CN111135506A - Fire-extinguishing robot - Google Patents
Fire-extinguishing robot Download PDFInfo
- Publication number
- CN111135506A CN111135506A CN202010121307.2A CN202010121307A CN111135506A CN 111135506 A CN111135506 A CN 111135506A CN 202010121307 A CN202010121307 A CN 202010121307A CN 111135506 A CN111135506 A CN 111135506A
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 241000209140 Triticum Species 0.000 claims description 8
- 235000021307 Triticum Nutrition 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000843 powder Substances 0.000 abstract description 15
- 239000011435 rock Substances 0.000 abstract 1
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fire-extinguishing robot which comprises a chassis walking device, a fire extinguisher assembly, a clamping device, an adjusting device, a controller and a triggering device, wherein a supporting base plate is positioned between two supporting vertical plates, and a rotating shaft is fixedly connected with the supporting base plate and penetrates through the supporting base plate to be rotatably connected with the two supporting vertical plates; the barrel is fixed on the supporting bottom plate through the clamping device, the first driving piece is fixedly connected with the bottom frame and electrically connected with the controller, the first gear is in transmission connection with the output end of the first driving piece, the second gear is fixedly connected with the rotating shaft and meshed with the first gear, the supporting frame is fixedly connected with the supporting bottom plate, the electric push rod is fixedly connected with the supporting frame, the trigger baffle is fixedly connected with the electric push rod, and the pressing handle is pressed along with linear movement of the electric push rod. Realize first gear and second gear meshing and drive the barrel and rock, make the dry powder in the barrel even, electric putter rectilinear movement presses and presses the blowout dry powder to put out a fire, simple structure, and is easy and simple to handle.
Description
Technical Field
The invention relates to the technical field of fire extinguishing equipment, in particular to a fire extinguishing robot.
Background
The shopping malls of China are numerous, and a plurality of malls cause serious consequences due to fire every year, and the reasons for causing the fire are as follows: 1 people can not in time discover the fire source, 2 inconvenient people of fire source department put out a fire, 3 can not effectual control the fire source at the initial stage of catching a fire. Therefore, many automatic fire extinguishing robots have been developed, but most of them are large in size and put out a fire outdoors because they are water guns, so that they cannot put out a fire in the early stage of a fire source, and they cannot put out a fire indoors because they are not easy to walk because water guns are connected to water belts. The other type is a fire extinguishing robot using dry powder, but the existing dry powder fire extinguisher people have complex structure and are difficult to operate.
Disclosure of Invention
The invention aims to provide a fire-extinguishing robot, aiming at solving the problems of complex structure and difficult operation of the existing dry powder fire-extinguishing robot.
In order to achieve the purpose, the invention provides a fire-extinguishing robot which comprises a chassis walking device, fire extinguisher assemblies, a clamping device, an adjusting device, a controller and a triggering device, wherein the chassis walking device comprises an underframe, two supporting vertical plates, a supporting bottom plate and a rotating shaft, the two supporting vertical plates are fixedly connected with the underframe and are positioned on the underframe, the supporting bottom plate is positioned between the two supporting vertical plates, and the rotating shaft is fixedly connected with the supporting bottom plate and penetrates through the supporting bottom plate to be rotatably connected with the two supporting vertical plates;
the fire extinguisher assembly comprises a cylinder body, a pressing handle and a nozzle, the cylinder body is fixed on the supporting base plate through the clamping device, the pressing handle and the nozzle are positioned on one side far away from the supporting base plate, the adjusting device comprises a first driving piece, a first gear and a second gear, the first driving piece is fixedly connected with the underframe, is electrically connected with the controller and is positioned on one side of the supporting base plate, the first gear is in transmission connection with the output end of the first driving piece, and the second gear is fixedly connected with the rotating shaft, is meshed with the first gear and is positioned on one side, far away from the supporting base plate, of the supporting vertical plate;
trigger device includes support frame, electric putter and trigger baffle, the support frame with supporting baseplate fixed connection to be located keeps away from one side of first driving piece, electric putter with support frame fixed connection, and with the controller electricity is connected, and is located keeps away from one side of supporting baseplate, trigger baffle with electric putter fixed connection, and be located press last, and follow electric putter rectilinear movement presses the handle.
The chassis walking device further comprises at least four walking assemblies, the four walking assemblies are located around the chassis, each walking assembly comprises a second driving piece, a Mecanum wheel and a wheat wheel mounting seat, the second driving pieces are fixedly connected with the chassis and located on the chassis, the wheat wheel mounting seats are connected with the output end of the second driving pieces in a transmission mode, the wheat wheel mounting seats are fixedly connected with the Mecanum wheels and located between the second driving pieces and the Mecanum wheels.
Wherein, clamping device embraces the subassembly including supporting the curb plate and two at least, support the curb plate with supporting baseplate fixed connection, and be located the barrel is kept away from one side of support frame, it encloses the piece including first enclosing piece and second to embrace the subassembly tightly, first enclosing piece with supporting baseplate fixed connection, and encircle the barrel, the second enclose the one end of piece with first enclosing piece rotates to be connected, the other end with first enclosing piece can dismantle the connection, and encloses jointly the barrel.
The support side plate is provided with a first through groove and a second through groove, the first through groove is located on one side far away from the support bottom plate, and the second through groove is located on one side, close to the nozzle, of the first through groove.
Wherein, fire-fighting robot still includes locking device, locking device includes pin, driver plate and torsional spring, the driver plate is located first logical inslot, the pin with support the curb plate and rotate to be connected, and run through support the curb plate with the driver plate, the torsional spring with support the curb plate with driver plate fixed connection, and the cover is located on the pin, and be located the driver plate with support between the curb plate.
The support side plate is provided with a first through hole, the pin is provided with a second through hole, and the first through hole is communicated with the second through groove and the second through hole.
The locking device further comprises a fixing piece, wherein the fixing piece penetrates through the first through hole, the second through groove and the second through hole and abuts against the nozzle.
The fire-fighting robot further comprises a supporting device, the supporting device comprises a mounting seat and an elastic piece, the mounting seat is fixedly connected with the bottom frame and is located at one side, far away from the barrel, of the supporting frame, and the elastic piece is fixedly connected with the mounting seat and is located at one side, far away from the bottom frame.
The fire-extinguishing robot further comprises a camera, wherein the camera is detachably connected with the supporting side plate, electrically connected with the controller and located on one side of the cylinder, far away from the supporting side plate.
The adjusting device further comprises a U-shaped supporting plate, the U-shaped supporting plate is fixedly connected with the underframe and is rotatably connected with the rotating shaft, and the U-shaped supporting plate is located on one side, away from the supporting vertical plate, of the second gear.
According to the fire-extinguishing robot, the supporting vertical plates are fixedly connected with the underframe, the supporting bottom plate is positioned between the two supporting vertical plates, and the rotating shaft is fixedly connected with the supporting bottom plate and penetrates through the supporting bottom plate to be rotatably connected with the two supporting vertical plates; the cylinder body is fixed on the supporting bottom plate through the clamping device, the first driving piece is fixedly connected with the bottom frame and electrically connected with the controller, the first gear is in transmission connection with the output end of the first driving piece, and the second gear is fixedly connected with the rotating shaft and meshed with the first gear; the supporting frame is fixedly connected with the supporting bottom plate, the electric push rod is fixedly connected with the supporting frame and electrically connected with the controller, and the trigger baffle is fixedly connected with the electric push rod and positioned on the pressing handle and presses the pressing handle along with the linear movement of the electric push rod. The first gear and the second gear are meshed to drive the barrel to shake, so that dry powder in the barrel is uniform, the electric push rod linearly moves to press the sprayed dry powder to extinguish fire, and the electric fire extinguisher is small in size, fast in moving, simple in structure and easy and convenient to operate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the fire fighting robot of the present invention;
FIG. 2 is a partial enlarged view A of FIG. 1;
FIG. 3 is a front view of the fire fighting robot of the present invention;
FIG. 4 is a partial enlarged view B of FIG. 3;
FIG. 5 is a partial enlarged view C of FIG. 3;
FIG. 6 is a right side view of the fire fighting robot of the present invention;
FIG. 7 is a top view of the fire fighting robot of the present invention;
FIG. 8 is a left side view of the fire fighting robot of the present invention;
FIG. 9 is a schematic view of the support frame of the present invention disposed on the elastic member;
FIG. 10 is a schematic view of the construction of the fastener and pin of the present invention;
in the figure: 100-fire extinguishing robot, 1-chassis walking device, 2-fire extinguisher component, 3-clamping device, 4-adjusting device, 5-controller, 6-trigger device, 7-locking device, 8-support device, 9-camera, 10-flange bearing, 11-underframe, 12-supporting vertical plate, 13-supporting bottom plate, 14-rotating shaft, 15-walking component, 21-cylinder, 22-pressing handle, 23-nozzle, 31-supporting side plate, 32-clasping component, 41-first driving piece, 42-first gear, 43-second gear, 44-U-shaped supporting plate, 61-supporting frame, 62-electric push rod, 63-trigger baffle, 71-pin, 72-drive plate, 73-a torsion spring, 74-a fixing piece, 81-a mounting seat, 82-an elastic piece, 151-a second driving piece, 152-a Mecanum wheel, 153-a wheat wheel mounting seat, 311-a first through groove, 312-a second through groove, 313-a first through hole, 321-a first enclosing piece, 322-a second enclosing piece and 711-a second through hole.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 10, the present invention provides an extinguishing robot 100, including a chassis walking device 1, the fire extinguisher assembly 2, a clamping device 3, an adjusting device 4, a controller 5 and a triggering device 6, wherein the chassis walking device 1 includes an underframe 11, two supporting vertical plates 12, a supporting bottom plate 13 and a rotating shaft 14, the number of the supporting vertical plates 12 is two, the two supporting vertical plates 12 are fixedly connected with the underframe 11 and are located on the underframe 11, the supporting bottom plate 13 is located between the two supporting vertical plates 12, and the rotating shaft 14 is fixedly connected with the supporting bottom plate 13 and penetrates through the supporting bottom plate 13 to be rotatably connected with the two supporting vertical plates 12;
the fire extinguisher assembly 2 comprises a cylinder body 21, a pressing handle 22 and a nozzle 23, the cylinder body 21 is fixed on the supporting base plate 13 through the clamping device 3, the pressing handle 22 and the nozzle 23 are positioned on one side far away from the supporting base plate 13, the adjusting device 4 comprises a first driving piece 41, a first gear 42 and a second gear 43, the first driving piece 41 is fixedly connected with the base frame 11, electrically connected with the controller 5 and positioned on one side of the supporting base plate 13, the first gear 42 is in transmission connection with the output end of the first driving piece 41, and the second gear 43 is fixedly connected with the rotating shaft 14, engaged with the first gear 42 and positioned on one side of the supporting vertical plate 12 far away from the supporting base plate 13;
In the embodiment, the chassis walking device 1 drives the fire extinguisher assembly 2 to move close to a fire source to extinguish a fire; the base frame 11 is composed of an aluminum support and a carbon fiber plate. The clamping device 3 is used for fixing the cylinder 21 and preventing the cylinder from shaking and moving; the adjusting device 4 is used for driving the fire extinguisher component 2 to uniformly shake dry powder in the cylinder 21 when extinguishing fire, so that the fire extinguishing treatment of a fire source can be rapidly carried out; the controller 5 is a master device for controlling the starting, speed regulation, braking and reversing of the motor by changing the wiring of the main circuit or the control circuit and changing the resistance value in the circuit according to a preset sequence. The system consists of a program counter, an instruction register, an instruction decoder, a timing generator and an operation controller 5, and is a decision mechanism for issuing commands, and the model of the system can be PCWS-ZJ 01. The trigger device 6 is used for replacing manual work to press the press handle 22 to extinguish fire, and prevents danger caused by fire extinguishing when personnel need to be close to a fire source. The chassis walking device 1 comprises an underframe 11, a plurality of supporting vertical plates 12, a supporting bottom plate 13 and a rotating shaft 14, wherein the two supporting vertical plates 12 are used for supporting the rotating shaft 14, the fire-extinguishing robot 100 further comprises a plurality of flange bearings 10, the flange bearings 10 are fixedly connected with the rotating shaft 14, are abutted against the supporting vertical plates 12 and the supporting bottom plate 13, and the flange bearings 10 mainly have the functions of supporting a mechanical rotating body, namely the rotating shaft 14 and the second gear 43, reducing the friction coefficient in the movement process and ensuring the rotation precision. The fire extinguisher component 2 comprises a cylinder 21, a pressing handle 22, a nozzle 23, a carrying handle, a safety pin, a pressure gauge, a nameplate, a head valve body, a fire extinguishing agent and a siphon pipe. The adjusting device 4 comprises a first driving member 41, a first gear 42 and a second gear 43, the first driving member 41 is a stepping motor, and the stepping motor is an open-loop control motor which converts an electric pulse signal into an angular displacement or a linear displacement. In the non-overload condition, the rotation speed and stop position of the motor only depend on the frequency and pulse number of the pulse signal, and are not influenced by the load change, when the stepping driver receives a pulse signal, the stepping driver drives the stepping motor to rotate by a fixed angle in a set direction, namely a stepping angle, and the rotation of the stepping motor is operated by one step at the fixed angle. The angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the purpose of speed regulation is achieved, and the model is DMBR-08E. The triggering device 6 comprises a supporting frame 61, an electric push rod 62 and a triggering baffle 63, wherein the supporting frame 61 is an aluminum frame and is used for supporting the electric push rod 62 and the triggering baffle 63. The electric push rod 62 is also called a linear driver, is a novel linear actuating mechanism mainly composed of a motor push rod and a control device mechanism, is an electric driving device for converting the rotary motion of a motor into the linear reciprocating motion of the push rod, and can be GRA-D8.
The specific process is as follows: the chassis walking device 1 drives the fire extinguisher assembly 2 to reach a fire source position, the controller 5 outputs a first control signal to the first driving part 41, the first driving part 41 receives the first control signal to rotate, the output end of the first driving part 41 is in transmission connection with the first gear 42 so as to drive the first gear 42 to rotate, the second gear 43 is meshed with the first gear 42 to drive the second gear 43 to rotate, the second gear 43 is fixedly connected with the rotating shaft 14, the rotating shaft 14 is fixedly connected with the supporting bottom plate 13 so as to drive the fire extinguisher assembly 2 on the supporting bottom plate 13 to rotate therewith, so that dry powder in the cylinder 21 can be uniformly shaken, and the dry powder can be adjusted; the angle of the nozzle 23 allows it to be aimed at the fire source for more effective fire suppression. The controller 5 outputs a second control signal to the electric push rod 62, the electric push rod 62 receives the second control signal and reciprocates, so that the trigger baffle 63 is driven to reciprocate and is used for pressing the pressing handle 22, and then the dry powder which is uniformly shaken is sprayed out to cover a fire source to extinguish the fire. Compared with the traditional complex fire extinguisher with a water gun outdoors, the fire extinguishing robot 100 can extinguish fire at the initial stage of an indoor fire source and automatically press and spray dry powder, so that the danger caused by the fact that personnel need to be close to the fire source to extinguish the fire is avoided, the structure is simple, and the operation is simple and convenient.
According to the fire-extinguishing robot 100, the two supporting vertical plates 12 are fixedly connected with the underframe 11, the supporting bottom plate 13 is positioned between the two supporting vertical plates 12, and the rotating shaft 14 is fixedly connected with the supporting bottom plate 13 and penetrates through the supporting bottom plate 13 to be rotatably connected with the two supporting vertical plates 12; the cylinder 21 is fixed on the supporting bottom plate 13 through the clamping device 3, the first driving element 41 is fixedly connected with the base frame 11 and electrically connected with the controller 5, the first gear 42 is in transmission connection with the output end of the first driving element 41, and the second gear 43 is fixedly connected with the rotating shaft 14 and meshed with the first gear 42; the supporting frame 61 is fixedly connected with the supporting bottom plate 13, the electric push rod 62 is fixedly connected with the supporting frame 61 and electrically connected with the controller 5, and the trigger baffle 63 is fixedly connected with the electric push rod 62, is positioned on the pressing handle 22 and presses the pressing handle 22 along with the linear movement of the electric push rod 62. The first gear 42 and the second gear 43 are meshed to drive the cylinder 21 to shake, so that dry powder in the cylinder 21 is uniform, the electric push rod 62 linearly moves to press the pressing handle 22 to spray the dry powder to extinguish fire, and the fire extinguisher is simple in structure and convenient to operate.
Further, chassis running gear 1 still includes four at least walking assemblies 15, four walking assemblies 15 are located around chassis 11, walking assemblies 15 include second driving piece 151, mecanum wheel 152 and wheat wheel mount 153, second driving piece 151 with chassis 11 fixed connection, and be located on chassis 11, wheat wheel mount 153 with the output transmission of second driving piece 151 is connected, and with mecanum wheel 152 fixed connection, and be located second driving piece 151 with between mecanum wheel 152.
In this embodiment, the second driving element 151 is a motor, the second driving element 151 is mounted on the periphery of the base frame 11 through a motor support, and is electrically connected to the controller 5, the mecanum wheel 152 is connected to the output end of the second driving element 151 through the microphone mounting seat 153, and the mecanum wheel 152 can move forward, laterally move, obliquely move, rotate, and a combination thereof. Controller 5 outputs the third control signal, second driving piece 151 receives the third control signal, drives mecanum wheel 152 motion, and then drives fire extinguisher subassembly 2 removes to fire source position department and puts out a fire, can carry out indoor fire extinguishing, and need not personnel and remove to the fire source, and is safe high-efficient.
Further, clamping device 3 embraces the subassembly 32 tightly including supporting curb plate 31 and two at least, supporting curb plate 31 with supporting baseplate 13 fixed connection, and be located barrel 21 is kept away from one side of support frame 61, it encloses the piece 322 to embrace the subassembly 32 tightly including first enclosure 321 and second, first enclosure 321 with supporting curb plate 31 fixed connection, and encircle barrel 21, the second enclose the one end of piece 322 with first enclosure 321 rotates to be connected, the other end with first enclosure 321 can dismantle the connection, and enclose jointly barrel 21.
In this embodiment, the support side plate 31 may restrict the fire extinguisher assembly 2 from moving left and right and back and forth. The first enclosing piece 321 and the second enclosing piece 322 are both composed of aluminum frames with semicircular cross sections, one end of each aluminum frame rotates through a shaft, and the other end of each aluminum frame is locked through a bolt and can be detached for replacement. At least two of the clasping assemblies 32 may increase the stability of the fire extinguisher assembly 2.
Further, the support side plate 31 has a first through slot 311 and a second through slot 312, the first through slot 311 is located on a side away from the support bottom plate 13, and the second through slot 312 is located on a side of the first through slot 311 close to the nozzle 23. Fire-fighting robot 100 still includes locking device 7, locking device 7 includes pin 71, driver plate 72 and torsional spring 73, driver plate 72 is located in first logical groove 311, pin 71 with support curb plate 31 and rotate and be connected, and run through support curb plate 31 with driver plate 72, torsional spring 73 with support curb plate 31 with driver plate 72 fixed connection, and the cover is located on the pin 71, and be located driver plate 72 with support between the curb plate 31. The support side plate 31 has a first through hole 313, the pin 71 has a second through hole 711, and the first through hole 313 communicates with the second through groove 312 and the second through hole 711. The locking device 7 further includes a fixing member 74, and the fixing member 74 penetrates through the first through hole 313, the second through groove 312 and the second through hole 711 and abuts against the nozzle 23.
In this embodiment, the locking device 7 can limit the up-and-down movement of the fire extinguisher assembly 2. The driving plate 72 is fitted on the supporting side plate 31 through the pin 71, and a torsion spring 73 is installed to prevent the driving plate 72 from rotating downward due to vibration, the torsion spring 73 is fitted on the pin 71, one end of the torsion spring 73 is fixed to the supporting side plate 31, the other end is fixed to the driving plate 72, the nozzle 23 is located in the second through groove 312 and fixed by the fixing member 74, and the fixing member 74 is a bolt. Specifically, when the fire extinguisher assembly 2 needs to be replaced, the fixing member 74 is moved from the second through hole 711, the second through hole 312 and the first through hole 313, the nozzle 23 is taken out, a new fire extinguisher assembly 2 is replaced, the replaced nozzle 23 is placed in the second through hole 312, the fixing member 74 is inserted into the first through hole 313, the dial 72 is turned, the pin 71 is rotated until the second through hole 711 and the first through hole 313 are located on the same straight line, and the fixing member 74 is inserted into the second through hole 312 and the second through hole 711 to abut against the nozzle 23. The nozzle 23 is prevented from shaking randomly and not being capable of accurately extinguishing the fire source.
Further, the fire-fighting robot 100 further comprises a supporting device 8, the supporting device 8 comprises a mounting seat 81 and an elastic part 82, the mounting seat 81 is fixedly connected with the underframe 11 and is located at one side of the cylinder 21 far away from the supporting frame 61, and the elastic part 82 is fixedly connected with the mounting seat 81 and is located at one side of the underframe 11 far away from the supporting frame 61.
In the present embodiment, the elastic member 82 is a spring, and is a mechanical component that operates by elasticity, and a component made of an elastic material is deformed by an external force and can be restored to its original shape after the external force is removed. When the fire-fighting robot 100 does not work, the first driving part 41 drives the first gear 42 to rotate, and then drives the second gear 43 to rotate, so as to drive the support frame 61 to one side of the elastic part 82 rotates, so that the support frame 61 is located on the elastic part 82, the second driving part 151 is prevented from being stressed consistently, and the second driving part 151 is protected.
Further, the fire-fighting robot 100 further comprises a camera 9, wherein the camera 9 is detachably connected with the supporting side plate 31, electrically connected with the controller 5, and located on one side of the cylinder 21 away from the supporting side plate 31.
In the present embodiment, the camera 9 is fixed to the support side plate 31 by bolts, and the fire is extinguished by taking a picture and recording the picture with the camera 9 and locating the fire source under the control of the controller 5.
Further, the adjusting device 4 further includes a U-shaped supporting plate 44, where the U-shaped supporting plate 44 is fixedly connected to the bottom frame 11, is rotatably connected to the rotating shaft 14, and is located on a side of the second gear 43 away from the vertical supporting plate 12.
In this embodiment, the U-shaped supporting plate 44 functions to support the rotating shaft 14 and the second gear 43, so that the rotation is stabilized, and the barrel 21 is driven to shake to perform the dry powder homogenizing treatment, and then fire is extinguished by aiming at the fire source.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A fire-extinguishing robot is characterized in that,
the fire extinguisher comprises a chassis walking device, the fire extinguisher assembly, a clamping device, an adjusting device, a controller and a triggering device, wherein the chassis walking device comprises a chassis, two supporting vertical plates, a supporting bottom plate and a rotating shaft, the two supporting vertical plates are fixedly connected with the chassis and positioned on the chassis, the supporting bottom plate is positioned between the two supporting vertical plates, and the rotating shaft is fixedly connected with the supporting bottom plate and penetrates through the supporting bottom plate to be rotatably connected with the two supporting vertical plates;
the fire extinguisher assembly comprises a cylinder body, a pressing handle and a nozzle, the cylinder body is fixed on the supporting base plate through the clamping device, the pressing handle and the nozzle are positioned on one side far away from the supporting base plate, the adjusting device comprises a first driving piece, a first gear and a second gear, the first driving piece is fixedly connected with the underframe, is electrically connected with the controller and is positioned on one side of the supporting base plate, the first gear is in transmission connection with the output end of the first driving piece, and the second gear is fixedly connected with the rotating shaft, is meshed with the first gear and is positioned on one side, far away from the supporting base plate, of the supporting vertical plate;
trigger device includes support frame, electric putter and trigger baffle, the support frame with supporting baseplate fixed connection to be located keeps away from one side of first driving piece, electric putter with support frame fixed connection, and with the controller electricity is connected, and is located keeps away from one side of supporting baseplate, trigger baffle with electric putter fixed connection, and be located press last, and follow electric putter rectilinear movement presses the handle.
2. The fire fighting robot of claim 1,
chassis running gear still includes four at least running gear, four running gear is located around the chassis, running gear includes second driving piece, mecanum wheel and wheat wheel mount pad, the second driving piece with chassis fixed connection, and be located on the chassis, wheat wheel mount pad with the output transmission of second driving piece is connected, and with mecanum wheel fixed connection, and be located the second driving piece with between the mecanum wheel.
3. The fire fighting robot of claim 1,
clamping device embraces the subassembly including supporting curb plate and two at least, support the curb plate with supporting baseplate fixed connection, and be located the barrel is kept away from one side of support frame, it encloses the piece including first enclosing piece and second to embrace the subassembly tightly, first enclosing piece with support curb plate fixed connection, and encircle the barrel, the second enclose the one end of piece with first enclosing piece rotates to be connected, the other end with first enclosing piece can dismantle the connection, and encloses jointly the barrel.
4. The fire fighting robot of claim 3,
the support side plate is provided with a first through groove and a second through groove, the first through groove is located on one side far away from the support bottom plate, and the second through groove is located on one side, close to the nozzle, of the first through groove.
5. The fire fighting robot of claim 4,
the fire-fighting robot further comprises a locking device, the locking device comprises a pin, a drive plate and a torsion spring, the drive plate is located in the first through groove, the pin is connected with the support side plate in a rotating mode and runs through the support side plate and the drive plate, the torsion spring is connected with the support side plate and the drive plate in a fixed mode, the torsion spring is sleeved on the pin, and the drive plate is located between the support side plate and the drive plate.
6. The fire fighting robot of claim 5,
the support side plate is provided with a first through hole, the pin is provided with a second through hole, and the first through hole is communicated with the second through groove and the second through hole.
7. The fire fighting robot of claim 6,
the locking device further comprises a fixing piece, and the fixing piece penetrates through the first through hole, the second through groove and the second through hole and abuts against the nozzle.
8. The fire fighting robot of claim 1,
the fire-fighting robot further comprises a supporting device, the supporting device comprises a mounting seat and an elastic piece, the mounting seat is fixedly connected with the bottom frame and is located on one side, away from the barrel, of the supporting frame, and the elastic piece is fixedly connected with the mounting seat and is located on one side, away from the bottom frame.
9. The fire fighting robot of claim 3,
the fire-fighting robot further comprises a camera, wherein the camera is detachably connected with the supporting side plate, electrically connected with the controller and located on one side of the cylinder, and the supporting side plate is far away from one side of the cylinder.
10. The fire fighting robot of claim 1,
the adjusting device further comprises a U-shaped supporting plate, the U-shaped supporting plate is fixedly connected with the bottom frame, is rotatably connected with the rotating shaft, and is positioned on one side, away from the supporting vertical plate, of the second gear.
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| CN202010121307.2A CN111135506B (en) | 2020-02-26 | 2020-02-26 | Fire extinguishing robot |
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| CN202010121307.2A CN111135506B (en) | 2020-02-26 | 2020-02-26 | Fire extinguishing robot |
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| CN111135506B CN111135506B (en) | 2024-04-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101587A (en) * | 2020-12-21 | 2021-07-13 | 明岗 | Security protection inspection robot |
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| CN110585628A (en) * | 2019-09-20 | 2019-12-20 | 宁波凯旋消防器材有限公司 | Fire extinguisher capable of automatically shaking |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN212038711U (en) * | 2020-02-26 | 2020-12-01 | 桂林电子科技大学 | Fire-extinguishing robot |
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- 2020-02-26 CN CN202010121307.2A patent/CN111135506B/en active Active
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| CN109925626A (en) * | 2017-12-19 | 2019-06-25 | 苏观福 | A kind of fire-fighting sprays fire extinguisher efficient oscillating uniform device |
| CN110585628A (en) * | 2019-09-20 | 2019-12-20 | 宁波凯旋消防器材有限公司 | Fire extinguisher capable of automatically shaking |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
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| CN111135506B (en) | 2024-04-02 |
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