CN111467718A - Fire-fighting robot with multifunctional chassis - Google Patents
Fire-fighting robot with multifunctional chassis Download PDFInfo
- Publication number
- CN111467718A CN111467718A CN202010363426.9A CN202010363426A CN111467718A CN 111467718 A CN111467718 A CN 111467718A CN 202010363426 A CN202010363426 A CN 202010363426A CN 111467718 A CN111467718 A CN 111467718A
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- fire
- chassis
- rotating
- monitor
- rotating frame
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- 241000876443 Varanus salvator Species 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001681 protective effect 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
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
Abstract
The invention relates to a fire-fighting robot with a multifunctional chassis, which comprises a chassis, walking chain wheels additionally arranged on two sides of the chassis, a first driving piece additionally arranged in the chassis and used for driving the walking chain wheels to rotate, and a fire-fighting water monitor, wherein a rotating mechanism used for driving the fire-fighting water monitor to rotate is arranged on the chassis; the rotating mechanism comprises a rotating frame which is arranged on a chassis in a rotating mode, a rotating shaft of the rotating frame is perpendicular to the ground and is connected to the chassis in a rotating mode, a second driving piece which drives the rotating frame to rotate is arranged on the chassis, the fire monitor is connected to the rotating frame in a rotating mode, a rotating shaft of the fire monitor is connected to the rotating frame in a rotating mode, and a power assembly which drives the fire monitor to rotate is additionally arranged on the rotating frame. The invention has the advantages that: the rotation angle of the fire water monitor in the fire-fighting robot along the direction perpendicular to the ground is increased, and the capability of the fire-fighting robot in handling complex fire conditions is increased.
Description
Technical Field
The invention relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot with a multifunctional chassis.
Background
The fire disaster is one of the most frequent and most common disasters threatening the property and life safety of the public, in urban construction, various petrochemical enterprises are continuously increased, and urban gas pipelines are networked, so that the fire disaster is frequent and has great harmfulness. In the fire extinguishing process of firefighters, due to the fact that the environment is complex and changeable, casualties are often caused, and loss is huge.
At present, fire-fighting robot is used for carrying out the fire control task of putting out a fire by more and more, and current fire-fighting robot has anti-overturning device more, especially can avoid the robot to overturn at the in-process such as climbing stairs, and it is equipped with the fire water monitor often for the transmission water column carries out remote fire fighting, and fire-fighting robot can replace the fire fighter to get into disaster accident scene, reduces fire fighter's injures and deaths.
However, the existing fire-fighting robot mainly focuses on long-distance fire fighting, but for the fire above the fire-fighting robot, the fire-fighting water cannon cannot be put out in time due to the fact that the rotation angle of the fire-fighting water cannon perpendicular to the ground is set to be small, and further certain fire-fighting defects exist.
Disclosure of Invention
The invention aims to provide a fire-fighting robot with a multifunctional chassis, which has the advantages that the rotation angle of a fire-fighting water cannon in the fire-fighting robot along the direction vertical to the ground is increased, and the capability of the fire-fighting robot for processing complex fire conditions is increased.
The above object of the present invention is achieved by the following technical solutions: a fire-fighting robot with a multifunctional chassis comprises a chassis, walking chain wheels additionally arranged on two sides of the chassis, a first driving piece additionally arranged in the chassis and used for driving the walking chain wheels to rotate, and a fire-fighting water monitor, wherein a rotating mechanism used for driving the fire-fighting water monitor to rotate is arranged on the chassis;
the rotating mechanism comprises a rotating frame which is arranged on a chassis in a rotating mode, a rotating shaft of the rotating frame is perpendicular to the ground and is connected to the chassis in a rotating mode, a second driving piece which drives the rotating frame to rotate is arranged on the chassis, the fire monitor is connected to the rotating frame in a rotating mode, a rotating shaft of the fire monitor is connected to the rotating frame in a rotating mode, and a power assembly which drives the fire monitor to rotate is additionally arranged on the rotating frame.
Through adopting above-mentioned technical scheme, first driving piece drives the walking sprocket and rotates, the walking sprocket drives the chassis walking, it advances to the fire disaster area to drive fire-fighting robot, when needs level rotation fire water monitor eliminates subaerial condition of a fire, start the second driving piece, it rotates along the direction on level and ground to drive the rotating turret, reached the rotation that drives fire water monitor horizontal direction, realized eliminating subaerial condition of a fire, when needs eliminate the condition of a fire that is higher than on ground (like the roof), when needing to rotate fire water monitor along vertical direction, start power component, the direction rotation on fire water monitor along perpendicular to ground, the fire water monitor can rotate to opening perpendicular to ground at utmost just to the roof, reached and eliminated the condition of a fire on the roof fast.
The invention is further configured to: the first driving piece adopts a stepless speed change motor.
By adopting the technical scheme, the stepless speed change motor has stable performance, is fully sealed, has dustproof and waterproof functions, and reduces the power damage of a fire-fighting robot caused by dusty environment in a fire scene and water carried by the fire-fighting robot.
The invention is further configured to: the second driving piece adopts a servo motor.
Through adopting above-mentioned technical scheme, servo motor can make control speed, and the position precision is very accurate, can turn into torque and rotational speed with the drive control object with voltage signal, and then can carry out accurate control to the turned angle of fire water monitor, reaches faster processing conflagration scene.
The invention is further configured to: and a transmission assembly is arranged between the second driving piece and the rotating frame and comprises a driven gear and a driving gear, wherein the driven gear is coaxially connected with a rotating shaft of the rotating frame, and the driving gear is coaxially connected with the second driving piece and is meshed with the driven gear.
Through adopting above-mentioned technical scheme, can be according to the drive ratio between driving gear and the driven gear, and then confirm the transmission speed of second driving piece to can reduce the required power of second driving piece control rotating turret rotation.
The invention is further configured to: the power assembly comprises a turbine coaxially connected with the fire water monitor, a worm which is rotatably arranged on the rotating frame and meshed with the turbine, and a power motor which is arranged on the rotating frame and coaxially connected with the worm.
Through adopting above-mentioned technical scheme, adopt worm gear transmission fire water monitor to rotate, the worm gear has self-locking function, because the fire water monitor is putting out a fire the in-process, just need lock after adjusting certain angle, then continuously puts out a fire, so adopt worm gear transmission fire water monitor more suitable.
The invention is further configured to: add between fire water monitor and the rotating turret and be equipped with the coupling assembling that can dismantle and be connected both, coupling assembling is including rotating two connecting axles of connection on the rotating turret, two connecting axle opposite end is provided with the adapter sleeve that is used for connecting the pivot of fire water monitor, the adapter sleeve include with the first semicircle ring of the coaxial rigid coupling of connecting axle, with the articulated second semicircle ring of laying of first semicircle ring and be used for the connecting bolt of fixed first semicircle ring and second semicircle ring, second semicircle ring and second semicircle ring form a ring of holding the pivot of fire water monitor tightly under connecting bolt's connection.
Through adopting above-mentioned technical scheme, when the fire water monitor is dismantled to needs and is maintained, connecting bolt is unloaded to the pine, to the direction rotation second semicircle ring of keeping away from first semicircle ring, until can removing the pivot of fire water monitor from first semicircle ring, after the maintenance finishes, place first semicircle ring with the rotation of fire water monitor, then to the direction rotation second semicircle ring that is close to first semicircle ring, the pivot until first semicircle ring and second semicircle ring embrace the fire water monitor, then with connecting bolt fixed can, through coupling assembling, can realize the maintenance of fire water monitor, and can be according to the conflagration scene of difference, change different fire water monitors, make the fire-fighting robot be applicable to the conflagration scene of no.
The invention is further configured to: the rotating shaft of the fire water monitor is additionally provided with a limiting strip, and the position of the first semicircular ring, which is opposite to the limiting strip, is provided with a limiting groove for accommodating the limiting strip.
Through adopting above-mentioned technical scheme, when the pivot of fire water monitor was located the adapter sleeve, spacing strip card was established at the spacing inslot, when having avoided the adapter sleeve to rotate, because the self gravity factor of fire water monitor, the pivot of fire water monitor and adapter sleeve take place relative rotation, and then the vertical reverse rotation of control fire water monitor edge, and then influence the fire control speed.
In conclusion, the beneficial technical effects of the invention are as follows:
1. the rotation angle of a fire water monitor in the fire-fighting robot along the direction vertical to the ground is increased by arranging the rotation mechanism on the chassis, and the capability of the fire-fighting robot in handling complex fire conditions is increased;
2. the fire water monitor and the rotating frame are detachably connected through the connecting component, so that the fire water monitor is convenient for maintenance of fire fighters, different fire water monitors can be replaced according to different fire scenes, and the fire-fighting robot is suitable for different fire scenes.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of a partially exploded structure embodying the transmission assembly of the present invention.
Fig. 3 is a schematic view of a partially exploded structure embodying the power module of the present invention.
Fig. 4 is a schematic view of a partially exploded structure embodying the connecting assembly of the present invention.
Fig. 5 is a partially enlarged schematic view of a portion a in fig. 4.
In the figure, 1, a chassis; 2. a traveling sprocket; 3. a first driving member; 4. fire water monitor; 5. a rotating mechanism; 51. a rotating frame; 52. a second driving member; 53. a transmission assembly; 531. a driving gear; 532. a driven gear; 6. a power assembly; 61. a turbine; 62. a worm; 63. a power motor; 64 a shield; 7. a connecting assembly; 71. a connecting shaft; 72. connecting sleeves; 721. a first semicircular ring; 722. a second semi-circular ring; 723. a connecting bolt; 724. a limiting strip; 725. a limiting groove.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example (b): as shown in fig. 1, the fire-fighting robot with a multifunctional chassis disclosed by the invention comprises a chassis 1, traveling chain wheels 2, first driving parts 3, a fire-fighting monitor 4 and a rotating mechanism 5, wherein the traveling chain wheels 2 are rotatably arranged on two sides of the chassis 1, the first driving parts 3 are arranged in the chassis 1 and are coaxially connected with the traveling chain wheels 2, and the first driving parts 3 adopt stepless speed change motors and are provided with two parts and are respectively connected with the traveling chain wheels 2 on two sides of the chassis 1.
As shown in fig. 2, the rotating mechanism 5 is disposed in the middle of the upper end of the chassis 1, the rotating mechanism 5 includes a rotating frame 51 and a second driving member 52, the rotating frame 51 is rotatably disposed on the chassis 1, the rotating frame 51 is configured as a U-shaped frame, a rotating shaft is vertically and fixedly connected to the bottom frame of the U-shaped frame, the rotating shaft of the rotating frame 51 is vertically and rotatably connected to the chassis 1, the U-shaped frame is rotatably connected to the chassis 1 through the rotating shaft, the second driving member 52 employs a servo motor, a transmission assembly 53 is disposed between the second driving member 52 and the rotating frame 51, the transmission assembly 53 includes a driving gear 531 and a driven gear 532, the driving gear 531 is coaxially and fixedly connected to the output shaft of the servo motor, the driven gear 532 is coaxially and fixedly connected to the rotating shaft of the rotating frame 51, and.
As shown in FIG. 3, the fire monitor 4 is rotatably connected to the rotating frame 51, the rotating shafts of the fire monitor 4 are respectively rotatably connected to two side frames of the U-shaped frame, the fire monitor 4 can rotate to a state that the opening is vertically upward, the rotating frame 51 is provided with a power assembly 6 for controlling the rotation of the fire monitor 4, the power assembly 6 comprises a turbine 61, a worm 62 and a power motor 63, the turbine 61 is coaxially and fixedly connected to the rotating shaft of the fire monitor 4, the worm 62 is rotatably arranged on the rotating frame 51 and is arranged in a meshed manner with the turbine 61, the power motor 63 is fixedly arranged on the rotating frame 51, the output shaft of the power motor 63 is coaxially and fixedly connected with the worm 62, the turbine 61 and the worm 62 are adopted to drive the fire monitor 4 to rotate, the turbine 61 and the worm 62 have a self-locking function, and the fire monitor 4 needs to be locked after being adjusted to a certain angle in the fire extinguishing process and, therefore, the worm gear 62 is more suitable for driving the fire water monitor 4, and the rotating frame 51 is also provided with a protective cover 64 which completely covers the power assembly 6, so as to achieve the effect of protecting the power assembly 6.
As shown in fig. 4 and 5, a connecting assembly 7 is arranged between the fire monitor 4 and the rotating frame 51, the connecting assembly 7 includes two connecting shafts 71 rotatably connected to the rotating frame 51, connecting sleeves 72 are respectively arranged at opposite ends of the two connecting shafts 71, each connecting sleeve 72 includes a first semicircular ring 721, a second semicircular ring 722 and a connecting bolt 723, the first semicircular ring 721 is coaxially and fixedly connected to the connecting shafts 71, the second semicircular ring 722 is rotatably connected to the first semicircular ring 721, the first semicircular ring 721 and the second semicircular ring 722 form a circular ring tightly embracing the rotating shaft of the fire monitor 4 under the fixing of the connecting bolt 723, a position of the rotating shaft of the fire monitor 4 opposite to the first semicircular ring 721 is fixedly connected with a limiting strip 724, and a position of the first semicircular ring 721 opposite to the limiting strip 724 is provided with a limiting groove 725 for accommodating the limiting strip 724.
When the fire water monitor 4 needs to be detached for maintenance, the connecting bolt 723 is loosened, the second semicircular ring 722 is rotated in the direction far away from the first semicircular ring 721 until the rotating shaft of the fire water monitor 4 can be moved away from the first semicircular ring 721, after the maintenance is finished, the rotating shaft of the fire water monitor 4 is placed in the first semicircular ring 721, the limiting strip 724 is located in the limiting groove 725, the second semicircular ring 722 is rotated in the direction close to the first semicircular ring 721 until the rotating shaft 722 of the fire water monitor 4 is embraced by the first semicircular ring 721 and the second semicircular ring, and then the rotating shaft is fixed by the connecting bolt 723, so that the maintenance of the fire water monitor 4 can be realized through the connecting component 7, different fire water monitors 4 can be replaced according to different fire scenes, and the fire-fighting robot is suitable for different fire scenes.
The implementation principle of the embodiment is as follows: when using the fire-fighting robot, start first driving piece 3, it rotates to drive walking sprocket 2, walking sprocket 2 drives the walking of chassis 1, it advances to the fire disaster area to drive the fire-fighting robot, when needs level rotation fire water monitor 4 eliminates subaerial condition of a fire, start second driving piece 52, it rotates along the direction of level and ground to drive rotating turret 51, until reaching the required angle of putting out a fire can, when needs eliminate the condition of a fire that is higher than on ground (like the roof), need follow vertical direction and rotate when fire water monitor 4, start power component 6, fire water monitor 4 rotates along the direction on perpendicular to ground, until reaching the required angle of putting out a fire can.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (7)
1. A fire-fighting robot with a multifunctional chassis is characterized by comprising a chassis (1), walking chain wheels (2) additionally arranged on two sides of the chassis (1), a first driving piece (3) additionally arranged in the chassis (1) and used for driving the walking chain wheels (2) to rotate and a fire-fighting water cannon (4), wherein a rotating mechanism (5) used for driving the fire-fighting water cannon (4) to rotate is arranged on the chassis (1);
slewing mechanism (5) add rotating turret (51) of establishing on chassis (1) including rotating, the pivot perpendicular to ground of rotating turret (51) rotates and connects on chassis (1), set up on chassis (1) and drive rotating turret (51) pivoted second driving piece (52), fire water monitor (4) rotate to be connected on rotating turret (51), the pivot level of fire water monitor (4) rotates on rotating turret (51) in ground, it is equipped with drive fire water monitor (4) pivoted power component (6) to add on rotating turret (51).
2. Fire fighting robot with a multifunctional chassis according to claim 1, characterized in that the first drive element (3) is an infinitely variable speed motor.
3. Fire fighting robot with a multifunctional chassis according to claim 1, characterized in that the second drive (52) is a servo motor.
4. The fire-fighting robot with the multifunctional chassis is characterized in that a transmission assembly (53) is arranged between the second driving member (52) and the rotating frame (51), and the transmission assembly (53) comprises a driven gear (532) coaxially connected with a rotating shaft of the rotating frame (51) and a driving gear (531) coaxially connected with the second driving member (52) and meshed with the driven gear (532).
5. The fire fighting robot with multifunctional chassis according to claim 1, characterized in that the power assembly (6) comprises a worm wheel (61) coaxially connected with the fire fighting monitor (4), a worm (62) rotatably attached to the rotating frame (51) and engaged with the worm wheel (61), and a power motor (63) attached to the rotating frame (51) and coaxially connected with the worm (62).
6. A fire fighting robot with multifunctional chassis according to claim 1, a connecting component (7) which is detachably connected with the fire water monitor (4) and the rotating frame (51) is additionally arranged between the fire water monitor and the rotating frame, the connecting assembly (7) comprises two connecting shafts (71) which are rotatably connected to the rotating frame (51), one opposite ends of the two connecting shafts (71) are provided with connecting sleeves (72) used for connecting rotating shafts of the fire water monitor (4), the connecting sleeve (72) comprises a first semicircular ring (721) coaxially and fixedly connected with the connecting shaft (71), a second semicircular ring (722) hinged with the first semicircular ring (721) and a connecting bolt (723) for fixing the first semicircular ring (721) and the second semicircular ring (722), the second semicircular ring (722) and the second semicircular ring (722) form a circular ring which holds the rotating shaft of the fire water monitor (4) tightly under the connection of the connecting bolt (723).
7. The fire-fighting robot with the multifunctional chassis as claimed in claim 6, wherein a limit strip (724) is additionally arranged on a rotating shaft of the fire-fighting water cannon (4), and a limit groove (725) for accommodating the limit strip (724) is formed in a position, opposite to the limit strip (724), of the first semicircular ring (721).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010363426.9A CN111467718A (en) | 2020-04-30 | 2020-04-30 | Fire-fighting robot with multifunctional chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010363426.9A CN111467718A (en) | 2020-04-30 | 2020-04-30 | Fire-fighting robot with multifunctional chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111467718A true CN111467718A (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010363426.9A Pending CN111467718A (en) | 2020-04-30 | 2020-04-30 | Fire-fighting robot with multifunctional chassis |
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|---|---|---|---|---|
| CN101091821A (en) * | 2006-06-22 | 2007-12-26 | 西安新竹防灾救生设备有限公司 | Fire fighting tank by using airflow in supersonic velocity |
| EP2397194A2 (en) * | 2010-05-31 | 2011-12-21 | Rosenbauer International Aktiengesellschaft | Fire brigade vehicle |
| CN107596827A (en) * | 2017-10-14 | 2018-01-19 | 何景洲 | A kind of hand propelled fog gun machine |
| CN207101686U (en) * | 2017-04-28 | 2018-03-16 | 合肥科大立安安全技术股份有限公司 | A kind of movable-type intelligent firefighting fire extinguishing robot |
| CN207477837U (en) * | 2017-11-10 | 2018-06-12 | 南通艾德森机电设备有限公司 | A kind of used in fire-fighting hydraulic giant fixed frame |
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| CN208756848U (en) * | 2018-04-27 | 2019-04-19 | 陈丽杨 | High-pressure water-mist fire extinguishing robot |
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2020
- 2020-04-30 CN CN202010363426.9A patent/CN111467718A/en active Pending
Patent Citations (9)
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|---|---|---|---|---|
| CN101091821A (en) * | 2006-06-22 | 2007-12-26 | 西安新竹防灾救生设备有限公司 | Fire fighting tank by using airflow in supersonic velocity |
| EP2397194A2 (en) * | 2010-05-31 | 2011-12-21 | Rosenbauer International Aktiengesellschaft | Fire brigade vehicle |
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