CN221160419U - Robot arm type fire control room robot on duty - Google Patents

Abstract

The utility model discloses a robot arm type fire control room on duty robot which is used for triggering keys on a control panel; the mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm; the first mechanical arm can rotate and swing relative to the fixed seat; the second mechanical arm can swing relative to the first mechanical arm; the third mechanical arm can swing relative to the second mechanical arm; the output end of the third mechanical arm is provided with a tentacle which is contacted with a button on the control panel; all keys are located in the range from the minimum stroke to the maximum stroke of the mechanical arm and distributed on the control panel in an annular shape. The beneficial effects of the utility model are as follows: the utility model adopts a multi-section mechanical arm structure, and each mechanical arm can independently run relatively and synchronously run three-dimensionally; the angular velocity is converted into the linear velocity, and the prior art is quicker at the upper wall of the operation speed, and the execution efficiency is faster.

Description

Robot arm type fire control room robot on duty

Technical Field

The utility model belongs to the technical field of mechanical manufacturing, and particularly relates to a robot arm type firefighting control room on duty.

Background

The fire control room on duty robot system consists of a fire control room on duty robot terminal box (a power supply, a control panel, a driver, a touch screen, an emergency pause button, a standby battery, a hard disk video recorder and the like), a fire control room on duty robot body (a power supply, a motor, a travel guide rail (a ball screw), a tentacle, a limiter and the like), a network camera, an infrared aligner and the like, and is connected with the fire control room on duty robot body through the fire control room on duty robot terminal box to control, program and the like of various instructions and communicate with an upper computer platform; the network camera is used for collecting the scene images and the voices in real time and can carry out voice intercom; the fire control room on duty robot system in the present stage can remotely operate and automatically operate various keys (a fire automatic alarm control robot exchange disc key, a bus disc key, a multi-disc key, a fire control broadcast host key, a fire control telephone host key and the like) of the alarm host in a mechanical structure (outer feeler) mode, so that the fire control room personnel on duty is replaced, and the investment of social units on the personnel on duty is reduced.

In the prior art, as the Chinese patent CN202222666737.X, the patent name is "robot on duty in fire control room", a linear moving mechanism is formed by arranging a screw rod in the Y-axis direction of an X-axis, and a telescopic tentacle (manipulator) is arranged on the screw rod in the Y-axis direction, so that the operation of a plurality of keys on a control panel is completed. However, the whole robot occupies a larger area by the operation mode, and a certain installation space is needed; and the operation is inconvenient, when the interval between two keys of the required touch is larger, or the interval between the target key and the current key is larger, for example, when the two keys are distributed diagonally, the robot needs to move in the X-axis direction first and then in the Y-axis direction, or the two directions are reversed in sequence, namely, two operation steps are required to reach the designated position, so that the movement time required by the tentacle is longer, the efficiency is lower, and the fire automatic alarm controller is not easy to trigger in the first time to control when a fire occurs.

Disclosure of utility model

The utility model aims to solve the problems in the prior art and provides a robot arm type fire control room on duty.

The aim of the utility model is achieved by the following technical scheme:

The robot arm type fire control room on duty robot is used for triggering keys on the control panel; the mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm; the first mechanical arm can rotate and swing relative to the fixed seat; the second mechanical arm can swing relative to the first mechanical arm; the third mechanical arm can swing relative to the second mechanical arm; the output end of the third mechanical arm is provided with a tentacle which is contacted with a button on the control panel; all the keys are located in the range from the minimum stroke to the maximum stroke of the mechanical arm and distributed on the control panel in an annular mode.

Preferably, the fixing seat is arranged in the middle of all keys or on the corners of all keys; the key farthest from the fixing seat is located at the maximum travel of the mechanical arm, and the key nearest to the fixing seat is located at the minimum travel of the mechanical arm.

Preferably, the fixing seat comprises a base and a mounting seat which are integrally arranged; the base is a plane, and is provided with a mounting hole fixedly connected with the control panel; the mounting seat is a conical block protruding out of the surface of the base, and a first driving motor is arranged in the mounting seat in the middle.

Preferably, a rotary platform is arranged on the mounting seat, and the bottom of the rotary platform is fixedly connected with a rotating shaft of the driving motor; the two sides of the rotating platform are provided with connecting rods protruding out of the bottom of the rotating platform, the two connecting rods are arranged at intervals, and pivot holes used for being connected with the first mechanical arm are symmetrically formed in the two connecting rods.

Preferably, the first mechanical arm, the second mechanical arm and the third mechanical arm each comprise an input end and an output end, and the diameter of the input end is smaller than that of the main body part; the output end is provided with a groove, and the groove wall is provided with a pivot hole; and the two sides of the input end are respectively provided with a pivot connected with the connecting rod or the pivot hole of the output end of the first mechanical arm or the pivot hole of the output end of the second mechanical arm.

Preferably, a second driving motor is arranged at the input end of the second mechanical arm so as to drive the second mechanical arm to swing around the pivot of the position where the second mechanical arm is located.

Preferably, a third driving motor is arranged at the input end of the third mechanical arm so as to drive the third mechanical arm to swing around the pivot of the position where the third mechanical arm is located.

Preferably, the tentacles are made of elastic materials; and the tentacles are provided with infrared auxiliary obstacle avoidance positioning devices so as to perform auxiliary positioning and obstacle meeting stopping.

Preferably, the mechanical arm is arranged on the Y-axis linear movement mechanism through the fixing seat, and the Y-axis linear movement mechanism is movably arranged on the two X-axis linear movement mechanisms; the X-axis linear movement mechanism and the Y-axis linear movement mechanism drive the mechanical arm to move along the linear direction, and the mechanical arm rotates and swings around the fixed seat in the moving process so as to trigger any button on the control panel.

The technical scheme of the utility model has the advantages that:

The application adopts a multi-section mechanical arm structure, and each mechanical arm can independently run relatively and synchronously run three-dimensionally; the angular speed is converted into the linear speed, the prior art is quicker on the upper wall of the operation speed, and the execution efficiency is faster;

The occupied area is small, and as the mechanical arm has only one crank arm shaft, the space occupied by the control panel of the automatic fire alarm controller is small, and the shielding of the automatic fire alarm control panel is avoided, so that the subsequent misoperation and unnecessary movement of the automatic fire alarm control panel are avoided;

The flexibility is high, and the mechanical arm can flexibly select an installation mode according to the use environment, is not dependent on the influence of factors such as appearance, size and dimension of the automatic fire alarm controller, and only needs to adjust the length of the first mechanical arm, the second mechanical arm and the third mechanical arm, so that the three can meet the key ranges of the furthest end and the nearest end of the coverage surface.

Drawings

Fig. 1: a perspective view of a preferred embodiment of the present utility model;

Fig. 2: the fixing seat structure diagram of the preferred embodiment of the utility model;

fig. 3: the fixing seat assembly drawing of the preferred embodiment of the utility model;

fig. 4: the first mechanical arm structure diagram of the preferred embodiment of the utility model;

fig. 5: the minimum stroke structure diagram of the mechanical arm is shown in the specification;

Fig. 6: the maximum travel structure diagram of the mechanical arm is shown in the specification;

Fig. 7: the utility model relates to an effective stroke structure diagram of a mechanical arm.

Detailed Description

The objects, advantages and features of the present utility model are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the utility model, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the utility model.

In the description of the embodiments, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the scheme, the direction approaching the operator is the near end, and the direction separating from the operator is the far end, with reference to the operator.

As shown in fig. 1 to 4, the utility model discloses a robot arm type fire control room on duty robot, which is used for triggering keys on a control panel; the mechanical arm comprises a fixed seat 1 arranged on a control panel, and a mechanical arm 2 is arranged on the fixed seat 1. The fixing seat 1 is arranged in the middle of all keys or on the corners of all keys; when the fixing seat 1 is arranged on the control panel in the middle and is positioned in the middle of all keys, all keys are preferably distributed in a closed ring shape; when the fixing base 1 is positioned at the corner of the control panel, all keys are preferably distributed in a non-closed ring shape. As shown in fig. 7, all the keys are located in a range from the minimum stroke to the maximum stroke of the mechanical arm 2; namely, as shown in fig. 6, the key furthest from the fixing base 1 is located at the maximum travel of the mechanical arm 2, and as shown in fig. 5, the key closest to the fixing base 1 is located at the minimum travel of the mechanical arm 2; to ensure that all keys are located within the coverage of the robot arm 2. The mechanical arm can be installed according to the field environment, and the installation mode is selected, so that the mechanical arm is independent of factors such as the appearance, the size and the like of the automatic fire alarm controller. The two keys which are designed to be operated conveniently or the target key and the current position are distributed in a diagonal line, the corresponding key can be triggered only by driving the mechanical arm 2 to rotate and swing by a certain amplitude, the mechanical arm can be ensured to reach the position of the designated key in a short time, the fire automatic alarm device can be triggered in the first time, and the loss of lives and properties is reduced.

As further shown in fig. 2 to 3, the fixing base 1 includes a base 11 and a mounting base 12 integrally provided; the base 11 is a plane, and is provided with a mounting hole fixedly connected with the control panel; the mounting base 12 is a conical block protruding from the surface of the base 11, and a first driving motor 121 is centrally arranged in the mounting base. The mounting seat 12 is provided with a rotary platform 102, and the bottom of the rotary platform 102 is fixedly connected with a rotating shaft of the driving motor 121. The two sides of the rotary platform 102 are formed with connecting rods 103 protruding from the bottom thereof, the two connecting rods 103 are arranged at intervals, and pivot holes for connecting with the first mechanical arm 21 are symmetrically arranged on the two connecting rods. Therefore, starting the first driving motor 121 drives the rotating platform 102 to rotate, and further drives the first mechanical arm 21 to rotate, and meanwhile, the first mechanical arm 21 can swing around the axis where the pivot hole is located, so as to realize the rotation and swing of the first mechanical arm 21, so as to change the coverage area of the mechanical arm 2.

As shown in fig. 1, the mechanical arm 2 is made of a lighter metal or nonmetal material, so that the overall quality of the robot can be reduced, the overall installation and operation are lighter, and the original automatic fire alarm controller cannot be damaged. The mechanical arm 2 is composed of a first mechanical arm 21, a second mechanical arm 22 and a third mechanical arm 23. The length of each part of the mechanical arm 2 can be adjusted according to the use requirement so as to be suitable for the sizes of the control panels with different specifications. As shown in fig. 1, 3 and 4, the first mechanical arm 21, the second mechanical arm 22 and the third mechanical arm 23 each include an input end 201 and an output end 202. Wherein the input end diameter is smaller than the main body portion diameter thereof; the output end 202 is formed with a groove, the groove bottom provides a swinging space for the second mechanical arm 22 and/or the third mechanical arm 23, and a pivot hole is formed on the groove wall. A pivot 203 connected to the connecting rod 103 or the output end 202 of the first mechanical arm 21 or the pivot hole of the output end 202 of the second mechanical arm 22 is formed on both sides of the input end 201, so that the first mechanical arm 21 can rotate and swing relative to the fixing seat 1; the second mechanical arm 22 can swing relative to the first mechanical arm 21; the third mechanical arm 23 may swing with respect to the second mechanical arm 22.

Further, a second driving motor is disposed at the input end 201 of the second mechanical arm 22 to drive the second mechanical arm 22 to swing around the pivot 203 at the position where the second mechanical arm is located. A third driving motor is disposed at the input end 201 of the third mechanical arm 23 to drive the third mechanical arm 23 to swing around the pivot 203 at the position where the third mechanical arm is located. Therefore, each part in the mechanical arm 2 can be independently operated, unnecessary swing is reduced, quick response is realized, and key operation is triggered.

The output end of the third mechanical arm 23 is provided with a feeler 3 which is contacted with a button on the control panel. The tentacles 3 can be rod-shaped or clamping jaw-shaped, are made of elastic materials, and can adjust the elastic size in real time according to the hardness of different keys, namely, when the tentacles contact the keys, the tentacles can retract according to the external force, so that the hard tentacles are prevented from directly contacting the keys, and the keys on the control panel are prevented from being damaged. When the key is a rotary switch, the third driving motor can be used for driving the clamping jaw-shaped tentacles to clamp the corresponding rotary switch for rotary operation so as to trigger the key.

The tentacle 3 is provided with an infrared auxiliary obstacle avoidance positioning device, namely, the free end of the tentacle 3 is provided with a tentacle camera, auxiliary positioning can be carried out through the tentacle camera, and whether the action position of the tentacle key is executed in place or not is checked in real time through the recorded image; in addition, the tentacle camera can immediately stop running if meeting the conditions of obstacle or shielding or stress blocking and the like in the moving process, so that the danger caused by clamping the outer objects such as arms, clothes and the like possibly existing in the exposed guide rail used in the prior art is avoided, namely, the manipulator has an obstacle avoidance function.

The application adopts the dual power supply, the robot is powered by the mains supply in the normal state, and the robot is automatically converted into the standby battery to supply power when the mains supply is abnormal or lost, and the standby battery can ensure the normal operation of the robot for 8 hours. The mechanical arm of the application controls the operation of the steering engine by the joint, converts the angular speed into the linear speed, and is faster in operation speed, thereby ensuring that the automatic fire alarm controller is controlled more rapidly in the case of fire. The design of the mechanical arm can recover arms in a non-control state, so that shielding of the fire automatic controller panel is avoided, and influence on the manual operation of the fire automatic controller panel is avoided.

Another way that can be implemented is: the mechanical arm 2 is arranged on a Y-axis linear movement mechanism through the fixing seat 1, and the Y-axis linear movement mechanism is movably arranged on two X-axis linear movement mechanisms; the X-axis linear movement mechanism and the Y-axis linear movement mechanism drive the mechanical arm 2 to move along the linear direction, and the mechanical arm 2 rotates and swings around the fixed seat 1 in the moving process so as to trigger any button on the control panel. The linear module formed by X, Y shafts drives the mechanical arm 2 to move, so that the coverage range of the mechanical arm 2 is wider, and the mechanical arm is applicable to medium-large fire automatic alarm controllers.

The utility model has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the utility model.

Claims (9)

1. The robot arm type fire control room on duty robot is used for triggering keys on the control panel; the method is characterized in that: the mechanical arm comprises a fixed seat (1) arranged on a control panel, wherein a mechanical arm (2) is arranged on the fixed seat (1), and the mechanical arm (2) consists of a first mechanical arm (21), a second mechanical arm (22) and a third mechanical arm (23); the first mechanical arm (21) can rotate and swing relative to the fixed seat (1); the second mechanical arm (22) can swing relative to the first mechanical arm (21); the third mechanical arm (23) can swing relative to the second mechanical arm (22); the output end of the third mechanical arm (23) is provided with a tentacle (3) contacted with a button on the control panel; all the keys are located in the range from the minimum stroke to the maximum stroke of the mechanical arm (2) and distributed on the control panel in a ring shape.

2. The robotic arm fire control room attendant robot of claim 1, wherein: the fixing seat (1) is arranged in the middle of all keys or on the corners of all keys; the key farthest from the fixed seat (1) is located at the maximum travel of the mechanical arm (2), and the key nearest to the fixed seat (1) is located at the minimum travel of the mechanical arm (2).

3. The robotic arm fire control room attendant robot of claim 2, wherein: the fixing seat (1) comprises a base (11) and a mounting seat (12) which are integrally arranged; the base (11) is a plane, and is provided with a mounting hole fixedly connected with the control panel; the mounting seat (12) is a conical block protruding out of the surface of the base (11), and a first driving motor (121) is arranged in the middle of the mounting seat.

4. The robot arm type fire control room on duty according to claim 3, wherein: a rotary platform (102) is arranged on the mounting seat (12), and the bottom of the rotary platform (102) is fixedly connected with a rotating shaft of the driving motor (121); connecting rods (103) protruding out of the bottoms of the rotating platform (102) are formed on two sides of the rotating platform (102), the two connecting rods (103) are arranged at intervals, and pivot holes used for being connected with the first mechanical arm (21) are symmetrically formed in the two connecting rods.

5. The robot arm type fire control room on duty according to claim 4, wherein: the first mechanical arm (21), the second mechanical arm (22) and the third mechanical arm (23) comprise an input end (201) and an output end (202), and the diameter of the input end is smaller than that of the main body part; the output end (202) is provided with a groove, and the groove wall is provided with a pivot hole; both sides of the input end (201) are respectively provided with a pivot (203) connected with the pivot hole of the output end (202) of the connecting rod (103) or the first mechanical arm (21) or the output end (202) of the second mechanical arm (22).

6. The robotic arm fire control room attendant robot of claim 5, wherein: and a second driving motor is arranged at the input end (201) of the second mechanical arm (22) so as to drive the second mechanical arm (22) to swing around a pivot (203) at the position of the second mechanical arm.

7. The robotic arm fire control room attendant robot of claim 6, wherein: and a third driving motor is arranged at the input end (201) of the third mechanical arm (23) so as to drive the third mechanical arm (23) to swing around a pivot (203) at the position of the third mechanical arm.

8. The robotic arm fire control room attendant robot of claim 7, wherein: the tentacles (3) are made of elastic materials; and an infrared auxiliary obstacle avoidance positioning device is arranged on the tentacle (3) so as to perform auxiliary positioning and obstacle avoidance stopping.

9. The robotic arm fire control room attendant robot of claim 8, wherein: the mechanical arm (2) is arranged on the Y-axis linear movement mechanism through the fixing seat (1), and the Y-axis linear movement mechanism is movably arranged on the two X-axis linear movement mechanisms; the X-axis linear movement mechanism and the Y-axis linear movement mechanism drive the mechanical arm (2) to move along the linear direction, and the mechanical arm (2) rotates and swings around the fixed seat (1) in the moving process so as to trigger any button on the control panel.