CN113813536A

CN113813536A - Unmanned aerial vehicle and multi freedom arm fire control fire extinguishing robot's joint fire extinguishing systems

Info

Publication number: CN113813536A
Application number: CN202111199936.8A
Authority: CN
Inventors: 王磊; 吕建龙; 张兴起; 付国新; 丁明文; 王文杰
Original assignee: Qingdao Aoxi Intelligent Technology Co ltd
Current assignee: Qingdao Aoxi Intelligent Technology Co ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2021-12-21

Abstract

The invention relates to the technical field of fire-fighting robots, and provides a combined fire-fighting system of an unmanned aerial vehicle and a multi-degree-of-freedom mechanical arm fire-fighting robot, which comprises the unmanned aerial vehicle loaded with a first water supply mechanism; a water supply vehicle mounted with a second reel; the fire-fighting robot is provided with a first reel, a second water supply mechanism, a mounting seat and a mechanical arm mechanism. The invention designs a multi-degree-of-freedom mechanical arm mechanism consisting of three mechanical arms and three telescopic arms for carrying a spray gun, and the multi-degree-of-freedom spray angle of the spray gun can be adjusted by the mechanical arm mechanism. The invention provides a fire-fighting equipment with a first reel and a water supply vehicle with a second reel, wherein the water supply vehicle is selected to be a fire-fighting robot or an unmanned aerial vehicle for fire fighting, and the robot moves in different directions along with the unmanned aerial vehicle. The invention realizes the combined operation of the unmanned aerial vehicle, the fire-fighting robot and the water supply vehicle and can meet the fire-fighting operation requirement of complex environment with high quality.

Description

Unmanned aerial vehicle and multi freedom arm fire control fire extinguishing robot's joint fire extinguishing systems

Technical Field

The invention relates to the technical field of fire-fighting robots, in particular to a combined fire-fighting system of an unmanned aerial vehicle and a multi-degree-of-freedom mechanical arm fire-fighting robot.

Background

The fire-fighting robot is one of special robots and can play a role in fire fighting and disaster relief. In the process of fire-fighting and fire-extinguishing rescue task execution, the device can accurately determine the area of fire-fighting work, and carry out fire-fighting and fire-extinguishing rescue work in the most intelligent and most convenient mode, so that the fire-fighting and fire-extinguishing rescue work is smoothly carried out, and the risk of fire fighters for executing the task is greatly reduced. However, the existing fire-fighting robot only carries a fixed spray gun, so that the fire-fighting height and the fire-fighting angle are limited, and the application range is small.

On the other hand, with the development of economic society in China, high-rise buildings gradually become the mainstream form of buildings, and the fire extinguishing task of the high-rise buildings accounts for a great proportion in the fire rescue task. Once a fire occurs in a high-rise building, the fire spreads quickly due to the restriction of the main structure and the like, and the implementation difficulty of tasks such as evacuation, rescue, fire extinguishment and the like of trapped people is high. The aerial ladder is characterized in that because the building is too high, the aerial ladder equipped with the fire truck can not meet the requirement of actual fire-fighting and rescue work, and a fireman has certain limitation on climbing height; in addition, the smoke and toxic and harmful gases are difficult to be discharged in time after the fire occurs in high-rise buildings, and the water level and the water supply amount of the fire extinguishing water also hardly meet the corresponding requirements. Therefore, the unmanned aerial vehicle carrying the fire-fighting equipment becomes the primary choice for assisting the fire-fighting robot to complete the task of fire rescue, and can respond to corresponding difficulties by means of various functional advantages of the unmanned aerial vehicle.

When the high-rise conflagration breaks out in city, the fire engine second spray gun range is limited, can't implement the rescue, and this condition accessible unmanned aerial vehicle hoists second spray gun and fire hose and puts out a fire to the high-rise. Because high-rise conflagration has the combustor risk of falling, fire engine and firefighter can't be close under the building of starting a fire, and unmanned aerial vehicle had both need overcome the weight of vertical direction hosepipe and hosepipe in flying to the point of fire when putting out a fire, still need to drag the hosepipe and carry out the horizontal direction and remove, and general unmanned aerial vehicle can't reach this kind of load requirement.

Summarizing, current unmanned aerial vehicle's water supply mode divide into two kinds, one kind is from carrying the water tank, relies on the water tank to supply water, and another kind is from ground dragging the water pipe, leans on water piping connection's water supply equipment to supply water. The two water supply modes have advantages and disadvantages respectively, and are suitable for different occasions. The water tank supplies water, so that heavy water pipes can be prevented from being dragged, the flexibility of the unmanned aerial vehicle is improved, but the volume of the water tank is limited by the power performance of the robot, sufficient fire-fighting water cannot be carried, water is required to be continuously supplemented to the water tank, and the fire extinguishing efficiency is influenced; although the mode of dragging the water pipe can satisfy the demand of continuous water use, when the super high-rise building fire control operation, surpassing the height of fire engine water pump lift, still can not reach better fire extinguishing effect. When forest fire control operation, unmanned aerial vehicle can't carry out the operation of carry fire hose.

Therefore, a combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot is developed, the two water supply modes are rapidly switched, and the complementary advantages are realized; meanwhile, aiming at the fire extinguishing area of the robot at the lower layer, the fire extinguishing dead angle is eliminated, and the application range of the fire fighting robot is enlarged. The fire-fighting water supply device aims to solve the problems of insufficient water supply and more fire-fighting dead angles in fire-fighting work, particularly meets the operation requirement of completing fire-fighting of all floors of high-rise buildings with high quality, and becomes a very important subject.

Disclosure of Invention

The invention aims to provide a combined fire-fighting system of an unmanned aerial vehicle and a multi-degree-of-freedom mechanical arm fire-fighting robot, which aims to solve the problems in the background technology.

Unmanned aerial vehicle and multi freedom arm fire control fire extinguishing robot's joint fire extinguishing systems, it includes:

the unmanned aerial vehicle is loaded with the first water supply mechanism;

a water supply vehicle mounted with a second reel;

the fire-fighting robot is provided with a first reel, a second water supply mechanism, a mounting seat and a mechanical arm mechanism;

the mounting seat is provided with a turntable, and the mechanical arm mechanism is rotationally connected with the mounting seat through the turntable;

the mechanical arm mechanism comprises a first arm, a second arm, a third arm, a first telescopic arm, a second telescopic arm and a third telescopic arm;

the first arm, the second arm and the third arm are hinged end to end through rolling shafts;

the head end of the first arm is hinged with the turntable; the tail end of the third arm is provided with a first spray gun;

two ends of the first telescopic arm are respectively hinged with the turntable and the first arm;

two ends of the second telescopic arm are respectively hinged to the first arm and the second arm;

two ends of the third telescopic arm are respectively hinged to the second arm and the third arm;

a first water pipe is carried on the second reel, and a second water pipe is carried on the first reel;

and coil springs are arranged in the first reel and the second reel, so that the second water pipe and the first water pipe are always wound and tightened in the winding and releasing processes.

The head end of the first water pipe is connected with a water supply joint of the water supply vehicle, and the tail end of the first water pipe is connected with the head end of the second water pipe on the first reel;

the end of the second water pipe is selectively connected to the first water supply mechanism of the unmanned aerial vehicle or the second water supply mechanism of the fire-fighting robot.

Further, the second water supply mechanism is provided with a water storage device and a supercharging device, and the supercharging device is provided with a water pipe pipeline connected to the first spray gun; the tail end of the second water pipe can be selectively connected to the water storage device to supply water to the water storage device.

Furthermore, the water pipe pipeline of the pressurizing device connected with the first spray gun is hidden in the first arm, the second arm and the third arm.

Further, the first water supply mechanism includes:

a second spray gun;

a water tank provided with a plurality of water inlets and water outlets;

the tail end of the first pipeline is connected with a water inlet of the water tank;

the head end of the second pipeline is connected with the water outlet of the water tank, and the tail end of the second pipeline is connected with a second spray gun;

the head end of the third pipeline is connected with the water outlet of the water tank, and the tail end of the third pipeline is connected with the second pipeline;

a fourth pipeline with the head end connected with the first pipeline and the tail end connected with the second pipeline;

the electromagnetic valves are arranged on the first pipeline, the second pipeline and the third pipeline;

in the first pipeline, the second pipeline, the third pipeline and the fourth pipeline, the head end of the first pipeline is in the upstream direction of water flow, and the tail end of the first pipeline is in the downstream direction of the water flow;

the tail end of the second water pipe can be selectively connected to the head end of the first pipeline to supply water for the first water supply mechanism.

Further, a first electromagnetic valve is arranged on the first pipeline and arranged in the downstream direction of the connecting position of the first pipeline and the fourth pipeline.

Further, a second electromagnetic valve is arranged on the second pipeline and arranged between the position A and the position B, the position A is the connecting position of the fourth pipeline and the second pipeline, and the position B is the connecting position of the third pipeline and the second pipeline.

Further, a third electromagnetic valve and a water pump are arranged on the third pipeline.

Further, the fire-fighting robot is provided with a chassis, and the mounting seat and the second water supply mechanism are mounted on the chassis; the chassis is also provided with a crawler type travelling mechanism.

Further, be provided with unmanned aerial vehicle positioning and tracking device on the fire-fighting robot chassis for unmanned aerial vehicle's position is trailed in real time, keeps fire-fighting robot to be in the unmanned aerial vehicle below.

Furthermore, the first telescopic arm, the second telescopic arm and the third telescopic arm are hydraulic cylinders, and a hydraulic station is further arranged in the mounting seat and used for providing power for the first telescopic arm, the second telescopic arm and the third telescopic arm.

Compared with the prior art, the invention has the beneficial effects that:

firstly, the invention designs a multi-degree-of-freedom mechanical arm mechanism consisting of three mechanical arms and three telescopic arms for carrying a spray gun, wherein the mechanical arm mechanism is carried on a turntable and can freely rotate, so that the angle of the spray gun can be adjusted; the three mechanical arms are hinged with each other, and the stretching degree of the mechanical arms is adjusted through the stretching of the telescopic arms, so that the height of the spray gun is adjusted; the spraying angle of multiple degrees of freedom of the spray gun can be adjusted through the mechanical arm mechanism.

Secondly, the invention designs a combined fire-fighting system which can realize the quick switching between the self-carrying type water supply mode and the external type water supply mode, realizes the complementary advantages of the self-carrying type water supply mode and the external type water supply mode, and can provide a plurality of operation modes: when general high-rise fire fighting operation is carried out, the ground fire fighting truck is connected with the quick-plugging port at the head end of the first pipeline through the fire hose to supply water to the second spray gun, and continuous fire fighting operation is carried out; when the range of the second spray gun cannot carry out normal fire-fighting operation, water is supplied into the water tank from the ground system, the water is pumped from the water tank by the water pump to carry out pressurized injection, and the range of the second spray gun is increased to continue the fire-fighting operation; when the unmanned aerial vehicle is used for detecting and extinguishing small-sized fire or remaining fire after extinguishing the fire in the forest and the dangerous chemical region, the unmanned aerial vehicle can directly utilize water in the water tank and is pressurized and sprayed by the water pump. The multiple operation modes can be realized by realizing remote control on the ground through the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve, and the operation is convenient.

Thirdly, the fire-fighting robot is provided with a first reel, the first reel carries a second water pipe, and the reel automatically winds the pipe when the height of the unmanned aerial vehicle descends; the fire-fighting robot is provided with an unmanned aerial vehicle positioning and tracking device, can automatically follow the unmanned aerial vehicle to move and is always positioned below the unmanned aerial vehicle; the fire fighting robot is provided with fire fighting water of a fire fighting water tank, after the fire fighting robot is started, the fire fighting robot searches for a fire source through a camera carried by a holder, and grasps the field condition in real time through a thermal infrared imager, and after the fire source is found, the fire fighting water bubble can be operated by a remote control device to aim at the fire source to spray fire fighting water to extinguish fire; in the process of traveling, the robot can realize the automatic obstacle avoidance function through the obstacle avoidance laser radar; the whole system can be operated by manual remote control, and the unmanned aerial vehicle, the fire-fighting robot and the water supply vehicle can work in a combined manner, so that the fire-fighting operation requirement of the high-rise building can be met with high quality.

Fourth, the working vehicle is equipped with the second reel, can carry out the operation of receiving and releasing of first water pipe according to the motion of fire control fire-fighting robot, makes things convenient for the robot to follow unmanned aerial vehicle and carries out the motion of different positions. When the position of the unmanned aerial vehicle is adjusted, only the water hose in the vertical direction and the weight of liquid need to be overcome, and the load requirement on the unmanned aerial vehicle is reduced.

Drawings

Fig. 1 is a schematic structural view of a fire-fighting robot when a second water pipe is connected with an unmanned aerial vehicle according to the present invention;

FIG. 2 is a schematic view of the connection structure of the unmanned aerial vehicle, the fire-fighting robot and the water supply vehicle;

fig. 3 is a schematic structural diagram of an unmanned aerial vehicle equipped with a first water supply mechanism;

FIG. 4 is a schematic structural view of a first water supply mechanism;

FIG. 5 is a schematic view showing a connection structure of the water supply vehicle and the second reel;

FIG. 6 is a schematic structural view of the fire fighting robot when the second water pipe is connected to the water supply vehicle;

FIG. 7 is a schematic view showing a connection structure of the fire fighting robot and the water supply vehicle;

FIG. 8 is a schematic view of the structure of a robot arm in embodiment 6;

FIG. 9 is a schematic view of the structure of a robot arm in example 7.

In the figure:

the second water supply mechanism 1, the mechanical arm mechanism 2, the first arm 21, the second arm 22, the third arm 23, the first telescopic arm 24, the second telescopic arm 25, the third telescopic arm 26, the first spray gun 27, the mounting base 3, the chassis 4, the unmanned aerial vehicle positioning and tracking device 401, the traveling mechanism 402, the first reel 5, the turntable 6, the hydraulic station 7, the unmanned aerial vehicle 8, the first water supply mechanism 80, the first pipeline 8021, the second pipeline 8022, the third pipeline 8023, the fourth pipeline 8024, the first electromagnetic valve 8031, the second electromagnetic valve 8032, the third electromagnetic valve 8033, the water pump 804, the water tank 805, the second spray gun 806, the second water pipe 81, the second reel 82, the water supply vehicle 9, the water supply connector 90, the first water pipe 91, and the second reel 92.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6, the present invention provides a combined fire-fighting system of an unmanned aerial vehicle and a multi-degree-of-freedom mechanical arm fire-fighting robot, which includes an unmanned aerial vehicle 8 loaded with a first water supply mechanism, a fire-fighting robot loaded with a first reel 5, and a water supply vehicle 9 loaded with a second reel 92. The first water pipe 91 is mounted on the second reel 92, and the second water pipe 81 is mounted on the first reel 5; the first water pipe 91 has a head end connected to the water supply joint 90 of the water supply vehicle 9 and a tail end connected to the head end of the second water pipe 81 of the first reel 5.

The fire-fighting robot is provided with a mounting seat 3, a second water supply mechanism 1 and a chassis 4. The mounting seat 3 and the second water supply mechanism 1 are mounted on the chassis 4; a crawler travel mechanism 402 is also mounted on the chassis 4. In an optimal scheme, be provided with unmanned aerial vehicle positioning and tracking device 401 on chassis 4 for real-time tracking unmanned aerial vehicle 8's position keeps fire control fire extinguishing robot to be in unmanned aerial vehicle 8 below.

The mounting seat 3 is provided with a turntable 6, and the mechanical arm mechanism 2 is rotationally connected with the mounting seat 3 through the turntable 6; the robot arm mechanism 2 includes a first arm 21, a second arm 22, a third arm 23, a first telescopic arm 24, a second telescopic arm 25, and a third telescopic arm 26. The first arm 21, the second arm 22 and the third arm 23 are hinged end to end through rolling shafts; the head end of the first arm 21 is hinged with the turntable 6; the tail end of the third arm 23 is provided with a first spray gun 27; two ends of the first telescopic arm 24 are respectively hinged with the turntable 6 and the first arm 21; two ends of the second telescopic arm 25 are respectively hinged to the first arm 21 and the second arm 22; two ends of the third telescopic arm 26 are respectively hinged with the second arm 22 and the third arm 23; first water pipe 91 is mounted on second reel 92, and second water pipe 81 is mounted on first reel 5.

The second water supply mechanism 1 is provided with a water storage device and a pressurizing device, and water in the water storage device is pressurized by the pressurizing device and then is conveyed to the first spray gun 27 through a water pipe pipeline by the pressurizing device for spraying and extinguishing; when the end of the second water pipe 81 is connected to the water storage device, water is supplied to the water storage device through the water supply vehicle 9. In a preferred scheme, the water pipeline of the pressurizing device connected with the first spray gun 27 is hidden inside the first arm 21, the second arm 22 and the third arm 23. The first telescopic arm 24, the second telescopic arm 25 and the third telescopic arm 26 are hydraulic cylinders, and a hydraulic station 7 is further arranged in the mounting base 3 and used for providing power for the first telescopic arm 24, the second telescopic arm 25 and the third telescopic arm 26.

Example 1:

in this embodiment, the first water pipe 91 has a head end connected to the water supply joint 90 of the water supply vehicle 9 and a tail end connected to the head end of the second water pipe 81 on the first reel 5; in the process of traveling, the first water pipe 91 carried on the second reel 92 and the second water pipe 81 carried on the first reel 5 are wound and unwound along with the fire-fighting robot, and coil springs are arranged in the first reel 5 and the second reel 92 to keep the second water pipe 81 and the first water pipe 91 wound and unwound all the time in the process of winding and unwinding.

When the tail end of the second water pipe 81 is connected to the first water supply mechanism 80 of the unmanned aerial vehicle 8, the water supply vehicle 9 supplies water to the first water supply mechanism 80 of the unmanned aerial vehicle 8 in real time; when the end of the second water pipe 81 is connected to the second water supply mechanism 1 of the fire-fighting robot, the water supply vehicle 9 supplies water to the second water supply mechanism 1 of the fire-fighting robot in real time. The tail end of the second water pipe 81 can be selected by a quick-connection plug to realize quick connection and disassembly.

Example 2:

the first water supply mechanism 2 is provided with: a second spray gun 806 and a water tank 805 provided with a plurality of water inlets and water outlets. The water tank 805 is connected to a first pipeline 8021, a second pipeline 8022, a third pipeline 8023 and a fourth pipeline 8024, wherein the head end of the first pipeline 8021, the second pipeline 8022, the third pipeline 8023 and the fourth pipeline 8024 is in an upstream direction of water flow, and the tail end of the first pipeline 8021, the second pipeline 8022, the third pipeline 8023 and the fourth pipeline 8024 is in a downstream direction of water flow.

When the end of the second water pipe 81 is connected to the first water supply mechanism 2, the end of the second water pipe 81 is the head end of the first pipe 8021.

The end of the first line 8021 is connected to the water inlet of the water tank 805; the head end of the second pipeline 8022 is connected to the water outlet of the water tank 805, and the tail end is connected with a second spray gun 806; the head end of the third pipeline 8023 is connected to the water outlet of the water tank 805, and the tail end is connected with the second pipeline 8022; the fourth line 8024 is connected to the first line 8021 at the head end and to the second line 8022 at the tail end. A plurality of electromagnetic valves on the first pipeline 8021, the second pipeline 8022 and the third pipeline 8023. The method specifically comprises the following steps:

the first line 8021 is provided with a first electromagnetic valve 8031, and the first electromagnetic valve 8031 is provided in a downstream direction from a connection position of the first line 8021 and the fourth line 8024. A second electromagnetic valve 8032 is disposed on the second pipeline 8022, the second electromagnetic valve 8032 is disposed between a position a and a position B, the position a is a connection position of the fourth pipeline 8024 and the second pipeline 8022, and the position B is a connection position of the third pipeline 8023 and the second pipeline 8022. The third pipeline 8023 is provided with a third electromagnetic valve 8033 and a water pump 804.

The water tank 805 can be designed into different shapes according to the structural requirements of the unmanned aerial vehicle; the water pump 804 is directly powered by the unmanned aerial vehicle, and a remote switch can be realized on the ground; the first electromagnetic valve 8031, the second electromagnetic valve 8032 and the third electromagnetic valve 8033 can be remotely switched on the ground; second spray gun 806 may be remotely controlled to achieve direct current or mist spray adjustment.

Example 3:

in this embodiment, nobody is responsible for using second spray gun 806 to spray and put out a fire, and the end connection of second water pipe 81 is to unmanned aerial vehicle 8's first water supply mechanism 80, and the robot is responsible for dragging the hosepipe and follows inorganic removal on ground to spray through first spray gun 27 and jointly put out a fire. Be provided with unmanned aerial vehicle positioning and tracking device 401 and relevant treater and motion control module on the fire control fire-fighting robot, the supporting emitter of installation on the unmanned aerial vehicle, when emitter and unmanned aerial vehicle positioning and tracking device 401 communication, measure unmanned aerial vehicle to the distance of fire control fire-fighting robot through the flight time of electromagnetic wave, calculate the relative fire control fire-fighting robot's of unmanned aerial vehicle direction through measuring phase difference on the miniature antenna array, give the treater of robot with these information and adjust motion control module, thereby realize following unmanned aerial vehicle's intelligence, be in the unmanned aerial vehicle below all the time.

The fire-fighting robot is provided with a first reel 5, the first reel carries a second water pipe 81, and the first reel automatically reels when the unmanned aerial vehicle descends; the water supply vehicle is provided with the second reel, so that the first water pipe 91 can be wound and unwound according to the motion of the fire-fighting robot, and the robot can conveniently follow the unmanned aerial vehicle to move in different directions. When unmanned aerial vehicle position adjustment like this, only need overcome vertical direction water pipe and liquid weight, reduced the requirement to unmanned aerial vehicle load.

Example 4:

in this embodiment, be provided with connection fittings on the box of water tank 805, carry water tank 805 in unmanned aerial vehicle 8's frame. The end of the second water pipe 81 is connected to the first water supply mechanism 80.

The first operation mode is as follows: when general high-rise fire-fighting operation is performed, the second electromagnetic valve 8032 is opened, the first electromagnetic valve 8031 and the third electromagnetic valve 8033 are closed, and the water pump 804 does not work. The ground fire engine supplies water to the second spray gun 806 through the quick-connect interface at the head end of the first pipeline 8021 connected by the fire hose, and performs continuous fire-fighting operation.

And a second operation mode: receive the restriction of fire engine water pump water supply height, along with unmanned aerial vehicle operation height's increase, second spray gun 806 range shortens gradually. When the range of the second spray gun 806 cannot be used for normal fire-fighting operation, the second electromagnetic valve 32 is closed, the first electromagnetic valve 8031 and the third electromagnetic valve 8033 are opened, the water pump 804 is started, the ground fire truck is responsible for supplying water into the water tank 805, the water pump 804 pumps water from the water tank for pressurized injection, and the range of the second spray gun 806 is increased to continue the fire-fighting operation.

And a third operation mode: the unmanned aerial vehicle directly utilizes the water in the water tank to spray and extinguish fire by using the second spray gun 806, and the robot sprays and jointly extinguishes fire by the first spray gun 27. The first water supply mechanism 80 closes the second solenoid valve 8032 and the first solenoid valve 8031, opens the third solenoid valve 8033, and performs pressurized injection by the water pump 804, and this operation mode is applicable to detection and extinguishing of small fires or afterfires after extinguishment of fires in forests and hazardous areas.

Example 5:

in this embodiment, fire prevention robot is equipped with fire water tank from taking the fire water, and second water pipe 81's end-to-end connection is to second water supply mechanism 1, for its supplementary water source, and fire prevention robot and unmanned aerial vehicle combined operation, unmanned aerial vehicle 80 adopt operation mode three, accomplish high-rise fire extinguishing task.

Example 6:

the mechanical arm mechanism 2 can perform multi-degree-of-freedom injection angle adjustment.

The angle adjustment in the horizontal direction of 360 degrees is realized through the rotating disc 6, and the spraying height and the spraying direction of the first spray gun 27 can be controlled by adjusting the telescopic lengths of the first arm 21, the second arm 22 and the third arm 23 in the vertical direction.

In this embodiment, the length of the first telescopic arm 24 is half of the total stroke, the second arm 22 is fully extended, and the stroke of the third arm 23 is zero.

Example 7:

in this embodiment, the length of the first telescopic arm 24 is half of the total stroke, the piston rod of the second arm 22 is fully extended, and the piston rod of the third arm 23 is fully extended.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Unmanned aerial vehicle and multi freedom arm fire control fire-fighting robot's joint fire extinguishing systems, its characterized in that, it includes:

an unmanned aerial vehicle (8) loaded with a first water supply mechanism;

a water supply vehicle (9) on which a second reel (92) is mounted;

the fire-fighting robot is provided with a first reel (5), a second water supply mechanism (1), a mounting seat (3) and a mechanical arm mechanism (2);

a turntable (6) is arranged on the mounting seat (3), and the mechanical arm mechanism (2) is rotationally connected with the mounting seat (3) through the turntable (6);

the mechanical arm mechanism (2) comprises a first arm (21), a second arm (22), a third arm (23), a first telescopic arm (24), a second telescopic arm (25) and a third telescopic arm (26);

the first arm (21), the second arm (22) and the third arm (23) are hinged end to end through rolling shafts;

the head end of the first arm (21) is hinged with the turntable (6); the tail end of the third arm (23) is provided with a first spray gun (27);

two ends of the first telescopic arm (24) are respectively hinged with the turntable (6) and the first arm (21);

two ends of the second telescopic arm (25) are respectively hinged to the first arm (21) and the second arm (22);

two ends of the third telescopic arm (26) are respectively hinged to the second arm (22) and the third arm (23);

a first water pipe (91) is mounted on the second reel (92), and a second water pipe (81) is mounted on the first reel (5);

coil springs are arranged in the first reel (5) and the second reel (92) respectively, so that the second water pipe (81) and the first water pipe (91) are kept to be wound and tightened all the time in the winding and unwinding processes.

The head end of the first water pipe (91) is connected with a water supply joint (90) of the water supply vehicle (9), and the tail end of the first water pipe is connected with the head end of the second water pipe (81) on the first reel (5);

the tail end of the second water pipe (81) is selectively connected to the first water supply mechanism (80) of the unmanned aerial vehicle (8) or the second water supply mechanism (1) of the fire-fighting robot.

2. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot according to claim 1, characterized in that: the second water supply mechanism (1) is provided with a water storage device and a supercharging device, and the supercharging device is provided with a water pipe pipeline connected to the first spray gun (27); the end of the second water pipe (81) can be selectively connected to the water storage device to supply water to the water storage device.

3. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot according to claim 2, characterized in that: the water pipe pipeline of the pressurizing device connected with the first spray gun (27) is hidden in the first arm (21), the second arm (22) and the third arm (23).

4. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot according to claim 1, characterized in that: the first water supply mechanism (80) includes:

a second lance (806);

a water tank (805) provided with a plurality of water inlets and water outlets;

a first pipe line (8021) having a tip connected to a water inlet of the water tank (805);

a second pipeline (8022) with the head end connected with the water outlet of the water tank (805) and the tail end connected with a second spray gun (806);

a third pipeline (8023) with the head end connected to the water outlet of the water tank (805) and the tail end connected with the second pipeline (8022);

a fourth pipeline (8024) having a head end connected to the first pipeline (8021) and a tail end connected to the second pipeline (8022);

the electromagnetic valves are arranged on the first pipeline (8021), the second pipeline (8022) and the third pipeline (8023);

in the first pipeline (8021), the second pipeline (8022), the third pipeline (8023) and the fourth pipeline (8024), the head end is in the upstream direction of water flow, and the tail end is in the downstream direction of the water flow;

the end of the second water pipe (81) can be selectively connected to the head end of the first pipeline (8021) to supply water to the first water supply mechanism (80).

5. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot as claimed in claim 4, wherein: a first electromagnetic valve (8031) is arranged on the first pipeline (8021), and the first electromagnetic valve (8031) is arranged in the downstream direction of the connecting position of the first pipeline (8021) and the fourth pipeline (8024).

6. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot according to claim 5, wherein: a second electromagnetic valve (8032) is arranged on the second pipeline (8022), the second electromagnetic valve (8032) is arranged between a position A and a position B, the position A is a connecting position of the fourth pipeline (8024) and the second pipeline (8022), and the position B is a connecting position of the third pipeline (8023) and the second pipeline (8022).

7. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot as claimed in claim 6, wherein: the third pipeline (8023) is provided with a third electromagnetic valve (8033) and a water pump (804).

8. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot according to claim 1, characterized in that: the fire-fighting robot is provided with a chassis (4), and the mounting seat (3) and the second water supply mechanism (1) are mounted on the chassis (4); the chassis (4) is also provided with a crawler type travelling mechanism (402).

9. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot as claimed in claim 8, wherein the chassis (4) of the fire-fighting robot is provided with an unmanned aerial vehicle positioning and tracking device (401) for tracking the position of the unmanned aerial vehicle (8) in real time and keeping the fire-fighting robot under the unmanned aerial vehicle (8).

10. The combined fire-fighting system of the unmanned aerial vehicle and the multi-degree-of-freedom mechanical arm fire-fighting robot as claimed in claim 1, wherein the first telescopic arm (24), the second telescopic arm (25) and the third telescopic arm (26) are hydraulic cylinders, and a hydraulic station (7) is further arranged in the mounting seat (3) and used for providing power for the first telescopic arm (24), the second telescopic arm (25) and the third telescopic arm (26).