CN111359128A - Bionic fire-fighting robot - Google Patents
Bionic fire-fighting robot Download PDFInfo
- Publication number
- CN111359128A CN111359128A CN202010201160.8A CN202010201160A CN111359128A CN 111359128 A CN111359128 A CN 111359128A CN 202010201160 A CN202010201160 A CN 202010201160A CN 111359128 A CN111359128 A CN 111359128A
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- arm
- base
- fireproof
- plough
- rotatably connected
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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
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic fire-fighting robot, which belongs to the technical field of machinery and comprises a machine body, mechanical legs and an operating mechanism; the mechanical legs are symmetrically arranged on two sides of the machine body, and the machine body is rotatably connected with the mechanical legs; the operating mechanism comprises a bottom plate, a high-pressure spray gun and a cutting device; the high-pressure spray gun and the cutting device are rotatably connected with the bottom plate; the bottom plate is fixed on the machine body. The bionic fire-fighting robot can be well adapted to fire environment and has various functions.
Description
Technical Field
The invention relates to a bionic fire-fighting robot, and belongs to the technical field of machinery.
Background
Various large-scale petrochemical enterprises, the tunnel, subway etc. constantly increase, oil gas, the explosion is leaked to the poison gas, the tunnel, disaster hidden danger such as subway collapse constantly increases, fire-fighting robot can replace fire rescue personnel to get into dangerous disaster accident scene such as inflammable and explosive, it is poisonous, the oxygen deficiency, dense smoke and put out a fire, data acquisition, handle, the feedback, but because ordinary fire-fighting robot structure is unreasonable, and is bulky, and is big, and the quality is big, and the motion is unstable, and it is difficult to remove, can not make the reaction fast to the conflagration of proruption, and current fire-fighting robot function is single, can not acquire the temperature, important information such as humidity and conflagration image, the clearance function, the functional efficiency of putting out a fire is low, so can't adapt to complicated.
Disclosure of Invention
The invention relates to a bionic fire-fighting robot which can be well adapted to fire environment and has various functions.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the bionic fire-fighting robot comprises a robot body, mechanical legs and an operating mechanism; the mechanical legs are symmetrically arranged on two sides of the machine body, and the machine body is rotatably connected with the mechanical legs; the operating mechanism comprises a bottom plate, a high-pressure spray gun and a cutting device; the high-pressure spray gun and the cutting device are rotatably connected with the bottom plate; the bottom plate is fixed on the machine body.
Preferably, the high-pressure spray gun is connected with the machine body through a spray gun large arm, a first rotating base is arranged at the connecting end of the spray gun large arm and the bottom plate, and the spray gun large arm is rotatably connected with the high-pressure spray gun.
Preferably, the cutting device comprises a small cutting arm, a large cutting arm and a saw blade arm; the small cutting arm and the large cutting arm are rotatably connected, and the large cutting arm and the saw blade arm are rotatably connected; the tail end of the saw blade arm is provided with a saw blade; and a second rotating base is arranged at the connecting end of the cutting small arm and the bottom plate.
Preferably, the operating mechanism further comprises a fireproof plough, an infrared temperature measuring device and a video navigator; the infrared temperature measuring device and the video navigator are arranged on the machine body; the fireproof plough is rotatably connected with the bottom plate.
Preferably, the fireproof plough comprises a small fireproof plough arm, a large fireproof plough arm and an actuating fireproof plough arm; the small arm of the fireproof plough is rotatably connected with the large arm of the fireproof plough, and the large arm of the fireproof plough is rotatably connected with the executing arm of the fireproof plough; and a third rotating base is arranged at the connecting end of the small arm of the fireproof plough and the bottom plate.
Preferably, the machine body comprises a base and an upper cover, the base is matched with the upper cover, and the operating mechanism is rotatably connected with the upper cover.
Preferably, the base and the upper cover are both hexagonal; the base is provided with a plurality of connecting grooves which are positioned on six corners of a hexagon; the connecting groove is used for connecting the base and the mechanical leg.
Preferably, the base center is provided with a storage groove.
Preferably, the mechanical legs comprise base, thigh and knee joints; the base joint and the thigh joint and the knee joint are rotatably connected; the base section is rotatably connected with the base.
Preferably, the base segment rotates in the horizontal direction relative to the base, the thigh segment rotates in the vertical direction relative to the base segment, and the knee segment rotates in the vertical direction relative to the thigh segment.
The mechanical leg is composed of the base joint, the thigh joint and the knee joint, and a six-foot walking mode is adopted, so that the mechanical leg not only can support the weight of the robot and has strong stability, but also can enable the robot to fast walk and simultaneously cross an obstacle with a certain height. The invention can effectively overcome irregular terrain and adapt to various environments. The base that high-pressure spray gun, cutting device, fire prevention plough place can 360 rotations, and can accomplish every single move motion respectively, improves the efficiency of putting out a fire. The invention can flexibly and flexibly react and carry out multifunctional operation in fire rescue, and can ensure the high efficiency of fire rescue and the personal safety at the same time.
Drawings
Fig. 1 is a schematic structural diagram of a bionic fire-fighting robot provided in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a base according to the present invention;
FIG. 3 is a schematic structural view of the upper cover of the present invention;
FIG. 4 is a schematic view of a leg according to the present invention;
FIG. 5 is a schematic view of the operation structure of the present invention;
FIG. 6 is a schematic structural diagram of an infrared temperature measuring device and a video navigation probe according to the present invention.
Wherein: 1-base, 101-connecting groove, 102-storage groove, 2-upper cover, 3-base section, 4-thigh section, 5-knee section, 6-bottom plate, 7-operating platform, 8-spray gun big arm, 9-high pressure spray gun, 10-cutting small arm, 11-cutting big arm, 12-saw blade arm, 13-fireproof plough small arm, 14-fireproof plough big arm, 15-fireproof plough executing arm, 16-infrared temperature measuring device, 17-video navigator, 18-first rotating base, 19-second rotating base and 20-third rotating base. .
Detailed Description
For a better understanding of the nature of the invention, its description is further set forth below in connection with the specific embodiments and the drawings.
The structure of the embodiment of the invention is shown in figure 1, and comprises a machine body, mechanical legs and an operating mechanism. The machine body is rotatably connected with the mechanical legs, and the operating mechanism is rotatably connected with the machine body.
The machine body comprises a base 1 and an upper cover 2 connected with the base 1. The machine body structure comprises an upper cover structure, so that not only can the device be protected, but also an operating mechanism with more complex and comprehensive functions can be arranged on the machine body structure.
As shown in fig. 2 and 3, the base 1 and the upper cover 2 are hexagonal and fit with each other. The machine body is designed into a hexagon, so that interference between the mechanical legs can be avoided, free rotation of the legs and stability of the robot are guaranteed, and certain attractiveness is achieved. As shown in fig. 2, a plurality of connecting slots 101 are symmetrically arranged on the base 1, and the number and the width of the connecting slots 101 are both matched with those of the base section 3. The connecting slots 101 are provided at six corners of the base 1, so that the rotation angle range of the base section 3 is fixed, and mutual interference between the mechanical legs is avoided. The base section 3 is connected to the connecting groove 101 by a bolt, and the base section 3 rotates in the horizontal direction with respect to the base 1. The connection thickness of the base section 3 and the base 1 is small, and the weight of the body can be reduced. The middle of the base 1 is provided with an article placing groove for placing the mechanical legs and the driving hardware and the prepared dry powder of the operating mechanism, and meanwhile, the weight of the body can be reduced. The drive hardware includes: power module, corner sensor, servo motor, infrared temperature sensor, dry powder valve.
As shown in fig. 4, the mechanical leg structure includes a base joint 3, a thigh joint 4, and a knee joint 5. The base section 3 is connected with the strand section 4 through a bolt, and the strand section 4 rotates in the vertical direction relative to the base section 3. The thigh sections 4 are connected with the knee sections 5 through bolts, and the knee sections 5 rotate in the vertical direction relative to the thigh sections 4. The mechanical legs use servo motors to drive the movement of the base joint 3, the thigh joint 4 and the knee joint 5.
The operating mechanism is shown in fig. 5 and 6 and comprises a bottom plate 6, an operating platform 7, a spray gun big arm 8, a high-pressure spray gun 9, a cutting device, a fireproof plough, an infrared temperature measuring device 16 and a video navigator 17. The console 7 is fixed to the base plate 6. The base plate 6 is fixed to the upper cover 2. An infrared temperature measuring device 16 and a video navigator 17 are arranged on the upper cover 2. One end of the spray gun big arm 8 is provided with a first rotating base 18, and the first rotating base 18 is fixed on the operation platform 7. One end of the spray gun big arm 8 is rotatably connected with the high-pressure spray gun 9 through a bolt. First rotating base 18 can 360 rotations, and pitching motion can be accomplished to big arm 8 of spray gun and high-pressure spray gun 9, guarantees all-round putting out a fire, will put out a fire the function maximize.
The cutting device comprises a small cutting arm 10, a large cutting arm 11 and a blade arm 12. The small cutting arm 10 is rotatably connected with the large cutting arm 11 through a bolt, and the large cutting arm 11 is rotatably connected with the saw blade arm 12 through a bolt. The connecting end of the cutting small arm 10 and the operation table 7 is provided with a second rotating base 19, and the second rotating base 19 can rotate 360 degrees. The second rotating base 19 is fixed to the operation table 7. The tail end of the saw blade arm 12 is provided with a saw blade, so that a burning trunk can be cut off, the fire is prevented from expanding, weeds and branches can be cut off, and the advancing obstacle can be swept.
The fireproof plough comprises a small fireproof plough arm 13, a large fireproof plough arm 14 and an execution fireproof plough arm 15. The small fireproof plough arm 13 is connected with the large fireproof plough arm 12 through a bolt, the large fireproof plough arm 14 is connected with the executing fireproof plough arm 15 through a bolt, a third rotating base 20 is arranged at the connecting end of the small fireproof plough arm 13 and the operating platform 7, and the third rotating base 20 can rotate for 360 degrees. The third rotating base 20 is fixedly connected to the operation table 7. The fireproof plough turns the earth on the ground surface to cover the fire, thereby not only saving dry powder, but also improving the fire extinguishing efficiency.
The infrared temperature measuring device 16 is connected with infrared sensor, can reflect the accurate temperature of fire-fighting robot position in real time to can in time feed back data such as temperature, dry humidity to the controller through infrared sensor, thereby determine the flow of high-pressure spray gun and the direction that the robot gos forward on next step etc. by the controller, guarantee accurate putting out a fire, accomplish high efficiency, extravagant dry powder, also can protect fire-fighting robot itself. The base of the video navigator 17 can rotate freely in 360 degrees, and fire images are collected in real time and then fed back to the controller. The controller is positioned in the article placing groove. The video navigator 17 collects and processes images by using the CMOS vision sensor, transmits image information to the single chip microcomputer in the controller, and transmits the image information to the background PC in a wireless transmission mode. The PC machine processes and calculates the collected data such as images, temperature, humidity and the like, thereby realizing the monitoring and prediction of the fire. Meanwhile, the command sent by the PC end is received by the controller and controls the driving hardware to operate, so that the fire-fighting robot is controlled to accurately complete the task.
It should be noted that while the invention has been described in terms of the above-mentioned embodiments, there are many other embodiments of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended that all such changes and modifications be covered by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a bionical fire control robot which characterized in that: comprises a machine body, mechanical legs and an operating mechanism; the mechanical legs are symmetrically arranged on two sides of the machine body, and the machine body is rotatably connected with the mechanical legs; the operating mechanism comprises a bottom plate, a high-pressure spray gun and a cutting device; the high-pressure spray gun and the cutting device are rotatably connected with the bottom plate; the bottom plate is fixed on the machine body.
2. The biomimetic fire fighting robot of claim 1, wherein: the high-pressure spray gun is connected with the machine body through a spray gun large arm, a first rotating base is arranged at the connecting end of the spray gun large arm and the bottom plate, and the spray gun large arm is rotatably connected with the high-pressure spray gun.
3. The biomimetic fire fighting robot of claim 1, wherein: the cutting device comprises a small cutting arm, a large cutting arm and a saw blade arm; the small cutting arm and the large cutting arm are rotatably connected, and the large cutting arm and the saw blade arm are rotatably connected; the tail end of the saw blade arm is provided with a saw blade; and a second rotating base is arranged at the connecting end of the cutting small arm and the bottom plate.
4. The biomimetic fire fighting robot of claim 1, wherein: the operating mechanism also comprises a fireproof plough, an infrared temperature measuring device and a video navigator; the infrared temperature measuring device and the video navigator are arranged on the machine body; the fireproof plough is rotatably connected with the bottom plate.
5. The biomimetic fire fighting robot of claim 4, wherein: the fireproof plough comprises a small fireproof plough arm, a large fireproof plough arm and an executing fireproof plough arm; the small arm of the fireproof plough is rotatably connected with the large arm of the fireproof plough, and the large arm of the fireproof plough is rotatably connected with the executing arm of the fireproof plough; and a third rotating base is arranged at the connecting end of the small arm of the fireproof plough and the bottom plate.
6. The biomimetic fire fighting robot of claim 1, wherein: the machine body comprises a base and an upper cover, the base is matched with the upper cover, and the operating mechanism is rotatably connected with the upper cover.
7. The biomimetic fire fighting robot of claim 6, wherein: the base and the upper cover are both hexagonal; the base is provided with a plurality of connecting grooves which are positioned on six corners of a hexagon; the connecting groove is used for connecting the base and the mechanical leg.
8. The biomimetic fire fighting robot of claim 6, wherein: the center of the base is provided with a storage groove.
9. The biomimetic fire fighting robot of claim 1, wherein: the mechanical leg comprises a base joint, a thigh joint and a knee joint; the base joint and the thigh joint and the knee joint are rotatably connected; the base section is rotatably connected with the base.
10. The biomimetic fire fighting robot of claim 9, wherein: the base joint rotates in the horizontal direction relative to the base, the thigh joint rotates in the vertical direction relative to the base joint, and the knee joint rotates in the vertical direction relative to the thigh joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010201160.8A CN111359128A (en) | 2020-03-20 | 2020-03-20 | Bionic fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010201160.8A CN111359128A (en) | 2020-03-20 | 2020-03-20 | Bionic fire-fighting robot |
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| Publication Number | Publication Date |
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| CN111359128A true CN111359128A (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010201160.8A Pending CN111359128A (en) | 2020-03-20 | 2020-03-20 | Bionic fire-fighting robot |
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| CN (1) | CN111359128A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114344780A (en) * | 2022-01-18 | 2022-04-15 | 姜琳 | Bionic fire-fighting robot |
Citations (8)
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| CN104857656A (en) * | 2015-05-15 | 2015-08-26 | 张锡进 | Multifunctional fire-extinguishing and rescue engineering truck |
| CN105128016A (en) * | 2015-10-19 | 2015-12-09 | 镇江天空机器人技术有限公司 | Six-leg two-arm bionic robot |
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- 2020-03-20 CN CN202010201160.8A patent/CN111359128A/en active Pending
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| CN105128016A (en) * | 2015-10-19 | 2015-12-09 | 镇江天空机器人技术有限公司 | Six-leg two-arm bionic robot |
| CN205854318U (en) * | 2016-06-22 | 2017-01-04 | 北京科技大学 | Bionical regular hexagon Hexapod Robot |
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| WO2019190348A1 (en) * | 2018-03-27 | 2019-10-03 | Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" | Compact mobile robotic fire-extinguishing system |
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| CN114344780A (en) * | 2022-01-18 | 2022-04-15 | 姜琳 | Bionic fire-fighting robot |
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Application publication date: 20200703 |