CN112354113A - Robot for laying and recycling water belt for fire emergency rescue and using method - Google Patents
Robot for laying and recycling water belt for fire emergency rescue and using method Download PDFInfo
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- CN112354113A CN112354113A CN202011155768.8A CN202011155768A CN112354113A CN 112354113 A CN112354113 A CN 112354113A CN 202011155768 A CN202011155768 A CN 202011155768A CN 112354113 A CN112354113 A CN 112354113A
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- water hose
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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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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C33/00—Hose accessories
- A62C33/04—Supports or clamps for fire hoses
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
A robot for laying and recovering a water belt for fire emergency rescue and a using method thereof belong to the technical field of fire-fighting equipment. Continuously laying a plurality of discs of water hoses and connecting the discs of water hoses together through a mechanical arm/hand in the advancing process of the robot; during recovery, the multiple disks of water hoses are detached and rewound to be recovered inside the robot, the multiple disks of water hoses are automatically connected through the robot, paved and recovered, and the robot can move along with the water hoses in the paving or recovering process. The automatic multi-disc water hose laying and recycling device has the advantages that the automatic multi-disc water hose laying and recycling device saves physical strength of firemen, so that the firemen can deal with fire-fighting rescue operation with more sufficient physical strength instead of using up the physical strength in the process of laying the water hose, the physical strength is sufficient, and the firemen are safer in the fire-fighting rescue operation. The laying speed is faster than that of manual laying. The time can be better grasped, and delay of fire extinguishing time due to long time consumed by manual laying is avoided.
Description
Technical Field
The invention relates to a robot for laying and recovering a water belt for fire emergency rescue and a using method, and belongs to the technical field of fire-fighting equipment.
Background
In the existing fire rescue operation, the laying and the recovery of the fire hose are carried and laid manually by firemen all the time, the laying method greatly consumes the physical power of the firemen in the initial stage of the fire rescue operation, and the laying manually consumes long time and easily misses the optimal fire extinguishing time; often the fire fighter carries the hosepipe and just exhausts when laying and finishing, also brings danger for fire fighter self when delaying the rescue opportunity of putting out a fire, and although there is fire hose laying equipment at present, its function is single, and equipment is bulky, the cost is high, only is applicable to single set overlength hosepipe and lays, and can't carry out the hosepipe and connect, can't cooperate the use with the general 20 meters water band that present fire brigade was equipped with.
The invention aims to solve the problem of laying a fire hose, and aims to solve the technical problems that a plurality of fire hoses with clamping type hose connectors are simulated and manually laid by using the robot, a plurality of hoses are connected together, and the clamping type hose connectors between two hoses are recovered and separated by using the plurality of hoses.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a robot for paving and recovering a water belt for fire emergency rescue and a using method thereof.
A robot for laying and recovering water belts for fire emergency rescue comprises a quick water belt connector, and is characterized in that two compression rollers for discharging residual water in the water belts are arranged at the upper part and the lower part, a gap for extruding the water belts is arranged between the compression rollers, the gap and clamping jaws are positioned on the same horizontal plane, detectors for detecting the road surface are arranged at the front end and the rear end of a shell of a walking device, the conveying device comprises a conveying belt driven by a first servo motor and used for conveying the water belts, a plurality of water belt supports for placing and conveying the water belts are hinged on the conveying belt, a first clamping jaw for clamping a female port of the water belts is detachably arranged on each water belt support, the compression rollers for extruding the water belts are fixedly arranged at the top of the shell, a first sensor is arranged in each compression roller, a second sensor for detecting the completion of the release of the water belts is arranged on each, be provided with first rotary groove on the baffle, the hosepipe support passes first rotary groove and is articulated with the conveyer belt, first slider is connected to hosepipe support bottom, first slider and first rotary groove adaptation are connected, crawler travel unit's walking frame is connected with the casing, walking frame and driving motor, the drive wheel, explosion-proof power supply, air pump and gas tank are connected, driving motor is connected with explosion-proof power supply, the cylinder is connected with the air pump, driving motor is connected with the drive wheel, the drive wheel is connected with the track, hosepipe leg joint hosepipe, the lateral wall of casing has the second rotary groove, there is the baffle lower part of casing, the baffle has first rotary groove, the second rotary groove is connected with the rack, rack and second servo motor's gear engagement, operating means: the operating frame is driven by a second servo motor, a first mechanical arm used for operating the first clamping jaw is arranged on the operating frame in a telescopic mode, a second clamping jaw used for operating the water hose male port is arranged on the operating frame in a telescopic mode, and the second clamping jaw is connected with the operating frame through the second mechanical arm.
The utility model provides a fire emergency rescue water area is laid, recovery robot, including track running gear and hosepipe quick-operation joint, be provided with first gripper in the casing, the second arm, second gripper and a plurality of hosepipe hold the case, every hosepipe holds the equal slidable setting of case at the casing top, every hosepipe holds all to be provided with the opening that can make first gripper get into on the case, first gripper has from top to bottom, control the degree of freedom of two directions, the second arm has telescopically, the degree of freedom of two rotatory directions, the second gripper has from top to bottom, control, the degree of freedom of flexible three direction, be provided with two squeeze rolls on the casing, the squeeze roll sets up and holds the case below at first hosepipe, leave the clearance that is used for extruding the hosepipe between the squeeze roll, further extrude remaining moisture in the hosepipe, make things convenient for the recovery of hosepipe, hosepipe quick: one end of the water hose is provided with a male water hose port, the outer circumference of the male water hose port is provided with a first groove which is adaptive to clamping of clamping fingers, the outer circumference of the female water hose port is provided with a second groove which is adaptive to clamping of clamping fingers, one end of the other water hose is provided with a female water hose port, a tripping ring is sleeved on the outer circumference of the pipe wall to form the male water hose port, the outer circumference of the pipe wall is provided with a clamping edge, a female port baffle ring of the female water hose port is sleeved on the outer circumference of the lower female port piece to be connected, the inner cavity of the lower female port piece is connected with a; when laying a water hose, an electronic lock on a first water hose containing box positioned behind a robot is opened, a bottom cover on the first water hose containing box is opened, a second mechanical arm extends out, the tail end of a female water hose clamping claw clamped on the first water hose containing box slides off automatically, a fireman picks up a male water hose and connects the male water hose to a fire engine or a fire hydrant, the robot advances forwards to drive the female first water hose clamping claw on the first water hose containing box to rotate and release the water hose simultaneously, a first mechanical claw is opened and moves to a male water hose supporting frame behind a second water hose containing box, the other male water hose is tightly gripped by the first mechanical claw in a closed mode, an opening allowing the first mechanical claw to enter is formed in each water hose containing box, a bearing is arranged between each water hose containing box and the female water hose clamping claw, and a water hose bottom cover is arranged at the bottom of each water hose containing box in an openable mode, the bottom cover is provided with a water hose male port supporting frame, each water hose containing box is matched with the bottom cover and is provided with a bolt electronic lock, each water hose containing box is fixedly provided with a servo motor, a gear is fixedly arranged on a servo motor driving shaft, the top of the shell is provided with a rack matched with the gear, the upper end of each water hose containing box is fixedly provided with a slide block, the top of the shell is provided with a slide rail, the slide rail is matched and connected with the slide block, the servo motor driving shaft is a hollow shaft, the slide block penetrates through the hollow shaft to be fixedly connected with the water hose containing box, the first mechanical claw has freedom degrees in the upper direction, the lower direction and the left direction, the second mechanical claw has freedom degrees in the telescopic direction and the rotating direction, the second mechanical claw has freedom degrees in the upper direction, the lower direction, the left direction and the right direction, the shell is provided with two extrusion rollers, the, an electronic lock on the second water hose containing box is opened, and a bottom cover on the second water hose containing box is opened; when the water hoses in the first water hose containing box are released, the water hose female clamping jaw on the first water hose containing box stops self-transmission, the second mechanical arm drives the water hose female clamping jaw on the first water hose containing box to rotate to a vertical position, meanwhile, the first mechanical jaw drives the second water hose male opening to move into the first water hose containing box, the second water hose male opening and the first water hose female opening are connected, then the first mechanical jaw and the water hose female clamping jaw on the first water hose containing box are opened, and the connected water hoses automatically fall off; the first mechanical claw and the second mechanical arm reset, the first servo motor is started to drive the first water belt containing box to move rightwards, the second servo motor is started to drive the second water belt containing box to move backwards to the position of the original first water belt containing box, the actions are repeated, the second water belt containing box, the third water belt containing box and the Nth water belt containing box are automatically released, and the water belts are laid until the water belts are laid.
A use method of a robot for paving and recovering a water belt for fire emergency rescue comprises the following steps: continuously laying a plurality of discs of water hoses and connecting the discs of water hoses together through a mechanical arm/hand in the advancing process of the robot; during recovery, the multiple disks of water hoses are detached and rewound to be recovered inside the robot, the multiple disks of water hoses are automatically connected through the robot, paved and recovered, and the robot can move along with the water hoses in the paving or recovering process.
Further comprising the steps of: the PLC is started to control the servo motor to start, the mechanical arm stretches out, the connecting block on the mechanical arm is sleeved on the claw palm, the clamping jaw is controlled to close so as to tighten the male port of the water hose, the water hose is released from a reel state along with forward movement of the robot, continuous laying operation of the water hose is completed, when laying of the water hose is completed, the clamping jaw is controlled by a fireman to loosen the female port of the water hose, so that the female port of the water hose slides onto the supporting plate, and the fireman picks up the female port of the water hose and connects the water gun to; when the hose is recovered, a fireman places the hose female opening in the clamping jaw, simultaneously the hose to be wound passes through the middle of the clamping jaw, the clamping jaw is controlled to tighten the hose female opening, the wound hose is placed on the hose support, and the reel operation is repeated to continuously recover the hose.
The invention has the advantages that:
1. automatic change many dishes of hosepipe and lay the recovery, practice thrift the fireman physical stamina for the fireman can go to deal with the rescue operation of putting out a fire with more sufficient physical power, and rather than just exhausting physical power at the in-process of laying the hosepipe, has had sufficient physical power, in the middle of the rescue operation of putting out a fire, the fireman is also safer.
2. The laying speed is faster than that of manual laying. The time can be better grasped, and delay of fire extinguishing time due to long time consumed by manual laying is avoided.
Drawings
A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention and form a part of this specification, and wherein the illustrated embodiments of the invention and the description thereof are intended to illustrate and not limit the invention, as illustrated in the accompanying drawings, in which:
fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic cross-sectional structure of the present invention.
Fig. 3 is a schematic structural diagram of the housing of the present invention.
Fig. 4 is a schematic structural diagram of an operating device of the present invention.
FIG. 5 is a schematic view of a partial structure of an operating device according to the present invention.
FIG. 6 is a second schematic view of a partial structure of the operation device of the present invention.
Fig. 7 is a schematic view of the jaw structure of the present invention.
Fig. 8 is a schematic view of the structure of the hose support of the present invention.
Fig. 9 is a schematic view of the water hose interface structure of the present invention.
FIG. 10 is a schematic cross-sectional view of a water hose interface structure of the present invention.
Fig. 11 is a schematic structural diagram of an embodiment of the present invention.
Fig. 12 is a schematic structural diagram of an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of an embodiment of the present invention.
Fig. 14 is a schematic structural diagram of an embodiment of the present invention.
The invention is further illustrated with reference to the following figures and examples.
Detailed Description
It will be apparent that those skilled in the art can make many modifications and variations based on the spirit of the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.
The following examples are further illustrative in order to facilitate the understanding of the embodiments, and the present invention is not limited to the examples.
Example 1: a robot for laying and recovering a water belt for fire emergency rescue is shown in figures 1 and 2, compression rollers 14 are arranged at the upper part and the lower part, a gap for extruding the water belt 50 is arranged between the compression rollers 14, the gap and a clamping jaw are positioned on the same horizontal plane, detectors 38 for detecting a road surface are arranged at the front end and the rear end of a shell 2 of a walking device 1, a warning lamp 39 is fixedly arranged at the top of the shell 2, a supporting plate 46 for sliding out the water belt is fixedly arranged on the shell 2, and a cover plate 47 capable of opening and closing is hinged to the shell 2.
The conveying device 3 comprises a conveying belt 6 driven by a first servo motor 5 and used for conveying the water hose, a plurality of water hose supports 7 used for placing and conveying the water hose are hinged to the conveying belt 6, and a first clamping jaw 8 used for clamping a water hose female port 54 is detachably arranged on each water hose support 7.
The connection mode of the first servo motor 5 and the conveyor belt 6 is a rotary connection mode, and the specific connection mode is not limited to a gear, a chain, a belt or a mode of adopting a rocker and a sliding block, and the rotary connection mode can be realized by only realizing the functions of rotating and positioning the conveyor belt.
Preferably, the connection mode of the gear and the rotary rack is adopted.
As shown in fig. 2, a pressing roller 14 for pressing the hose is fixedly arranged at the top of the housing 2, a first sensor is arranged in the pressing roller 14, and a second sensor for detecting that the hose is completely released is arranged on the first clamping jaw 8. A partition plate 15 is arranged between the water hose support 7 and the conveyor belt 6, a first rotary groove 16 is formed in the partition plate 15, the water hose support 7 penetrates through the first rotary groove 16 to be hinged to the conveyor belt 6, a first sliding block 17 is connected to the bottom of the water hose support 7, and the first sliding block 17 is in adaptive connection with the first rotary groove 16.
The walking frame 40 of the crawler walking device 80 is connected with the shell 2, the walking frame 40 is connected with the driving motor 42, the driving wheel, the explosion-proof power supply 43, the air pump 44 and the air tank 45, the driving motor 42 is connected with the explosion-proof power supply 43, the air cylinder is connected with the air pump 44, the driving motor 42 is connected with the driving wheel, the driving wheel is connected with the crawler 41, and the water belt bracket 7 is connected with the water belt 50.
As shown in fig. 3, the side wall of the housing 2 has a second rotary groove 31, the lower portion of the housing 2 has a partition 15, the partition 15 has a first rotary groove 16, the top of the housing 2 is connected to a warning light 39, and the second rotary groove 31 is connected to a rack 32.
As shown in fig. 3 and 4, the side wall of the housing 2 has a second rotary groove 31, the lower portion of the housing 2 has a partition plate 15, the partition plate 15 has a first rotary groove 16, the top of the housing 2 is connected to a warning light 39, the second rotary groove 31 is connected to a rack 32, and a gear 33 is engaged with the rack 32.
As shown in fig. 4, 5, and 6, the operation device 4: the water hose clamping device comprises two operation frames 10 driven by a second servo motor 9, a first mechanical arm 11 used for operating a first clamping jaw 8 is arranged on each operation frame 10 in a telescopic mode, a second clamping jaw 12 used for operating a water hose male connector is arranged on each operation frame 10 in a telescopic mode, and the second clamping jaw 12 is connected with the operation frames 10 through a second mechanical arm 13.
The second servo motor 9 and the operation frame 10 are fixedly connected in a welding, riveting, screwing or pin joint mode.
The operation frame 10 is respectively connected with the first air cylinder 25 and the second air cylinder 35, the main shaft of the second servo motor 9 is connected with the gear 33 and the second slide block 34,
the cylinder shaft of the first cylinder 25 is connected with the third servo motor 26, the main shaft of the third servo motor 26 is connected with the fifth servo motor 30 and the connecting block 29, the fifth servo motor 30 is arranged in the cavity of the connecting block 29, the main shaft of the fifth servo motor 30 is provided with the inserting hole 27, the cylinder shaft of the second cylinder 35 is connected with the third cylinder 36, the cylinder shaft of the third cylinder 36 is connected with the fourth servo motor 37, the main shaft of the fourth servo motor 37 is connected with the screw 23, the screw 23 is connected with the claw leg 20, and the claw leg 20 is provided with the clamping finger 21.
As shown in fig. 7, the clamping jaw 8 includes a claw leg 20, the claw leg 20 has a groove adapted to the opening 18, the claw leg 20 is hinged to a pair of clamping fingers 21, the clamping finger 21 has a second groove 22 adapted to the hose female port 54, the claw leg 20 is connected to the clamping finger 21 through a movable shaft, the end of the clamping finger 21 has teeth 24, the end of the insertion strip 28 has a screw 23, and the screw 23 of the insertion strip 28 passes through the central hole of the claw leg 20 and is engaged with the teeth 24 respectively.
As shown in fig. 8, the top of the hose support 7 has openings 18 for placing the first clamping jaws 8 on both sides, and the top of the front side of the hose support 7 has a first groove 19 for placing the male hose connector.
The hose quick coupling can adopt any structure of products on the market at present, and one of the prior proposals is as shown in fig. 9 and 10: one end of the water hose 50 is provided with a male water hose port 51 (plug), the outer circumference of the male water hose port 51 (plug) is provided with a first groove 52 which is adaptive to clamping of the clamping fingers 21, the outer circumference of the female water hose port 54 (socket joint) is provided with a second groove 53 which is adaptive to clamping of the clamping fingers 21, one end of the other water hose 50 is provided with a female water hose port 54 (socket joint), and the quick water hose joint can adopt a quick connection joint structure of application number 201520392322.5.
Or the quick coupling of the water hose adopts the structure shown in fig. 10, the trip ring 56 is sleeved on the outer circumference of the pipe wall to form the male port 51 of the water hose, the outer circumference of the pipe wall is provided with the clamping edge 55, the female port blocking ring 91 of the water hose female port 54 is sleeved on the outer circumference of the female port lower piece 59 to be connected, the inner cavity of the female port lower piece 59 is connected with the clamping protrusion 90, and the side surface of the clamping protrusion 90 is connected with the spring piece 58 through the screw 57.
The female joint blocking ring 91 and the female joint lower member 59 are fixedly connected to form a female hose joint 54, the male hose joint 51 is sleeved with a shedding ring 56, when the male hose joint 51 is spliced with the female hose joint 54, the clamping protrusion 90 is extruded into the side wall of the female hose joint 54 through the clamping edge 55, after the clamping edge 55 passes over the clamping protrusion 90, the elastic sheet 57 extrudes the clamping protrusion 90 inwards and is mutually matched and clamped with the clamping edge 55, so that the female hose joint 54 and the male hose joint 51 are connected, and the two discs of hoses 50 are connected; when the hose is disassembled, the trip ring 56 is pushed upwards and inserted between the male hose opening 51 and the clamping protrusion 90, the clamping protrusion 90 is extruded into the side wall of the female hose opening 54, the clamping edge 55 is separated from the clamping protrusion 90, and therefore the male hose opening 51 can be pulled out of the female hose opening 54.
Example 2: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, a robot for laying and recovering a water belt for fire emergency and rescue is provided, a robot housing 2 is fixedly arranged on a crawler traveling device 80, a conveying device 3 and an operating device 4 which are matched with each other are arranged in the housing 2, the conveying device 3 is fixedly arranged at the bottom of the housing 2, and the operating device 4 is slidably arranged on the side wall of the housing 2.
The conveying device 3 comprises a conveying belt 6 driven by a first servo motor 5 and used for conveying the water hose, a plurality of water hose supports 7 used for placing and conveying the water hose are hinged to the conveying belt 6, and a first clamping jaw 8 used for clamping a water hose female port 54 is detachably arranged on each water hose support 7.
The operating device 4 comprises two operating frames 10 driven by a second servo motor 9, a first mechanical arm 11 used for operating the first clamping jaw 8 is arranged on each operating frame 10 in a telescopic mode, a second clamping jaw 12 used for operating the water hose male port 51 is arranged on each operating frame 10 in a telescopic mode, and the second clamping jaw 12 is connected with each operating frame 10 through a second mechanical arm 13.
A compression roller 14 for extruding the water hose is fixedly arranged at the top of the shell 2, a first sensor is arranged in the compression roller 14, and a second sensor for detecting the completion of the release of the water hose is arranged on the first clamping jaw 8.
A partition plate 15 is arranged between the water hose support 7 and the conveyor belt 6, a first rotary groove 16 is formed in the partition plate 15, the water hose support 7 penetrates through the first rotary groove 16 to be hinged with the conveyor belt 6, and a first sliding block 17 matched with the first rotary groove 16 is fixedly arranged at the bottom of the water hose support 7.
The hose support 7 is provided with an opening 18 for placing the first clamping jaw 8, and the hose support 7 is provided with a first groove 19 for placing the male hose connector 51.
The clamping jaw 8 comprises a claw palm 20, a groove matched with the opening 18 is formed in the claw palm 20, a pair of clamping fingers 21 is hinged to the claw palm 20 in an openable mode, a second groove 22 matched with a water belt female port 54 is formed in each clamping finger 21, a screw 23 used for driving each clamping finger 21 is rotatably arranged on the claw palm 20, and teeth 24 matched with the screw 23 are arranged at the hinged end of each clamping finger 21.
A second servo motor 9 is fixedly arranged on the operation frame 10, a driving shaft of the second servo motor 9 penetrates through the operation frame 10 to be connected with the side wall of the shell 2, a second rotary groove 31 with a T-shaped section is arranged on the side wall of the shell 2, a rack 32 is fixedly arranged on the inner wall, close to the operation frame 10, of the second rotary groove 31, a gear 33 matched with the rack 32 is fixedly arranged on the driving shaft of the second servo motor 9, and in the rotatable arrangement on the driving shaft of the second servo motor 9, the second servo motor 9 is provided with a second sliding block 34 matched with the second rotary groove 31.
The second mechanical arm 13 comprises a second air cylinder 35, the fixed end of the second air cylinder 35 is fixedly arranged on the operation frame 10, the telescopic end of the second air cylinder 35 is fixedly provided with the fixed end of a third air cylinder 36 along the horizontal direction, the third air cylinder 36 is perpendicular to the second air cylinder 35, the telescopic end of the third air cylinder 36 is fixedly provided with a second clamping jaw 12 in the direction parallel to the first clamping jaw 8, the second clamping jaw 12 is driven by a fourth servo motor 37 fixedly arranged on the telescopic end of the third air cylinder 36, and the driving shaft of the fourth servo motor 37 penetrates through the third air cylinder 36 and is fixedly connected with the screw 23 of the second clamping jaw 12.
The two compression rollers 14 are arranged up and down, a gap for extruding the water belt is arranged between the compression rollers 14, and the gap and the clamping jaws are positioned on the same horizontal plane. The front and rear ends of the housing 2 are provided with detectors 38 for detecting a road surface. A warning lamp 39 is fixedly arranged on the top of the shell 2.
The crawler belt walking device 80 comprises a walking frame 40, wherein crawler belts 41 are arranged on two sides of the walking frame 40, a driving motor 42, an explosion-proof power supply 43, an air pump 44 and an air tank 45 are fixedly arranged on the walking frame 40, the motor and the air cylinder are respectively connected with the explosion-proof power supply 43 and the air pump 44, and the crawler belts 41 are driven by the driving motor 42. A supporting plate 46 for sliding out the water belt is fixedly arranged on the shell 2. The casing 2 is hinged with a cover plate 47 which can be opened and closed.
Example 3: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, a method for using a robot for laying and recovering a water belt for fire emergency rescue includes the following steps:
when the water hose 50 is laid, the PLC is started to control the second servo motor 9 to be started, the operation frame 10 is driven to run to the position A along the second rotary groove 31 in an anticlockwise mode and then stops, the first mechanical arm 11 extends out, so that the connecting block 29 on the first mechanical arm 11 is sleeved on the claw palm 20, the second mechanical arm 13 extends out, the fourth servo motor 37 is started, the screw 23 is driven to control the second clamping jaw 12 to be closed, the male opening of the water hose is tightened, the second servo motor 9 and the first servo motor 5 are started in sequence, the second servo motor 9 drives the operation frame 10 to run to the position C along the second rotary groove 31 in the anticlockwise mode, the second group of operation frames 10 run to the position A, meanwhile, the first servo motor 5 drives the conveyor belt 6 to drive the water hose support 7 to rotate in the anticlockwise mode along the first rotary groove 16, the water hose support 7 located at the position b is conveyed to the position a in the rotary mode, then the fourth servo on the second mechanical arm 13 located at the position C is simultaneously with the fourth servo 29 on the third mechanical The water hose 50 is released from the condition of the reel as the robot moves forward by rotating clockwise under the control of the motor 26.
Meanwhile, the first mechanical arm 11 and the second mechanical arm 13 on the handling frame 10 at the position A extend out, the actions are repeated, the next coil of the hose 50 at the position a is clamped, then the second servo motor 9 at the position A is started, the handling frame 10 is driven to the position B along the second rotary groove 31, after the hose 50 at the position C is released, the second sensor sends out a command, the PLC controls the third servo motor 26 at the position C to drive the first clamping jaw 8 to drive the female hose port 54 to rotate to an angle corresponding to the male hose port 51 at the position B, then the third air cylinder 36 at the position B extends out to drive the male hose port 51 at the position B to be close to the female hose port 54 at the position C and be inserted into the female hose port 54 at the position C, then the fifth servo motor 30 at the position C controls the first clamping jaw 8 to be opened, and simultaneously the fourth servo motor 37 at the position B controls the second clamping jaw 12 to be opened, then retracting the first mechanical arm 11 at the position C, then moving the operating frame 10 at the position C to the position D in a counterclockwise mode, then extending the first mechanical arm 11 at the position D and placing the first clamping jaw 8 in the opening 18 in the hose support 7 at the position C, then retracting the first mechanical arm 11 at the position D, then moving the operating frame 10 at the position B to the position C, and repeating the actions, so that the continuous laying operation of the hose 50 is completed, when the hose 50 is laid, controlling the first clamping jaw 8 by a fireman to release the female hose port 54 at the position C, so that the female hose port 54 slides onto the supporting plate 46, picking up the female hose port 54 by the fireman and connecting the hose gun to perform fire-fighting rescue operation; when the hose 50 is recovered, a fire fighter places the hose female port 54 in the first clamping jaw 8 at the position C, simultaneously, the hose 50 to be coiled passes through the middle of the second clamping jaw 12, the first clamping jaw 8 is controlled by the fifth servo motor 30 to clamp the hose female port 54, then the robot is started, the first mechanical arm 11 is retracted, then the operation frame 10 at the position C is driven by the second servo motor 9 to move clockwise along the second rotary groove 31 to the position B, then the first mechanical arm 13 and the second mechanical arm 13 are extended, so that the hose 50 is placed between the compression rollers 14, then the second clamping jaw 12 is opened, the second mechanical arm 13 is retracted, then the third servo motor 26 rotates anticlockwise and is matched with the compression roller 14 to wind the fire hose 50 on the first clamping jaw 8, meanwhile, under the control of the PLC, the second servo motor 9 of the other operation frame 10 is started, and drives the operation frame 10 to move clockwise along the second rotary groove 31 to the position D, the first mechanical arm 11 located at the position D extends out and is sleeved on the first clamping jaw 8 located at the position C, then the operation frame 10 located at the position D moves to the position C along the second rotary groove 31 in a clockwise mode, when the water hose 50 located at the position B is wound completely, the interface of the two water hoses 50 impacts the press roller 14, so that a first sensor located in the press roller 14 is triggered, the second mechanical arm 13 located at the position B is controlled to extend out through a PLC, the fourth servo motor 37 is used for controlling the second clamping jaw 12 to tighten the male water hose port 51 at the interface, then the third air cylinder 36 located at the position B extends out to drive the second clamping jaw 12 to drive the water hose interface to approach the first clamping jaw 8 located at the position C, then the mechanical arm 11 extends out, the fifth servo motor 30 is started and tightens the female water hose port 54 at the interface, then the second clamping jaw 12 located at the position B is slightly tensioned, the third air cylinder 36 drives the second clamping jaw 12 to extend out to push the quick release ring on the male water hose port 51 to move forwards so as, then the second clamping jaw 12 at the position B closes and tightens the male hose port 51, and is driven by the third air cylinder 36 to retract, at the same time, the first servo motor 5 is started to drive the conveyor belt 6 to convey the hose support 7 at the position c clockwise to the position a, then the first mechanical arm 11 and the second mechanical arm 13 at the position B retract, the second servo motor 9 at the position B is started to drive the handling frame 10 and the wound hose 50 at the position B to the position A, the first mechanical arm 11 and the second mechanical arm 13 extend out and respectively place the first clamping jaw 8 and the male hose port 51 in the opening 18 and the first groove 19 on the hose support 7 at the position a, so as to place the wound hose 50 on the hose support 7 at the position a, then the first mechanical arm 11 and the second mechanical arm 13 retract, run to the position D, and extend out to be sleeved on the first clamping jaw 8 at the position c, the operating frame 10 at C is then moved clockwise along the second turning chute 31 to repeat the above-described reeling operation, thereby achieving continuous and uninterrupted recovery of the water band 50.
Example 4: as shown in fig. 11, 12, 13 and 14, a robot for laying and recovering a water band for fire emergency rescue includes a crawler unit 80, a first gripper 66, a second gripper 79, a second gripper 67 and a plurality of water band accommodating boxes are disposed in a housing 2, each water band accommodating box is slidably disposed on the top of the housing 2, the structure of the crawler unit 80 is the same as that of embodiment 1, embodiment 2 and embodiment 3, and each water band accommodating box is provided with an opening through which the first gripper 66 can enter.
The water band containing boxes are as follows: the first, second, third, fourth, and nth water band accommodating tanks 65, 61, 64, 60, and N are provided.
The first gripper 66 has freedom in two directions, i.e., up-down direction, left-right direction, the second gripper 79 has freedom in two directions, i.e., extension/contraction and rotation, and the second gripper 67 has freedom in three directions, i.e., up-down direction, left-right direction, and extension/contraction.
Two squeezing rollers 68 are arranged on the shell 2, the squeezing rollers 68 are arranged below the first water band containing box 65, and a gap for squeezing the water band 50 is reserved between the squeezing rollers 68, so that residual water in the water band 50 is further squeezed, and the water band 50 is convenient to recycle.
When laying the water hose 50, an electronic lock 77 on a first water hose containing box 65 positioned behind the robot is opened, a bottom cover 76 on the first water hose containing box 65 is opened, a second mechanical arm 79 extends out, the tail end of a female water hose clamping claw 74 clamped on the first water hose containing box 65 is clamped, the male water hose 51 slides down automatically, a fireman picks up the male water hose 51 and connects the male water hose 51 to a fire engine or a fire hydrant, the robot moves forwards to drive the first female water hose clamping claw 74 on the first water hose containing box 65 to rotate and release the water hose 50 at the same time, the first mechanical claw 66 is opened and moves to a male water hose supporting frame 75 behind the second water hose containing box 61, the other male water hose 51 is grasped by closing the first mechanical claw 66, and each water hose containing box is provided with an opening which can enable the first mechanical claw 66 to enter.
And a bearing is arranged between each water band accommodating box and the water band female port clamping jaw 74, so that the friction force is further reduced, the transmission efficiency is improved, and the noise is reduced. A bottom cover 76 is arranged at the bottom of each water hose containing box in a openable and closable manner, and a water hose male port supporting frame 75 is arranged on each bottom cover 76. Each hose accommodating box and the bottom cover 76 are provided with a bolt electronic lock 77, so that the response speed is further improved. All fixedly provided with servo motor 73 on every hosepipe holds the case, all fixedly provided with gear 72 on the servo motor 73 drive shaft, the casing 2 top is provided with the rack with gear 72 adaptation. The upper end of each water band accommodating box is fixedly provided with a sliding block 71, the top of the shell 2 is provided with a sliding rail, and the sliding rail is connected with the sliding block 71 in a matching mode. The drive shafts of the servo motors 73 are hollow shafts, the sliding blocks 71 penetrate through the hollow shafts to be fixedly connected with the water hose containing box, and the structure is simple and convenient to assemble.
The first gripper 66 has freedom in two directions, i.e., up-down direction, left-right direction, the second gripper 79 has freedom in two directions, i.e., extension/contraction and rotation, and the second gripper 67 has freedom in three directions, i.e., up-down direction, left-right direction, and extension/contraction.
Two squeezing rollers 68 are arranged on the shell 2, the squeezing rollers 68 are arranged below the first water band containing box 65, a gap for squeezing the water band 50 is reserved between the pressing rollers 10, and the residual water in the water band 50 is further squeezed, so that the water band 50 can be conveniently recycled.
When the water hose 50 is laid, an electronic lock 77 on a first water hose accommodating box 65 located behind the robot is opened, a bottom cover 76 on the first water hose accommodating box 65 is opened, a second mechanical arm 79 extends out to be clamped at the tail end of a clamping claw 74 of a female hose port 54 on the first water hose accommodating box 65, the male hose port 51 slides down by itself, a fireman picks up the male hose port 51 and connects the male hose port 51 to a fire engine or a fire hydrant, the robot moves forwards to drive the first female hose port clamping claw 74 on the first water hose accommodating box 65 to rotate and release the water hose 50, the first mechanical claw 66 is opened and moves to a support frame e of the male hose port 51 behind the second water hose accommodating box 61, the first mechanical claw 66 is closed to clamp the second male hose port 51, the mechanical claws are a first mechanical claw 66 and a second mechanical claw 67, and the mechanical claws adopt the structures shown in fig. 6 and fig. 7.
Subsequently, the electronic lock 77 on the second hose housing box 61 is opened, and the bottom cover 76 on the second hose housing box 61 is opened; when the water hose 50 in the first water hose accommodating box 65 is released, the female water hose clamping claw 74 on the first water hose accommodating box 65 stops self-transmission, the second mechanical arm 79 drives the female water hose clamping claw 74 on the first water hose accommodating box 65 to rotate to a vertical position, meanwhile, the first mechanical claw 66 drives the male water hose 51 to move to the inside of the first water hose accommodating box 65, the connection action of the male water hose 51 and the female first water hose 54 is completed, then the first mechanical claw 66 and the female water hose clamping claw 74 on the first water hose accommodating box 65 are opened, and the connected water hose 50 automatically falls off; the first mechanical claw 66 and the second mechanical arm 79 are reset, the first servo motor 73 is started to drive the first water hose accommodating box 65 to move rightwards, meanwhile, the servo motor 73 is started to drive the second water hose accommodating box 61 to move backwards to the position of the original first water hose accommodating box 65, the water hoses 50 in the second water hose accommodating box 61, the third water hose accommodating box 64 and the Nth water hose accommodating box are automatically released by repeating the actions until the water hoses 50 are laid, wherein N is an integer (such as 1, 2, 3, 4 and the like).
When the water hose 50 is recovered, the water hose female port 54 is manually placed into the water hose female port clamping jaw 74 on the first water hose accommodating box 65, the water hose female port clamping jaw 74 on the first water hose accommodating box 65 is closed, the water hose 50 penetrates through the position between the two squeezing rollers 68, a robot recovery command is started, the second mechanical arm 79 extends out, the tail end of the water hose female port clamping jaw 74 clamped on the first water hose accommodating box 65 is clamped, the second mechanical arm 79 drives the water hose female port clamping jaw 74 on the first water hose accommodating box 65 to rotate anticlockwise, meanwhile, a tail end sensor signal is received by the robot and automatically follows the water hose 50, water in the water hose 50 is discharged due to the gravity and the squeezing action of the squeezing rollers 68, when the joint of the two water hoses 50 touches the squeezing rollers 68, the second mechanical jaw 67 is opened and runs behind the squeezing rollers 68, the water hose male port 51 is grabbed and extends outwards along the axial direction of the squeezing rollers 68, the second mechanical arm 79 retracts, meanwhile, the first water tape accommodating box 65 and the second mechanical claw 67 synchronously move forwards, after the water tape joint position crosses the squeezing rollers 68, the second mechanical claw 67 retracts, the water tape 50 is again brought between the two squeezing rollers 68, then the first water tape accommodating box 65 and the second mechanical claw 67 continue to synchronously move forwards, the nth water tape accommodating box 14 moves leftwards to the position of the original first water tape accommodating box 65, the second mechanical claw 67 moves to the position of a water tape male port supporting frame 75 on the first water tape accommodating box 65, the first mechanical claw 66 is opened, the water tape female port 54 is tightened when the first mechanical claw moves to the position of the female port of the joint of the two water tapes, the second mechanical claw 67 is released and moves to the first mechanical claw 66 along the water tape joint direction, the water tape 50 is separated, the water tape male port 51 is grabbed and moves to the middle of the first water tape accommodating box 65, the bottom cover 76 on the first water tape accommodating box 65 is closed, the second gripper 67 places the water hose male port 51 on the water hose male port supporting frame 75 of the first water hose containing box 65, the second gripper 67 is opened and reset, the first gripper 66 places the water hose female port 54 in the water hose female port clamping jaw 74 of the nth water hose containing box 14, the water hose female port clamping jaw 74 of the nth water hose containing box 14 is closed, the first gripper 66 is opened, the first gripper 66 is reset, and the actions are repeated until the recovery operation is completed.
As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the spirit and scope of the present invention. Therefore, such modifications are also all included in the scope of protection of the present invention.
Claims (10)
1. A robot for laying and recovering water belts for fire emergency rescue comprises a quick water belt connector, and is characterized in that two compression rollers for discharging residual water in the water belts are arranged at the upper part and the lower part, a gap for extruding the water belts is arranged between the compression rollers, the gap and clamping jaws are positioned on the same horizontal plane, detectors for detecting the road surface are arranged at the front end and the rear end of a shell of a walking device, the conveying device comprises a conveying belt driven by a first servo motor and used for conveying the water belts, a plurality of water belt supports for placing and conveying the water belts are hinged on the conveying belt, a first clamping jaw for clamping a female port of the water belts is detachably arranged on each water belt support, the compression rollers for extruding the water belts are fixedly arranged at the top of the shell, a first sensor is arranged in each compression roller, a second sensor for detecting the completion of the release of the water belts is arranged on each, be provided with first rotary groove on the baffle, the hosepipe support passes first rotary groove and is articulated with the conveyer belt, first slider is connected to hosepipe support bottom, first slider and first rotary groove adaptation are connected, crawler travel unit's walking frame is connected with the casing, walking frame and driving motor, the drive wheel, explosion-proof power supply, air pump and gas tank are connected, driving motor is connected with explosion-proof power supply, the cylinder is connected with the air pump, driving motor is connected with the drive wheel, the drive wheel is connected with the track, hosepipe leg joint hosepipe, the lateral wall of casing has the second rotary groove, there is the baffle lower part of casing, the baffle has first rotary groove, the second rotary groove is connected with the rack, rack and second servo motor's gear engagement, operating means: the operating frame is driven by a second servo motor, a first mechanical arm used for operating the first clamping jaw is arranged on the operating frame in a telescopic mode, a second clamping jaw used for operating the water hose male port is arranged on the operating frame in a telescopic mode, and the second clamping jaw is connected with the operating frame through the second mechanical arm.
2. The fire emergency rescue water belt laying and recycling robot as claimed in claim 1, wherein the clamping jaw comprises a claw palm, the claw palm is provided with a groove matched with the opening, the claw palm is hinged with a pair of clamping fingers, the clamping fingers are provided with second grooves matched with the female opening of the water belt, the claw palm is connected with the clamping fingers through movable shafts, the end parts of the clamping fingers are provided with teeth, the end parts of the inserting strips are provided with screw rods, the screw rods of the inserting strips penetrate through central holes of the claw palms and are respectively engaged with the teeth, the two sides of the top of the water belt support are provided with openings used for placing the first clamping jaw, and the top of the front side of the water belt support is provided with a first groove used for placing the male opening of the water belt.
3. The fire emergency rescue water belt laying and recycling robot as claimed in claim 2, wherein the connection mode of the first servo motor and the conveyor belt is not limited to gears, chains or belts, a support plate for sliding out the water belt is fixedly arranged on the shell, and a cover plate which can be opened and closed is hinged to the shell.
4. The fire emergency rescue water belt laying and recycling robot as claimed in claim 3, wherein the second servo motor is fixedly connected with the operation frame, the operation frame is respectively connected with the first cylinder and the second cylinder, a main shaft of the second servo motor is connected with the gear and the second slider, a cylinder shaft of the first cylinder is connected with the third servo motor, a main shaft of the third servo motor is connected with the fifth servo motor and the connecting block, the fifth servo motor is arranged in a cavity of the connecting block, the main shaft of the fifth servo motor is provided with an inserting hole, a cylinder shaft of the second cylinder is connected with the third cylinder, a cylinder shaft of the third cylinder is connected with the fourth servo motor, a main shaft of the fourth servo motor is connected with the screw rod connecting screw rod and the claw palm, and the claw palm is provided with a clamping finger.
5. The fire emergency rescue water belt laying and recycling robot as claimed in claim 4, wherein the water belt quick coupling comprises: the one end of hosepipe has the public mouth of hosepipe, the outer circumference of the public mouth of hosepipe has the first slot that adapts to the clamping of clamp finger, the outer circumference of the female mouth of hosepipe has the second slot that adapts to the clamping of clamp finger, the one end of another hosepipe has the female mouth of hosepipe, the male mouth of hosepipe is constituteed at the outer circumference of pipe wall to the tripping ring cover, there is the card edge the outer circumference of pipe wall, the female mouth retaining ring cover of the female mouth of hosepipe is connected at the outer circumference of female mouthful lower piece, the inner chamber connection card of female mouthful lower piece is protruding, the protruding side of card passes through the.
6. A robot for laying and recovering water belts for fire emergency rescue is characterized by comprising a crawler traveling device and a water belt quick connector, wherein a first mechanical claw, a second mechanical arm, a second mechanical claw and a plurality of water belt containing boxes are arranged in a shell, each water belt containing box is arranged at the top of the shell in a sliding mode, each water belt containing box is provided with an opening through which the first mechanical claw can enter, the first mechanical claw has freedom degrees in an upper direction, a lower direction and a left direction, the second mechanical arm has freedom degrees in a telescopic direction and a rotating direction, the second mechanical claw has freedom degrees in an upper direction, a lower direction, a left direction and a right direction, the telescopic direction, two extrusion rollers are arranged on the shell, the extrusion rollers are arranged below the first water belt containing box, a gap for extruding the water belts is reserved between the extrusion rollers, residual water in the water belts is further extruded, the water belts are convenient to recover, when the water belts are laid, an electronic lock on a first water hose containing box positioned behind the robot is opened, a bottom cover on the first water hose containing box is opened, a second mechanical arm extends out, the tail end of a female water hose clamping claw clamped on the first water hose containing box slides off by itself, a fireman picks up a male water hose and connects the male water hose to a fire engine or a fire hydrant, the robot moves forwards to drive the female first water hose clamping claw on the first water hose containing box to rotate and release a water hose, a first mechanical claw is opened and moves to a male water hose supporting frame behind a second water hose containing box, the other male water hose is tightly clamped by closing the first mechanical claw, an opening allowing the first mechanical claw to enter is formed in each water hose containing box, a bearing is arranged between each water hose containing box and the female water hose clamping claw, a bottom cover is arranged at the bottom of each water hose containing box in an openable mode, and a male water hose supporting frame is arranged on the bottom cover, each water band containing box is provided with a bolt electronic lock matched with the bottom cover, each water band containing box is fixedly provided with a servo motor, a gear is fixedly arranged on a servo motor driving shaft, a rack matched with the gear is arranged at the top of the shell, a sliding block is fixedly arranged at the upper end of each water band containing box, a sliding rail is arranged at the top of the shell and is in matched connection with the sliding block, the servo motor driving shafts are hollow shafts, the sliding block penetrates through the hollow shafts to be fixedly connected with the water band containing box, a first mechanical claw has freedom degrees in the upper direction, the lower direction and the left direction, a second mechanical arm has freedom degrees in the telescopic direction, the left direction, the right direction and the telescopic direction, two extrusion rollers are arranged on the shell and are arranged below the first water band containing box, a gap for extruding the water bands is reserved between the compression rollers, and the electronic lock on the second water band containing box is opened, a bottom cover on the second water belt accommodating box is opened; when the water hoses in the first water hose containing box are released, the water hose female clamping jaw on the first water hose containing box stops self-transmission, the second mechanical arm drives the water hose female clamping jaw on the first water hose containing box to rotate to a vertical position, meanwhile, the first mechanical jaw drives the second water hose male opening to move into the first water hose containing box, the second water hose male opening and the first water hose female opening are connected, then the first mechanical jaw and the water hose female clamping jaw on the first water hose containing box are opened, and the connected water hoses automatically fall off; the first mechanical claw and the second mechanical arm reset, the first servo motor is started to drive the first water belt containing box to move rightwards, the second servo motor is started to drive the second water belt containing box to move backwards to the position of the original first water belt containing box, the actions are repeated, the second water belt containing box, the third water belt containing box and the Nth water belt containing box are automatically released, and the water belts are laid until the water belts are laid.
7. The fire emergency rescue water belt laying and recycling robot as claimed in claim 6, wherein the water belt quick coupling comprises: one end of the water hose is provided with a male water hose port, the outer circumference of the male water hose port is provided with a first groove which is adaptive to clamping of clamping fingers, the outer circumference of the female water hose port is provided with a second groove which is adaptive to clamping of clamping fingers, one end of the other water hose is provided with a female water hose port, a tripping ring is sleeved on the outer circumference of the pipe wall to form the male water hose port, the outer circumference of the pipe wall is provided with a clamping edge, a female port baffle ring of the female water hose port is sleeved on the outer circumference of the lower female port piece to be connected, the inner cavity of the lower female port piece is connected with a;
when the water hose is recovered, a female hose port is manually placed into a female hose port clamping jaw on a first hose containing box, the female hose port clamping jaw on the first hose containing box is closed, the water hose penetrates through the position between two squeezing rollers, a robot recovery instruction is started, a second mechanical arm extends out, the tail end of the female hose port clamping jaw clamped on the first hose containing box is clamped, the second mechanical arm drives the female hose port clamping jaw on the first hose containing box to rotate anticlockwise, meanwhile, a tail end sensor signal received by the robot automatically follows the water hose to advance, water in the hose is discharged due to the gravity and the squeezing action of the squeezing rollers, when the joint of the two hoses touches the squeezing rollers, the second mechanical jaw is opened and moves to the rear of the squeezing rollers, a male hose port is grabbed and extends outwards along the axial direction of the squeezing rollers, the second mechanical arm is retracted, and the first containing box and the second mechanical jaw synchronously move forwards, after the water hose interface position crosses the squeezing rollers, the second mechanical claw is withdrawn to bring the water hose between the two squeezing rollers again, then the first water hose containing box and the second mechanical claw move forwards continuously and synchronously, the Nth water hose containing box moves leftwards to the original first water hose containing box position, the second mechanical claw moves to the position of the water hose male port supporting frame on the first water hose containing box, the first mechanical claw is opened, moves to the position of the female port at the joint of the two water hoses to tighten the female port of the water hose, the second mechanical claw is loosened and moves towards the first mechanical claw along the direction of the water hose interface, after the water hose opening action is completed, the male port of the water hose is grabbed and moves to the middle of the first water hose containing box, the bottom cover on the first water hose containing box is closed, the second mechanical claw places the male port of the water hose on the male port supporting frame of the first water hose containing box, the second mechanical claw is opened and reset, the first mechanical claw places the female port of the water hose in the female port clamping claw on the, and closing the hose female port clamping jaw on the Nth hose accommodating box, opening the first mechanical jaw, resetting the first mechanical jaw, and repeating the actions until the recovery operation is completed.
8. A use method of a robot for paving and recovering a water belt for fire emergency rescue is characterized by comprising the following steps: continuously laying a plurality of discs of water hoses and connecting the discs of water hoses together through a mechanical arm/hand in the advancing process of the robot; during recovery, the multiple disks of water hoses are detached and rewound to be recovered inside the robot, the multiple disks of water hoses are automatically connected through the robot, paved and recovered, and the robot can move along with the water hoses in the paving or recovering process.
9. The use method of the water belt laying and recycling robot for fire emergency and rescue as claimed in claim 8, characterized by further comprising the following steps: the PLC is started to control the servo motor to start, the mechanical arm stretches out, the connecting block on the mechanical arm is sleeved on the claw palm, the clamping jaw is controlled to close so as to tighten the male port of the water hose, the water hose is released from a reel state along with forward movement of the robot, continuous laying operation of the water hose is completed, when laying of the water hose is completed, the clamping jaw is controlled by a fireman to loosen the female port of the water hose, so that the female port of the water hose slides onto the supporting plate, and the fireman picks up the female port of the water hose and connects the water gun to; when the hose is recovered, a fireman places the hose female opening in the clamping jaw, simultaneously the hose to be wound passes through the middle of the clamping jaw, the clamping jaw is controlled to tighten the hose female opening, the wound hose is placed on the hose support, and the reel operation is repeated to continuously recover the hose.
10. The use method of the robot for laying and recovering the water belt for fire emergency and rescue as claimed in claim 9, wherein when laying the water belt, the PLC is started to control the second servo motor to start, the operation frame is driven to run counterclockwise along the second rotary groove to a position a and then stopped, the first mechanical arm is extended, so that the connection block on the first mechanical arm is sleeved on the claw palm, the second mechanical arm is extended, the fourth servo motor is started, the screw rod is driven to control the second clamping jaw to close, so as to tighten the male port of the water belt, the second servo motor and the first servo motor are started, the second servo motor drives the operation frame to run counterclockwise along the second rotary groove to a position C, the second group of operation frames run to a position a, and meanwhile, the first servo motor drives the conveyor belt to drive the water belt bracket to rotate counterclockwise along the first rotary groove, so as to convey the water belt bracket located at a position b to a position, then a fourth servo on a second mechanical arm at the position C and a connecting block on a first mechanical arm rotate clockwise under the control of a third servo motor, so that the water hose is released from the state of a reel along with the forward movement of the robot, the first mechanical arm and the second mechanical arm on an operation frame at the position A extend out, the actions are repeated, the lower water hose disc at the position a is clamped, then the second servo motor at the position A is started, the operation frame is driven to the position B along a second rotary groove, after the water hose at the position C is released, a second sensor sends out an instruction, a PLC controls the third servo motor at the position C to drive a first clamping jaw so as to drive a water hose female port to rotate to an angle corresponding to a water hose male port at the position B, then a third air cylinder at the position B extends out, so as to drive the water hose male port at the position B to be close to the water hose female port at the position C and be inserted into the water hose female port at the position C, then a fifth servo motor located at the position C controls the first clamping jaw to be opened, meanwhile, a fourth servo motor located at the position B controls the second clamping jaw to be opened, then the first mechanical arm located at the position C retracts, then the operation frame located at the position C moves to the position D in an anticlockwise mode, then the first mechanical arm located at the position D extends out and places the first clamping jaw in an opening in a water hose support located at the position C, then the first mechanical arm located at the position D retracts, then the operation frame located at the position B moves to the position C, the actions are repeated, accordingly, continuous laying operation of the water hose is completed, when laying of the water hose is completed, a fireman controls the first clamping jaw to loosen a water hose female port located at the position C, and therefore the water hose female port slides onto a supporting plate and is picked up by the fireman and connected with a water gun to perform fire-fighting rescue operation; when the hose is recovered, a fireman places a hose female port in a first clamping jaw at a position C, simultaneously the hose to be wound passes through the middle of a second clamping jaw, the first clamping jaw is controlled by a fifth servo motor to clamp the hose female port, then the robot is started, a first mechanical arm retracts, then an operating frame at the position C is driven by a second servo motor to clockwise move to a position B along a second rotary groove, then a first mechanical arm and a second mechanical arm extend out to place the hose between compression rollers, then the second clamping jaw is opened, the second mechanical arm retracts, then a third servo motor rotates anticlockwise and is matched with the compression rollers to wind the fire hose on the first clamping jaw, meanwhile, under the control of a PLC, a second servo motor of the other operating frame is started to drive the operating frame to clockwise move to the position D along the second rotary groove, a first mechanical arm at the position D extends out and is sleeved on the first clamping jaw at the position C, then the operation frame at the position D runs clockwise to the position C along the second rotary groove, when the water band at the position B is completely wound, the interface of the two water bands impacts the press roller, so that a first sensor in the press roller is triggered, a second mechanical arm at the position B is controlled to stretch out through a PLC (programmable logic controller) and a second clamping jaw is controlled to tighten a water band male port at the interface through a fourth servo motor, a third cylinder at the position B stretches out, the second clamping jaw is driven to stretch out, so that the water band interface is driven to approach to a first clamping jaw at the position C, then the mechanical arm stretches out, a fifth servo motor is started and tightens a water band female port at the interface, then the second clamping jaw at the position B is slightly tensioned, the third cylinder drives the second clamping jaw to stretch out so that a quick-release ring on the male port is pushed to move forwards to separate the two water bands, then the second clamping jaw at the position B closes the tightening water band male port, and, meanwhile, the first servo motor is started to drive the conveyor belt to convey the water hose support positioned at the position c to the position a clockwise, then the first mechanical arm and the second mechanical arm positioned at the position B retract, the second servo motor positioned at the position B is started, thereby driving the operation frame at the position B and the wound water hose to move to the position A, extending the first mechanical arm and the second mechanical arm and respectively placing the first clamping jaw and the water hose male port in the opening and the first groove on the water hose bracket at the position a, so that the wound water hose is placed on the water hose bracket at the position a, then the first mechanical arm and the second mechanical arm retract to move to the position D, and the operation frame at the position C moves clockwise along the second rotary groove, so that the reel operation is repeated, and the water band is continuously and uninterruptedly recovered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011155768.8A CN112354113B (en) | 2020-10-26 | 2020-10-26 | Robot for laying and recycling water belt for fire emergency rescue and using method |
Applications Claiming Priority (1)
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Cited By (1)
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| CN115212499A (en) * | 2022-07-22 | 2022-10-21 | 山东国兴机器人联合研究院有限公司 | Fire-fighting inspection fire-extinguishing robot and working method thereof |
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|---|---|
| CN112354113B (en) | 2021-11-30 |
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