CN214839461U

CN214839461U - Lifting cradle head device for fire-fighting robot

Info

Publication number: CN214839461U
Application number: CN202120782862.XU
Authority: CN
Inventors: 董非; 方戍; 王勇; 吴幸; 黄泽鹏; 刘力涛; 李涛; 杜灵辉; 丁泽文
Original assignee: Jiangsu Chenggong Technology Co ltd; East China Normal University
Current assignee: Jiangsu Chenggong Technology Co ltd; East China Normal University
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2021-11-23
Anticipated expiration: 2031-04-16

Abstract

The utility model discloses a fire-fighting robot is with lift cloud platform device. The cable winding device comprises a main body supporting mechanism, a cable winding mechanism, a cable guide mechanism and a lifting mechanism; the main body supporting mechanism comprises a main holder, a lifting holder and a mounting bottom plate; the cable winding mechanism comprises a motor, a motor gear, a cable winding gear and a cable winding roller; the motor gear is meshed with the cable winding gear, and a cable winding roller is sleeved on a shaft of the cable winding gear; the cable guide mechanism comprises a cable guide gear, a cable guide main shaft and a cable guide rod, the cable guide gear is meshed with the cable winding gear, and the cable guide main shaft and the cable guide rod are arranged in parallel and penetrate through the cable guide sliding block; the lifting mechanism comprises a first pulley, a second pulley, a steel cable and a guide post which are arranged up and down, wherein one end of the steel cable is fixed on the inner wall of the cradle head lifting bracket and is fixed on the cable rolling roller through a cable guide hole on the first pulley, the second pulley and the cable guide sliding block. The utility model discloses the device has high stability, practicality, security, and low in cost, simple structure.

Description

Lifting cradle head device for fire-fighting robot

Technical Field

The utility model relates to a lift cloud platform technical field, specific theory relates to a fire-fighting robot is with lift cloud platform device.

Background

Fire-fighting robot is implementing rescue operation, often carries out reconnaissance and survey in disaster area through the cloud platform that the robot was equipped with, because the height of cloud platform and the volume of robot self are different and lead to the blind area in the cloud platform surveys not of uniform size in implementing the survey operation to influence fire-fighting robot's the survey degree of accuracy, bring inconvenience for rescue operation. Along with the development of the fire-fighting robot, the personnel are gradually replaced to enter disaster areas for reconnaissance operation, and the problem that how to eliminate the reconnaissance blind area of the robot is urgently needed to be solved is solved.

Disclosure of Invention

To the not enough of above-mentioned prior art, the utility model aims to provide a fire-fighting robot is with lift cloud platform device, the device adopt the hoist mechanism of fixed pulley, utilize ripe displacement sensing technology, make its completion cloud platform lift operation that can be high-efficient quick, be equipped with big torque motor, cooperate dedicated fairlead mechanism, can stabilize accurate implementation lift operation.

The technical scheme of the utility model is specifically as follows.

A lifting cloud platform device for a fire-fighting robot comprises a main body supporting mechanism, a cable winding mechanism, a cable guide mechanism and a lifting mechanism; wherein:

the main body supporting mechanism comprises a main holder, a lifting holder and a mounting bottom plate; the mounting base plate is horizontally arranged at the middle lower part of the main holder of the holder, the lifting holder is arranged above the mounting base plate, and the lifting holder is of a structure with an opening at the lower end and is movably nested in the main holder of the holder;

the cable winding mechanism comprises a cable winding mechanism bracket, a motor gear, a cable winding roller and a displacement sensor; the cable winding mechanism support is arranged below the mounting base plate, a semicircular boss is connected to the cable winding mechanism support, a motor gear, a cable winding roller and a displacement sensor are all mounted on the cable winding mechanism support, the motor gear is driven by a motor to rotate, an output shaft of the motor is mounted on the semicircular boss of the cable winding mechanism support, a self-locking block is mounted above the semicircular boss, the semicircular boss and the self-locking block are connected through a spring, a rubber block is arranged on the inner side of the self-locking block, the self-locking block and the semicircular boss enclose a whole circle and are used for wrapping the output shaft end of the motor, an electromagnet is vertically mounted below one side of the semicircular boss, the sensor end of the displacement sensor faces the motor gear, the cable winding gear is meshed with the motor gear, a winding wheel gear is sleeved outside a long shaft, and the cable winding roller is sleeved outside the long shaft;

the cable guide mechanism comprises a cable guide gear, a cable guide main shaft, a cable guide sliding block and a cable guide rod; the cable guide gear is meshed with the cable winding gear, a cable guide main shaft is arranged at the center of the cable guide gear, the cable guide main shaft is a lead screw, the cable guide main shaft penetrates through an inner screw hole in the cable guide sliding block, two cable guide rods are arranged, and the cable guide rods penetrate through two optical holes which are arranged up and down in the cable guide sliding block; the guide cable main shaft, the guide cable guide rod and the cable winding roller are arranged in parallel; a cable guide hole is arranged above the sliding block of the cable guide sliding block;

the lifting mechanism comprises a pulley support rod, a guide post, a first pulley, a steel cable limiting block, a second pulley and a steel cable; the pulley support rod is arranged on the mounting bottom plate, the upper part of the pulley support rod is provided with a first pulley, and a steel cable limiting block is arranged at a position close to the first pulley; four guide posts are fixedly arranged on four corners of the mounting base plate, the height of each guide post is higher than that of the pulley support rod, and the second pulleys are arranged on the mounting base plate; one end of the steel cable is fixed at the mounting ring at the lower part of the side wall of the cradle head lifting support, and the other end of the steel cable is fixed on the cable rolling roller through the first pulley, the second pulley and the cable guide hole of the cable guide mechanism in sequence.

The utility model discloses in, the second pulley passes through the pulley support mounting on mounting plate.

The utility model discloses in, the major axis in the cable mechanism of rolling up is installed on cable mechanism's support through first engineering plastic bearing.

The utility model discloses in, the cable guide main shaft in the cable guide mechanism is installed on cable reel mechanism support through second engineering plastic bearing.

The utility model discloses in, still include signal processor and remote control terminal.

Compared with the prior art, the beneficial effects of the utility model reside in that:

the utility model provides a fire-fighting robot is with lift cloud platform device adopts the normal work of removing remote terminal controlling means, and this device of staff accessible remote terminal control in the use can accomplish the lift operation of cloud platform, easy operation, and labour saving and time saving has quick accurate completion cloud platform lift operation ability, and effectual reduction economy and personnel's loss. The device has the characteristics of high stability, practicability, safety and the like, and is low in manufacturing cost, simple in structure and high in maneuvering flexibility.

Drawings

Fig. 1 is the overall schematic diagram of the lifting cloud platform device for the fire-fighting robot of the utility model.

Fig. 2 is the structure schematic diagram of the lifting cloud platform device for the fire-fighting robot.

Fig. 3 is a schematic view of the lifting mechanism of the present invention.

Fig. 4 is a schematic structural view of the cable winding mechanism and the cable guiding mechanism of the present invention.

Fig. 5 is a schematic structural view of the cable guide slider of the present invention.

Fig. 6 is a bottom view of the cradle head lifting support of the present invention.

Fig. 7 is a schematic structural view of the main support of the cable winding mechanism of the present invention.

Fig. 8 is a schematic structural view of the side bracket of the cable winding mechanism of the present invention.

Reference numbers in the figures: 100-main body support mechanism, 101-main holder of cradle head, 102-lifting holder of cradle head, 103-installation base plate, 200-lifting mechanism, 201-pulley support rod, 202-guide column, 203-first pulley, 204-first pulley pin, 205-cable stopper, 206-pulley support, 207-second pulley, 208-second pulley pin, 300-cable winding mechanism, 301-main holder of cable winding mechanism, 302-side holder of cable winding mechanism, 303-motor, 304-motor gear, 305-cable winding gear, 306-cable winding roller, 307-first engineering plastic bearing, 308-electromagnet, 309-self-locking block, 310-spring, 311-steel cable, 312-rubber block, 313-self-locking block rotating pin, 314-displacement sensor, 315-displacement sensor fixing buckle, 400-guide cable mechanism, 401-guide cable gear, 402-guide cable main shaft, 403-guide cable slider, 404-guide cable guide rod, 405-second engineering plastic bearing, 406-unthreaded hole, 407-internal thread hole and 408-guide cable hole.

Detailed Description

The present invention will be described in further detail with reference to fig. 1 to 8 and the specific embodiments.

Example 1

In an embodiment, a lifting cradle head device for a fire-fighting robot is provided, which includes a main body supporting mechanism 100, a lifting mechanism 200, a cable winding mechanism 300, and a cable guide mechanism 400.

The main body support mechanism 100 includes a pan head main support 101, a pan head elevating support 102, and a mounting base plate 103. Cloud platform main support 101 does the utility model discloses a main bearing structure, it includes inside and outside two parts, and the outside distributes numerous blind installation hole sites. The mounting base plate 103 is located at a lower half portion of the main holder 101, and is fixed to the main holder 101 by four screws. Cloud platform lifting support 102 is equipped with one, is lower extreme open structure, is located the inside of cloud platform main support 101, is nested form, and the inner wall of cloud platform lifting support 102 is close to the place of bottom and is equipped with the collar for fixed cable wire 311, the utility model discloses well lift of device is the lift realization that drives cloud platform lifting support 102 through the effect of cable wire 311.

The cable winding mechanism 300 comprises a cable winding mechanism main bracket 301, a cable winding mechanism side bracket 302, a motor 303, a motor gear 304, a cable winding gear 305, a cable winding roller 306, a first engineering plastic bearing 307, an electromagnet 308, a self-locking block 309, a spring 310, a steel cable 311, a rubber block 312, a self-locking block rotating pin 313, a displacement sensor 314 and a displacement sensor fixing buckle 315. The main support bracket 301 of the cable winding mechanism is a main support component of the cable winding mechanism 300, is located below the installation bottom plate 103, and is connected with the main bracket 101 of the holder through two screws. The cable winding mechanism side bracket 302 is located on the long side of the cable winding mechanism main bracket 301 and is connected with the cable winding mechanism main bracket 301 into a whole through two screws. The motor 303 is installed outside the main holder 101, and its output shaft end passes through the main holder 101 and extends to the rear of the cable winding mechanism side holder 302. The motor gear 304 is installed in the outermost side mounting holes on the long sides of the cable winding mechanism main support 301 and the cable winding mechanism side support 302, the two sides of the motor gear are located at the boss mounting holes reserved on the cable winding mechanism main support 301 and the cable winding mechanism side support 302, and the spline hole of the motor gear is coaxial with the output shaft of the motor 303 and is matched with the output shaft of the motor 303. The cable winding gear 305 is installed in the middle lower side installation holes of the long sides of the cable winding mechanism main bracket 301 and the cable winding mechanism side bracket 302, a long shaft is arranged on the cable winding gear, and a shaft head extends to the short side of the cable winding mechanism main bracket 301. Cable drum 306 is located on the long axis of cable winding gear 305. The first engineering plastic bearing 307 is positioned at the contact position of the tail end of the long shaft of the cable winding gear 305 and the main bracket 301 of the cable winding mechanism. The electromagnet 308 is positioned at the rear side of the cable winding mechanism side bracket 302 and is vertically arranged at the left side of the semicircular boss of the cable winding mechanism side bracket 302. The self-locking block 309 is arranged on the semicircular boss of the side bracket 302 of the cable winding mechanism, and forms a whole circle with the upper semicircular boss to wrap the shaft end of the motor 303. The spring 310 is connected with the semicircular boss on the side bracket 302 of the cable winding mechanism and the self-locking block 309, the rubber block 312 is positioned at the inner side of the self-locking block 309, and the rubber block 312 has an anti-skid function. The self-locking block rotating pin 313 is connected with the semicircular lug boss on the cable winding mechanism side bracket 302 and the self-locking block 309. When the motor does not work, the electromagnet 308 is attracted, the self-locking block 309 is closed, the spring 310 is in a compressed state, and the spring and the rubber block 312 are matched together to wrap the output shaft of the motor 303; during operation, the electromagnet 308 is powered off, the self-locking block 309 is unlocked, the spring 310 is in a release state, the motor 303 drives the motor gear 304 to rotate to drive the cable winding gear 305 to rotate, and the rotation of the cable winding gear 305 drives the cable winding roller 306 to synchronously rotate; the displacement sensor 314 is positioned on the upper boss on the long side of the cable winding mechanism side bracket 302, and the sensor end of the displacement sensor is right opposite to the motor gear 304. The displacement sensor fixing buckle 315 connects the displacement sensor 314 with the cable winding mechanism side bracket 302.

The fairlead mechanism 400 includes a fairlead gear 401, a fairlead spindle 402, a fairlead slider 403, a fairlead guide bar 404, and a second engineering plastic bearing 405. The cable guide gear 401 is mounted in the inner mounting holes on the long sides of the cable winding mechanism main bracket 301 and the cable winding mechanism side bracket 302. The cable guide main shaft 402 is a right-handed screw rod, the left end of the right-handed screw rod is connected with the cable guide gear 401, and the shaft head of the right end of the right-handed screw rod extends to the short side of the main support 301 of the cable winding mechanism. Three holes are distributed on the cable guide sliding block 403, namely an inner thread hole 407 and two unthreaded holes 406, and the inner thread hole 407 is a right-handed inner thread hole and is matched with the cable guide main shaft 402. Two guide cable guide rods 404 are arranged and are vertically installed, and are connected with the main bracket 301 of the cable winding mechanism and the side bracket 302 of the cable winding mechanism and penetrate into two unthreaded holes 406 of the guide cable sliding block 403. The arrangement stability of the two guide cable guide rods 404 is good, and the guide cable sliding blocks 403 can be prevented from overturning; the second engineering plastic bearing 405 is located at the contact position of the tail end of the cable guide main shaft 402 and the main bracket 301 of the cable winding mechanism. The upper part of the cable guide sliding block 403 is a cable guide hole.

The lifting mechanism 200 includes a pulley support rod 201, a guide column 202, a first pulley 203, a first pulley pin 204, a cable 311, a cable stopper 205, a pulley support 206, a second pulley 207, and a second pulley pin 208. The pulley support rod 201 is located at the center of the installation base plate 103, and the bottom end surface thereof contacts with the installation base plate 103 and is connected with the installation base plate 103 through two screws. Four guide posts 202 are arranged at four corners of the mounting base plate 103, and bottom end surfaces thereof are in contact with the upper surface of the mounting base plate 103 and fixed at the four corners by four screws. The guide column 202 mainly controls the ascending and descending directions of the cradle head lifting support 102, so as to guide the cradle head lifting support 102, prevent the cradle head lifting support 102 from deviating to one side in the ascending or descending process, and avoid the problems of clamping, incapability of moving and the like. The first pulley 203 is mounted on the upper end of the pulley support rod 201. The first pulley pin 204 is located in a pin hole at the upper end of the pulley support rod 201, and is horizontally inserted into the pin hole. The cable stopper 205 is disposed at the top end of the pulley support rod 201 and shares a first pulley pin 204 with the first pulley 203. Two pulley supports 206 are symmetrically arranged at the middle rear part of the installation bottom plate 103 and are distributed at two sides of the hole. The second pulley 207 is mounted in the middle of the two pulley supports 206 coaxially with the pin holes in the pulley supports 206. A second pulley pin 208 is mounted in a pin hole of the pulley mount 206, connecting the pulley mount 206 with the second pulley 207. The tail end of the cable 311 is located at a predetermined mounting ring inside the cradle head lifting bracket 102, and it passes through the first pulley 203, the second pulley 207, the cable guide mechanism 400, and is finally fixed on the cable drum 306.

When the device works, the device in the embodiment adopts a fire-fighting robot host to supply power; a signal processor is arranged in the device and has the functions of signal receiving and signal feedback; the remote handheld terminal controller is shared with the fire-fighting robot, and the controller is used for controlling the lifting and height feedback functions of the device.

The implementation scheme is as follows:

the device is completely installed on the fire-fighting robot body, and all communication is connected with the fire-fighting robot. When the fire-fighting robot enters a disaster area to carry out cloud deck lifting reconnaissance operation, a worker controls the remote control terminal to send a lifting command, the fire-fighting robot receives the command, and the fire-fighting robot controls the device to complete lifting operation. When a rising control signal is transmitted to the device, the relay is powered off to unlock the self-locking block 309, the spring 310 is in a release state at the moment, the displacement sensor 314 starts to operate, the signal drives the motor 303 to start rotating, the motor 303 drives the motor gear 304 to rotate, the motor gear 304 and the cable winding gear 305 are meshed with the three gears of the cable guide gear 401, the motor gear 304 rotates, the other two gears start to rotate, and meanwhile, the displacement sensor 314 records the displacement through a mark point arranged on the motor gear 304 and transmits the height information back to the remote control terminal. The cable winding gear 305 starts to rotate and simultaneously drives the cable winding roller 306 to rotate, the steel cable 311 starts to be wound on the cable winding roller 306, the cradle head lifting support 102 is pulled to extend the guide column 202 to move upwards, the cable guide mechanism 400 starts to operate in the process that the steel cable 311 is wound, the cable guide main shaft 402 rotates to drive the cable guide sliding block 403 to move, the cable guide sliding block pulls the steel cable 311 to move in a single direction, the cable winding operation of the cable winding mechanism 300 is facilitated, the steel cable 311 is prevented from being wound and accumulated at one position to influence the overall performance of the device, after the cradle head lifting support 102 reaches a set position, the device stops operating, the cradle head lifting support 102 can stop operating at any position in the lifting process, the electromagnet 308 automatically attracts, and the self-locking block 309 wraps the motor main shaft 303 to achieve the self-locking function. When the whole device needs to descend to the initial position, after a descending control signal is transmitted to the device, the electromagnet 308 is powered off to unlock the self-locking block 309, at the moment, the spring 310 is in a release state, the signal driving motor 303 starts to rotate reversely, the tripod head lifting support 102 starts to descend under the action of self-generated gravity, meanwhile, the steel cable 311 starts to release, the displacement sensor 314 records displacement, the operation is stopped after the displacement sensor reaches a set position, the electromagnet 308 attracts the locking motor 303, and the tripod head lifting operation is completed.

The above embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the present invention. It should be noted that, for those skilled in the art, many modifications can be made without departing from the spirit of the present invention, and these modifications are all within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A lifting cloud platform device for a fire-fighting robot is characterized by comprising a main body supporting mechanism (100), a cable winding mechanism (300), a cable guide mechanism (400) and a lifting mechanism (200); wherein:

the main body supporting mechanism (100) comprises a holder main bracket (101), a holder lifting bracket (102) and a mounting bottom plate (103); the mounting base plate (103) is horizontally arranged at the middle lower part of the main holder support (101), the holder lifting support (102) is arranged above the mounting base plate (103), the holder lifting support (102) is of a structure with an opening at the lower end and is movably nested in the main holder support (101);

the cable winding mechanism (300) comprises a cable winding mechanism support, a motor (303), a motor gear (304), a cable winding gear (305), a cable winding roller (306) and a displacement sensor (314); the cable winding mechanism support is arranged below the mounting base plate (103), a semicircular boss is connected to the cable winding mechanism support, a motor gear (304), a cable winding gear (305), a cable winding roller (306) and a displacement sensor (314) are all mounted on the cable winding mechanism support, the motor gear (304) is driven by a motor (303) to rotate, an output shaft of the motor (303) is mounted on the semicircular boss of the cable winding mechanism support, a self-locking block (309) is mounted above the semicircular boss, the semicircular boss and the self-locking block (309) are connected through a spring (310), a rubber block (312) is arranged on the inner side of the self-locking block (309), the self-locking block (309) and the semicircular boss enclose a whole circle and are used for wrapping the output shaft end of the motor (303), an electromagnet (308) is vertically mounted below one side of the semicircular boss, a sensor end of the displacement sensor (314) faces the motor gear (304), the cable winding gear (305) is meshed with the motor gear (304), the long shaft is sleeved with a winding wheel gear (305), and a cable winding roller (306) is sleeved outside the long shaft;

the cable guide mechanism (400) comprises a cable guide gear (401), a cable guide main shaft (402), a cable guide sliding block (403) and a cable guide rod (404); the cable guide gear (401) is meshed with the cable winding gear (305), a cable guide main shaft (402) is arranged at the center of the cable guide gear (401), the cable guide main shaft (402) is a screw rod, the cable guide main shaft (402) penetrates through an inner screw hole (407) in the cable guide sliding block (403), two cable guide rods (404) are arranged, and the cable guide rods (404) penetrate through two optical holes (406) which are arranged up and down in the cable guide sliding block (403); the cable guide main shaft (402), the cable guide rod (404) and the cable winding roller (306) are arranged in parallel; a cable guide hole is arranged above the sliding block of the cable guide sliding block (403);

the lifting mechanism (200) comprises a pulley support rod (201), a guide column (202), a first pulley (203), a steel cable limiting block (205), a second pulley (207) and a steel cable (311); the pulley support rod (201) is installed on the installation bottom plate (103), a first pulley (203) is arranged at the upper part of the pulley support rod (201), and a steel cable limiting block (205) is arranged at a position close to the first pulley (203); four guide posts (202) are fixedly arranged at four corners of the mounting base plate (103), the height of each guide post (202) is higher than that of the pulley support rod (201), and the second pulley (207) is arranged on the mounting base plate (103); one end of the steel cable (311) is fixed at the mounting ring at the lower part of the side wall of the tripod head lifting bracket (102), and the other end of the steel cable is fixed on the cable rolling roller (306) through the first pulley (203), the second pulley (207) and the cable guide hole of the cable guide mechanism (400) in sequence.

2. The elevating pan head device for a fire fighting robot according to claim 1, characterized in that the second pulley (207) is mounted on the mounting base plate (103) through a pulley support (206).

3. The elevating platform device for fire fighting robot according to claim 1, wherein the long shaft of the cable winding mechanism (300) is mounted on the cable winding mechanism support through a first engineering plastic bearing (307).

4. The elevating platform device for fire fighting robot according to claim 1, wherein the main shaft (402) of the fairlead (400) is mounted on the bracket of the cable winding mechanism through a second engineering plastic bearing (405).

5. The elevating platform device for fire fighting robot according to claim 1, further comprising a signal processor and a remote control terminal.