CN204750571U - A flight machine people for high -rise building fire control is put out a fire - Google Patents
A flight machine people for high -rise building fire control is put out a fire Download PDFInfo
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- CN204750571U CN204750571U CN201520359280.5U CN201520359280U CN204750571U CN 204750571 U CN204750571 U CN 204750571U CN 201520359280 U CN201520359280 U CN 201520359280U CN 204750571 U CN204750571 U CN 204750571U
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Abstract
The utility model provides a flight machine people for high -rise building fire control is put out a fire, include the main rotor, down main rotor, main rotor motor, burning things which may cause a fire disaster detector, vice rotor motor, fly to control axle in board, vice rotor, frame, ducted fan, power transmission line, intelligent fire gun, hosepipe, haulage rope, hosepipe interface, fire gun support, rotation axis, box, the outer axle of the coaxial bispin wing and the coaxial bispin wing, the beneficial effect of the utility model: intelligent degree is high, need not the fire control of complicated operation alright realization to high -rise building, utilize six rotors flight mechanism, stability is high, anti crosswind ability reinforce, flexible nature is good, manpower consumption is few.
Description
Technical field
The utility model belongs to robotics, particularly relates to a kind of flying robot for high building fire fighting fire extinguishing.
Background technology
At present, along with the develop rapidly of economy, urbanization progress is swift and violent, in city, large-scale, the high type building of various function continues to bring out, the fire of high-rise building thereupon brought also emerges in an endless stream, and grow in intensity, but lack the special fire appliance for skyscraper of comparative maturity both at home and abroad at present.What Japan developed bends and stretches the special function that the security robot of creeping possesses automatic running, and can open elevator tour and also can put out a fire, but skyscraper easily destroys its electric system once catch fire, it lacks practicality in skyscraper fire extinguishing.The compound type fire-fighting robot stable system performance that the mechanisms such as international Robotics center develop jointly, but will be applied on skyscraper and need corresponding guide rail, in concrete use, go back existing defects.For the most frequently used fire appliance-fire extinguishing tanker, the Polish wave great waves fire fighting turnable ladder that the highest, spread length is the longest in the world at present also only has 101 meters, and for higher fire of high-rise building, the fire extinguishing that these equipment can reach highly also is nowhere near.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of flying robot for high building fire fighting fire extinguishing.
The technical solution of the utility model is such: this device comprises main rotor, lower main rotor, main rotor motor, fire source probing device, secondary rotor motor, flies axle in control plate, secondary rotor, frame, ducted fan, power transmission line, intelligent fire big gun, water-band, hauling rope, hose coupling, fire monitor support, S. A., casing, coaxial double-rotary wing outer shaft and coaxial double-rotary wing;
Coaxial double-rotary alar part: upper main rotor is connected to axle top in coaxial double-rotary wing, lower main rotor is mounted to coaxial double-rotary wing outer shaft top, in coaxial double-rotary wing, axle is inner at coaxial double-rotary wing outer shaft, both are connected by bearing, two axles are connected with two main rotor motors by gear, main rotor motor is fixed in casing, and welding box body is in frame;
Quadrotor part: secondary rotor is directly installed on secondary rotor electric machine main shaft, and motor is fixed in frame; Fire source probing device is installed on outside casing; Intelligent fire big gun and ducted fan are welded in fire monitor support place, and fire monitor support is connected in frame by S. A.; Hauling rope upper end is installed on hose coupling place, and lower end is connected with ground control system; Water-band is connected with fire monitor support by hose coupling upper end, and lower end is connected to high-pressure hydraulic pump place, ground; Power transmission line upper end is connected with robot, and lower end is connected with surface power station, flies to control the center that plate is arranged on frame.
Described main rotor motor is 2.
Described secondary rotor is 4.
Described ducted fan is 2.
Described casing includes coaxial double-rotary wing running part.
The beneficial effects of the utility model:
(1) intelligence degree is high, just can realize the fire-fighting to skyscraper without the need to complex operations;
(2) utilize six rotor flying mechanisms, stability is high, and anti-side wind energy power is strong;
(3) flexible property is good, manpower consumption is few.
accompanying drawing illustrates:
Fig. 1 is the utility model structural representation;
In figure: on 1, main rotor, 2 times main rotors, 3 main rotor motors, 4 fire source probing devices, 5 secondary rotor motors, 6 fly axle in control plate, 7 secondary rotors, 8 frames, 9 ducted fans, 10 power transmission lines, 11 intelligent fire big guns, 12 water-band, 13 hauling ropes, 14 hose couplings, 15 fire monitor supports, 16 S. A.s, 17 casings, 18 coaxial double-rotary wing outer shafts and 19 coaxial double-rotary wings.
Detailed description of the invention
Below in conjunction with accompanying drawing and enforcement, the utility model is further described.
Fly control plate 6 model: APM2.8 flies to control plate;
Main rotor motor 3 model: Burgmann/ Bo Geman brushless direct current motor;
Secondary rotor motor 5 model: direct current Panasonic servomotor A5 series MSME082G1U;
As shown in Figure 1, this device comprises main rotor 1, lower main rotor 2, main rotor motor 3(2), fire source probing device 4, secondary rotor motor 5, fly control plate 6, secondary rotor 7(4), frame 8, ducted fan 9(2), power transmission line 10, intelligent fire big gun 11, water-band 12, hauling rope 13, hose coupling 14, fire monitor support 15, S. A. 16, casing 17(include coaxial double-rotary wing running part), axle 19 in coaxial double-rotary wing outer shaft 18 and coaxial double-rotary wing;
Coaxial double-rotary alar part: upper main rotor 1 is connected to axle 19 top in coaxial double-rotary wing, lower main rotor 2 is mounted to coaxial double-rotary wing outer shaft 18 top, in coaxial double-rotary wing, axle 19 is inner at coaxial double-rotary wing outer shaft 18, both are connected by bearing, two axles are connected with two main rotor motors 3 by gear, main rotor motor 3 is fixed in casing 17, and casing 17 is welded in frame 8;
Quadrotor part: four secondary rotors 7 are directly installed on four secondary rotor motor 5 main shafts, and motor 5 is fixed in frame 8; Fire source probing device 4 is installed on outside casing 17; Intelligent fire big gun 11 and ducted fan 9 are welded in fire monitor support 15 place, and fire monitor support 15 is connected in frame 8 by S. A. 16; Hauling rope 13 upper end is installed on hose coupling place, and lower end is connected with ground control system; Water-band 12 is connected with fire monitor support 15 by hose coupling 14 upper end, and lower end is connected to high-pressure hydraulic pump place, ground; Power transmission line 10 upper end is connected with robot, and lower end is connected with surface power station, flies to control the center that plate 6 is arranged on frame 8.
the principle of work of this patent and process:
High building fire fighting flying robot is mainly used in the high-rise of distance floor level more than 30 meters, its radical function can draw fire hose to put out a fire to high-altitude, by self detection system, fire-fighting system and attitude regulation system etc., firing point is positioned, sprinkling fire and according to the climate environment condition near the scene of a fire regulate aerial flight attitude meet skyscraper fire extinguishing needs.
High building fire fighting flying robot forms primarily of six rotorcraft and intelligent fire big gun and ducted fan, wherein six rotorcraft is from structure, it is the combination of coaxal helicopter and four oar aircraft, but it is not simply piece together, but both advantages are combined, compared with conventional helicopters and quadrotor popular at present, there is following advantage: (1) has certain anti-side wind; (2) there is good self-regulation; (3) large load-carrying capacity; (4) control principle simple, be easy to realize.Its complete machine lift provides primarily of 2 co-axial rotors, and the pose adjustment of aircraft is controlled by 4 secondary rotors, by the size regulating the rotating speed of each motor to change tractive force, can realize the control in flight attitude and course.The yawing rotation of six rotorcraft is determined by 2 coaxial main rotors with lifting, and parallel motion is determined by 4 secondary rotors, can be realized the change of aircraft space attitude by the motor speed controlling six rotorcraft.
Intelligent fire big gun has active probe, positive location, the automatic function controlled compared with common fire monitor, when prosthetic is intervened, extinguishing operation can be completed, but fire monitor can produce a very large recoil during water spray of fire-fighting aloft, on the basis of intelligent fire big gun, two ducted fans are installed for this reason, ducted fan has the features such as compact conformation, aerodynamics noise is low, safety in utilization is good, and a kind of thruster of Chang Zuowei, the recoil that the thrust-balancing fire monitor that therefore can be produced by ducted fan is produced.
Robot each several part body function: coaxial double-rotary wing mainly provides main lift, is graded by the coaxial double-rotary wing driving section in axle 19 in upper main rotor 1, lower main rotor 2, two main rotor motors 3, coaxial double-rotary wing outer shaft 18, coaxial double-rotary wing and casing 17 and forms; The function of quadrotor is that assist people keeps self stability in the course of the work, and it is primarily of compositions such as four secondary rotors 7, frame 8, four secondary rotor motors 5; Intelligent fire big gun 11 is the fire-fighting implementation tool of robot, after ignition point position determined by fire source probing device 4, aims at burning things which may cause a fire disaster fire extinguishing; Intelligent fire big gun is when spraying water, a recoil can be produced to robot, the radical function of two ducted fans 9 is for fire monitor provides recoil, robot is made to keep balance, because two ducted fans 9 and intelligent fire big gun 11 are installed on fire monitor support 15 place, be connected in frame 8 by S. A. 16, when the rotating speed of change two ducted fans 9 simultaneously, ducted fan and fire monitor just rotate around S. A., thus change the aligned position of fire-fighting gun muzzle; Hauling rope 13 upper end is installed on hose coupling place, and lower end is controlled by ground control center, by the traction of hauling rope to robot, contributes to robot and keeps stability aloft; Water-band 12 is connected with fire monitor support 15 by hose coupling 14 upper end, and lower end is connected to high-pressure hydraulic pump place, ground, for fire-fighting robot provides water source; Power transmission line 10 upper end is connected with robot, and lower end is connected with surface power station, for robot provides electric energy; Flying to control plate 6 is the control part of robot, and can control the operation of the rotating speed of each rotor and ducted fan, intelligent fire big gun, the control to robot is also assisted in ground control center; Robot self also comprises other accessory equipments, as shock absorption device, security protection system etc.
Claims (5)
1. for a flying robot for high building fire fighting fire extinguishing, it is characterized in that: this device comprises main rotor, lower main rotor, main rotor motor, fire source probing device, secondary rotor motor, flies axle in control plate, secondary rotor, frame, ducted fan, power transmission line, intelligent fire big gun, water-band, hauling rope, hose coupling, fire monitor support, S. A., casing, coaxial double-rotary wing outer shaft and coaxial double-rotary wing;
Coaxial double-rotary alar part: upper main rotor is connected to axle top in coaxial double-rotary wing, lower main rotor is mounted to coaxial double-rotary wing outer shaft top, in coaxial double-rotary wing, axle is inner at coaxial double-rotary wing outer shaft, both are connected by bearing, two axles are connected with two main rotor motors by gear, main rotor motor is fixed in casing, and welding box body is in frame;
Quadrotor part: secondary rotor is directly installed on secondary rotor electric machine main shaft, and motor is fixed in frame; Fire source probing device is installed on outside casing; Intelligent fire big gun and ducted fan are welded in fire monitor support place, and fire monitor support is connected in frame by S. A.; Hauling rope upper end is installed on hose coupling place, and lower end is connected with ground control system; Water-band is connected with fire monitor support by hose coupling upper end, and lower end is connected to high-pressure hydraulic pump place, ground; Power transmission line upper end is connected with robot, and lower end is connected with surface power station, flies to control the center that plate is arranged on frame.
2. the flying robot for high building fire fighting fire extinguishing according to claim 1, is characterized in that: described main rotor motor is 2.
3. the flying robot for high building fire fighting fire extinguishing according to claim 1, is characterized in that: described secondary rotor is 4.
4. the flying robot for high building fire fighting fire extinguishing according to claim 1, is characterized in that: described ducted fan is 2.
5. the flying robot for high building fire fighting fire extinguishing according to claim 1, is characterized in that: described casing includes coaxial double-rotary wing running part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520359280.5U CN204750571U (en) | 2015-05-29 | 2015-05-29 | A flight machine people for high -rise building fire control is put out a fire |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520359280.5U CN204750571U (en) | 2015-05-29 | 2015-05-29 | A flight machine people for high -rise building fire control is put out a fire |
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| CN204750571U true CN204750571U (en) | 2015-11-11 |
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| CN201520359280.5U Expired - Fee Related CN204750571U (en) | 2015-05-29 | 2015-05-29 | A flight machine people for high -rise building fire control is put out a fire |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620765A (en) * | 2015-12-29 | 2016-06-01 | 苏州妙旋无人机应用有限公司 | Co-axis dual-rotor UAV (Unmanned Aerial Vehicle) hybrid power system |
| CN105667795A (en) * | 2016-01-18 | 2016-06-15 | 江苏顶飞航空科技有限公司 | Fire extinguishing bomb launching system for unmanned aerial vehicle |
| CN106075765A (en) * | 2016-08-05 | 2016-11-09 | 杨勇 | A kind of hydrodynamic force fire-fighting aircraft |
| CN106809381A (en) * | 2017-01-17 | 2017-06-09 | 深圳明创自控技术有限公司 | A kind of high-altitude fire alarm unmanned plane of real-time monitoring pernicious gas |
| CN107235147A (en) * | 2017-07-18 | 2017-10-10 | 深圳市雷凌广通技术研发有限公司 | It is a kind of to improve the unmanned plane of fire-fighting efficiency for tall-building fire fighting |
| JP2018090096A (en) * | 2016-12-02 | 2018-06-14 | 株式会社エンルートＭ’ｓ | Unmanned jetting device, jetting method and jetting program |
| CN108622404A (en) * | 2017-03-17 | 2018-10-09 | 株式会社理光 | aircraft and flight system |
| CN109484633A (en) * | 2018-11-15 | 2019-03-19 | 中南大学 | Collapsible mobile unmanned plane |
| CN109823545A (en) * | 2019-03-27 | 2019-05-31 | 河南机电职业学院 | A kind of injection recoil force eliminating device and removing method for hybrid power unmanned plane |
| CN112370695A (en) * | 2020-11-11 | 2021-02-19 | 杨根喜 | Fire-fighting and rescue method and device for high-rise building |
-
2015
- 2015-05-29 CN CN201520359280.5U patent/CN204750571U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620765A (en) * | 2015-12-29 | 2016-06-01 | 苏州妙旋无人机应用有限公司 | Co-axis dual-rotor UAV (Unmanned Aerial Vehicle) hybrid power system |
| CN105667795A (en) * | 2016-01-18 | 2016-06-15 | 江苏顶飞航空科技有限公司 | Fire extinguishing bomb launching system for unmanned aerial vehicle |
| CN106075765A (en) * | 2016-08-05 | 2016-11-09 | 杨勇 | A kind of hydrodynamic force fire-fighting aircraft |
| JP2018090096A (en) * | 2016-12-02 | 2018-06-14 | 株式会社エンルートＭ’ｓ | Unmanned jetting device, jetting method and jetting program |
| CN106809381A (en) * | 2017-01-17 | 2017-06-09 | 深圳明创自控技术有限公司 | A kind of high-altitude fire alarm unmanned plane of real-time monitoring pernicious gas |
| CN108622404A (en) * | 2017-03-17 | 2018-10-09 | 株式会社理光 | aircraft and flight system |
| CN108622404B (en) * | 2017-03-17 | 2022-05-24 | 株式会社理光 | Aircraft and flight system |
| CN107235147A (en) * | 2017-07-18 | 2017-10-10 | 深圳市雷凌广通技术研发有限公司 | It is a kind of to improve the unmanned plane of fire-fighting efficiency for tall-building fire fighting |
| CN107235147B (en) * | 2017-07-18 | 2019-10-29 | 张辉 | A kind of unmanned plane that can be improved fire-fighting efficiency for tall-building fire fighting |
| CN109484633A (en) * | 2018-11-15 | 2019-03-19 | 中南大学 | Collapsible mobile unmanned plane |
| CN109484633B (en) * | 2018-11-15 | 2020-05-08 | 中南大学 | Collapsible portable unmanned aerial vehicle |
| CN109823545A (en) * | 2019-03-27 | 2019-05-31 | 河南机电职业学院 | A kind of injection recoil force eliminating device and removing method for hybrid power unmanned plane |
| CN109823545B (en) * | 2019-03-27 | 2024-02-09 | 河南机电职业学院 | Injection recoil eliminating method for hybrid unmanned aerial vehicle |
| CN112370695A (en) * | 2020-11-11 | 2021-02-19 | 杨根喜 | Fire-fighting and rescue method and device for high-rise building |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151111 Termination date: 20160529 |