CN205891031U - High -rise building fire robot - Google Patents
High -rise building fire robot Download PDFInfo
- Publication number
- CN205891031U CN205891031U CN201620822281.3U CN201620822281U CN205891031U CN 205891031 U CN205891031 U CN 205891031U CN 201620822281 U CN201620822281 U CN 201620822281U CN 205891031 U CN205891031 U CN 205891031U
- Authority
- CN
- China
- Prior art keywords
- wheel
- track
- rise building
- building fire
- athey wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a robotechnology field especially relates to a high -rise building fire robot, and it includes caterpillar base plate, the last equipment fixing platform that is equipped with of caterpillar base plate, be equipped with fire -fighting water pipe and PLC controller on the equipment fixing platform, caterpillar base plate is including the left athey wheel and the right -hand track chiain wheel that are used for centre gripping climbing skin, left side athey wheel and right -hand track chiain wheel include all that track frame and winding are equipped with a drive wheel respectively at track frame outlying track, track frame both ends, and one side of the corresponding wall of track frame is equipped with and is used for a plurality of pinch roller of track pressure to the wall, connect through two above gauge adjustment mechanism between left side athey wheel and the right -hand track chiain wheel, every gauge adjustment mechanism homoenergetic removes in order to adjust track gage and clamp force about driving left athey wheel and right -hand track chiain wheel. The utility model relates to a rationally, simple structure, the track gage is adjustable, and application scope is extensive, and centre gripping climbing stability is good, and the security is high.
Description
Technical field
This utility model is related to robotics, especially relates to a kind of rise building fire fighting robot.
Background technology
Current skyscraper catches fire and brings very big puzzlement to fire-fighting work, if run into high level caught fire, and the intensity of a fire
Rapidly, then fire fighter is to be difficult to close to scene of fire, robot is needed to replace fire fighter's execution fire extinguishing task.Mesh
There are crawler type and the six wheeled robots walked on the ground and absorption in the fire rescue robot occurring on our markets front
Formula climbs wall rescue robot, and first two situation is using motor as power, and configuration driven is wheeled or crawler type walking mechanism, but
Can only climb in land operations, obstacle-overpass, carry out the fire-fighting work at ground scene, the power that high-rise fire is then no resisted；
And for the latter, simple adsorbed wall-climbing rescue robot is often due to the alternating barrier of wall, window tends not to play
Go out the benefit of maximum.
Content of the invention
The purpose of this utility model is for the deficiencies in the prior art, provides a kind of reasonable in design, structure is simple, crawler belt
Gauge scalable, clamping climbing good stability, safe rise building fire fighting robot.
For achieving the above object, this utility model employs the following technical solutions:
A kind of rise building fire fighting robot, it includes crawler body, and described crawler body is provided with equipment mounting platform,
Described equipment mounting platform is provided with fire extinguisher canvas hose and plc controller, and described crawler body is included for clamping climbing building
The left Athey wheel of exterior wall and right-hand track chiain wheel, described left Athey wheel and right-hand track chiain wheel all include track frame and are wrapped in outside track frame
The crawler belt enclosing, track frame is respectively arranged at two ends with a driving wheel, and the side of the corresponding wall of track frame is provided with for crawler belt is pressed to wall
Several contact rollers of wall, pass through two or more gauge governor motion and connect between described left Athey wheel and right-hand track chiain wheel, each
Gauge governor motion all can drive left Athey wheel and right-hand track chiain wheel to move left and right to adjust track gage and clamping force.
Each gauge governor motion described all includes a tie-beam and two the first motors, and tie-beam two ends are respectively
It is flexibly connected with left Athey wheel and right-hand track chiain wheel, tie-beam is provided with rack guide rail along its length, two the first motors
Be respectively and fixedly installed on left Athey wheel and right-hand track chiain wheel, and be connected with plc controller respectively, two the first motors defeated
Go out end and be respectively equipped with the first gear being connected with rack guide rail engagement.This design makes it can control two by plc controller
The rotation of the first motor, drives corresponding first gear to move on rack guide rail respectively, thus driving left Athey wheel and the right side
Athey wheel moves left and right along tie-beam respectively, and then reaches the purpose adjusting track gage.
Described equipment mounting platform is flexibly connected with the middle part of tie-beam, and equipment mounting platform is provided with plc controller even
The second motor connecing, the outfan of the second motor is provided with the second gear being connected with rack guide rail engagement.This design
Equipment mounting platform is moved left and right on tie-beam, thus more accurately being positioned, so that each equipment is had
Effect operation.
It is additionally provided with the photographic head being connected with plc controller respectively, high-pressure hydraulic pump, electric hammer on described equipment mounting platform and cut
Cutting mill, described high-pressure hydraulic pump water inlet is connected with fire extinguisher canvas hose outlet, and high-pressure hydraulic pump outlet is connected with giant.This reality
With the design of novel camera, the walking information such as road picture and fire scenario picture can be gathered, and by those information transmissions
To plc controller；Electric hammer and the design of cutting machine, can abolish to building or obstacle.
It also includes remote manipulator, and described remote manipulator is connected with plc controller.This design makes it not only can be by
According to the Automatic Program operation setting, but also will be able to be imaged first-class by the built-in information wireless sending module of plc controller
The field data of equipment collection send back to ground control cabinet, so that surface personnel can be long-range by remote manipulator
Remote control plc controller carries out operation to control each equipment.
The surface that described crawler belt is contacted with wall is equipped with for anti-skidding longitudinal stripe and travers.This design
Substantially increase the anti-wear performance of crawler belt and climb crawler belt during wall grasp ability.
Described crawler belt is provided with several suckers for absorption in wall surface, and sucker is in horn-like.This design makes it
Building wall wall surface can be held come fixed position by sucker, further increase walking stability and safety.
Described crawler belt is by elastomeric material molding.
Described track frame opposite side is provided with more than one support wheel, contact roller and support wheel be respectively positioned on crawler belt and track frame it
Between.
The end at described tie-beam two ends is equipped with spacing end plate, and described spacing end plate is provided with position sensor.
Described tie-beam includes Zuo Liang, right beam and coupling assembly, described Zuo Liang and right beam grafting and is positioned by coupling assembly
And locking.This design allows tie-beam to be combined according to building specification (width) and be connected, to control tie-beam
Length so that track gage is controlled, the scope of application is more extensive.
This utility model adopts above technical scheme, and described crawler body includes the left side for clamping climbing skin
Athey wheel and right-hand track chiain wheel, it is parallel in building that this design makes described left Athey wheel and the crawler belt on right-hand track chiain wheel walk respectively
Two planes on, using clamping climbing by the way of, the frictional force of Athey wheel and skin can be greatly improved, effectively anti-
Only falling from high altitude, safety is good；Each track frame two ends is equipped with a driving wheel, and driving wheel drives walking by running motor, with
Form 4 wheel driven walking mechanism so that when crawler belt runs into the barriers such as boss on external wall, gauge corresponding with barrier is adjusted
Section mechanism suitably increases this end track gage with cut-through thing, or suitably lifts corresponding to this barrier on each track frame
Driving wheel in case change center of gravity, now, robot can using another drive wheel walking, thus passing through one section
Or several sections of boss or irregular external wall；Adjusted by two or more gauge between described left Athey wheel and right-hand track chiain wheel
Section mechanism connects, each gauge governor motion all can drive left Athey wheel and right-hand track chiain wheel move left and right with adjust track gage and
Clamping force, this design makes it left Athey wheel and right-hand track chiain wheel can be driven to move left and right by gauge governor motion, such that it is able to
Adjust the distance between left Athey wheel and right-hand track chiain wheel (that is, track gage), to adapt to the building of different size so as to be suitable for
Scope is more extensive, also have adjusted left Athey wheel and the clamping force of right-hand track chiain wheel clamping climbing skin simultaneously, improves
Climbing robot clamps stability and the safety of climbing on building；Described equipment mounting platform be provided with fire extinguisher canvas hose and
Plc controller, this design makes climbing robot under the control of plc controller, can accurately move to being gone out in the scene of a fire
Fire, thus avoiding the danger of fireman's hand-held hydraulic giant fire extinguishing, greatly reducing the danger of work, improving life security.This reality
With new design rationally, structure is simple, and track gage scalable is applied widely, clamping climbing good stability, safety
High.
Brief description
In conjunction with accompanying drawing, this utility model is further elaborated:
Fig. 1 is the structural representation of this utility model rise building fire fighting robot；
Fig. 2 is the left view schematic diagram of this utility model crawler body；
Fig. 3 is the decomposition texture schematic diagram of this utility model tie-beam.
Specific embodiment
As shown in one of Fig. 1-3, this utility model includes crawler body 1, and it is flat that described crawler body 1 is provided with equipment installation
Platform 2, described equipment mounting platform 2 is provided with plc controller 21 and fire extinguisher canvas hose 22, and described crawler body 1 is included for clamping
The climbing left Athey wheel 11 of building 3 exterior wall and right-hand track chiain wheel 12, described left Athey wheel and right-hand track chiain wheel all include track frame with
And it is wrapped in the peripheral crawler belt of track frame, track frame is respectively arranged at two ends with a driving wheel 17, and the side of the corresponding wall of track frame sets
Have several contact rollers 18 for crawler belt being pressed to wall, between described left Athey wheel 11 and right-hand track chiain wheel 12 pass through two with
Upper rail distance regulating mechanism 13 connects, and each gauge governor motion 13 all can drive left Athey wheel 11 and right-hand track chiain wheel 12 to move left and right
To adjust track gage and clamping force.
Each gauge governor motion 13 described all includes a tie-beam 131 and two the first motors 132, tie-beam
131 two ends are flexibly connected with left Athey wheel 11 and right-hand track chiain wheel 12 respectively, and tie-beam 131 is provided with rack guide rail along its length
133, two the first motors 132 are respectively and fixedly installed on left Athey wheel 11 and right-hand track chiain wheel 12, and respectively with plc control
Device 21 connects, and the outfan of two the first motors 132 is respectively equipped with the first gear being connected with rack guide rail 133 engagement
134.This design makes it can control the rotation of two the first motors 132 by plc controller 21, drives corresponding the respectively
One gear 134 moves on rack guide rail 133, thus driving left Athey wheel 11 and right-hand track chiain wheel 12 left along tie-beam 131 respectively
Move right, and then reach the purpose adjusting track gage.
Described equipment mounting platform 2 is flexibly connected with tie-beam 131 middle part, and equipment mounting platform 2 is provided with and plc control
The second motor 23 that device 21 connects, the outfan of the second motor 23 is provided with the being connected with rack guide rail 133 engagement
Two gears 24.This design allows equipment mounting platform 2 to move left and right on tie-beam 131, thus more accurately carrying out determining
Position, so that each equipment carries out effective operation.
Be additionally provided with described equipment mounting platform 2 photographic head 25 being connected with plc controller 21 respectively, high-pressure hydraulic pump 26,
Electric hammer 27 and cutting machine 28, described high-pressure hydraulic pump 26 water inlet is connected with fire extinguisher canvas hose 22 outlet, high-pressure hydraulic pump 26 outlet
It is connected with giant 29.
It also includes remote manipulator (not shown), and described remote manipulator is connected with plc controller 21.This design
Make it according to the Automatic Program operation setting, and not only can carry out operation by Remote.
The surface that described crawler belt is contacted with wall is equipped with for anti-skidding longitudinal stripe 14 and travers 15.Should
Design substantially increase the anti-wear performance of crawler belt and climb crawler belt during wall grasp ability.
Described crawler belt is provided with several suckers 16 for absorption in wall surface, and sucker is in horn-like.This design makes
It can hold building 3 wall surface come fixed position by sucker, further increases walking stability and safety.
Described crawler belt is by elastomeric material molding.
Described track frame opposite side is provided with more than one support wheel 19, and contact roller 18 and support wheel 19 are respectively positioned on crawler belt and shoe
Between tape holder.
The end at described tie-beam 131 two ends is equipped with spacing end plate 135, and spacing end plate 135 is provided with position sensor
136.
Described tie-beam 131 include left beam 1311, right beam 1312 and coupling assembly 1313, described Zuo Liang and right beam grafting and
Positioned and locked by coupling assembly.This design allows tie-beam 131 to be combined according to building 3 specification (width) and connect
Connect, to control the length of tie-beam 131, so that track gage is controlled, the scope of application is more extensive.
This utility model adopts above technical scheme, and described crawler body 1 is included for clamping climbing building 3 exterior wall
Left Athey wheel 11 and right-hand track chiain wheel 12, this design makes the crawler belt on described left Athey wheel 11 and right-hand track chiain wheel 12 walk respectively
In two parallel planes of building 3, by the way of clamping climbing, Athey wheel and building 3 exterior wall can be greatly improved
Frictional force, effectively prevents falling from high altitude, and safety is good；Each track frame two ends is equipped with a driving wheel 17, and driving wheel 17 is by going
Walk motor and drive walking, to form 4 wheel driven walking mechanism so that when crawler belt runs into boss 31 grade barrier on external wall 3,
Gauge governor motion corresponding with barrier suitably increases this end track gage with cut-through thing, or suitably lifts each shoe
To change center of gravity, now, robot can utilize another driving wheel 17 to driving wheel 17 corresponding with this barrier on tape holder
Drive walking, thus passing through one section or several sections of boss 31 or irregular external wall；Described left Athey wheel 11 He
Connected by two or more gauge governor motion 13 between right-hand track chiain wheel 12, each gauge governor motion 13 all can drive left crawler belt
Wheel 11 and right-hand track chiain wheel 12 move left and right to adjust track gage and clamping force, and this design makes it can pass through gauge governor motion
The 13 left Athey wheels 11 of drive and right-hand track chiain wheel 12 move left and right, such that it is able to adjust between left Athey wheel 11 and right-hand track chiain wheel 12
Distance (that is, track gage), to adapt to the building 3 of different size so as to the scope of application is more extensive, also have adjusted a left side simultaneously
Athey wheel 11 and the clamping force of right-hand track chiain wheel 12 clamping climbing building 3 exterior wall, improve climbing robot and press from both sides on building 3
Hold stability and the safety of climbing；Described equipment mounting platform 2 is provided with fire extinguisher canvas hose 22 and plc controller 21, this design
Making climbing robot under the control of plc controller 21, can accurately moving to being put out a fire in the scene of a fire, thus avoiding fire-fighting
The danger of member's hand-held hydraulic giant fire extinguishing, greatly reduces the danger of work, improves life security.
Above description should not have any restriction to protection domain of the present utility model.
Claims (9)
1. a kind of rise building fire fighting robot, including crawler body, described crawler body is provided with equipment mounting platform, described
Equipment mounting platform be provided with fire extinguisher canvas hose and plc controller it is characterised in that: described crawler body include for clamping climbing
The left Athey wheel of skin and right-hand track chiain wheel, described left Athey wheel and right-hand track chiain wheel all include track frame and are wrapped in shoe
The crawler belt of tape holder periphery, track frame is respectively arranged at two ends with a driving wheel, and the side of the corresponding wall of track frame is provided with for by crawler belt
Press to several contact rollers of wall, pass through two or more gauge governor motion between described left Athey wheel and right-hand track chiain wheel even
Connect, each gauge governor motion all can drive left Athey wheel and right-hand track chiain wheel to move left and right to adjust track gage and clamping force.
2. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: described each gauge adjusts machine
Structure all includes a tie-beam and two the first motors, and tie-beam two ends are connected with left Athey wheel and the activity of right-hand track chiain wheel respectively
Connect, tie-beam is provided with rack guide rail along its length, two the first motors are respectively and fixedly installed to left Athey wheel and the right side
On Athey wheel, and it is connected with plc controller respectively, the outfan of two the first motors is respectively equipped with and is engaged with rack guide rail
The first gear connecting.
3. a kind of rise building fire fighting robot according to claim 2 it is characterised in that: described equipment mounting platform with
It is flexibly connected in the middle part of tie-beam, equipment mounting platform is provided with the second motor being connected with plc controller, the second stepping electricity
The outfan of machine is provided with the second gear being connected with rack guide rail engagement.
4. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: on described equipment mounting platform
Be additionally provided with the photographic head being connected respectively, high-pressure hydraulic pump, electric hammer and cutting machine with plc controller, described high-pressure hydraulic pump water inlet with
Fire extinguisher canvas hose outlet connects, and high-pressure hydraulic pump outlet is connected with giant.
5. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: it also includes Remote
Device, described remote manipulator is connected with plc controller.
6. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: described crawler belt is connected with wall
A tactile surface is equipped with for anti-skidding longitudinal stripe and travers.
7. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: described crawler belt be provided with for
In several suckers of wall surface, sucker is in horn-like for absorption.
8. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: described crawler belt is by elastomeric material
Molding.
9. a kind of rise building fire fighting robot according to claim 1 it is characterised in that: described track frame opposite side sets
More than one support wheel, contact roller and support wheel is had to be respectively positioned between crawler belt and track frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620822281.3U CN205891031U (en) | 2016-08-01 | 2016-08-01 | High -rise building fire robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620822281.3U CN205891031U (en) | 2016-08-01 | 2016-08-01 | High -rise building fire robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205891031U true CN205891031U (en) | 2017-01-18 |
Family
ID=57782685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620822281.3U Expired - Fee Related CN205891031U (en) | 2016-08-01 | 2016-08-01 | High -rise building fire robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205891031U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109305237A (en) * | 2018-11-12 | 2019-02-05 | 山东大学 | A kind of climbing robot |
| CN109571491A (en) * | 2018-11-16 | 2019-04-05 | 江苏峰汇智联科技有限公司 | A kind of intelligent fire robot |
| CN109933070A (en) * | 2019-03-27 | 2019-06-25 | 上海理工大学 | The rescue system of six wheel rescue nonirrigated farmland robots |
| CN110075446A (en) * | 2019-04-26 | 2019-08-02 | 浙江湖州天强建筑材料有限公司 | A kind of firefighting fire extinguishing robot for building |
| CN113357486A (en) * | 2021-04-06 | 2021-09-07 | 贵州省质安交通工程监控检测中心有限责任公司 | Mechanical device for supporting walking on two sides in long and narrow corridor |
| CN113513711A (en) * | 2021-04-30 | 2021-10-19 | 中国地震局工程力学研究所 | Pipeline detection device capable of crossing obstacles |
| CN115253111A (en) * | 2022-08-01 | 2022-11-01 | 内蒙古科技大学 | Continuous climbing type high-altitude automatic emergency device |
| CN115723868A (en) * | 2022-12-05 | 2023-03-03 | 青岛海洋地质研究所 | Crawler device of seabed crawling vehicle and use method |
-
2016
- 2016-08-01 CN CN201620822281.3U patent/CN205891031U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109305237A (en) * | 2018-11-12 | 2019-02-05 | 山东大学 | A kind of climbing robot |
| CN109571491A (en) * | 2018-11-16 | 2019-04-05 | 江苏峰汇智联科技有限公司 | A kind of intelligent fire robot |
| CN109933070A (en) * | 2019-03-27 | 2019-06-25 | 上海理工大学 | The rescue system of six wheel rescue nonirrigated farmland robots |
| CN109933070B (en) * | 2019-03-27 | 2022-05-31 | 上海理工大学 | Rescue system of six-wheel rescue land robot |
| CN110075446A (en) * | 2019-04-26 | 2019-08-02 | 浙江湖州天强建筑材料有限公司 | A kind of firefighting fire extinguishing robot for building |
| CN110075446B (en) * | 2019-04-26 | 2020-12-15 | 嘉兴市华染新能源有限公司 | Fire-fighting robot for building |
| CN113357486A (en) * | 2021-04-06 | 2021-09-07 | 贵州省质安交通工程监控检测中心有限责任公司 | Mechanical device for supporting walking on two sides in long and narrow corridor |
| CN113513711A (en) * | 2021-04-30 | 2021-10-19 | 中国地震局工程力学研究所 | Pipeline detection device capable of crossing obstacles |
| CN115253111A (en) * | 2022-08-01 | 2022-11-01 | 内蒙古科技大学 | Continuous climbing type high-altitude automatic emergency device |
| CN115723868A (en) * | 2022-12-05 | 2023-03-03 | 青岛海洋地质研究所 | Crawler device of seabed crawling vehicle and use method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20170118 Termination date: 20180801 |