CN109318238B - Fire-fighting robot for closing fire valve - Google Patents
Fire-fighting robot for closing fire valve Download PDFInfo
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- CN109318238B CN109318238B CN201810930304.6A CN201810930304A CN109318238B CN 109318238 B CN109318238 B CN 109318238B CN 201810930304 A CN201810930304 A CN 201810930304A CN 109318238 B CN109318238 B CN 109318238B
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- 239000012636 effector Substances 0.000 claims abstract description 98
- 210000000707 wrist Anatomy 0.000 claims abstract description 91
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000001681 protective effect Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 66
- 230000001360 synchronised effect Effects 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 7
- 230000002441 reversible effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000002360 explosive Substances 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 230000007480 spreading Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a fire-fighting robot for closing a fire valve, which comprises an end effector, a wrist unit, an upper arm driving unit, a lower arm unit, a waist unit, a base and a high-temperature-resistant protective garment, wherein the end effector clamps a valve handle and rotates around the center of the valve to open and close the valve, the wrist unit is connected with the upper arm unit through a spline and a bolt, and the upper arm unit plays a role in transmitting the motion of the end effector and the wrist unit. All parts of the invention are mechanically driven and have excellent fire-proof and explosion-proof performance, and the driving motor of the working part is placed on the upper arm driving unit in a rear-mounted mode at room temperature, so that the performance of the whole machine is reliable; when a fire disaster happens, the robot can directly complete the task of closing the valve in a close range, personnel can operate at a safe position, and the problem that the flammable and explosive pipeline valve cannot be closed when the fire disaster happens can be effectively solved.
Description
Technical Field
The invention belongs to the technical field of fire-fighting robots, and relates to a fire-fighting robot for closing valves of flammable and explosive pipelines in case of fire.
Background
With the development of science and technology, the fire-fighting robot has gradually been popularized, and the fire-fighting robot plays an important role in dealing with complex terrains and executing special tasks, especially in the case of extremely large fire. At present, the mainstream fire-fighting robot mainly comprises a ground fire-fighting robot and an air detection robot, the ground fire-fighting robot mainly comprises a traditional water gun clamping type robot and mainly bears a fire extinguishing task, and the air detection robot mainly bears a fire detection task. However, the variety of fires is very varied, and the problems to be dealt with first are very different, for example, when a fire breaks out in a gas or oil pipeline, the first problem is to close a valve and cut off combustible to prevent the fire from spreading to the maximum extent. The manual valve closing causes that operators cannot get close to the valve position and cannot complete the valve closing task because of the severe environment of a fire scene, so that the disaster situation continues to spread and expand. However, if a novel valve closing robot is developed, when a fire disaster occurs, an operator directly, safely and effectively operates the robot at a safe distance to close a valve near a fire source, so that the fire disaster can be effectively prevented from spreading, and casualties are reduced.
The above background art summarizes the following main problems in the fire fighting operation when a fire occurs in a gas or oil pipeline:
1. when a fire disaster happens to the pipeline, the situation of the valve is complex and is not easy to observe.
2. The valve is also in fire, people are not easy to get close and cannot close the valve, and the fire can possibly further spread and expand.
3. The existing robot mainly aims at ground fire extinguishing and detection, and a special valve closing robot is not provided.
The invention discloses a novel fire valve closing fire-fighting robot, which is invented according to the problems of fire-fighting operation when a gas transmission pipeline and an oil transmission pipeline are in fire. The robot can effectively close gas and oil pipeline valves, has excellent fireproof and explosion-proof performance, is wide in applicability, is suitable for common valves such as ball valves, butterfly valves and stop valves, and can also detect fire conditions of the pipeline valves in real time.
Disclosure of Invention
In order to solve the above problems in the prior art and in the actual situation, the invention provides a fire-fighting robot for closing a fire valve, which comprises an end effector, a wrist unit, an upper arm driving unit, a lower arm unit, a waist unit, a base and a high-temperature-resistant protective garment, wherein the end effector clamps a valve handle and rotates around the center of the valve to open and close the valve, the end effector has two actions of rotating around a T axis and moving up and down along an M axis, the end effector is connected with the wrist unit through a spline and a bolt, the wrist unit plays a role in transmitting the motion of the end effector and adjusting the position of the end effector, the wrist unit can drive the end effector to rotate around the B axis and rotate around the R axis, the wrist unit is connected with the upper arm unit through the spline and the bolt, and the upper arm unit plays a role in transmitting the motion of the end effector and the wrist unit, the upper arm unit is connected with an upper arm driving unit through a bolt, the upper arm driving unit is a driving device for the movement of the end effector, the wrist unit and the upper arm unit, and driving motors of the end effector, the wrist unit and the upper arm unit are all integrated into the upper arm driving unit; the lower arm unit can drive the end effector, the wrist unit, the upper arm unit and the upper arm driving unit to rotate around the U shaft; the waist unit can drive the end effector, the wrist unit, the upper arm driving unit and the lower arm unit to rotate around the L axis; the base plays the effect of fixed and support whole robot, and built-in motor can drive the complete machine and rotate around the S axle.
Preferably, the wrist unit and the upper arm unit are externally wrapped with high-temperature resistant protective clothing to prevent high-temperature transmission.
Preferably, the end effector comprises an input shaft, a T-shaft connector, an input bevel gear, a connector, a high-temperature resistant camera, an output bevel gear, an output shaft connector, an output shaft, a housing, a gear, an upper clamp body and a lower clamp body, wherein a spline groove is formed in the input shaft and connected with the wrist unit to transmit main motion, and the T-shaft connector is connected with an external robot T shaft through a bolt to drive the whole end effector to rotate 360 degrees around the T shaft; the input bevel gear and the output bevel gear are meshed with each other and are respectively connected with the input shaft and the output shaft through keys; the gear is connected to the other end of the output shaft through a key, the upper clamp body and the lower clamp body are both L-shaped, racks are processed on the upper portion of the gear and are respectively meshed with the upper clamp body and the lower clamp body on the left side and the right side of the gear, when the gear rotates, the upper clamp body and the lower clamp body are driven to do up-and-down reverse motion, and the opposite surface of the lower portion of the gear is provided with a sawtooth shape; the upper clamp body and the lower clamp body connecting body are connected between the T-shaft connecting body and the output shaft connecting body, and the housing is connected with the output shaft connecting body to play a role in limiting the movement of the upper clamp body and the lower clamp body; the input shaft and the output shaft are respectively connected to the T-shaft connector and the output shaft connector through tapered roller bearings; the high-temperature resistant camera is connected to the connector through threads, and plays a role in monitoring the fire situation, positioning the T axis and observing the clamping situation of the upper clamp body and the lower clamp body.
Preferably, the wrist unit comprises an R-axis connector, a B-axis input end, a T-axis input end, a wrist frame, a B-axis connector, a housing, an M-axis belt pulley, an M-axis transmission shaft, a T-axis belt pulley, an M-axis synchronous belt, a T-axis transmission body, a transmission frame, a T-axis transmission bevel gear and an M-axis transmission bevel gear, the T-axis output bevel gear, the T-axis output body, the end effector connector, the T-axis output shaft, the M-axis output bevel gear, the B-axis output bevel gear, the speed reducer, the rotary rack, the M-axis input bevel gear, the T-axis input bevel gear, the B-axis input bevel gear, the M-axis input shaft, the T-axis connector and the B-axis output shaft are connected with the upper arm unit through bolts and drive the wrist unit to rotate around the R axis, the wrist rack plays a role in bearing the whole wrist unit and installing related parts, and the housing plays a role in protecting the synchronous belt and facilitating installation and maintenance.
Preferably, one end of the input end of the B shaft is connected with the upper arm unit through a spline to transmit the input motion of the B shaft, the other end of the input end of the B shaft is connected with the input bevel gear of the B shaft through a B shaft connector, the input bevel gear of the B shaft and the output bevel gear of the B shaft are engaged to move to change the output direction, and the output shaft of the B shaft and the speed reducer drive the revolving frame to make the wrist unit revolve around the B shaft;
one end of the input end of the T shaft is connected with the upper arm unit through a spline to transmit input motion of the T shaft, the other end of the input end of the T shaft is connected with the input bevel gear of the T shaft through a T shaft connector, the input bevel gear of the T shaft and the transmission bevel gear of the T shaft are engaged to move to change the output direction, and finally the motion is transmitted to the connector of the end effector through the T shaft transmission body, the belt pulley of the T shaft, the synchronous belt of the T shaft, the output bevel gear of the T shaft and the output body of the T shaft so as to drive the end effector 1 to rotate around the T shaft;
one end of the M-shaft input shaft is connected with the upper arm unit through a spline to transmit M-shaft input motion, the other end of the M-shaft input shaft is meshed with the M-shaft transmission bevel gear through the M-shaft input bevel gear to move and change the output direction, and the motion is finally transmitted to the T-shaft output shaft through the M-shaft transmission shaft, the M-shaft belt pulley, the M-shaft synchronous belt and the M-shaft output bevel gear to drive the upper clamp body and the lower clamp body of the end effector to move up and down along the M shaft.
Preferably, the upper arm unit comprises an M-axis input belt pulley, a T-axis input belt pulley, a B-axis input belt pulley, an R-axis input belt pulley, an upper arm frame, a speed reducer, an R-axis output shaft, a B-axis output shaft, a T-axis output shaft, an M-axis transmission shaft, a T-axis transmission shaft, a B-axis transmission shaft and an R-axis transmission shaft, wherein the M-axis input belt pulley is connected with the upper arm driving unit through a synchronous belt to drive the M-axis transmission shaft to rotate, is connected to the wrist unit through a spline, and is finally transmitted to the end effector to enable the upper clamp body and the lower clamp body to move up and down along the M-axis to complete clamping action.
Preferably, the T-shaft input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to the T-shaft output shaft through the T-shaft transmission shaft, the T-shaft output shaft is connected to the wrist unit through a spline, and finally the motion is transmitted to the end effector, so that the end effector rotates around the T shaft;
the B-axis input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to a B-axis output shaft through a B-axis transmission shaft, and the B-axis output shaft is connected to the wrist unit through a spline to drive the wrist unit and the end effector to rotate around the B-axis;
the R-shaft input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to an R-shaft output shaft through an R-shaft transmission shaft, and the R-shaft output shaft is connected with the wrist unit through a speed reducer and drives the wrist unit to rotate around the R shaft;
the upper arm frame plays a role in supporting the whole upper arm unit and is connected with the upper arm driving unit through bolts to realize the rotation of the whole upper arm unit along the U shaft.
All parts of the invention are mechanical transmission and have excellent fireproof and explosion-proof performance, the main parts in open fire or high temperature environment are wrapped with high temperature resistant protective clothing to prevent high temperature transmission, the transmission motors of the working parts are placed on the upper arm driving unit in a rear mode at room temperature, and the whole machine has reliable performance; when in actual use, the base can be connected to a wheeled structure or a special vehicle through a connecting flange at the lower part of the base so as to meet the moving problem and daily storage management work in case of fire, and the operation is convenient; the invention has great freedom for a 7-axis robot, can realize three-dimensional dead-angle-free movement, has wide applicability, is suitable for common valves such as ball valves, butterfly valves, stop valves and the like, and can be adjusted according to the gradient and the angle of a pipeline which are not used; the upper clamp body and the lower clamp body perform reverse relative motion, so that the clamping time can be shortened by one time; the front high-temperature-resistant camera is used for positioning the end effector and can also detect the fire condition in real time; when a fire disaster happens, the robot can directly complete the task of closing the valve in a close range, personnel can operate at a safe position, and the problem that the flammable and explosive pipeline valve cannot be closed when the fire disaster happens can be effectively solved.
Drawings
Fig. 1 is a schematic structural view of a fire fighting robot for closing a fire valve according to the present invention.
Fig. 2 is a sectional view of an end effector of the fire fighting robot for closing a fire valve according to the present invention.
Fig. 3 is a side view of an end effector of the fire fighting robot for fire valve closure of the present invention.
Fig. 4 is a schematic structural view of a wrist unit of the fire fighting robot with fire valves closed according to the present invention.
Fig. 5 is a schematic structural view of an upper arm unit of the fire valve shutting fire robot of the present invention.
Detailed Description
As shown in fig. 1, the present invention mainly includes an end effector 1, a wrist unit 2, an upper arm unit 3, an upper arm drive unit 4, a lower arm unit 5, a waist unit 6, a base 7, a high temperature resistant protective suit 8, and the like. The end effector 1 is used for opening and closing the valve by clamping a valve handle and rotating around the center of the valve, and the end effector 1 has two actions of rotating around a T axis and moving up and down along an M axis. The end effector 1 is connected to the wrist unit 2 by splines and bolts. The wrist unit 2 plays a role in transmitting the motion of the end effector 1 and adjusting the position of the end effector 1, the wrist unit 2 can drive the end effector 1 to rotate around the B axis and rotate around the R axis, and the wrist unit 2 is connected with the upper arm unit 3 through a spline and a bolt. The upper arm unit 3 functions to transmit the motion of the end effector 1 and the wrist unit 2. The upper arm unit 3 is connected to the upper arm drive unit 4 by a bolt. The upper arm driving unit 4 is a driving device for the movement of the end effector 1, the wrist unit 2 and the upper arm unit 3, and the driving motors of the end effector 1, the wrist unit 2 and the upper arm unit 3 are all integrated into the upper arm driving unit 4. The lower arm unit 5 can rotate the end effector 1, the wrist unit 2, the upper arm unit 3 and the upper arm driving unit 4 around the U-axis. The waist unit 6 can rotate the end effector 1, the wrist unit 2, the upper arm unit 3, the upper arm drive unit 4, and the lower arm unit 5 about the L axis. The base 7 plays a role in fixing and supporting the whole robot, and the built-in motor can drive the whole robot to rotate around the S shaft. The part of the whole machine which is in open fire or high temperature is the end effector 1, the wrist unit 2 and the upper arm unit 3 are externally wrapped with the high temperature resistant protective clothing 8 to prevent high temperature transmission, the end effector 1 is a pure mechanical mechanism, and the high temperature resistant protective clothing 8 is not wrapped outside for convenient operation.
The structure of the end effector 1 of the invention is shown in fig. 2 and 3, and mainly comprises an input shaft 9, a T-axis connecting body 10, an input bevel gear 11, a connecting body 12, a high temperature resistant camera 13, an output bevel gear 14, an output axis connecting body 15, an output axis 16, a housing 17, a gear 18, an upper gripper body 19, a lower gripper body 20 and the like. The input shaft 9 has a splined groove therein for coupling with the wrist unit 2 for transmitting the primary motion. The T-axis connector 10 is connected with a T-axis of an external robot through a bolt to drive the whole end effector to rotate 360 degrees around the T-axis. The input bevel gear 11 and the output bevel gear 14 function to transmit the rotational motion of the input shaft 9, and are connected to the input shaft 9 and the output shaft 16, respectively, by keys. Gear 18 is keyed to output shaft 16 and functions to transmit rotational motion of output shaft 16. Racks are processed on the upper portions of the upper clamp body 19 and the lower clamp body 20 and are respectively meshed with the left side and the right side of the gear 18, and when the gear 18 rotates, the upper clamp body 19 and the lower clamp body 20 are driven to move up and down in a reverse direction. The connecting body 12 serves to connect the T-axis connecting body 10 and the output axis connecting body 15, and the housing 17 is connected to the output axis connecting body 15 to serve to restrict the movement of the upper and lower clamp bodies 19 and 20. The input shaft 9 and the output shaft 16 are connected to the T-shaft connecting body 10 and the output shaft connecting body 15, respectively, through tapered roller bearings. The high temperature resistant camera 13 is connected to the connecting body 12 through threads, and plays a role in monitoring the fire situation, positioning the T axis position and observing the clamping situation of the upper clamp body 19 and the lower clamp body 20.
The structure of the wrist unit 2 of the invention is shown in fig. 4, and mainly comprises an R-axis connector 21, a B-axis input end 22, a T-axis input end 23, a wrist frame 24, a B-axis connector 25, a housing 26, an M-axis pulley 27, an M-axis transmission shaft 28, a T-axis pulley 29, an M-axis synchronous belt 30, a T-axis synchronous belt 31, a T-axis transmission body 32, a transmission frame 33, a T-axis transmission bevel gear 34, an M-axis transmission bevel gear 35, a T-axis output bevel gear 36, a T-axis output body 37, an end effector connector 38, a T-axis output shaft 39, an M-axis output bevel gear 40, a B-axis output bevel gear 41, a speed reducer 42, a slewing frame 43, an M-axis input bevel gear 44, a T-axis input bevel gear 45, a B-axis input bevel gear 46, an M-axis input shaft 47, a T-axis connector 48, a B-axis output shaft 49, and the like.
The R-axis connecting body 21 is connected with the upper arm unit 3 through a bolt and drives the wrist unit 2 to rotate around the R axis, the wrist frame 24 plays a role in bearing the whole wrist unit and installing related parts, and the housing 26 plays a role in protecting the synchronous belt and facilitating installation and maintenance.
One end of the B-axis input end 22 is connected with the upper arm unit 3 through a spline to transmit B-axis input motion, the other end of the B-axis input end is connected with a B-axis input bevel gear 46 through a B-axis connecting body 25, the B-axis input bevel gear 46 and the B-axis output bevel gear 41 are engaged to move in an engaged mode to change the output direction, and the B-axis output shaft 49 and the speed reducer 42 drive the rotating frame 43 to enable the wrist unit 2 to rotate around the B axis.
One end of the T-shaft input end 23 is connected with the upper arm unit 3 through a spline to transmit T-shaft input motion, the other end of the T-shaft input end is connected with a T-shaft input bevel gear 45 through a T-shaft connecting body 48, the T-shaft input bevel gear 45 is meshed with the T-shaft transmission bevel gear 34 to move and change the output direction, and finally the motion is transmitted to the end effector connecting body 38 through the T-shaft transmission body 32, the T-shaft belt pulley 29, the T-shaft synchronous belt 31, the T-shaft output bevel gear 36 and the T-shaft output body 37 to drive the end effector 1 to rotate around the T shaft.
One end of the M-shaft input shaft 47 is connected with the upper arm unit 3 through a spline to transmit M-shaft input motion, the other end of the M-shaft input shaft 47 is meshed with the M-shaft transmission bevel gear 35 through the M-shaft input bevel gear 44 to move in an engaged mode to change the output direction, and the motion is finally transmitted to the T-shaft output shaft 39 through the M-shaft transmission shaft 28, the M-shaft belt pulley 27, the M-shaft synchronous belt 30 and the M-shaft output bevel gear 40 so as to drive the upper clamp body 19 and the lower clamp body 20 of the end effector 1 to move up and down along the M shaft.
As shown in fig. 5, the upper arm unit 3 mainly includes an M-axis input pulley 50, a T-axis input pulley 51, a B-axis input pulley 52, an R-axis input pulley 53, an upper arm frame 54, a speed reducer 55, an R-axis output shaft 56, a B-axis output shaft 57, a T-axis output shaft 58, an M-axis transmission shaft 59, a T-axis transmission shaft 60, a B-axis transmission shaft 61, an R-axis transmission shaft 62, and the like.
The M-axis input belt wheel 50 is connected with the upper arm driving unit 4 through a synchronous belt, drives the M-axis transmission shaft 59 to rotate, is connected to the wrist unit 2 through a spline, and is finally transmitted to the end effector 1 to enable the upper clamp body 19 and the lower clamp body 20 to move up and down along the M-axis to complete the clamping action.
The T-axis input pulley 51 is connected to the upper arm drive unit 4 through a timing belt, transmits rotational motion to the T-axis output shaft 58 through the T-axis transmission shaft 60, and the T-axis output shaft 58 is connected to the wrist unit 2 through a spline, and finally transmits motion to the end effector 1, so that the end effector 1 rotates around the T-axis.
The B-axis input pulley 52 is connected to the upper arm drive unit 4 through a timing belt, and transmits the rotational motion to the B-axis output shaft 57 through the B-axis transmission shaft 61, and the B-axis output shaft 57 is connected to the wrist unit 2 through a spline, and drives the wrist unit 2 and the end effector 1 to rotate around the B-axis.
The R-axis input pulley 53 is connected to the upper arm driving unit 4 through a timing belt, transmits a rotational motion to the R-axis output shaft 56 through the R-axis transmission shaft 62, and the R-axis output shaft 56 is connected to the wrist unit 2 through the reduction gear 55, and drives the wrist unit 2 to rotate around the R-axis.
The upper arm frame 54 functions to support the entire upper arm unit 3 and is connected to the upper arm drive unit 4 by bolts to realize the swing of the entire upper arm unit 3 along the U-axis.
The fire-proof valve is mainly used for closing the valve of the pipeline when a fire disaster happens to the pipeline, thereby preventing the fire from spreading.
The main movement of the invention can be divided into the rotation movement of the whole machine around the S axis; the end effector 1, the wrist unit 2, the upper arm unit 3, the upper arm drive unit 4, and the lower arm unit 5 perform swing motion together about the L axis; the end effector 1, the wrist unit 2, the upper arm unit 3, and the upper arm drive unit 4 perform swing motions together around the U axis; rotational movement of the end effector 1 and the wrist unit 2 about the R axis; the end effector 1 and the wrist unit 2 perform a swing motion around the axis B; rotational movement of the end effector 1 about the T axis; the upper and lower clamp bodies 19 and 20 of the end effector 1 move up and down along the M axis. Wherein the upper clamp body 19 and the lower clamp body 20 move up and down along the M axis to clamp the valve handle, and other movements are used for positioning the valve handle and rotating the valve handle to realize the valve opening and closing functions.
The rotating motion of the whole machine around the S shaft is driven by a speed reducing motor arranged in the base 7; the end effector 1, the wrist unit 2, the upper arm unit 3, the upper arm drive unit 4, and the lower arm unit 5 are driven by a reduction motor on the waist unit 6 together with the revolving motion around the L axis; the end effector 1, the wrist unit 2, the upper arm unit 3 and the upper arm driving unit 4 are driven by a speed reduction motor on the lower arm unit 5 together to perform rotary motion around a U axis; the rotary motion of the end effector 1 and the wrist unit 2 around the R axis, the rotary motion of the end effector 1 and the wrist unit 2 around the B axis, the rotary motion of the end effector 1 around the T axis and the up-and-down motion of the upper clamp body 19 and the lower clamp body 20 of the end effector 1 along the M axis are respectively driven by four independent speed reducing motors on the upper arm driving unit 4.
The end effector 1 and the wrist unit 2 of the invention rotate around the R axis, the speed reducing motor on the upper arm driving unit 4 transmits the rotation to the R axis input belt wheel 53 in the upper arm unit 3 through the synchronous belt, the motion is transmitted to the R axis output shaft 56 through the R axis transmission shaft 62, the R axis output shaft 56 is connected with the R axis connector 21 in the wrist unit 2 through the speed reducer 55, and drives the wrist unit 2 to rotate around the R axis.
The end effector 1 and the wrist unit 2 of the invention rotate around the B axis, the gear motor on the upper arm driving unit 4 transmits the rotation motion to the B axis input belt wheel 52 in the upper arm unit 3 through the synchronous belt and transmits the rotation motion to the B axis output shaft 57 through the B axis transmission shaft 61, the B axis output shaft 57 is connected to the B axis input end 22 in the wrist unit 2 through the spline and transmits the rotation motion to the B axis input bevel gear 46 through the B axis connecting body 25, the B axis input bevel gear 46 and the B axis output bevel gear 41 are engaged to move and change the output direction, and the B axis output shaft 49 and the speed reducer 42 drive the rotating frame 43, thereby realizing the rotation of the end effector 1 and the wrist unit 2 around the B axis.
The end effector 1 of the invention rotates around the T-axis, the speed reducing motor on the upper arm driving unit 4 transmits the rotation to the T-axis input belt wheel 51 through the synchronous belt, and transmits the rotation to the T-axis output shaft 58 through the T-axis transmission shaft 60, and the T-axis output shaft 58 is connected to the T-axis input end 23 in the wrist unit 2 through the spline. The T-axis input end 23 is connected with a T-axis input bevel gear 45 through a T-axis connecting body 48, the T-axis input bevel gear 45 is meshed with a T-axis transmission bevel gear 34 to move and change the output direction, the movement is finally transmitted to the end effector connecting body 38 through a T-axis transmission body 32, a T-axis belt pulley 29, a T-axis synchronous belt 31, a T-axis output bevel gear 36 and a T-axis output body 37, and the end effector connecting body 38 is connected with the T-axis connecting body 10 in the end effector 1 to drive the end effector 1 to rotate around the T axis.
The upper clamp body 19 and the lower clamp body 20 of the end effector 1 move up and down along the M axis, the rotation motion is transmitted to an M axis input belt wheel 50 in the upper arm unit 3 by a speed reducing motor on an upper arm driving unit 4 through a synchronous belt, and an M axis transmission shaft 59 is driven to rotate and connected to an M axis input shaft 47 in the wrist unit 2 through a spline. The M-shaft input shaft 47 is connected through an M-shaft input bevel gear 44, meshed with the M-shaft transmission bevel gear 35 in motion and used for converting the output direction, and transmits the motion to the T-shaft output shaft 39 through the M-shaft transmission shaft 28, the M-shaft belt pulley 27, the M-shaft synchronous belt 30 and the M-shaft output bevel gear 40. The T-shaft output shaft 39 is connected with the input shaft 9 in the end effector 1 through a spline and drives the input shaft to rotate, the input shaft 9 transmits motion to the output shaft 16 through the input bevel gear 11 and the output bevel gear 14, the output shaft 16 drives the gear 18 to rotate, when the gear 18 rotates anticlockwise, the upper clamp body 19 is driven to move upwards, the lower clamp body 20 is driven to move downwards, the distance between the upper clamp body and the lower clamp body is expanded, at the moment, a handle needing to close a valve is placed between the upper clamp body 19 and the lower clamp body 20 through the invention, then the robot motor rotates reversely to drive the gear 18 to rotate along with a pointer, the upper clamp body 19 moves downwards, the lower clamp body 20 moves upwards, the distance between the upper clamp body and the lower clamp body is reduced, and clamping and fixing motion of the valve handle is achieved. After the handle is clamped, the end effector 1 rotates around the T shaft to complete closing action. The end effector 1 is provided with a high temperature resistant camera 13 which can monitor the position and closing condition of the valve in real time and can also monitor the fire condition in real time.
The lower part of the base 7 is provided with a connecting flange which can be connected to a wheeled structure or a special vehicle to meet the moving problem and daily storage management work in case of fire.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A fire-fighting robot for closing a fire valve is characterized by comprising an end effector, a wrist unit, an upper arm driving unit, a lower arm unit, a waist unit, a base and a high-temperature-resistant protective garment, wherein the end effector clamps a valve handle and rotates around the center of the valve to open and close the valve, the end effector has two actions of rotating around a T shaft and moving up and down along an M shaft, the end effector is connected with the wrist unit through a spline and a bolt, the wrist unit plays a role in transmitting the motion of the end effector and adjusting the position of the end effector, the wrist unit can drive the end effector to rotate around a B shaft and rotate around an R shaft, the wrist unit is connected with the upper arm unit through the spline and the bolt, the upper arm unit plays a role in transmitting the motion of the end effector and the wrist unit, and is connected with the upper arm driving unit through the bolt, the upper arm driving unit is a driving device for the motion of the end effector, the wrist unit and the upper arm unit, driving motors of the end effector, the wrist unit and the upper arm unit are all integrated into the upper arm driving unit, and the lower arm unit can drive the end effector, the wrist unit, the upper arm unit and the upper arm driving unit to rotate around a U shaft; the waist unit can drive the end effector, the wrist unit, the upper arm driving unit and the lower arm unit to rotate around the L axis; the base plays a role in fixing and supporting the whole robot, and the built-in motor can drive the whole robot to rotate around the S shaft;
the end effector comprises an input shaft, a T-shaft connector, an input bevel gear, a connector, a high-temperature-resistant camera, an output bevel gear, an output shaft connector, an output shaft, a housing, a gear, an upper clamp body and a lower clamp body, wherein a spline groove is formed in the input shaft and connected with a wrist unit to transmit main motion, and the T-shaft connector is connected with an external robot T shaft through a bolt to drive the whole end effector to rotate 360 degrees around the T shaft; the input bevel gear and the output bevel gear are meshed with each other and are respectively connected with the input shaft and the output shaft through keys; the gear is connected to the other end of the output shaft through a key, the upper clamp body and the lower clamp body are both L-shaped, racks are processed on the upper portion of the gear and are respectively meshed with the upper clamp body and the lower clamp body on the left side and the right side of the gear, the gear drives the upper clamp body and the lower clamp body to do up-and-down reverse motion when rotating, and the opposite surface of the lower portion is provided with a sawtooth shape; the connecting body is connected between the T-shaft connecting body and the output shaft connecting body, and the housing is connected with the output shaft connecting body to play a role in limiting the movement of the upper clamp body and the lower clamp body; the input shaft and the output shaft are respectively connected to the T-shaft connector and the output shaft connector through tapered roller bearings; the high-temperature resistant camera is connected to the connector through threads, and plays roles in monitoring the fire condition, positioning the T axis and observing the clamping condition of the upper clamp body and the lower clamp body;
the wrist unit comprises an R shaft connector, a B shaft input end, a T shaft input end, a wrist rack, a B shaft connector, a housing, an M shaft belt wheel, an M shaft transmission shaft, a T shaft belt wheel, an M shaft synchronous belt, a T shaft transmission body, a transmission rack, a T shaft transmission bevel gear, an M shaft transmission bevel gear, a T shaft output body, an end effector connector, a T shaft output shaft, an M shaft output bevel gear, a B shaft output bevel gear, a speed reducer, a rotary rack, an M shaft input bevel gear, a T shaft input bevel gear, a B shaft input bevel gear, an M shaft input shaft, a T shaft connector and a B shaft output shaft, the wrist frame plays a role in bearing the whole wrist unit and installing related parts, and the housing plays a role in protecting the synchronous belt and facilitating installation and maintenance;
one end of the input end of the B shaft is connected with the upper arm unit through a spline to transmit B shaft input motion, the other end of the input end of the B shaft is connected with an input bevel gear of the B shaft through a B shaft connecting body, the input bevel gear of the B shaft is meshed with an output bevel gear of the B shaft to move and change the output direction, and the output shaft of the B shaft and the speed reducer drive the revolving frame to make the wrist unit revolve around the B shaft;
one end of the input end of the T shaft is connected with the upper arm unit through a spline to transmit input motion of the T shaft, the other end of the input end of the T shaft is connected with the input bevel gear of the T shaft through a T shaft connector, the input bevel gear of the T shaft and the transmission bevel gear of the T shaft are engaged to move to change the output direction, and finally the motion is transmitted to the connector of the end effector through the T shaft transmission body, the belt pulley of the T shaft, the synchronous belt of the T shaft, the output bevel gear of the T shaft and the output body of the T shaft so as to drive the end effector to rotate around the T shaft;
one end of the M-shaft input shaft is connected with the upper arm unit through a spline to transmit M-shaft input motion, the other end of the M-shaft input shaft is meshed with the M-shaft transmission bevel gear through the M-shaft input bevel gear to move and change the output direction, and the motion is finally transmitted to the T-shaft output shaft through the M-shaft transmission shaft, the M-shaft belt pulley, the M-shaft synchronous belt and the M-shaft output bevel gear to drive the upper clamp body and the lower clamp body of the end effector to move up and down along the M shaft.
2. A fire valve closure fire fighting robot as recited in claim 1, wherein: and high-temperature-resistant protective clothing is wrapped outside the wrist unit and the upper arm unit to prevent high-temperature transmission.
3. A fire valve closure fire fighting robot as recited in claim 1, wherein: the upper arm unit comprises an M-shaft input belt pulley, a T-shaft input belt pulley, a B-shaft input belt pulley, an R-shaft input belt pulley, an upper arm rack, a speed reducer, an R-shaft output shaft, a B-shaft output shaft, a T-shaft output shaft, an M-shaft transmission shaft, a T-shaft transmission shaft, a B-shaft transmission shaft and an R-shaft transmission shaft, wherein the M-shaft input belt pulley is connected with the upper arm driving unit through a synchronous belt to drive the M-shaft transmission shaft to rotate, is connected to the wrist unit through a spline and finally is transmitted to the end effector to enable the upper clamp body and the lower clamp body to move up and down along the M shaft to complete clamping action;
the T-shaft input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to a T-shaft output shaft through a T-shaft transmission shaft, the T-shaft output shaft is connected to the wrist unit through a spline and finally the motion is transmitted to the end effector, so that the end effector rotates around the T shaft;
the B-axis input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to a B-axis output shaft through a B-axis transmission shaft, and the B-axis output shaft is connected to the wrist unit through a spline to drive the wrist unit and the end effector to rotate around the B-axis;
the R-shaft input belt wheel is connected with the upper arm driving unit through a synchronous belt, the rotary motion is transmitted to an R-shaft output shaft through an R-shaft transmission shaft, and the R-shaft output shaft is connected with the wrist unit through a speed reducer and drives the wrist unit to rotate around the R shaft;
the upper arm frame plays a role in supporting the whole upper arm unit and is connected with the upper arm driving unit through bolts so as to realize the rotation of the whole upper arm unit along the U shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810930304.6A CN109318238B (en) | 2018-08-15 | 2018-08-15 | Fire-fighting robot for closing fire valve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810930304.6A CN109318238B (en) | 2018-08-15 | 2018-08-15 | Fire-fighting robot for closing fire valve |
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| CN109318238A CN109318238A (en) | 2019-02-12 |
| CN109318238B true CN109318238B (en) | 2022-06-17 |
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| CN111872969B (en) * | 2020-08-05 | 2021-04-13 | 诸暨市源浦机械科技有限公司 | Mechanical arm device capable of automatically closing valve of fire-catching gas tank and cooling |
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| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| JP5565550B2 (en) * | 2009-05-12 | 2014-08-06 | 株式会社Ｉｈｉ | Automatic screw tightening device and control method thereof |
| JP5741617B2 (en) * | 2013-03-19 | 2015-07-01 | 株式会社安川電機 | Robot equipment |
| JP6754364B2 (en) * | 2015-08-25 | 2020-09-09 | 川崎重工業株式会社 | Robot system |
| CN105127974A (en) * | 2015-09-22 | 2015-12-09 | 哈尔滨工业大学 | Intelligent mobile operation arm having mechanical testing function |
| CN108290257B (en) * | 2015-12-16 | 2020-03-06 | 株式会社安川电机 | Robot system and control method |
| CN107186752B (en) * | 2017-03-28 | 2023-05-16 | 江苏科技大学 | Wave compensation salvage robot system |
| CN106956286B (en) * | 2017-05-18 | 2019-07-19 | 湖南大学 | Composite material machinery hand machining integrated system |
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Application publication date: 20190212 Assignee: Nanyang Explosion proof Electrical Engineering Technology Research Center Assignor: Nanyang Normal University Contract record no.: X2024980009053 Denomination of invention: A fire valve closing firefighting robot Granted publication date: 20220617 License type: Common License Record date: 20240705 |
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