CN110755786B - Fire-fighting robot - Google Patents
Fire-fighting robot Download PDFInfo
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- CN110755786B CN110755786B CN201911214661.3A CN201911214661A CN110755786B CN 110755786 B CN110755786 B CN 110755786B CN 201911214661 A CN201911214661 A CN 201911214661A CN 110755786 B CN110755786 B CN 110755786B
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- 238000007667 floating Methods 0.000 claims abstract description 69
- 239000000843 powder Substances 0.000 claims abstract description 50
- 239000007921 spray Substances 0.000 claims description 28
- 238000003825 pressing Methods 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000004880 explosion 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
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- 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 cradle head and a fire extinguishing device, wherein the chassis comprises a frame, a floating motor group and a floating system, the frame is used for installing the floating motor group, the floating motor group is mainly used for driving the traveling direction of the chassis, and the floating system is used for controlling the floating direction so that gaps between the chassis and the ground can be reduced when the chassis passes through uneven ground, and the friction force is increased; the cradle head comprises a bearing connecting seat, an inner ring, an outer ring and a code wheel bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing bracket, a dry powder fire extinguisher triggering device and a rocker arm mechanism. The invention aims to provide a robot capable of improving the adaptability of terrains and the turning efficiency, and the robot is controlled to perform actions such as omnibearing automatic fire extinguishing and the like through rotation of a cradle head and 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
Along with the rapid development of society and economy, the specificity of building and enterprise production, the accident hidden trouble that causes leakage of chemical dangerous goods and radioactive substances and burning, explosion and collapse is increased, the probability of accident occurrence is correspondingly increased, once the accident occurs, if no corresponding method, equipment or facility exists, the rescue workers can not obtain the effective information on the scene, if the rescue workers enter the scene in a trade way under the condition of no information support, more casualties are easy to be caused, and the cost of tragic pain is paid. It is a future trend to perform some dangerous work with robots. The development of the fire-fighting robot can be traced back to the 80 s of the last century, the development of the fire-fighting robot is carried out first in japan at the moment, the robot named as rainbow No. 5 is bright in the first fire extinguishment in japan, and the fire-fighting robot can be used for completing fire extinguishment in cities at the moment, but has a complex structure and can not walk in various terrains at the same time, and the fire-fighting robot is designed into a CHARLI-2 fire-fighting robot for the U.S. navy by the national institute of Virginia as the fire-fighting robot is updated and improved in technology and needs in different regions continuously in 2010. Such robots can work with human soldiers to extinguish fires on marine vessels. Such fire robots have the ability to use fire hoses, throw fire grenades, climb ladders, and maintain their balance as they walk on the decks and hallways of naval vessels. The naval planning uses the CHARLI-2 robot as an autonomous fire-fighting robot on a ship, has high working efficiency, and improves the safety and the rapidity compared with the traditional manual fire extinguishing. In addition, germany developed 'OLE' insect type multifunctional fire fighting and people thereof have two modes, one is a wheeled robot and the other is a hexapod robot, can be freely switched in cities and forests, can extinguish fire according to a destination achieved by a GPS, has high working efficiency, improves safety and rapidity compared with the traditional manual fire fighting, and is suitable for different terrains.
In China, the research method of the fire-fighting robot is naturally inferior to the development speed of developed countries due to the limitations of technology and economy, and the starting time is relatively late, so that many things are in the research and development stage, china really pays attention to research and development of the fire-fighting robot in ninety of twentieth century, and the 'crawler-type and wheel-type fire-fighting robot' of the state 863 item falls to the ground, mainly used in cities, can finish fire-fighting work in the cities, and can reduce casualties of local firefighters and reduce the work of the local firefighters. Subsequently, other domestic institutions also start to develop fire robots, and all the fire robots obtain better results, and the fire robots are applied to practical accidents to a certain extent. However, most wheeled fire robots have poor obstacle crossing capability, poor terrain adaptability, low turning efficiency or large turning radius. Is limited to partial urban environment, has relatively high manufacturing cost and complex maintenance, and cannot be effectively popularized and applied.
Disclosure of Invention
The invention aims to provide a robot capable of improving the adaptability of terrains and the turning efficiency, and the robot is controlled to perform actions such as omnibearing automatic fire extinguishing and the like through the rotation of a cradle head and the work of a swing arm mechanism.
In order to achieve the aim, the fire-fighting robot comprises a chassis, a cradle head and a fire-extinguishing device; the chassis comprises a frame, a floating motor group and a floating system; the frame is used for installing a floating motor group, the floating motor group is used for driving the chassis to walk, the floating system is installed on the frame, and the floating system is used for controlling the floating direction to reduce the gap between the chassis and the ground when the chassis passes through uneven ground, so that the friction force is increased; the cradle head comprises a bearing connecting seat, an inner ring, an outer ring and a code wheel bearing, wherein the bearing connecting seat is arranged on the chassis, the outer ring is arranged on the bearing connecting seat through the code wheel bearing, the inner ring is positioned in the outer ring, a gap is reserved between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the code wheel bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing bracket, a dry powder fire extinguisher triggering device, a swing arm mechanism and a dry powder fire extinguisher; the dry powder fire extinguisher fixing bracket is arranged on the inner ring; the dry powder fire extinguisher triggering device comprises a triggering frame, a triggering drive arranged on the triggering frame and a handle pressing plate connected to the triggering drive, wherein the triggering frame is arranged on a dry powder fire extinguisher fixing bracket, and the handle pressing plate drives a handle of the dry powder fire extinguisher; the swing arm mechanism comprises a swing arm drive and a swing arm, the swing arm drive is arranged on the dry powder fire extinguisher fixing bracket, one end of the swing arm is hinged on the dry powder fire extinguisher fixing bracket, and the swing arm drive drives the swing arm to swing up and down; the outlet of the dry powder fire extinguisher is connected with a spray pipe which is connected with the free end of the swing arm; a rotary drive is arranged between the cradle head and the fire extinguishing device.
The fire-fighting robot with the structure can extinguish fire if needed, the floating motor unit is started, the floating motor unit is utilized to drive the whole fire-fighting robot to move to a place needing to extinguish fire, then the inner ring and the fire-extinguishing device are driven to rotate through rotary driving, the spray pipe is aligned to a point needing to extinguish fire, meanwhile, trigger driving is started, the dry powder fire extinguisher is pressed through the handle pressing plate, dry powder is sprayed out of the spray pipe, in the fire-extinguishing process, the whole fire-fighting robot can be moved through the floating motor unit according to the need, the position of the spray pipe can be adjusted in 360 degrees through rotary driving, the upper position and the lower position of the spray pipe can be adjusted through swinging of the swinging arm driving, therefore, the turning efficiency of the fire-fighting robot can be improved, and the actions such as omnibearing automatic fire extinguishment can be controlled by the rotation of the cradle head and the work of the swinging arm mechanism. Because the floating motor group and the floating system are arranged, the terrain adaptation capability of the fire-fighting robot can be improved.
Further, the frame comprises a frame body and a gantry; the frame body is triangular, the three vertexes of the frame body are respectively provided with a gantry, and the floating motor group is arranged between the frame body and the gantry. In this way, the installation of the floating motor unit is facilitated.
Further, the floating motor group comprises a motor, a Mecanum wheel assembly and a coupler, the motor is arranged on the Mecanum wheel assembly, the motor transmits power to the Mecanum wheel assembly through the coupler, so that the chassis moves or rotates, and the Mecanum wheel assembly is connected to the frame. According to the structure, the Mecanum wheel assembly is driven by the motor and the coupler, so that driving is realized.
Further, the Mecanum wheel assembly comprises a first bracket, a second bracket, a supporting shaft, a deep groove ball bearing and Mecanum wheels, the motor is connected to the first bracket and transmits power to Mecanum through the coupler, the Mecanum wheels are connected to the second bracket in a nested mode, the deep groove ball bearing is arranged between the Mecanum wheels and the second bracket, and the first bracket is connected with the second bracket through the supporting shaft.
Further, the floating motor group is hinged on the frame, and the floating motor group is installed and connected on the frame through more than one damper. The damper is used for preventing the chassis from contacting the ground in a suspended connection mode when being stressed, and simultaneously, the damper also reduces the gap between the Mecanum wheel and the ground and increases the friction force.
Further, the floating system includes an omni-wheel and an encoder stack; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omnidirectional wheel is installed on the encoder mount, the encoder is installed on the encoder mount, and the encoder is connected with the omnidirectional wheel, and the installation that the guide rail extends from top to bottom is on the encoder mount, and the slider is gliding to be established on the guide rail, and floating mount 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 floating mount. The limiting rod is used for connecting the spring, preventing the sliding block arranged on the guide rail from being separated upwards, limiting the floating direction of the floating system through the spring, the sliding block and the guide rail, connecting the encoder with the omnidirectional wheel, reading the number of turns of the omnidirectional wheel through the encoder, therefore, the floating system can slide up and down when the ground is uneven through the data of the number of turns, the floating direction is limited through the sliding block and the guide rail, the spring can prevent the floating range from being too large, reduce the gap between the omnidirectional wheel and the ground, and increase the friction force.
Further, the code wheel bearing comprises a turntable base, a needle upper gasket fixing ring, a needle upper gasket, a needle lower gasket, a needle centering ring, an upper needle bearing and a lower needle 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; the upper gasket fixing ring of the rolling pin is fixed on the inner ring; the upper gasket of the rolling pin is connected with the upper gasket fixing ring of the rolling pin; the lower roller pin gasket is connected to the upper roller pin gasket through a roller pin centering ring, an accommodating ring is formed among the upper roller pin gasket, the lower roller pin gasket and the roller pin centering ring, and the turntable base extends into the accommodating ring; the upper needle roller bearing is arranged in the accommodating ring between the needle roller upper gasket and the turntable base, and the lower needle roller bearing is arranged in the accommodating ring between the needle roller lower gasket and the turntable base; a base connection washer connected to the turntable base is arranged on the bottom surface of the outer ring; an upper layer heightening block is arranged on the inner ring, and a dry powder fire extinguisher fixing bracket is arranged on the upper layer heightening block. According to the structure, when the rotary driving work is performed, the upper gasket fixing ring of the needle roller, the upper gasket of the needle roller, the lower gasket of the needle roller 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 roller bearing and the lower needle roller bearing are respectively arranged above and below the turntable base, and the upper needle roller bearing and the lower needle roller bearing are limited through the needle roller upper gasket, the needle roller lower gasket and the needle roller centering ring, so that the movement of the cradle head is stable and reliable.
Further, the trigger drive include trigger driving motor, trigger driving lead screw, trigger driving piece, trigger driving nut and trigger guide arm, trigger driving motor installs in triggering the frame, trigger driving lead screw passes through the bearing and installs in triggering the frame, be connected with between trigger driving motor and trigger driving lead screw and trigger driving shaft coupling, trigger driving nut installs on trigger driving piece, trigger driving nut and trigger driving lead screw meshing, trigger driving piece is through triggering the gliding setting of guide pin bushing on triggering the guide arm, trigger the guide arm and install in triggering the frame, the handle clamp plate is installed on trigger driving piece. According to the structure, the trigger driving motor drives the trigger driving screw rod to rotate through the trigger driving coupler, 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.
Further, the swing arm drive comprises a swing arm drive motor and a swing arm drive coupling, wherein the swing arm drive motor is arranged on the dry powder fire extinguisher fixing bracket, and the swing arm drive coupling is connected between the swing arm and the swing arm drive 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.
Further, 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, wherein the rotary drive motor is arranged on a dry powder fire extinguisher fixing bracket, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a code wheel 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 driving gear is driven to rotate by the rotary driving motor, and the action of the driving gear and the outer gear ring drives the fire extinguishing device to rotate, so that 360-degree rotation of the spray pipe is realized.
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 view of a floating motor unit according to the present invention;
FIG. 4 is a schematic view of a deep groove ball bearing in a floating motor unit according to the present invention;
FIG. 5 is a schematic view of the floating system of the present invention;
fig. 6 is a schematic structural diagram of a pan/tilt head according to the present invention;
FIG. 7 is an exploded view of the inner and outer races of the holder of the present invention;
FIG. 8 is a top view of a cradle head;
FIG. 9 is a cross-sectional view A-A of FIG. 8;
FIG. 10 is a cross-sectional perspective view of A-A of FIG. 8;
FIG. 11 is a schematic view of the fire extinguishing apparatus of the present invention;
FIG. 12 is a schematic diagram of the triggering device of the dry powder fire extinguisher according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 12, a fire-fighting robot of the present invention includes a chassis 1, a pan-tilt 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 horn wheel 15. The frame 12 comprises a frame body 121 and a gantry 123; the frame body 121 is composed of a plurality of aluminum-type materials, the shape of the frame body 121 is triangular, the gantry 123 is respectively built on three vertexes of the triangular frame body 121, and the frame body 121 and the gantry 123 are used for installing the floating motor unit 13. The floating motor set 13 is composed of a RE35 hollow cup DC motor 131, a Mecanum wheel assembly 132 and a coupler 133, wherein the Mecanum wheel assembly 132 comprises a first bracket 1321, a second bracket 1322, a supporting shaft 1323, a deep groove ball bearing 1324 (shown in figure 4) and a Mecanum wheel 1325, the floating motor set 13 is connected to the Mecanum wheel assembly 132 by the RE35 hollow cup DC motor 131, and power is transmitted to the Mecanum wheel assembly 132 through the coupler 133, so that the Mecanum wheel 1325 is driven to rotate, and the chassis 1 is driven to move or rotate, so that movable fire extinguishing is realized. RE35 hollow cup direct current motor 131 connects on support one 1321, transmits power to the Mecanum wheel subassembly 132 through the shaft coupling 133, and Mecanum wheel 1325 nestedly connects to support two 1322, is equipped with a deep groove ball bearing 1324 between Mecanum wheel and support two, and support one 1321 passes through back shaft 1323 and is connected with support two 1322, and support one and support 2 pass through the articulated shaft and articulate on frame body 121, and floating motor group 13 passes through damper 16 and installs on longmen 123, so, when fire control robot in the motion process, can cushion the fire control robot through damper 16, simultaneously, can also adapt to the motion on complicated ground.
As shown in fig. 1 and 5, the floating system 14 is composed of two omni-wheels 141 and two encoder sets 142, the encoder sets include 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 omni-wheels 141 are mounted at the lower end of the encoder fixing frame 1422, the encoder 1421 is mounted on the encoder fixing frame 1422, the encoder 1421 is connected with the omni-wheels 141, the guide rail 1425 extends up and down and is mounted on the encoder fixing frame 1422, the slider 1423 is slidably arranged 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 arranged at the upper end of the guide rail, and the spring 1424 is arranged between the limit rod 143 and the floating fixing frame 1426. The limiting rod is used for connecting the spring, preventing the sliding block arranged on the guide rail from being separated upwards, limiting the floating direction of the floating system through the spring, the sliding block and the guide rail, connecting the encoder with the omnidirectional wheel, reading the number of turns of the omnidirectional wheel through the encoder, therefore, the floating system can slide up and down when the ground is uneven through the data of the number of turns, the floating direction is limited through the sliding block and the guide rail, the spring can prevent the floating range from being too large, reduce the gap between the omnidirectional wheel and the ground, and increase the friction force.
As shown in fig. 2, 6 to 10, a pan-tilt 2 is mounted on the chassis, and the pan-tilt 2 includes a bearing connection seat, an inner ring 21, an outer ring 22, and a code wheel bearing.
The bearing connection block includes a chassis connection piece 27 and a chassis connection piece 28, the chassis connection piece 27 is connected to the frame body 121, and the chassis connection piece 28 is connected to the chassis connection piece 27.
The inner ring 21 is positioned 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 code wheel bearing comprises a rotary disc base 223, a needle upper gasket fixing ring 211, a needle upper gasket 212, a needle lower gasket 213, a needle centering ring 214, an upper needle bearing 23 and a lower needle bearing 24. A turntable base 223 is fixed to the upper end of the chassis connection member 28, a base connection washer 222 is fixed to the turntable base 223, and an inner ring of the turntable base 223 extends inward beyond the outer ring 22; the upper gasket fixing ring 211 of the rolling pin is fixed at the bottom of the inner ring 21; the upper roller pin gasket 212 is connected to the upper roller pin gasket fixing ring 211; the needle lower gasket 213 is connected to the needle upper gasket 212 through a needle centering ring 214, an accommodating ring 201 is formed among the needle upper gasket 212, the needle lower gasket 213 and the needle centering ring 214, and a turntable base 223 extends into the accommodating ring 201; the upper needle bearing 23 is arranged in the containing ring 201 between the needle upper gasket 212 and the turntable base 223, and the lower needle bearing 24 is arranged in the containing ring 201 between the needle lower gasket 213 and the turntable base 223; an upper layer heightening block 26 is arranged on the inner ring 21, and a dry powder fire extinguisher fixing bracket 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 fire extinguisher fixing bracket 31, a dry powder extinguisher triggering apparatus 32, a swing arm mechanism 33, and a dry powder fire extinguisher 100.
The fire extinguishing device 3 is connected with the cradle head 2 through a dry powder fire extinguisher fixing frame 31, a dry powder fire extinguisher triggering device 32 is arranged at the upper rear end of the dry powder fire extinguisher fixing frame 31, and a swing 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 triggering device 32 and the swing arm mechanism 33 is the same as that of the dry powder fire extinguishers.
As shown in fig. 11 and 12, the dry powder fire extinguisher trigger apparatus 32 includes a trigger frame 321, a trigger drive mounted on the trigger frame 321, and a handle pressing plate 325 connected to the trigger drive. The trigger frame 321 is mounted on the dry powder fire 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, wherein the trigger drive motor 322 is arranged at the upper end of the trigger frame 321, the trigger drive screw 323 is arranged on the trigger frame 321 through a bearing, a trigger drive coupler 324 is connected between the trigger drive motor 322 and the trigger drive screw 323, the trigger drive nut 326 is arranged on the trigger drive block 3210, the trigger drive nut 326 is meshed with the trigger drive screw 323, the trigger drive block 3210 is arranged on the trigger guide rod 328 in a sliding manner through a trigger guide sleeve 329, the trigger guide rod 328 is arranged on the trigger frame 321, the handle pressing plate 325 is arranged on the trigger drive block 3210, the handle pressing plate 325 extends out of the trigger frame 321, and the handle pressing plate 325 is positioned 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 coupler, 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 swing arm mechanism 33 includes a swing arm drive and a swing arm.
The swing arm drive includes a swing arm drive motor 331, a swing arm drive motor mount 332, and a swing arm drive coupler 333. The swing arm driving motor support 332 is installed on the dry powder fire extinguisher fixing bracket, the swing arm driving motor 331 is installed on the swing arm driving motor support 332, and the swing arm driving coupler 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, and the spray pipe is clamped through the spray pipe clamp, so that the spray pipe is prevented from being separated from the swing arm.
A rotary drive is arranged between the cradle head 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 external gear 221, the rotary drive motor 29 is mounted on a dry fire extinguisher fixing bracket 31, the drive gear 291 is mounted on an output shaft of the rotary drive motor, and the external gear 221 is mounted on a code wheel bearing, a bearing connection seat or an outer ring. The rotary driving is that the driving gear is driven to rotate by the rotary driving motor, and the action of the driving gear and the outer gear ring drives the fire extinguishing device to rotate, so that 360-degree rotation of the spray pipe is realized. When the rotary driving motor works, the upper gasket fixing ring of the needle roller, the upper gasket of the needle roller, the lower gasket of the needle roller 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 roller bearing and the lower needle roller bearing are respectively arranged above and below the turntable base, and the upper needle roller bearing and the lower needle roller bearing are limited through the needle roller upper gasket, the needle roller lower gasket and the needle roller centering ring, so that the movement of the cradle head is stable and reliable.
The fire-fighting robot of this embodiment puts out a fire, if need put out a fire, at first start the floating motor group, utilize the floating motor group to drive whole fire-fighting robot and move to the place that needs to put out a fire, then drive inner circle and extinguishing device rotatory through rotary drive, let the spray tube aim at the point that needs to put out a fire, start simultaneously and trigger the drive, press dry powder fire extinguisher through the handle clamp plate, let dry powder blowout from the spray tube, in the in-process of putting out a fire, can remove whole fire-fighting robot through the floating motor group as required, also can adjust the position of spray tube in 360 through rotary drive, can also drive the swing of swing arm through the swing of swing arm drive and adjust the upper and lower position of spray tube, consequently, can improve fire-fighting robot's turning efficiency, through the rotation of cloud platform and swing arm mechanism's work, the action such as accomplish all-round automatic fire extinguishing of control robot. Because the floating motor group and the floating system are arranged, the terrain adaptation capability of the fire-fighting robot can be improved.
Claims (5)
1. The fire-fighting robot is characterized by comprising a chassis, a cradle head and a fire-extinguishing device; the chassis comprises a frame, a floating motor group and a floating system; the frame is used for installing a floating motor group, the floating motor group is used for driving the chassis to walk, the floating system is installed on the frame, and the floating system is used for controlling the floating direction to reduce the gap between the chassis and the ground when the chassis passes through uneven ground, so that the friction force is increased; the cradle head comprises a bearing connecting seat, an inner ring, an outer ring and a code wheel bearing, wherein the bearing connecting seat is arranged on the chassis, the outer ring is arranged on the bearing connecting seat through the code wheel bearing, the inner ring is positioned in the outer ring, a gap is reserved between the inner ring and the outer ring, and the inner ring and the outer ring are connected through the code wheel bearing; the fire extinguishing device comprises a dry powder fire extinguisher fixing bracket, a dry powder fire extinguisher triggering device, a swing arm mechanism and a dry powder fire extinguisher; the dry powder fire extinguisher fixing bracket is arranged on the inner ring; the dry powder fire extinguisher triggering device comprises a triggering frame, a triggering drive arranged on the triggering frame and a handle pressing plate connected to the triggering drive, wherein the triggering frame is arranged on a dry powder fire extinguisher fixing bracket, and the handle pressing plate drives a handle of the dry powder fire extinguisher; the swing arm mechanism comprises a swing arm drive and a swing arm, the swing arm drive is arranged on the dry powder fire extinguisher fixing bracket, one end of the swing arm is hinged on the dry powder fire extinguisher fixing bracket, and the swing arm drive drives the swing arm to swing up and down; the outlet of the dry powder fire extinguisher is connected with a spray pipe which is connected with the free end of the swing arm; a rotary drive is arranged between the cradle head and the fire extinguishing device;
the floating system comprises an omni-wheel and an encoder stack; the encoder set comprises an encoder, an encoder fixing frame, a sliding block, a guide rail, a spring and a floating fixing frame; the omnidirectional wheel is arranged on the encoder fixing frame, the encoder is connected with the omnidirectional wheel, the guide rail extends up and down and is arranged on the encoder fixing frame, the sliding block is arranged on the guide rail in a sliding manner, the floating fixing frame is connected between the frame and the sliding block, the upper end of the guide rail is provided with a limit rod, and the spring is arranged between the limit rod and the floating fixing frame;
the code wheel bearing comprises a turntable base, a needle upper gasket fixing ring, a needle upper gasket, a needle lower gasket, a needle centering ring, an upper needle bearing and a lower needle 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; the upper gasket fixing ring of the rolling pin is fixed on the inner ring; the upper gasket of the rolling pin is connected with the upper gasket fixing ring of the rolling pin; the lower roller pin gasket is connected to the upper roller pin gasket through a roller pin centering ring, an accommodating ring is formed among the upper roller pin gasket, the lower roller pin gasket and the roller pin centering ring, and the turntable base extends into the accommodating ring; the upper needle roller bearing is arranged in the accommodating ring between the needle roller upper gasket and the turntable base, and the lower needle roller bearing is arranged in the accommodating ring between the needle roller lower gasket and the turntable base; a base connection washer connected to the turntable base is arranged on the bottom surface of the outer ring; an upper layer heightening block is arranged on the inner ring, and a dry powder fire extinguisher fixing bracket is arranged on the upper layer heightening block;
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, wherein the trigger drive motor is arranged on a trigger frame, the trigger drive screw rod is arranged on the trigger frame through a bearing, a trigger drive coupler is connected between the trigger drive motor and the trigger drive screw rod, the trigger drive nut is arranged 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 in a sliding manner through a trigger guide sleeve, the trigger guide rod is arranged on the trigger frame, and a handle pressing plate is arranged on the trigger drive block;
the swing arm drive comprises a swing arm drive motor and a swing arm drive coupler, wherein the swing arm drive motor is arranged on the dry powder fire extinguisher fixing bracket, and the swing arm drive coupler is connected between the swing arm and the swing arm drive motor;
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, wherein the rotary drive motor is arranged on a dry powder fire extinguisher fixing bracket, the drive gear is arranged on an output shaft of the rotary drive motor, and the outer gear ring is arranged on a code wheel bearing, a bearing connecting seat or an outer ring.
2. The fire robot of claim 1, wherein: the frame comprises a frame body and a gantry; the frame body is triangular, the three vertexes of the frame body are respectively provided with a gantry, and the floating motor group is arranged between the frame body and the gantry.
3. The fire robot of claim 1, wherein: the floating motor group comprises a motor, a Mecanum wheel assembly and a coupler, wherein the motor is arranged on the Mecanum wheel assembly, and the motor transmits power to the Mecanum wheel assembly through the coupler so that the chassis moves or rotates, and the Mecanum wheel assembly is connected to the frame.
4. The fire robot of claim 3 wherein: the Mecanum wheel assembly comprises a first bracket, a second bracket, a supporting shaft, a deep groove ball bearing and Mecanum wheels, wherein the motor is connected to the first bracket and transmits power to Mecanum through the coupling, the Mecanum wheels are connected to the second bracket in a nested manner, the deep groove ball bearing is arranged between the Mecanum wheels and the second bracket, and the first bracket is connected with the second bracket through the supporting shaft.
5. The fire robot of claim 3 wherein: the floating motor group is hinged on the frame and is connected to the frame through more than one damper.
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| CN201911214661.3A CN110755786B (en) | 2019-12-02 | 2019-12-02 | Fire-fighting robot |
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| CN201911214661.3A CN110755786B (en) | 2019-12-02 | 2019-12-02 | Fire-fighting robot |
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| CN110755786B true CN110755786B (en) | 2024-03-01 |
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| CN111135506B (en) * | 2020-02-26 | 2024-04-02 | 桂林电子科技大学 | Fire extinguishing robot |
| WO2022237000A1 (en) * | 2021-05-14 | 2022-11-17 | 姜卫 | Base capable of reaching corners of working area |
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