CN113952663A - Fire-fighting robot system - Google Patents
Fire-fighting robot system Download PDFInfo
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- CN113952663A CN113952663A CN202111189984.9A CN202111189984A CN113952663A CN 113952663 A CN113952663 A CN 113952663A CN 202111189984 A CN202111189984 A CN 202111189984A CN 113952663 A CN113952663 A CN 113952663A
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- fire
- reel
- robot body
- guide assembly
- robot
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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
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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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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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to the technical field of fire fighting equipment, in particular to a fire fighting robot system. The fire-fighting robot comprises a robot body, a water tray mechanism and a control system, wherein the robot body is suitable for moving to a specific position and extinguishing fire through a turbofan cannon arranged on the robot body; the water tray mechanism is connected with the robot body and is suitable for conveying outside water to the turbofan cannon; the control system is connected with the robot body and the water tray mechanism and is suitable for controlling the robot body and the water tray mechanism to act. When the existing fixed fire extinguishing system fails or is damaged, effective fire extinguishing can be realized in time through the fire-fighting robot system, namely, the fixed fire extinguishing system is used as a supplement to the existing fire-fighting means. Compared with the existing fire fighting means, the fire fighting robot is less affected by human factors, and can reach dead corner areas which are difficult to reach by fire fighters and fire fighting trucks, and high risk areas are used for fire fighting; the robot is less limited by space and time, and can extinguish fire at any time and any place.
Description
Technical Field
The invention relates to the technical field of fire fighting equipment, in particular to a fire fighting robot system.
Background
With the rapid development of social economy and the particularity of building and enterprise production, large-scale high-risk complex places, such as various stations of electric power, aviation, metallurgy, petrifaction, coal, power generation, municipal administration, industrial parks, tunnel pipe galleries and the like, have complex environment, high risk, strong disaster outburst and complex disposal process, and once a fire disaster occurs, if the fire disaster cannot be effectively inhibited in time, inestimable loss is brought, and even personal safety is damaged. The various stations are generally provided with fixed fire extinguishing systems, but the fixed systems can be out of order or damaged when a fire disaster occurs, and only external fire brigades can wait for rescue, so that fire expansion and a large amount of station equipment are damaged due to untimely rescue, and great economic loss is generated.
Disclosure of Invention
The invention provides a fire-fighting robot system, which aims to solve the problem that in the prior art, a fixed fire-fighting system fails or cannot be rescued in time after being damaged.
The technical scheme of the invention is as follows:
a fire-fighting robot system comprises a robot body, a water tray mechanism and a control system, wherein the robot body is suitable for moving to a specific position and extinguishing fire through a turbofan cannon arranged on the robot body; the water tray mechanism is connected with the robot body and is suitable for conveying outside water to the turbofan cannon; the control system is connected with the robot body and the water tray mechanism and is suitable for controlling the robot body and the water tray mechanism to act.
Preferably, the robot body includes: support frame, revolving stage and power component, the support frame sets up on the revolving stage, and move under power component's drive, the turbofan big gun sets up on the support frame, the support frame includes: the conveying pipeline is arranged on the arm support and is suitable for conveying water sources to the turbofan cannon, the conveying pipeline comprises at least two sections of telescopic pipes, the two adjacent sections of telescopic pipes are connected in a sliding mode, and the telescopic pipes are suitable for acting along with the lifting of the arm support.
Preferably, the arm support includes: the base arm is hinged with the rotary table; one end of the telescopic arm is connected with the basic arm, the other end of the telescopic arm is connected with the turbofan cannon, the arm support has a rising state and a contracting state, when the arm support is in the rising state, the power assembly drives the basic arm to move so as to adjust the position of the arm support, and the power assembly drives the telescopic arm to move so as to adjust the telescopic length of the telescopic arm.
Preferably, the robot body further comprises an energy storage device and a crawler-type travelling mechanism, the crawler-type travelling mechanism is suitable for driving the robot body to move, and the energy storage device is suitable for providing power for the crawler-type travelling mechanism.
Preferably, the fire-fighting robot system is further provided with an intelligent monitoring assembly, and the intelligent monitoring assembly is used for realizing 360-degree panoramic video monitoring, autonomous navigation obstacle avoidance, automatic scene modeling and fire extinguishing scene visualization.
Preferably, the intelligent monitoring assembly comprises a panoramic camera, a radar and a sensor mounted on the robot body.
Preferably, the fire fighting robot system further comprises: the spraying and cooling device is arranged on the robot body and is suitable for spraying water to the outer side of the robot body to form a water curtain so as to carry out cooling and fireproof protection on the energy storage device; and the fireproof heat insulation structure is arranged on the upper outer side of the energy storage device and is suitable for protecting the energy storage device.
Preferably, the water tray mechanism includes: the reel is suitable for winding a flexible belt; the guide assembly is arranged on one side of the reel and is suitable for transferring the flexible tape wound on the reel; the first power mechanism is connected with the guide assembly and is suitable for driving the guide assembly to swing in a reciprocating mode.
Preferably, the fire-fighting robot system further comprises an adjusting bracket connected with the reel and adapted to adjust the relative position between the reel and the guide assembly so that the flexible strip is not tilted during the process from the reel to the guide assembly; the reel is adapted to the transfer speed of the guide assembly to maintain tension in the flexible tape between the guide assembly and the reel.
Preferably, the first power mechanism is connected with the reel and the guide assembly and is suitable for driving the guide assembly to act through the reel; the first power mechanism comprises a transmission unit and a swinging unit, and the swinging unit is connected with the guide assembly to drive the guide assembly to swing in a reciprocating manner; the transmission unit is connected with the reel and the swinging unit and is suitable for driving the swinging unit to act through the reel.
The technical scheme of the invention has the following advantages:
1. the fire-fighting robot system comprises a robot body, a water tray mechanism and a control system, wherein the robot body is suitable for moving to a specific position and extinguishing fire through a turbofan cannon arranged on the robot body; the water tray mechanism is connected with the robot body and is suitable for conveying outside water to the turbofan cannon; the control system is connected with the robot body and the water tray mechanism and is suitable for controlling the robot body and the water tray mechanism to act.
When fire fighting is carried out, under the control of the control assembly, the robot body and the water disc mechanism act simultaneously, the robot body moves to the position near a fire extinguishing point, the water disc mechanism enables water flow to form water mist spraying through the turbofan cannon, fire fighting is finished, and when an existing fire fighting fixed fire extinguishing system fails or is damaged, effective fire fighting can be achieved through the fire fighting robot system in time, namely the fire fighting robot system can be used as a supplement of an existing fire fighting means. Compared with the existing fire extinguishing device or equipment, the fire-fighting robot is less affected by human factors, and can reach dead corner areas which are difficult to reach by fire fighters and fire trucks and extinguish fire in high-risk areas; the fire-fighting robot is less limited by space and time, and can extinguish fire at any time and any place.
2. The fire-fighting robot system of the invention, the robot body includes: support frame, revolving stage and power component, the support frame setting is on the revolving stage, and moves under power component's drive, and the turbofan big gun setting is on the support frame, and the support frame includes: the conveying pipeline is arranged on the arm support and is suitable for conveying water sources to the turbofan cannon, the conveying pipeline comprises at least two sections of telescopic pipes, the two adjacent sections of telescopic pipes are connected in a sliding mode, and the telescopic pipes are suitable for moving along with the lifting of the arm support.
The conveying pipeline of the invention is composed of a plurality of sections of telescopic pipes, so that the stable supply of water sources in the fire fighting process is ensured, and when the conveying pipeline is used, the flexible water belt is easy to bend and wind, so that the water sources are not conveyed smoothly.
3. The fire-fighting robot system of the invention, the water tray mechanism includes: the reel is suitable for winding a flexible belt; the guide assembly is arranged on one side of the reel and is suitable for transferring the flexible tape wound on the reel; the first power mechanism is connected with the guide assembly and is suitable for driving the guide assembly to swing in a reciprocating mode.
When the flexible tape laying device is used, a flexible tape is wound on the reel, the flexible tape on the reel is transferred through the guide assembly, the guide assembly is driven by the first power mechanism to swing back and forth while the flexible tape is transferred by the guide assembly, and under the condition, the flexible tape transferred from the guide assembly is laid in an S-shaped or Z-shaped mode.
According to the water tray mechanism, the guide assembly and the first power mechanism are arranged, so that the flexible belt can be laid in an S-shaped or Z-shaped manner. After the flexible band goes on laying with "S" type or "Z" type, the robot body directly can stimulate the flexible band, accomplishes laying to the flexible band, the condition such as buckling, torsion, winding can not appear in the fire hose, has promoted fire extinguishing efficiency, is favorable to controlling the condition of a fire in the condition of a fire initial stage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a fire fighting robot system of the present invention;
FIG. 2 is a schematic view of the robot body shown in FIG. 1 in a contracted state;
FIG. 3 is a schematic view of the robot body shown in FIG. 1 in a raised state;
FIG. 4 is a schematic view of the water tray mechanism shown in FIG. 1;
FIG. 5 is a schematic diagram of a top view of the structure shown in FIG. 4;
fig. 6 is a schematic diagram of a right side view of the structure shown in fig. 5.
Description of reference numerals:
1-a robot body; 2-turbofan cannon; 3-a water tray mechanism; 4-a support frame; 5-a turntable; 6-arm support; 7-a conveying pipeline; 8-telescopic pipes; 9-a base arm; 10-a first telescopic arm; 11-a second telescopic arm; 12-a fire hydrant; 13-variable amplitude oil cylinder; 14-an energy storage device; 15-crawler type traveling mechanism; 16-a camera; 17-a spray cooling device; 18-a reel; 19-a guide assembly; 20-turning the roller set; 21-a first wheel roller; 22-a second wheel roller; 23-a first power mechanism; 24-a transmission unit; 25-a wobble unit; 26-a third power mechanism; 27-a support assembly; 28-a rotation support unit; 29-a sliding support unit; 30-a base; 31-a mounting plate; 32-a chain; 33-a second sprocket; 34-a first link; 35-a second link; 36-a reel; 37-a connecting shaft; 38-a drive unit; 39-a flexible band; 40-an adjusting frame; 41-support member.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
The fire-fighting robot system of the embodiment, as shown in fig. 1-6, comprises a robot body 1, a water tray mechanism 3 and a control system, wherein the robot body 1 is suitable for moving to a specific position and extinguishing fire through a turbofan cannon 2 arranged on the robot body; the water tray mechanism 3 is connected with the robot body 1 and is suitable for conveying outside water to the turbofan cannon 2; the control system is connected with the robot body 1 and the water tray mechanism 3 and is suitable for controlling the robot body 1 and the water tray mechanism 3 to act. It should be noted that the control system of the present embodiment includes a control terminal, and electronic modules disposed on the robot body 1 and the water tray mechanism 3 and connected to the control terminal in a communication manner.
The robot body 1 includes: support frame 4, revolving stage 5 and power component, support frame 4 sets up on revolving stage 5, and moves under power component's drive, and turbofan big gun 2 sets up on support frame 4, and support frame 4 includes: the water source conveying device comprises an arm support 6 and a conveying pipeline 7, wherein the conveying pipeline 7 is arranged on the arm support 6 and is suitable for conveying a water source to the turbofan cannon 2, the conveying pipeline 7 comprises at least two sections of telescopic pipes 8, the two adjacent sections of telescopic pipes 8 are connected in a sliding mode, and the telescopic pipes 8 are suitable for acting along with the lifting of the arm support 6. It should be noted that the power assembly in this embodiment is a plurality of amplitude-variable hydraulic cylinders 13.
When carrying out the fire control and putting out a fire, under control assembly control, robot, water tray mechanism 3 move simultaneously, and robot 1 removes near the point of putting out a fire, and water tray mechanism 3 passes through 2 formation water smoke blowout of turbofan cannon with rivers, accomplishes the fire control and puts out a fire, after current fire control fixed fire extinguishing systems is malfunctioning or damages, can realize effectively putting out a fire through the fire-fighting robot system of this embodiment in time. Moreover, the fire-fighting robot of the embodiment is less affected by human factors, and can reach dead corner areas which are difficult to reach by fire fighters and fire trucks, and extinguish fire in high-risk areas; the fire-fighting robot of this embodiment receives the space-time restriction less, can put out a fire anytime and anywhere, like the region that current fixed fire extinguishing system of fire control can't reach.
Wherein, cantilever crane 6 includes: the base arm 9 is hinged with the rotary table 5; one end of the telescopic arm is connected with the basic arm 9, the other end of the telescopic arm is connected with the turbofan cannon 2, the arm support 6 has a rising state and a contracting state, as shown in fig. 3, in the rising state, the power assembly drives the basic arm 9 to act so as to adjust the direction of the arm support 6, and the power assembly drives the telescopic arm to act so as to adjust the telescopic length of the telescopic arm.
The conveying pipeline 7 of this embodiment constitutes through flexible pipe 8 of multisection, has guaranteed the stable supply of fire control in-process water source of putting out a fire, generally adopts flexible hosepipe in the current fire engine puts out a fire, and when using, flexible hosepipe takes place to bend winding problem easily, leads to the water source to carry unsmoothly.
In this embodiment, two telescopic booms are adopted, namely a first telescopic boom 10 and a second telescopic boom 11, as shown in fig. 6, after the first telescopic boom 10 and the second telescopic boom 11 are extended, the whole boom 6 is linear, namely a straight boom 6, the vertical and horizontal operation range is large, the spatial position of the water mist turbofan cannon 2 can be flexibly adjusted, fire extinguishment without dead corners is realized, the bearing capacity is large, and the stability is high; and the straight arm extends rapidly, can reach the operation point fast.
Further, the robot body 1 further comprises an energy storage device 14 and a crawler type travelling mechanism 15, the crawler type travelling mechanism 15 is suitable for driving the robot body 1 to move, the rotary table 5 is arranged above the crawler type travelling mechanism 15, and the rotary table can rotate relative to the crawler type travelling mechanism 15. The energy storage device 14 is adapted to power a crawler track 15. It should be noted that the energy storage device 14 in this embodiment is a storage battery.
Crawler-type running gear 15 has promoted the chassis bearing capacity greatly, and reinforcing hinders ability and topography adaptability more, improves turning efficiency, can cross and realize the pivot turn to climbing ability is strong, can be applicable to operation scenes such as soft mire. The crawler chassis adopts the storage battery as a power source, so that the crawler chassis is energy-saving and environment-friendly, has low noise and is less in maintenance.
The fire-fighting robot system is also provided with an intelligent monitoring assembly, and 360-degree panoramic video monitoring, autonomous navigation obstacle avoidance, automatic scene modeling and fire extinguishing scene visualization are realized through the intelligent monitoring assembly. Specifically, the intelligent monitoring assembly includes a panoramic camera 16, radar and sensor mounted on the robot body 1.
When using, owing to be provided with the intelligent monitoring subassembly, the robot can listen the condition of a fire and the automatic tracking location of ignition automatically after reacing the condition of a fire position, according to source of a fire position automatic lifting cantilever crane 6 to suitable position, then start thin water smoke turbofan big gun 2, adjust thin water smoke turbofan big gun 2 and pitch, rotation angle, begin to spray water and put out a fire, according to flame size, position, constantly adjust cantilever crane 6 and thin water smoke turbofan big gun 2 position, angle, the operation of putting out a fire is nimble, efficient.
The fire-fighting robot system further comprises a spraying and cooling device 17 arranged on the robot body 1, wherein the spraying and cooling device 17 is suitable for spraying water to the outer side of the robot body 1 to form a water curtain so as to carry out cooling and fire protection on the robot body 1, and particularly prevent the energy storage device 14 from being damaged. The spray cooling device 17 can adopt the existing water pump and spray head.
Example two
The fire-fighting robot system of the present embodiment is further defined with respect to the water pan mechanism 3 on the basis of the first embodiment.
The water tray mechanism 3 of the present embodiment, as shown in fig. 3-6, includes a reel 18, a guiding assembly 19 and a first power mechanism 23, wherein the reel 18 is adapted to wind the flexible tape 39; a guide assembly 19 is arranged on one side of the reel 18 and is adapted to transfer the flexible tape 39 wound on the reel 18; the first power mechanism 23 is connected with the guide assembly 19 and is suitable for driving the guide assembly 19 to swing back and forth. For clarity of understanding of the present embodiment, it should be noted that "transferring" herein refers to moving and transferring the flexible tape 39 to a direction close to the reel 18 or away from the reel 18.
As an alternative embodiment, the water tray mechanism of the present embodiment may be configured without the guide assembly 19 and the first power mechanism 23, and directly connected to the flexible tape 39 on the reel 18 through the robot body 1, so that the flexible tape 39 maintains a proper tension between the reel 18 and the robot body 1, thereby preventing the occurrence of twisting, folding, and the like.
The flexible band 39 in this embodiment is a fire hose, but may be other flexible and band-shaped articles. In use, the reel 18 is wound with the flexible tape 39, the flexible tape 39 on the reel 18 is transferred through the guide assembly 19, the guide assembly 19 is driven to swing back and forth by the first power mechanism 23 while the guide assembly 19 transfers the flexible tape 39, and in this case, the flexible tape 39 transferred from the guide assembly 19 is laid in an "S" or "Z" type manner.
The water tray mechanism 3 of the invention realizes that the flexible belt 39 is laid in an S-shaped or Z-shaped mode by arranging the guide assembly 19 and the first power mechanism 23. After the flexible belt 39 is laid with "S" type or "Z" type, through robot body 1, perhaps through fire-fighting equipment pulling flexible belt 39, accomplish laying of flexible belt 39, the condition such as buckling, torsion, winding can not appear in the fire hose, has promoted fire extinguishing efficiency, is favorable to controlling the condition of a fire in the initial stage of a fire.
Moreover, the flexible belt 39 is not required to be manually bent, twisted and wound to be combed and corrected, so that the labor intensity of fire fighters is reduced, the laying efficiency of the flexible belt 39 is high, and the fire condition can be controlled in the initial stage.
Wherein the guiding assembly 19 comprises a clamping assembly and a second power mechanism, the clamping assembly being adapted to clamp the flexible belt 39; a second power mechanism is connected to the clamping assembly and drives the clamping assembly to move to transfer the flexible strap 39. By providing the clamping assembly, the guide assembly 19 is prevented from not firmly clamping and transferring the flexible belt 39 during reciprocating swing, so that the flexible belt 39 cannot be laid in an S shape or a Z shape.
Further, the clamping assembly comprises two groups of rotating roller sets 20, wherein the two groups of rotating roller sets comprise a first roller 21, a second roller 22 and a mounting frame, and the first roller 21 and the second roller 22 are arranged on the mounting frame; the first wheel roller 21 and the second wheel roller 22 are oppositely arranged to clamp the flexible belt 39; the second power mechanism is connected with the first roller 21 and drives the first roller 21 to rotate so as to transmit the flexible belt 39. The flexible belt 39 is clamped and transferred by arranging the rotary roller group 20 and the second power mechanism, the rotary roller group 20 transfers the flexible belt 39 through the friction force between the rotary roller group and the flexible belt 39, and the flexible belt is simple in structure and convenient to disassemble and assemble.
As an alternative arrangement of the second power mechanism, the second power mechanism is connected to the second roller 22 and drives the second roller 22 to rotate so as to transmit the flexible belt 39, or the second power mechanism is connected to both the first roller 21 and the second roller 22 and drives the second roller 22 to rotate so as to transmit the flexible belt 39.
Specifically, the second power mechanism is disposed inside the housing of the first roller 21 or the second roller 22. The occupied space of the second power mechanism is reduced, so that the structure of the whole clamping assembly is simpler. The power mechanism in the embodiment adopts a micro motor.
As another embodiment of the clamping assembly, the clamping assembly comprises: two clamping members and a power mechanism, wherein the power mechanism drives the two clamping members to move towards the direction close to the reel 18 or away from the reel 18. The operation of the clamping assembly of this embodiment will be described with reference to movement away from the reel 18: after the clamping member drives the flexible tape 39 to move a distance away from the reel 18, the clamping member releases the flexible tape 39, and the power mechanism drives the clamping member to move in a manner of approaching the reel 18, clamps the flexible tape 39 again and drives the clamping member to move in a direction away from the reel 18, so that the flexible tape 39 is intermittently transferred.
The guiding assembly 19 further comprises a third power mechanism 26 connected with the clamping assembly and adapted to control the clamping assembly to clamp or release the flexible belt 39, specifically, when the flexible belt 39 is laid, the third power mechanism 26 controls the clamping assembly to operate to clamp the flexible belt 39, and after the flexible belt 39 is laid, the third power mechanism 26 controls the clamping assembly to operate to release the flexible belt 39 so as to supply water.
The third power mechanism 26 may adopt a motor and a lead screw, the motor drives the clamping assembly to act through the lead screw, or may adopt an air cylinder directly.
The third power mechanism 26 is connected with the first roller 21 to control the distance between the first roller 21 and the second roller 22.
As a changeable arrangement of the third power mechanism 26, the third power mechanism 26 is connected to the second roller 22 to control the distance between the first roller 21 and the second roller 22, or the third power mechanism 26 is connected to both the first roller 21 and the second roller 22 to control the distance between the first roller 21 and the second roller 22.
The guiding assembly 19 further includes a mounting plate 31, the clamping assembly, the second power mechanism and the third power mechanism 26 are all disposed on the mounting plate 31, and the mounting plate 31 of this embodiment is only required to have structural performance meeting the use requirement.
For better transfer of the flexible tape 39, the transfer speed of the reel 18 and the guide assembly 19 is adapted, on the one hand, so that the flexible tape 39 between the guide assembly 19 and the reel 18 is kept under tension. In particular, the direction of rotation of the reel 18 is opposite to the direction of the first wheel roller 21.
On the other hand, an adjusting bracket 40 is arranged below the reel 18, and the relative position of the reel 18 and the guide assembly 19 is adjusted through the adjusting bracket 40, so that the flexible tape 39 is not inclined from the reel 18 to the guide assembly 19. For ease of understanding, the description is made in conjunction with one of the usage scenarios of the flexible tape 39, that is, as shown in fig. 6, when the reel 18 and the guide assembly 19 are horizontally placed, the length direction of the flexible tape 39 is arranged along the horizontal direction.
With the above two arrangements, bending or winding of flexible tape 39 from reel 18 to guide assembly 19 does not occur, and even if flexible tape 39 bends on reel 18, the bent portion of flexible tape 39 can be straightened by tension between guide assembly 19 and reel 18 and by adjusting the relative positions of reel 18 and guide assembly 19.
Here, the adjusting bracket 40 is provided with a lifting mechanism, and the lifting mechanism here may be an existing lifting mechanism.
The first power mechanism 23 is connected with the reel 18 and the guiding assembly 19, and the guiding assembly 19 is driven to operate by the reel 18, that is, the power source of the first power mechanism 23 is from the reel 18, so that no additional power source is needed, and the trouble of disassembly, assembly and maintenance is reduced.
As an alternative embodiment, the first power mechanism 23 may be provided with a separate power source, without the need to drive the guiding assembly 19 through the reel 18.
Specifically, the first power mechanism 23 includes a transmission unit 24 and a swinging unit 25, and the swinging unit 25 is connected with the guide assembly 19 to drive the guide assembly 19 to swing back and forth; the transmission unit 24 connects the reel 18 and the swinging unit 25, and is adapted to drive the swinging unit 25 to act through the reel 18.
Specifically, the transmission unit 24 includes a sprocket assembly and a chain 32, the sprocket assembly includes a first sprocket and a second sprocket 33, the first sprocket is connected with the reel 18, the second sprocket 33 is connected with the swinging unit 25, and the chain 32 is sleeved on the first sprocket and the second sprocket 33 and is suitable for the reel 18 to drive the swinging unit 25 to move through the first sprocket.
Specifically, the swing unit 25 includes a first link 34 and a second link 35, one end of the first link 34 is connected to the second link 35, the other end is connected to the second sprocket 33, the first link 34 is adapted to make a circular motion under the driving of the second sprocket 33, and the second link 35 is adapted to swing back and forth under the driving of the first link 34.
The water tray mechanism 3 of the embodiment further includes a support member 27 connected to the guide member 19 and adapted to support the guide member 19 when the guide member 19 swings back and forth. The supporting component 27 is disposed below the guiding component 19, and includes a rotary supporting unit 28, which is rotatably connected to the guiding component 19, and the swinging unit 25 drives the guiding component 19 to swing back and forth around the rotary supporting unit 28.
Through setting up supporting component 27, on the one hand, on the basis that swing unit 25 supports guide component 19, add supporting component 27 again for stability is better when guide component 19 swings back and forth, and on the other hand, has also reduced the structural performance requirement to swing the subassembly.
Further, the supporting component 27 further includes a sliding supporting unit 29 disposed below the guiding component 19 and slidably connected to the guiding component 19.
The water tray mechanism 3 further comprises a base 30, wherein the swinging unit 25, the rotating supporting unit 28 and the sliding supporting unit 29 are all arranged on the base 30 and are positioned below the mounting plate 31 and connected with the mounting plate 31.
Wherein the reel 18 comprises a reel 36 and a drive unit 38, the reel 36 being adapted to wind said flexible tape 39; the driving unit 38 is connected to the reel 36 and adapted to drive the reel 36 to move, and the driving unit 38 is connected to the first power mechanism 23 through the reel 36.
Further, the reel 18 further includes a connecting shaft 37 disposed at the axial center of the reel 36 and rotating with the reel 36, and the reel 36 is connected to the first power mechanism 23 through the connecting shaft 37.
When the water tray mechanism 3 is used, two use scenes are provided.
In a first usage scenario, as shown in fig. 1, reel 18 is fixedly mounted on the ground by adjusting bracket 40 and connected to hydrant 12, the outlet of flexible belt 39 on reel 36 is connected to the transmission pipeline on robot body 1, reel 36 rotates to place flexible belt 39, and then fire-fighting robot moves flexible belt 39 to a predetermined position.
In the second usage scenario, the reel 18 is installed at the tail of the fire fighting equipment, the free end of the flexible tape 39 is fixed, the reel 18 moves to a predetermined position along with the robot body 1, the reel 36 rotates and places the flexible tape 39 while moving during the movement of the fire fighting equipment, and the flexible tape 39 is laid or displayed in an "S" shape on the ground after swinging through the guide assembly 19.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A fire fighting robot system, comprising:
the robot comprises a robot body (1) suitable for moving to a specific position and extinguishing fire through a turbofan cannon (2) arranged on the robot body;
the water tray mechanism (3) is connected with the robot body (1) and is suitable for conveying outside water to the turbofan cannon (2);
and the control system is connected with the robot body (1) and the water tray mechanism (3) and is suitable for controlling the robot body (1) and the water tray mechanism (3) to act.
2. A fire fighting robot system according to claim 1, characterized in that the robot body (1) comprises:
support frame (4), revolving stage (5) and power component, support frame (4) set up on revolving stage (5), and move under power component's drive, turbofan big gun (2) set up on support frame (4), support frame (4) include:
the water supply device comprises an arm support (6) and a conveying pipeline (7), wherein the conveying pipeline (7) is arranged on the arm support (6) and is suitable for conveying a water source to the turbofan cannon (2), the conveying pipeline comprises at least two sections of telescopic pipes (8), the two adjacent sections of telescopic pipes (8) are connected in a sliding mode, and the telescopic pipes (8) are suitable for acting along with the lifting of the arm support (6).
3. A fire fighting robot system according to claim 2, characterized in that the boom (6) comprises:
a base arm (9) articulated with said turret (5);
one end of the telescopic arm is connected with the basic arm (9), the other end of the telescopic arm is connected with the turbofan cannon (2), the arm support (6) has a rising state and a contracting state, the power assembly drives the basic arm (9) to move so as to adjust the direction of the arm support (6) in the rising state, and the power assembly drives the telescopic arm to move so as to adjust the telescopic length of the telescopic arm.
4. A fire fighting robot system according to any of claims 1-3, characterized in that the robot body (1) further comprises an energy storage device (14) and a crawler-type walking mechanism (15), the crawler-type walking mechanism (15) being adapted to move the robot body (1), the energy storage device (14) being adapted to power the crawler-type walking mechanism (15).
5. A fire-fighting robot system as recited in any one of claims 1-3, further provided with an intelligent monitoring component, through which 360-degree panoramic video surveillance, autonomous navigation obstacle avoidance, automatic scene modeling, fire-fighting scene visualization are achieved.
6. A fire fighting robot system according to claim 5, characterized in that the intelligent monitoring assembly comprises a camera (16), radar and sensor mounted on the robot body (1).
7. A fire fighting robot system as recited in claim 4, further comprising:
the spraying and cooling device (17) is arranged on the robot body (1), and the spraying and cooling device (17) is suitable for spraying water to the outer side of the robot body (1) to form a water curtain so as to carry out cooling and fireproof protection on the energy storage device (14);
and the fireproof heat insulation structure is arranged on the upper outer side of the energy storage device (14) and is suitable for protecting the energy storage device (14).
8. A fire fighting robot system according to any of claims 1 to 3, characterized in that the water pan mechanism (3) comprises:
a reel (18) adapted to wind a flexible tape;
a guide assembly (19) arranged on one side of the reel (18) and adapted to transfer the flexible tape wound on the reel (18);
and the first power mechanism is connected with the guide assembly (19) and is suitable for driving the guide assembly (19) to swing in a reciprocating manner.
9. A fire fighting robot system according to claim 8, characterized by further comprising an adjustment bracket connected with the reel (18) and adapted to adjust the relative position between the reel (18) and the guide assembly (19) such that the flexible belt is not tilted from the reel (18) to the guide assembly (19);
the reel (18) is adapted to the transfer speed of the guide assembly (19) so that the flexible tape between the guide assembly (19) and the reel (18) is kept under tension.
10. A fire fighting robot system according to claim 8, characterized in that the first power mechanism connects the reel (18) with the guiding assembly (19) and is adapted to drive the guiding assembly (19) into action by means of the reel (18);
the first power mechanism comprises a transmission unit and a swinging unit, and the swinging unit is connected with the guide assembly (19) to drive the guide assembly (19) to swing in a reciprocating manner; the transmission unit is connected with the reel (18) and the swinging unit and is suitable for driving the swinging unit to act through the reel (18).
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| CN2021110773063 | 2021-09-14 | ||
| CN202111077306 | 2021-09-14 |
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| CN113952663A true CN113952663A (en) | 2022-01-21 |
| CN113952663B CN113952663B (en) | 2023-01-31 |
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| CN112919264A (en) * | 2021-01-19 | 2021-06-08 | 王淙 | Novel network engineering wiring construction device |
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| CN104355187A (en) * | 2014-11-16 | 2015-02-18 | 重庆琨敏蔬菜种植股份合作社 | Agricultural irrigation water pipe coiling device |
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| CN113952663B (en) | 2023-01-31 |
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