CN110368619B - Intelligent fire extinguishing device based on bionic flexible arm - Google Patents
Intelligent fire extinguishing device based on bionic flexible arm Download PDFInfo
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- CN110368619B CN110368619B CN201910628245.1A CN201910628245A CN110368619B CN 110368619 B CN110368619 B CN 110368619B CN 201910628245 A CN201910628245 A CN 201910628245A CN 110368619 B CN110368619 B CN 110368619B
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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
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
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Abstract
The invention discloses an intelligent fire extinguishing device based on a bionic flexible arm, which can move to a fire point through a traveling mechanism to intensively extinguish fire, and has strong pertinence and good extinguishing effect. The flexible arm is connected with the fire extinguishing platform, the fire extinguishing platform can be brought to a fire point through the movement of the flexible arm, the flexibility is good, and the fire extinguishing effect is good. The flexible arm is hollow inside, a fire extinguishing agent conveying pipeline occupying a single space is omitted, and the size of the whole device is reduced, so that the device still has good movement performance in a complex and narrow environment.
Description
Technical Field
The invention relates to an intelligent fire extinguishing device, in particular to an intelligent fire extinguishing device based on a bionic flexible arm.
Background
The bionic robot is an electromechanical system with excellent performance designed by simulating a biological structure, motion characteristics and the like according to the bionics principle, and gradually shows good application prospects in the environments which are not suitable for people to undertake tasks, such as anti-terrorism explosion prevention, space exploration, emergency rescue and disaster relief and the like. At present, most of traditional industrial robots are composed of rigid connecting rods and joints, and due to the fact that the traditional industrial robots are large in size and high in rigidity, the traditional industrial robots are poor in operation capability in complex unstructured environments and cannot adapt to relatively narrow working environments. However, based on the principle of bionics, people design a continuum robot capable of being flexibly bent by simulating animal organs such as elephant noses, octopus tentacles and the like, and can overcome some defects of the traditional rigid robot. Compared with the traditional mechanical arm, the flexible arm has the characteristics of redundancy, light weight and small volume, can realize bending and stretching of a plurality of continuous parts, and has strong movement and operation capacity in a limited space.
The utility tunnel has the advantages of improving urban environment, reducing the maintenance cost of engineering pipelines, effectively utilizing urban underground space and the like, and is widely applied. However, since there are a large number of power and communication cables with different functions inside the utility tunnel, once a fire occurs, it causes an influence and loss that are difficult to estimate for the whole city. The importance of fire safety issues is self evident. The space characteristic that the utility tunnel length is big is combined, from the comprehensive consideration of angles such as economic nature, feasibility, rationality, suitability, at present comparatively feasible scheme is superfine dry powder extinguishing device. The device has no pipe network, simple system, low installation cost and fire extinguishing cost, but has low visibility and poor man-machine interaction cooperation capability when being sprayed. Meanwhile, the suspension type structure of the fire extinguishing device belongs to a static structure, the flexibility and the pertinence are poor, the fire can not be centralized to a fire point directly, a good fire extinguishing effect can be obtained only by adopting a full-flooding fire extinguishing mode generally, and therefore the fire extinguishing effect is poor.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an intelligent fire extinguishing device based on a bionic flexible arm, which can solve the technical problem of poor fire extinguishing effect in the prior art.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an intelligent fire extinguishing device based on a bionic flexible arm, which comprises a guide rail and a flexible arm, wherein the guide rail is connected with a travelling mechanism box, a travelling mechanism is arranged in the travelling mechanism box, the travelling mechanism box is respectively connected with a fire extinguishing agent box and a flexible arm control box, a fire extinguishing agent is arranged in the fire extinguishing agent box, the flexible arm control box is connected with a motor guide box, an electromagnetic valve is arranged in the flexible arm control box, the motor guide box is connected with a driving control box, a motor for driving the flexible arm to move is arranged in the motor guide box, one end of the flexible arm is connected with the fire extinguishing agent box through the electromagnetic valve, the other end of the flexible arm penetrates through the motor guide box and is connected with a fire extinguishing platform, a fire extinguishing nozzle, an infrared camera, a visible light camera and a temperature and humidity sensor are arranged on the fire extinguishing platform, a control, the control module is respectively connected with the motor driver, the travelling mechanism, the valve control module, the infrared camera, the visible light camera and the temperature and humidity sensor.
Furthermore, the cross-sectional shape of guide rail is I-shaped, and the guide rail includes parallel top surface and bottom surface, is equipped with the lateral wall of perpendicular to top surface between top surface and the bottom surface, running gear includes two running part combinations, and two running part combinations are located respectively the both sides of lateral wall, every running part combination all includes the guide pulley, is used for driving guide pulley pivoted guide pulley motor and is used for driving guide pulley motor pivoted guide pulley motor driver.
Further, the flexible arm comprises nine ropes and a hollow flexible pipeline, the outer wall of the flexible pipeline is provided with a first joint sheet, a second joint sheet and a third joint sheet which are distributed at intervals, the three joint sheets are respectively provided with six through holes and three fixed points, the third joint sheet is connected with a fire extinguishing platform, nine motors are arranged in the motor guide box, one ends of nine ropes are respectively connected with output shafts of the nine motors in the motor guide box, the other ends of the nine ropes penetrate out of the motor guide box, the other ends of the three ropes are respectively connected with three fixed points on the first joint sheet, the other ends of the six ropes respectively penetrate through the six through holes on the first joint sheet, then the other ends of the three ropes are respectively connected with three fixed points on the second joint sheet, and the other ends of the remaining three ropes respectively penetrate through the three through holes on the second joint sheet and then are respectively connected with three fixed points on the third joint sheet.
Further, the position relationship between the six through holes and the three fixing points is as follows: two through holes are arranged between two adjacent fixing points, and the interval between every two adjacent fixing points, between every two adjacent fixing points and through holes and between every two adjacent through holes and through holes is 40 degrees.
Further, the motor drive ware in the drive control case has nine, still is equipped with nine spoolers, nine encoders and nine leading wheels in the motor guide case, motor drive ware, motor, spooler, encoder and leading wheel one-to-one, and spooler and encoder are connected respectively to the output shaft of motor, and the encoder is used for the record motor pivoted number of turns and gives control module, and the motor guide case is worn out after the direction of leading wheel to the other end of rope.
Furthermore, a motor and a corresponding winder, a corresponding encoder and a corresponding guide wheel are collectively called as a motor guide group, nine motor guide groups are arranged in a coplanar manner at an interval of 40 degrees, wherein three motor guide groups corresponding to three ropes connected with three fixing points on a first joint sheet are positioned on a circle with the largest radius, three motor guide groups corresponding to three ropes connected with three fixing points on a second joint sheet are positioned on a circle with the second largest radius, and three motor guide groups corresponding to three ropes connected with three fixing points on a third joint sheet are positioned on a circle with the smallest radius.
And the power supply box is connected with the travelling mechanism box, a power supply module is arranged in the power supply box, and the power supply module is used for supplying power to the travelling mechanism and the control module.
Has the advantages that: the invention discloses an intelligent fire extinguishing device based on a bionic flexible arm, which has the following beneficial effects compared with the prior art:
1) the invention can move to the ignition point to extinguish fire in a centralized way through the traveling mechanism, and has strong pertinence and good extinguishing effect;
2) the flexible arm is connected with the fire extinguishing platform, the fire extinguishing platform can be brought to a fire point through the movement of the flexible arm, the flexibility is good, and the fire extinguishing effect is good;
3) the flexible arm is hollow inside, a fire extinguishing agent conveying pipeline occupying a single space is omitted, and the size of the whole device is reduced, so that the device still has good movement performance in a complex and narrow environment.
Drawings
FIG. 1 is a schematic view of a fire suppression apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a travel mechanism housing according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of nine motor steering assemblies according to an embodiment of the present invention;
FIG. 4 is a top view of nine motor steering assemblies in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first motor steering assembly according to an embodiment of the present invention;
FIG. 6 is a control process diagram of a control module in an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further described with reference to the following embodiments.
The specific embodiment discloses an intelligent fire extinguishing device based on a bionic flexible arm, which comprises a guide rail 7 and a flexible arm 4, wherein the guide rail 7 is connected with a walking mechanism box 8, a walking mechanism is arranged in the walking mechanism box 8, the walking mechanism box 8 is respectively connected with a fire extinguishing agent box 2 and a flexible arm control box 1, a fire extinguishing agent is arranged in the fire extinguishing agent box 2, the flexible arm control box 1 is connected with a motor guide box 11, an electromagnetic valve 13 is arranged in the flexible arm control box 1, the motor guide box 11 is connected with a drive control box 12, a motor for driving the flexible arm 4 to move is arranged in the motor guide box 11, one end of the flexible arm 4 is connected with the fire extinguishing agent box 2 through the electromagnetic valve 13, the other end of the flexible arm 4 penetrates out of the motor guide box 11 through a hole 110 at the bottom of the motor guide box 11 and is connected with a fire extinguishing platform 5, a fire extinguishing nozzle 54, an infrared camera 51, a visible, a control module, a valve control module for controlling the electromagnetic valve 13 and a motor driver for driving the motor to move are arranged in the drive control box 12, and the control module is respectively connected with the motor driver, the walking mechanism, the valve control module, the infrared camera 51, the visible light camera 52 and the temperature and humidity sensor 53. The device further comprises a power box 3 connected with the travelling mechanism box 8, wherein a power module is arranged in the power box 3 and used for supplying power to the travelling mechanism and the control module. The flexible arm control box 1 is shown with its outer casing removed in fig. 1 to show the structure within the flexible arm control box 1. Fig. 6 shows a control process of the control module.
The cross section of the guide rail 7 is i-shaped, as shown in fig. 1, the guide rail 7 includes a top surface and a bottom surface which are parallel to each other, a side wall perpendicular to the top surface is disposed between the top surface and the bottom surface, the traveling mechanism includes two traveling component combinations, the two traveling component combinations are respectively disposed on two sides of the side wall, each traveling component combination includes a guide wheel 82, a guide wheel motor 81 for driving the guide wheel 82 to rotate, and a guide wheel motor driver 83 for driving the guide wheel motor 81 to rotate, as shown in fig. 2.
The flexible arm 4 comprises nine ropes 6 and a hollow flexible pipe made of rubber material of Tango type and communicated with the fire extinguishing nozzle 54, as shown in fig. 1, the outer wall of the flexible pipe is provided with a first joint piece 411, a second joint piece 412 and a third joint piece 413 which are distributed at intervals, wherein the part of the flexible pipe between the motor guide box 11 and the first joint piece 411 is called a first section of flexible pipe 401, the part of the flexible pipe between the first joint piece 411 and the second joint piece 412 is called a second section of flexible pipe 402, the part of the flexible pipe between the second joint piece 412 and the third joint piece 413 is called a third section of flexible pipe 403, and the part of the flexible pipe inside the drive control box 12 is called a fourth section of flexible pipe 404. All be equipped with six through-holes and three fixed point on the three joint piece, third joint piece 413 is connected the platform 5 of putting out a fire, the motor in the motor guide box 11 has nine, the output shaft of nine motors in the motor guide box 11 is connected respectively to the one end of nine ropes 6, the motor guide box 11 is worn out to the other end of nine ropes 6, three fixed point on first joint piece 411 is connected respectively to three wherein rope 6's the other end, three fixed point on second joint piece 412 is connected respectively to wherein three rope 6's the other end after passing six through-holes on first joint piece 411 respectively, three fixed point on third joint piece 413 is connected respectively to the other end that remains three rope 6 after passing three through-holes on second joint piece 412 respectively. The position relation of the six through holes and the three fixed points is as follows: two through holes are arranged between two adjacent fixing points, and the interval between every two adjacent fixing points, between every two adjacent fixing points and through holes and between every two adjacent through holes and through holes is 40 degrees.
Motor drive in the drive control case 12 has nine, still be equipped with nine spoolers in the motor guide case 11, nine encoders and nine leading wheels, motor drive, including a motor, an end cap, a controller, and a cover plate, the spooler, encoder and leading wheel one-to-one, the output shaft of motor is connected spooler and encoder respectively, the encoder is used for the record motor pivoted number of turns and sends control module, thereby control module calculates the current length of corresponding rope 6 through the motor pivoted number of turns and obtains the current position appearance of flexible arm 4, the spooler is used for realizing winding and relaxing of rope 6, wear out motor guide case 11 behind the direction of leading wheel to the other end of rope 6. One motor and the corresponding bobbin winder, encoder and guide wheel are collectively referred to as a motor guide group, and there are nine motor guide groups, namely, a first motor guide group 111, a second motor guide group 112, a third motor guide group 113, a fourth motor guide group 114, a fifth motor guide group 115, a sixth motor guide group 116, a seventh motor guide group 117, an eighth motor guide group 118 and a ninth motor guide group 119, as shown in fig. 3. The nine motor guide groups are coplanar and spaced 40 ° apart, as shown in fig. 4, wherein the three motor guide groups, i.e., the first motor guide group 111, the second motor guide group 112, and the third motor guide group 113, corresponding to the three cables 6 connected to the three fixing points on the first joint piece 411 are located on the circumference with the largest radius, the three motor guide groups, i.e., the fourth motor guide group 114, the fifth motor guide group 115, and the sixth motor guide group 116, corresponding to the three cables 6 connected to the three fixing points on the second joint piece 412 are located on the circumference with the second largest radius, and the three motor guide groups, i.e., the seventh motor guide group 117, the eighth motor guide group 118, and the ninth motor guide group 119, corresponding to the three cables 6 connected to the three fixing points on the third joint piece 413 are located on the circumference with the smallest radius. The nine motor guide groups have the same structure, and fig. 5 shows the structure of the first motor guide group 111, which includes a first motor 1111, a first bobbin 1112, a first encoder 1113, and a first guide wheel 1114.
The working process of the device is described as follows:
this device sends control signal through control module and gives guide pulley motor driver 83, and guide pulley motor driver 83 drives the motion of guide pulley motor 81, drives guide pulley 82 and moves to realize this device independently patrolling and examining on the track. The infrared camera 51, the visible light camera 52 and the temperature and humidity sensor 53 monitor the environmental information and transmit the monitored data to the control module. The control module performs preprocessing and color recognition on image information sent by the infrared camera 51 and the visible light camera 52, performs spatial modeling to obtain the spatial position of the fire point, and then controls the rope 6 by controlling the motor driver so as to change the posture of the flexible arm 4, so that the flexible arm 4 gradually approaches the fire point. And continuously acquiring environmental information under a new pose in the moving process of the flexible arm 4, judging the position deviation of the target in the image by identifying the contour of the target, and correspondingly correcting the spatial pose of the flexible arm 4. When the fire point is located at the center of the image and the fire extinguishing nozzle 54 at the distal end of the flexible arm 4 is sufficiently close to the fire point, the posture calibration is completed. At this time, the control module controls the valve control module to open the electromagnetic valve 13 to spray the fire extinguishing agent, so that the fire source is extinguished.
Claims (6)
1. The utility model provides an intelligence extinguishing device based on bionical flexible arm which characterized in that: including guide rail (7) and flexible arm (4), running gear case (8) is connected in guide rail (7), be equipped with running gear in running gear case (8), fire extinguishing agent case (2) and flexible arm control box (1) are connected respectively in running gear case (8), be equipped with the fire extinguishing agent in fire extinguishing agent case (2), motor guide case (11) is connected in flexible arm control box (1), be equipped with solenoid valve (13) in flexible arm control box (1), drive control box (12) is connected in motor guide case (11), be equipped with the motor that is used for driving flexible arm (4) motion in motor guide case (11), fire extinguishing agent case (2) is connected through solenoid valve (13) in flexible arm (4) one end, the other end of flexible arm (4) is worn out motor guide case (11) and is connected fire extinguishing platform (5), be equipped with fire extinguishing nozzle (54) on fire extinguishing platform (5), infrared camera (51), The device comprises a visible light camera (52) and a temperature and humidity sensor (53), wherein a control module, a valve control module for controlling an electromagnetic valve (13) and a motor driver for driving a motor to move are arranged in a drive control box (12), and the control module is respectively connected with the motor driver, a walking mechanism, the valve control module, an infrared camera (51), the visible light camera (52) and the temperature and humidity sensor (53); the flexible arm (4) comprises nine ropes (6) and a hollow flexible pipeline, first joint pieces (411), second joint pieces (412) and third joint pieces (413) which are distributed at intervals are arranged on the outer wall of the flexible pipeline, six through holes and three fixing points are arranged on the three joint pieces, the third joint piece (413) is connected with the fire extinguishing platform (5), nine motors are arranged in the motor guide box (11), one ends of the nine ropes (6) are respectively connected with output shafts of the nine motors in the motor guide box (11), the other ends of the nine ropes (6) penetrate through the motor guide box (11), the other ends of the three ropes (6) are respectively connected with the three fixing points on the first joint piece (411), the other ends of the six ropes (6) penetrate through the six through holes on the first joint piece (411) respectively, and then the other ends of the three ropes (6) are respectively connected with the three fixing points on the second joint piece (412), the other ends of the remaining three ropes (6) respectively pass through the three through holes on the second joint sheet (412) and then are respectively connected with three fixing points on the third joint sheet (413).
2. The intelligent fire extinguishing apparatus based on the bionic flexible arm as claimed in claim 1, wherein: the cross-sectional shape of guide rail (7) is I-shaped, and guide rail (7) are equipped with the lateral wall of perpendicular to top surface including parallel top surface and bottom surface between top surface and the bottom surface, running gear includes two running part combinations, and two running part combinations are located respectively the both sides of lateral wall, every running part combination all include guide pulley (82), be used for driving guide pulley (82) pivoted guide pulley motor (81) and be used for driving guide pulley motor (81) pivoted guide pulley motor driver (83).
3. The intelligent fire extinguishing apparatus based on the bionic flexible arm as claimed in claim 1, wherein: the position relation of the six through holes and the three fixed points is as follows: two through holes are arranged between two adjacent fixing points, and the interval between every two adjacent fixing points, between every two adjacent fixing points and through holes and between every two adjacent through holes and through holes is 40 degrees.
4. The intelligent fire extinguishing apparatus based on the bionic flexible arm as claimed in claim 1, wherein: the motor driver in drive control case (12) has nine, still is equipped with nine spoolers in motor guide case (11), nine encoders and nine leading wheels, motor driver, including a motor, an end cap, a controller, and a cover plate, the output shaft of motor connects spooler and encoder respectively, the encoder is used for the number of turns of record motor pivoted and gives control module, wear out motor guide case (11) behind the direction of the other end process leading wheel of rope (6).
5. The intelligent fire extinguishing apparatus based on the bionic flexible arm as claimed in claim 4, wherein: the motor, the corresponding winder, the encoder and the guide wheel are collectively called as a motor guide group, nine motor guide groups are arranged in a coplanar manner at an interval of 40 degrees, wherein the three motor guide groups corresponding to the three ropes (6) connected with the three fixing points on the first joint sheet (411) are positioned on the circumference with the largest radius, the three motor guide groups corresponding to the three ropes (6) connected with the three fixing points on the second joint sheet (412) are positioned on the circumference with the second largest radius, and the three motor guide groups corresponding to the three ropes (6) connected with the three fixing points on the third joint sheet (413) are positioned on the circumference with the smallest radius.
6. The intelligent fire extinguishing apparatus based on the bionic flexible arm as claimed in claim 1, wherein: the power supply box is characterized by further comprising a power supply box (3) connected with the travelling mechanism box (8), wherein a power supply module is arranged in the power supply box (3) and used for supplying power to the travelling mechanism and the control module.
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| CN201910628245.1A CN110368619B (en) | 2019-07-12 | 2019-07-12 | Intelligent fire extinguishing device based on bionic flexible arm |
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| CN201910628245.1A CN110368619B (en) | 2019-07-12 | 2019-07-12 | Intelligent fire extinguishing device based on bionic flexible arm |
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| CN110368619B true CN110368619B (en) | 2021-02-19 |
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| CN111084946B (en) * | 2019-12-28 | 2021-04-06 | 国网新疆电力有限公司检修公司 | Transformer substation is with accurate fire extinguishing systems of large-scale oil charge equipment |
| CN113124261B (en) * | 2021-04-19 | 2022-09-09 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
| CN113334405A (en) * | 2021-06-12 | 2021-09-03 | 四川德鑫源机器人有限公司 | Garage security protection patrols and examines robot |
| CN113977600B (en) * | 2021-10-27 | 2023-05-09 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency treatment function |
| CN115107060A (en) * | 2022-08-29 | 2022-09-27 | 江苏中尚机器人科技有限公司 | Bionic arm for service robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3804213B2 (en) * | 1997-09-03 | 2006-08-02 | 神鋼電機株式会社 | Fire fighting robot |
| CN203303531U (en) * | 2013-06-18 | 2013-11-27 | 袁婧馨 | Omni-directional fire-extinguishing device of outer wall of high-rise building |
| CN204050757U (en) * | 2014-05-26 | 2014-12-31 | 福建省连江县迅捷技术孵化有限公司 | A kind of building with fire fighting and rescue function |
| CN105150219B (en) * | 2015-09-28 | 2017-06-23 | 哈尔滨工业大学深圳研究生院 | A kind of super redundancy flexible mechanical arm driven based on rope |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN206393633U (en) * | 2016-12-08 | 2017-08-11 | 燕山大学 | The air articulated type flexible mechanical arm driven based on rope |
| CN108227591A (en) * | 2018-02-09 | 2018-06-29 | 河北大白机器人科技有限公司 | A kind of city integrated piping lane robot |
| CN108582027A (en) * | 2018-05-30 | 2018-09-28 | 中山市雅西环保科技有限公司 | A kind of supervisory-controlled robot |
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