CN208448478U - Fuel power fire-fighting robot fog gun rotating mechanism - Google Patents
Fuel power fire-fighting robot fog gun rotating mechanism Download PDFInfo
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- CN208448478U CN208448478U CN201820788452.4U CN201820788452U CN208448478U CN 208448478 U CN208448478 U CN 208448478U CN 201820788452 U CN201820788452 U CN 201820788452U CN 208448478 U CN208448478 U CN 208448478U
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- hydraulic cylinder
- fog gun
- hinged
- swivel mount
- rotating arm
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Abstract
The utility model provides a kind of fuel power fire-fighting robot fog gun rotating mechanism, including cantilever crane, rotating arm, swivel mount, first hydraulic cylinder, second hydraulic cylinder, cantilever crane is located at the outside of robot body, and bottom is fixedly connected with robot body, rotating arm one end and cantilever crane are rotatablely connected, the lower section of rotating arm is arranged in first hydraulic cylinder, and the cylinder barrel and cantilever crane of first hydraulic cylinder are hinged, and the piston rod and rotating arm of first hydraulic cylinder are hinged；Rotating arm extends forward, and end and swivel mount are rotatablely connected, and are rotatablely connected at the top of swivel mount with fog gun mechanism, and rotational support point is formed at rotation connection；Swivel mount between rotating arm is equipped with second hydraulic cylinder, and the cylinder barrel and swivel mount of second hydraulic cylinder are hinged, and the piston rod and fog gun mechanism of second hydraulic cylinder are hinged, and hinged place forms hinged support point；It is staggered before and after hinged support point and the position of rotational support point.
Description
Technical field
The utility model relates to fire-fighting robot technical fields, more particularly to a kind of fuel power fire-fighting robot fog gun
Rotating mechanism.
Background technique
The fire-fighting robot of fuel power is suitable for public (iron) road tunnel fire hazard；Subway station and tunnel fire hazard；Ground divides into
Grant goods yard fire；Large span large space fire；Petrochemical industry oil depot and smelter's fire；The attack and shielding of dangerous fire target；
The unapproachable fire attack of personnel.
The spray equipment of existing fire extinguishing smoke evacuation Detecting Robot is directly installed on the top of robot body by hydraulic cylinder
The adjustable range in portion, height and angle is limited by hydraulic cylinder formation, is unsatisfactory for the investigation of a variety of situation fire.
Utility model content
The technical problem to be solved by the utility model is in order to overcome the shortcomings in the prior art, the utility model mentions
For a kind of fuel power fire-fighting robot fog gun rotating mechanism.
The utility model solves its technical problem technical solution to be taken: a kind of fuel power fire-fighting robot mist
Big gun rotating mechanism, including cantilever crane, rotating arm, swivel mount, first hydraulic cylinder, second hydraulic cylinder, the cantilever crane, rotating arm, first
Hydraulic cylinder, second hydraulic cylinder are two groups of two sides for being symmetricly set on swivel mount, and the cantilever crane is located at the outside of robot body, and
Bottom is fixedly connected with the robot body, and described rotating arm one end and the cantilever crane are rotatablely connected, the first hydraulic cylinder
The lower section of the rotating arm is set, and the cylinder barrel of the first hydraulic cylinder and the cantilever crane are hinged, the work of the first hydraulic cylinder
Stopper rod and the rotating arm are hinged；The rotating arm extends forward, and end and swivel mount are rotatablely connected, at the top of the swivel mount
It is rotatablely connected with the fog gun mechanism, and forms rotational support point at rotation connection；It is set on swivel mount between the rotating arm
There is second hydraulic cylinder, the cylinder barrel of the second hydraulic cylinder and the swivel mount are hinged, the piston rod of the second hydraulic cylinder and institute
It is hinged to state fog gun mechanism, and hinged place forms hinged support point；It is wrong before and after the position of the hinged support point and rotational support point
It opens.Hinged support point can be located at the front or behind of rotational support point, and when hinged support point is located at front, second is hydraulic
The piston rod release of cylinder can make fog gun steeve upwards；When hinged support point later when, second hydraulic cylinder piston rod contracting
Returning can make fog gun steeve upwards.Two-stage is formed by two hydraulic cylinders to adjust, and expands the angle of regulation range of fog gun mechanism,
And the height adjustment range of fog gun mechanism is expanded by the cooperation of rotating arm and swivel mount, to expand spray dress on the whole
The adjusting range of the height and angle set.
Further, in order to enable water inlet pipe stable water supply in robot manipulating task, water inlet pipe is equipped at the top of the cantilever crane
Support frame, the water inlet pipe support frame are ring structure.Water pipe bending is avoided to cause insufficient water.
Further, warning lamp is additionally provided at the top of the cantilever crane.
Further, the swivel mount is equipped with the arc notch for accommodating fog gun cylinder.
The beneficial effects of the utility model are: a kind of fuel power fire-fighting robot fog gun rotation provided by the utility model
Mechanism, 0-30 ° of the mechanism operation pitching is adjustable, and spray distance is remote, wide coverage, be effectively ensured rescue work progress and
The life security of rescue personnel.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the best embodiment of the utility model；
Fig. 2 is the right view of installation diagram of the utility model on fuel power fire-fighting robot；
Fig. 3 is the perspective view of installation diagram of the utility model on fuel power fire-fighting robot；
Fig. 4 is the structural schematic diagram of the creeper undercarriage of fuel power fire-fighting robot；
Fig. 5 is the position view of carrying roller and anticreep wheel in the front-back direction；
In figure: 1, robot body, 2, ventilation hole, 3, load bearing cross beam, 4, load-bearing stringer, 5, crawler belt, 6, driving wheel, 7, hold
Roller, 8, anticreep wheel, 9, fixed expansion tightening wheel, 10, adjustable expansion tightening wheel, 11, dustproof cover, 12, fog gun cylinder, 13, water cannon, 14, bend pipe,
15, solenoid valve, 16, fog gun water inlet, 17, water cannon water inlet, 18, fog gun water tank, 19, water cannon water tank, 20, cantilever crane, 21, rotation
Arm, 22, swivel mount, 23, first hydraulic cylinder, 24, second hydraulic cylinder, 25, water inlet pipe support frame, 26, shoveling, 27, third it is hydraulic
Cylinder, 28, reinforcing rib, 29, lifting lug, 30, preceding camera, 31, rear camera, 32, driving lamp, 33, warning lamp.
Specific embodiment
The utility model is described in detail presently in connection with attached drawing.This figure is simplified schematic diagram, only in a schematic way
Illustrate the basic structure of the utility model, therefore it only shows composition related with the utility model.
Front, rear, left and right in the utility model are for the direction of travel of robot, with direction of travel
It is preceding.
As shown in Figure 1, a kind of fuel power fire-fighting robot fog gun rotating mechanism of the utility model, the fog gun rotation
Mechanism includes cantilever crane 20, rotating arm 21, swivel mount 22, first hydraulic cylinder 23, second hydraulic cylinder 24, the cantilever crane 20, rotating arm
21, first hydraulic cylinder 23, second hydraulic cylinder 24 are two groups of two sides for being symmetricly set on swivel mount 22, and the cantilever crane 20 is located at machine
The outside of human agent 1, and bottom is fixedly connected with the robot body 1, described 21 one end of rotating arm by shaft with it is described
Cantilever crane 20 is rotatablely connected, and the lower section of the rotating arm 21, the cylinder of the first hydraulic cylinder 23 is arranged in the first hydraulic cylinder 23
Cylinder and the cantilever crane 20 are hinged, and the piston rod of the first hydraulic cylinder 23 and the rotating arm 21 are hinged, pass through first hydraulic cylinder
The elevation angle of the 23 adjustable fog gun cylinder 12 that stretches；The rotating arm 21 extends forward, and end and swivel mount 22 are rotatablely connected,
The notch that swivel mount 22 is equipped with arc, to reduce the center of gravity of fog gun cylinder 12, reduces entire robot for accommodating fog gun cylinder 12
Volume, be rotatablely connected by shaft and fog gun cylinder 12 at the top of the swivel mount 22, and rotational support point is formed at rotation connection；
Swivel mount 22 between the rotating arm 21 is equipped with second hydraulic cylinder 24, the cylinder barrel of the second hydraulic cylinder 24 and the rotation
Frame 22 is hinged, and the piston rod of the second hydraulic cylinder 24 and the fog gun mechanism are hinged, and hinged place forms hinged support point；Institute
The position front and back for stating hinged support point and rotational support point is staggered.Hinged support point can be located at rotational support point before or
Below, when hinged support point is located at front, the piston rod release of second hydraulic cylinder 24 can make fog gun steeve upwards；When hinged
When supporting point is located at below, the piston rod retraction of second hydraulic cylinder 24 can make fog gun steeve upwards.Pass through two hydraulic cylinder shapes
It is adjusted at two-stage, expands the angle of regulation range of fog gun mechanism, and expand by the cooperation of rotating arm 21 and swivel mount 22
The height adjustment range of fog gun mechanism.In order to enable water inlet pipe stable water supply in robot manipulating task, the cantilever crane 20 is pushed up
Portion is equipped with water inlet pipe support frame 25, and the water inlet pipe support frame 25 is ring structure, and water pipe bending is avoided to cause insufficient water.
The fog gun rotating mechanism is applied on the fire-fighting robot of fuel power.As shown in Figures 2 and 3, a kind of fuel oil is dynamic
The fire-fighting robot of power, including robot body 1, creeper undercarriage, fog gun mechanism, fog gun rotating mechanism, clearing mechanism, take the photograph
As system, lighting system and alarm system.
The shell of robot body 1 is made of the material of fireproof high-temperature resistant, and shell is equipped with heat dissipation ventilation hole 22, machine
Electric cabinet, battery, diesel engine unit and cooling body are equipped with inside human agent 1, the battery is robot power supply, the diesel oil
For driving creeper undercarriage, cooling body is arranged in the tail portion of robot body 1, is dropped using water-cooling structure unit
Temperature；Electric cabinet is the central control system of entire robot, for receiving the data of each sensor acquisition, and is sent data to remote
Process control center, direction of travel, travel speed and the job content of the instruction control robot by receiving control centre；Bavin
Oil machine group provides power for robot.
As shown in figure 4, the lower part that robot body 1 is arranged in the creeper undercarriage is used to drive robot ambulation,
Creeper undercarriage includes load bearing cross beam 3, is symmetricly set on the load-bearing stringer 4, crawler belt 5 and branch of 3 left and right ends of load bearing cross beam
Support the driving wheel 6 in 5 inside of crawler belt, carrying roller 7, anticreep wheel 8, fixed expansion tightening wheel 9 and adjustable expansion tightening wheel 10, the load bearing cross beam
3 lateral supports are connect with load-bearing stringer 4 respectively at the bottom of robot body 1, both ends, and in order to increase load-bearing capacity, load-bearing is horizontal
Beam 3 and load-bearing stringer 4 all can be more；As shown in figure 5,4 lower section of load-bearing stringer is longitudinal equipped with multiple groups carrying roller 7, it is preceding
Afterwards between two adjacent groups carrying roller 7 be arranged anticreep wheel 8, and the outer diameter of the anticreep wheel 8 be greater than front and back two adjacent groups carrying roller 7 it
Between spacing, every group of carrying roller 7 is inside and outside two, and the anticreep wheel 8 is arranged between inside and outside two carrying rollers 7；The driving
Wheel 6 is located at before the carrying roller 7, and position is higher than the position of the carrying roller 7, and the fixed expansion tightening wheel 9 is located at described
Behind carrying roller 7, and the position of the fixed expansion tightening wheel 9 is higher than the position of the carrying roller 7, and the adjustable expansion tightening wheel 10 is pacified
On load-bearing stringer 4 between the driving wheel 6 and fixed expansion tightening wheel 9, adjustable 10 bottom of expansion tightening wheel is equipped with lead screw assembly, and
The position of the adjustable expansion tightening wheel 10 can be adjusted by lead screw assembly before and after the load-bearing stringer 4, and the adjustable expansion tightening wheel
10 are located at the top of fixed expansion tightening wheel 9 and the supporting point of crawler belt 5 with the supporting point of crawler belt 5.Carrying roller 7 is located at entire robot
Bottom, closer with ground distance in walking, scene of fire can also generate many ashes and pollutant, into carrying roller 7
It will affect normally travel, therefore, in order to protect carrying roller 7, rotation axis avoided to corrode, the two sides of the carrying roller 7 are equipped with anti-
Dirt lid 11.
The fog gun mechanism is rotatably connected on the top of robot body 1 by fog gun rotating mechanism；Fog gun mechanism includes
Fog gun cylinder 12, the water cannon 13 being arranged on fog gun cylinder 12 and the water inlet being arranged on robot body 1, the fog gun cylinder 12
It is equipped with the bend pipe 14 connecting by water pipe (not shown) with water inlet, and is equipped between the bend pipe 14 and the water pipe
One solenoid valve 15, for controlling the on-off at the water source of fog gun and the size of water, the water cannon 13 passes through water pipe and water inlet
Connection, and the water pipe between the water cannon 13 and water inlet is equipped with a solenoid valve 15, for controlling the on-off at 13 water source of water cannon
And the size of water, solenoid valve 15 with electric cabinet connection.
In order to guarantee that the stable water pressure of water cannon 13 and fog gun, the water inlet include fog gun water inlet 16 and water cannon water inlet
17, and the two sides of robot body 1 are separately positioned on, the fog gun water inlet 16 is used to provide water source, the water cannon to fog gun
17 water supply big gun 13 of water inlet provides water source, and fog gun water tank 18 is equipped at the fog gun water inlet 16, the water cannon water inlet
Water cannon water tank 19 is equipped at mouth 17.Water cannon 13 and fog gun are supplied water using different water sources, it therebetween will not mutual shadow
It rings, and the separately adjustable of hydraulic pressure also may be implemented, ensure that the stability of water supply.
The front of the robot body 1 is arranged in the clearing mechanism, and the clearing mechanism includes shoveling 26 and third
The front of robot body 1, and described 27 one end of third hydraulic cylinder and robot master is arranged in hydraulic cylinder 27, the shoveling 26
Body 1 is hinged, and the other end and 26 rear side of shoveling are hinged, and the rear side of the shoveling 26 is equipped with multiple reinforcing ribs 28, the reinforcement side by side
Lifting lug 29 on 28 end of muscle and the robot body 1 is hinged.Robot front end is equipped with and removes obstacles, can be effectively clear to barrier
It removes, accelerates rescue work.
The camera system and lighting system and electric cabinet are equipped with inside the robot body 1 by connection, and
The camera system uses 360 ° of panoramic imageries, and the front of the robot body 1 is arranged in the lighting system.The camera shooting
System includes the preceding camera 30 that 1 front end of robot body is arranged in and the rear camera that 1 rear end of robot body is arranged in
31, the preceding camera 30 and rear camera 31 are connect by route with electric cabinet.It is equipped with 360 ° of full-view image systems, 360 °
4 road camera reviews are spliced into panorama with panorama software without dead angle by monitoring, control robot convenient for operator.Alarm system
Including warning lamp 32, the extreme higher position of robot body 1, and the warning lamp 32 and electric cabinet line is arranged in the warning lamp 32
Road connection.Lighting system includes that the driving lamp 34 of the head upper of robot body 1 is arranged in, for illuminating.
The fire-fighting robot of fuel power is equipped with full landform crawler belt 5, is equipped with the driving of high-power diesel unit, and load is powerful,
And fire-fighting spraying machine and water cannon 13 are housed.The superpower induced-draft fan of main research and development, more water mists fast cooling smoke abatement；
System carries explosion-proof polynary environmental detection device, it would be possible to major hazard source include toxic and harmful gas, radiation
13 kinds of parameters such as heat, nuclear radiation, dust concentration, noise, temperature and humidity detect simultaneously.It is equipped with 360 ° of full-view image systems, 360 ° of prisons
4 road camera reviews are spliced into panorama with panorama software without dead angle by control, control robot convenient for operator；Front end is equipped with clear
Fault device can quickly remove hasty obstacle；Robot is equipped with hydraulic traction device, the tractive force of exportable nearly 800kg.
It is enlightenment, through the above description, relevant work with the above-mentioned desirable embodiment according to the utility model
Personnel can carry out various changes and amendments in without departing from the scope of the utility model completely.This item utility model
Technical scope is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (4)
1. a kind of fuel power fire-fighting robot fog gun rotating mechanism, it is characterised in that: including cantilever crane, rotating arm, swivel mount,
One hydraulic cylinder, second hydraulic cylinder, the cantilever crane, rotating arm, first hydraulic cylinder, second hydraulic cylinder are two groups and are symmetricly set on rotation
The two sides of frame, the cantilever crane is located at the outside of robot body, and bottom is fixedly connected with the robot body, the rotation
Arm one end and the cantilever crane are rotatablely connected, and the lower section of the rotating arm, the first hydraulic cylinder is arranged in the first hydraulic cylinder
Cylinder barrel and the cantilever crane it is hinged, the piston rod of the first hydraulic cylinder and the rotating arm are hinged；The rotating arm prolongs forward
It stretches, and end and swivel mount are rotatablely connected, and are rotatablely connected at the top of the swivel mount with the fog gun mechanism, and shape at rotation connection
At rotational support point；Swivel mount between the rotating arm is equipped with second hydraulic cylinder, the cylinder barrel of the second hydraulic cylinder and institute
State that swivel mount is hinged, the piston rod of the second hydraulic cylinder and the fog gun mechanism are hinged, and hinged place forms hinged support point；
It is staggered before and after the hinged support point and the position of rotational support point.
2. fuel power fire-fighting robot fog gun rotating mechanism as described in claim 1, it is characterised in that: at the top of the cantilever crane
Equipped with water inlet pipe support frame, the water inlet pipe support frame is ring structure.
3. fuel power fire-fighting robot fog gun rotating mechanism as described in claim 1, it is characterised in that: at the top of the cantilever crane
It is additionally provided with warning lamp.
4. fuel power fire-fighting robot fog gun rotating mechanism as described in claim 1, it is characterised in that: on the swivel mount
Equipped with the arc notch for accommodating fog gun cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820788452.4U CN208448478U (en) | 2018-05-24 | 2018-05-24 | Fuel power fire-fighting robot fog gun rotating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820788452.4U CN208448478U (en) | 2018-05-24 | 2018-05-24 | Fuel power fire-fighting robot fog gun rotating mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN208448478U true CN208448478U (en) | 2019-02-01 |
Family
ID=65149188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820788452.4U Active CN208448478U (en) | 2018-05-24 | 2018-05-24 | Fuel power fire-fighting robot fog gun rotating mechanism |
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| Country | Link |
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| CN (1) | CN208448478U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111530001A (en) * | 2020-05-07 | 2020-08-14 | 中自机器人技术(安庆)有限公司 | Fire-fighting robot with air cannon |
-
2018
- 2018-05-24 CN CN201820788452.4U patent/CN208448478U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111530001A (en) * | 2020-05-07 | 2020-08-14 | 中自机器人技术(安庆)有限公司 | Fire-fighting robot with air cannon |
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