CN114100035A

CN114100035A - Special robot for fire fighting

Info

Publication number: CN114100035A
Application number: CN202111450752.4A
Authority: CN
Inventors: 何永宁; 王小川
Original assignee: Shentong Special Robot Jiangsu Co ltd
Current assignee: Shentong Special Robot Jiangsu Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-03-01

Abstract

The invention discloses a special robot for fire fighting, which comprises a base, wherein a crawler wheel travelling mechanism is installed at the bottom of the base, a driving motor is fixedly installed at the middle position inside the base, a rotary head is arranged at the output end of the driving motor, an installation table is fixedly installed at the top end of the rotary head, an installation frame, a water pump and a water tank are fixedly installed at the top of the installation table, the water pump is positioned between the installation frame and the water tank, an installation seat is fixedly installed at the top of the installation frame, a connecting arm is movably installed on the inner side of the installation seat, a water spray head is fixedly installed at one end of the connecting arm, an adjusting sleeve is arranged at the other end of the connecting arm, an installation rod is fixedly installed at the top of the installation table, and a semicircular slide rail is fixedly installed at the top end of the installation rod. The device has the characteristics of good obstacle clearing effect and convenience for adjusting the angle and direction of water spraying by arranging a series of structures.

Description

Special robot for fire fighting

Technical Field

The invention relates to the technical field of special robots, in particular to a special robot for fire fighting.

Background

With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident probability is correspondingly improved. In case of disaster accidents, when the firemen face high temperature, darkness, toxicity, dense smoke and other harmful environments, if no corresponding equipment rushes into the scene, the firemen can not complete the task and can also casualties in vain. Therefore, the special fire-fighting robot is produced by the birth, is one of the special robots and plays a role in putting a great deal of weight in fire extinguishing and emergency rescue.

Current fire control special type robot is at the in-process of in-service use, be not convenient for adjust angle and the direction of sprinkler bead water spray according to actual conditions, limitation has during the use, and at its in-process of marcing, if meet the clearance that the barrier can not be timely, need remove repeatedly or bypass the barrier, and then make the great reduction of efficiency of work, can not put out danger timely, easily cause the delay of putting out a fire, produce the potential safety hazard, consequently, we have proposed a fire control and have used special type robot solution problem in order to solve this a series of problems.

Disclosure of Invention

The invention aims to provide a special robot for fire fighting, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a special robot for fire fighting comprises a base, wherein a crawler wheel traveling mechanism is installed at the bottom of the base, a driving motor is fixedly installed at the middle position inside the base, a rotary head is arranged at the output end of the driving motor, an installation table is fixedly installed at the top end of the rotary head, an installation frame, a water pump and a water tank are fixedly installed at the top of the installation table, the water pump is located between the installation frame and the water tank, an installation seat is fixedly installed at the top of the installation frame, a connecting arm is movably installed at the inner side of the installation seat, a water spray head is fixedly installed at one end of the connecting arm, an adjusting sleeve is arranged at the other end of the connecting arm, an installation rod is fixedly installed at the top end of the installation rod, a semicircular slide rail is fixedly installed at one end of the semicircular slide rail, and the adjusting sleeve is movably sleeved on the semicircular slide rail, a first threaded rotating shaft is movably arranged on the inner side of the mounting frame, a first internal thread sleeve is sleeved and arranged on the first threaded rotating shaft in a threaded manner, one side of the first internal thread sleeve is fixedly provided with an installation block, one end of the installation block is fixedly provided with an installation column, the bottom end of the mounting column is fixedly provided with a mounting plate, the top of the mounting plate is fixedly provided with two side plates, a second threaded rotating shaft is movably arranged between the two side plates, a second internal thread sleeve is sleeved on the second thread rotating shaft in a threaded manner, movable connecting pieces are arranged on two sides of the second internal thread sleeve, the two sides of the second internal thread sleeve are both movably connected with connecting rods through the movable connecting pieces, one ends of the two connecting rods are respectively and movably connected with the obstacle clearing plates, connecting shafts are arranged between the two obstacle clearing plates, and the two obstacle clearing plates are movably connected through the connecting shafts.

Preferably, the inboard fixed mounting of mounting bracket has first gag lever post, movable sleeve joint installs first stop collar on the first gag lever post, first stop collar with fixed mounting has first connecting block between the first internal thread cover, just the top fixed mounting of mounting bracket has first electric motor, the top of first screw thread pivot with first electric motor's output fixed connection.

Preferably, two fixed mounting has the second gag lever post between the curb plate, movable sleeve joint installs the second stop collar on the second gag lever post, the second stop collar with fixed mounting has the second connecting block between the second internal thread cover, and one of them one side fixed mounting of curb plate has the third electric motor, the one end of second screw thread pivot with the output fixed connection of third electric motor.

Preferably, a water suction pipe is arranged on one side of the water pump, one end of the water suction pipe extends into the water tank, a water delivery hose is connected to the other side of the water pump, and one end of the water delivery hose is connected with the water spray head.

Preferably, the inboard equidistant of semi-circular slide rail is provided with a plurality of teeth, the inside one side movable mounting of adjusting collar has the installation axle, install epaxial fixed cup joint and install the gear, the gear is located one side of tooth, just the gear with the tooth meshing, just the bottom fixed mounting of adjusting collar has the fourth electric motor, the bottom of installation axle with the output fixed connection of fourth electric motor.

Preferably, the equal movable mounting in the inboard top of adjusting collar and bottom and inside one side has the bull's eye gyro wheel, the race has all been seted up to the top of semi-circular slide rail and bottom and one side, and is three the bull's eye gyro wheel is located two respectively the inboard of race.

Preferably, four wheel carriers are circumferentially arranged at the bottom of the mounting table at equal intervals, universal wheels are movably arranged at the bottom ends of the four wheel carriers, an annular groove is formed in the top of the base, and the four universal wheels are located on the inner side of the annular groove.

Preferably, the bottom of the two obstacle clearing plates is movably provided with obstacle clearing rotary rollers, the lower part of one side of each obstacle clearing plate is fixedly provided with a second electric motor, and one end of each obstacle clearing rotary roller mandrel is fixedly connected with the output ends of the second electric motors.

Compared with the prior art, the invention has the beneficial effects that:

the fourth electric motor is controlled, so that the mounting shaft can rotate, the mounting shaft drives the gear to rotate, the adjusting sleeve slides on the semicircular slide rail under the action of teeth on the inner side of the semicircular slide rail when the gear rotates, the connecting arm is further driven to rotate, the connecting arm rotates to drive the sprinkler bead at one end of the connecting arm to move, the angle of water sprayed by the sprinkler bead can be adjusted, the use is convenient and fast, and the angle of water sprayed by the sprinkler bead can be conveniently adjusted;

when the device encounters an obstacle in the use process, the first electric motor is controlled to enable the first threaded rotating shaft to rotate, the first threaded rotating shaft drives the first internal thread sleeve to move, the first internal thread sleeve drives the mounting plate to move through the mounting column, the mounting plate drives the two obstacle clearing plates on one side of the mounting plate to move, the two obstacle clearing plates move downwards, the third electric motor is controlled to enable the second threaded rotating shaft to rotate according to the actual obstacle clearing area, the second threaded rotating shaft drives the second internal thread sleeve to move, the second internal thread sleeve changes the included angle between the two obstacle clearing plates through the two connecting rods, the two second electric motors are respectively controlled to enable the two obstacle clearing rotating rollers to rotate, and therefore, a fire-fighting robot does not need to move for multiple times, the obstacle clearing area can be effectively improved, the operation is simple, and the obstacle clearing efficiency is high;

control driving motor, can make driving motor drive the turn round and rotate, the turn round then drives the mount table on its top and rotates, can adjust the water spray of this device and the direction of obstacles removing, high adaptability of convenient to use, and the equidistant circumference in bottom of mount table installs four wheel carriers, the equal movable mounting in bottom of four wheel carriers has the universal wheel, the ring channel has been seted up at the top of frame, four universal wheels all are located the inboard of ring channel, can carry out the auxiliary stay to the mount table, improve its stability when rotating and during operation.

Drawings

FIG. 1 is a schematic overall structure of the present invention;

FIG. 2 is an enlarged view of the invention at A in FIG. 1;

FIG. 3 is a top view of the obstacle clearing mechanism of the present invention;

FIG. 4 is an enlarged view of the invention at B in FIG. 1;

fig. 5 is a cross-sectional view of an adjustment sleeve according to the invention.

In the figure: 1. a machine base; 2. a drive motor; 3. turning the head; 4. an installation table; 5. a water tank; 6. a suction pipe; 7. mounting a rod; 8. a semicircular slide rail; 9. an adjusting sleeve; 10. a limiting block; 11. a connecting arm; 12. a water pump; 13. a mounting seat; 14. a first electric motor; 15. a sprinkler head; 16. a mounting frame; 17. a first stop collar; 18. a first connection block; 19. a first internally threaded sleeve; 20. mounting blocks; 21. mounting a column; 22. a first threaded shaft; 23. a water delivery hose; 24. a first limit rod; 25. clearing the barrier plate; 26. a second electric motor; 27. clearing obstacles and rotating rollers; 28. a crawler wheel traveling mechanism; 29. a side plate; 30. a third electric motor; 31. a second limiting rod; 32. a second connecting block; 33. a second stop collar; 34. mounting a plate; 35. a connecting rod; 36. a second internally threaded sleeve; 37. a second threaded shaft; 38. a movable connecting piece; 39. a connecting shaft; 40. a wheel carrier; 41. a universal wheel; 42. an annular groove; 43. teeth; 44. a bull's eye roller; 45. a wheel groove; 46. a fourth electric motor; 47. installing a shaft; 48. a gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

Referring to fig. 1-5, the present invention provides a technical solution: a special robot technical scheme for fire fighting comprises a machine base 1, a crawler wheel traveling mechanism 28 is installed at the bottom of the machine base 1, a driving motor 2 is fixedly installed at the middle position inside the machine base 1, a rotary head 3 is arranged at the output end of the driving motor 2, an installation table 4 is fixedly installed at the top end of the rotary head 3, an installation frame 16, a water pump 12 and a water tank 5 are fixedly installed at the top of the installation table 4, the water pump 12 is located between the installation frame 16 and the water tank 5, an installation seat 13 is fixedly installed at the top of the installation frame 16, a connecting arm 11 is movably installed on the inner side of the installation seat 13, a water spray head 15 is fixedly installed at one end of the connecting arm 11, an adjusting sleeve 9 is arranged at the other end of the connecting arm 11, an installation rod 7 is fixedly installed at the top of the installation table 4, a semicircular slide rail 8 is fixedly installed at the top end of the installation rod 7, a limiting block 10 is arranged at one end of the semicircular slide rail 8, and the adjusting sleeve 9 is movably installed on the semicircular slide rail 8, the inboard movable mounting of mounting bracket 16 has first screw thread pivot 22, screw thread cup joints on first screw thread pivot 22 and installs first internal thread cover 19, one side fixed mounting of first internal thread cover 19 has installation piece 20, the one end fixed mounting of installation piece 20 has erection column 21, the bottom fixed mounting of erection column 21 has mounting panel 34, the top fixed mounting of mounting panel 34 has two curb plates 29, movable mounting has second screw thread pivot 37 between two curb plates 29, screw thread cup joints on second screw thread pivot 37 and installs second internal thread cover 36, the both sides of second internal thread cover 36 all are provided with swing joint 38, the both sides of second internal thread cover 36 all have connecting rod 35 through swing joint 38 swing joint, the one end difference swing joint of two connecting rods 35 has clearance board 25, be provided with connecting axle 39 between two clearance boards 25, through connecting axle 39 swing joint between two clearance boards 25.

Preferably, the inner side of the mounting bracket 16 is fixedly provided with a first limiting rod 24, the first limiting rod 24 is movably sleeved with a first limiting sleeve 17, a first connecting block 18 is fixedly arranged between the first limiting sleeve 17 and the first internal thread sleeve 19, the top of the mounting bracket 16 is fixedly provided with a first electric motor 14, the top end of the first thread rotating shaft 22 is fixedly connected with the output end of the first electric motor 14, and the first internal thread sleeve 19 cannot rotate along with the first internal thread sleeve 32 when the first thread rotating shaft 32 rotates and can only move on the first thread rotating shaft 32.

Preferably, a second limiting rod 31 is fixedly installed between the two side plates 29, a second limiting sleeve 33 is movably installed on the second limiting rod 31 in a sleeved mode, a second connecting block 32 is fixedly installed between the second limiting sleeve 33 and a second internal thread sleeve 36, a third electric motor 30 is fixedly installed on one side of one of the side plates 29, one end of a second thread rotating shaft 37 is fixedly connected with the output end of the third electric motor 30, and the second internal thread sleeve 36 cannot rotate along with the second thread rotating shaft 37 when the second thread rotating shaft 37 rotates and can only move on the second thread rotating shaft 37.

Preferably, one side of the water pump 12 is provided with a water suction pipe 6, one end of the water suction pipe 6 extends to the inside of the water tank 5, the other side of the water pump 12 is connected with a water delivery hose 23, one end of the water delivery hose 23 is connected with the sprinkler head 15, and therefore the device is reasonable in design, and the water pump 12 can spray the sprinkler head 15 of the water pump inside the water tank 5.

Preferably, a plurality of teeth 43 are equidistantly arranged on the inner side of the semicircular slide rail 8, an installation shaft 47 is movably installed on one side of the inner portion of the adjusting sleeve 9, a gear 48 is fixedly sleeved on the installation shaft 47 and is installed on the gear 48, the gear 48 is located on one side of the teeth 43, the gear 48 is meshed with the teeth 43, a fourth electric motor 46 is fixedly installed at the bottom of the adjusting sleeve 9, the bottom end of the installation shaft 47 is fixedly connected with the output end of the fourth electric motor 46, the fourth electric motor 46 is controlled, the installation shaft 47 can be rotated, the installation shaft 47 drives the gear 48 to rotate, and the adjusting sleeve 9 slides on the semicircular slide rail 8 under the action of the teeth 43 on the inner side of the semicircular slide rail 8 when the gear 48 rotates.

Preferably, the top and the bottom of the inner side of the adjusting sleeve 9 and one side of the inner side are movably provided with bull's eye rollers 44, the top, the bottom and one side of the semicircular sliding rail 8 are provided with wheel grooves 45, and the three bull's eye rollers 44 are respectively positioned on the inner sides of the two wheel grooves 45, so that the adjusting sleeve 9 is stable when moving.

Preferably, four wheel frames 40 are circumferentially installed at the bottom of the installation table 4 at equal intervals, universal wheels 41 are movably installed at the bottom ends of the four wheel frames 40, an annular groove 42 is formed in the top of the machine base 1, and the four universal wheels 41 are located on the inner side of the annular groove 42 and can assist in supporting the installation table 4, so that the stability of the installation table during rotation and working is improved.

Preferably, the bottom of two obstacles removing board 25 all movable mounting have obstacles removing to change roller 27, and the equal fixed mounting in below of two obstacles removing board 25 one side has second electric motor 26, and the one end of two obstacles removing changes roller 27 dabbers respectively with two second electric motor 26's output fixed connection, control two second electric motor 26 respectively for two obstacles removing change roller 27 and rotate, improve the efficiency of obstacles removing.

The working principle is as follows: the invention can move through the crawler wheel walking mechanism 28, in the moving process, when the obstacle needs to be cleaned, the first electric motor 14 is controlled to enable the first thread rotating shaft 22 to rotate, the first thread rotating shaft 22 drives the first internal thread sleeve 19 to move, the first internal thread sleeve 19 drives the mounting plate 34 to move through the mounting column 21, the mounting plate 34 drives the two obstacle clearing plates 25 on one side of the mounting plate to move, the two obstacle clearing plates 25 move downwards, the third electric motor 30 is controlled according to the actual obstacle clearing area to enable the second thread rotating shaft 37 to rotate, the second thread rotating shaft 37 drives the second internal thread sleeve 36 to move, the second internal thread sleeve 36 changes the included angle between the two obstacle clearing plates 25 through the two connecting rods 35, and then the two second electric motors 26 are respectively controlled to enable the two obstacle clearing rotating rollers 27 to rotate, so that the fire-fighting robot does not need to move for multiple times, can effectual improvement clearance barrier region, the operation is thus simple, clearance barrier is efficient, and control fourth electric motor 46, can make installation axle 47 rotate, installation axle 47 then drives gear 48 and rotates, effect through 8 inboard teeth 43 of semi-circular slide rail makes adjusting collar 9 slide on semi-circular slide rail 8 during gear 48 rotates, and then drive linking arm 11 and rotate, linking arm 11 rotates then to drive the sprinkler bead 15 activity of its one end, can adjust the angle of sprinkler bead 15 water spray, high durability and convenient use, be convenient for adjust the angle of water spray, simultaneous control driving motor 2, can make driving motor 2 drive turn round 3 and rotate, turn round 3 then drives the mount table 4 rotation on its top, can adjust the water spray of this device and the direction of clearance barrier, convenient to use strong adaptability.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a special type robot is used in fire control, includes frame (1), its characterized in that: crawler wheel running mechanism (28) is installed at the bottom of base (1), fixed mounting is located at the middle position of the interior of base (1) and is provided with driving motor (2), the output of driving motor (2) is provided with swivel (3), the top fixed mounting of swivel (3) is provided with mounting table (4), the top fixed mounting of mounting table (4) is provided with mounting bracket (16), water pump (12) and water tank (5), water pump (12) is located between mounting bracket (16) and water tank (5), the top fixed mounting of mounting bracket (16) is provided with mounting seat (13), the inboard movable mounting of mounting seat (13) is provided with connecting arm (11), one end fixed mounting of connecting arm (11) is provided with sprinkler bead (15), the other end of connecting arm (11) is provided with adjusting sleeve (9), and the top fixed mounting of mounting table (4) is provided with mounting rod (7), the top end of the mounting rod (7) is fixedly provided with a semicircular slide rail (8), one end of the semicircular slide rail (8) is provided with a limiting block (10), the adjusting sleeve (9) is movably sleeved on the semicircular slide rail (8), the inner side of the mounting rack (16) is movably provided with a first thread rotating shaft (22), the first thread rotating shaft (22) is provided with a first inner thread sleeve (19) in a threaded sleeved mode, one side of the first inner thread sleeve (19) is fixedly provided with a mounting block (20), one end of the mounting block (20) is fixedly provided with a mounting column (21), the bottom end of the mounting column (21) is fixedly provided with a mounting plate (34), the top of the mounting plate (34) is fixedly provided with two side plates (29), the two side plates (29) are movably provided with a second thread rotating shaft (37), the second thread rotating shaft (37) is provided with a second inner thread sleeve (36) in a threaded sleeved mode, both sides of second internal thread cover (36) all are provided with swing joint spare (38), the both sides of second internal thread cover (36) are all passed through swing joint spare (38) swing joint has connecting rod (35), two the one end difference swing joint of connecting rod (35) has clearance board (25), two be provided with connecting axle (39) between clearance board (25), two pass through between clearance board (25) connecting axle (39) swing joint.

2. A special robot for fire fighting as defined in claim 1, wherein: the inboard fixed mounting of mounting bracket (16) has first gag lever post (24), movable sleeve joint installs first stop collar (17) on first gag lever post (24), first stop collar (17) with fixed mounting has first connecting block (18) between first internal thread cover (19), just the top fixed mounting of mounting bracket (16) has first electric motor (14), the top of first screw thread pivot (22) with the output fixed connection of first electric motor (14).

3. A special robot for fire fighting as defined in claim 1, wherein: two fixed mounting has second gag lever post (31) between curb plate (29), movable sleeve joint is gone up in second gag lever post (31) installs second stop collar (33), second stop collar (33) with fixed mounting has second connecting block (32) between second internal thread cover (36), and wherein one side fixed mounting of curb plate (29) has third electric motor (30), the one end of second screw thread pivot (37) with the output fixed connection of third electric motor (30).

4. A special robot for fire fighting as defined in claim 1, wherein: one side of the water pump (12) is provided with a water suction pipe (6), one end of the water suction pipe (6) extends into the water tank (5), the other side of the water pump (12) is connected with a water delivery hose (23), and one end of the water delivery hose (23) is connected with the water spray head (15).

5. A special robot for fire fighting as defined in claim 1, wherein: the inboard equidistant of semi-circular slide rail (8) is provided with a plurality of teeth (43), one side movable mounting of adjusting collar (9) inside has installation axle (47), fixed cup joint is gone up in installation axle (47) and is installed gear (48), gear (48) are located one side of tooth (43), just gear (48) with tooth (43) meshing, just the bottom fixed mounting of adjusting collar (9) has fourth electric motor (46), the bottom of installation axle (47) with the output fixed connection of fourth electric motor (46).

6. A special robot for fire fighting as defined in claim 1, wherein: the top and the bottom of adjusting sleeve (9) inboard and the equal movable mounting in one side of inside have bull's eye gyro wheel (44), race (45), three have all been seted up to top and bottom and one side of semi-circular slide rail (8) bull's eye gyro wheel (44) are located two respectively the inboard of race (45).

7. A special robot for fire fighting as defined in claim 1, wherein: four wheel carriers (40) are installed to the equidistant circumference in bottom of mount table (4), four the bottom of wheel carrier (40) is all movable mounting has universal wheel (41), ring channel (42) have been seted up at the top of frame (1), four universal wheel (41) all are located the inboard of ring channel (42).

8. A special robot for fire fighting as defined in claim 1, wherein: the bottom of two clearance board (25) is equal movable mounting has clearance and changes roller (27), and two the equal fixed mounting in below of clearance board (25) one side has second electric motor (26), two the one end of clearance and change roller (27) dabber respectively with two the output fixed connection of second electric motor (26).