End effector of fire-fighting robot used for fire valve closing

Abstract

The invention discloses an end effector of a fire-fighting robot used for fire valve closing. An input conic gear is engaged with an output conic gear, and the input conic gear and the output conic gear are connected with an input shaft and an output shaft through keys correspondingly. A gear is connected to the other end of the output shaft through a key. A lower clamp body and an upper clamp body are each in an L shape, and racks are machined on the upper portions of the lower clamp body and the upper clamp body to engaged with the left side and the right side of the gear correspondingly. Ahigh temperature resisting camera is in threaded connection to a connecting body. The end effector clamps a valve handle and rotates around the center of a valve so as to open and close the valve, theend effector is used in cooperation with the robot, can achieve stereoscopic dead-angle-free motion and is wide in applicability and suitable for ball valves, butterfly valves, stop valves and othercommon valves; the upper clamp body and the lower clamp body do opposite motion so that the clamping time can be shortened by one time; and the problem that inflammable and flammable pipeline valves cannot be closed when fires happen can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of fire-fighting robots, and relates to a fire-fighting robot end effector for closing the valves of flammable and explosive pipelines when a fire occurs. Background technique [0002] With the development of science and technology, fire-fighting robots have been gradually popularized. Fire-fighting robots play a very important role in coping with complex terrain and performing special tasks, especially in severe fires. At present, the mainstream fire-fighting robots are mainly ground fire-fighting robots and aerial reconnaissance robots. Most of the ground-based fire-fighting robots are based on the traditional water gun clamping type, mainly responsible for fire-fighting tasks, and aerial reconnaissance robots are mainly responsible for fire detection and investigation tasks. But there are many types of fires, and the problems that need to be dealt with first are also very different. For example, when a fi...

AI Technical Summary

Problems solved by technology

[0004] 1. When a fire occurs in the pipeline, the situation at the valve is complicated and difficult to observe

[0005] 2. There is also a fire at the valve, and it is difficult for people to get close, and the valve cannot be closed, and the fire may spread further

[0006] 3. Existing robots mainly focus on ground fire fighting and detection, and there is no dedicated automatic valve closing device

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