CN106217379A - A kind of fire scene rescue intelligent robot - Google Patents
A kind of fire scene rescue intelligent robot Download PDFInfo
- Publication number
- CN106217379A CN106217379A CN201610780379.1A CN201610780379A CN106217379A CN 106217379 A CN106217379 A CN 106217379A CN 201610780379 A CN201610780379 A CN 201610780379A CN 106217379 A CN106217379 A CN 106217379A
- Authority
- CN
- China
- Prior art keywords
- fixedly mounted
- frame
- servomotor
- fuselage
- groups
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000001301 oxygen Substances 0.000 claims abstract description 25
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 25
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 12
- 239000007789 gas Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000003384 imaging method Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of fire scene rescue intelligent robot, including fuselage, 4 groups of walking mechanisms, 2 groups of handling modules, it is characterised in that: 4 groups of described walking mechanisms are fixedly mounted on four angles of frame of fuselage；2 groups of described handling modules are fixedly mounted on fuselage；Described fuselage includes frame, control module, power module, oxygen supply module, oxygen mask, airway, 4 photographic head, and described control module is fixedly mounted on frame upper surface；Described power module is fixedly mounted on frame upper surface；Mobility of the present invention is good, can shuttle back and forth, and gather real time imaging in the scene of a fire, trapped personnel can be carried out oxygen supply and relief, trapped personnel is rescued the scene of a fire.
Description
Technical field
The present invention relates to robot field, particularly to a kind of fire scene rescue intelligent robot.
Background technology
Fire is rescued for trapped personnel extremely important timely when occurring, fire fighter in the scene of a fire is often due to reality
Situation is difficult to enter, it is impossible to rescue in time, is therefore badly in need of a kind of fire scene rescue intelligent robot.
Summary of the invention
For the problems referred to above, the present invention provides a kind of fire scene rescue intelligent robot, and its mobility is good, it is possible to stranded
Personnel carry out oxygen supply.
Technical scheme used in the present invention is: a kind of fire scene rescue intelligent robot, including fuselage, 4 groups of walking mechanisms,
2 groups of handling modules, it is characterised in that: 4 groups of described walking mechanisms are fixedly mounted on four angles of frame of fuselage；Described 2
Group handling module is fixedly mounted on fuselage；
Described fuselage includes frame, control module, power module, oxygen supply module, oxygen mask, airway, 4 photographic head, institute
The control module stated is fixedly mounted on frame upper surface；Described power module is fixedly mounted on frame upper surface；Described
Oxygen supply module be fixedly mounted on frame upper surface；Described airway one end is fixedly mounted on oxygen supply module gas outlet,
The other end is fixedly mounted on oxygen mask；4 described photographic head are fixedly mounted on frame lower surface surrounding；
Described each walking mechanism includes the first servomotor, decelerator, servo electricity cylinder, motor rack, the second servomotor, car
Wheel, the first described servomotor is fixedly mounted on frame upper surface, and described speed reducer housing is fixedly mounted under frame
On end face, the first described servo motor output shaft is fixedly mounted on reducer input shaft, and described reducer output shaft is solid
Dingan County is contained on servo electricity cylinder bottom seat；Described motor rack is fixedly mounted on servo electricity cylinder piston rod；The second described servo
Motor is fixedly mounted on motor rack；Described wheel is fixedly mounted on the second servo motor output shaft；
Described often group handling module includes travelling carriage, the 3rd servomotor, gear, tooth bar, drags and take pawl, chute, rach slot, institute
The travelling carriage stated is fixedly mounted in the mounting seat of frame upper surface, and described travelling carriage is provided with chute, rach slot；Described
3rd servomotor is fixedly mounted on frame lower surface；Described gear is fixedly mounted on the 3rd servo motor output shaft；
Described dragging takes both sides, pawl one end and is provided with slide block and tooth bar；Described dragging takes pawl and is slidably mounted on travelling carriage, and described dragging takes
The slide block of pawl both sides coordinates with chute, and described tooth bar coordinates in rach slot and with gear.
Owing to present invention employs technique scheme, the invention have the advantages that
Mobility of the present invention is good, can shuttle back and forth, and gather real time imaging in the scene of a fire, trapped personnel can be carried out oxygen supply and rescue
Help, trapped personnel is rescued the scene of a fire.
Accompanying drawing explanation
Fig. 1 is the structural representation after the present invention is completed.
Fig. 2 is the structural representation after another angle of the present invention is completed.
Fig. 3 is the structural representation after another angle of the present invention is completed.
Fig. 4 is the structural representation of travelling carriage of the present invention.
Drawing reference numeral: 1-fuselage；2-walking mechanism；3-handling module；101-frame；102-control module；103-power supply
Module；104-oxygen supply module；105-oxygen mask；106-airway；107-photographic head；201-the first servomotor；202-slows down
Device；203-servo electricity cylinder；204-motor rack；205-the second servomotor；206-wheel；301-travelling carriage；302-the 3rd servo
Motor；303-gear；304-tooth bar；305-drags and takes pawl；306-chute；307-rach slot.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of fire scene rescue intelligent robot, including 1,4 groups of walking mechanisms 2,2 of fuselage
Group handling module 3, it is characterised in that: 4 groups of described walking mechanisms 2 are fixedly mounted on 101 4 angles of frame of fuselage 1；Institute
The 2 groups of handling modules 3 stated fixedly mount on the fuselage 1；
Described fuselage 1 includes frame 101, control module 102, power module 103, oxygen supply module 104, oxygen mask 105, inducing QI
106,4 photographic head 107 of pipe, described control module 102 is fixedly mounted on frame 101 upper surface；Described power module
103 are fixedly mounted on frame 101 upper surface；Described oxygen supply module 104 is fixedly mounted on frame 101 upper surface；Described
Airway 106 one end be fixedly mounted on oxygen supply module 104 gas outlet, the other end is fixedly mounted on oxygen mask 105；Described
4 photographic head 107 be fixedly mounted on frame 101 lower surface surrounding；
Described each walking mechanism 2 include the first servomotor 201, decelerator 202, servo electricity cylinder 203, motor rack 204,
Two servomotors 205, wheel 206, the first described servomotor 201 is fixedly mounted on frame 101 upper surface, and described subtracts
Speed device 202 shell is fixedly mounted on frame 101 lower surface, and the first described servomotor 201 output shaft is fixedly mounted on and subtracts
On speed device 202 power shaft, described decelerator 202 output shaft is fixedly mounted on servo electricity cylinder 203 base；Described motor rack
204 are fixedly mounted on servo electricity cylinder 203 piston rod；The second described servomotor 205 is fixedly mounted on motor rack 204；
Described wheel 206 is fixedly mounted on the second servomotor 205 output shaft；
Described often group handling module 3 includes travelling carriage the 301, the 3rd servomotor 302, gear 303, tooth bar 304, drags and take pawl
305, chute 306, rach slot 307, described travelling carriage 301 is fixedly mounted in the mounting seat of frame 101 upper surface, described
Travelling carriage 301 is provided with chute 306, rach slot 307；The 3rd described servomotor 302 is fixedly mounted on frame 101 lower surface
On；Described gear 303 is fixedly mounted on the 3rd servomotor 302 output shaft；Described dragging takes both sides, pawl 305 one end and is provided with
Slide block and tooth bar 304；Described dragging takes pawl 305 and is slidably mounted on travelling carriage 301, and described dragging takes the slide block of pawl 305 both sides
Coordinating with chute 306, described tooth bar 304 coordinates in rach slot 307 and with gear 303.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Operation principle of the present invention: first intelligent robot is put into entrance, gathers letter by the 4 of surrounding photographic head 107
Breath generates panoramic picture, control module 102 process, and searches trapped personnel and selects appropriate route, being watched by 4 first
Taking motor 201 drives 4 groups of walking mechanisms 2 rotations to realize intelligent robot walking, regulates intelligent machine by 4 servo electricity cylinders 203
Device people height, is rotated by the 3rd servomotor 302 driven gear 303 and makes it move relative to tooth bar 304 to make to drag and take pawl 305 and rotate
Trapped personnel is held up, intelligent robot judges suitable startup oxygen supply module 104 by the information that 4 photographic head 107 gather,
Stranded can obtain oxygen from oxygen mask 105, intelligent robot passes through control module 102 programme path again, by trapped personnel
Rescue.
Claims (1)
1. a fire scene rescue intelligent robot, including fuselage (1), 4 groups of walking mechanisms (2), 2 groups of handling modules (3), its feature
It is: 4 groups of described walking mechanisms (2) are fixedly mounted on (101) four angles of frame of fuselage (1)；2 groups of described crawl moulds
Block (3) is fixedly mounted on fuselage (1)；
Described fuselage (1) includes frame (101), control module (102), power module (103), oxygen supply module (104), oxygen
Cover (105), airway (106), 4 photographic head (107), described control module (102) is fixedly mounted on frame (101) upper end
On face；Described power module (103) is fixedly mounted on frame (101) upper surface；The fixing peace of described oxygen supply module (104)
It is contained on frame (101) upper surface；Described airway (106) one end is fixedly mounted on oxygen supply module (104) gas outlet, separately
One end is fixedly mounted on oxygen mask (105)；4 described photographic head (107) are fixedly mounted on frame (101) lower surface four
Week；
Described each walking mechanism (2) includes the first servomotor (201), decelerator (202), servo electricity cylinder (203), motor
Frame (204), the second servomotor (205), wheel (206), described the first servomotor (201) is fixedly mounted on frame
(101), on upper surface, described decelerator (202) shell is fixedly mounted on frame (101) lower surface, the first described servo
Motor (201) output shaft is fixedly mounted on decelerator (202) power shaft, described decelerator (202) output shaft fixed installation
On servo electricity cylinder (203) base；Described motor rack (204) is fixedly mounted on servo electricity cylinder (203) piston rod；Described
Second servomotor (205) is fixedly mounted on motor rack (204)；Described wheel (206) is fixedly mounted on the second servo electricity
On machine (205) output shaft；
Described often group handling module (3) includes travelling carriage (301), the 3rd servomotor (302), gear (303), tooth bar
(304), dragging and take pawl (305), chute (306), rach slot (307), described travelling carriage (301) is fixedly mounted on frame (101)
In the mounting seat of upper surface, described travelling carriage (301) is provided with chute (306), rach slot (307)；The 3rd described servo
Motor (302) is fixedly mounted on frame (101) lower surface；Described gear (303) is fixedly mounted on the 3rd servomotor
(302) on output shaft；Described dragging takes pawl (305) both sides, one end and is provided with slide block and tooth bar (304)；Described dragging takes pawl (305)
Being slidably mounted on travelling carriage (301), described dragging takes the slide block of pawl (305) both sides and coordinates with chute (306), described tooth bar
(304) coordinate in rach slot (307) and with gear (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780379.1A CN106217379B (en) | 2016-08-31 | 2016-08-31 | A kind of fire scene rescue intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610780379.1A CN106217379B (en) | 2016-08-31 | 2016-08-31 | A kind of fire scene rescue intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106217379A true CN106217379A (en) | 2016-12-14 |
| CN106217379B CN106217379B (en) | 2018-11-06 |
Family
ID=58072278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610780379.1A Expired - Fee Related CN106217379B (en) | 2016-08-31 | 2016-08-31 | A kind of fire scene rescue intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106217379B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110711331A (en) * | 2019-10-11 | 2020-01-21 | 刘燕 | Rescue robot with high safety reliability for fire |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000126324A (en) * | 1998-10-22 | 2000-05-09 | Nippon Signal Co Ltd:The | Fire robot and fire fighting system |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| KR20150015331A (en) * | 2013-07-31 | 2015-02-10 | 김재훈 | Fire rescue robot using solar heat |
| CN105194825A (en) * | 2014-05-30 | 2015-12-30 | 王科研 | Multifunctional fire-extinguishing robot |
| CN105252514A (en) * | 2015-10-31 | 2016-01-20 | 武汉科技大学 | Fire-fighting robot and assembly method thereof |
| CN205108837U (en) * | 2015-10-19 | 2016-03-30 | 张鲁豫 | High building fire control auxiliary machinery people |
-
2016
- 2016-08-31 CN CN201610780379.1A patent/CN106217379B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000126324A (en) * | 1998-10-22 | 2000-05-09 | Nippon Signal Co Ltd:The | Fire robot and fire fighting system |
| KR20150015331A (en) * | 2013-07-31 | 2015-02-10 | 김재훈 | Fire rescue robot using solar heat |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
| CN105194825A (en) * | 2014-05-30 | 2015-12-30 | 王科研 | Multifunctional fire-extinguishing robot |
| CN104217519A (en) * | 2014-08-15 | 2014-12-17 | 国家电网公司 | Fire alarm robot for transformer substations and inflammable places |
| CN205108837U (en) * | 2015-10-19 | 2016-03-30 | 张鲁豫 | High building fire control auxiliary machinery people |
| CN105252514A (en) * | 2015-10-31 | 2016-01-20 | 武汉科技大学 | Fire-fighting robot and assembly method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110711331A (en) * | 2019-10-11 | 2020-01-21 | 刘燕 | Rescue robot with high safety reliability for fire |
| CN111844073A (en) * | 2020-07-22 | 2020-10-30 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106217379B (en) | 2018-11-06 |
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| PB01 | Publication | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181101 Address after: 224000 Jiangsu Yancheng City environmental protection science and technology city Min Lian village group (28) Patentee after: JIANGSU CASHH NUCLEAR ENVIRONMENT PROTECTION Co.,Ltd. Address before: 054900 71 east section village, Luzhai Township, Linxi County, Xingtai, Hebei Patentee before: Zhang Yuhua |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181106 |