw rod to rotate, and the upper end of the bracket group slides on the four-foot bottom plate through the matching of the screw rod and the screw rod sliding block.
4. The transition walking method of a fire fighting robot as recited in claim 2, characterized in that: if one end of the lifting support is in sliding connection, the other end of the lifting support is hinged.
5. The transition walking method of a fire fighting robot as recited in claim 1, characterized in that: the four-foot hinge connecting rod mechanism comprises a stepping motor, a crank, connecting rods, a rear shaft and four long legs with the same structure, wherein the two long legs are respectively arranged on two sides of a four-foot bottom plate and are arranged in tandem, the two sides of the two crossed connecting rods are respectively hinged with the front long leg and the rear long leg, one of the connecting rods is connected with the stepping motor through the crank, the stepping motor is fixed on the rear long leg, the other connecting rod is connected with the rear shaft and rotates around the rear shaft, and the rear shaft is connected with the two symmetrical front long legs.
6. The transition walking method of a fire fighting robot as recited in claim 5, characterized in that: the four-foot bottom plate is provided with a bearing seat and a motor seat, the rear shaft is fixed on the four-foot bottom plate through the bearing seat, the rear shaft and the bearing seat are fixed through a bearing, the part of the rear shaft close to the outer side is connected with the front long leg and the connecting rod, the connecting part of the front long leg and the connecting rod is provided with a shaft sleeve, and the stepping motor is fixed on the four-foot bottom plate through the motor seat.
7. The transition walking method of a fire fighting robot as recited in claim 5, characterized in that: the long legs are hinged with the connecting rod through the positioning pins.
8. The transition walking method of a fire fighting robot as recited in claim 1, characterized in that: the crawler wheel mechanism comprises a crawler bottom plate, a coupler, a crawler, a synchronous belt, a crawler motor and four planetary crawler wheels with the same structure, wherein two planetary crawler wheels are arranged on two sides of the lower bottom plate respectively, each planetary crawler wheel mainly comprises a wheel supporting plate, a crawler driving wheel, two crawler driven wheels and a synchronous wheel, the crawler driving wheel is fixed on the wheel supporting plate, the crawler driving wheel is fixed on the wheel bottom plate, the synchronous wheel is located in the center of the wheel supporting plate, the wheel center of the synchronous wheel is connected with the crawler motor through the coupler, the crawler motor is fixed on the wheel bottom plate, the synchronous wheel is connected with the crawler driving wheel through the synchronous belt, the transmission ratio of the synchronous wheel is 1:1, and the crawler is connected with the.
9. The transition walking method of a fire fighting robot as recited in claim 8, characterized in that: the crawler belt is a rubber belt.
10. The transition walking method of a fire fighting robot as recited in claim 1, characterized in that: an upper flat plate is arranged above the four-foot bottom plate and connected with support columns formed on the four-foot bottom plate, and a small steering engine, a water pipe, a flame sensor, a camera, a control panel and a power supply are installed on the upper flat plate.
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| CN201811462021X | 2018-11-21 | ||
| CN201811462021 | 2018-11-21 |
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