CN209270690U - Has the firefighting fire extinguishing robot system that orientation adjusts function in real time - Google Patents
Has the firefighting fire extinguishing robot system that orientation adjusts function in real time Download PDFInfo
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- CN209270690U CN209270690U CN201822110408.0U CN201822110408U CN209270690U CN 209270690 U CN209270690 U CN 209270690U CN 201822110408 U CN201822110408 U CN 201822110408U CN 209270690 U CN209270690 U CN 209270690U
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Abstract
The utility model relates to a kind of firefighting fire extinguishing robot systems for having orientation and adjusting function in real time, including firefighting fire extinguishing robot, fire hose, water band active displacement mechanism and the passive displacement mechanism of water band, the fire hose is connected to the front end of firefighting fire extinguishing robot, multiple water band active displacement mechanisms and the passive displacement mechanism of water band are provided on fire hose, water band active displacement mechanism and the passive displacement mechanism of water band are successively spaced setting along fire hose.Water band active displacement mechanism can realize that the functions such as the absorption to the passive displacement mechanism of water band, the passive displacement mechanism composition cascade system of water band active displacement mechanism, water band can be realized to water band bearing change.The utility model can greatly promote the mobile mobility of fire-fighting robot rear water band, improve robot rapid deployment and bearing change efficiency, reduce casualties and property loss caused by disaster.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of fire-extinguishing machine for having orientation and adjusting function in real time
Device people's system.
Background technique
There are many disadvantages in the scenes of the accident such as the high-risk scene of a fire are rescued or reconnoitred by fire fighter, for example, inflammable facing
When the disaster scenarios its such as explosion hazard gases, poisonous and harmful, high temperature dense smoke, it is easy to bring poisoning, burn even death threats to fireman,
So more and more fire-fighting robots gradually replace manually in field operations such as fire now.It is provided with above fire-fighting robot
Water cannon, there are hose couplings at water cannon rear, and the water band by dragging non-water-filling enters rescue area domain, by controlling fire fighting truck high pressure
Switch pump realizes water flow jet fire-extinguishing function concurrently.
Fire-fighting robot realizes short distance fire-extinguishing function concurrently, the fire water filled in robot although can replace fireman
It big gun quenching distance and is limited in scope；And full of after water in the fire hose, water band own wt is very heavy and water band and ground
Frictional force is very big, and robot, which wants the movement of progress position, becomes extremely difficult, and the robot for being highly detrimental to large-sized fire is quick
Position deployment, limits the flexible property of field rescue instead.Robot to realize bearing change, need fire fighter go forward from
Robot takes at rear water band, if water strip length is shorter, fire fighter's quantity is enough, again will after can manually moving water band
Water band accesses fire-fighting robot；If fireman's quantity is few, fire hose is longer, manually the water in water band can only be squeezed out,
Again empty water band is accessed into robot, realizes the bearing change function of fire-fighting robot.There are many drawbacks in both modes,
It needs greater number of fireman or fireman is needed to go forward to extract fire hose etc., this is replaced with robot is used
Manually run in the opposite direction in the original intention of Different high risk sites operation.In addition, the rescue sites such as fire are seized every minute and second, and both robot positions
It is very time-consuming to set transform method, is easy to affect " war " machine adversely.
The current existing fire-fighting robot overwhelming majority lays particular emphasis on the obstacle performance for how improving robot, load-carrying properties
Deng, and have ignored most important robot orientation flexible transformation and quick machine how are improved under the water-filled hose load in rear
Dynamic deployment issue.Not yet occur how dragging after a period of operation with regard to robot on the market carrying out the side such as turn full of water band
The research or test that the practical use of bit map carries out.
Summary of the invention
To solve the above-mentioned problems, the utility model proposes a kind of fire-extinguishing machines for having orientation and adjusting function in real time
Device people's system, in the case where rear connects the water-filled situation of water band, fire-fighting robot still is able to quickly carry out position and angular transformation,
The flexible property of robot deployment is improved, effectively the rescue site equipment time in place is saved, greatly improves rescue efficiency, effectively
It reduces fire fighter and configures quantity, ensure the life security of fire fighter, improve rescue success rate.
To achieve the goals above, the utility model adopts the following technical solutions:
A kind of firefighting fire extinguishing robot system for having orientation and adjusting function in real time, including firefighting fire extinguishing robot, fire-fighting
Water band, water band active displacement mechanism and the passive displacement mechanism of water band, before the fire hose is connected to firefighting fire extinguishing robot
End, is provided with multiple water band active displacement mechanisms and the passive displacement mechanism of water band on fire hose, water band active displacement mechanism and
The passive displacement mechanism of water band is successively spaced setting along fire hose.
Specifically, the firefighting fire extinguishing robot include crawler-type mobile platform, fire water monitor, control and communication module and
Displacement mechanism carrier, crawler-type mobile platform upper end front are provided with fire water monitor, and upper end rear is provided with displacement mechanism carrier,
It is internally provided with control and communication module, fire water monitor further includes the hose coupling for being fixed on gun tube connection rear water band, to
Fire hose is connected, control and communication module control crawler-type mobile platform and fire water monitor, moreover it is possible to host computer, water
Band active displacement mechanism, the passive displacement mechanism of water band are communicated, and displacement mechanism carrier is the square casing knot being made of iron plate
Structure, inner hollow are fixed on crawler-type mobile platform rear, to hold water band active displacement mechanism and the passive displacement machine of water band
Structure.
Specifically, the fire hose includes a plurality of water band interconnected, the both ends of every water band are equipped with water band and connect
Head, two adjacent water interbands are connected by water belt lacing, and water belt lacing of the water with front end connects with the water band on fire water monitor
Mouth is cooperatively connected, and water is connect with the water belt lacing of rearmost end with fire fighting truck high pressure pump outlet.
Specifically, the water band active displacement mechanism includes active displacement platform ontology, Omni-mobile train, water band holding
Device and electric component, Omni-mobile train are fixed on the bottom of active displacement platform ontology, water band cohesion device and electrical group
Part is installed on the top of active displacement platform ontology.
Specifically, described four edges of active displacement platform ontology are provided with open-work, to connect and support Omni-mobile
Train, active displacement platform ontology top are additionally provided with protective cover.
Specifically, the Omni-mobile train by movable pulley, driving motor, mobile wheel support, turning-bar, linkage turntable,
Transmission belt and steering motor composition；Movable pulley is fixed on the bottom of mobile wheel support by shaft, and driving motor is fixed on movement
Wheel support side；Mobile wheel support is u-bracket, and upper end is fixed with turning-bar；Mobile wheel support also passes through bearing and is fixed on master
At dynamic displacement platform ontology downside surface；Linkage turntable is belt sheave structure, is fixed on turning-bar upper end, passes through linkage turntable
Rotation drives turning-bar rotation；Transmission belt is belt composition, connection linkage turntable；Steering motor is fixed on actively to be displaced and put down
On the upside of platform, the shaft connection linkage turntable of steering motor.
Specifically, water band cohesion device includes laterally holding sliding slot tightly, tensioning spring, active anchor ear, main displacement electromagnet, inhaling
Attached electromagnet and ball；Laterally holding sliding slot tightly is strip structure, is arranged above active displacement platform body center；Laterally hold tightly
Sliding slot is internally provided with groove, to place the lower end draw runner position of active anchor ear；Tensioning spring quantity is two, is respectively set
In the two sides of active anchor ear, the lower end of the left end of sliding slot and the active anchor ear in left side is laterally held in tensioning spring connection in left side tightly, right
The lower end of the right end of sliding slot and the active anchor ear on right side is laterally held in tensioning spring connection in side tightly, realizes the tensioning to active anchor ear；
Active anchor ear quantity is two, and bilateral symmetry is laid out, midfeather certain distance, and lower end is placed on the groove for laterally holding sliding slot tightly
It is interior；Active anchor ear cross section is semicircle sickle shaped structure, and lower end is provided with strip protrusion, and left and right has one fixed width, two masters
The frame structure of semicircle sickle shaped structure composition full circle in dynamic anchor ear；Main displacement electromagnet quantity is two sets, is separately positioned on
The both ends for laterally holding sliding slot tightly can be adsorbed actively close to the lower end outside of two sets of active anchor ears when main displacement electromagnet is powered
Anchor ear is mobile to two sides；Absorption electromagnet be annular slice structure, totally four；Before absorption electromagnet is fixed on main displacement electromagnet
End and rear end；Each pair of absorption electromagnet is symmetrically placed, forms ring structure；Ball quantity be it is multiple, be embedded in active anchor ear
In inner wall.
Specifically, the electric component includes control module, communication module, stroke sensor and lithium battery, control module,
Communication module is each attached in protective cover, communication module link control module, stroke sensor quantity be it is multiple, be mounted on absorption
On the end face of electromagnet front end, quantity is placed according to actual needs, to the obstacle in absorption electromagnet end face outside space
Object is detected, when adsorb electromagnet on the outside of touching barrier when, stroke sensor by transducing signal be transferred to control module into
Row analyze simultaneously make next step action command, lithium battery is fixed in protective cover, lithium battery link control module, communication module,
Main displacement electromagnet and absorption electromagnet.
Specifically, the passive displacement mechanism of water band includes passive displacement platform and hose coupling cohesion device；Passive position
Shifting platform is slab construction, narrower width；Two passive rollers are inlaid on passive displacement platform bottom is transversely arranged；Water band connects
Mouth cohesion device includes passive horizontal concrete chute, holds spring, passive anchor ear, passive buckle, absorption carrier and passive ball tightly.
Specifically, the passive horizontal concrete chute is horizontally installed on above passive displacement platform, set inside passive horizontal concrete chute
It is equipped with groove, to place the lower end draw runner position of passive anchor ear；Holding number of springs tightly is two sets, and a set of connection is passive laterally sliding
It is another set of to connect passive horizontal concrete chute right side and the passive anchor ear lower end in right side with the passive anchor ear lower end in left side on the left of slot；It is passive to embrace
Binding round quantity is two, and bilateral symmetry is laid out, and midfeather certain distance, lower end is placed in the groove of passive horizontal concrete chute；Quilt
The cross section of dynamic anchor ear is semicircle sickle shaped structure, and lower end is provided with strip protrusion, and left and right has one fixed width；Two passive armful
The frame structure of semicircle sickle shaped structure composition full circle in hoop；Passive buckle is annular slice structure, by each pair of passive buckle
The internal diameter of the circular configuration of composition is less than the circular mechanism being made of passive anchor ear；Absorption carrier is annular slice structure, totally four
Piece, two panels are a pair, and symmetrically placed, absorption carrier is fixed on the outside passively buckled, the circle being made of each pair of absorption carrier
Outer diameter is slightly smaller than the ring structure being made of absorption electromagnet；Absorption carrier can enter inside absorption electromagnet, when absorption electromagnetism
When Tie Tong electricity, the strong adsorption to absorption carrier is realized.
Further, the absorption carrier is ferrous material, to cooperate absorption high-speed double electromagnet to absorption carrier and
Passive anchor ear connected to it, the absorption and linkage function passively buckled.
Further, cover water band active displacement mechanisms, the passive displacement mechanisms of water band in multiple fire waters to realize more
The quick continuous deployment taken, water band active displacement mechanism and the passive displacement mechanism of water band answer mating interval to use, specific to arrange
Are as follows: the water band active displacement mechanism → passive displacement mechanism of water band → water band active displacement mechanism → passive displacement mechanism ... of water band
The passive displacement mechanism of water band or water band active displacement mechanism → passive displacement mechanism of water band → water band active displacement mechanism → water
With passive displacement mechanism ... water band active displacement mechanism.
Further, the water band active displacement mechanism and the passive displacement mechanism of water band are before deployment, actively by water band
The system that displacement mechanism has been connected with the passive displacement mechanism interval of water band is placed in displacement mechanism carrier, convenient for rapid deployment and
The globality of system structure.
The utility model compared with the existing technology the advantages of and beneficial effect be:
After 1. the utility model is realized using water band active displacement mechanism and the passive displacement mechanism of water band to fire-fighting robot
The water-filled water band in side carries out evolution, improves the mobility of robot deployment, avoids robot because secondary position is disposed
The problems such as the excision of water band and draining are needed, fire-fighting robot working automation degree is effectively improved, reduce manual work injury
Risk, while reducing fire-fighting robot operating cost.
2. the utility model using Omni-mobile train solve the problems, such as fire hose can not transverse shifting, cooperation turn to
Mechanism realizes omnidirectional moving function of the water with mobile platform, realizes that the plane omnidirectional orientation of fire hose is mobile；Cooperate quilt simultaneously
Dynamic mobile platform not only improves the water band real-time regulated efficiency in orientation, but also greatly reduces volume of the water with mobile platform and be
System complexity, is effectively reduced robot fringe cost and system failure rate.
3. the utility model is realized using modes such as active anchor ear, magnetic suck and passive anchor ears to fire hose
Hold tightly and separation process, it can be achieved that fire hose displacement mechanism it is continuous, be evenly arranged, ensure that in fire hose moving process
Load uniformity, improve water band Orientation differences efficiency.
4. the utility model can realize fire-fighting robot same real time position mapping function during fire-fighting water spray, can pole
The earth reduces robot because of time waste problem caused by carrying out position deployment, effectively improves the rescue efficiency at high-risk scene, drops
Casualties caused by low disaster and property loss.
Detailed description of the invention
Fig. 1 is the entirety perspective view of the utility model firefighting fire extinguishing robot system；
Fig. 2 is the whole schematic view of the front view of the utility model firefighting fire extinguishing robot system；
Fig. 3 is the whole overlooking structure diagram of the utility model firefighting fire extinguishing robot system；
Fig. 4 is the schematic perspective view of firefighting fire extinguishing robot in the utility model；
Fig. 5 is the schematic perspective view of water band active displacement mechanism in the utility model；
Fig. 6 is the schematic view of the front view of water band active displacement mechanism in the utility model；
Fig. 7 is the left view structural representation of water band active displacement mechanism in the utility model；
Fig. 8 is the present invention looks up structural representation of water band active displacement mechanism in the utility model；
Fig. 9 is the horizontal section schematic diagram of water band active displacement mechanism in the utility model；
Figure 10 is the longitudinal profile schematic diagram of water band active displacement mechanism in the utility model；
Figure 11 is the schematic perspective view of the passive displacement mechanism of water band in the utility model；
Figure 12 is the schematic view of the front view of the passive displacement mechanism of water band in the utility model；
Figure 13 is the left view structural representation of the passive displacement mechanism of water band in the utility model；
Figure 14 is the horizontal section schematic diagram of the passive displacement mechanism of water band in the utility model.
Specific embodiment
The utility model is described in further detail below with reference to examples and drawings.
As shown in Figure 1 and Figure 2, a kind of firefighting fire extinguishing robot system for having orientation and adjusting function in real time, including fire-fighting are gone out
Fiery robot 1, fire hose 2, water band active displacement mechanism 3 and the passive displacement mechanism 4 of water band, the fire hose 2 are connected to
The front end of firefighting fire extinguishing robot 1 is provided with multiple water band active displacement mechanisms 3 and the passive displacement machine of water band on fire hose 2
Structure 4, water band active displacement mechanism 3 and the passive displacement mechanism 4 of water band are successively spaced setting along fire hose 2.
Firefighting fire extinguishing robot 1 mainly realizes mobile dragging water band motor function of the robot under high-risk environment, simultaneously
Also fixed point injection fire-fighting fire extinguishing is carried out using the fire water monitor filled thereon.As shown in Figure 3,4, firefighting fire extinguishing robot 1 includes
Crawler-type mobile platform 1-1, fire water monitor 1-2, control and communication module 1-3 and displacement mechanism carrier 1-4, crawler-type mobile are flat
Fire water monitor 1-2 is provided in front of the upper end platform 1-1, upper end rear is provided with displacement mechanism carrier 1-4, be internally provided with control and
Communication module 1-3, crawler-type mobile platform 1-1 are in the fire hose non-water-filling stage, it can be achieved that advance, retrogressing, turning etc. are mobile
Function sets deployment to drag rear water and bring line position into.Fire water monitor 1-2 is arranged in front of crawler-type mobile platform 1-1, can be real
The angle of existing big gun head, spray regime adjustment, to realize fixed point, quantitative water flow jet, fire water monitor 1-2 further includes being fixed on big gun
Pipe connects the hose coupling 1-2a of rear water band, to connect fire hose 2.Control and communication module 1-3 are to crawler-type mobile
Platform 1-1 and fire water monitor 1-2 are controlled, moreover it is possible to host computer, water band active displacement mechanism 3, the passive displacement mechanism 4 of water band
It is communicated.Displacement mechanism carrier 1-4 is the square casing structure being made of iron plate, and inner hollow is fixed on crawler-type mobile
The rear platform 1-1, to hold water band active displacement mechanism 3 and the passive displacement mechanism 4 of water band.
As shown in figure 3, fire hose 2 includes a plurality of water band 2-1 interconnected, the both ends of every water band are equipped with water band
Connector 2-2, different water can be connected with each other with the water belt lacing 2-2 between 2-1, realize extension of the water with 2-1.The water band front end 2-1
Water belt lacing 2-2 and fire water monitor 1-2 on hose coupling 1-2a be cooperatively connected, water belt lacing 2-2 of the water with 2-1 rearmost end
It is connect with fire fighting truck high pressure pump outlet.
As shown in figure 5, water band active displacement mechanism 3 includes active displacement platform ontology 3-1, Omni-mobile train 3-2, water
Band cohesion device 3-3 and electric component 3-4, Omni-mobile train 3-2 are fixed on the bottom of active displacement platform ontology 3-1, water
The top of active displacement platform ontology 3-1 is installed on cohesion device 3-3 and electric component 3-4.Water band active displacement mechanism 3 wraps
Four Omni-mobile train 3-2 are included, each Omni-mobile train 3-2 structure and function is identical, is arranged in actively to be displaced and put down
On the inside of the quadrangle of the bottom playscript with stage directions body 3-1.Water band active displacement mechanism 3 implements function such as: (1) in water-filled fire hose 2
Upper autonomous function；(2) autonomous realize passes through water with the water belt lacing 2-2 function between 2-1；(3) water band is driven passively to be displaced
The mobile function of mechanism 4；(4) it realizes the passive displacement mechanism 4 of water band in water with the function of being laid on 2-1.
As shown in Fig. 6, Fig. 8, active displacement platform ontology tetra- edges of 3-1 are provided with open-work 3-1a, to connect and prop up
Omni-mobile train 3-2 is supportted, protective cover 3-1b is additionally provided with above active displacement platform ontology 3-1, to protect internal electric
And mechanical device.
As shown in figure 9, Omni-mobile train 3-2 by movable pulley 3-2a, driving motor 3-2b, mobile wheel support 3-2c, turn
Drive can be realized to bar 3-2d, linkage turntable 3-2e, transmission belt 3-2f and steering motor 3-2g composition, Omni-mobile train 3-2
Fire hose 2 carries out small range displacement function.Movable pulley 3-2a is fixed on the bottom of mobile wheel support 3-2c by shaft, driving
Motor 3-2b is fixed on the side mobile wheel support 3-2c, and the shaft of driving motor 3-2b connects the wheel shaft of movable pulley 3-2a, thus
Realize rotate driving function.Mobile wheel support 3-2c is u-bracket, and upper end is fixed with turning-bar 3-2d；Mobile wheel support 3-2c
Also it is fixed at active displacement platform 3-1 downside surface by bearing.Linkage turntable 3-2e is belt sheave structure, is fixed on steering
The upper end bar 3-2d drives turning-bar 3-2d rotation by the rotation for the turntable 3-2e that links.Transmission belt 3-2f is belt composition, connection
The linkage turntable 3-2e in four Omni-mobile train 3-2 on water band active displacement mechanism 3 passes through any one turntable that links
The rotary action of 3-2e is realized using the transmitting of transmission belt 3-2f to the linkage turntable 3-2e in four Omni-mobile train 3-2
Synchronous drive function.Steering motor 3-2g is fixed on the upside of active displacement platform 3-1, and the shaft of steering motor 3-2g connects
Linkage turntable 3-2e is met, realizes the rotate driving effect of distich turn disk 3-2e.
There are two the major functions of Omni-mobile train 3-2: (1) realizing and move before and after driving active displacement platform ontology 3-1
Dynamic driving function, major function realize step are as follows: four driving motor 3-2b are powered simultaneously in four Omni-mobile train 3-2
Rotation drives movable pulley 3-2a to move forward or back, and then drives active displacement platform ontology 3-1 linear motion.(2) it realizes and drives
Active displacement platform ontology 3-1 turns to driving function, implements step are as follows: steering motor 3-2g rotation drives linkage turntable 3-
2e rotation is connect to drive other three linkage turntable 3-2e to rotate synchronously by transmission belt 3-2f with linkage turntable 3-2e
Turning-bar 3-2d, mobile wheel support 3-2c and movable pulley 3-2a synchronous go to action can occur, it is final to can be achieved to movement
The change of the forward or backward angle of 3-2a is taken turns, so that active displacement platform ontology 3-1 be driven to realize turning motion.
As shown in Fig. 7, Fig. 9, water band cohesion device 3-3 includes laterally holding sliding slot 3-3a tightly, tensioning spring 3-3b, actively embracing
Bind round 3-3c, main displacement electromagnet 3-3d, absorption electromagnet 3-3e and ball 3-3f.Laterally holding sliding slot 3-3a tightly is strip structure,
It is arranged in active displacement platform ontology 3-1 overcentre；It laterally holds sliding slot 3-3a tightly and is internally provided with groove, to place actively
The lower end draw runner position of anchor ear 3-3c, laterally hold tightly sliding slot 3-3a be mainly active anchor ear 3-3c provide lateral displacement movement and
Limit carrier.Tensioning spring 3-3b quantity is two, is separately positioned on the two sides of active anchor ear 3-3c, left side tensioning spring 3-3b
The lower end of the left end of sliding slot 3-3a and the active anchor ear 3-3c in left side is laterally held in connection tightly, and right side tensioning spring 3-3b connection is laterally
It holds the lower end of the right end of sliding slot 3-3a and the active anchor ear 3-3c on right side tightly, realizes the tensioning to active anchor ear 3-3c.Actively embrace
Binding round 3-3c quantity is two, and bilateral symmetry is laid out, midfeather certain distance, and lower end is placed on the slot for laterally holding sliding slot 3-3a tightly
In ditch；The active cross section anchor ear 3-3c is semicircle sickle shaped structure, and lower end is provided with strip protrusion, and left and right has one fixed width,
The frame structure of semicircle sickle shaped structure composition full circle in two active anchor ear 3-3c, to realize to water-filled fire hose
2 holding function.Main displacement electromagnet 3-3d quantity is two sets, is separately positioned on the both ends for laterally holding sliding slot 3-3a tightly, close
The lower end outside of two sets of active anchor ear 3-3c can adsorb active anchor ear 3-3c to two sides when main displacement electromagnet 3-3d is powered
It is mobile, to realize the separate and separation function between two sets of active anchor ear 3-3c.Absorption electromagnet 3-3e is annular slice structure,
Totally four；Absorption electromagnet 3-3e is fixed on the front-end and back-end main displacement electromagnet 3-3d, to realize that absorption hose coupling is embraced
The function of tight device 4-2.Each pair of absorption electromagnet 3-3e is symmetrically placed, forms ring structure.Ball 3-3f quantity is multiple, number
Amount is related with the area of active anchor ear 3-3c and actual demand, is embedded in the inner wall of active anchor ear 3-3c.Active anchor ear 3-3c
Inner wall outside it is upper due to being provided with ball 3-3f, can therefore when active anchor ear 3-3c holds the advance of water-filled fire hose 2 tightly
Realize roll-sliding.
Allomeric function of the water with cohesion device 3-3 mainly has: under normality, work of the active anchor ear 3-3c in tensioning spring 3-3b
With the lower holding function of realizing to fire hose 2；When main displacement electromagnet 3-3d is powered on, active anchor ear 3-3c is flared, real
Existing water passes through with cohesion device 3-3 object (such as water belt lacing etc.) for being greater than water band to diameter.In absorption electromagnet 3-3e
When energization, hose coupling cohesion device 4-2 can also be driven to move or be tensioned.
Electric component 3-4 realizes that motion control, function action to water band active displacement mechanism 3 are realized and gone out with fire-fighting
The communication function of fiery robot 1.As shown in Figure 10, electric component 3-4 includes control module 3-4a, communication module 3-4b, stroke
Sensor 3-4c and lithium battery 3-4d, control module 3-4a, communication module 3-4b are each attached in protective cover 3-1b, control module
3-4a is mainly realized to main displacement electromagnet 3-3d and absorption electromagnet 3-3e power on/off, is realized that communication control module 3-4b is logical
It interrogates, read the functions such as the stroke sensor 3-4c information.Communication module 3-4b link control module 3-4a, realization are gone out with fire-fighting
Control and communication module 1-3 communication function in fiery robot 1, after issuing wireless instructions by control and communication module 1-3, communication
Module 3-4b receives instruction and is transferred to control module 3-4a progress information fusion and decision.Stroke sensor 3-4c quantity is more
It is a, it is mounted on the end face of the absorption front end electromagnet 3-3e, quantity is placed according to actual needs, to close to absorption electromagnet 3-3e
Barrier in end face outside space is detected, and when adsorbing touching barrier on the outside of electromagnet 3-3e, shows to touch water
Belt lacing, transducing signal is transferred to control module 3-4a and is analyzed and make movement in next step by stroke sensor 3-4c to be referred to
It enables.Lithium battery 3-4d be mainly in system executing agency and controller etc. electric energy is provided, lithium battery 3-4d is fixed on protective cover 3-
In 1b, lithium battery 3-4d link control module 3-4a, communication module 3-4b, main displacement electromagnet 3-3d and absorption electromagnet 3-
3e。
The allomeric function of water band active displacement mechanism 3 are as follows: active displacement platform ontology 3-1 can cooperate Omni-mobile train 3-
2 drive water-filled water band 2-1 to realize forward-reverse, can also realize and move to any angle.Water band cohesion device 3-3 then can be real
The water of water is now filled with front and back on 2-1 or retreats to realize the position to water band active displacement mechanism 3 on any water band
Deployment.In addition, water can also be achieved the absorption to the passive displacement mechanism of water band 4, shape conversion and position portion with cohesion device 3-3
Administration actively drives the passive displacement mechanism 4 of water band to complete in water-filled water with the position cloth playing function on 2-1 to realize.?
Above-mentioned function realize when, electric component 3-4 can also with the control and communication module 1-3 communication function on firefighting fire extinguishing robot 1,
Firefighting fire extinguishing robot 1 can be realized complete on fire hose 2 to more set water band active displacement mechanisms 3, the passive displacement mechanism 4 of water band
At deployment.
As illustrated in figs. 11-14, the passive displacement mechanism 4 of water band includes passive displacement platform 4-1 and hose coupling cohesion device
4-2.Passive displacement platform 4-1 is similar to active displacement platform ontology 3-1, is slab construction, narrower width；Passive displacement platform
Two passive roller 4-1a are inlaid on the bottom 4-1 is transversely arranged.Passive roller 4-1a is spherical shape, it can be achieved that being passively displaced
The lower part platform 4-1 rolls in situ, after passive displacement platform 4-1 any side stress, realizes passive roller 4-1a with respect to ground
Rolling friction function.
Hose coupling cohesion device 4-2 includes passive horizontal concrete chute 4-2a, holds spring 4-2b, passive anchor ear 4-2c, quilt tightly
Dynamic buckle 4-2d, absorption carrier 4-2e and passive ball 4-2f.Passive horizontal concrete chute 4-2a is similar to sliding slot 3-3a is laterally held tightly,
It is horizontally installed on above passive displacement platform 4-1, passive horizontal concrete chute 4-2a is internally provided with groove, to place passive anchor ear
The lower end draw runner position of 4-2c.Passive horizontal concrete chute 4-2a is mainly that passive anchor ear 4-2c provides the movement and limit of lateral displacement
Carrier.Holding spring 4-2b quantity tightly is two sets, on the left of a set of passive horizontal concrete chute 4-2a of connection and under the passive anchor ear 4-2c in left side
End, the another set of passive right side horizontal concrete chute 4-2a of connection and the lower end the passive anchor ear 4-2c in right side；It realizes and passive anchor ear 4-2c is embraced
Tight function.Passive anchor ear 4-2c quantity is two, and bilateral symmetry is laid out, and midfeather certain distance, lower end is placed on passively
In the groove of horizontal concrete chute 4-2a；The cross section of passive anchor ear 4-2c is semicircle sickle shaped structure, and lower end is provided with strip protrusion,
Left and right has one fixed width；The frame structure of semicircle sickle shaped structure composition full circle in two passive anchor ear 4-2c, to reality
Now to water-filled fire hose 2 or to the holding function of water belt lacing 2-2.Passive buckle 4-2d is annular slice structure, altogether
Four and two panels are used cooperatively for a pair, and the outside of passive anchor ear 4-2c is mounted on as attachment.By each pair of passive buckle 4-2d
The internal diameter of the circular configuration of composition is less than the circular mechanism being made of passive anchor ear 4-2c.When passive anchor ear 4-2c is by holding spring
When 4-2b is held tightly, passive anchor ear 4-2c composition circular configuration is slightly smaller than water belt lacing 2-2 outer diameter, and is formed by passively buckling 4-2d
Circular configuration be slightly smaller than full of outer diameter of the water with 2-1 after water.When passive anchor ear 4-2c and passive buckle 4-2d are in water band
, it can be achieved that hose coupling cohesion device 4-2 is to the holding function of water belt lacing 2-2 when on connector 2-2 and realizing closure.Absorption carries
Body 4-2e is annular slice structure, and totally four, two panels is a pair, symmetrically placed, and absorption carrier 4-2e is fixed on passive buckle 4-
The outside of 2d, the circular outer diameter being made of each pair of absorption carrier 4-2e are slightly smaller than the ring junction being made of absorption electromagnet 3-3e
Structure；Absorption carrier 4-2e can enter inside absorption electromagnet 3-3e, when adsorbing electromagnet 3-3e energization, realize to absorption carrier
The strong adsorption of 4-2e.Passive ball 4-2f quantity is similarly multiple, and quantity and passive anchor ear 4-2c and passive buckle 4-2d
Area it is related with actual demand, passive ball 4-2f is embedded in the inner wall of passive anchor ear 4-2c and passive buckle 4-2d.When
When passive buckle 4-2d closure, passive ball 4-2f can be used as rolling friction medium forward-reverse on full of water water band 2-1.
The allomeric function of the passive displacement mechanism 4 of water band are as follows: passive displacement platform 4-1 can be realized to be made with full of water water band 2-1
With lower locomotive function, and hose coupling cohesion device 4-2 can be realized to water belt lacing 2-2 or the embracing with 2-1 full of the water after water
Tight function；Absorption carrier 4-2e can also cooperate absorption electromagnet 3-3e to realize that water band cohesion device 3-3 and hose coupling are embraced simultaneously
Connection function between tight device 4-2, and then hose coupling cohesion device 4-2 can also be passively by main displacement electromagnet 3-3d to water
The separation of itself passive anchor ear 4-2c and passive buckle 4-2d are realized in opening effect with cohesion device 3-3.
Have the firefighting fire extinguishing robot system that orientation adjusts function in real time, the corresponding work step of said mechanism is as follows:
Firefighting fire extinguishing robot 1 after a period of work, is full of water, at this time crawler-type mobile platform 1-1 in fire hose 2
The other position deployment of flexibly mobile realization and fire fighting function can not have been carried out.Firefighting fire extinguishing robot 1 controls water band master
Dynamic displacement mechanism 3, the passive displacement mechanism 4 of water band realize and act to 2 Quick uniform arrangement of fire hose that specific step is as follows.Its
It is middle to define the water band active displacement mechanism 3 nearest apart from hose coupling 1-2a for the 1st set of water band active displacement mechanism 3, apart from water
It is the 2nd set of water band active displacement mechanism 3 with interface 1-2a times close water band active displacement mechanism 3, and so on, last a set of water
Band active displacement mechanism 3 is defined as n-th water band active displacement mechanism 3；Likewise, definition is apart from hose coupling 1-2a nearest
The passive displacement mechanism 4 of water band is the 1st set of passive displacement mechanism 4 of water band, and the water band close apart from hose coupling 1-2a times is passively displaced
Mechanism 4 is the 2nd set of passive displacement mechanism 4 of water band, and so on, last a set of passive displacement mechanism 4 of water band is defined as N set water
With passive displacement mechanism 4.
Further, absorption carrier 4-2e is ferrous material, to cooperate absorption electromagnet 3-3e to realize to absorption carrier
The absorption and linkage function of 4-2e and passive anchor ear 4-2c connected to it, passive buckle 4-2d.
Firefighting fire extinguishing robot 1 controls water band active displacement mechanism 3, the passive displacement mechanism 4 of water band along water-filled fire-fighting
It is as follows that water band 2 carries out evenly dispersed deposition step:
S1: control instruction is sent to often by control and communication module 1-3 in firefighting fire extinguishing robot 1 by wireless telecommunications
On communication module 3-4b in a water band active displacement mechanism 3, after control module 3-4a receives control instruction, carry out unified dynamic
It realizes.
S2: control module 3-4a control absorption electromagnet 3-3e is powered in each water band active displacement mechanism 3, each water band
In active displacement mechanism 3 absorption electromagnet 3-3e and the passive displacement mechanism 4 of each water band in absorption carrier 4-2e attract from
And form an entirety.
S3: control module 3-4a controls main displacement electromagnet 3-3d and powers in each water band active displacement mechanism 3, water band master
Active anchor ear 3-3c in dynamic displacement mechanism 3 is opened, while the passive anchor ear 4-2c in the passive displacement mechanism 4 of water band being driven to beat
It opens, the passive displacement mechanism 4 of water band active displacement mechanism 3, water band becomes smaller with the friction in fire hose 2 at this time, starts in gravity
Under effect from crawler-type mobile platform 1-1 slide to ground face contact.
S4: forming frictional force after water band active displacement mechanism 3 and ground face contact, and control module 3-4a controls main displacement electricity
Magnet 3-3d power down, active anchor ear 3-3c hold water-filled water band 2-1, while passive armful tightly under the action of tensioning spring 3-3b
Hoop 4-2c equally holds water band 2-1 tightly under the action of holding spring 4-2b tightly.Active anchor ear 3-3c passes through ball 3-3f and water at this time
Band 2-1 forms rolling friction, and passive anchor ear 4-2c forms rolling friction by passive ball 4-2f and water band 2-1.
S5: control module 3-4a controls the driving motor 3-2b work in all water band active displacement mechanisms 3, thus band
The dynamic passive displacement mechanism 4 of water band advances along fire hose 2.
S6: during advance, when the system that water band active displacement mechanism 3 and the passive displacement mechanism 4 of water band are cascaded into arrives
Control when up to the first water-saving center band 2-1, in the 1st set of nearest apart from hose coupling 1-2a at this time water band active displacement mechanism 3
Molding block 3-4a control absorption electromagnet 3-3e is powered off, at this time the 1st set of water band active displacement mechanism 3 and the 1st set of passive position of water band
Telephone-moving structure 4 separates, hereafter water band active displacement mechanism 3 all in addition to the 1st set of water band active displacement mechanism 3, the passive position of water band
Telephone-moving structure 4 continues to advance along water-filled water band 2-1.
S7: during traveling, control module 3-4a passes through stroke sensor 3-4c detection front water belt lacing 2- in real time
2, when the stroke sensor 3-4c detection in n-th water band active displacement mechanism 3 reaches water belt lacing 2-2, the 2nd extremely at this time
Active anchor ear 3-3c in n-th water band active displacement mechanism 3 drives the 1st quilt into the passive displacement mechanism 4 of n-th water band
Dynamic anchor ear 4-2c is opened.
S8: control module 3-4a continues to control Omni-mobile train 3-2 advance, when the passive displacement mechanism 4 of the 1st water band passes through
When crossing water belt lacing 2-2, the active anchor ear 3-3c in the 2nd water band active displacement mechanism 3 is closed at this time, while controlling the 2nd
The absorption electromagnet 3-3e power-off of front end in water band active displacement mechanism 3, thus realize the 2nd water band active displacement mechanism 3 with
Water belt lacing 2-2 is embraced in the separation of the 1st passive displacement mechanism 4 of water band, the so far passive realization of displacement mechanism 4 of the 1st water band
Tightly.
S9: it is similar, it is covered by the 2nd set to the N water band active displacement mechanism 3 that forms of set and by the 2nd set to N and to be formed
The passive displacement mechanism 4 of water band continues to advance along water band 2-1, when marching to the second water-saving center band 2-1, executes step S6, when
When reaching next water belt lacing 2-2, step S7 is executed, is circuited sequentially, so far water band active displacement mechanism 3 and the passive position of water band
Telephone-moving structure 4 is evenly arranged on water-filled water band 2-1.Water band active displacement mechanism 3 is entirely located in center of the water with 2-1
Place, the passive displacement mechanism 4 of water band are then entirely located on water belt lacing 2-2.
Firefighting fire extinguishing robot 1 controls the passive displacement mechanism 4 of water band active displacement mechanism 3, water band and realizes to water-filled
Fire hose 2 carries out bearing change, and specific step is as follows:
S-1: control instruction is sent to by control and communication module 1-3 in firefighting fire extinguishing robot 1 by wireless telecommunications
On communication module 3-4b in each water band active displacement mechanism 3, after control module 3-4a receives control instruction, unification is carried out
Movement is realized.
S-2: control module 3-4a controls steering motor 3-2g rotation in each water band active displacement mechanism 3, to drive
Movable pulley 3-2a realizes synchronous angular transition, to realize the adjustment for moving forward or back direction to movable pulley 3-2a.
S-3: the shift position according to firefighting fire extinguishing robot 1 to rear water with 2-1 requires, each water band active displacement machine
Steering motor 3-2g rotational angle in structure 3 can different, rotation direction it is also different, to realize each water band active displacement machine
The Omni-mobile train 3-2 direction of motion in structure 3 is different；Control module 3-4a also can control each water band active displacement machine simultaneously
Driving motor 3-2b rotational travel in structure 3 is different, to realize Omni-mobile train in different water band active displacement mechanisms 3
3-2 mobile position is different；Finally, water band active displacement mechanism 3 can realize the arrangement of different direction, and then drive water band actively
The water that displacement mechanism 3 is connected realizes the adjustment in orientation with 2-1.
S-4: when water band active displacement mechanism 3 carries out position adjustment, when water of the water-filled water of each section with the center 2-1
When band active displacement mechanism 3 carries out orientation adjustment, the passive displacement mechanism 4 of water band on water belt lacing 2-2 can passively into
Row adjustment of displacement.The final orientation adjustment that can be achieved to whole fire hose 2, during 2 orientation adjustment of fire hose finishes,
Firefighting fire extinguishing robot 1 can carry out cooperation and realize orientation adjustment, so far firefighting fire extinguishing robot 1 and rear is water-filled disappears
Water blocking tape 2 can complete the orientation adjustment function of mobility.
The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model
Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model
Within.
Technology that the utility model is not described in detail, shape, construction portion are well-known technique.
Claims (10)
1. a kind of firefighting fire extinguishing robot system for having orientation and adjusting function in real time, which is characterized in that including fire-extinguishing machine
Device people, fire hose, water band active displacement mechanism and the passive displacement mechanism of water band, the fire hose are connected to fire-extinguishing machine
The front end of device people is provided with multiple water band active displacement mechanisms and the passive displacement mechanism of water band, water band active position on fire hose
Telephone-moving structure and the passive displacement mechanism of water band are successively spaced setting along fire hose.
2. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as described in claim 1, which is characterized in that institute
Stating firefighting fire extinguishing robot includes crawler-type mobile platform, fire water monitor, control and communication module and displacement mechanism carrier, crawler belt
Formula mobile platform is internally provided with control and communication module, is provided with fire water monitor, fire-fighting in front of crawler-type mobile platform upper end
Water cannon includes the hose coupling for connecting rear water band, and displacement mechanism carrier, displacement machine is arranged in crawler-type mobile platform upper end rear
Water band active displacement mechanism and the passive displacement mechanism of water band are held in structure carrier.
3. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 2, which is characterized in that institute
Stating fire hose includes a plurality of water band interconnected, and the both ends of every water band are equipped with water belt lacing, two adjacent water bands
Between connected by water belt lacing, the hose coupling on water belt lacing of the water with front end and fire water monitor is cooperatively connected, and water band is most
The water belt lacing of rear end is connect with fire fighting truck high pressure pump outlet.
4. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as described in claim 1, which is characterized in that institute
Stating water band active displacement mechanism includes active displacement platform ontology, Omni-mobile train, water with cohesion device and electric component, entirely
The bottom of active displacement platform ontology is fixed on to mobile train, water band cohesion device and electric component are installed on actively to be displaced and put down
The top of playscript with stage directions body.
5. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 4, which is characterized in that institute
It states active displacement platform ontology and is provided with open-work, to connect and support Omni-mobile train, gone back above active displacement platform ontology
It is provided with protective cover.
6. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 4, which is characterized in that institute
Omni-mobile train is stated by movable pulley, driving motor, mobile wheel support, turning-bar, linkage turntable, transmission belt and steering motor group
At；Movable pulley is fixed on the bottom of mobile wheel support by shaft, and driving motor is fixed on mobile wheel support side；Movable pulley branch
Frame upper end is fixed with turning-bar；Mobile wheel support also passes through bearing and is fixed on the downside of active displacement platform ontology；The turntable that links is solid
It is scheduled on turning-bar upper end, turning-bar rotation is driven by the rotation for the turntable that links；It is driven band connection linkage turntable；Steering motor peace
Dress is fixed on the upside of active displacement platform, the shaft connection linkage turntable of steering motor.
7. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 4, which is characterized in that institute
Stating water band cohesion device includes laterally holding sliding slot, tensioning spring, active anchor ear, main displacement electromagnet, absorption electromagnet and rolling tightly
Pearl；Sliding slot is laterally held tightly to be arranged above active displacement platform ontology；It laterally holds sliding slot tightly and is internally provided with groove；Tensioning spring
It is separately positioned on the left and right sides of active anchor ear, the active that the left end and left side of sliding slot are laterally held in tensioning spring connection in left side tightly is embraced
The lower end of the right end of sliding slot and the active anchor ear on right side is laterally held in the lower end of hoop, the connection of right side tensioning spring tightly；Active anchor ear number
Amount is two, and bilateral symmetry is laid out, midfeather certain distance, and lower end is placed in the groove for laterally holding sliding slot tightly；Actively embrace
Hoop cross section is semicircle sickle shaped structure, and lower end is provided with strip protrusion, the semicircle sickle shaped structure group in two active anchor ears
At the frame structure of full circle；Main displacement electromagnet quantity is two sets, the both ends for laterally holding sliding slot tightly is separately positioned on, close to two sets
It is mobile to two sides to adsorb active anchor ear when main displacement electromagnet is powered for the lower end outside of active anchor ear；It is solid to adsorb electromagnet
It is scheduled on main displacement electromagnet front-end and back-end；Every two absorption electromagnet is symmetrically placed, forms ring structure；Ball quantity is more
It is a, it is embedded in the inner wall of active anchor ear.
8. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 4, which is characterized in that institute
Stating electric component includes control module, communication module, stroke sensor and lithium battery, and control module, communication module are each attached to
In protective cover, communication module link control module, stroke sensor quantity be it is multiple, be mounted on absorption electromagnet front end, lithium electricity
Pond is fixed in protective cover, lithium battery link control module, communication module, main displacement electromagnet and absorption electromagnet.
9. the firefighting fire extinguishing robot system a method as claimed in any one of claims 1-8 for having orientation and adjusting function in real time, feature
It is, the passive displacement mechanism of water band includes passive displacement platform and hose coupling cohesion device；Passive displacement platform bottom
Two passive rollers are inlaid on transversely arranged；Hose coupling cohesion device includes passive horizontal concrete chute, holds spring, passive armful tightly
Hoop, passive buckle, absorption carrier and passive ball.
10. having the firefighting fire extinguishing robot system that orientation adjusts function in real time as claimed in claim 9, which is characterized in that
The passive horizontal concrete chute is horizontally installed on above passive displacement platform, and passive horizontal concrete chute is internally provided with groove；Hold bullet tightly
Spring quantity is two sets, on the left of a set of passive horizontal concrete chute of the connection and passive anchor ear lower end in left side, and another set of connection is passive laterally sliding
On the right side of the slot and passive anchor ear lower end in right side；Passive anchor ear quantity is two, and bilateral symmetry is laid out, midfeather certain distance, under
End is placed in the groove of passive horizontal concrete chute；The cross section of passive anchor ear is semicircle sickle shaped structure, and lower end is provided with strip
Protrusion；The frame structure of semicircle sickle shaped structure composition full circle in two passive anchor ears；Passive buckle is annular slice structure,
The circular mechanism being made of passive anchor ear is less than by each pair of passive internal diameter for buckling the circular configuration formed；Absorption carrier is annular
Laminated structure, totally four, two panels is a pair, and symmetrically placed, absorption carrier is fixed on the outside passively buckled, is carried by each pair of absorption
The circular outer diameter of body composition is slightly smaller than the ring structure being made of absorption electromagnet, and absorption carrier can enter in absorption electromagnet
Portion.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111921150A (en) * | 2020-08-03 | 2020-11-13 | 北京力升高科科技有限公司 | Auxiliary traction device and fire-fighting robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111921150A (en) * | 2020-08-03 | 2020-11-13 | 北京力升高科科技有限公司 | Auxiliary traction device and fire-fighting robot system |
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Effective date of registration: 20220725 Address after: 264006 No. 18 Hong Kong Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: SHANDONG ATU ROBOT TECHNOLOGY CO.,LTD. Patentee after: Shandong Guoxing Robot Joint Research Institute Co.,Ltd. Address before: 264006 No. 18 Hong Kong Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee before: SHANDONG ATU ROBOT TECHNOLOGY CO.,LTD. |