CN110755786A - Fire-fighting robot - Google Patents
Fire-fighting robot Download PDFInfo
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- CN110755786A CN110755786A CN201911214661.3A CN201911214661A CN110755786A CN 110755786 A CN110755786 A CN 110755786A CN 201911214661 A CN201911214661 A CN 201911214661A CN 110755786 A CN110755786 A CN 110755786A
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- 238000007667 floating Methods 0.000 claims abstract description 60
- 239000000843 powder Substances 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 239000007921 spray Substances 0.000 claims description 30
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 9
- 238000012827 research and development Methods 0.000 description 6
- 125000006850 spacer group Chemical group 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fire-fighting robot, which comprises a chassis, a holder and a fire extinguishing device, wherein the chassis comprises a frame, a floating motor set and a floating system, the frame is used for installing the floating motor set, the floating motor set is mainly used for driving the traveling direction of the chassis, and the floating system is used for controlling the floating direction so as to reduce the gap between the chassis and the ground when the chassis passes through the uneven ground and increase the friction force; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a coded disc bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing support, a dry powder fire extinguisher trigger device and a rocker arm mechanism. The invention aims to provide a robot which can improve the adaptability of terrain and improve the turning efficiency, and the robot is controlled to realize actions such as omnibearing automatic fire extinguishing and the like through the rotation of a holder and the work of a rocker arm mechanism.
Description
Technical Field
The invention relates to the technical field of fire-fighting machines, in particular to a fire-fighting robot.
Background
With the rapid development of social economy and the particularity of building and enterprise production, the accident potential of chemical dangerous goods and radioactive substances leakage, combustion, explosion and collapse is increased, the accident probability is correspondingly improved, once the accident occurs, if no corresponding method, equipment or facility exists, rescue workers can hardly acquire effective information on the site, and if the accident occurs without information support, more casualties and the cost of tragic pain are easily caused. It is therefore a future trend to perform some dangerous work with robots. The research and development of the fire-fighting robot can be traced back to 80 years in the last century, at the time, the research and development of the fire-fighting robot is firstly carried out in Japan, the robot named as the rainbow No. 5 is bright in one-time fire extinguishing in Japan for the first time, and at the time, the robot can already finish the fire extinguishing in cities, but the structure is complex, meanwhile, the robot cannot walk in various terrains, along with the continuous updating and progress of the fire-fighting robot in the technology and the requirements of different regions, in 2010, the Virginia Ridgersio institute designs a CHARLI-2 fire-fighting robot for the American navy. The robot can work with a human soldier to extinguish a fire on an offshore warship. The capabilities that such a fire fighting robot possesses include using fire hoses, throwing fire grenades, climbing ladders, and maintaining its balance while it is walking on the deck and corridor of a naval vessel. The naval plan takes the CHARLI-2 robot as an autonomous fire-fighting robot on a ship, has high working efficiency and improves safety and rapidness compared with the traditional manual fire-fighting. In addition, the multifunctional fire-fighting robot developed and developed by Germany and named as 'OLE' insect type has two modes, one mode is a wheel type robot, the other mode is a six-foot type robot, the robot can be freely switched in cities and forests, the goal is reached according to a GPS to extinguish fire, the working efficiency is high, and compared with the traditional manual fire-fighting mode, the multifunctional fire-fighting robot not only improves the safety and the rapidity, but also is suitable for different terrains.
In China, due to the technical and economic limitations, the research and development of the fire-fighting robot is not as fast as that of developed countries naturally, and the starting time is relatively late, so that a lot of things are in the research and development stage, China really pays attention to the fact that the research and development of the fire-fighting robot is in the nineties of the twentieth century, and then the 'crawler-type and wheel-type fire-fighting robot' of the 863 project of China lands on the ground and is mainly used in cities, so that the fire-fighting work in the cities can be completed, and the casualties of local fire fighters and the work of the local fire fighters can. Subsequently, other domestic mechanisms also start the research and development of the fire-fighting robot, and all the mechanisms obtain better results and are also applied to actual accidents to a certain extent. However, most of the wheel-type fire-fighting robots have poor obstacle-crossing capability, poor terrain adaptability, low turning efficiency or large turning radius. The method is limited to partial urban environment, and meanwhile, the manufacturing cost is relatively high, the maintenance is complex, and the method cannot be effectively popularized and applied.
Disclosure of Invention
The invention aims to provide a robot which can improve the adaptability of terrain and improve the turning efficiency, and the robot is controlled to realize actions such as omnibearing automatic fire extinguishing and the like through the rotation of a holder and the work of a rocker arm mechanism.
In order to achieve the aim, the fire-fighting robot comprises a chassis, a holder and a fire extinguishing device; the chassis comprises a frame, a floating motor set and a floating system; the frame is used for installing a floating motor set, the floating motor set is used for driving the chassis to walk, the floating system is installed on the frame and used for controlling the floating direction to reduce gaps between the chassis and the ground when the chassis passes through uneven ground and increase friction force; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a coded disc bearing, wherein the bearing connecting seat is arranged on a chassis, the outer ring is arranged on the bearing connecting seat through the coded disc bearing, the inner ring is positioned in the outer ring, a gap is arranged between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the coded disc bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing support, a dry powder fire extinguisher trigger device, a rocker arm mechanism and a dry powder fire extinguisher; the dry powder fire extinguisher fixing bracket is arranged on the inner ring; the trigger device of the dry powder fire extinguisher comprises a trigger frame, a trigger drive arranged on the trigger frame and a handle pressing plate connected to the trigger drive, wherein the trigger frame is arranged on a fixed bracket of the dry powder fire extinguisher, and the handle pressing plate drives a handle of the dry powder fire extinguisher; the rocker arm mechanism comprises a rocker arm drive and a rocker arm, the rocker arm drive is installed on a dry powder fire extinguisher fixing bracket, one end of the rocker arm is hinged on the dry powder fire extinguisher fixing bracket, and the rocker arm drive drives the rocker arm to swing up and down; the outlet of the dry powder fire extinguisher is connected with a spray pipe, and the spray pipe is connected with the free end of the swing arm; a rotary drive is arranged between the holder and the fire extinguishing device.
The fire-fighting robot of above-mentioned structure, put out a fire as required, at first start floating motor group, utilize floating motor group to drive whole fire-fighting robot and move the place that needs put out a fire, then it is rotatory to drive inner circle and extinguishing device through rotary drive, let the spray tube aim at the point that needs put out a fire, start trigger drive simultaneously, press the dry powder fire extinguisher through the handle clamp plate, let the dry powder from the spray tube blowout, at the in-process of putting out a fire, as required, can remove whole fire-fighting robot through floating motor group, also can adjust the position of spray tube in 360 through rotary drive, the upper and lower position of spray tube can also be adjusted through the swing of rocking arm drive rocker arm, therefore, fire-fighting robot's turning efficiency can be improved, the rotation through the cloud platform and rocker arm mechanism's work, control robot accomplishes. Due to the fact that the floating motor set and the floating system are arranged, the adaptability of the fire-fighting robot to the terrain can be improved.
Further, the frame comprises a frame body and a gantry; the frame body is triangular, three vertexes of the frame body are respectively provided with a gantry, and the floating motor set is arranged between the frame body and the gantry. Thus, the floating motor set is convenient to mount.
Furthermore, the floating motor group comprises a motor, a Mecanum wheel assembly and a coupler, the motor is installed on the Mecanum wheel assembly, the motor transmits power to the Mecanum wheel assembly through the coupler, the chassis is enabled to move or rotate, and the Mecanum wheel assembly is connected to the frame. The structure drives the Mecanum wheel assembly through the motor and the coupler, so that driving is realized.
Furthermore, the Mecanum wheel assembly comprises a first support, a second support, a supporting shaft, a deep groove ball bearing and a Mecanum wheel, the motor is connected to the first support and transmits power to the Mecanum wheel through a coupler, the Mecanum wheel is connected to the second support in a nested mode, the deep groove ball bearing is arranged between the Mecanum wheel and the second support, and the first support is connected with the second support through the supporting shaft.
Furthermore, the floating motor group is hinged on the frame and is connected to the frame through more than one damper. The damper is used for preventing the chassis from contacting the ground due to a suspended connection mode when the chassis is stressed, and meanwhile, the damper also reduces gaps between the Mecanum wheels and the ground and increases friction force.
Further, the floating system includes an omni wheel and an encoder set; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omniwheel is installed on the encoder mount, and the encoder is connected with the omniwheel, and what the guide rail extended from top to bottom installs on the encoder mount, and the slider is gliding to be established on the guide rail, and the mount that floats is connected between frame and slider, is equipped with the gag lever post in the upper end of guide rail, and the spring is established between gag lever post and the mount that floats. The utility model discloses a floating system, including the guide rail, the utility model discloses a spacing pole, the utility model discloses a floating system, including the guide rail, the guide rail is fixed a position, the gag lever post is for connecting the spring on the one hand, on the other hand prevents to establish the slider on the guide rail and upwards breaks away from, through spring and slider, the floating direction of system is restricted to the guide rail, the omniwheel is connected to the encoder, read the number of turns that the omniwheel walked through the encoder, thereby fix a position through the data of number of turns, when the ground is uneven, the floating system can slide from top to bottom, restrict the.
Furthermore, the coded disc bearing comprises a turntable base, a roller pin upper gasket fixing ring, a roller pin upper gasket, a roller pin lower gasket, a roller pin centering ring, an upper roller pin bearing and a lower roller pin bearing; the turntable base is fixed on the bearing connecting seat, and the inner ring of the turntable base extends inwards to exceed the outer ring; a rolling needle upper gasket fixing ring is fixed on the inner ring; the upper gasket of the roller pin is connected to the upper gasket fixing ring of the roller pin; the lower rolling needle gasket is connected to the upper rolling needle gasket through the upper rolling needle centering ring, an accommodating ring is formed among the upper rolling needle gasket, the lower rolling needle gasket and the upper rolling needle centering ring, and the turntable base extends into the accommodating ring; the upper needle bearing is arranged in an accommodating ring positioned between the upper needle bearing gasket and the turntable base, and the lower needle bearing is arranged in an accommodating ring positioned between the lower needle bearing gasket and the turntable base; a base connecting washer connected to the turntable base is mounted on the bottom surface of the outer ring; the upper-layer heightening block is arranged on the inner ring, and the dry powder fire extinguisher fixing bracket is arranged on the upper-layer heightening block. According to the structure, when the rotary driving works, the upper needle roller gasket fixing ring, the upper needle roller gasket, the lower needle roller gasket and the needle roller centering ring rotate under the guidance of the upper needle roller bearing and the lower needle roller bearing, so that the inner ring rotates relative to the outer ring, and finally the fire extinguishing device is driven to rotate. According to the structure, the upper needle bearing and the lower needle bearing are respectively arranged above and below the turntable base, and the upper needle bearing and the lower needle bearing are limited through the upper needle spacer, the lower needle spacer and the needle centering ring, so that the motion of the tripod head is stable and reliable.
Furthermore, the trigger drive comprises a trigger drive motor, a trigger drive screw rod, a trigger drive block, a trigger drive nut and a trigger guide rod, the trigger drive motor is installed on the trigger frame, the trigger drive screw rod is installed on the trigger frame through a bearing, a trigger drive coupling is connected between the trigger drive motor and the trigger drive screw rod, the trigger drive nut is installed on the trigger drive block, the trigger drive nut is meshed with the trigger drive screw rod, the trigger drive block is arranged on the trigger guide rod through a trigger guide sleeve in a sliding mode, the trigger guide rod is installed on the trigger frame, and a handle pressing plate is installed on the trigger drive block. According to the structure, the trigger driving motor drives the trigger driving screw rod to rotate through the trigger driving coupling, and under the action of the trigger driving nut, the trigger driving block moves up and down under the guiding action of the trigger guide rod, so that the handle pressing plate is driven to move up and down, and the dry powder fire extinguisher is opened and closed.
Furthermore, the swing arm drive include swing arm driving motor and swing arm drive coupling, swing arm drive installation motor dress is on dry powder fire extinguisher fixed bolster, swing arm drive coupling joint is between swing arm and swing arm driving motor. According to the structure, the swing arm driving motor drives the swing arm driving coupler to rotate, so that the swing arm is driven to swing, and the vertical position of the spray pipe is adjusted.
Furthermore, the swing arm comprises a swing arm body and a spray pipe clamp arranged at the free end of the swing arm body, and the spray pipe clamp clamps the spray pipe; the rotary drive comprises a rotary drive motor, a drive gear and an outer gear ring, the rotary drive motor is arranged on the dry powder fire extinguisher fixing support, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a coded disc bearing, a bearing connecting seat or an outer ring. The spray pipe is clamped by the spray pipe clamp, so that the spray pipe is prevented from being separated from the swing arm. The rotary driving is that the rotary driving motor drives the driving gear to rotate, and the driving gear and the outer gear ring drive the fire extinguishing device to rotate, so that the spray pipe rotates by 360 degrees.
Drawings
FIG. 1 is a top view of the chassis of the present invention;
FIG. 2 is a perspective view of the chassis of the present invention;
FIG. 3 is a schematic structural diagram of a floating motor assembly according to the present invention;
FIG. 4 is a schematic structural diagram of a deep groove ball bearing in the floating motor assembly of the present invention;
FIG. 5 is a schematic structural diagram of the floating system of the present invention;
fig. 6 is a schematic structural view of a head according to the invention;
fig. 7 is an exploded schematic view of the inner and outer rings of the pan head of the present invention;
FIG. 8 is a top view of the head;
FIG. 9 is a cross-sectional view A-A of FIG. 8;
FIG. 10 is a perspective view of section A-A of FIG. 8;
FIG. 11 is a schematic view of the fire suppression apparatus of the present invention;
fig. 12 is a schematic view showing the construction of the triggering device of the dry chemical extinguisher according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 12, a fire fighting robot of the present invention includes a chassis 1, a pan/tilt head 2 (shown in fig. 6), and a fire extinguishing apparatus 3 (shown in fig. 11).
As shown in fig. 1 to 4, the chassis 1 includes a frame 12, a floating motor group 13, a floating system 14, and a bull horn 15. The frame 12 comprises a frame body 121 and a gantry 123; the frame body 121 is made of a plurality of aluminum materials, the shape of the frame body is triangular, the gantries 123 are respectively built on three vertexes of the triangular frame body 121, and the frame body 121 and the gantries 123 are used for installing the floating motor set 13. The floating motor group 13 is composed of an RE35 coreless dc motor 131, a mecanum wheel assembly 132 and a coupling 133, the mecanum wheel assembly 132 includes a first support 1321, a second support 1322, a support shaft 1323, a deep groove ball bearing 1324 (shown in fig. 4) and a mecanum wheel 1325, the floating motor group 13 is connected to the mecanum wheel assembly 132 through the RE35 coreless dc motor 131, and power is transmitted to the mecanum wheel assembly 132 through the coupling 133, so that the mecanum wheel 1325 is driven to rotate, the chassis 1 is moved or rotated, and thus the mobile fire extinguishing is realized. The RE35 coreless direct current motor 131 is connected to a first bracket 1321, power is transmitted to a Mecanum wheel assembly 132 through a coupling 133, a Mecanum wheel 1325 is connected to a second bracket 1322 in a nested mode, a deep groove ball bearing 1324 is arranged between the Mecanum wheel and the second bracket, the first bracket 1321 is connected with the second bracket 1322 through a support shaft 1323, the first bracket and the second bracket 2 are hinged to the frame body 121 through hinge shafts, and the floating motor group 13 is installed on the gantry 123 through the damper 16, so that when the fire-fighting robot moves, the shock absorption can be carried out on the fire-fighting robot through the damper 16, and meanwhile, the fire-fighting robot can adapt to the movement of complex ground.
As shown in fig. 1 and 5, the floating system 14 is composed of two omnidirectional wheels 141 and two encoder sets 142, each encoder set includes an encoder 1421, an encoder fixing frame 1422, a slider 1423, a guide rail 1425, a spring 1424 and a floating fixing frame 1426, the omnidirectional wheel 141 is installed at the lower end of the encoder fixing frame 1422, the encoder 1421 is installed on the encoder fixing frame 1422, the encoder 1421 is connected with the omnidirectional wheel 141, the guide rail 1425 is installed on the encoder fixing frame 1422 in an up-and-down extending manner, the slider 1423 is slidably disposed on the guide rail 1425, the floating fixing frame 1426 is connected between the frame body 121 and the slider 1426, a limit rod 143 is disposed at the upper end of the guide rail, and the spring 1424 is disposed between the limit rod 143 and the floating fixing. The utility model discloses a floating system, including the guide rail, the utility model discloses a spacing pole, the utility model discloses a floating system, including the guide rail, the guide rail is fixed a position, the gag lever post is for connecting the spring on the one hand, on the other hand prevents to establish the slider on the guide rail and upwards breaks away from, through spring and slider, the floating direction of system is restricted to the guide rail, the omniwheel is connected to the encoder, read the number of turns that the omniwheel walked through the encoder, thereby fix a position through the data of number of turns, when the ground is uneven, the floating system can slide from top to bottom, restrict the.
As shown in fig. 2, 6 to 10, a pan/tilt head 2 is mounted on the chassis, and the pan/tilt head 2 includes a bearing connecting seat, an inner ring 21, an outer ring 22 and a code wheel bearing.
The bearing connecting seat comprises a chassis connecting sheet 27 and a chassis connecting piece 28, wherein the chassis connecting sheet 27 is connected on the frame body 121, and the chassis connecting piece 28 is connected on the chassis connecting sheet 27.
The inner ring 21 is located within the outer ring 22 with a gap 200 between the inner ring 21 and the outer ring 22. A base coupling washer 222 coupled to the turntable base is mounted on the bottom surface of the outer race 22.
The coded disc bearing comprises a turntable base 223, a needle roller upper gasket fixing ring 211, a needle roller upper gasket 212, a needle roller lower gasket 213, a needle roller centering ring 214, an upper needle bearing 23 and a lower needle bearing 24. A turntable base 223 is fixed at the upper end of the chassis connector 28, a base connection washer 222 is fixed on the turntable base 223, and the inner ring of the turntable base 223 extends inwards beyond the outer ring 22; the needle roller upper gasket fixing ring 211 is fixed at the bottom of the inner ring 21; the needle roller upper gasket 212 is connected to the needle roller upper gasket fixing ring 211; the needle roller lower gasket 213 is connected to the needle roller upper gasket 212 through the needle roller centering ring 214, an accommodating ring 201 is formed among the needle roller upper gasket 212, the needle roller lower gasket 213 and the needle roller centering ring 214, and the turntable base 223 extends into the accommodating ring 201; the upper needle bearing 23 is arranged in the containing ring 201 between the upper needle spacer 212 and the turntable base 223, and the lower needle bearing 24 is arranged in the containing ring 201 between the lower needle spacer 213 and the turntable base 223; an upper-layer heightening block 26 is arranged on the inner ring 21, and a fixed bracket of the dry powder fire extinguisher is arranged on the upper-layer heightening block 26.
As shown in fig. 11 and 12, the fire extinguishing apparatus 3 includes a dry powder extinguisher fixing bracket 31, a dry powder extinguisher trigger 32, a rocker mechanism 33 and a dry powder extinguisher 100.
The fire extinguishing device 3 is connected with the holder 2 through a dry powder fire extinguisher fixing frame 31, a dry powder fire extinguisher trigger device 32 is arranged at the upper rear end of the dry powder fire extinguisher fixing frame 31, and a rocker arm mechanism 33 is arranged at the upper front end of the dry powder fire extinguisher fixing frame 31; the number of the dry powder fire extinguisher trigger devices 32 and the number of the rocker arm mechanisms 33 are the same as the number of the dry powder fire extinguishers.
As shown in fig. 11 and 12, the trigger device 32 of the dry powder fire extinguisher includes a trigger frame 321, a trigger actuator installed on the trigger frame 321, and a handle pressing plate 325 connected to the trigger actuator. The trigger frame 321 is mounted on the dry powder extinguisher fixing bracket 31.
The trigger drive comprises a trigger drive motor 322, a trigger drive screw 323, a trigger drive block 3210, a trigger drive nut 326 and a trigger guide rod 328, the trigger drive motor 322 is installed at the upper end of a trigger frame 321, the trigger drive screw 323 is installed on the trigger frame 321 through a bearing, a trigger drive coupling 324 is connected between the trigger drive motor 322 and the trigger drive screw 323, the trigger drive nut 326 is installed on the trigger drive block 3210, the trigger drive nut 326 is engaged with the trigger drive screw 323, the trigger drive block 3210 is slidably arranged on the trigger guide rod 328 through a trigger guide sleeve 329, the trigger guide rod 328 is installed on the trigger frame 321, a handle press plate 325 is installed on the trigger drive block 3210, the handle press plate 325 extends out of the trigger frame 321, and the handle press plate 325 is located above the dry powder fire extinguisher handle 101. According to the structure, the trigger driving motor drives the trigger driving screw rod to rotate through the trigger driving coupling, and under the action of the trigger driving nut, the trigger driving block moves up and down under the guiding action of the trigger guide rod, so that the handle pressing plate is driven to move up and down, and the dry powder fire extinguisher is opened and closed.
As shown in fig. 11, the rocker mechanism 33 includes a rocker drive and a rocker.
The swing arm drive comprises a swing arm drive motor 331, a swing arm drive motor support 332 and a swing arm drive coupling 333. The swing arm driving motor support 332 is arranged on the dry powder fire extinguisher fixing support, the swing arm driving motor 331 is arranged on the swing arm driving motor support 332, and the swing arm driving coupling 333 is connected between the swing arm and the swing arm driving motor 331.
The swing arm comprises a swing arm body 335 and a spray pipe clamp 336 arranged on the free end of the swing arm body, and the spray pipe clamp 336 clamps the spray pipe 102 of the dry powder fire extinguisher. When the swing arm driving motor works, the swing arm body 335 is driven to swing up and down through the swing arm coupler, the spray pipe is clamped by the spray pipe clamp, and the spray pipe is prevented from being separated from the swing arm.
A rotary drive is arranged between the holder and the fire extinguishing device. Specifically, as shown in fig. 2 and fig. 6 to 10, the rotary drive includes a rotary drive motor 29, a drive gear 291 and an outer ring gear 221, the rotary drive motor 29 is mounted on the dry powder fire extinguisher fixing bracket 31, the drive gear 291 is mounted on an output shaft of the rotary drive motor, and the outer ring gear 221 is mounted on a code wheel bearing, a bearing connecting seat or an outer ring. The rotary driving is that the rotary driving motor drives the driving gear to rotate, and the driving gear and the outer gear ring drive the fire extinguishing device to rotate, so that the spray pipe rotates by 360 degrees. When the rotary driving motor works, the needle roller upper gasket fixing ring, the needle roller upper gasket, the needle roller lower gasket and the needle roller centering ring rotate under the guidance of the upper needle roller bearing and the lower needle roller bearing, so that the inner ring rotates relative to the outer ring, and finally the fire extinguishing device is driven to rotate. According to the structure, the upper needle bearing and the lower needle bearing are respectively arranged above and below the turntable base, and the upper needle bearing and the lower needle bearing are limited through the upper needle spacer, the lower needle spacer and the needle centering ring, so that the motion of the tripod head is stable and reliable.
The fire-fighting robot of this embodiment, put out a fire as required, at first start floating motor group, utilize floating motor group to drive whole fire-fighting robot and move the place that needs put out a fire, then it is rotatory to drive inner circle and extinguishing device through rotary drive, let the spray tube aim at the point that needs put out a fire, start trigger drive simultaneously, press the dry powder fire extinguisher through the handle clamp plate, let the dry powder from the spray tube blowout, in-process putting out a fire, as required, can remove whole fire-fighting robot through floating motor group, also can adjust the position of spray tube in 360 through rotary drive, the upper and lower position of spray tube can also be adjusted in the swing that can drive the rocking arm through the rocking arm drive, therefore, fire-fighting robot's turning efficiency can be improved, rotation and the work of rocking arm mechanism through the cloud platform, control robot accomplishes actions such as all. Due to the fact that the floating motor set and the floating system are arranged, the adaptability of the fire-fighting robot to the terrain can be improved.
Claims (10)
1. A fire-fighting robot is characterized by comprising a chassis, a holder and a fire extinguishing device; the chassis comprises a frame, a floating motor set and a floating system; the frame is used for installing a floating motor set, the floating motor set is used for driving the chassis to walk, the floating system is installed on the frame and used for controlling the floating direction to reduce gaps between the chassis and the ground when the chassis passes through uneven ground and increase friction force; the holder comprises a bearing connecting seat, an inner ring, an outer ring and a coded disc bearing, wherein the bearing connecting seat is arranged on a chassis, the outer ring is arranged on the bearing connecting seat through the coded disc bearing, the inner ring is positioned in the outer ring, a gap is arranged between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the coded disc bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing support, a dry powder fire extinguisher trigger device, a rocker arm mechanism and a dry powder fire extinguisher; the dry powder fire extinguisher fixing bracket is arranged on the inner ring; the trigger device of the dry powder fire extinguisher comprises a trigger frame, a trigger drive arranged on the trigger frame and a handle pressing plate connected to the trigger drive, wherein the trigger frame is arranged on a fixed bracket of the dry powder fire extinguisher, and the handle pressing plate drives a handle of the dry powder fire extinguisher; the rocker arm mechanism comprises a rocker arm drive and a rocker arm, the rocker arm drive is installed on a dry powder fire extinguisher fixing bracket, one end of the rocker arm is hinged on the dry powder fire extinguisher fixing bracket, and the rocker arm drive drives the rocker arm to swing up and down; the outlet of the dry powder fire extinguisher is connected with a spray pipe, and the spray pipe is connected with the free end of the swing arm; a rotary drive is arranged between the holder and the fire extinguishing device.
2. A fire fighting robot as recited in claim 1, wherein: the frame comprises a frame body and a gantry; the frame body is triangular, three vertexes of the frame body are respectively provided with a gantry, and the floating motor set is arranged between the frame body and the gantry.
3. A fire fighting robot as recited in claim 1, wherein: the floating motor set comprises a motor, a Mecanum wheel assembly and a coupler, the motor is installed on the Mecanum wheel assembly, the motor transmits power to the Mecanum wheel assembly through the coupler to enable the chassis to move or rotate, and the Mecanum wheel assembly is connected to the frame.
4. A fire fighting robot as recited in claim 3, wherein: the Mecanum wheel assembly comprises a first support, a second support, a supporting shaft, a deep groove ball bearing and a Mecanum wheel, a motor is connected to the first support and transmits power to the Mecanum wheel through a coupler, the Mecanum wheel is connected to the second support in a nested mode, the deep groove ball bearing is arranged between the Mecanum wheel and the second support, and the first support is connected with the second support through the supporting shaft.
5. A fire fighting robot as recited in claim 3, wherein: the floating motor set is hinged on the frame and is installed and connected on the frame through more than one damper.
6. A fire fighting robot as recited in claim 1, wherein: the floating system comprises an omnidirectional wheel and an encoder set; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omniwheel is installed on the encoder mount, and the encoder is connected with the omniwheel, and what the guide rail extended from top to bottom installs on the encoder mount, and the slider is gliding to be established on the guide rail, and the mount that floats is connected between frame and slider, is equipped with the gag lever post in the upper end of guide rail, and the spring is established between gag lever post and the mount that floats.
7. A fire fighting robot as recited in claim 1, wherein: the coded disc bearing comprises a turntable base, a roller pin upper gasket fixing ring, a roller pin upper gasket, a roller pin lower gasket, a roller pin centering ring, an upper roller pin bearing and a lower roller pin bearing; the turntable base is fixed on the bearing connecting seat, and the inner ring of the turntable base extends inwards to exceed the outer ring; a rolling needle upper gasket fixing ring is fixed on the inner ring; the upper gasket of the roller pin is connected to the upper gasket fixing ring of the roller pin; the lower rolling needle gasket is connected to the upper rolling needle gasket through the upper rolling needle centering ring, an accommodating ring is formed among the upper rolling needle gasket, the lower rolling needle gasket and the upper rolling needle centering ring, and the turntable base extends into the accommodating ring; the upper needle bearing is arranged in an accommodating ring positioned between the upper needle bearing gasket and the turntable base, and the lower needle bearing is arranged in an accommodating ring positioned between the lower needle bearing gasket and the turntable base; a base connecting washer connected to the turntable base is mounted on the bottom surface of the outer ring; the upper-layer heightening block is arranged on the inner ring, and the dry powder fire extinguisher fixing bracket is arranged on the upper-layer heightening block.
8. A fire fighting robot as recited in claim 1, wherein: the trigger drive comprises a trigger drive motor, a trigger drive screw rod, a trigger drive block, a trigger drive nut and a trigger guide rod, the trigger drive motor is installed on a trigger frame, the trigger drive screw rod is installed on the trigger frame through a bearing, a trigger drive coupling is connected between the trigger drive motor and the trigger drive screw rod, the trigger drive nut is installed on the trigger drive block and meshed with the trigger drive screw rod, the trigger drive block is arranged on the trigger guide rod in a sliding mode through a trigger guide sleeve, the trigger guide rod is installed on the trigger frame, and a handle pressing plate is installed on the trigger drive block.
9. A fire fighting robot as recited in claim 1, further characterized by: the swing arm drive comprises a swing arm drive motor and a swing arm drive coupling, the swing arm drive motor is installed on the dry powder fire extinguisher fixing support, and the swing arm drive coupling is connected between the swing arm and the swing arm drive motor.
10. A fire fighting robot as recited in claim 1, wherein: the swing arm comprises a swing arm body and a spray pipe clamp arranged at the free end of the swing arm body, and the spray pipe clamp clamps the spray pipe; the rotary drive comprises a rotary drive motor, a drive gear and an outer gear ring, the rotary drive motor is arranged on the dry powder fire extinguisher fixing support, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a coded disc bearing, a bearing connecting seat or an outer ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911214661.3A CN110755786B (en) | 2019-12-02 | 2019-12-02 | Fire-fighting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911214661.3A CN110755786B (en) | 2019-12-02 | 2019-12-02 | Fire-fighting robot |
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| CN110755786A true CN110755786A (en) | 2020-02-07 |
| CN110755786B CN110755786B (en) | 2024-03-01 |
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| CN201911214661.3A Active CN110755786B (en) | 2019-12-02 | 2019-12-02 | Fire-fighting robot |
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