CN111330195A - Fire-fighting robot body - Google Patents
Fire-fighting robot body Download PDFInfo
- Publication number
- CN111330195A CN111330195A CN202010259780.7A CN202010259780A CN111330195A CN 111330195 A CN111330195 A CN 111330195A CN 202010259780 A CN202010259780 A CN 202010259780A CN 111330195 A CN111330195 A CN 111330195A
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- cavity
- fire
- fighting robot
- arm
- armed lever
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/26—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
- B60B9/28—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes with telescopic action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fire-fighting robot body, which belongs to the field of fire fighting and comprises a body and four rollers positioned on the body, wherein two mechanical arms are arranged on the body, the rollers can rotate to drive the fire-fighting robot body to move, each roller comprises a roller body and 6 rolling arms uniformly and respectively arranged on the roller body, the rolling arms are distributed around the roller body, when the rollers rotate, the 6 rolling arms rotate to respectively contact with the ground to drive the rollers to advance, and the rolling arms are elastically connected with the roller bodies so that the rolling arms can be partially retracted into the roller bodies when the rolling arms contact with the ground.
Description
Technical Field
The invention relates to the field of fire-fighting robots.
Background
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback.
At present, a newly developed fire phoenix hydraulic fire-fighting fire-extinguishing robot with variable frequency, variable flow and variable function and variable weight realizes one control terminal and can simultaneously control 8 robots within a range of 3 kilometers. The fire disaster prevention device is light and convenient, is suitable for various small-sized daily dangerous fire accidents, and has a plurality of advantages.
Current fire-fighting robot all is the mode through gyro wheel or track and moves and makes fire-fighting robot can move under some complicated topography control, but the mode of gyro wheel or rolling area makes fire-fighting robot very unstable when the operation, especially is when being equipped with stranded personnel on fire-fighting robot, stranded personnel probably receive secondary damage, the mode of track also makes the track blocked by some barriers easily, if when carrying out great angle rotation, the track operation needs bigger space, be blocked easily in the demonstration, influence rescue effect.
Current fire-fighting robot all is the mode through gyro wheel or track and moves and makes fire-fighting robot can move under some complicated topography control, but the mode of gyro wheel or rolling area makes fire-fighting robot very unstable when the operation, especially is when being equipped with stranded personnel on fire-fighting robot, stranded personnel probably receive secondary damage, the mode of track also makes the track blocked by some barriers easily, if when carrying out great angle rotation, the track operation needs bigger space, be blocked easily in the demonstration, influence rescue effect.
Disclosure of Invention
The invention aims to solve the existing problems and discloses a fire-fighting robot body, which comprises a body and four rollers positioned on the body, wherein two mechanical arms are arranged on the body, the rollers can rotate to drive the fire-fighting robot body to move, each roller comprises a roller body and 6 rolling arms uniformly and respectively arranged on the roller body, the rolling arms are distributed around the roller body, when the rollers rotate, the 6 rolling arms rotate to respectively contact with the ground to drive the rollers to advance, the rolling arms are elastically connected with the roller body, when the rolling arms contact with the ground, the rolling arms can partially retract into the roller body, and when the rolling arms leave the ground, the rolling arms extend out of the roller body; the gyro wheel in be equipped with the cavity, roll the arm and include armed lever, the body of rod, fastener, spring, the body of rod fix the bottom at the cavity, the bottom and the armed lever of body coupling cavity, the spring is located between armed lever and the cavity bottom, the spring is by the armed lever extrusion make the spring receive the preload power of a compression, when the power that the armed lever received is less than preload power, the armed lever can not stretch into in the cavity, when the armed lever is greater than preload power by ground extruded power, the spring is by the armed lever extrusion, the armed lever can remove in towards the cavity.
As the improvement, the arm rod is provided with a fixed cavity, the rod body is inserted into the fixed cavity, a fastener arranged on the rod body is arranged in the fixed cavity, and the fastener fastens the rod body so that the arm rod can extrude the spring.
As the improvement, the fastener is a bolt.
As an improvement, the body is provided with a camera for shooting the surrounding environment and transmitting the shooting data to the remote controller.
As an improvement, the tail end of the arm rod is provided with a plurality of fixing heads.
As an improvement, the fixing head comprises a round fixing plate and a connecting rod, and the connecting rod is connected with the fixing plate and the tail end of the arm rod.
Drawings
FIG. 1 is a controller of the present invention;
FIG. 2 is a fixed handle of the present invention;
FIG. 3 is a magnetic induction unit of the present invention;
FIG. 4 is a rolling member of the present invention;
FIG. 5 is a motor of the present invention;
FIG. 6 is a robotic effector of the present invention;
FIG. 7 is a roller of the present invention;
FIG. 8 is a schematic view of a roller arm;
FIG. 9 is a schematic view of a robotic arm;
FIG. 10 is a schematic view of the gripper;
FIG. 11 is a schematic view of a gripper arm;
FIG. 12 is a schematic view of a retaining head;
the labels in the figure are: the labels in the figure are: 100-controller, 110-grab handle, 111-rotating base, 112-fixed handle, 113-rotating handle, 114-arc rod, 115-arc sleeve, 116-magnet, 117-magnetic induction unit, 1171-arc guide rail, 1172-rolling element, 11721-gear, 11722-motor, 1173-connecting arm, 1174-center rod, 1175-electrified coil, 120-first connecting rod, 130-second connecting rod, 140-rotating rod, 150-fixed base, 200-fire-fighting robot body, 210-body, 220-roller, 221-roller body, 222-rolling arm, 2221-cavity, 2222-rod body, 2223-fastener, 2224-arm rod, 22241-fixed cavity, 22242-fixed head, 2225-spring, 300-mechanical arm, 310-first movable arm, 320-second movable arm, 330-third movable arm, 340-fourth movable arm, 350-gripper, 351-gripper arm, 352-movable rod, 353-driving rod, 354-driving cavity, 355-driven piston, 356-driving piston, 357-driving rod, 358-motor component, 359-pneumatic cavity and 360-pneumatic sensor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1: as shown in fig. 1-2, the present invention discloses a remote fire-fighting robot controller 100 for remotely controlling a fire-fighting robot, the controller 100 including a grip handle 110, the grip handle 110 including a rotation base 111, a fixed handle 112, a rotation handle 113, an arc rod 114, an arc sleeve 115, a magnet 116, and a magnetism sensing unit 117, the rotation handle hinged to the rotation base 111, a hinge axis being an X axis, the fixed handle fixedly connected to the rotation base 111, the rotation handle being rotatable with respect to the X axis, the arc rod 114 being located on the rotation handle, an arc center of the arc rod being on the X axis, the fixed handle being provided with the arc sleeve 115, the arc rod being capable of being inserted into and extended out of the arc sleeve 115 when the rotation handle rotates around the X axis, a magnet 116 being provided at a distal end of the arc rod, the arc sleeve being provided with the magnetism sensing unit 117, the magnetism sensing unit being capable of generating a changeable magnetic field at the magnet 116 to vary a magnetic force generated by the magnet, the magnetic induction unit 117 can move in the arc-shaped sleeve, and when the magnetic induction unit moves, the magnetic induction unit rotates around the X axis to change the magnetic field intensity applied to the magnet, the controller is provided with a Hall sensor which can detect the rotation of the rotating handle and the fixed handle, and the Hall sensor is connected with the central processing system.
As shown in fig. 3, the magnetic induction unit 117 includes an arc guide rail 1171 fixedly connected to the arc sleeve, a rolling member 1172, a connecting arm 1173, a central rod 1174, and an electric coil 1175, the arc center of the arc guide rail is on the X axis, the rolling member can roll along the arc guide rail, the connecting arm is fixedly connected to the rolling member, the central rod is located at the end of the connecting arm, the electric coil is sleeved on the central rod, and the current magnitude and the current direction of the electric coil can be changed by the central processing system.
The rolling member 1172 comprises a rolling sleeve, a gear 11721 is arranged in the rolling sleeve, a tooth part is arranged on the arc-shaped guide rail, the gear is matched with the tooth part, a motor 11722 for driving the gear to rotate is arranged on the rolling sleeve, and the motor is controlled by the central processing system.
As shown in fig. 2, the rotating base 111 is fixedly connected to the first connecting rod 120, the first connecting rod is fixedly connected to the second connecting rod 130, the first connecting rod and the second connecting rod can rotate relatively and are provided with sensors for detecting the rotation, the rotation axis is a Y axis, and the Y axis is perpendicular to the X axis.
As shown in fig. 1, the second connecting rod is connected to a rotating rod 140, the second connecting rod can rotate relative to the rotating rod 140 and is provided with a sensor for detecting the rotation, the rotation is a Z-axis, the Z-axis is perpendicular to a Y-axis, and the Z-axis is perpendicular to an X-axis.
As shown in FIG. 1, the fixed seat 150 is connected to the rotating rod, the rotating rod can rotate relatively, the rotation axis is an X1 axis, an X1 axis is parallel to the X axis, and an X1 axis is perpendicular to the Z axis.
Example 2: as shown in fig. 6, the present invention discloses a fire-fighting robot body 200, comprising a body 210 and four rollers 220 on the body, wherein the body is provided with two mechanical arms 300, the rollers can rotate to drive the fire-fighting robot body to move, each roller 220 comprises a roller body 221 and 6 roller arms 222 uniformly and respectively arranged on the roller body, the roller arms are distributed around the roller body, when the rollers rotate, the 6 roller arms rotate to respectively contact with the ground to drive the rollers to advance, the roller arms are elastically connected with the roller body so that when the roller arms contact with the ground, the roller arms can be partially retracted into the roller body 221, and when the roller arms leave the ground, the roller arms extend out of the roller body 221; the roller body is internally provided with a cavity 2221, the roller arm comprises an arm rod 2224, a rod body 2222, a fastening piece 2223 and a spring 2225, the rod body is fixed at the bottom of the cavity 2221 and is connected with the bottom of the cavity and the arm rod 2224, the spring is positioned between the arm rod and the bottom of the cavity, the spring is extruded by the arm rod to enable the spring to be subjected to a compressive preload force, when the force applied to the arm rod is smaller than the preload force, the arm rod cannot extend into the cavity, and when the force applied to the arm rod by ground extrusion is larger than the preload force, the spring is extruded by the arm rod, and the arm rod can move towards the cavity. The arm pole be equipped with a fixed cavity 22241, the body of rod is inserted in the middle of the fixed cavity, is equipped with the fastener 2223 of installing on the body of rod in the fixed cavity, fastener fastening body of rod is so that the arm pole can extrude the spring. The fastener is a bolt. The body 210 is provided with a camera for shooting the surrounding environment and transmitting the shooting data to the remote controller. The end of armed lever be equipped with a plurality of fixed head 22242, the fixed head include circular shape stationary blade and connecting rod, the end of stationary blade and armed lever is connected to the connecting rod, the fixed head make the contact surface increase on armed lever and ground, can reduce the damage to ground, improve the frictional force on armed lever and ground simultaneously, prevent the phenomenon of skidding. The rolling arms which are uniformly distributed can enable the machine body to operate in various complex environments, wherein the preloading force of the spring enables the machine body to operate more stably, the rolling arms have certain elasticity, the machine body can have a certain buffering effect to cope with complex terrain environments, the rolling wheels do not need to be sunk into pits, and meanwhile when trapped people exist on the machine body, the trapped people can not be damaged secondarily. The gyro wheel is in some angles, and two roll arms support the gyro wheel simultaneously, and in this time, the axial force that two roll arms received is less, because the few point that the roll arm can contract, and then compares with a roll arm support ground, the high change of gyro wheel body is little, and the balance performance is good.
Example 3: as shown in fig. 9-10, the embodiment discloses a mechanical arm of a fire-fighting robot, the mechanical arm is connected to a fire-fighting robot body 200, the fire-fighting robot body is movable, a gripper 350 for gripping a human body is arranged at the end of the mechanical arm, the gripper includes 2 gripper arms, two gripper arms are respectively connected to movable rods 352, 2 movable rods are hinged to a driving rod 353, the gripper arms are hinged to a fourth movable arm 340, a driving cavity 354 is arranged inside the fourth movable arm, a driven piston 355 is arranged at the end of the driving rod, the driven piston is located in the driving cavity, an active piston 356 is further arranged in the driving cavity, the active piston is connected to an active rod 357, the active rod is connected to a motor assembly 358, a sealed pneumatic chamber 359 is arranged between the active piston and the driven piston, the motor assembly 358 drives the active rod to squeeze the active piston, the active piston squeezes the pneumatic chamber 359 to further squeeze the driven piston 355 to drive the gripper arms to open and, the fire-fighting robot controller is characterized in that an air pressure sensor 360 for detecting air pressure in the air pressure cavity is arranged on the passive piston, air pressure data detected by the air pressure sensor is transmitted to the central processing unit, the central processing unit controls the fire-fighting robot controller according to the air pressure data, the controller comprises a handle part held by an operator, force proportional to the air pressure data is applied to the handle part by the controller, the operator applies force to the handle so as to counteract the force of the controller to the handle part, the handle part is kept balanced, and the operator can feel the biting force of the hand grip.
The fourth movable arm 340 is connected with the fourth movable arm 330, the third movable arm and the fourth movable arm can rotate relatively,
third movable arm be connected with the second movable arm, second movable arm and third movable arm 330 can rotate relatively, second movable arm 320 is connected with first movable arm 310, second movable arm and first movable arm can rotate relatively, first movable arm is connected on the fire-fighting robot organism to do not do fire-fighting robot organism control. The first, second, third and fourth movable arms are provided with a degree of freedom of rotation or autorotation, and can be controlled by the robot to change the position of the gripper.
Example 4: the invention also discloses a fire-fighting robot execution end, which comprises a mechanical arm 300 and a fire-fighting robot body 200, wherein the mechanical arm is connected to the fire-fighting robot body 200. The invention also discloses a fire-fighting robot system, which comprises the controller 100, the fire-fighting robot body 200 and the mechanical arm 300 in the embodiment 1.
Example 5: the embodiment discloses a fire-fighting robot control system, which comprises the following steps:
step one, acquiring the rotation angles of a rotating handle and a fixed handle of a controller, and transmitting the rotation angles to a central processing unit;
step two, the central processing unit controls the motor assembly 358 according to the rotation angle;
driving an active piston by a motor component through an active rod, extruding an air pressure cavity by the active piston, driving a passive piston 355 by the pressure intensity change of the air pressure cavity, and driving the gripping arm to open and close by the passive piston;
step four, the relative air pressure of the air pressure cavity is positively correlated with the occlusal force of the grabbing arm, when the occlusal force is larger, the larger the air pressure of the air pressure cavity deviates from the atmospheric pressure, the larger the absolute value of the relative air pressure is, and the air pressure of the air pressure quantity is detected by the air pressure sensor;
step five, the air pressure sensor transmits the detected air pressure to the central processing unit, the central processing unit controls the resistance force of rotation between the fixed handle and the rotating handle according to the detected air pressure and is sensed by an operator, specifically as shown in fig. 2, the resistance force (neglected resistance force at the x-axis hinge joint) of the rotating arm is the repulsive force of the magnetic induction unit received by the magnet, the repulsive force is related to the magnetic field intensity at the magnet 116, therefore, the magnetic induction unit controls the magnetic field intensity at the magnet 116 according to the air pressure data processed by the central processing unit, specifically, the control is performed by changing the combination of the position of the magnetic induction unit and the magnitude of the current, specifically, when the rotation angle of the fixed handle and the rotating handle is small (for example, less than 5 degrees), the central processing unit controls the magnetic field intensity at the magnet 116 only according to the magnitude of the current of the magnetic induction unit, when the rotation angle is large, on the one hand, the position of the magnetic induction unit is controlled (by controlling the motor 11722), the magnetic field strength at the magnet 116 is detected (a sensor is arranged on the magnet), and the magnetic field strength at the magnet 116 is controlled in real time by the current of the magnetic induction unit, so that the resistance force applied to the rotary handle is in proportion to or at the same level as the occlusal force. The matching mode not only enables the magnetic induction unit and the magnet 116 to keep a lower distance, reduces the energy consumption of the magnetic induction unit, but also can change the strength of the magnet 116 in real time and improve the sensing precision.
Claims (6)
1. A fire-fighting robot body (200) is characterized by comprising a body (210) and four rollers (220) positioned on the body, wherein two mechanical arms (300) are arranged on the body, the rollers can rotate to drive the fire-fighting robot body to move, each roller (220) comprises a roller body (221) and 6 rolling arms (222) uniformly and respectively arranged on the roller bodies, the rolling arms are distributed around the roller bodies, when the rollers rotate, the 6 rolling arms rotate to respectively contact with the ground to drive the rollers to advance, the rolling arms are elastically connected with the roller bodies, when the rolling arms contact with the ground, the rolling arms can be partially retracted into the roller bodies (221), and when the rolling arms leave the ground, the rolling arms extend out of the roller bodies (221); the internal cavity (2221) that is equipped with of gyro wheel, roll the arm and include armed lever (2224), the body of rod (2222), fastener (2223), spring (2225), the body of rod fix the bottom in cavity (2221), the bottom and armed lever (2224) of cavity are connected to the body of rod, the spring is located between armed lever and the cavity bottom, the spring is extruded by the armed lever and is made the spring receive a compressive preload power, when the power that the armed lever received is less than preload power, the armed lever can not stretch into in the cavity, when the armed lever is greater than preload power by ground extruded power, the spring is extruded by the armed lever, the armed lever can move towards in the cavity.
2. A fire fighting robot body (200) according to claim 1, characterized in that the arm is provided with a fixing cavity (22241) into which the shaft is inserted, and in that a fastening member (2223) is provided in the fixing cavity and mounted on the shaft, the fastening member fastening the shaft so that the arm can press the spring.
3. A fire fighting robot body (200) according to claim 2, characterized in that the fasteners are bolts.
4. A fire fighting robot body (200) according to claim 3, characterized in that the body (210) is provided with a camera for taking a picture of the surroundings and transmitting the data of the picture to a remote controller.
5. A fire fighting robot body (200) according to claim 4, characterized in that the end of the arm is provided with several fixing heads (22242).
6. A fire fighting robot body (200) according to claim 5, characterized in that the fixing head comprises a circular fixing plate and a connecting rod connecting the fixing plate and the end of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010259780.7A CN111330195B (en) | 2020-04-03 | 2020-04-03 | Fire-fighting robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010259780.7A CN111330195B (en) | 2020-04-03 | 2020-04-03 | Fire-fighting robot system |
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| Publication Number | Publication Date |
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| CN111330195A true CN111330195A (en) | 2020-06-26 |
| CN111330195B CN111330195B (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010259780.7A Active CN111330195B (en) | 2020-04-03 | 2020-04-03 | Fire-fighting robot system |
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Citations (6)
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| CN2301342Y (en) * | 1997-06-02 | 1998-12-23 | 陈文全 | Wheel structure limited not to topography |
| WO2007041181A2 (en) * | 2005-09-29 | 2007-04-12 | David Wichern | Internal wheel suspension system with a slotted rim |
| CN201295925Y (en) * | 2008-12-02 | 2009-08-26 | 吉林大学 | Remotely operated force-feedback hydraulic servo operating manipulator |
| CN107157769A (en) * | 2015-07-16 | 2017-09-15 | 梁艳 | Patient's drug administration devices |
| CN110745193A (en) * | 2019-10-22 | 2020-02-04 | 北京深醒科技有限公司 | Multi-legged robot capable of being used for security patrol |
| CN210009539U (en) * | 2018-12-17 | 2020-02-04 | 上海师范大学 | Fire-fighting patrol robot |
-
2020
- 2020-04-03 CN CN202010259780.7A patent/CN111330195B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2301342Y (en) * | 1997-06-02 | 1998-12-23 | 陈文全 | Wheel structure limited not to topography |
| WO2007041181A2 (en) * | 2005-09-29 | 2007-04-12 | David Wichern | Internal wheel suspension system with a slotted rim |
| CN201295925Y (en) * | 2008-12-02 | 2009-08-26 | 吉林大学 | Remotely operated force-feedback hydraulic servo operating manipulator |
| CN107157769A (en) * | 2015-07-16 | 2017-09-15 | 梁艳 | Patient's drug administration devices |
| CN210009539U (en) * | 2018-12-17 | 2020-02-04 | 上海师范大学 | Fire-fighting patrol robot |
| CN110745193A (en) * | 2019-10-22 | 2020-02-04 | 北京深醒科技有限公司 | Multi-legged robot capable of being used for security patrol |
Non-Patent Citations (2)
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| 张兴国: "《液压与气压传动》", 31 January 2017, 西安电子科技大学出版社 * |
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| CN111330195B (en) | 2021-05-11 |
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Address after: No.688 Kexing West Road, Wenjiang District, Chengdu City, Sichuan Province Applicant after: He Daan Address before: 1601-1605, block B, Xi'an Software Park, Keji 2nd Road, Yanta District, Xi'an City, Shaanxi Province Applicant before: He Daan |
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Effective date of registration: 20210420 Address after: 335000 No.6 Ruitian Avenue, East Ring Road, Guixi Economic Development Zone, Yingtan City, Jiangxi Province Applicant after: Jiangxi zhongkeguan Internet of things Technology Co.,Ltd. Address before: No.688 Kexing West Road, Wenjiang District, Chengdu City, Sichuan Province Applicant before: He Daan |
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