CN201088794Y - Fire-extinguishing robot - Google Patents
Fire-extinguishing robot Download PDFInfo
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- CN201088794Y CN201088794Y CNU2007200703816U CN200720070381U CN201088794Y CN 201088794 Y CN201088794 Y CN 201088794Y CN U2007200703816 U CNU2007200703816 U CN U2007200703816U CN 200720070381 U CN200720070381 U CN 200720070381U CN 201088794 Y CN201088794 Y CN 201088794Y
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Abstract
A fire-extinguishing robot is provided, which comprises a movable carrier, a fire water/foam bubble, a wireless remote control device, a take-up device and a self protecting mechanism; wherein, the fire water/foam bubble and the engine are arranged on a front tail end of the robot and the hydraulic system is disposed in the middle of the robot; the wireless remote control device is positioned on a front part of the robot and under the fire water/foam bubble; the take-up device is fixed on the fire water/foam bubble; the water fog injected out by a hydraulic spray nozzle of the self protecting mechanism can cover the a robot body completely. The utility model the following functions: throttle position automatic searching function at starting; automatic protecting function after three times of engine start-up; temperature signal-based self protecting system; far range wireless remote control function and fire real-time overview function. The utility model can enter into the fire site for fire-extinguishing under the remote control of fire fighters, and can wash and dilute the noxious and harmful substances leaked in the fire, so as to ensure the personal safety of the fire fighters on the fire site.
Description
Technical field
The utility model belongs to the fire-fighting robot field, is specifically related to a kind of firefighting fire extinguishing robot, is mainly used in place inflammable and explosive, that easily cave in and exist harmful toxic gas to leak such as petrochemical industry, tank farm, bulk storage plant.Under fire-fighting rescue personnel's Long-distance Control, it can enter fire and disaster scene and put out a fire and spray or cooling protection, also can carry out decontamination and dilution to the poisonous and harmful substance of leaking in the disaster accident.Solve the problem of the personal safety that the fire fighter faces in above-mentioned place effectively.
Background technology
From twentieth century beginning of the eighties, along with developing rapidly of China's economic construction, especially the continuous expansion of petrochemical industry commercial production scale, the generation of disaster accident is more and more frequent, the condition of a disaster becomes increasingly complex, consequence is more and more serious, influence is also increasing, and the fire-fighting rescue personnel very easily causes injures and deaths in the disaster disposal process.
In recent years, in the fire-fighting operation that fire brigade carries out,, used by wireless grade and carried out remote operated fire-fighting robot for to dangerous and can not handle near the fire of burning things which may cause a fire disaster.
Firefighting fire extinguishing robot can replace the fire-fighting rescue personnel to enter the disaster scene carrying out the fire-fighting operation, ensure fire-fighting rescue personnel's personal safety to greatest extent.
As such fire-fighting robot, open in the flat 6-79011 communique the spy, " a kind of fire-extinguishing apparatus with self-propelled water injector " disclosed, the feature of this fire-extinguishing apparatus is to have one or more water supply installations and water injector that can be voluntarily, described one or more water supply installation is arranged on the metope in fire extinguishing zone etc. regularly, accept the forced feed that adds hydraulic water of water for fire extinguishing from fire pump equipment, described water injector moves to being arranged near the on-the-spot above-mentioned water supply installation of fire generation, by connecting the feed water inlet of oneself, accept the forced feed of water for fire extinguishing and spray water.But above-mentioned fire-fighting robot water injector can not move from water supply installation, therefore at burning things which may cause a fire disaster under water supply installation situation far away, must spray water from afar, have the problem that can not put out a fire reliably.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of remote operated firefighting fire extinguishing robot that carries out, to solve the existing existing many weak points of fire-fighting robot.
Technical problem to be solved in the utility model can be achieved through the following technical solutions:
A kind of fire-fighting robot comprises
One mobile vehicle;
Be installed in the engine of mobile vehicle afterbody;
Be installed in the electric supply installation on the mobile vehicle, this electric supply installation comprises generator, battery and electric cabinet, and described generator is by engine drive work; Generator is to battery and electric cabinet power supply;
Be installed in the hydraulic system at mobile vehicle middle part, this hydraulic system comprises fueller, by walking mechanism and fire monitor actuating mechanism that fueller drives, and described fueller is connected with fire monitor working hydraulic pressure controlling organization with the hydraulic control of walking; Described magnetic valve is connected with electric cabinet and controlled by it;
Be installed in the fire water/foam monitor of mobile vehicle front portion, this fire water/foam monitor is connected with water tank with external water source by pipeline and water collector, and described water tank is installed on the mobile vehicle; Described fire water/foam monitor is made up of gun platform and nozzle, and the rotary joint of described gun platform is connected with fire monitor working hydraulic pressure controlling organization by Worm and worm-wheel gearing respectively with the pitching rotary joint; Described nozzle is connected with fire monitor working hydraulic pressure controlling organization, is realized the conversion of its direct current and spraying by fire monitor operating mechanism;
Be installed in mobile vehicle anterior and fire water/foam monitor below wireless remote controller, this wireless remote controller is connected by data line by a hand-held remote controller control and with remote control PLC;
Be installed in the camera head on fire water/foam monitor, this camera head is connected with backstage display device data.
The utility model also comprises the self-shield mechanism that is installed on the mobile vehicle, and this self-shield mechanism comprises Cooling protector and the engine start protective device that can protect engine start and the engine throttle searcher that can search for the engine throttle position automatically that can implement cooling to robot body.
Mobile vehicle of the present utility model is made of a vehicle frame and the walking mechanism that is installed on the vehicle frame, this walking mechanism comprises the hydraulic motor of a driving walking mechanism job, and described hydraulic motor is connected with the walking hydraulic control and controls its rotation direction by the walking hydraulic control.
Fueller of the present utility model is made of fuel tank, coarse filter, sundstrand pump and 3-position 4-way solenoid directional control valve, described fuel tank, coarse filter, sundstrand pump and 3-position 4-way solenoid directional control valve connect by pipeline successively, and described sundstrand pump and 3-position 4-way solenoid directional control valve connect with electric cabinet and controlled by electric cabinet; Described 3-position 4-way solenoid directional control valve connects with walking hydraulic control and fire monitor working hydraulic pressure controlling organization by pipeline.
Walking hydraulic control of the present utility model comprises a two-position three way magnetic valve that is connected and controls its rotation direction with hydraulic motor, is installed in the balanced valve at the hydraulic motor two ends in the walking mechanism on the described mobile vehicle and the overflow valve that connects with hydraulic motor, and described overflow valve is got back to fuel tank through fine filter; Described two-position three way magnetic valve connects with electric cabinet and controlled by it.
Described walking mechanism can be existing creeper undercarriage, and it comprises driving wheel, thrust wheel, support roller, guide wheel and track takeup that is installed on the vehicle frame and the crawler belt that is looped around driving wheel, thrust wheel, support roller, guide wheel and track takeup; Described driving wheel passes through fluid motor-driven.。
Described walking mechanism can be six wheel type traveling mechanisms of middle wheel suspension, and it comprises forward and backward sprocket wheel, drive sprocket, chain, bearing spider, hub reduction gear, intermediate chain wheel, middle wheel spring suspension device composition; Forward and backward sprocket wheel has four, be fixed in the both sides, front and back of vehicle frame, connect by chain between the forward and backward sprocket wheel, intermediate chain wheel has two, connect with forward and backward sprocket wheel by middle wheel spring suspension device, wheel hangs in the realization, bearing spider, hub reduction gear, hydraulic motor and drive sprocket are two groups, be fixed on the vehicle frame, hydraulic motor connects with hub reduction gear, hub reduction gear connects with bearing spider again, and bearing spider (102) connects with drive sprocket, and drive sprocket connects the forward and backward sprocket rotation of driving by chain with forward and backward sprocket wheel.
Be provided with damping device between fire water/foam monitor of the present utility model and electric cabinet and the vehicle frame.Described damping device can be metal-rubber combined shock absorption device or steel wire earthquake isolating equipment.
Fire monitor working hydraulic pressure controlling organization of the present utility model comprises respectively by the rotary joint of Worm and worm-wheel gearing driving gun platform and two oil motors of pitching rotary joint work, two two-position three way reversing solenoid valves that are connected with two oil motors and the two-position three way magnetic valve that connects with nozzle respectively, the described two-position three way reversing solenoid valve that is connected with oil motor is controlled the conversion of oil motor both direction rotation and is connected with the 3-position 4-way solenoid directional control valve of fueller, and two oil motors drive the rotary joint and the work of pitching rotary joint of gun platform respectively by Worm and worm-wheel gearing; The two-position three way magnetic valve control nozzle that connects with nozzle realizes that direct current connects with the spraying conversion and with the 3-position 4-way solenoid directional control valve of fueller.
Described nozzle is made up of head body, shower nozzle, bonded washer, joint, sealing ring and locking nut; Described shower nozzle is placed in the head body, one side and locking nut are connected into as a whole, there is a boss to be positioned in the middle of the connected body of shower nozzle and locking nut in the head body, sealing between the three is realized by sealing ring, external two joints of head body, the sealing between head body and the joint is guaranteed by bonded washer; The external two-position three way magnetic valve of joint also provides hydraulic oil by this two-position three way magnetic valve, and the variation by hydraulic oil realizes connected body move left and right in head body of shower nozzle and locking nut in use, thus the direct current and the spraying function of realization fire water monitor.
This fire water/foam monitor is connected with water tank with external water source by pipeline and water collector, and described water tank is installed on the mobile vehicle; Described fire water/foam monitor is made up of gun platform and nozzle, and the rotary joint of described gun platform is connected with fire monitor working hydraulic pressure controlling organization by Worm and worm-wheel gearing respectively with the pitching rotary joint; Described nozzle is connected with fire monitor working hydraulic pressure controlling organization, realizes the conversion of its direct current and spraying by fire water/foam monitor operating mechanism;
Pipeline between water collector of the present utility model and the water tank is provided with an electromagnet cut off valve, and a liquid-level switch is set in water tank, described external water source is communicated with water tank and an electromagnet cut off valve is set on this connecting pipeline, described two electromagnet cut off valve and liquid-level switch connect with described electric cabinet, liquid-level switch provides the liquid level signal of detection, electric cabinet to control two electromagnet cut off valve respectively to electric cabinet and opens and closes.
The hydraulic spray nozzle that Cooling protector of the present utility model comprises the water pump that one is installed in cooling control core PLC in the electric cabinet, opened and closed by cooling control core PLC control, controls temperature sensor that the signals collecting end of core PLC is connected by the A/D modular converter, is connected by pipeline with water pump with cooling; described temperature sensor is installed on the mobile vehicle; described hydraulic spray nozzle is evenly distributed on the robot body, and described water pump connects with water tank by pipeline.
Engine start protective device of the present utility model comprise one be installed in engine start protection control core PLC in the electric cabinet, by the engine cranking motor of engine start protection control core PLC control, control the speed probe that the signals collecting end of core PLC connects by the A/D modular converter with the engine start protection; Described speed probe is installed on the output shaft of engine.This engine start protective device has as engine start protection control core PLC and sends the automatic protection functions after the enabling signal continuously three times.
Engine throttle searcher of the present utility model comprise one be installed in Throttle Opening Control core PLC in the electric cabinet, by the throttle actuator of Throttle Opening Control core PLC control, feed back by the throttle position that the A/D modular converter connects with the signals collecting end of Throttle Opening Control core PLC; Described throttle actuator and throttle position feedback connect with throttle, are returned to the engine idle position to detect throttle position and to drive throttle.To guarantee starting function normally to start.
Camera head of the present utility model is made up of camera, wireless launcher, radio receiver, backstage display, connect by data wire between camera and the wireless launcher, wireless launcher and radio receiver communication link, radio receiver connects by data wire with the backstage display.
The utlity model has good cross-country ability, self-cooling protection function; its application can make the fire fighter away from heat radiation by force, easily cave in, scene that the burning of explosive and chemicals produces poison gas, the first line combatant safety has been played good protection.
Concrete advantage is as follows:
1, cost is low, the market ability to accept is strong
The utlity model has the programme-control function, manufacturing cost is lower, and the market price is estimated to be no more than 250,000 yuan/platform, is lower than a medium-sized triple of advocating war, and applies easily.
2, command range is reasonable
The utility model has been equipped with radio receiving transmitting module, remote control distance 〉=150m.
3, good heat insulation safeguard function
The utility model all round is furnished with waterfog head at its body, and in the process near fire extinguishing object, when caloradiance reached setting value, water pump started automatically, and the water storage in the water tank is sprayed by waterfog head, and complete machine is carried out cooling protection.After external water source puts in place, continue to provide pressure water source by the external water source replacement water tank that connects on the utility model to waterfog head, temperature was 60-300 ℃ when the scene of a fire was in the heat radiation precarious position usually, heat radiation reaches 1.3-8.4KW/m
2, when waterfog head is opened, can reduce more than 80% heat radiation of the present utility model, can guarantee the utility model operation of putting out a fire safely and effectively.
4, cross-country ability is better
Adopt creeper undercarriage little to the ground compression, bow that it is strong to put forth effort, be suitable for soft ground run and be difficult for depression, its theoretical level of crossing over vertical obstacle is the radius of front end wheel, maximum climbing gradient 〉=25 °.The directive wheel of installing can significantly improve crosses over vertical obstacle height and climbing capacity, realizes the original place commutation on narrow ground easily.
Six wheel type traveling mechanisms that wheel hangs in the employing can play stable complete machine, increase the effect of driving force when rugged ground running.
5, power form is safe and reliable
It is power that the utility model adopts hydraulic drive, is difficult for becoming the dangerous burning things which may cause a fire disaster in the scene of a fire.The utility model travels and is divided at full speed and two grades of low speed, adopts low or first gear in the process of loading onto and unload carrier loader, increases low speed torque, easily climbs.
The utility model can arrive at the scene of fire fast, and burning things which may cause a fire disaster is puted out a fire to save life and property effectively, can protect fireman's personal safety effectively.
Description of drawings
Fig. 1 is the utility model firefighting fire extinguishing robot structural representation.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the mobile vehicle structural representation of the utility model firefighting fire extinguishing robot.
Fig. 4 is the vertical view of Fig. 3.
Fig. 5 is the nozzle arrangements schematic diagram of the fire water/foam monitor of the utility model firefighting fire extinguishing robot.
Fig. 6 is the fueller of the utility model firefighting fire extinguishing robot and the structural representation of walking hydraulic control.
Fig. 7 is the operation principle block diagram of the engine throttle searcher of the utility model firefighting fire extinguishing robot.
Fig. 8 is the operation principle block diagram of the engine start protective device of the utility model firefighting fire extinguishing robot.
Fig. 9 is the operation principle block diagram of the Cooling protector of the utility model firefighting fire extinguishing robot.
Figure 10 is the operation principle block diagram of the camera head of the utility model firefighting fire extinguishing robot.
Figure 11 is the operation principle block diagram of the wireless remote controller of the utility model firefighting fire extinguishing robot.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
Referring to Fig. 1 and Fig. 2, a kind of fire-fighting robot comprises mobile vehicle 1, and engine 2, hydraulic system 5, fire water/foam monitor 4, electric supply installation, wireless remote controller 7, camera head 6 and self-shield mechanism 3 form.Mobile vehicle 1 is made of vehicle frame and the walking mechanism that is installed on the vehicle frame 101, six wheel type traveling mechanisms that walking mechanism adopts creeper undercarriage or middle wheel to hang, engine 2 is positioned at vehicle frame 101 afterbodys of mobile vehicle 1, hydraulic system 5 is positioned at mobile vehicle 1 vehicle frame 101 middle parts, fire water/foam monitor 4 is positioned at mobile vehicle 1 vehicle frame 101 front portions, camera head 6 is fixed on fire water/foam monitor 4, and wireless remote controller 7 is positioned at mobile vehicle 1 vehicle frame 101 front portions, below fire water/foam monitor 4.Self-shield mechanism comprises Cooling protector 3 and the engine start protective device that can protect engine start and the engine throttle searcher that can search for the engine throttle position automatically that can implement cooling to robot body.The waterfog head of Cooling protector 3 is evenly distributed on the robot body, and the water smoke of ejection can cover robot body fully.
The electric supply installation (not shown) comprises generator, battery and electric cabinet, and generator is by engine drive work; Generator is to battery and electric cabinet power supply.
Walking mechanism can be existing creeper undercarriage, and it comprises driving wheel, thrust wheel, support roller, guide wheel and track takeup that is installed on the vehicle frame 101 and the crawler belt that is looped around driving wheel, thrust wheel, support roller, guide wheel and track takeup; Described driving wheel drives by hydraulic motor 108.Hydraulic motor 108 is connected with the walking hydraulic control and controls its rotation direction by the walking hydraulic control.When driving wheel is driven by final transmission secondary driven gear, its gear pulling crawler belt, ground produces the reaction force that acts on the crawler belt immediately, and complete machine is to ground generation motion forward or backward, and complete machine is movement therewith also.Creeper undercarriage is bigger than the contact area of wheel fetalism walking mechanism, and grounding pressure is little, and the complete machine weight that crawler belt supported all is adhesion weight, and on the supporting surface of crawler belt, be shaped on and carry out thorn, can go deep in the soil, it is strong to grab the ground ability, be difficult for skidding, have and well adhere to tractive force and pass through performance.
Walking mechanism can also be six wheel type traveling mechanisms of middle wheel suspension, referring to Fig. 3 and Fig. 4, six wheel type traveling mechanisms that wheel hangs in this comprise forward and backward sprocket wheel 107, drive sprocket 103, chain 109, bearing spider 102, hub reduction gear 104, intermediate chain wheel 105, middle wheel spring suspension device 106 compositions; Before, back sprocket wheel 107 has four, be fixed in the both sides, front and back of vehicle frame 101, before, connect by chain 103 between the back sprocket wheel 107, intermediate chain wheel 105 has two, by middle wheel spring suspension device 106 with before, back sprocket wheel 107 connects, wheel hangs in the realization, bearing spider 102, hub reduction gear 104, hydraulic motor 108 and drive sprocket 103 are two groups, be fixed on the vehicle frame 101, hydraulic motor 108 connects with hub reduction gear 104, hub reduction gear 104 connects with bearing spider 102 again, and bearing spider 102 connects with drive sprocket 103, drive sprocket 103 by chain 109 with before, before back sprocket wheel 107 connects driving, back sprocket wheel 107 rotates.Six wheel type traveling mechanisms that wheel hangs in the employing can make complete machine overcome bowing of ground under steam and put forth effort, complete machine is moved forwards or backwards, and can maximumly cross over relative vertical height h
ω/ d is 0.5 obstacle (h
ωBe the ground vertical height, d is a wheel diameter), also can be with the size of the variation random fluctuation spring force of ground obstacle height, adhesive force is big, and spring force can be little, on the contrary adhesive force is little, and spring force can be big.
Referring to Fig. 3 and shown in Figure 4, front and back sprocket wheel 107 and intermediate chain wheel 105 are of a size of 350 * 210mm, and drive sprocket 103 is of a size of 280 * 190mm.Provide power oil by the walking hydraulic control, drive hydraulic motor 108, the power of hydraulic motor 108 is through hub reduction gear 104, hub reduction gear 104 models are CTD1020/CF.AP-D/6/A.D.OMSS, carry out velocity variations, increased moment of torsion, drive drive sprocket 103, drive sprocket 103 is installed in vehicle frame 101 middle parts of mobile vehicle 1, with front and back sprocket wheel 107 certain distance is arranged in height, before and after sprocket wheel 107 connect with tire, be placed on the front and back end of the vehicle frame 101 of mobile vehicle 1, when drive sprocket 103 directions of motion of the right and left unanimity, sprocket wheel 107 before and after driving, make mobile vehicle 1 to advance, retreat, when the right and left drive sprocket 103 directions of motion were opposite, whole mobile vehicle 1 can be realized pivot turn.Intermediate chain wheel 105 connects by middle wheel spring suspension device 106 in preceding sprocket wheel 107, is not fixed on the mobile vehicle 1, and when robot implemented obstacle detouring or climbing behavior, breast wheel can fluctuate the variation of adaptation to the ground.
Referring to Fig. 6, fueller is made of fuel tank 501, coarse filter 502, sundstrand pump 503 and 3-position 4-way solenoid directional control valve, fuel tank 501, coarse filter 502, sundstrand pump 503 and 3-position 4-way solenoid directional control valve connect by pipeline successively, and sundstrand pump 503 and 3-position 4-way solenoid directional control valve connect with electric cabinet and controlled by electric cabinet; The 3-position 4-way solenoid directional control valve connects with walking hydraulic control and fire monitor working hydraulic pressure controlling organization by pipeline.
The walking hydraulic control comprises a two-position three way magnetic valve 505 that is connected and controls its rotation direction with hydraulic motor 108, is installed in the balanced valve 506 at hydraulic motor 108 two ends and the overflow valve 504 that connects with hydraulic motor 108, and overflow valve 504 passes through fine filters 507 and gets back to fuel tank 501; Two-position three way magnetic valve 505 connects with electric cabinet and controlled by it.
After electric cabinet control combination pump 503 started, hydraulic oil enters sundstrand pump 503 from fuel tank 501 through coarse filter 502 became pressure oil, and pressure oil drives walking hydraulic control and the work of fire monitor working hydraulic pressure controlling organization by the 3-position 4-way solenoid directional control valve.
The two-position three way magnetic valve 505 of walking hydraulic control directly drives hydraulic motor 108, hydraulic motor 108 rotation directions are by two-position three way magnetic valve 505 controls, the pressure at hydraulic motor 108 two ends is kept by balanced valve 506, when the pressure of hydraulic oil exceeds certain limit, hydraulic oil is got back to fuel tank 501 by overflow valve 504 overflows through fine filter 507.
Be provided with damping device between fire water/foam monitor 4 and electric cabinet and the vehicle frame 101.Damping device can be metal-rubber combined shock absorption device or steel wire earthquake isolating equipment.Fire water/foam monitor 4 is made up of gun platform and nozzle, and it is connected with water tank with external water source by pipeline and water collector, and water tank is installed on the vehicle frame 101 of mobile vehicle 1; Pipeline between water collector and the water tank is provided with an electromagnet cut off valve, and a liquid-level switch is set in water tank, external water source is communicated with water tank and an electromagnet cut off valve is set on this connecting pipeline, two electromagnet cut off valve and liquid-level switch connect with described electric cabinet, liquid-level switch provides the liquid level signal of detection, electric cabinet to control two electromagnet cut off valve respectively to electric cabinet and opens and closes.Fire water/foam monitor 4 main bodys adopt stainless steel tube to be welded, and big gun head part cast member adopts the material of ZL104, and other part adopts stainless steel.
Fire monitor working hydraulic pressure controlling organization comprises respectively by the rotary joint of Worm and worm-wheel gearing driving gun platform and two oil motors 508 of pitching rotary joint work, two two-position three way reversing solenoid valves that are connected with two oil motors 508 and the two-position three way magnetic valve that connects with nozzle respectively, the two-position three way reversing solenoid valve that is connected with oil motor 508 is controlled the conversion of oil motor 508 both directions rotation and is connected with the 3-position 4-way solenoid directional control valve of fueller, and two oil motors 508 drive the rotary joint and the work of pitching rotary joint of gun platform respectively by Worm and worm-wheel gearing; The two-position three way magnetic valve control nozzle that connects with nozzle realizes that direct current connects with the spraying conversion and with the 3-position 4-way solenoid directional control valve of fueller.
Adopt hydraulic system, make the drive characteristic of engine significantly improve, thereby further improved driving performance of the present utility model, enlarged speed adjustable range simultaneously, simplified mechanical transmission.Hydraulic oil as driving medium has elasticity, steadily and progressively operates by hydraulic valve, can obtain steadily soft operating characteristic.Also prevent simultaneously overload easily, and easily employing wireless remote control and Controlling Technique for Programming.
Referring to Fig. 5, nozzle is made up of head body 401, shower nozzle 402, bonded washer 403, joint 404, sealing ring 405 and locking nut 406; Shower nozzle 402 is placed in the head body 401, one side and locking nut 406 are connected into as a whole, there is a boss to be positioned in the middle of the connected body of shower nozzle 402 and locking nut 406 in the head body 401, sealing between the three is realized by sealing ring 405, head body 401 external two joints 404, the sealing between head body 401 and the joint 404 is guaranteed by bonded washer 403; Joint 404 external two-position three way magnetic valves also provide hydraulic oil by this two-position three way magnetic valve, realize connected body move left and right in head body 401 of shower nozzle 402 and locking nut 406 in use by the variation of hydraulic oil, thereby realize the direct current and the spraying function of fire water/foam monitor.
Referring to Fig. 9; the hydraulic spray nozzle that the Cooling protector of self-shield mechanism 3 comprises the water pump 802 that one is installed in cooling control core PLC801 in the electric cabinet, opened and closed by cooling control core PLC801 control, controls temperature sensor 803 that the signals collecting end of core PLC801 is connected by the A/D modular converter, is connected by pipeline with water pump 802 with cooling; temperature sensor 803 is installed on the vehicle frame 101 of mobile vehicle 1; hydraulic spray nozzle is evenly distributed on the robot body, and water pump 802 connects with water tank by pipeline.The signal of the real-time monitor temperature sensor 803 of cooling control core PLC801; when the signal of temperature sensor 803 reaches 55 ℃; cooling control core PLC801 starts water pump 802 immediately, and the atomized water of waterfog head ejection covers robot body fully, thereby reaches the function of robot self-shield.Temperature sensor 803 adopts 0--100 ℃ temperature sensor monitors ambient temperature, and when external temperature＞55 ℃, people's self-protection function starts the machine.
Referring to Fig. 8, the engine start protective device comprise one be installed in engine start protection control core PLC701 in the electric cabinet, by the engine cranking motor 702 of engine start protection control core PLC701 control, control the speed probe 703 that the signals collecting end of core PLC701 connects by the A/D modular converter with the engine start protection; Speed probe 703 is installed on the output shaft of engine 2.This engine start protective device has as engine start protection control core PLC and sends the automatic protection functions after the enabling signal continuously three times.When the robot long-distance remote control started, engine start protection control core PLC701 sent signal and gives engine cranking motor 702, detects the signal of speed probe 703 simultaneously; If the signal display device people of speed probe 703 feedbacks is not activated success, then engine start protection control core PLC701 time-delay back is sent signal for the second time and is given engine cranking motor 702, detects the signal of speed probe 703 simultaneously; If the signal display device people of speed probe 703 feedbacks also is not activated success; then send signal for the third time after the engine start protection control core PLC701 time-delay and give engine cranking motor 702; detect the signal of speed probe 703 simultaneously; if the signal display device people of speed probe 703 feedbacks also is not activated success; then engine start protection control core PLC701 thinks that robot starts fault; refuse remote control ato unit 2 once more, and send 2 three startups of engine failure alarm signal.
Referring to Fig. 7, the engine throttle searcher comprise one be installed in Throttle Opening Control core PLC601 in the electric cabinet, by the throttle actuator 602 of Throttle Opening Control core PLC601 control, feed back 603 by the throttle position that the A/D modular converter connects with the signals collecting end of Throttle Opening Control core PLC601; Throttle actuator 602 and throttle position feedback 603 connects with throttle, to detect throttle position and the driving throttle is returned to the engine idle position.To guarantee starting function normally to start.When the robot long-distance remote control starts; Throttle Opening Control core PLC601 receives the signal of throttle position feedback 603, feeds back 603 feedback signals according to throttle position, controls throttle actuator 602 automatically; make the engine of robot be in idle position, guarantee that robot can normally start.
Referring to Figure 10, camera head is made up of camera 901, wireless launcher 902, radio receiver 903, backstage display 904, connect by data wire between camera 901 and the wireless launcher 902, wireless launcher and 902 radio receivers, 903 communication link, radio receiver 903 and backstage display 904 connect by data wire.When the machine man-hour, through wireless launcher 902 command system emission rearward, the commanding in the rear system receives the back by radio receiver 903 and shows on backstage display 904 camera 901 with video image, thereby reaches the function of the distant surveillance condition of a fire.
Camera 901 adopts IR DIGITAL in the camera head, COLOR, and CCD CAMERA, wireless launcher 902 and radio receiver 903 adopt TR1500, and rear display 904 adopts LG-TM1508S.
Referring to Figure 11, wireless remote controller 1002 can realize that robot has the long-distance wireless remote control function.This wireless remote controller 1002 is connected by data line by hand-held remote controller 1001 controls and with remote control PLC1003;
When the machine man-hour, send control instruction by hand-held remote controller 1001, after wireless remote controller 1002 receives signal is passed to remote control PLC1003, control each executing agency by remote control PLC1003 again.The control content comprises: the startup of engine stops, the forward-reverse of acceleration-deceleration, robot turns left to turn right, fire monitor on move that moving down moves to left and move to right action such as direct current spray.Remote control PLC1003 selects Siemens's 200 series of PLC for use; CPU adopts CPU224; The switching value module is selected EM223 for use; Analog module is selected EM231 for use; Wireless remote controller 1002 adopts F21B, total wireless remote control expelling plate and two modules of wireless remote control dash receiver realize the transmitting-receiving work of control signal, after the wireless remote control dash receiver receives control signal, be passed to remote control PLC1003, judge by internal processes and carry out corresponding actions.
Wireless remote controller 1002 can finish that the start-stop of engine 2 is controlled, walks, turned to, the signal of the switching of the level of acceleration and deceleration and fire water/foam monitor 4, pitching revolution control, direct current/spraying function sends and receives.The power supply that adopts is DC24V.
Have on the hand-held remote controller 1001 stop, stopping paying out motivation, advance/on move, retreat/move down, turn left/move to left, turn right/move to right, quicken/direct current, deceleration/spray, start/cool off, publish motivation, power on/warning lamp, select buttons such as bubble, during concrete operations, power on, open warning lamp by powering on/the warning lamp key, select the fire-fighting bubble by choosing bubble key, according to on-site actual situations to about gun muzzle, about, direct current, spraying, the boiling water pump operate respectively by advance/on move, retreat/move down, turn left/move to left, turn right/move to right, quicken/key such as direct current, deceleration/spraying, startup/cooling.Publish motivation by publishing the motivation key, ato unit is by startup/cooling key, can carry out straighforward operation to walking big gun certainly according to on-site actual situations, respectively by advance/on move, retreat/move down, turn left/move to left, turn right/move to right, quicken/direct current, deceleration/keys such as spraying, shutting engine down is by stopping paying out the motivation key, stop in emergency and general reset by stop key.
Hand-held remote controller 1001 radiating portions adopt the modulating emission circuit of high efficiency, low harmonic wave, have the characteristics of power saving, high stable.Harmonic wave cooperates the antenna of high-gain, high Q value less than 60db, can transmit reliable information with faint transmitting power (about 1mw), and coded portion adopts coding chip.Timing preface circuit, voltage detecting, circuit such as power supply control can be carried out precision encoding, lower the transmitter, phase noise, and can work under wide temperature range.Wireless remote controller 1002 adopts the narrow frequency receiving circuit of high selection, high-gain, low noise, low false picture (less than 60db).Has automatic frequency correction, from functions such as dynamic(al) corrections.Decoded portion adopts integrated IC circuit, improves its reliability and interference free performance.
Electric cabinet of the present utility model mainly is made up of Programmable Logic Controller, A/D modular converter and relaying amplifying relay, and it receives the command signal of wireless remote controller 1002 outputs, amplifies by relaying, makes each electric actuators part action, reaches the purpose of control.
This electric cabinet can be worked under DC18-28V voltage, can be when engine start, automatically detect the engine throttle position, and make it be in idle position, can automatically perform three start-up routines of engine, can carry out on request and advance, retreat and advance in correction collision avoidance action, can carry out a left side with the radius of turn of minimum, right sharp turn, can carry out the orderly shutdown instruction or the instruction of stopping in emergency, has racing of the engine, low oil pressure, error protections such as water temperature height, possess emergency sooket, when electric cabinet breaks down, still can control basic row of the present utility model and walk action; Can be to level, the pitching revolution action of fire water/foam monitor and direct current, the spraying of switching fire water/foam monitor.
More than show and described basic principle of the present utility model, principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present utility model; the utility model also has various changes and modifications under the prerequisite that does not break away from the utility model spirit and scope, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (17)
1. a fire-fighting robot is characterized in that, comprises
One mobile vehicle;
Be installed in the engine of mobile vehicle afterbody;
Be installed in the electric supply installation on the mobile vehicle, this electric supply installation comprises generator, battery and electric cabinet, and described generator is by engine drive work; Generator is to battery and electric cabinet power supply;
Be installed in the hydraulic system at mobile vehicle middle part, this hydraulic system comprises fueller, by walking mechanism and fire monitor actuating mechanism that fueller drives, and described fueller is connected with fire monitor working hydraulic pressure controlling organization with the hydraulic control of walking; Described magnetic valve is connected with electric cabinet and controlled by it;
Be installed in the fire water/foam monitor of mobile vehicle front portion, this fire water/foam monitor is connected with water tank with external water source by pipeline and water collector, and described water tank is installed on the mobile vehicle; Described fire water/foam monitor is made up of gun platform and nozzle, and the rotary joint of described gun platform is connected with fire monitor working hydraulic pressure controlling organization by Worm and worm-wheel gearing respectively with the pitching rotary joint; Described nozzle is connected with fire monitor working hydraulic pressure controlling organization, is realized the conversion of its direct current and spraying by fire monitor operating mechanism;
Be installed in the wireless remote controller below the anterior and fire water/foam monitor of mobile vehicle, this wireless remote controller is controlled by a hand-held remote controller and is connected by data line with remote control PLC;
Be installed in the camera head on fire water/foam monitor, this camera head is connected with the backstage display device by wireless transmitter module.
2. firefighting fire extinguishing robot according to claim 1; it is characterized in that also comprising the self-shield mechanism that is installed on the mobile vehicle, this self-shield mechanism comprises Cooling protector and the engine start protective device that can protect engine start and the engine throttle searcher that can search for the engine throttle position automatically that can implement cooling to robot body.
3. firefighting fire extinguishing robot according to claim 1 and 2, it is characterized in that, described mobile vehicle is made of a vehicle frame and the walking mechanism that is installed on the vehicle frame, this walking mechanism comprises the hydraulic motor of a driving walking mechanism job, and described hydraulic motor is connected with the walking hydraulic control and controls its rotation direction by the walking hydraulic control.
4. firefighting fire extinguishing robot according to claim 3, it is characterized in that, fueller of the present utility model is made of fuel tank, coarse filter, sundstrand pump and 3-position 4-way solenoid directional control valve, described fuel tank, coarse filter, sundstrand pump and 3-position 4-way solenoid directional control valve connect by pipeline successively, and described sundstrand pump and 3-position 4-way solenoid directional control valve connect with electric cabinet and controlled by electric cabinet; Described 3-position 4-way solenoid directional control valve connects with walking hydraulic control and fire monitor working hydraulic pressure controlling organization by pipeline.
5. firefighting fire extinguishing robot according to claim 4, it is characterized in that, described walking hydraulic control comprises a two-position three way magnetic valve that is connected and controls its rotation direction with hydraulic motor, is installed in the balanced valve at the hydraulic motor two ends in the walking mechanism on the described mobile vehicle and the overflow valve that connects with hydraulic motor, and described overflow valve is got back to fuel tank through fine filter; Described two-position three way magnetic valve connects with electric cabinet and controlled by it.
6. firefighting fire extinguishing robot according to claim 3, it is characterized in that, described walking mechanism can be existing creeper undercarriage, and it comprises driving wheel, thrust wheel, support roller, guide wheel and track takeup that is installed on the vehicle frame and the crawler belt that is looped around driving wheel, thrust wheel, support roller, guide wheel and track takeup; Described driving wheel passes through fluid motor-driven.
7. firefighting fire extinguishing robot according to claim 3, it is characterized in that, described walking mechanism can be six wheel type traveling mechanisms of middle wheel suspension, and it comprises forward and backward sprocket wheel, drive sprocket, chain, bearing spider, hub reduction gear, intermediate chain wheel, middle wheel spring suspension device composition; Forward and backward sprocket wheel has four, be fixed in the both sides, front and back of vehicle frame, connect by chain between the forward and backward sprocket wheel, intermediate chain wheel has two, connect with forward and backward sprocket wheel by middle wheel spring suspension device, wheel hangs in the realization, bearing spider, hub reduction gear, hydraulic motor and drive sprocket are two groups, be fixed on the vehicle frame, hydraulic motor connects with hub reduction gear, hub reduction gear connects with bearing spider again, and bearing spider (102) connects with drive sprocket, and drive sprocket connects the forward and backward sprocket rotation of driving by chain with forward and backward sprocket wheel.
8. firefighting fire extinguishing robot according to claim 1 is characterized in that, is provided with damping device between the fire water/foam monitor of utility model and electric cabinet and the vehicle frame.
9. firefighting fire extinguishing robot according to claim 8 is characterized in that, described damping device is metal-rubber combined shock absorption device or steel wire earthquake isolating equipment.
10. firefighting fire extinguishing robot according to claim 3, it is characterized in that, described fire monitor working hydraulic pressure controlling organization comprises respectively by the rotary joint of Worm and worm-wheel gearing driving gun platform and two oil motors of pitching rotary joint work, two two-position three way reversing solenoid valves that are connected with two oil motors and the two-position three way magnetic valve that connects with nozzle respectively, the described two-position three way reversing solenoid valve that is connected with oil motor is controlled the conversion of oil motor both direction rotation and is connected with the 3-position 4-way solenoid directional control valve of fueller, and two oil motors drive the rotary joint and the work of pitching rotary joint of gun platform respectively by Worm and worm-wheel gearing; The two-position three way magnetic valve control nozzle that connects with nozzle realizes that direct current connects with the spraying conversion and with the 3-position 4-way solenoid directional control valve of fueller.
11. firefighting fire extinguishing robot according to claim 3 is characterized in that, described fire water/foam monitor is connected with water tank with external water source by pipeline and water collector, and described water tank is installed on the mobile vehicle; Described fire water/foam monitor is made up of gun platform and nozzle, and the rotary joint of described gun platform is connected with fire monitor working hydraulic pressure controlling organization by Worm and worm-wheel gearing respectively with the pitching rotary joint; Described nozzle is connected with fire monitor working hydraulic pressure controlling organization, realizes the conversion of its direct current and spraying by fire water/foam monitor operating mechanism;
12. firefighting fire extinguishing robot according to claim 11, it is characterized in that, pipeline between water collector and the water tank is provided with an electromagnet cut off valve, and a liquid-level switch is set in water tank, described external water source is communicated with water tank and an electromagnet cut off valve is set on this connecting pipeline, described two electromagnet cut off valve and liquid-level switch connect with described electric cabinet, and liquid-level switch provides the liquid level signal of detection, electric cabinet to control two electromagnet cut off valve respectively to electric cabinet and opens and closes.
13. firefighting fire extinguishing robot according to claim 11 is characterized in that, described nozzle is made up of head body, shower nozzle, bonded washer, joint, sealing ring and locking nut; Described shower nozzle is placed in the head body, one side and locking nut are connected into as a whole, there is a boss to be positioned in the middle of the connected body of shower nozzle and locking nut in the head body, sealing between the three is realized by sealing ring, external two joints of head body, the sealing between head body and the joint is guaranteed by bonded washer; The external two-position three way magnetic valve of joint also provides hydraulic oil by this two-position three way magnetic valve, and the variation by hydraulic oil realizes connected body move left and right in head body of shower nozzle and locking nut in use, thus the direct current and the spraying function of realization fire water monitor.
14. firefighting fire extinguishing robot according to claim 2; it is characterized in that; described Cooling protector comprises a hydraulic spray nozzle that is installed in cooling control core PLC in the electric cabinet, controls temperature sensor that the signals collecting end of core PLC is connected by the A/D modular converter, is connected by pipeline with water pump by the keying of cooling control core PLC control water pump, with cooling; described temperature sensor is installed on the mobile vehicle; described hydraulic spray nozzle is evenly distributed on the robot body, and described water pump connects with water tank by pipeline.
15. firefighting fire extinguishing robot according to claim 2, it is characterized in that, described engine start protective device comprise one be installed in engine start protection control core PLC in the electric cabinet, by the engine cranking motor of engine start protection control core PLC control, control the speed probe that the signals collecting end of core PLC connects by the MD modular converter with the engine start protection; Described speed probe is installed on the output shaft of engine.This engine start protective device has as engine start protection control core PLC and sends the automatic protection functions after the enabling signal continuously three times.
16. firefighting fire extinguishing robot according to claim 2, it is characterized in that, described engine throttle searcher comprise one be installed in Throttle Opening Control core PLC in the electric cabinet, by the throttle actuator of Throttle Opening Control core PLC control, feed back by the throttle position that the A/D modular converter connects with the signals collecting end of Throttle Opening Control core PLC; Described throttle actuator and throttle position feedback connect with throttle, are returned to the engine idle position to detect throttle position and to drive throttle.To guarantee starting function normally to start.
17. firefighting fire extinguishing robot according to claim 1, it is characterized in that, described camera head is made up of camera, wireless launcher, radio receiver, backstage display, connect by data wire between camera and the wireless launcher, wireless launcher and radio receiver communication link, radio receiver connects by data wire with the backstage display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200703816U CN201088794Y (en) | 2007-05-29 | 2007-05-29 | Fire-extinguishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200703816U CN201088794Y (en) | 2007-05-29 | 2007-05-29 | Fire-extinguishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201088794Y true CN201088794Y (en) | 2008-07-23 |
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ID=39860549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200703816U Expired - Fee Related CN201088794Y (en) | 2007-05-29 | 2007-05-29 | Fire-extinguishing robot |
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| Country | Link |
|---|---|
| CN (1) | CN201088794Y (en) |
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| CN101753995A (en) * | 2009-12-31 | 2010-06-23 | 上海杰远环保科技有限公司 | Digital range pole transmitting system |
| CN101922486A (en) * | 2010-08-19 | 2010-12-22 | 公安部上海消防研究所 | Hydraulic system of firefighting fire extinguishing robot |
| CN101992688A (en) * | 2010-11-01 | 2011-03-30 | 浙江洪裕重工机械有限公司 | Intelligent mechanical walking device |
| CN103055445A (en) * | 2013-01-08 | 2013-04-24 | 常州先进制造技术研究所 | High-rise building fire-fighting robot control system |
| CN103245157A (en) * | 2013-04-16 | 2013-08-14 | 任曲波 | Liquid circulation cooling device for fire-fighting robot |
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| CN106853280A (en) * | 2017-02-15 | 2017-06-16 | 南京睿实消防安全设备有限公司 | A kind of automatic track and localization jet extinguishing device of image-type |
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| CN107349547A (en) * | 2017-07-03 | 2017-11-17 | 泰州市翔达消防器材有限公司 | A kind of remote operating intelligent monitoring firefighting robot |
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| CN110787396A (en) * | 2019-11-06 | 2020-02-14 | 许昌许继软件技术有限公司 | Fire-extinguishing robot |
| CN111068213A (en) * | 2019-12-23 | 2020-04-28 | 三一汽车制造有限公司 | Remote control driving control method, storage medium, control device of fire fighting truck and fire fighting truck |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
| CN112907875A (en) * | 2021-01-18 | 2021-06-04 | 泉州市名咨科迅信息科技有限公司 | Building fire control unit and early warning system based on thing networking |
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| CN101753995A (en) * | 2009-12-31 | 2010-06-23 | 上海杰远环保科技有限公司 | Digital range pole transmitting system |
| CN101922486A (en) * | 2010-08-19 | 2010-12-22 | 公安部上海消防研究所 | Hydraulic system of firefighting fire extinguishing robot |
| CN101992688A (en) * | 2010-11-01 | 2011-03-30 | 浙江洪裕重工机械有限公司 | Intelligent mechanical walking device |
| CN103055445A (en) * | 2013-01-08 | 2013-04-24 | 常州先进制造技术研究所 | High-rise building fire-fighting robot control system |
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| CN104338268A (en) * | 2014-10-20 | 2015-02-11 | 济南大学 | High-pressure intelligent fire engine |
| CN104740815A (en) * | 2015-04-08 | 2015-07-01 | 陈良 | All-terrain crawler-type multifunctional fire fighting truck |
| CN104984501A (en) * | 2015-07-13 | 2015-10-21 | 马鞍山市志诚科技有限公司 | Remote video operation fire-fighting robot |
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| CN106621138B (en) * | 2016-10-12 | 2019-05-28 | 北华大学 | It is suitble to the fire-fighting robot of network communication |
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| CN106492389A (en) * | 2016-10-31 | 2017-03-15 | 河池学院 | A kind of Robot Extinguishing Fire system |
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| CN106902486B (en) * | 2017-01-23 | 2019-09-24 | 重庆市计量质量检测研究院 | A kind of mechanically moving device for fire relief |
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| CN107088284A (en) * | 2017-07-07 | 2017-08-25 | 合肥巨澜安全技术有限责任公司 | Far Range firefighting fire extinguishing robot device |
| CN107854791A (en) * | 2017-11-15 | 2018-03-30 | 浙江大华技术股份有限公司 | A kind of fire-fighting robot water-cooling system |
| CN107744632A (en) * | 2017-11-21 | 2018-03-02 | 江西荣和特种消防设备制造有限公司 | Novel fire-fighting cannon |
| CN109985337A (en) * | 2017-12-29 | 2019-07-09 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-function robotic device for oil depot inspection |
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| CN108465182A (en) * | 2018-04-03 | 2018-08-31 | 曾正扬 | A kind of unmanned fire water gun carriage |
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| CN109513141A (en) * | 2018-10-19 | 2019-03-26 | 西安工业大学 | A kind of fire-fighting robot and its method |
| CN109513141B (en) * | 2018-10-19 | 2023-05-26 | 西安工业大学 | Fire-fighting robot and method thereof |
| CN109779671A (en) * | 2019-01-14 | 2019-05-21 | 天津亨通利铁道工程机械配件有限公司 | Tunnel fire-fighting robot and fire plant |
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| CN110613908A (en) * | 2019-10-28 | 2019-12-27 | 捷达消防科技（苏州）股份有限公司 | Emergency rescue water cannon device |
| CN110787396A (en) * | 2019-11-06 | 2020-02-14 | 许昌许继软件技术有限公司 | Fire-extinguishing robot |
| CN111068213A (en) * | 2019-12-23 | 2020-04-28 | 三一汽车制造有限公司 | Remote control driving control method, storage medium, control device of fire fighting truck and fire fighting truck |
| CN111633659A (en) * | 2020-06-10 | 2020-09-08 | 成都科锐志科技有限公司 | Fire-fighting robot capable of automatically detecting fire condition |
| CN112907875A (en) * | 2021-01-18 | 2021-06-04 | 泉州市名咨科迅信息科技有限公司 | Building fire control unit and early warning system based on thing networking |
| CN115401671A (en) * | 2022-11-02 | 2022-11-29 | 西安彬林电子科技有限公司 | Multifunctional wheeled industrial intelligent inspection robot |
| CN115401671B (en) * | 2022-11-02 | 2023-03-14 | 西安彬林电子科技有限公司 | Multifunctional wheeled industrial intelligent inspection robot |
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