CN210196729U

CN210196729U - Automatic disengaging mechanism and fire-fighting robot

Info

Publication number: CN210196729U
Application number: CN201921138931.2U
Authority: CN
Inventors: Sheng Li; 李胜; Chunge Mu; 母春阁; Peng Li; 李鹏
Original assignee: Beijing Xinsong Rongtong Robot Technology Co ltd
Current assignee: Beijing Xinsong Rongtong Robot Technology Co ltd
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2020-03-27
Anticipated expiration: 2029-07-18

Abstract

The utility model discloses an automatic break away from mechanism, a serial communication port, automatic break away from mechanism includes: the fixed part and the movable part are sleeved with the fixed part; the fixing portion includes: the worm gear ring and the guide rod are arranged in parallel and fixed on the same side of the first end surface; the moving part includes: the worm is installed at the output end of the motor, the motor and the worm are in transmission connection, and the tripping ring is in threaded connection with the worm gear ring. Through remote control or the automatic signals that send of equipment, realize fire-fighting robot and fire hose autosegregation, avoid artifical field operation, reduce working strength, more avoided the risk that site environment brought for operating personnel.

Description

Automatic disengaging mechanism and fire-fighting robot

Technical Field

The utility model belongs to the technical field of fire-fighting equipment, concretely relates to automatic break away from mechanism, fire-fighting robot.

Background

The fire scene is generally accompanied by dangers such as high temperature, oxygen deficiency, dense smoke and the like, the fire-fighting robot is taken as an advanced fire-fighting device at present, and the manual fire-fighting work is well replaced in operations such as fire extinguishing, decontamination, smoke discharging, illumination, investigation, data acquisition, processing, feedback and the like in the accident scene, so that the casualties of fire fighters are reduced to a great extent.

At present, a water inlet of a fire-fighting robot is generally connected with a fire hose by a card type interface, and a mechanism comprises a male head, a separation sleeve and a female head. Generally public head is installed on fire-fighting robot, and fire hose is connected to female first, has locking mechanism in the female head, can lock fast on public head, slides right when the separation cover, promotes the locking mechanism in the female head, can realize public head, female head quickly separating.

In actual use, when the robot needs to be separated from the fire hose, the separation of the male head and the female head is realized by manually pushing the separation sleeve, the operation site is generally dangerous, the casualty probability is increased by manual site operation, the robot does not depart from the fire hose, and the return journey of the fire-fighting robot is influenced.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a defect among the prior art, the embodiment provides an automatic release mechanism of fire hose aims at solving among the prior art because of the separation cover that the uneven production of separation cover edge atress breaks away from the jamming problem when female head.

The embodiment of the first aspect of the utility model provides an automatic break away from mechanism, automatic break away from mechanism includes: the fixed part, cup joint with the removal portion of fixed part. The fixing portion includes: the worm gear comprises a worm gear ring, a guide rod and a first end face, wherein the worm gear ring and the guide rod are arranged in parallel and fixed on the same side of the first end face.

The moving part includes: the worm is installed at the output end of the motor, the motor and the worm are in transmission connection, and the tripping ring is in threaded connection with the worm gear ring.

According to the utility model discloses an embodiment, the fixed part still includes: and the guide rod is fixedly arranged between the first end surface and the second end surface.

According to the utility model discloses an embodiment, the motor support includes: the motor support body, set up in through-hole, the jack catch of motor support body, the motor support body is the column ring, the through-hole runs through the motor support body with the guide bar corresponds the setting.

According to the utility model discloses an embodiment, the dropout circle is the I-shaped sleeve pipe, follows the edge outside of I-shaped sleeve pipe one end sets up bellied gear, the gear joint in the jack catch, just the gear with the worm meshing.

According to the utility model discloses an embodiment, the input of motor is connected with motor drive unit's output.

According to an embodiment of the invention, the through hole moves along the guide bar.

According to the utility model discloses an embodiment, fixed part fixed mounting is in control automatic break away from the control main part that the mechanism realized automatic breaking away from.

The embodiment of the second aspect of the utility model discloses a fire-fighting robot, include: the automatic fire extinguishing device comprises a body, a fire extinguishing device, a walking device, an obstacle avoiding device, a lifting device, a pushing device and an automatic separating mechanism, wherein the automatic separating mechanism comprises the automatic separating mechanism.

The utility model discloses the technological effect who reaches does: through remote control or the automatic signal that sends of equipment, the jamming problem when the separation cover that produces breaks away from with female head because of the marginal atress inequality of separation cover among the solution prior art realizes fire-fighting robot and fire hose autosegregation, avoids artifical field operation, reduces working strength, has more avoided the risk that site environment brought for operating personnel.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a state of engagement of a clip-on coupling of a prior art fire hose disclosed in an embodiment of the present invention;

fig. 2 is a schematic view of a prior art fire hose snap-in fitting in a disengaged state as disclosed in an embodiment of the present invention;

fig. 3 is a schematic structural view of an automatic disengaging mechanism disclosed in the embodiment of the present invention;

fig. 4 is an exploded view of an automatic disengaging mechanism according to an embodiment of the present invention;

fig. 5 is a wiring diagram of the motor and other devices of the automatic release mechanism disclosed in the embodiment of the present invention.

Reference numerals: 1-male head, 2-separation sleeve, 3-female head, 4-trip ring, 41-gear, 5-motor bracket, 51-through hole, 52-claw, 6-worm ring, 7-motor, 8-worm, 9-fire hose, 10-guide rod, 11-first end face and 12-second end face.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the scope protected by the embodiments of the present invention.

Fig. 1 and fig. 2 are schematic diagrams of the joint in the prior art according to the embodiment of the present invention.

The embodiment of the first aspect of the present invention provides an automatic separation mechanism, as shown in fig. 3 and 4, the automatic separation mechanism includes: the fixed part, cup joint with the removal portion of fixed part. The fixing portion includes: the worm gear comprises a worm gear ring, a guide rod and a first end face, wherein the worm gear ring and the guide rod are arranged in parallel and fixed on the same side of the first end face.

The motor rotates clockwise and anticlockwise in a forward and reverse direction to control the worm to rotate clockwise and anticlockwise, and then the tripping ring is controlled to move along the worm wheel ring.

According to the utility model discloses an embodiment, the motor support includes: the motor support body, set up in through-hole, the jack catch of motor support body, the motor support body is the column ring, the through-hole runs through the motor support body with the guide bar corresponds the setting. The through hole moves along the guide rod.

According to the utility model discloses an embodiment, the dropout circle is the I-shaped sleeve pipe, follows the edge outside of I-shaped sleeve pipe one end sets up bellied gear, the gear joint in the jack catch, just the gear with the worm meshing. The other end of the tripping ring is in contact with one end of the interface, specifically, one end of the male head.

The motor controls the worm to rotate clockwise and anticlockwise. The trip ring moves along the worm gear ring.

The motor receives instruction circular telegram forward rotation to drive the same forward rotation of worm, the worm makes the relative worm wheel circle of trip circle rotatory through the worm wheel that the trip circled, and the worm wheel circle is threaded connection with the trip circle, so the trip circle can drive the same translation of right side of motor support when the pivoted, the trip circle can promote the separation cover to slide to the right side after cup jointing with the separation, thereby realizes the autosegregation of fire-fighting robot and fire hose.

After the fire hose is separated, the separating sleeve moves to the limit position rightwards, the motor continues to rotate forwards, at the moment, the current of the motor can rise, the single chip microcomputer can send a signal to control the motor to rotate reversely after detecting the rise of the current, and therefore the tripping ring, the motor support and the separating sleeve move to the initial position leftwards, and the robot is connected with the fire hose next time.

And the other end of the I-shaped sleeve is in contact with an object to be automatically separated.

As shown in fig. 5, the motion control of the motor is implemented by a motor driving unit of the robot, the motor driving unit is implemented based on an H-bridge dc brushless motor driving module controlled by stm32f103 single chip microcomputer, the driving module CAN control the forward transmission or reverse rotation of the dc brushless motor, the driving module and the motor form an executing mechanism of the whole control module, the executing mechanism also needs to receive a CAN communication instruction sent by the main control unit to execute a corresponding tripping action, and the main control unit CAN receive a control instruction sent by background control software through WiFi wireless communication.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The above-described embodiments of the electronic device and the like are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may also be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. An automatic disengagement mechanism, comprising: the fixed part and the movable part are sleeved with the fixed part;

the fixing portion includes: the worm gear ring comprises a worm gear ring (6), a guide rod (10) and a first end surface (11), wherein the worm gear ring (6) and the guide rod (10) are arranged in parallel and fixed on the same side of the first end surface (11);

the moving part includes: the motor (7), the motor support (5), the worm (8) and the tripping ring (4), wherein the worm (8) is installed at the output end of the motor (7), the motor (7) and the worm (8) are in transmission connection, and the tripping ring (4) is in threaded connection with the worm wheel ring (6).

2. The automatic disengagement mechanism according to claim 1, wherein the fixed portion further comprises: the guide rod (10) is fixedly arranged between the first end face (11) and the second end face (12).

3. The automatic disengagement mechanism according to claim 1, wherein the motor support (5) comprises: the motor support comprises a motor support body, a through hole (51) formed in the motor support body and a clamping jaw (52), wherein the motor support body is a cylindrical ring, and the through hole (51) penetrates through the motor support body and corresponds to the guide rod (10).

4. The automatic release mechanism according to claim 1 or 3, wherein the trip ring (4) is an I-shaped sleeve, a raised gear (41) is arranged along the outer side of the edge of one end of the I-shaped sleeve, the gear (41) is clamped to the jaw (52), and the gear (41) is meshed with the worm (8).

5. The automatic disengagement mechanism according to claim 1, wherein the input of the motor (7) is connected to the output of a motor drive unit.

6. The automatic disengagement mechanism according to claim 3, wherein the through hole (51) moves along the guide bar (10).

7. The automatic release mechanism according to claim 1, wherein the fixing portion is fixedly attached to a control body that controls the automatic release mechanism to achieve automatic release.

8. A fire fighting robot comprising: the automatic fire extinguishing device comprises a body, a fire extinguishing device, a walking device, an obstacle avoidance device, a lifting device, a pushing device and an automatic disengaging mechanism, and is characterized in that the automatic disengaging mechanism comprises the automatic disengaging mechanism as claimed in any one of claims 1 to 7.