CN201815015U - Fire-extinguishing teleoperator - Google Patents
Fire-extinguishing teleoperator Download PDFInfo
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- CN201815015U CN201815015U CN2010205549116U CN201020554911U CN201815015U CN 201815015 U CN201815015 U CN 201815015U CN 2010205549116 U CN2010205549116 U CN 2010205549116U CN 201020554911 U CN201020554911 U CN 201020554911U CN 201815015 U CN201815015 U CN 201815015U
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- fire
- fireproof box
- remote controller
- robot
- teleoperator
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Abstract
The utility model discloses a fire extinguishing teleoperator. The fire extinguishing teleoperator structurally comprises a moving carrier, an image pick-up device, a sprinkler head, a voice transmitter-receiver device and a remote controller, wherein the moving carrier consists of a track and a fire-resistant case body; the image pick-up device is arranged on the moving carrier; a life-saving product telescopic boom is arranged on the fire-resistant case body of the moving carrier; the image pick-up device is a wireless pick-up lens which is arranged on the upper surface of the fire-resistant case body and can rotate by 360 degrees, and the wireless pick-up lens is connected with a computer and a drive software; and a Bluetooth module is arranged in the fire-resistant case body, and the remote controller and the Bluetooth module are mutually connected and controlled through wireless signals. The fire extinguishing teleoperator is designed to reduce fire-fighting risk in case of fire hazards, because the teleoperator can replace people to go to a scene of a fire and put out the fire at the critical moment. By virtue of a self-provided extension controller module, the teleoperator can avoid obstacles for walking automatically when arriving at places beyond the control range of the remote controller.
Description
Technical field
The utility model relates to extinguishing device, specifically a kind of remote control firefighting robot.
Background technology
Robot is the machine with perception, thinking and action function, is the comprehensive achievement of multiple subject such as theory of mechanisms, automatically control, computer, artificial intelligence, photoelectric technology, sensing technology, mechanics of communication, emulation technology, bionics and technology.Industrial robot is from first generation teaching online robot, second generation off-line programing robot, till now third generation intelligent robot.Robot occupies more and more important position as the production and the service aid of a new generation in the wide spectrum of social economy and non-economy, this improves production capacity, opens up new industry and make the life better and all have very realistic meanings the mankind.
Because the continuous expansion of robot application scope, some special working environments have proposed requirement for robot, for example with the bio-robot system applies in special and extreme environments such as nuclear radiation, space celestial body, mars exploration, seabeds, deep-sea, realize automatically and on-line fault diagnosis, maintenance and detection.Finish above-mentioned work, the carrier that solves equipment is the development of robot system, comprises the motion mode of robot under the particular surroundings, effectively to control and keep away the problem of aspects such as barrier particularly crucial.
At present the fire fighter puts out a fire mainly with giant, or the on-the-spot rescue of the calamity trapped personnel that reduces internal heat before artificial, and danger is bigger.The scene of fire can safe escape selfrescue equipment blank substantially at present, so being necessary to design a automation or the semi-automatic rescue aid calamity scene that replaces reducing internal heat before the people sues and labours, can deliver fire hydrant or liquid extinguisher on the one hand, can wear communication equipment on the other hand and understand the state of scene of fire trapped personnel, can take method to sue and labour as the case may be.Can under the working environment of danger, free the people.
Application number is 200720070381, and notification number is 201088794, and the day for announcing is that the Chinese patent on July 23rd, 2008 discloses a kind of firefighting fire extinguishing robot, comprises a kind of mobile vehicle; Be installed in the engine of mobile vehicle afterbody; Be installed in the electric supply installation on the mobile vehicle, this electric supply installation comprises generator, battery and electric cabinet, and described generator is by engine drive work; Generator is installed in the hydraulic system at mobile vehicle middle part to battery and electric cabinet power supply, this hydraulic system comprises fueller, by walking mechanism and fire monitor actuating mechanism that fueller drives, described fueller is connected with fire monitor working hydraulic pressure controlling organization with the hydraulic control of walking; Described magnetic valve is connected with electric cabinet and controlled by it; Be installed in the fire water/foam monitor of mobile vehicle front portion, this fire water/foam monitor is connected with water tank with external water source by pipeline and water collector, and described water tank is installed on the mobile vehicle; Described fire water/foam monitor is made up of gun platform and nozzle, and the rotary joint of described gun platform is connected with fire monitor working hydraulic pressure controlling organization by Worm and worm-wheel gearing respectively with the pitching rotary joint; Described nozzle is connected with fire monitor working hydraulic pressure controlling organization, is realized the conversion of its direct current and spraying by fire monitor operating mechanism; Be installed in the wireless remote controller below the anterior and fire water/foam monitor of mobile vehicle, this wireless remote controller is controlled by a hand-held remote controller and is connected by data line with remote control PLC; Be installed in the camera head on fire water/foam monitor, this camera head is connected with the backstage display device by wireless transmitter module.So this robot is made up of mobile vehicle, fire water/foam monitor, wireless remote controller, camera head and self-shield mechanism.Fire water/foam monitor and engine are positioned at afterbody before the robot, and hydraulic system is positioned at the robot middle part; Wireless remote controller is positioned at the robot front portion, below fire water/foam monitor; Camera head is fixed on fire water/foam monitor; The water smoke of the waterfog head ejection of self-shield mechanism can cover robot body fully.The utlity model has following major function: the automatic function of search of the throttle position during startup; Automatic protection functions after engine starts for three times; Self-Protection Subsystem based on temperature signal; Long-distance wireless remote control function, condition of a fire Real Time Observation function etc.It can be under fire fighter's Long-distance Control, enters the injection of putting out a fire of disaster scene, also can carry out decontamination and dilution to the poisonous and harmful substance of leaking in the disaster accident.Ensure the personal safety that the fire fighter faces in above-mentioned place effectively.But this firefighting robot still exists insensitively in that walking mechanism, power-driven mechanism are first-class, moves unsettled defective.
The utility model content
(1) technical problem that will solve
The purpose of this utility model is the defective that exists at prior art, and a kind of remote control firefighting robot is provided, and when fire takes place, goes fire extinguishing to sue and labour before adopting robot, can be the rescue worker and provides convenience, and has reduced the danger of rescue; Remote control firefighting robot cost is low, practical, simple to operate, controllability is better, can realize the mechanization operation on the fire-fighting battle line, is the development trend of following fire-fighting cause.
(2) technical scheme
The technical scheme that its technical problem that solves the utility model adopts is: a kind of remote control firefighting robot, its structure comprise camera head, fire extinguishing sprayer, voice transmitting-receiving device, the remote controller that is provided with on the mobile vehicle that is made of crawler belt and fireproof box, the mobile vehicle; Also be provided with the life-saving telescopic arm on the fireproof box of described mobile vehicle; Described camera head is the wireless camera camera lens that is arranged on the 360 degree rotations of fireproof box upper surface energy, and described wireless camera camera lens connects computer and drive software; Described fireproof box inside is provided with bluetooth module, and described remote controller connects by wireless signal and the control bluetooth module.
Also be provided with the extending controller module in the described fireproof box, this extending controller module is for allowing robot keep away the extending controller module of barrier walking voluntarily.
Described crawler belt is walked by the direction motor-driven after being powered on by the supplying cell of caterpillar system; Described remote controller carries out the motion of all directions by the arrow button of self, system signal receiver, motor driver and the direction motor-driven caterpillar tracks of fireproof box inside.
Described life-saving telescopic arm is driven by the inner set flexible cable mechanism of fireproof box, also is provided with gentle rope drive motors, motor driver in this fireproof box; Described remote controller signals to motor driver, connects the gentle rope drive motors of control then and drives flexible cable mechanism.
Described fire extinguishing sprayer is provided with flow control valve and pressure-regulating device in fireproof box inside, leave handle hole at box body wall, fire extinguishing sprayer injection action and direction are regulated by the direction steering wheel control that is arranged on fireproof box inside, and the direction steering wheel receives remote controller signal by motor driver shower nozzle is carried out action.
Described direction steering wheel also connect be arranged on fireproof box inside be used to drive the angle rotation steering wheel that the wireless camera camera lens is done the rotation of 360 ° of directions.
(3) beneficial effect
A kind of remote control firefighting robot of the present utility model is compared with prior art, has following beneficial effect:
When fire takes place, in order to reduce the danger of fire fighting, designed the remote control firefighting robot, before reducing internal heat the on-the-spot people of replacement of calamity constantly, danger and disaster goes fire extinguishing by remote-controlled robot.The robot material is made by fire proofing material, and fuselage is airtight except that crawler belt, and during motion, robot carrying fire hydrant arrives accurate position, finishes the fire extinguishing injection action.
Adopt Bluetooth wireless communication between remote controller and the robot, not influenced by firepower, have observability in 100 meters scopes, controllability is better;
Robot wears wirelessly to be penetrated as camera lens and has the rotation of 360 ° of angles, and people can pass through computer picture out of harm's way, and direction of travel is distinguished by the help robot;
Robotic spraying's extinguish material is controlled by hydraulic valve, can realize the speed flowrate adjusting.
Use the robot site ejecting extinguishing, reduced the danger of fire fighting;
Robot motion is carried out by remote controller control, and flexibility is better;
Adopt advanced Bluetooth wireless communication, controllability is better;
Robot wears wireless picture camera lens, the computer monitor penetrated;
Adopt advanced function of voice communication, trapped personnel is sued and laboured;
Robot adopts caterpillar belt structure, and the span ability on irregular road surface is strong.
When fire takes place, before adopting robot, go fire extinguishing to sue and labour, can be the rescue worker and provide convenience, reduced the danger of rescue;
Remote control firefighting robot cost is low, practical, simple to operate, controllability is better, can realize the mechanization operation on the fire-fighting battle line, is the development trend of following fire-fighting cause.
Description of drawings
Accompanying drawing is the structure principle chart of a kind of remote control firefighting robot of the present utility model.
Among the figure: 1, remote controller; 2, computer and drive software; 3, wireless camera camera lens; 4, life-saving telescopic arm; 5, fire extinguishing sprayer; 6, voice transmitting-receiving device; 7, fireproof box; 8, crawler belt; 9, motor driver; 10, system signal receiver; 11, direction motor; 12, bluetooth module; 13, angle rotation steering wheel; 14, flexible cable mechanism; 15, direction steering wheel; 16, flow control valve; 17 pressure-regulating devices; 18, gentle rope drive motors; 19, expansion module main controller; 20, system's supplying cell.
The specific embodiment
Next explain below with reference to Figure of description a kind of remote control firefighting robot of the present utility model being done.
A kind of remote control firefighting robot of the present utility model, its structure comprise camera head, fire extinguishing sprayer 5, voice transmitting-receiving device 6, the remote controller 1 that is provided with on the mobile vehicle that is made of crawler belt 8 and fireproof box 7, the mobile vehicle; Also be provided with life-saving telescopic arm 4 on the fireproof box of described mobile vehicle; Described camera head is the wireless camera camera lens 3 that is arranged on the 360 degree rotations of fireproof box upper surface energy, and described wireless camera camera lens connects computer and drive software 2; Described fireproof box inside is provided with bluetooth module 12, and described remote controller connects by wireless signal and the control bluetooth module.
Also be provided with extending controller module 19 in the described fireproof box, this extending controller module is for allowing robot keep away the extending controller module of barrier walking voluntarily.
After described crawler belt is powered on by the supplying cell of caterpillar system, drive walking by direction motor 11; Described remote controller carries out the motion of all directions by the arrow button of self, system signal receiver 10, motor driver 9 and the direction motor-driven caterpillar tracks of fireproof box inside.
Described life-saving telescopic arm is driven by the inner set flexible cable mechanism 14 of fireproof box, also is provided with gentle rope drive motors 18, motor driver 9 in this fireproof box; Described remote controller signals to motor driver, connects the gentle rope drive motors of control then and drives flexible cable mechanism.
Described fire extinguishing sprayer is provided with flow control valve 16 and pressure-regulating device 17 in fireproof box inside, leave handle hole at box body wall, fire extinguishing sprayer injection action and direction are regulated by direction steering wheel 15 controls that are arranged on fireproof box inside, and the direction steering wheel receives remote controller signal by motor driver shower nozzle is carried out action.
Described direction steering wheel also connect be arranged on fireproof box inside be used to drive the angle rotation steering wheel 13 that the wireless camera camera lens is done the rotation of 360 ° of directions.
The machine man-hour can realize that by voltage source power supply button A/B remote controller and robot car body are for outage by wireless camera camera lens 3 and computer and drive software 2 monitoring; Push remote controller arrow button C/D and control that it advances, retreats, turns left, the motion of right-hand rotation direction; Push shower nozzle control valve button E/F and can realize injection flow control; Pushing the wireless camera camera lens turns to button G/H can realize 360 ° of direction picture monitoring; Push telescopic arm button R/J and can realize the automatic transmission of life vest and wet rag; But push the voice communication button opening voice transmission function of suing and labouring.
1. application and know-why, purposes
When fire takes place, in order to reduce the danger of fire fighting, designed the remote control firefighting robot, before reducing internal heat the on-the-spot people of replacement of calamity constantly, danger and disaster goes fire extinguishing by remote-controlled robot.The robot material is made by fire proofing material, and fuselage is airtight except that crawler belt, and during motion, robot carrying fire hydrant arrives accurate position, finishes the fire extinguishing injection action.
(1) the robot ambulation dynamical system is that the action of deceleration direct current generator, injection is regulated control by steering wheel control, injection flow by hydraulic valve;
(2) executing agency of robot adopts crawler travel and shower nozzle to spray;
(3) ROBOT CONTROL system adopts remote controller control, adopts Bluetooth short distance communication;
(4) the robot action that can realize: advance, retreat, turn left, right-hand rotation, nozzle angle rotation and ejecting extinguishing material;
(5) robot has emergency aid articles (wet rag, fireproof-clothes etc.), adopts telescopic arm to realize transporting
(6) robot has communication function, realizes transmitting by voice;
(7) robot has the wireless camera camera lens, and people can show control robot ambulation direction by the computer picture out of harm's way.
Its remote control equipment comprises following part: telecontrol transmitter, remote-control receiver, carry out the top machine, electron speed regulator, transmitter adopts boxlike button compact transmitter, will be by button through the modulation of internal circuit, coding, electromagnetic wave is launched by antenna by the high-frequency signal amplifying circuit again, receiver is used for accepting the Bluetooth RF signal on robot car body, the signal that receives is amplified, shaping, decoding, and the control signal that reception is come changes into audio signal or the digital pulse signal that executive circuit can be discerned, pass to robot steering wheel and electronic speed-regulating circuit on one's body, robot finishes the instruction that we launch by executing agency.
2. technical performance index
(1) adopt Bluetooth wireless communication between remote controller and the robot, not influenced by firepower, have observability in 100 meters scopes, controllability is better;
(2) robot wears and wirelessly penetrates as camera lens and have the rotation of 360 ° of angles, and people can pass through computer picture out of harm's way, and direction of travel is distinguished by the help robot;
(3) robotic spraying's extinguish material is controlled by hydraulic valve, can realize the speed flowrate adjusting.
3. creativeness of the present utility model, advance, feasibility, practicality
(1) uses the robot site ejecting extinguishing, reduced the danger of fire fighting;
(2) robot motion is carried out by remote controller control, and flexibility is better;
(3) adopt advanced Bluetooth wireless communication,, controllability is better;
(4) robot wears wireless picture camera lens, the computer monitor penetrated;
(5) adopt advanced function of voice communication, trapped personnel is sued and laboured;
(6) robot adopts caterpillar belt structure, and the span ability on irregular road surface is strong.
4. function and significance
(1) when fire takes place, before adopting robot, go fire extinguishing to sue and labour, can be the rescue worker and provide convenience, reduced the danger of rescue;
(2) remote control firefighting robot cost is low, practical, simple to operate, controllability is better, can realize the mechanization operation on the fire-fighting battle line, is the development trend of following fire-fighting cause.
The above embodiment is a kind of of the more preferably concrete embodiment of the utility model, and common variation that those skilled in the art carries out in the technical solutions of the utility model scope and replacement all should be included in the protection domain of the present utility model.
Claims (6)
1. remote control firefighting robot, its structure comprise camera head, fire extinguishing sprayer, voice transmitting-receiving device, the remote controller that is provided with on the mobile vehicle that is made of crawler belt and fireproof box, the mobile vehicle; It is characterized in that: also be provided with the life-saving telescopic arm on the fireproof box of described mobile vehicle; Described camera head is the wireless camera camera lens that is arranged on the 360 degree rotations of fireproof box upper surface energy, and described wireless camera camera lens connects computer and drive software; Described fireproof box inside is provided with bluetooth module, and described remote controller connects by wireless signal and the control bluetooth module.
2. a kind of remote control firefighting robot according to claim 1 is characterized in that: also be provided with the extending controller module in the described fireproof box, this extending controller module is for allowing robot keep away the extending controller module of barrier walking voluntarily.
3. a kind of remote control firefighting robot according to claim 1 and 2 is characterized in that: described crawler belt is walked by the direction motor-driven after being powered on by the supplying cell of caterpillar system; Described remote controller carries out the motion of all directions by the arrow button of self, system signal receiver, motor driver and the direction motor-driven caterpillar tracks of fireproof box inside.
4. a kind of remote control firefighting robot according to claim 1 and 2 is characterized in that: described life-saving telescopic arm is driven by the inner set flexible cable mechanism of fireproof box, also is provided with gentle rope drive motors, motor driver in this fireproof box; Described remote controller signals to motor driver, connects the gentle rope drive motors of control then and drives flexible cable mechanism.
5. a kind of remote control firefighting robot according to claim 1 and 2, it is characterized in that: described fire extinguishing sprayer is provided with flow control valve and pressure-regulating device in fireproof box inside, leave handle hole at box body wall, fire extinguishing sprayer injection action and direction are regulated by the direction steering wheel control that is arranged on fireproof box inside, and the direction steering wheel receives remote controller signal by motor driver shower nozzle is carried out action.
6. a kind of remote control firefighting robot according to claim 5 is characterized in that: described direction steering wheel also connect be arranged on fireproof box inside be used to drive the angle rotation steering wheel that the wireless camera camera lens is done the rotation of 360 ° of directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205549116U CN201815015U (en) | 2010-10-11 | 2010-10-11 | Fire-extinguishing teleoperator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205549116U CN201815015U (en) | 2010-10-11 | 2010-10-11 | Fire-extinguishing teleoperator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201815015U true CN201815015U (en) | 2011-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205549116U Expired - Fee Related CN201815015U (en) | 2010-10-11 | 2010-10-11 | Fire-extinguishing teleoperator |
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| Country | Link |
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| CN (1) | CN201815015U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103405867A (en) * | 2013-07-15 | 2013-11-27 | 中国人民解放军国防科学技术大学 | Overhead fixed-point continuous water spraying device based on hot air balloon |
| CN105005308A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Six-wheel fire-fighting robot servo controller based on STM32F407 |
| CN106057056A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Teaching robot dolly based on STM32F4 microcontroller |
| CN108762178A (en) * | 2018-08-13 | 2018-11-06 | 广州市君望机器人自动化有限公司 | A kind of injection apparatus and crusing robot |
-
2010
- 2010-10-11 CN CN2010205549116U patent/CN201815015U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103405867A (en) * | 2013-07-15 | 2013-11-27 | 中国人民解放军国防科学技术大学 | Overhead fixed-point continuous water spraying device based on hot air balloon |
| CN105005308A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Six-wheel fire-fighting robot servo controller based on STM32F407 |
| CN106057056A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Teaching robot dolly based on STM32F4 microcontroller |
| CN108762178A (en) * | 2018-08-13 | 2018-11-06 | 广州市君望机器人自动化有限公司 | A kind of injection apparatus and crusing robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110504 Termination date: 20111011 |