KR101873234B1 - fire fighting robot with automatic fire extinguishing system on board - Google Patents

fire fighting robot with automatic fire extinguishing system on board Download PDF

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Publication number
KR101873234B1
KR101873234B1 KR1020170162411A KR20170162411A KR101873234B1 KR 101873234 B1 KR101873234 B1 KR 101873234B1 KR 1020170162411 A KR1020170162411 A KR 1020170162411A KR 20170162411 A KR20170162411 A KR 20170162411A KR 101873234 B1 KR101873234 B1 KR 101873234B1
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KR
South Korea
Prior art keywords
unit
fire
space
control unit
motion
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KR1020170162411A
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Korean (ko)
Inventor
김형의
김형준
김형민
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코리아테스팅 주식회사
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Priority to KR1020170162411A priority Critical patent/KR101873234B1/en
Priority to PCT/KR2017/013878 priority patent/WO2019107604A1/en
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Publication of KR101873234B1 publication Critical patent/KR101873234B1/en

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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts

Abstract

The present invention relates to a fire fighting robot, and more particularly, to a fire fighting robot that includes a fire unit for emitting fire suppression, a steering angle control unit for controlling the steering of the fire unit, a position tracking unit for tracking the fire detection position, And a posture estimating unit for estimating the posture of the fire fighting robot and keeping the fire suppression robot in a horizontal state. The posture estimating unit estimates the posture of the fire fighting robot and controls the fire suppression robot to fire more efficiently in response to the varying situation. FIELD OF THE INVENTION

Description

Fire fighting robot with automatic fire extinguishing system on board

FIELD OF THE INVENTION [0001] The present invention relates to a fire suppression robot having a fire extinguishing system automatic topping target designation, and more particularly, to a fire suppressing robot having a fire extinguishing function capable of suppressing a fire in a high- Robot.

In the past, after moving a fire truck with water for fire extinguishing to a location adjacent to the fire site, firefighters used the fire fighting lantern to discharge the water stored in the fire truck to the fire site, thereby suppressing the fire.

However, such a direct fire extinguishing method causes firefighters to be directly exposed to hot flames and combustion gases, causing firefighters to be burned or to be poisoned with flue gas, and when the ambient temperature is raised high due to the flame, There is a problem that the efficiency of the fire suppression is low and the firefighters can not discharge the water through the firefighting lantern. Therefore, in the case of the high-rise buildings above a certain height, There were also difficult problems.

As shown in FIG. 1, a fire fighting robot for fire fighting has been developed, in which water is discharged to a fire site through a fire nozzle 32 after a fire hose is mounted and moved to a fire point.

However, since the fire-fighting robot shown in FIG. 1 can access the fire scene instead of the fire-fighting robot, the problem that the fire-fighters are burned by the flame or is sucked by sucking the combustion gas can be solved. However, Like fire trucks used, the fire extinguishing method is used by discharging water to the fire site through fire extinguishing nozzles. Therefore, the distance that water can be discharged is limited, and fire extinguishing of high-rise buildings such as buildings is difficult. The problem with the device is still not resolved.

Therefore, there is a need for a new type of fire fighting robot having a larger fire suppression range than conventional fire fighting robots.

Registration No. 10-1400770 (May 22, 2014)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fire suppression robot with a fire extinguisher automatic fire extinguishing system capable of extinguishing a fire which has been difficult to suppress in the past.

In other words, since the location of the fire is high, water discharged from the fire-fighting lake does not reach the fire point, or fire trucks are difficult to enter the fire site, And property damage.

It is another object of the present invention to provide a fire fighting robot capable of preventing a firefighter from burning due to a flame or a toxic gas poisoning problem due to exposure to toxic gas when a firefighter directly enters a fire site.

According to an aspect of the present invention, there is provided a fire suppression control system for a fire extinguisher automatic target placement type fire extinguishing system, comprising: a fire unit (100) for emitting a fire extinguisher; And a steering angle control unit 200 for controlling the steering of the launch unit 100. The steering angle control unit 200 includes a first steering angle control unit 210 for performing a rolling motion of the launch unit 100, And a second steer angle control unit (220) for executing yawing motion of the launch unit (100).

The fire extinguisher may be a fire extinguisher having a fire extinguishing material therein or a fire extinguisher having a dimple formed on an outer circumferential face thereof.

The position tracking unit 300 may further include a position tracking unit 300 for tracking a fire position. The position tracking unit 300 includes at least one of an ultraviolet sensor 310 and an infrared sensor 320.

The position tracking unit 300 may further include a direction adjusting unit 301 for controlling a fire position tracking direction, and the direction adjusting unit 301 may include a direction detecting unit And a second direction adjusting unit 301-2 for performing yawing motion of the position tracking unit 300. The first direction adjusting unit 301-1 includes a first direction adjusting unit 301-1 and a second direction adjusting unit 301-2.

The controller may further include a transfer unit 400 for transferring the launch unit 100 and the steering angle control unit 200.

The transfer unit 400 may further include a support unit 410 for limiting the displacement of the launch unit 100 that occurs in response to a force by which the launch unit 100 fires the fire extinguisher, And a plurality of reaction force supports 410A coupled to the edge of the transfer unit 400 are assembled together.

The reaction support bracket 410A includes a fixed support portion 410A-1 and a hinge connection portion 410A-2, one end of which is hinged to the fixed support portion 410A-1 and the other of which is hinged to the transfer portion 400. [ And an angle formed between the hinge connection part 410A-2 and the conveyance part 400. The angle of the hinge connection part 410A-1 and the hinge connection part 410A- And a portion 410A-3.

The posture estimating unit may further include an orientation estimating unit that estimates an orientation of the fire fighting robot based on an angle detected by the gyro sensor and an angle detected by the acceleration sensor, And the fire fighting robot is restored to a specified arbitrary posture.

The transfer unit 400 further includes a transfer unit body 401 connected to the steering angle control unit 200. The transfer unit body 401 includes a sliding movement unit 400 for controlling the XY plane movement of the steering angle control unit 200, The sliding movement unit 401A includes a first sliding movement unit 401A-1 for adjusting the sliding movement of the steering angle control unit 200 in the Y-axis direction, a first sliding movement unit 401A- And a second sliding movement part 401A-2 for controlling the sliding movement of the first sliding part 401A-1 in the X-axis direction.

The launching unit 100 includes a launching platform 110 having a space 111 in which a fire suppression port is located and an actuator 120. The actuator 120 has a space A cylinder tube 123 in which a motion space 122 of a piston rod 121 that fires a fire suppression port located at a predetermined position of the piston rod 121 and a piston motion timing control unit 124 that controls a motion timing of the piston rod 121, And a control unit.

In addition, the piston motion time control unit 124 may press and fix the piston rod 121 in correspondence with the input hydraulic fluid.

A piston ring 121-1 is formed at the other end of the piston rod 121 and is inserted into the movement space 122 through an air inlet 123-1 formed on the other side of the cylinder tube 123 And is decelerated at an arbitrary position by an airbag portion 123-2 formed at one side of the cylinder tube 123. The airbag portion 123-2 is disposed at a predetermined position.

The airbag section 123-2 is disposed at a position spaced apart from the movement space 122 by a distance A from the air inflow section 123-1 and by a distance B from the air inflow section 123-1 A first pressure equalizing passage 1 communicating with the motion space 122 of the air inlet portion 123-1 and a second pressure equalizing passage 2 communicating with the motion space 122 , And a second pressure equalizing passage (3) for communicating the motion space (122) at a position spaced apart by D from the air inlet (123-1). (A <B <C <D)

A first air discharge passage (2) located on a first pressure equalizing zone (S1) where the first pressure equalizing passage (1) is formed and communicating with the outside of the movement space (122) Further comprising a second air discharge passage (4) located at a position spaced apart from the first air discharge passage (123-1) by E and communicating with the outside of the movement space (123), and the second air discharge passage Air is injected into the motion space 122 located at one side of the piston ring 121-1 through the second air discharge passage 4 and the piston rod 121 is moved to a position before the fire- And a third control unit (CU-3) for returning the control unit. (A < B < C < D)
A launching unit 110 having a space 111 in which a fire suppression port is located, and a launching unit 100 including an actuator 120; A first steering angle control unit 210 for controlling the steering of the launch unit 100 and performing rolling motion of the launch unit 100 and a second steering angle control unit 210 for executing yawing motion of the launch unit 100. [ Wherein the actuator 120 includes a motion space 122 of the piston rod 121 that fires a fire suppression port located in the space 111, And a piston movement timing control unit 124 for controlling a movement timing of the piston rod 121. The piston movement timing control unit 124 controls the piston movement timing of the piston rod 121 according to the input hydraulic oil, And a piston ring 121-1 is formed at the other side edge of the piston rod 121 so that the air inlet portion 123-1 formed on the other side of the cylinder tube 123 In correspondence with the air input into the movement space 122, And the airbag section 123-2 is decelerated at an arbitrary position by the airbag section 123-2 formed at one side of the cylinder tube 123. The airbag section 123-2 is moved in the air inflow section 123-1 A first pressure equalizing passage (1) for communicating the motion space (122) at a position separated by a distance A from the motion space (122) at a position separated by B from the air inlet (123-1) Communicates with the moving space 122 at a position spaced by C from the air inlet 123-1 and one end of the moving space 122 at a position spaced by D from the air inlet 123-1 A second pressure equalizing passage 3 and a first pressure equalizing passage S1 in which the first pressure equalizing passage 1 is formed, And a passage (2). (A <B <C <D)

The fire-fighting robot of the present invention, which is a target-specific fire-fighting robot, fire extinguishers such as fire extinguishers and crushers to suppress the fire, so that the fire suppressor There is an advantage that can suppress the fire.

In other words, compared to conventional fire fighting robots that release water by simply discharging water, the area in which fire can be suppressed is widened, so that a conventional fire suppression robot can suppress a fire that could not be suppressed. It is possible to minimize damage.

In addition, since the location of the fire can be traced by using the ultraviolet sensor and the infrared sensor, it is possible to precisely designate the target point of the fire extinguisher even in an environment where visibility can not be secured due to smoke generated in the fire.

The fire suppression robot estimates the posture of the fire suppression robot and keeps the fire suppression robot in a predetermined posture based on the estimated posture of the fire suppression robot, thereby maximizing the fire accuracy of the fire suppression chamber.

In addition, there is an advantage that the air bag system in which the piston rod is naturally decelerated by the air pressure difference after the piston rod is fired in the cylinder is applied to solve noise and breakage problems caused by the piston rod and cylinder colliding with each other.

In addition, the fire suppression unit is divided into a crushing unit for destroying the object and a fire extinguishing unit having the fire extinguishing material embedded therein, so that the fire suppressing unit can be selectively used according to the fire environment.

In addition, a steel wire is formed on the inner circumference of the launch part to solve the problem that the fire accuracy of the fire extinguisher is reduced due to disturbance such as wind and air resistance, and dimple is formed on the surface of the crusher to maximize the firing distance and speed of the crusher.

1 is a perspective view of a conventional fire fighting robot.
FIG. 2 is a perspective view showing a launching part and a steering angle control part of a fire fighting robot of the fire fighting robot of the present invention.
FIG. 3 is a perspective view showing a fire suppression robot with a fire extinguisher automatic loading target designation equipped with a transfer unit according to the present invention. FIG.
4 is a conceptual view showing a position tracking unit of a fire fighting robot with a fire target automatic fire extinguishing system according to the present invention.
FIG. 5 is a perspective view showing a supporting portion formed on a fire fighting robot of a fire fighting automatic targeting target designation type fire fighting robot according to the present invention. FIG.
6 is an AA cross-sectional view of a fire suppression robot of a fire target automatic fire extinguisher targeting target according to the present invention.
FIG. 7 is a perspective view showing an actuator of a fire fighting robot of the fire fighting robot of the present invention. FIG.
Figs. 8 to 15 are a cross-sectional view and a system view showing an actuator of a fire fighting robot of the fire fighting robot of the automatic fire extinguishing system of the present invention. Fig.

Advantages and features of embodiments of the present invention and methods of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a fire fighting robot 1000 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a perspective view showing a fire fighting robot 1000 with a fire extinguisher automatic loading target designation according to the present invention.

2, the fire fighting robot 1000 according to the present invention includes a fire unit 100 for emitting a fire suppression port and a steering angle control unit 200 for controlling the steering of the fire unit 100 .

In detail, the steering angle control unit 200 adjusts the direction of the launching unit 100 to a direction in which a fire suppression port can be fired toward a target point where a fire occurs, It is to fire the suppression ball and suppress the fire at the target point.

At this time, the steering angle control unit 200 may have various configurations as long as it can control the multi-axis of the launch unit 100. However, as shown in FIG. 2, the rolling motion of the launch unit 100 is executed based on the X- And a second steer angle control unit 220 for executing yawing motion of the launch unit 100 with respect to the Z axis. The first steer angle control unit 210 has a minimum configuration, Is maximized.

The first steering angle control unit 210 includes a groove for receiving the launch unit 100. The first steering angle control unit 210 includes a first steering angle control unit 210, And the lower portion of the first steering angle control unit 210 is tilted in the up and down direction according to the rotation of the first steering angle rotation shaft 211, The second steering angle control unit 220 is coupled to the upper side of the second steering angle control unit 360 so as to be rotatable 360 degrees about the Z axis so that the launching unit 100 can have a wider firing area in biaxial motion.

3, the fire fighting robot 1000 according to the present invention may further include a transfer unit 400 for transferring the launch unit 100 and the steering angle control unit 200, and the upper side of the transfer unit 400 The transfer unit body 401 having the sliding movement unit 401A for controlling the movement of the steering angle control unit 200 on the XY plane is positioned and the transfer unit 400 and the steering angle control unit 200 are connected to each other through the transfer unit body 401 Can be connected.

Since the sliding movement unit 401A can move the steering angle control unit 200 freely on the XY plane, the sliding movement unit 401A may have various structures. In one embodiment, A first sliding movement part 401A-1 for controlling the sliding movement and a second sliding movement part 401A-2 for controlling the sliding movement of the first sliding movement part 401A-1 in the Y-axis direction Structure.

In detail, the first sliding movement unit 401A-1 and the steering angle control unit 200 are slidably engaged to move the steering angle control unit 200 in the X-axis direction along the first sliding movement unit 401A-1 The first sliding moving part 401A-1 is slidably engaged with the second sliding moving part 401A-2 so that the first sliding moving part 401A-1 and the second sliding moving part 401A- In the Y-axis direction.

Therefore, the steering angle control unit 200 can have more freedom of movement on the XY plane.

Further, in the present invention, the fire extinguisher may be a fire extinguisher provided with a fire extinguishing material therein or a crusher having dimples formed on an outer circumferential face thereof.

In detail, when the place where the fire occurs is a building, the fire extinguisher containing the fire extinguishing material must be infiltrated into the inside of the building where the fire occurred. Therefore, the fire extinguisher can be crushed by a glass window or flame, In the case where there is no path through which the fire extinguisher can move to the fire point, the fire extinguisher is fired and the fire extinguisher is destroyed by the fire extinguisher, So that a possible path can be formed.

In this case, since the crusher must have a speed higher than a certain level in order to crush an object positioned at a target point, it is recommended that a plurality of dimples are formed on the outer circumference to minimize a decrease in speed due to air resistance during the flight, , The crusher had a diameter of 14 cm and a thickness of 1.2 cm. The crusher consisted of one type in which 126 dimples having a radius of 1.35 cm were placed on the surface of the crusher at an interval of 18 degrees, and a type having a diameter of 14 cm and a diameter of 1.15 cm A total of 126 dimples having a radius of 1.35 cm on the surface of the crushing ball and having a diameter of 14 cm and a thickness of 1.2 cm and having a radius of 1.2 cm on the surface of the crushing ball, There are three types of 78 dimples spaced 22.5 degrees apart and a radius of 1.35 cm on the surface of the crusher with a diameter of 14 cm and a thickness of 1.2 cm 48 dimples may be 4 types spaced 30 degrees apart, and each type of crusher weighs 4.5kg.

In the fire fighting robot of the present invention, a steel wire is formed on the launch part 100, and the fire extinguisher is rotated by a certain amount or more when the fire extinguisher is fired, so that the fire extinguisher is blown, It is possible to prevent a deviation from the specified path due to a disturbance factor such as a resistance.

3, the fire fighting robot according to the present invention may further include a position-tracking unit 300 for tracking a fire position, and the position-tracking unit 300 may include an ultraviolet sensor (310) and an infrared ray sensor (320). By using the two sensors simultaneously, the fire position can be tracked more accurately.

In detail, since the ultraviolet sensor 310 and the infrared sensor 320 have different wavelength ranges of the measurable light, it is possible to detect a position tracking error that may occur when only one sensor is used by using two different sensors in combination It can be corrected.

At this time, the infrared sensor may be a manual type which does not have a light emitter and reads only the change of infrared rays received from the outside world, but it may be an active type in which the infrared rays are copied by themselves to detect a change by blocking the light.

The position tracking unit 300 may include a direction adjusting unit 301 for controlling a fire position tracking direction, and the direction adjusting unit 301 may perform a rolling motion of the position tracking unit 300 And may include a first direction adjusting unit 301-1 and a second direction adjusting unit 301-2 that performs yawing motion of the position tracking unit 300. [

The first direction controller 301-1 includes a first pulley 302 coupled to the position sensor unit 330 on which the ultraviolet sensor 310 and the infrared sensor 320 are mounted, A second pulley 304 connected to the first pulley 302 by a first belt 303 and a first motor 305 for controlling rotation of the second pulley 304, The first pulley 302 adjusts the rotation of the tracking sensor 330 based on the X axis and the second direction adjuster 301-2 adjusts the rotation of the first pulley 302 And a third pulley 307 connected to the first belt 303 and the direction adjusting body 306 to which the second pulley 304 and the first motor 305 are coupled, The motor 309 rotates the third pulley 307 and the fourth pulley 308 connected by the second belt so that the second direction adjuster 301-2 is rotated by the direction adjusting body 306, As shown in FIG.

4, the infrared sensor 320 may be mounted on the tracking control unit 330 and may be coupled to the tracking control unit 330. In this case, It is possible to track the fire point separately from the built-in infrared ray sensor 320.

3, the position tracking unit 300 is coupled to the steering angle control unit 200. However, the position tracking unit 300 may be coupled to the launch unit 100, The position-tracking unit 300 or the launching unit 100, which are combined using the first direction adjusting unit 301-1 and the second direction adjusting unit 301-2, Of course, exercise is possible.

5, the fire fighting robot 1000 according to the present invention may further include a transfer unit 400 for transferring the launch unit 100 and the steering angle control unit 200, And a support unit 410 for limiting the displacement of the launching unit 100, which occurs in response to a force by which the launching unit 100 fires the fire extinguisher.

In detail, the fire fighting robot 1000 according to the present invention fires a fire extinguisher at a fire point in the fire unit 100, so that when the fire extinguisher is fired at the fire extinguisher 100, A reaction force corresponding to the force for emitting the fire extinguisher may be generated and the fire suppression robot 1000 may be pushed back from the initial fire point by the generated reaction force.

Therefore, the fire fighting robot 1000 according to the present invention restricts the occurrence of displacement when the fire-fighting unit 100 fires a fire suppression port using the support unit 410, so that the fire fighting robot 1000 can fire the fire- The accuracy of the launched fire suppression sphere is lowered and the positional information on the tracked fire point becomes unusable information. Whenever a new fire suppression sphere is launched, And solves the conventional problem of obtaining new information.

In this case, the support unit 410 may include a plurality of reaction force supports 410A coupled to the edge of the transfer unit 400. Each of the reaction force supports 410A may include a fixed support unit 410A-1, A hinge connection part 410A-2 hinged to the stationary support part 410A-1 and hinged to the transfer part 400 on the other side and a hinge connection part 410A-2 hinge-connected to the stationary support part 410A-1 and the hinge connection parts 410A- And a driving motion adjusting unit 410A-3 for adjusting the angle formed by the hinge connection unit 410A-2 and the conveyance unit body 401. [0035]

In detail, the support part 410 disperses the reaction force for emitting the fire extinguisher in the launch part 100 by using the fixed support part 410A-1 in contact with the ground, and the fire extinguishing part 100, When the fire fighting robot 1000 leaves the designated arbitrary position in response to the force to fire the fire fighting robot 1000, the driving motion adjusting unit 410A-3 controls each of the reaction force supporting rods 410A, ) Can return to the initial position before fire extinguishing.

The fire fighting robot 1000 according to the present invention is configured such that the support portion 410 is fixed to the ground located on the edge of the endless track wheel 420 in a state where the endless track wheel 420 of the transfer portion 400 is in contact with the ground The supporting unit 410 may have a second fire mode in which the fire suppression robot 1000 is supported while the caterpillar 420 is separated from the ground, An attitude estimation unit for estimating the attitude of the suppressing robot can be provided to restore the posture of the fire suppression robot generated when the fire unit 100 fires the fire suppression unit in the second fire mode to the posture of the fire extinguisher.

More specifically, the posture estimation unit built in the fire fighting robot compares the posture information before the fire suppression unit is fired by the fire unit 100 with the posture information after the fire suppression unit is fired by the fire unit 100, The reaction force support 410A is restored to the posture of the fire suppression robot before the fire suppression robot 100 launches the fire suppression port.

In this case, the posture estimating unit estimates the posture based on the angle detected by the gyro sensor and the angle detected by the acceleration sensor, and the angle measurement of the gyro sensor is performed by the following equation 1, The detection can be performed by the following equation (2), and a Kalman filter can be used for the posture estimation through the combination of the angles measured by the gyro sensor and the acceleration sensor.

Equation 1)

Figure 112017119504811-pat00001

Equation 2)

Figure 112017119504811-pat00002

(

Figure 112017119504811-pat00003
: x direction acceleration,
Figure 112017119504811-pat00004
: y-direction acceleration,
Figure 112017119504811-pat00005
: z direction acceleration, p: pitching angle,
Figure 112017119504811-pat00006
: Rolling angle)

6, the launching unit 100 includes a launching platform 110 having a space 111 in which a fire suppression port is located, The actuator 120 includes a piston rod (not shown) for emitting a fire suppression port located in the space 111, as shown in FIG. 7, A cylinder tube 123 in which a motion space 122 of the piston 121 is formed and a piston motion time control unit 124 for controlling the motion time of the piston rod 121.

8, a piston ring 121-1 is formed at the other side edge of the piston rod 121 so that air is introduced into the movement space 122 from the first control unit CU- The pressure of the air located in the movement space 122 located on the other side of the piston ring 121-1 becomes higher and the piston rod 121 located in the movement space 122 moves from one side The fire suppression port located in the space 111 is fired to the target position by pushing the fire suppression port located in the space 111 of the launching platform 110. [

At this time, when the piston rod 121 moves in accordance with the air injected from the first control unit CU-1 to the motion unit 122, the piston rod 121 pushes the fire suppression port, The piston movement timing control unit 124 presses and fixes the edge of the piston rod 121 and the second control unit CU-1 is moved to the other side of the piston rod 121 The piston rod 121 that presses the air on the first space 122-1 and then presses the motion time control unit 124 at a certain point in time, Thereby allowing the piston rod 121 to have a sufficient force to push the fire extinguisher and fire it to the designated position.

The motion time control unit 124 includes an ABS system that repeats an operation of pressing the piston rod 121 and an operation of separating the piston rod 121 from the piston rod 121, The speed of motion of the piston rod 121 can be controlled.

The driving energy of the exercise time control unit 124 may be fluid such as air or hydraulic oil input from the second control unit CU-2 and the second control unit CU- 1 to the motion timing control unit 124. The air is supplied to the motion timing control unit 124 through the piston rod 121 so that the cross-sectional area of the motion timing control unit 124, which contacts the piston rod 121, It is possible to make the motion time control unit 124 more smoothly control the motion speed and the motion time point of the piston rod 121 by making the cross-sectional area of the first space 122-1 larger than the cross-

Referring to FIG. 5, the launching platform 100 may include a fire extinguisher provided on both sides of a launching platform 110 having an internal space formed therein. When a space for the fire extinguisher is communicated with the space of the launching platform 110 to install the fire extinguisher in the space of the launching platform 110, So that it can be introduced into the space.

9, the piston rod 121 is connected to the moving space 122 through the air inlet 123-1 formed on the other side of the cylinder tube 123, And can be decelerated at an arbitrary position by the airbag section 123-2 formed on one side of the cylinder tube 123. [

When the end of the movement time control unit 124 which pushes the edge of the piston rod 121 falls from the edge of the piston rod 121, The first space 122-1 located on the other side of the piston ring 121-1 and the second space 122-2 located on one side of the piston ring 121-1 move from one side to the other, When the piston rod 121 is moved at a high speed due to a high pressure difference between the space 122-1 and the second space 122-2, the piston ring 121-1 is hit by the cylinder tube 123, In addition, breakage accidents may also occur.

Therefore, in the fire fighting robot of the present invention, the airbag section 123-2 is formed on one side of the cylinder tube 123, and the piston rod 121 pushes the fire suppression port located in the space 111 It is possible to prevent an accident that occurs when the piston rod 121 is decelerated and the piston ring 121-1 collides with the cylinder tube 123 after firing.

Referring to FIG. 10, the airbag section 123-2 includes the moving space 122 at a position spaced by A from the air inflow section 123-1, the air inflow section 123- And a first pressure equalizing passage (1) for communicating the motion space (122) at a position spaced by B from the first pressure equalizing passage (1), wherein the first pressure equalizing passage (1) A first air discharge passage 2 communicating with the motion space 122 may be formed in the first space.

11, when air flows into the air inlet 123-1 until the rear end of the piston ring 121-1 is positioned at L2 from L1, the piston ring 121 The air pressure in the first space 122-1 located on the other side of the piston ring 121-1 becomes higher than the air pressure in the first space 122-2 located on one side of the piston ring 121-1, It is possible to prevent the air located in the second space 122-2 from interfering with the motion of the piston rod 121 because the air escapes through the first air discharge passage 2, When the rear end of the piston ring 121-1 passes through L2, the first space 122-1 and the second space 122-2 are communicated with each other through the first pressure equalizing passage 1 The pressure in the first space 122-1 and the pressure in the second space 122-2 become equal to each other and when the rear end of the piston ring 121-1 passes L3, Since the air is discharged to the outside through the (2), to which the piston ring 121-1 over the past after the piston rod 121 is decelerated to L3.

That is, the piston rod 121 is accelerated until the other end of the piston ring 121-1 is positioned at L3, so that the fire suppression port can be pushed more strongly. Since the piston ring 121-1 has passed through L3 The pressure in the first space 122-1 and the pressure in the second space 122-2 are made equal to each other using the pressure equalization passage 1 and the pressure in the second space 122- 1 to the outside, thereby causing the piston rod 121 to decelerate after passing L3.

14, the airbag section 123-2 of the fire fighting robot according to the present invention includes the moving space 122 at a position spaced apart from the air inflow section 123-1 by C, And a second pressure equalizing passage (3) for communicating the motion space (122) at a position spaced apart by D from the inlet (123-1).

More specifically, the volume of the second space 122-2 becomes narrower after the piston ring 121-1 passes the L4 position, and the air located on the second space 122-2 is continuously compressed , The second pressure equalizing passage 3 is formed after the first pressure equalizing passage 1, so that the pressure in the second space 122-2 is increased, The pressure in the second space 122-2 is excessively increased as the first space 122-1 and the second space 122-2 are communicated with each other through the second pressure equalization passage 3 as shown in FIG. Thereby preventing the cylinder tube 123 from being damaged.

14 and 16, the fire fighting robot according to the present invention includes a second air discharge passage 4 (see FIG. 14) that communicates with the movement space 123 at a position spaced apart from the air inflow portion 123-1 by E And the second air discharge passage 4 is connected to the third control unit CU-3 capable of controlling the pressure on the second air discharge passage 4, 121 to the pre-acceleration position.

16, in order to return the piston rod 121 stopped by the airbag portion 123-2 to the position before the fire extinguisher is blown after the fire extinguisher is launched, the second space 122- Since the pressure of the first space 122 is higher than that of the first space 122-1, the third control unit CU-3 is blocked until the piston rod 121 is stopped as shown in FIG. 15, And the air inlet 123-1 is communicated with the outside by using the first control unit CU-1 so that the piston rod 121 is connected to the fire extinguisher And return to the position before the launch.

The first pressure equalizing passage 1 and the second pressure equalizing passage 3 are controlled by the first check valve 5 and the second check valve 6 so that the cross sectional area of the flow passage is controlled, The first check valve 5 and the second check valve 6 are connected to the first pressure equalizing passage 1 and the second pressure equalizing passage It is recommended to shut off the flow path of the first space 122-1 and keep the pressure of the second space 122-2 higher than the pressure of the first space 122-1.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It can be seen that branch substitution, modification and modification are possible.

S1: first pressure equalization zone
1: first pressure equalizing passage
2: first air discharge passage
3: second pressure equalizing passage
4: second air discharge passage
100: Launch unit 110: Launcher
111: Space
120: Actuator 121: Piston rod
121-1: Piston ring
122: motion space 123: cylinder tube
123-1: Air inflow part 123-2: Air bag part
124: piston motion time control unit
200: steering angle control unit 210: first steering angle control unit
220: second steering angle control section
300: Position tracking unit 301:
301-1: first direction adjusting section 301-2: second direction adjusting section
310: ultraviolet sensor 320: infrared sensor
400: conveying section 401: conveying section body
401A: Sliding moving part 401A-1: First sliding moving part
401A-2:
410: Support
410A: reaction force support
410A-1: Fixing support 410A-2: Hinge connection
410A-3:
500:

Claims (14)

A launching part (110) having a space (111) in which a fire suppression port is located and in which a fire suppression port is located; a launching part (100) including an actuator (120); And
A first steering angle control unit 210 for controlling the steering of the launch unit 100 and performing rolling motion of the launch unit 100 and a second steering angle control unit for performing yawing motion of the launch unit 100 And a steering angle control unit (200)
The actuator 120 includes a cylinder tube 123 in which a motion space 122 of a piston rod 121 for emitting a fire suppression port located in the space 111 is formed, And a piston motion time control unit (124) for controlling a motion time point,
The piston motion time control unit 124 compresses and fixes the piston rod 121 corresponding to the input hydraulic fluid,
A piston ring 121-1 is formed on the other side of the piston rod 121 so that air introduced into the motion space 122 through the air inlet 123-1 formed on the other side of the cylinder tube 123 And is decelerated at an arbitrary position by an airbag portion 123-2 formed on one side of the cylinder tube 123,
The airbag section 123-2 is connected to the movement space 122 at a position separated by A from the air inflow section 123-1 and the airbag section 123-2 at a position spaced by B from the air inflow section 123-1. A first pressure equalizing passage 1 communicating with the movement space 122 and the movement space 122 at a position spaced apart from the air introduction portion 123-1 by C, , A second pressure equalizing passage (3) for communicating an end portion of the moving space (122) at a position spaced by D from the first pressure equalizing passage (1), and a second pressure equalizing passage (A < B < C < D), further comprising a first air discharge passage (2)
The method according to claim 1,
Wherein the fire suppressor is a fire extinguisher having a fire extinguishing material therein or a fire extinguisher having a dimple formed on an outer circumferential face thereof.
The method according to claim 1,
And a position tracking unit (300) for tracking a fire position, characterized in that the position tracking unit (300) includes at least one of an ultraviolet sensor (310) and an infrared sensor (320) robot.
The method of claim 3,
The position tracking unit 300 further includes a direction adjusting unit 301 for controlling a fire position tracking direction, and the direction adjusting unit 301 adjusts the direction of the fire in a first direction And a second direction control unit (301-2) for executing yawing motion of the position tracking unit (300).
The method according to claim 1,
Further comprising a transfer unit (400) for transferring the fire unit (100) and the steering angle control unit (200).
6. The method of claim 5,
The transfer unit 400 further includes a support unit 410 for limiting a displacement of the launch unit 100 generated in response to a force by which the launch unit 100 fires the fire extinguisher, ) Is composed of a plurality of reaction force supporting rods (410A) coupled to the edge of the transferring part (400).
The method according to claim 6,
The reaction support bracket 410A includes a fixed support portion 410A-1, a hinge connection portion 410A-2 having one side hinged to the fixed support portion 410A-1 and the other side hinged to the transfer portion 400, A driving motion adjusting unit adjusting an angle formed by the fixed support unit 410A-1 and the hinge connection unit 410A-2 and an angle formed between the hinge connection unit 410A-2 and the transfer unit 400 410A-3). &Lt; / RTI &gt;
8. The method of claim 7,
Further comprising an orientation estimation unit for estimating an orientation of the fire fighting robot based on an angle detected by the gyro sensor and an angle detected by the acceleration sensor, And the restraint robot is restored to a specified arbitrary posture.
6. The method of claim 5,
The transfer unit 400 further includes a transfer unit body 401 connected to the steering angle control unit 200,
The feeder body 401 further includes a sliding movement unit 401A for controlling the XY plane movement of the steering angle control unit 200,
The sliding movement unit 401A includes a first sliding movement unit 401A-1 for controlling the sliding movement of the steering angle control unit 200 in the Y-axis direction, a second sliding movement unit 401A- And a second sliding movement part (401A-2) for controlling the sliding movement are assembled together.
delete delete delete delete The method according to claim 1,
Further comprising a second air discharge passage (4) located at a position spaced apart from the air inlet (123-1) by E and communicating with the outside of the movement space (122), and the second air discharge passage 4 injects air into the motion space 122 positioned at one side of the piston ring 121-1 through the second air discharge passage 4 to blow the piston rod 121 to the fire- (A < B < C < E &lt; D)
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