CN203329242U - Fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees - Google Patents
Fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees Download PDFInfo
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- CN203329242U CN203329242U CN2013204340319U CN201320434031U CN203329242U CN 203329242 U CN203329242 U CN 203329242U CN 2013204340319 U CN2013204340319 U CN 2013204340319U CN 201320434031 U CN201320434031 U CN 201320434031U CN 203329242 U CN203329242 U CN 203329242U
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- big gun
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Abstract
A fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees comprises a monitor body, a support, a monitor body horizontal swing driving mechanism and a monitor body pitching swing driving mechanism, wherein a monitor barrel is arranged on the monitor body, the central line Y of the monitor barrel, a monitor body horizontal swing central line Z and a monitor body pitching swing central line X are intersected at a point O, and the monitor body horizontal swing central line Z and the monitor body pitching swing central line X are perpendicular to each other. The monitor body horizontal swing driving mechanism and the monitor body pitching swing driving mechanism are installed on the support or a fixing frame fixedly connected with the support and are connected with the monitor body through connecting rods of the monitor body horizontal swing driving mechanism and the monitor body pitching swing driving mechanism.
Description
Technical field
The utility model belongs to the fire-fighting equipment field, particularly a kind of automatic fire fighting cannon.
Background technology
Fire monitor is a kind of important fire-extinguishing apparatus, and the reasonability of its structure and the kinematic accuracy of slew gear have directly determined positioning precision, response speed and the result of use of fire monitor.The structure of existing automatic fire fighting cannon as shown in Figure 1, comprise big gun body, bearing, big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism, two cover revolution driving mechanisms are the Worm and Worm Gear Driving pair, and on the big gun body, tandem is installed, thereby has following problem: 1, the big gun body is the beam type structure, and volume is large, center of gravity is high, rigidity is low, be subject to the impact of hydrojet recoil when fire extinguishing, cause bulk deformation larger, not only can reduce positioning precision, and affect its service life; 2, the error at fire-fighting gun mouth place is accumulation and the amplification of two cover series connected type turning driving mechanism errors, causes fire-fighting gun mouth to be difficult to aim at fiery dot center; 3, the motor of rotary motion mechanism is arranged on moving big gun body, has increased the inertia of system, has affected exercise performance and the response speed of fire monitor.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and the fire monitor that a kind of slew gear is two degrees of freedom formula in parallel is provided, to improve positioning precision, response speed and service life.
The fire monitor that slew gear described in the utility model is two degrees of freedom formula in parallel, comprise big gun body, bearing, big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism, be provided with gun tube on described big gun body, the center line Y of described gun tube, big gun body horizontal rotation center line Z and the big gun body pitching centre of gyration line X O that intersects at a point, and big gun body horizontal rotation center line Z is mutually vertical with big gun body pitching centre of gyration line X.
The fire monitor that slew gear described in the utility model is two degrees of freedom formula in parallel, its big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism be arranged on bearing or the fixed mount that is connected with bearing on, the connecting rod contained by it is connected with the big gun body.
In the utility model, fire monitor two degrees of freedom slew gear in parallel used as shown in Figure 2, by the moving platform as output mechanism, frame and three connecting rods, formed, wherein a connecting rod is connected with frame with moving platform by revolute pair, form a movement branched chain that drives moving platform, one end of other two connecting rods is hinged, their other ends separately are hinged with frame and moving platform respectively by revolute, form another movement branched chain that drives moving platform, two centre of gyration lines of moving platform are orthogonal, the big gun body that described moving platform is fire monitor.
The fire monitor that slew gear described in the utility model is two degrees of freedom formula in parallel, preferably following two kinds of structures:
1, the big gun body is hollow body, is provided with two inlets and one section hinge on it, and hinge is positioned at the face opposing with gun tube, and two inlets are positioned at the both sides of big gun body, their center line point-blank and with the vertical and intersectant centerline of hinge, big gun body horizontal rotation driving mechanism comprises the second servomotor, worm screw, worm gear and third connecting rod, described third connecting rod is the Y shape hollow stem, the second servomotor is arranged on bearing, its power output shaft is connected with the worm screw on being arranged on bearing, worm and wheel forms transmission, worm-wheel shaft is hollow shaft, the one end is connected with the rotatable assembly on being arranged on bearing, its other end is connected with the mobile jib in described Y shape hollow stem, two symmetrical poles of described Y shape hollow stem are connected with two inlets that arrange on the big gun body respectively by pipe joint, the connected mode of the pole of described pipe joint and Y shape hollow stem is for being connected, with the connected mode of the inlet arranged on the big gun body for to be connected turnably, big gun body pitching rotary motion mechanism comprises the first servomotor, first connecting rod and second connecting rod, the first servomotor is fixed on the first fixed mount be connected with bearing, the installation site of the first servomotor on the first fixed mount is to make the axis of its power output shaft by gun tube center line Y, the intersection point O of big gun body horizontal rotation center line Z and big gun body pitching centre of gyration line X, the hinge arranged on one end of first connecting rod and big gun body is hinged, one end of the hinge that its other end arranges and second connecting rod is hinged, the other end of second connecting rod is connected with the power output shaft of the first servomotor by shaft coupling, the center line of the hinge of described first connecting rod is by gun tube center line Y, the intersection point O of big gun body horizontal rotation center line Z and big gun body pitching centre of gyration line X.The fire monitor of this kind of structure, for build basis or fire extinguisher canvas hose and be connected, extinguishing fluid after worm-wheel shaft endoporus, Y shape hollow stem, pipe joint enter the big gun intracoelomic cavity from gun tube and injector spray.
2, be provided with two sections connecting axles and one section feed tube on described big gun body, feed tube is positioned at the face opposing with gun tube, and two sections connecting axles are positioned at the both sides of big gun body, their center line point-blank and with the vertical and intersectant centerline of feed tube, big gun body horizontal rotation driving mechanism comprises the second servomotor and third connecting rod, described third connecting rod is solid Y shape bar, the second servomotor is fixed on the second fixed mount be connected with bearing, its power output shaft is connected with the mobile jib in described Y shape bar, two symmetrical poles of described Y shape bar respectively with the big gun body on two sections connecting axles arranging be hinged, big gun body pitching rotary motion mechanism comprises the first servomotor, first connecting rod and second connecting rod, the first servomotor is fixed on the first fixed mount be connected with bearing, the installation site of the first servomotor on the first fixed mount is to make the axis of its power output shaft by gun tube center line Y, the intersection point O of big gun body horizontal rotation center line Z and big gun body pitching centre of gyration line X, the feed tube arranged on one end of first connecting rod and big gun body is hinged, one end of the hinge that its other end arranges and second connecting rod is hinged, the other end of second connecting rod is connected with the power output shaft of the first servomotor by shaft coupling, the center line of the hinge of described first connecting rod is by gun tube center line Y, the intersection point O of big gun body horizontal rotation center line Z and big gun body pitching centre of gyration line X.The fire monitor of this kind of structure can be fixed on the indoor or outdoors of building, the external hose of extinguishing fluid through inserting feed tube from the gun tube of fire monitor and the injector ejection.
The fire monitor that slew gear described in the utility model is two degrees of freedom Shi Shishi in parallel, its big gun body has multiple geometry, preferably hemispherical, truncated cone-shaped or truncated cone.
The utlity model has following beneficial effect:
1, fire monitor described in the utility model, due to its big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism employing parallel structure, with the fire monitor that existing driving mechanism is tandem type, compare, its mechanical system structure is compact, volume reduces, center of gravity decrease, rigidity enlarge markedly, thereby error reduces, positioning precision improves, response speed improves.
2, fire monitor described in the utility model, due to its big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism employing parallel structure, more easily try to achieve than the fire monitor of tandem type that position is counter separates, be conducive to the real-time calculation and control of automatic fire fighting cannon position.
3, fire monitor described in the utility model, due to its drive motors be arranged on bearing or the fixed mount that is connected with bearing on, thereby reduced exercise load, improved exercise performance.
The accompanying drawing explanation
Fig. 1 is that in prior art, slew gear is a kind of structural representation of the fire monitor of series connection;
Fig. 2 is the schematic diagram of the two degrees of freedom slew gear in parallel of fire monitor use described in the utility model;
Fig. 3 is the first structural representation of the slew gear described in the utility model fire monitor that is two degrees of freedom formula in parallel;
Fig. 4 is the rearview of the described fire monitor of Fig. 3;
Fig. 5 is the schematic diagram after the big gun body of the described fire monitor of Fig. 3 horizontally rotates certain angle;
Fig. 6 is the A-A cutaway view of Fig. 3;
Fig. 7 is the Worm and Worm Gear Driving pair of horizontal rotation driving mechanism in the described fire monitor of Fig. 3 and the combination schematic diagram of third connecting rod;
Fig. 8 is the second structural representation of the slew gear described in the utility model fire monitor that is two degrees of freedom formula in parallel;
Fig. 9 is the rearview of the described fire monitor of Fig. 8;
Figure 10 is the schematic diagram after the big gun body of the described fire monitor of Fig. 8 horizontally rotates certain angle.
In figure, 1-first connecting rod (1-1: the hinge that first connecting rod arranges); 2-second connecting rod; 3-pipe joint; The 4-the first servomotor; The 5-the first fixed mount; 6-third connecting rod (mobile jib of the pole of 6-1:Y shape bar, 6-2:Y shape bar); 7-big gun body; 8-bearing; The 9-the second servomotor; 10-gun tube; 11-hinge; 12-inlet; 13-worm screw, 14-worm gear, 15-rotatable assembly, the 16-the second fixed mount, 17-connecting axle, 18-feed tube.
The specific embodiment
The structure of the fire monitor that is also two degrees of freedom formula in parallel to slew gear described in the utility model by reference to the accompanying drawings below by embodiment is described further.
The fire monitor of the present embodiment, as shown in Fig. 3, Fig. 4, Fig. 5, comprises big gun body 7, bearing 8, big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism.Described big gun body is the hemispherical hollow body, be provided with gun tube 10 on its sphere, with be provided with one section hinge 11 on the opposing plane of sphere, the both sides of big gun body 7 respectively are provided with an inlet 12, the center line of two inlets point-blank and with the vertical and intersectant centerline of hinge, the center line of gun tube is defined as to Y, and the center line of two inlets 12 is defined as X.Big gun body horizontal rotation driving mechanism comprises the second servomotor 9, worm screw 13, worm gear 14 and third connecting rod 6, described third connecting rod is the Y shape hollow stem, two symmetrical pole 6-1 of described Y shape hollow stem are connected with two inlets 12 that arrange on big gun body 7 respectively by pipe joint 3, the intersection point O of the center line of the center line of the mobile jib 6-2 center line of described Y shape hollow stem by two inlets 12 and gun tube, the center line of the mobile jib 6-2 of Y shape hollow stem is defined as to Z, the center line Z of the mobile jib 6-2 of described Y shape hollow stem is mutually vertical with the center line X of two inlets 12, the connected mode of the pole 6-1 of pipe joint 3 and Y shape hollow stem is for being connected, form the turnable (see figure 6) that is connected with the inlet arranged on the big gun body by bearing, the second servomotor 9 is arranged on bearing 8, its power output shaft is connected with the worm screw 13 on being arranged on bearing, worm screw 13 forms transmission with worm gear 14, worm-wheel shaft is hollow shaft, the one end is connected with the rotatable assembly 15 on being arranged on bearing 8, its other end is connected with the mobile jib 6-2 in described Y shape hollow stem, and rotatable assembly 15 combines (see figure 7) by hollow shaft and bearing.Big gun body pitching rotary motion mechanism comprises the first servomotor 4, first connecting rod 1 and second connecting rod 2, first connecting rod 1 is L shaped, the one end is provided with hinge 1-1, second connecting rod 2 is arc, the first servomotor 4 is fixed on the first fixed mount 5 be connected with bearing 8, the installation site of the first servomotor 4 on the first fixed mount 5 is to make the axis of its power output shaft by the gun tube center line, the intersection point O of the center line of the mobile jib 6-2 of Y shape hollow stem and the center line of two inlets 12, first connecting rod 1 does not arrange the hinge 11 arranged on an end of hinge and big gun body and is hinged, one end of the hinge 1-1 of its other end and second connecting rod 2 is hinged, the other end of second connecting rod 2 is connected with the power output shaft of the first servomotor 4 by shaft coupling, the center line of the hinge 1-1 of described first connecting rod is by the gun tube center line, the intersection point O(of the center line of the mobile jib 6-2 of Y shape hollow stem and the center line of two inlets 12 is shown in Fig. 3).
In the present embodiment, the fire monitor that slew gear is two degrees of freedom formula in parallel, as shown in Fig. 8, Fig. 9, Figure 10, comprises big gun body 7, bearing 8, big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism.Described big gun body is truncated cone-shaped, be provided with gun tube 10 on an one end face, with be provided with one section feed tube 18 on another end face, respectively be provided with one section connecting axle 17 on the cambered surface of big gun body 7 both sides, the center line of two connecting axles point-blank and with the vertical and intersectant centerline of feed tube 18, the center line of gun tube is defined as to Y, and the center line of two sections connecting axles 17 is defined as X.Big gun body horizontal rotation driving mechanism comprises the second servomotor 9 and third connecting rod 6, described third connecting rod is solid Y shape bar, two symmetrical pole 6-1 of described Y shape solid hopkinson bar are hinged with two connecting axles 17 respectively, the intersection point O of the center line of the center line of the center line of the mobile jib 6-2 of described Y shape solid hopkinson bar by two sections connecting axles 17 and gun tube, the center line of the mobile jib 6-2 of Y shape solid hopkinson bar is defined as to Z, the center line Z of the mobile jib 6-2 of described Y shape solid hopkinson bar is mutually vertical with the center line X of two sections connecting axles 17, the second servomotor 9 is fixed on the second fixed mount 16 be connected with bearing 8, its power output shaft is connected with the mobile jib 6-2 in described Y shape bar.Big gun body pitching rotary motion mechanism comprises the first servomotor 4, first connecting rod 1 and second connecting rod 2, first connecting rod 1 is L shaped, the one end is provided with hinge 1-1, second connecting rod 2 is fold-line-shaped, the first servomotor 4 is fixed on the first fixed mount 5 be connected with bearing 8, the installation site of the first servomotor 4 on the first fixed mount 5 is to make the axis of its power output shaft by the gun tube center line, the intersection point O of the center line of the mobile jib 6-2 of Y shape solid hopkinson bar and the center line of two sections connecting axles 17, first connecting rod 1 does not arrange the feed tube 18 arranged on an end of hinge and big gun body and is hinged, one end of the hinge 1-1 of its other end and second connecting rod 2 is hinged, the other end of second connecting rod 2 is connected with the power output shaft of the first servomotor 4 by shaft coupling, the center line of the hinge 1-1 of described first connecting rod is by the gun tube center line, the intersection point O of the center line of the mobile jib 6-2 of Y shape solid hopkinson bar and the center line of two sections connecting axles 17.
Claims (7)
1. the fire monitor that slew gear is two degrees of freedom formula in parallel, comprise big gun body (7), bearing (8), big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism, be provided with gun tube (10) on described big gun body, the center line (Y), big gun body horizontal rotation center line (Z) and the big gun body pitching centre of gyration line (X) that it is characterized in that described gun tube intersect at a point (O), and big gun body horizontal rotation center line (Z) is mutually vertical with big gun body pitching centre of gyration line (X).
2. the fire monitor that slew gear is two degrees of freedom formula in parallel according to claim 1, it is characterized in that big gun body horizontal rotation driving mechanism and big gun body pitching rotary motion mechanism are arranged on the upper or fixed mount that is connected with bearing of bearing (8), the connecting rod contained by it is connected with big gun body (7).
3. the fire monitor that is two degrees of freedom formula in parallel according to the described slew gear of claim 1 or 2, it is characterized in that described big gun body is hollow body, be provided with two inlets (12) and one section hinge (11) on it, hinge (11) is positioned at the face opposing with gun tube, two inlets (12) are positioned at the both sides of big gun body, their center line point-blank and with the vertical and intersectant centerline of hinge;
Big gun body horizontal rotation driving mechanism comprises the second servomotor (9), worm screw (13), worm gear (14) and third connecting rod (6), described third connecting rod is the Y shape hollow stem, the second servomotor (9) is arranged on bearing (8), its power output shaft is connected with the worm screw (13) on being arranged on bearing, worm screw (13) forms transmission with worm gear (14), worm gear (14) axle is hollow shaft, the one end is connected with the rotatable assembly (15) on being arranged on bearing (8), its other end is connected with the mobile jib (6-2) in described Y shape hollow stem, two symmetrical poles (6-1) of described Y shape hollow stem are connected with two inlets (12) that arrange on the big gun body respectively by pipe joint (3), the connected mode of the pole of described pipe joint (3) and Y shape hollow stem is for being connected, with the connected mode of the inlet arranged on the big gun body for to be connected turnably,
Big gun body pitching rotary motion mechanism comprises the first servomotor (4), first connecting rod (1) and second connecting rod (2), the first servomotor (4) is fixed on the first fixed mount (5) be connected with bearing (8), the installation site of the first servomotor (4) on the first fixed mount (5) is to make the axis of its power output shaft by gun tube center line (Y), the intersection point (O) of big gun body horizontal rotation center line (Z) and big gun body pitching centre of gyration line (X), the hinge (11) arranged on one end of first connecting rod (1) and big gun body is hinged, the hinge (1-1) that its other end arranges is hinged with an end of second connecting rod (2), the other end of second connecting rod (2) is connected with the power output shaft of the first servomotor (4) by shaft coupling, the center line of the hinge of described first connecting rod (1-1) is by gun tube center line (Y), the intersection point (O) of big gun body horizontal rotation center line (Z) and big gun body pitching centre of gyration line (X).
4. the fire monitor that is two degrees of freedom formula in parallel according to the described slew gear of claim 1 or 2, it is characterized in that on described big gun body being provided with two sections connecting axles (17) and one section feed tube (18), feed tube (18) is positioned at the face opposing with gun tube, two sections connecting axles (17) are positioned at the both sides of big gun body, their center line point-blank and with the vertical and intersectant centerline of feed tube (18);
Big gun body horizontal rotation driving mechanism comprises the second servomotor (9) and third connecting rod (6), described third connecting rod is solid Y shape bar, the second servomotor (9) is fixed on the second fixed mount (16) be connected with bearing (8), its power output shaft is connected with the mobile jib (6-2) in described Y shape bar, two symmetrical poles (6-1) of described Y shape bar respectively with the big gun body on two sections connecting axles (17) of arranging be hinged;
Big gun body pitching rotary motion mechanism comprises the first servomotor (4), first connecting rod (1) and second connecting rod (2), the first servomotor (4) is fixed on the first fixed mount (5) be connected with bearing (8), the installation site of the first servomotor (4) on the first fixed mount (5) is to make the axis of its power output shaft by gun tube center line (Y), the intersection point (O) of big gun body horizontal rotation center line (Z) and big gun body pitching centre of gyration line (X), the feed tube (18) arranged on one end of first connecting rod (1) and big gun body is hinged, the hinge (1-1) that its other end arranges is hinged with an end of second connecting rod (2), the other end of second connecting rod (2) is connected with the power output shaft of the first servomotor (4) by shaft coupling, the center line of the hinge of described first connecting rod (1-1) is by gun tube center line (Y), the intersection point (O) of big gun body horizontal rotation center line (Z) and big gun body pitching centre of gyration line (X).
5. the fire monitor that is two degrees of freedom formula in parallel according to the described slew gear of claim 1 or 2, is characterized in that described big gun body is a kind of in hemispherical, truncated cone-shaped, truncated cone.
6. the fire monitor that slew gear is two degrees of freedom formula in parallel according to claim 3, is characterized in that described big gun body is a kind of in hemispherical, truncated cone-shaped, truncated cone.
7. the fire monitor that slew gear is two degrees of freedom formula in parallel according to claim 4, is characterized in that described big gun body is a kind of in hemispherical, truncated cone-shaped, truncated cone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204340319U CN203329242U (en) | 2013-07-19 | 2013-07-19 | Fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013204340319U CN203329242U (en) | 2013-07-19 | 2013-07-19 | Fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees |
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| Publication Number | Publication Date |
|---|---|
| CN203329242U true CN203329242U (en) | 2013-12-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013204340319U Withdrawn - After Issue CN203329242U (en) | 2013-07-19 | 2013-07-19 | Fire monitor with swing mechanisms which are connected in parallel and have two freedom degrees |
Country Status (1)
| Country | Link |
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| CN (1) | CN203329242U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341246A (en) * | 2013-07-19 | 2013-10-09 | 西华大学 | Fire-fighting monitor with in-parallel two-freedom-degree type slewing mechanisms |
| CN103706065A (en) * | 2014-01-18 | 2014-04-09 | 凌昕 | Full-automatic fire-fighting truck |
| CN114191763A (en) * | 2021-12-23 | 2022-03-18 | 宜昌峡能电科能源科技有限公司 | Wisdom fire control unit based on thing networking |
-
2013
- 2013-07-19 CN CN2013204340319U patent/CN203329242U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341246A (en) * | 2013-07-19 | 2013-10-09 | 西华大学 | Fire-fighting monitor with in-parallel two-freedom-degree type slewing mechanisms |
| CN103341246B (en) * | 2013-07-19 | 2015-11-04 | 西华大学 | Slew gear is the fire monitor of two degrees of freedom formula in parallel |
| CN103706065A (en) * | 2014-01-18 | 2014-04-09 | 凌昕 | Full-automatic fire-fighting truck |
| CN103706065B (en) * | 2014-01-18 | 2016-07-06 | 凌昕 | Full-automatic fire fighting truck |
| CN114191763A (en) * | 2021-12-23 | 2022-03-18 | 宜昌峡能电科能源科技有限公司 | Wisdom fire control unit based on thing networking |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131211 Effective date of abandoning: 20151104 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |