CN205339926U - Variable controllable scope of putting out a fire of weight is from fire -fighting robot of electricity generation - Google Patents
Variable controllable scope of putting out a fire of weight is from fire -fighting robot of electricity generation Download PDFInfo
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- CN205339926U CN205339926U CN201620034969.5U CN201620034969U CN205339926U CN 205339926 U CN205339926 U CN 205339926U CN 201620034969 U CN201620034969 U CN 201620034969U CN 205339926 U CN205339926 U CN 205339926U
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Abstract
The utility model discloses a variable controllable scope of putting out a fire of weight is from fire -fighting robot of electricity generation, including the crawler type robot platform and the water cannon that generates electricity certainly, crawler type robot platform include the chassis cabin body and the crawler attachment who locates the chassis cabin body left and right sides, chassis cabin body roof on install from generating electricity the water cannon. The utility model discloses guaranteeing that the robot transport is light, pulling reinforce strength during the use, the evaporation of large capacity water tank is simultaneously lowered the temperature for the fine protection of robot, has guaranteed also that the robot escapes from scene of a fire encirclement and has the sufficient time. The fire water monitor that generates electricity has certainly been designed, the limit working edge electricity generation of robot can be realized, the electric cabinet of use side face design can become convenient fast so that safeguard in the battlefield, the fin arm is used, the obstacle ability more of robot can be improved greatly, use non -maintaining track to rise and tightly install, can realize non -maintaining few maintenance of the long continuous time of battlefield robot work.
Description
Technical field
This utility model relates to a kind of robot, more particularly, it relates to the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight.
Background technology
Current water cannon fire-fighting robot both domestic and external, commonly used is adopt oil dynamic or Electronic control, waterpower is not utilized to be operated and utilize waterpower to generate electricity, meanwhile, water cannon swings to be usually and adopts Motor Control, it is necessary to continuous operation, bigger fire extinguishing scope could be realized, very big energy waste certainly will be caused, it is impossible to the fire extinguishing angular dimension of remote control robot water cannon, the waste at fire extinguishing water source can be caused to a certain extent；Meanwhile, traditional robot platform below fire-fighting robot, there is caterpillar belt structure complexity, maintenance difficulty is high.
Summary of the invention
1. utility model to solve the technical problem that
The purpose of this utility model is in that to overcome above-mentioned deficiency, provide the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight, adopt the technical solution of the utility model, replace fire fighter to enter people scene of fire and carry out fire-fighting work, have high temperature resistant, corrosion resistant advantage, at high temperature, there is under blast and strong corrosive environment the ability of secondary existence, climbing obstacle climbing ability is good, chassis nacelle internal reservation goes out to use space more, the maintenance or easy to maintenance of control chamber and power supply box, time saving and energy saving, self power generation fire water monitor takes full advantage of the energy of fire water, water cannon is allowed to realize utilizing while self-swinging is made the kinetic energy of fire water, carrying out self power generation is fire water monitor work power supply.
2. technical scheme
For reaching above-mentioned purpose, the technical scheme that this utility model provides is:
The firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, including wheel-pedrail robot platform and self power generation water cannon, described wheel-pedrail robot platform includes chassis nacelle and is located at the creeper undercarriage of the nacelle left and right sides, chassis, and described chassis nacelle top board is provided with self power generation water cannon.
Further, described self power generation water cannon includes being arranged at the hydraulic turbine on the nacelle top board of chassis by mounting seat, and the outlet of the described hydraulic turbine is connected with the water inlet of water cannon head by hydraulic turbine water outlet bulb, water cannon Dual Action joint；Described water cannon head is provided with " L " font support, and water cannon Dual Action joint is provided with knuckle support, and knuckle support is connected by the electric pushrod one for controlling water cannon head luffing angle with " L " font support；The described hydraulic turbine includes water wheel axle, and the right-hand member of described water wheel axle is connected to the side of reductor, and the output shaft of reductor bottom surface is connected with being used for controlling the swing swinging arm device of amplitude of water cannon device by eccentric stiffener；Described swinging arm device includes being perpendicular to that hydraulic turbine direction arranges for the electric pushrod two adjusting the water cannon head amplitude of oscillation and the swing arm extended from knuckle support right flank, and described swing arm offers gathering sill along pendulum arm length direction；Being arranged with the swing arm sliding sleeve slided along pendulum arm length direction in described swing arm, on swing arm sliding sleeve, corresponding gathering sill position is provided with the guide finger being slidably matched with gathering sill；One end of described electric pushrod two is connected with swing arm sliding sleeve, and the other end of electric pushrod two is fixedly mounted on knuckle support；Described eccentric stiffener includes the eccentric rotating disk, eccentric shaft and the traction link that are set on the output shaft of reductor bottom surface；One end of described eccentric shaft is connected on eccentric rotating disk, and the other end of eccentric shaft and one end of traction link are hinged, and the other end of traction link and above-mentioned guide finger are hinged.
Further, described water cannon head includes big gun head body, water outlet regulates block, mandrel and water cannon core, described big gun head body is installed the inclined-plane spout managing and being located at big gun head installation pipe water outlet port and is constituted by big gun head, the upper end port of described big gun head body is outlet, and the cross section of outlet becomes big along water outlet direction；Described water outlet regulates block and is suspended in outlet, and the cross section of the bottom of water outlet adjustment block correspondence outlet becomes big along water outlet direction, described water outlet regulates to run through on the axis of block mandrel, it is internal that the lower end of mandrel is fixed on big gun head, and the upper end of mandrel is connected with water cannon core after regulating block through water outlet；The outer peripheral face processing of described water cannon core has helical form chute, and one end of chute extends downwardly through water cannon core lower surface and forms clearance groove, and the other end of chute is folded upward at forming fastening groove, and the upper side wall of chute upwards caves in and forms multiple gear grooves；Described water outlet regulates the top of block and offers the blind hole for installing above-mentioned water cannon core along axis, and blind hole sidewall is provided with bearing pin, and this bearing pin enters in chute from clearance groove, can along slide and above-mentioned gear groove can be passed through or fastening groove engage；It is provided with spring between lower end and the step of mandrel of described water outlet adjustment block；Described big gun head is internal is provided with mandrel fixed support, and the support bracket fastened planform of mandrel is rice font or cross or Y-shaped；Described mandrel fixed support is provided with the installing hole for installing mandrel, and the axis that the axis of installing hole installs pipe with big gun head is overlapping；The lower end of described mandrel is fixed through above-mentioned installing hole, and mandrel lower end is connected to oval supercavity water knockout drum through mandrel fixed support part；Being arranged with the spout overcoat of scalable water spray shape outside the water outlet end of big gun head body, spout overcoat is installed pipe with big gun head and is connected by electric pushrod three.
Further, the left end of described water wheel axle is connected with the rotating shaft of electromotor by synchronous transmission device；Described synchronous transmission device is constituted by synchronizing driven pulley, synchronization drivewheel and Timing Belt；The left end of described water wheel axle is connected with the handwheel being arranged at outside synchronous transmission device after the synchronization drivewheel in synchronous transmission device.
Further, described big gun head is installed and free end interior cooperation of pipe is provided with the diarthrodial water side of water cannon dual-active and is hinged by the rotating shaft screw of setting symmetrical above and below, coordinating in the diarthrodial water inlet end of water cannon dual-active and be provided with the free end of hydraulic turbine water outlet bulb and be hinged by the rotating shaft screw of setting symmetrical above and below, the fixing end of hydraulic turbine water outlet bulb is installed on the water outlet of the hydraulic turbine；The recessed rotation dignity end that it is axle center with rotating shaft screw that the free end of described big gun head installation pipe and the diarthrodial water inlet end of water cannon dual-active are, the convex dignity end that rotates that it is axle center with rotating shaft screw that the described diarthrodial water side of water cannon dual-active and the free end of hydraulic turbine water outlet bulb are, the cooperation of convex rotation dignity end is arranged on recessed rotation in dignity end.
Further, described chassis nacelle is provided with open type counterweight water tank.
Further, the left and right sides panel of described chassis nacelle is provided with can as the casing of control chamber or power supply box, and four angles of this casing are equipped with chamfering；Between upper plane and lower plane that each described casing is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt and is formed；It is provided with tensioner between the upper plane that described casing and chassis non-corrosive metal (NCM) crawler belt are formed, described tensioner includes "U" shaped tensioning plate and is fixedly mounted on the slide rail plate of casing both sides, the flat board of described tensioning plate is arranged on roof box by tensioning spring, and the biside plate of tensioning plate is slidably fitted in slide rail plate.
Further, described creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt, chassis drivewheel and the chassis driven pulley being rotationally connected with chassis nacelle side panel, and described chassis non-corrosive metal (NCM) crawler belt is sleeved on chassis drivewheel, chassis driven pulley；Described chassis drivewheel is by driving axle to be connected with the hoofing part reductor being located in the nacelle rear deck of chassis, and hoofing part reductor is connected with travel driving motor；Two symmetrical metal fin arms it are provided with outside creeper undercarriage described in two, described metal fin arm includes the fin arm drivewheel that fin arm non-corrosive metal (NCM) crawler belt, fin arm metal rack and chassis driven pulley are connected and the fin arm driven pulley being rotationally connected with fin arm metal rack, and described fin arm non-corrosive metal (NCM) crawler belt is sleeved on fin arm drivewheel, fin arm driven pulley；The front deck middle position of described chassis nacelle is provided with fin arm angle-controlled motor, and described fin arm angle-controlled motor rotates with fin arm and drives reductor to be connected, and fin arm rotates to drive and is plugged with rotating shaft on reductor；The two ends of described rotating shaft are stretched out chassis nacelle left and right sides panel respectively and are connected with fin arm metal rack after chassis driven pulley and fin arm drivewheel；Described fin arm rotates in the delivery outlet driving reductor and is provided with manual rotation axle.
Further, described chassis nacelle being provided with cooling water tank, the bottom of cooling water tank is provided with draining sewage draining exit；The outlet pipe both sides of the described hydraulic turbine are provided with tee T, in two tee Ts, one end of supervisor all connects with the outlet pipe of the hydraulic turbine, in two tee Ts, the other end of supervisor all connects with fog-spray nozzle, the one end being in charge of in two tee Ts all connects with supervisor, and the other end being in charge of in two tee Ts circulates water inlet pipe respectively through water and connects with cooling water tank with water recycling outlet.
Further, the water inlet of the described hydraulic turbine is provided with so that fire water can just to the water diversing sheet of water wheels impeller direction entrance in the hydraulic turbine.
3. beneficial effect
The technical scheme adopting this utility model to provide, compared with existing known technology, has the advantages that
(1) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its wheel-pedrail robot platform includes chassis nacelle and is located at the creeper undercarriage of the nacelle left and right sides, chassis, chassis nacelle top board is provided with self power generation water cannon, self power generation fire water monitor takes full advantage of the energy of fire water, water cannon is allowed to realize utilizing while self-swinging is made the kinetic energy of fire water, carrying out self power generation is fire water monitor work power supply, eliminate the daily maintenance such as the charging work of robot completely, greatly facilitate the actually used of fire brigade；
(2) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, it utilizes the flowing of fire water, drive the rotation of the hydraulic turbine, the hydraulic turbine passes to reductor rotation torque again, the eccentric rotating disk making reductor bottom is also carried out rotating, then pass through traction link and drive swing arm motion, the left and right realizing water cannon big gun head swings continuously, and move in traction link, when push-and-pull length is constant, the length of the swing arm arm of force is changed by electric pushrod two, realize water cannon head to swing the change of angle, water cannon head pendulum angle scope is made to achieve long-range variable controllable, avoid the coverage that fire extinguishing water column left and right directions is excessive, realize water-saving result, simultaneously because drive the power that the eccentric stiffener energy that water cannon head swings converts from fire water flowing, without power consumption, achieve substantially energy-conservation, electric pushrod two simply moves once when needs change control angular dimension, not power consumption completely at ordinary times, therefore be negligible with electric flux；
(3) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, the left end of its water wheel axle is connected with the rotating shaft of electromotor by synchronous transmission device, it is achieved the purpose of generating；Synchronous transmission device is constituted by synchronizing driven pulley, synchronization drivewheel and Timing Belt, the left end of water wheel axle is connected with the handwheel being arranged at outside synchronous transmission device after the synchronization drivewheel in synchronous transmission device, handwheel is as the assisting rotary apparatus of the hydraulic turbine, can pass through to rotate, then pass through reductor and connecting rod, affect big gun head to swing, make big gun head when there is no fire water, suitably adjust the angle of water cannon big gun head；
(4) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its water outlet regulates to run through on the axis of block mandrel, it is internal that the lower end of mandrel is fixed on big gun head, the upper end of mandrel is connected with water cannon core after regulating block through water outlet, the outer peripheral face of water cannon core is formed with helical form chute, one end of chute extends downwardly through water cannon core lower surface and forms clearance groove, the other end of chute is folded upward at forming fastening groove, the upper side wall of chute upwards caves in and forms multiple gear grooves, water outlet regulates the top of block and offers the blind hole for installing above-mentioned water cannon core along axis, blind hole sidewall is provided with bearing pin, this bearing pin enters in chute from clearance groove, can along slide and can pass through above-mentioned gear groove or fastening groove locking, it is provided with spring between lower end and the step of mandrel of water outlet adjustment block, the simple in construction of water cannon core, design ingenious, only needing rotary water-out to regulate block makes bearing pin get final product adjusting water outlet flow along the chute orbiting motion on water cannon core, change flow and the jet length of water column, strengthen extinguishing effect, and chute upper side wall upwards cave in formation multiple gear grooves, the design of gear is simple, convenient, and the adjustment of gear is easy to operate, adaptability is higher, extinguishing effect is more preferably；
(5) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, the spout overcoat of scalable water spray shape it is arranged with outside the water outlet end of its big gun head body, spout overcoat is installed pipe with big gun head and is connected by electric pushrod three, water spray shape is changed by sliding up and down spout overcoat, easy to operate；
(6) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its big gun head is internal is provided with mandrel fixed support, the support bracket fastened planform of mandrel is rice font or cross or Y-shaped, mandrel fixed support is provided with the installing hole for installing mandrel, the axis that the axis of installing hole installs pipe with big gun head is overlapping, in order to the insertion location of mandrel；
(7) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its mandrel lower end is connected to oval supercavity water knockout drum through mandrel fixed support part, enter the internal high speed water of big gun head through oval supercavity water knockout drum, form one and be looped around that core is axial, the annular water column of middle full air, reducing the resistance of water, current are unobstructed；
(8) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its big gun head is installed and free end interior cooperation of pipe is provided with the diarthrodial water side of water cannon dual-active and is hinged by the rotating shaft screw of setting symmetrical above and below, coordinate in the diarthrodial water inlet end of water cannon dual-active and the free end of hydraulic turbine water outlet bulb is installed and is hinged by the rotating shaft screw of setting symmetrical above and below, the fixing end of hydraulic turbine water outlet bulb is installed on the water outlet of the hydraulic turbine, water cannon Dual Action joint and hydraulic turbine water outlet bulb can be vacillated now to the left, now to the right, the runner design that water enters water cannon device is simple, fluid resistance is little, and adopt the diarthrodial water side of water cannon dual-active to coordinate and be arranged in the free end that big gun head installs pipe, the free end of hydraulic turbine water outlet bulb coordinates the mounting means being arranged in the diarthrodial water inlet end of water cannon dual-active, can avoid the diarthrodial water side of water cannon dual-active and big gun head that pipe junction and the diarthrodial water inlet end of water cannon dual-active are installed easily to leak with hydraulic turbine water outlet bulb junction；
(9) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, the recessed rotation dignity end that it is axle center with rotating shaft screw that the free end of its big gun head installation pipe and the diarthrodial water inlet end of water cannon dual-active are, the convex rotation dignity end that it is axle center with rotating shaft screw that the free end of the diarthrodial water side of water cannon dual-active and hydraulic turbine water outlet bulb is, convex rotation dignity end cooperation is arranged on recessed rotation in dignity end, it is ensured that do not have the problem leaked during rotation；
(10) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its chassis nacelle is provided with cooling water tank, the bottom of cooling water tank offers draining sewage draining exit, the outlet pipe both sides of the hydraulic turbine are provided with tee T, in two tee Ts, one end of supervisor all connects with the outlet pipe of the hydraulic turbine, in two tee Ts, the other end of supervisor all connects with fog-spray nozzle, the one end being in charge of in two tee Ts all connects with supervisor, the other end being in charge of in two tee Ts circulates water inlet pipe respectively through water and connects with cooling water tank with water recycling outlet, realize the cooling effect to self power generation water cannon and wheel-pedrail robot platform；
(11) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, being provided with on the left and right sides panel of its chassis nacelle can as the casing of control chamber or power supply box, four angles of this casing are equipped with chamfering, and between each casing upper plane and the lower plane that are respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt and are formed, it is respectively used to inside two tanks control circuit or battery are installed, substitute control circuit or battery in tradition and be arranged in the nacelle of chassis, not only it is greatly improved the water proofing property of robot top board, hoisting machine human reriability, maintainer can also be easy to directly carry out outside keeping in repair or safeguarding, time saving and energy saving, go out to use space more for chassis nacelle internal reservation simultaneously, additionally, due between casing upper plane and lower plane that in creeper undercarriage, chassis non-corrosive metal (NCM) crawler belt is formed, chassis non-corrosive metal (NCM) crawler belt is played the effect supporting and leading；
(12) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, it is provided with tensioner between the upper plane that in its casing and creeper undercarriage, chassis non-corrosive metal (NCM) crawler belt is formed, tensioner includes "U" shaped tensioning plate and is fixedly mounted on the slide rail plate of casing both sides, the flat board of tensioning plate is arranged on roof box by tensioning spring, the biside plate of tensioning plate is slidably fitted in slide rail plate, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force utilizing tensioning spring promotes and lifts on tensioning plate, automatically the crawler belt gap owing to producing after service wear is compensated, realize chassis non-corrosive metal (NCM) crawler belt associated mechanisms non-maintaining of robot platform, substantially increase the reliability service time of specialized robot, reduce maintenance difficulties and relevant cost expenditure, there is higher practical value, adapt to very much the actual combat environment that specialized robot is severe；
(13) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, it also includes being located at two metal fin arms symmetrical outside two creepers undercarriage, creeper undercarriage is in conjunction with metal fin arm, chassis both can be moved rearwards by forward, climbing obstacle climbing ability can be improved again, flexible and convenient operation, the chassis non-corrosive metal (NCM) crawler belt that additionally metal fin arm and creeper undercarriage include is non-corrosive metal (NCM) and makes, have high temperature resistant, corrosion resistant advantage, at high temperature, there is under blast and strong corrosive environment the ability of secondary existence；
(14) firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, its chassis nacelle is provided with counterweight water tank, emptying counterweight water tank when carrying, the carrying achieving robot is convenient, to counterweight water tank water-filling when using, achieve robot weight and become big, pull longer fire hose, run into robot when being embraced with fire, in conjunction with cooling water tank, by the evaporative cooling effect of liquid, the cooling water source that robot is extra can be given, extend the high temperature resistant time of robot, robot is allowed to have the time of abundance to escape from the scene of a fire.
Accompanying drawing explanation
Fig. 1 is the structural representation of the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model；
Fig. 2 is the perspective view of self power generation water cannon in this utility model；
Fig. 3 is the top view of self power generation water cannon in this utility model；
Fig. 4 is the left view of self power generation water cannon in this utility model；
Fig. 5 is the sectional view of water cannon head in this utility model
Fig. 6 is the schematic diagram of water cannon core in this utility model；
Fig. 7 is the structural representation of wheel-pedrail robot platform in this utility model；
Fig. 8 is the sectional view of chassis nacelle in this utility model；
Fig. 9 is the side view of chassis nacelle in this utility model.
Label declaration in schematic diagram: 1, mounting seat；2, the hydraulic turbine；3, hydraulic turbine water outlet bulb；4, water cannon Dual Action joint；51, big gun head installs pipe；52, inclined-plane spout；53, spout overcoat；54, water outlet regulates block；541, blind hole；55, water cannon core；551, chute；552, clearance groove；553, fastening groove；554, gear groove；56, mandrel；57, mandrel fixed support；58, spring；59, water knockout drum；6, electric pushrod one；7, support；8, knuckle support；9, tee T；10, fog-spray nozzle；11, synchronous transmission device；12, handwheel；13, reductor；14, eccentric rotating disk；15, eccentric shaft；16, traction link；17, guide finger；18, swing arm；19, gathering sill；20, swing arm sliding sleeve；21, electric pushrod two；22, electromotor；23, electric pushrod three；24, rotating shaft screw；25, water pipe female；26, water pipe male；27, water diversing sheet；28, counterweight water tank；29, chassis nacelle；30, casing；31, tensioning plate；32, tensioning spring；33, slide rail plate；341, chassis non-corrosive metal (NCM) crawler belt；342, chassis drivewheel；343, chassis driven pulley；351, fin arm non-corrosive metal (NCM) crawler belt；352, fin arm drivewheel；353, fin arm driven pulley；354, fin arm metal rack；355, fin arm angle-controlled motor；356, rotating shaft；357, fin arm rotates and drives reductor；358, manual rotation axle；36, hoofing part reductor；37, travel driving motor；38, raise one's hand handle；39, image first；40, illuminating lamp；41, signal tower；411, codan lamp；412, photographic head two；413, socket is expanded；42, antenna；43, water circulation water inlet pipe；44, water recycling outlet；45, draining sewage draining exit；46, cooling water tank；47, laser radar.
Detailed description of the invention
For further appreciating that content of the present utility model, in conjunction with the accompanying drawings and embodiments this utility model is described in detail.
Embodiment
In conjunction with Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of changeable weight of the present embodiment, including wheel-pedrail robot platform and self power generation water cannon, described wheel-pedrail robot platform includes chassis nacelle 29 and is located at the creeper undercarriage of chassis nacelle 29 left and right sides, and described chassis nacelle 29 top board is provided with self power generation water cannon；Self power generation water cannon includes being arranged at the hydraulic turbine 2 on chassis nacelle 29 top board by mounting seat 1, and the outlet of the described hydraulic turbine 2 is connected with the water inlet of water cannon head by hydraulic turbine water outlet bulb 3, water cannon Dual Action joint 4；
(shown in Figure 5) water cannon head includes big gun head body, water outlet regulates block 54, mandrel 56 and water cannon core 55, big gun head body is made up of big gun head installation pipe 51 and the inclined-plane spout 52 being located at big gun head installation pipe 51 water outlet port, the spout overcoat 53 of scalable water spray shape it is arranged with outside the water outlet end of big gun head body, spout overcoat 53 is installed pipe 51 with big gun head and is connected by electric pushrod 3 23, water spray shape is changed by sliding up and down spout overcoat 53, easy to operate；The upper end port of big gun head body is outlet, and the cross section of outlet becomes big along water outlet direction；Water outlet regulates block 54 and is suspended in outlet, and the cross section of the bottom of the corresponding outlet of water outlet adjustment block 54 becomes big along water outlet direction, water outlet regulates to run through on the axis of block 54 mandrel 56, it is internal that the lower end of mandrel 56 is fixed on big gun head, and the upper end of mandrel 56 is connected with water cannon core 55 after regulating block 54 through water outlet；The outer peripheral face processing of water cannon core 55 has helical form chute 551, one end of chute 551 extends downwardly through water cannon core 55 lower surface and forms clearance groove 552, the other end of chute 551 is folded upward at forming fastening groove 553, and the upper side wall of chute 551 upwards caves in and forms multiple gear grooves 554；Water outlet regulates the top of block 54 and offers the blind hole 541 for installing above-mentioned water cannon core 55 along axis, blind hole 541 sidewall is provided with bearing pin, this bearing pin enters in chute 551 from clearance groove 552, can slide along chute 551 and can engage (shown in Figure 6) by above-mentioned gear groove 554 or fastening groove 553；It is provided with spring 58 between lower end and the step of mandrel 56 of water outlet adjustment block 54；The simple in construction of water cannon core 55, design ingenious, only needing rotary water-out to regulate block 54 makes bearing pin get final product adjusting water outlet flow along chute 551 orbiting motion on water cannon core 55, changes flow and the jet length of water column, strengthens extinguishing effect, and chute 551 upper side wall upwards cave in formation multiple gear grooves 554, the design of gear is simple, convenient, and the adjustment of gear is easy to operate, adaptability is higher, and extinguishing effect is more preferably；
The internal mandrel fixed support 57 that is provided with of big gun head, the planform of mandrel fixed support 57 is rice font or cross or Y-shaped；Mandrel fixed support 57 is provided with the installing hole for installing mandrel 56, and the axis that the axis of installing hole installs pipe 51 with big gun head is overlapping；The lower end of mandrel 56 is fixed through above-mentioned installing hole, and mandrel 56 lower end is connected to oval supercavity water knockout drum 59 through mandrel fixed support 57 part, forming an annular water column being full of air that be looped around around mandrel 56, middle, reduce the resistance of water, current are unobstructed；
Big gun head is installed and free end interior cooperation of pipe 51 is provided with the water side in water cannon Dual Action joint 4 and is hinged by the rotating shaft screw 24 of setting symmetrical above and below, coordinate in the water inlet end in water cannon Dual Action joint 4 and the free end of hydraulic turbine water outlet bulb 3 is installed and is hinged by the rotating shaft screw 24 of setting symmetrical above and below, the fixing end of hydraulic turbine water outlet bulb 3 is installed on the water outlet of the hydraulic turbine 2, water cannon Dual Action joint 4 and hydraulic turbine water outlet bulb 3 can be vacillated now to the left, now to the right, flexible water conduit is avoided to leak because being easily broken off at work, also can obviously reduce the meaningless power consumption and power consumption that produce when fire-fighting robot is turned owing to needing strong bending high pressure fire fighting water pipe, the runner design that the big gun head of water entrance simultaneously installs pipe 51 and water cannon Dual Action joint 4 is simple, there is junction to the minimum effect of the water resistance of fire water, finally realize the energy-conservation of fire-fighting robot and efficiently utilize hydraulic pressure, prevent joint water pipe breakage from breaking the effect fallen；The recessed rotation dignity end that in the present embodiment, it is axle center with rotating shaft screw 24 that the water inlet end of free end and water cannon Dual Action joint 4 that big gun head installs pipe 51 is, the convex dignity end that rotates that it is axle center with rotating shaft screw 24 that the water side in water cannon Dual Action joint 4 and the free end of hydraulic turbine water outlet bulb 3 are, the cooperation of convex rotation dignity end is arranged on recessed rotation in dignity end；
Water cannon head is provided with " L " font support 7, and water cannon Dual Action joint 4 is provided with knuckle support 8, and knuckle support 8 is connected by the electric pushrod 1 swung up and down for controlling water cannon head with " L " font support 7；The hydraulic turbine 2 includes water wheel axle, and the right-hand member of water wheel axle is connected to the side of reductor 13, and the output shaft of reductor 13 bottom surface is connected with being used for controlling the swing swinging arm device of amplitude of water cannon device by eccentric stiffener；Swinging arm device includes being perpendicular to that the hydraulic turbine 2 direction arranges for the electric pushrod 2 21 adjusting the water cannon head amplitude of oscillation and the swing arm 18 extended from knuckle support 8 right flank, and swing arm 18 offers gathering sill 19 along swing arm 18 length direction；Being arranged with the swing arm sliding sleeve 20 slided along swing arm 18 length direction in swing arm 18, on swing arm sliding sleeve 20, corresponding gathering sill 19 position is provided with the guide finger 17 being slidably matched with gathering sill 19；One end of electric pushrod 2 21 is connected with swing arm sliding sleeve 20, and the other end of electric pushrod 2 21 is fixedly mounted on knuckle support 8；Eccentric stiffener includes the eccentric rotating disk 14, eccentric shaft 15 and the traction link 16 that are set on the output shaft of reductor 13 bottom surface；One end of eccentric shaft 15 is connected on eccentric rotating disk 14, and one end of the other end of eccentric shaft 15 and traction link 16 is hinged, and the other end of traction link 16 and above-mentioned guide finger 17 are hinged；Utilize the flowing of fire water, drive the rotation of the hydraulic turbine 2, the hydraulic turbine 2 passes to reductor 13 rotation torque again, the eccentric rotating disk 14 making reductor 13 bottom is also carried out rotating, then pass through traction link 16 and drive swing arm motion, the left and right realizing water cannon big gun head swings continuously, and move in traction link 16, when push-and-pull length is constant, the length of swing arm 18 arm of force is changed by electric pushrod 2 21, realize water cannon head to swing the change of angle, water cannon head pendulum angle scope is made to achieve long-range variable controllable, avoid the coverage that fire extinguishing water column left and right directions is excessive, realize water-saving result, simultaneously because drive the power that the eccentric stiffener energy that water cannon head swings converts from fire water flowing, without power consumption, achieve substantially energy-conservation, electric pushrod 2 21 simply moves once when needs change control angular dimension, not power consumption completely at ordinary times, therefore be negligible with electric flux；
The left end of water wheel axle is connected with the rotating shaft of electromotor 22 by synchronous transmission device 11；Described synchronous transmission device 11 is constituted by synchronizing driven pulley, synchronization drivewheel and Timing Belt；The left end of water wheel axle is connected with the handwheel 12 being arranged at outside synchronous transmission device 11 after the synchronization drivewheel in synchronous transmission device 11, can manually control handwheel 17 and drive eccentric stiffener and then control big gun head to swing；
The water inlet of the hydraulic turbine 2 is provided with so that fire water can just to the water diversing sheet 27 of water wheels impeller direction entrance in the hydraulic turbine 2, the water inlet of the hydraulic turbine 2 is provided with water pipe female 25, coordinate in the free end of water pipe female 25 and the free end of water pipe male 26 is installed and is hinged by the rotating shaft screw 24 of setting symmetrical above and below, the recessed rotation dignity end that in the present embodiment, the free end of water pipe female 25 is is axle center with rotating shaft screw 24, the convex rotation dignity end that the free end of water pipe male 26 is axle center with rotating shaft screw 24, convex rotation dignity end cooperation is arranged in recessed rotation dignity end, water pipe male 26 can be vacillated now to the left, now to the right, flexible water conduit is avoided to leak because being easily broken off at work, also can obviously reduce the meaningless power consumption and power consumption that produce when fire-fighting robot is turned owing to needing strong bending high pressure fire fighting water pipe, the runner design of the water pipe female of water entrance simultaneously is simple, there is junction to the minimum effect of the water resistance of fire water, final realize water cannon robot is disappeared energy-conservation and efficiently utilize hydraulic pressure, prevent joint water pipe breakage from breaking the effect fallen；
(referring to shown in Fig. 7 and Fig. 8) creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt 341, chassis drivewheel 342 and the chassis driven pulley 343 being rotationally connected with chassis nacelle 29 side panel, chassis non-corrosive metal (NCM) crawler belt 341 has high temperature resistant, corrosion resistant advantage, at high temperature, there is under blast and strong corrosive environment the ability of secondary existence, in the present embodiment, chassis non-corrosive metal (NCM) crawler belt 341 is the crawler belt with holes that can increase tooth block or rubber blanket, according to the difference using environment, increase tooth block for environment such as stair climbings, or rubber blanket is installed be used for walking noise reduction or increasing ground connection frictional force；Chassis non-corrosive metal (NCM) crawler belt 341 is sleeved on chassis drivewheel 342, chassis driven pulley 343；Described chassis drivewheel 342 is by driving axle to be connected with the hoofing part reductor 36 being located in chassis nacelle 29 rear deck, and hoofing part reductor 36 is connected with travel driving motor 37；
The two sides, front and back of chassis nacelle 29 are intilted inclined-plane, improve the obstacle climbing ability of robot platform；Being provided with on the left and right sides panel of chassis nacelle 29 can as the casing 30 of control chamber or power supply box, substitute control circuit or battery in tradition and be arranged in chassis nacelle 29, chassis nacelle 29 internal reservation is made to go out to use space more, also maintainer is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between upper plane and lower plane that each casing 30 is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt 341 and is formed, and the four of casing 30 angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt 341 is played the effect supporting and leading, run trace is provided for chassis non-corrosive metal (NCM) crawler belt 341, guarantee that chassis non-corrosive metal (NCM) crawler belt 341 will make crawler belt lose guiding because of the paralysis of suspended structure；
It is provided with tensioner, for compensating the chassis non-corrosive metal (NCM) crawler belt 341 gap owing to producing after service wear between the upper plane that casing 30 and chassis non-corrosive metal (NCM) crawler belt 341 are formed；Tensioner includes "U" shaped tensioning plate 31 and is fixedly mounted on the slide rail plate 33 of casing 30 both sides, the flat board of tensioning plate 31 is arranged on casing 30 top board by tensioning spring 32, simple in construction, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force utilizing tensioning spring 32 promotes and lifts on tensioning plate 31, automatically the crawler belt gap owing to producing after service wear is compensated, realize the purpose that chassis non-corrosive metal (NCM) crawler belt 341 is non-maintaining, it is greatly improved the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost；The biside plate of tensioning plate 31 is slidably fitted in slide rail plate 33, and limiting tensioning plate 31 can only move up and down, it is to avoid tensioning plate 31 double swerve；
Being provided with cooling water tank 46 in chassis nacelle 29, the bottom of cooling water tank 46 is provided with draining sewage draining exit 45, and for draining or blowdown, in the present embodiment, cooling water tank 46 is arranged at (shown in Figure 9) bottom chassis nacelle 29；The outlet pipe both sides of the hydraulic turbine 2 are provided with tee T 9, in two tee Ts 9, one end of supervisor all connects with the outlet pipe of the hydraulic turbine 2, in two tee Ts 9, the other end of supervisor all connects with fog-spray nozzle 10, the one end being in charge of in two tee Ts 9 all connects with supervisor, the other end being in charge of in two tee Ts 9 circulates water inlet pipe 43 respectively through water and connects with cooling water tank 46 with water recycling outlet 44, it is achieved the cooling effect to self power generation water cannon and wheel-pedrail robot platform；Chassis nacelle 1 is provided with counterweight water tank 28, emptying counterweight water tank 28 when carrying, it is achieved that the carrying of robot is convenient, to counterweight water tank 28 water-filling when use, achieve robot weight and become big, pull longer fire hose, run into robot when being embraced with fire, in conjunction with cooling water tank 46, by the evaporative cooling effect of liquid, the cooling water source that robot is extra can be given, extend the high temperature resistant time of robot, allow robot have the time of abundance to escape from the scene of a fire；
The top board front end of chassis nacelle 1 is provided with laser radar 25; do not need any light, laser radar only need to be utilized to generate map, and then manipulation robot advances according to map; guarantee that robot can carry out execution task under the extreme environment such as dense smoke thick fog no light conditions at night, and return smoothly；The front and back position place of the left and right sides panel of chassis nacelle 29 is provided with handle 38 of raising one's hand, and this handle 38 of raising one's hand is for hollow pipe, and the opening part of hollow pipe is threaded end cap, simple in construction, it is simple to carrying of electric fuse, emergency drug and urgent equipment；The two sides, front and back of chassis nacelle 29 are equipped with shooting first 39 and illuminating lamp 40；The antenna 42 rotated before and after being provided with in chassis nacelle 29, regulates antenna 42, more flexibly as required；The top board of chassis nacelle 29 is provided with signal tower 41, the left and right sides of signal tower 41 is provided with expansion socket 413, the trailing flank of signal tower 413 is provided with photographic head 2 412 and codan lamp 411.
Embodiment 2
The firefighting fire extinguishing robot of a kind of changeable weight controlled fire extinguishing scope self power generation of the present embodiment is different in that: also include being located at two metal fin arms symmetrical outside two creepers undercarriage, creeper undercarriage is in conjunction with metal fin arm, device people's platform both can be moved rearwards by forward, can have again climbing obstacle climbing ability, flexible and convenient operation, metal fin arm includes fin arm non-corrosive metal (NCM) crawler belt 351, fin arm metal rack 354, the fin arm drivewheel 352 being connected with chassis driven pulley 343 and the fin arm driven pulley 353 being rotationally connected with fin arm metal rack 354, fin arm non-corrosive metal (NCM) crawler belt 351 has high temperature resistant, corrosion resistant advantage, at high temperature, there is under blast and strong corrosive environment the ability of secondary existence, in the present embodiment, fin arm non-corrosive metal (NCM) crawler belt 351 is crawler belt with holes, it is easy to according to the difference using environment, increase tooth block for environment such as stair climbings, or rubber blanket is installed be used for walking noise reduction or increasing ground connection frictional force；Fin arm drivewheel 352 is connected with chassis driven pulley 343, in order to fin arm drivewheel 352 and chassis driven pulley 343 rotate simultaneously, receives the power of the chassis drivewheel 342 that chassis non-corrosive metal (NCM) crawler belt 341 passes over；Fin arm non-corrosive metal (NCM) crawler belt 351 is sleeved on fin arm drivewheel 352, fin arm driven pulley 353, and fin arm non-corrosive metal (NCM) crawler belt 351 is in the outer rim of fin arm metal rack 354, is used for contacting ground, it is achieved the functions such as climbing obstacle detouring；The front deck middle position of chassis nacelle 29 is provided with fin arm angle-controlled motor 355, fin arm angle-controlled motor 355 rotates with fin arm and drives reductor 357 to be connected, fin arm rotates to drive and is plugged with rotating shaft 356 on reductor 357, the two ends of rotating shaft 356 are stretched out chassis nacelle 29 left and right sides panel respectively and are connected with fin arm metal rack 354 after chassis driven pulley 343 and fin arm drivewheel 352, the purpose that the two ends of rotating shaft 356 are connected with fin arm metal rack 354 to realize synchronous rotary, the anglec of rotation of rotating shaft 356 is rotated by fin arm and drives reductor 357 to be adjusted, and fin arm is rotated the rotation driving reductor 357 and can be driven by fin arm angle-controlled motor 355, can also pass through to rotate to drive at fin arm reductor 357 is plugged with manual rotation axle 358, manually drive；Specifically fin arm drivewheel 352 passes through two bearing outsides in rotating shaft 356 with chassis driven pulley 342, when being not connected to chassis non-corrosive metal (NCM) crawler belt 341, can rotate freely, after connecting base plate non-corrosive metal (NCM) crawler belt 341, become transmission chassis drivewheel 342 power transition apparatus to fin arm driven pulley 353.
The firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight of the present utility model, replaces fire fighter to enter people scene of fire and carries out fire-fighting work, it is ensured that the life safety of fire fighter.
Schematically this utility model and embodiment thereof being described above, this description does not have restricted, and shown in accompanying drawing is also one of embodiment of the present utility model, and actual structure is not limited thereto.So, if those of ordinary skill in the art is enlightened by it, when creating objective without departing from this utility model, design the frame mode similar to this technical scheme and embodiment without creationary, protection domain of the present utility model all should be belonged to.
Claims (10)
1. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of changeable weight, including wheel-pedrail robot platform and self power generation water cannon, it is characterized in that: described wheel-pedrail robot platform includes chassis nacelle (29) and is located at the creeper undercarriage of chassis nacelle (29) left and right sides, and described chassis nacelle (29) top board is provided with self power generation water cannon.
2. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 1, it is characterized in that: described self power generation water cannon includes the hydraulic turbine (2) being arranged on chassis nacelle (29) top board by mounting seat (1), and the outlet of the described hydraulic turbine (2) is connected with the water inlet of water cannon head by hydraulic turbine water outlet bulb (3), water cannon Dual Action joint (4)；Described water cannon head is provided with " L " font support (7), water cannon Dual Action joint (4) is provided with knuckle support (8), and knuckle support (8) is connected by the electric pushrod one (6) for controlling water cannon head luffing angle with " L " font support (7)；The described hydraulic turbine (2) includes water wheel axle, the right-hand member of described water wheel axle is connected to the side of reductor (13), and the output shaft of reductor (13) bottom surface is connected with being used for controlling the swing swinging arm device of amplitude of water cannon device by eccentric stiffener；Described swinging arm device includes being perpendicular to the electric pushrod two (21) being used for adjusting the water cannon head amplitude of oscillation and the swing arm (18) extended from knuckle support (8) right flank that the hydraulic turbine (2) direction is arranged, and described swing arm (18) offers gathering sill (19) along swing arm (18) length direction；Being arranged with the swing arm sliding sleeve (20) slided along swing arm (18) length direction in described swing arm (18), upper corresponding gathering sill (19) position of swing arm sliding sleeve (20) is provided with the guide finger (17) being slidably matched with gathering sill (19)；One end of described electric pushrod two (21) is connected with swing arm sliding sleeve (20), and the other end of electric pushrod two (21) is fixedly mounted on knuckle support (8)；Described eccentric stiffener includes the eccentric rotating disk (14), eccentric shaft (15) and the traction link (16) that are set on the output shaft of reductor (13) bottom surface；One end of described eccentric shaft (15) is connected on eccentric rotating disk (14), one end of the other end of eccentric shaft (15) and traction link (16) is hinged, and the other end of traction link (16) and above-mentioned guide finger (17) are hinged.
3. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 2, it is characterized in that: described water cannon head includes big gun head body, water outlet regulates block (54), mandrel (56) and water cannon core (55), described big gun head body by big gun head install pipe (51) and be located at big gun head install manage (51) water outlet port inclined-plane spout (52) constitute, the upper end port of described big gun head body is outlet, and the cross section of outlet becomes big along water outlet direction；Described water outlet regulates block (54) and is suspended in outlet, and the cross section of the bottom of the corresponding outlet of water outlet adjustment block (54) becomes big along water outlet direction, described water outlet regulates to run through on the axis of block (54) mandrel (56), it is internal that the lower end of mandrel (56) is fixed on big gun head, and the upper end of mandrel (56) regulates block (54) through water outlet and is connected with water cannon core (55) afterwards；The outer peripheral face processing of described water cannon core (55) has helical form chute (551), one end of chute (551) extends downwardly through water cannon core (55) lower surface and forms clearance groove (552), the other end of chute (551) is folded upward at forming fastening groove (553), and the upper side wall of chute (551) upwards caves in and forms multiple gear grooves (554)；Described water outlet regulates the top of block (54) and offers the blind hole (541) for installing above-mentioned water cannon core (55) along axis, blind hole (541) sidewall is provided with bearing pin, this bearing pin enters in chute (551) from groove (552) of letting pass, and can slide along chute (551) and can pass through above-mentioned gear groove (554) or fastening groove (553) locking；It is provided with spring (58) between lower end and the step of mandrel (56) of described water outlet adjustment block (54)；The internal mandrel fixed support (57) that is provided with of described big gun head, the planform of mandrel fixed support (57) is rice font or cross or Y-shaped；Described mandrel fixed support (57) is provided with the installing hole for installing mandrel (56), and the axis that the axis of installing hole installs pipe (51) with big gun head is overlapping；The lower end of described mandrel (56) is fixed through above-mentioned installing hole, and mandrel (56) lower end is connected to oval supercavity water knockout drum (59) through mandrel fixed support (57) part；Being arranged with the spout overcoat (53) of scalable water spray shape outside the water outlet end of described big gun head body, spout overcoat (53) is installed pipe (51) with big gun head and is connected by electric pushrod three (23).
4. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 3, it is characterised in that: the left end of described water wheel axle is connected with the rotating shaft of electromotor (22) by synchronous transmission device (11)；Described synchronous transmission device (11) is constituted by synchronizing driven pulley, synchronization drivewheel and Timing Belt；The left end of described water wheel axle after the synchronization drivewheel in synchronous transmission device (11) be arranged at synchronous transmission device (11) handwheel (12) outward and be connected.
5. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 4, it is characterized in that: described big gun head is installed and free end interior cooperation of pipe (51) is provided with the water side in water cannon Dual Action joint (4) and is hinged by the rotating shaft screw (24) of setting symmetrical above and below, coordinate in the water inlet end in water cannon Dual Action joint (4) and the free end of hydraulic turbine water outlet bulb (3) is installed and is hinged by the rotating shaft screw (24) of setting symmetrical above and below, the fixing end of hydraulic turbine water outlet bulb (3) is installed on the water outlet of the hydraulic turbine (2)；The recessed rotation dignity end that it is axle center with rotating shaft screw (24) that the water inlet end of free end and water cannon Dual Action joint (4) that described big gun head installs pipe (51) is, the convex dignity end that rotates that it is axle center with rotating shaft screw (24) that the water side in described water cannon Dual Action joint (4) and the free end of hydraulic turbine water outlet bulb (3) are, the cooperation of convex rotation dignity end is arranged on recessed rotation in dignity end.
6. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 5, it is characterised in that: described chassis nacelle (29) is provided with open type counterweight water tank (28).
7. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 6, it is characterized in that: being provided with on the left and right sides panel of described chassis nacelle (29) can as the casing (30) of control chamber or power supply box, and four angles of this casing (30) are equipped with chamfering；Between upper plane and lower plane that each described casing (30) is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt (341) and is formed；It is provided with tensioner between the upper plane that described casing (30) and chassis non-corrosive metal (NCM) crawler belt (341) are formed, described tensioner includes "U" shaped tensioning plate (31) and is fixedly mounted on the slide rail plate (33) of casing (30) both sides, the flat board of described tensioning plate (31) is arranged on casing (30) top board by tensioning spring (32), and the biside plate of tensioning plate (31) is slidably fitted in slide rail plate (33).
8. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 7, it is characterized in that: described creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt (341), chassis drivewheel (342) and the chassis driven pulley (343) being rotationally connected with chassis nacelle (29) side panel, and described chassis non-corrosive metal (NCM) crawler belt (341) is sleeved on chassis drivewheel (342), chassis driven pulley (343)；Described chassis drivewheel (342) is by driving axle to be connected with the hoofing part reductor (36) being located in chassis nacelle (29) rear deck, and hoofing part reductor (36) is connected with travel driving motor (37)；Two symmetrical metal fin arms it are provided with outside creeper undercarriage described in two, described metal fin arm includes fin arm drivewheel (352) that fin arm non-corrosive metal (NCM) crawler belt (351), fin arm metal rack (354) and chassis driven pulley (343) are connected and fin arm driven pulley (353) being rotationally connected with fin arm metal rack (354), and described fin arm non-corrosive metal (NCM) crawler belt (351) is sleeved on fin arm drivewheel (352), fin arm driven pulley (353)；The front deck middle position of described chassis nacelle (29) is provided with fin arm angle-controlled motor (355), described fin arm angle-controlled motor (355) rotates with fin arm and drives reductor (357) to be connected, and fin arm rotates to drive and is plugged with rotating shaft (356) on reductor (357)；The two ends of described rotating shaft (356) are stretched out chassis nacelle (29) left and right sides panel respectively and are connected with fin arm metal rack (354) afterwards through chassis driven pulley (343) and fin arm drivewheel (352)；Described fin arm rotates in the delivery outlet driving reductor (357) and is provided with manual rotation axle (358).
9. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 8, it is characterized in that: being provided with cooling water tank (46) in described chassis nacelle (1), the bottom of cooling water tank (46) is provided with draining sewage draining exit (45)；The outlet pipe both sides of the described hydraulic turbine (2) are provided with tee T (9), in two tee Ts (9), one end of supervisor all connects with the outlet pipe of the hydraulic turbine (2), in two tee Ts (9), the other end of supervisor all connects with fog-spray nozzle (10), the one end being in charge of in two tee Ts (9) all connects with supervisor, and the other end being in charge of in two tee Ts (9) circulates water inlet pipe (43) respectively through water and connects with cooling water tank (46) with water recycling outlet (44).
10. the firefighting fire extinguishing robot of the controlled fire extinguishing scope self power generation of a kind of changeable weight according to claim 9, it is characterised in that: the water inlet of the described hydraulic turbine (2) be provided with in case fire water can just to the hydraulic turbine (2) interior water wheels impeller direction enter water diversing sheet (27).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620034969.5U CN205339926U (en) | 2016-01-14 | 2016-01-14 | Variable controllable scope of putting out a fire of weight is from fire -fighting robot of electricity generation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620034969.5U CN205339926U (en) | 2016-01-14 | 2016-01-14 | Variable controllable scope of putting out a fire of weight is from fire -fighting robot of electricity generation |
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| CN205339926U true CN205339926U (en) | 2016-06-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| 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 |
| KR20180006230A (en) * | 2016-07-08 | 2018-01-17 | 한화지상방산 주식회사 | Electricity generation system for cannon |
| CN112023310A (en) * | 2020-09-11 | 2020-12-04 | 黄金榜 | Intelligent fire extinguishing robot |
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2016
- 2016-01-14 CN CN201620034969.5U patent/CN205339926U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105477812A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | Self-generating fire-fighting fire extinguishment robot with variable weight and controllable fire extinguishment range |
| KR20180006230A (en) * | 2016-07-08 | 2018-01-17 | 한화지상방산 주식회사 | Electricity generation system for cannon |
| KR102484351B1 (en) | 2016-07-08 | 2023-02-14 | 한화에어로스페이스 주식회사 | Electricity generation system for cannon |
| 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 |
| CN112023310A (en) * | 2020-09-11 | 2020-12-04 | 黄金榜 | Intelligent fire extinguishing robot |
| CN112023310B (en) * | 2020-09-11 | 2021-11-09 | 张辉 | Intelligent fire extinguishing robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190905 Address after: 272100 No. 004 Xingyuan Road, Yandian New Town, Yanzhou District, Jining City, Shandong Province Patentee after: Shandong Exploration Robot Co., Ltd. Address before: 213166 Qiujiatang 32, Shengxi Village, Nanxia Shu High-tech Zone, Wujin District, Changzhou City, Jiangsu Province Patentee before: Ren Qubo |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20210114 |