Fire-fighting robot mechanical arm rotating mechanism

Abstract

The invention discloses a rotating mechanism for a mechanical arm of a fire-fighting robot, relates to the field of robots, and solves the problems that the mechanical arm of the rotating mechanism is relatively long and is inconvenient to work in a narrow space and a mechanical claw is easy to fall off when grabbing illegal buildings. The fire-fighting robot mechanical arm rotating mechanism comprises a fire-fighting robot master control room, moving rollers, a supporting suspender and a connecting cover plate, a steering structure is installed at the bottom end of the connecting cover plate, a clamping structure is installed at the bottom end of the steering structure, and the steering structure adjusts the angle of the clamping structure and rotates the clamping structure; the mechanical arm of the fire-fighting robot is driven to rotate in multiple directions through transmission, the movement range and flexibility of the mechanical arm are expanded within a limited range, and in addition, through the surrounding clamping mode of the small L-shaped clamping plate and the large L-shaped clamping plate, an opening of a grabbing clamp is formed in the side end; and due to the overlapping clamping mode, the grabbing clamp is prevented from falling off when the fence anti-theft window is pulled.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a mechanical arm rotating mechanism of a fire-fighting robot. Background Art

[0002] Firefighting robots are a type of special robot that plays an increasingly important role in firefighting and emergency rescue. The main working scenario of firefighting robots is to remove illegal anti-theft windows and other illegal buildings that block firefighting during firefighting and emergency rescue. The existing Chinese patent with the announcement number CN115351769B discloses a fire-fighting robot mechanical arm, including a fixed base; the fixed base has a disc-shaped structure, and a rotating groove is provided on the top of the fixed base, the inner wall of the rotating groove is rotatably connected to a rotating arm through a bearing, the bottom of the rotating arm is fixedly connected to a driving mechanism, and the top of the fixed base is located on the outside of the rotating arm. The part is fixedly connected to a protective device; the protective device includes: a fixed ring, the fixed ring has an annular plate structure, and a reinforcing strip arranged on the top of the fixed ring, the top of the reinforcing strip is fixedly connected to the bottom of the fixed ring, and the side of the fixed ring is provided with an annular groove; an extrusion airbag, the extrusion airbag has an annular structure, and a control sleeve is provided on one side of the extrusion airbag. The present invention relates to the field of robot technology. This fire-fighting robot mechanical arm avoids the situation where the rotating arm is tilted to a large extent, resulting in aggravated wear, and has a good control effect and high sensitivity; However, the fire fighting robot arm still has the following defects: 1. The rotating mechanism of the fire-fighting robot's mechanical arm is one of its key components. It determines the range of motion and flexibility of the mechanical arm. The torsional force of the rotating arm is needed to destroy illegal construction devices. Through the arm frame and the rotating arm of the mechanical arm, the steering adjustment is usually required to connect multiple arm frames and rotating arms, which leads to the extension of the overall rod of the mechanical arm, thereby affecting the flexibility of the mechanical arm. The places where fire-fighting robots are needed in fire fighting and emergency rescue are generally old and dilapidated communities with many illegal buildings. The environment is closed, and the longer mechanical arm will make it impossible to turn and exert torque to demolish illegal buildings in narrow places; 2. In addition, illegal buildings are generally columnar fences and closed welded security windows. The gripping clamps on the robotic arms open at the front end. When torque and tension are applied to destroy the fences after clamping the fences and security windows, the columnar bars of the fences are easy to fall off from the front end of the gripping clamps, which affects the working efficiency of the fire-fighting robot. Time is precious for emergency rescue during firefighting. The shorter the time it takes for the fire-fighting robot to destroy illegal buildings, the more people the firefighters can save. Summary of the invention

[0003] The purpose of the present invention is to provide a fire-fighting robot mechanical arm rotation mechanism to solve the problems raised in the above-mentioned background technology.

[0004] The technical solution of the present invention is: a fire-fighting robot mechanical arm rotation mechanism, comprising a fire-fighting robot main control room, a mobile roller, a support boom and a connecting cover plate, a steering structure is installed at the bottom end of the connecting cover plate, and a clamping structure is installed at the bottom end of the steering structure, the steering structure adjusts the angle of the clamping structure and rotates the clamping structure, The steering structure includes an L-shaped back plate, a first telescopic motor, a second telescopic motor and a third telescopic motor. The L-shaped back plate is installed at the bottom end of the connecting cover plate. The first telescopic motor, the second telescopic motor and the third telescopic motor are installed on one side of the inside of the L-shaped back plate. The first telescopic motor, the second telescopic motor and the third telescopic motor drive the clamping structure to rotate about different axes within a small range through transmission. Among them, the clamping structure includes a square frame bracket and a fourth telescopic motor, the square frame bracket is installed at the bottom end of the steering structure, the fourth telescopic motor is installed at the top inside the square frame bracket, and a small L-shaped clamping plate and a large L-shaped clamping plate are provided on both sides of the square frame bracket. The fourth telescopic motor drives the small L-shaped clamping plate and the large L-shaped clamping plate to move relative to each other through transmission.

[0005] Furthermore, movable rollers are installed on both sides of the fire-fighting robot main control room, a supporting boom is installed at one end of the fire-fighting robot main control room, and a connecting cover is installed at one end of the supporting boom away from the fire-fighting robot main control room.

[0006] Furthermore, a first rack is installed at the output end of the first telescopic motor, and a first gear is installed on one side of the first rack. The first rack and the first gear are meshed for transmission, and a first transmission rod is fixed at the bottom end of the first gear. The output end of the second telescopic motor is provided with a second rack, and a second gear is provided on one side of the second rack. The second rack and the second gear are meshed for transmission. A second transmission rod is fixed to the bottom end of the second gear, and the first transmission rod is passed through the interior of the second transmission rod. Among them, a third rack is installed at the output end of the third telescopic motor, and a third gear is installed on one side of the third rack. The third rack and the third gear are meshed for transmission. A third transmission rod is fixed to the bottom end of the third gear, and a second transmission rod passes through the inside of the third transmission rod.

[0007] Furthermore, a U-shaped bracket is fixed to one end of the third transmission rod away from the third gear, and the U-shaped bracket has a U-shaped appearance.

[0008] Furthermore, a first bevel gear is fixed to one end of the second transmission rod away from the second gear. Wherein, a third bevel gear is provided on one side of the bottom end of the first bevel gear, and the third bevel gear and the first bevel gear are meshed for transmission. The third bevel gear is installed on one side of the U-shaped bracket, and the third bevel gear is hingedly connected to the U-shaped bracket. Among them, an L-shaped bracket is fixed to the side of the third bevel gear close to the U-shaped bracket, and a fourth transmission rod passes through the side of the L-shaped bracket away from the third bevel gear, and a fifth bevel gear is fixed to the end of the fourth transmission rod close to the third bevel gear, and the end of the fourth transmission rod away from the fifth bevel gear is fixedly connected to the square frame bracket.

[0009] Furthermore, a second bevel gear is fixed to one end of the first transmission rod away from the first gear, and a fourth bevel gear is provided on one side of the second bevel gear. The fourth bevel gear is installed on a side of the U-shaped bracket away from the third bevel gear, and the fourth bevel gear is hingedly connected to the U-shaped bracket. Wherein, the second bevel gear, the fourth bevel gear and the fifth bevel gear are meshingly driven.

[0010] Furthermore, the frame bracket is in the shape of a frame with a hollow interior. Among them, the output end of the fourth telescopic motor is installed with an L-shaped connector, one side of the L-shaped connector is connected with a first limit slider, and the first limit slider is connected to one side of the square frame bracket through and through, and the first limit slider slides along the side rod of the square frame bracket. A small L-shaped clamping plate is connected to the side of the first limiting sliding block away from the L-shaped connecting piece, and a first inner plate is installed at the bottom end of the small L-shaped clamping plate, and the small L-shaped clamping plate and the first inner plate are magnetically connected.

[0011] Furthermore, the side of the square frame bracket away from the first limit slider is connected to the second limit slider, and the side of the second limit slider is connected to a large L-shaped clamping plate, and the bottom end of the inner side of the large L-shaped clamping plate is installed with a second inner plate, and the large L-shaped clamping plate and the second inner plate are magnetically connected. Among them, the small L-shaped clamping plate is a negative electrode, the first inner embedded plate is a positive electrode, the large L-shaped clamping plate is a positive electrode, and the second inner embedded plate is a negative electrode.

[0012] Furthermore, a hinge point is hinged at the middle position of the bottom of the square frame bracket, and a limiting I-shaped frame is provided on both sides of the square frame bracket, and the middle position of the limiting I-shaped frame and the hinge point pass through, and are hingedly connected to the square frame bracket through the hinge point. Wherein, one side of the position-limiting I-shaped frame is hingedly connected to the small L-shaped clamping plate, and the other side of the position-limiting I-shaped frame is hingedly connected to the large L-shaped clamping plate.

[0013] The present invention provides a fire fighting robot mechanical arm rotation mechanism through improvement, which has the following improvements and advantages compared with the prior art: First, the fire-fighting robot's mechanical arm is driven to rotate in multiple directions at the same time through the transmission of the first telescopic motor, the second telescopic motor and the third telescopic motor, so that the mechanical arm can realize multiple rotation modes within a certain range, and the movement range and flexibility of the mechanical arm are expanded within a limited range. Because the fire-fighting robot needs to demolish the narrow and old dilapidated residential area with illegal buildings, the overall length of the mechanical arm connected by multiple arms and rotating arms will affect the flexibility of the mechanical arm, and it will be impossible to turn and exert torque to demolish illegal buildings in narrow places; this device improves the actual use effect in fire fighting and emergency rescue; Specifically, the first telescopic motor, the second telescopic motor and the third telescopic motor are started by an external power supply. When the first telescopic motor is started, the first rack is pushed to rotate the first gear through meshing transmission, the first gear drives the first transmission rod to rotate, the first transmission rod drives the second bevel gear to rotate, the second bevel gear drives the fourth bevel gear to rotate through meshing transmission, the fourth bevel gear drives the fifth bevel gear to rotate through meshing transmission, thereby driving the clamping structure fixed at one end of the fourth transmission rod to rotate around the central axis of the fourth transmission rod, thereby using the torque of the motor to destroy the illegal buildings clamped by the clamping structure. When the second telescopic motor is started, it pushes the second rack, which drives the second gear to rotate through meshing transmission, the second gear drives the second transmission rod to rotate, the second transmission rod drives the first bevel gear to rotate, the first bevel gear drives the third bevel gear to rotate through meshing transmission, the third bevel gear drives the L-shaped bracket and the clamping structure fixed at one end to rotate around the central axis of the third bevel gear, the torque of the motor destroys the illegal buildings clamped by the clamping structure, and the angle of the clamping structure can be adjusted to facilitate clamping of illegal buildings in narrow places. When the third telescopic motor is started, it pushes the third rack, drives the third gear to rotate through meshing transmission, the third gear drives the third transmission rod to rotate, the third transmission rod drives the U-shaped bracket to rotate around the central axis of the third transmission rod, the U-shaped bracket drives the first telescopic motor and the second telescopic motor at the bottom end to control the entire assembly and the clamping structure to rotate around the central axis of the third transmission rod, the torque of the motor destroys the illegal building clamped by the clamping structure, and the angle of the clamping structure can be adjusted, so that the angle can be adjusted to clamp the crooked illegal building. In addition, the first telescopic motor, the second telescopic motor and the third telescopic motor are controlled separately and individually, and can be controlled simultaneously through the main control panel, so as to develop more operating methods. When the first telescopic motor and the second telescopic motor rotate at the same time, the clamping structure can rotate around the fourth transmission rod and revolve around the axis of the third bevel gear at the same time, thereby enhancing the destructive power of the fire-fighting robot and improving the working efficiency of the fire-fighting robot during the fire-fighting process.

[0014] Secondly, the gripping method of the small L-shaped clamp and the large L-shaped clamp is used to make the opening of the gripping clamp located at the side end, and the overlapping gripping method prevents the gripping clamp from falling off when pulling the fence and the anti-theft window, which is convenient for improving the working efficiency of the robot. Because the illegal buildings are generally columnar fences and closed welded anti-theft windows, the traditional gripping clamp with the opening at the front end is easy to fall off from the front end of the gripping clamp when the fence and the anti-theft window are clamped and the fence is pulled to destroy the fence, which affects the working efficiency of the fire-fighting robot. However, time is precious for emergency rescue during fire fighting. The shorter the time consumed by the fire-fighting robot to destroy the illegal buildings, the more people the firefighters can save. Specifically, the fourth telescopic motor is started by an external power supply to drive the L-shaped connecting piece and the first limiting sliding block to slide up and down along the side plate on one side of the square frame bracket. In addition, the large L-shaped splint and the small L-shaped splint are hinged to the two sides of the limiting I-shaped frame, and the middle position of the limiting I-shaped frame is hinged to the bottom end of the square frame bracket through the hinge point, thereby transmitting through the limiting I-shaped frame. When the L-shaped connecting piece pushes the first limiting sliding block to move downward, the limiting I-shaped frame flips around the hinge point, thereby driving the second limiting sliding block on the other side to slide up and down along the side plate on the other side of the square frame bracket, so that the large L-shaped splint and the small L-shaped splint can approach to clamp the object. In addition, the connection between the first inner panel and the second inner panel and the small L-shaped splint and the large L-shaped splint is magnetically connected, and the second inner panel can be adjusted according to the shape of the fence. The angle of the panel and the first inner panel, wherein the small L-shaped clamp is the negative pole, the first inner panel is the positive pole, the large L-shaped clamp is the positive pole, and the second inner panel is the negative pole. This structure can make the first inner panel and the second inner panel have suction force when the small L-shaped clamp is close to the large L-shaped clamp, so that the clamping effect is better, and the first inner panel and the second inner panel can fit the shape of the round tube. When facing the square tube, the second inner panel and the first inner panel can be removed. In addition, the fourth telescopic motor drives the small L-shaped clamp and the large L-shaped clamp to clamp objects through telescopic transmission, which has a better clamping effect than the meshing transmission and avoids the risk of tooth disengagement. These components work together to enable the fire-fighting robot to operate flexibly in complex and dangerous environments and perform firefighting and other rescue tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further explained below in conjunction with the accompanying drawings and Examples: Figure 1 It is a schematic diagram of the first three-dimensional appearance structure of the present invention; Figure 2 It is a schematic diagram of the first three-dimensional disassembled structure of the present invention; Figure 3 It is a schematic diagram of a second three-dimensional disassembled structure of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5It is a three-dimensional exploded schematic diagram of the steering structure of the present invention; Figure 6 It is a schematic diagram of the third three-dimensional disintegrated structure of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at B in the middle; Figure 8 It is a first stereoscopic schematic diagram of the steering structure of the present invention; Fig. 9 For the present invention Figure 8 The enlarged structural diagram at C in the middle; Fig.10 It is a first stereoscopic schematic diagram of the steering structure of the present invention.

[0016] Description of reference numerals: 1. main control room of fire-fighting robot; 2. moving roller; 3. supporting boom; 4. connecting cover plate; 5. steering structure; 501. L-shaped back plate; 502. first telescopic motor; 503. second telescopic motor; 504. third telescopic motor; 505. first rack; 506. second rack; 507. third rack; 508. first gear; 509. second gear; 510. third gear; 511. first transmission rod; 512. second transmission rod; 513. third transmission rod; 514. U-shaped bracket; 515 , first bevel gear; 516, second bevel gear; 517, third bevel gear; 518, fourth bevel gear; 519, fifth bevel gear; 520, L-shaped bracket; 521, fourth transmission rod; 6, clamping structure; 601, frame bracket; 602, fourth telescopic motor; 603, first limit slider; 604, second limit slider; 605, small L-shaped clamp; 606, large L-shaped clamp; 607, limit I-frame; 608, hinge point; 609, first embedded panel; 610, second embedded panel; 611, L-shaped connector. DETAILED DESCRIPTION

[0017] The following will be combined with the attached Figures 1 to 10 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The present invention provides a fire-fighting robot mechanical arm rotation mechanism through improvement, comprising a fire-fighting robot main control room 1, a moving roller 2, a supporting boom 3 and a connecting cover plate 4, wherein the moving rollers 2 are installed on both sides of the fire-fighting robot main control room 1, the supporting boom 3 is installed at one end of the fire-fighting robot main control room 1, and the connecting cover plate 4 is installed at the end of the supporting boom 3 away from the fire-fighting robot main control room 1. A steering structure 5 is installed at the bottom end of the connecting cover plate 4. The steering structure 5 includes an L-shaped back plate 501, a first telescopic motor 502, a second telescopic motor 503 and a third telescopic motor 504. The L-shaped back plate 501 is installed at the bottom end of the connecting cover plate 4. The first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 are installed on one side of the inside of the L-shaped back plate 501. The first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 drive the clamping structure 6 to rotate about different axes within a small range through transmission. The first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 drive the fire robot's mechanical arm to rotate in multiple directions at the same time, so that the mechanical arm can realize multiple rotation modes within a certain range, and the movement range and flexibility of the mechanical arm are expanded within a limited range. Because the narrow and closed old and dilapidated residential area where illegal buildings need to be demolished by the fire robot is narrow and closed, the overall rod body of the mechanical arm connected by multiple arms and rotating arms is too long, which will affect the flexibility of the mechanical arm and make it impossible to turn and exert torque to demolish illegal buildings in narrow places; this device improves the actual use effect in fire fighting and emergency rescue; The output end of the first telescopic motor 502 is equipped with a first rack 505. When the first telescopic motor 502 is started, the first rack 505 is pushed, and a first gear 508 is installed on one side of the first rack 505. The first gear 508 is driven to rotate through meshing transmission. The first rack 505 and the first gear 508 are meshed for transmission. A first transmission rod 511 is fixed to the bottom end of the first gear 508. The first gear 508 drives the first transmission rod 511 to rotate. Among them, the output end of the second telescopic motor 503 is installed with a second rack 506. When the second telescopic motor 503 is started, the second rack 506 is pushed, and a second gear 509 is installed on one side of the second rack 506, which drives the second gear 509 to rotate through meshing transmission. The second rack 506 and the second gear 509 are meshed for transmission. A second transmission rod 512 is fixed to the bottom end of the second gear 509. The second gear 509 drives the second transmission rod 512 to rotate, and the first transmission rod 511 runs through the interior of the second transmission rod 512. Among them, the output end of the third telescopic motor 504 is installed with a third rack 507, when the third telescopic motor 504 is started, the third rack 507 is pushed, and a third gear 510 is installed on one side of the third rack 507, and the third gear 510 is driven to rotate through meshing transmission, the third rack 507 and the third gear 510 are meshed, and a third transmission rod 513 is fixed to the bottom end of the third gear 510, the third gear 510 drives the third transmission rod 513 to rotate, and the interior of the third transmission rod 513 is penetrated by the second transmission rod 512; A U-shaped bracket 514 is fixed to one end of the third transmission rod 513 away from the third gear 510, and the U-shaped bracket 514 has a U-shaped appearance; the third transmission rod 513 drives the U-shaped bracket 514 to rotate around the central axis of the third transmission rod 513, The U-shaped bracket 514 drives the first telescopic motor 502 and the second telescopic motor 503 at the bottom to control the entire assembly and the clamping structure 6 to rotate around the central axis of the third transmission rod 513, and the torque of the motor destroys the illegal building clamped by the clamping structure 6, and the angle of the clamping structure 6 can be adjusted to facilitate adjusting the angle to clamp the crooked illegal building. A first bevel gear 515 is fixed to one end of the second transmission rod 512 away from the second gear 509. The second transmission rod 512 drives the first bevel gear 515 to rotate. A third bevel gear 517 is disposed on one side of the bottom end of the first bevel gear 515. The first bevel gear 515 drives the third bevel gear 517 to rotate through meshing transmission, and the third bevel gear 517 and the first bevel gear 515 are meshed with each other. The third bevel gear 517 is installed on one side of the U-shaped bracket 514, and the third bevel gear 517 and the U-shaped bracket 514 are hingedly connected. Among them, an L-shaped bracket 520 is fixed to the side of the third bevel gear 517 close to the U-shaped bracket 514, and a fourth transmission rod 521 runs through the side of the L-shaped bracket 520 away from the third bevel gear 517. The third bevel gear 517 drives the L-shaped bracket 520 and the clamping structure 6 fixed at one end to rotate around the central axis of the third bevel gear 517, and the torque of the motor destroys the illegal building clamped by the clamping structure 6, and the angle of the clamping structure 6 can be adjusted to facilitate clamping the illegal building in a narrow place. A second bevel gear 516 is fixed to one end of the first transmission rod 511 away from the first gear 508, and the first transmission rod 511 drives the second bevel gear 516 to rotate, and a fourth bevel gear 518 is provided on one side of the second bevel gear 516, and the second bevel gear 516 drives the fourth bevel gear 518 to rotate through meshing transmission, and a fifth bevel gear 519 is fixed to one end of the fourth transmission rod 521 close to the third bevel gear 517, and the fourth bevel gear 518 drives the fifth bevel gear 519 to rotate through meshing transmission, and one end of the fourth transmission rod 521 away from the fifth bevel gear 519 is fixedly connected to the square frame bracket 601; thereby driving the clamping structure 6 fixed at one end of the fourth transmission rod 521 to rotate around the central axis of the fourth transmission rod 521, thereby utilizing the torque of the motor to destroy the illegal buildings clamped by the clamping structure 6. The fourth bevel gear 518 is installed on a side of the U-shaped bracket 514 away from the third bevel gear 517. The fourth bevel gear 518 and the U-shaped bracket 514 are hingedly connected. Among them, the second bevel gear 516, the fourth bevel gear 518 and the fifth bevel gear 519 are meshingly driven; In addition, the first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 are controlled separately and individually, and the first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 can be controlled simultaneously through the main control panel, so as to develop more operation modes. When the first telescopic motor 502 and the second telescopic motor 503 rotate at the same time, the clamping structure 6 can rotate around the fourth transmission rod 521 and revolve around the axis of the third bevel gear 517, thereby enhancing the destructive power of the fire-fighting robot and improving the working efficiency of the fire-fighting robot during the fire-fighting process. The bottom end of the steering structure 5 is equipped with a clamping structure 6, and the steering structure 5 adjusts the angle of the clamping structure 6 and rotates the clamping structure 6. The clamping structure 6 includes a square frame bracket 601 and a fourth telescopic motor 602. The square frame bracket 601 is installed at the bottom end of the steering structure 5. The fourth telescopic motor 602 is installed at the top of the square frame bracket 601. A small L-shaped clamping plate 605 and a large L-shaped clamping plate 606 are provided on both sides of the square frame bracket 601. The fourth telescopic motor 602 drives the small L-shaped clamping plate 605 and the large L-shaped clamping plate 606 to move relative to each other through transmission. The small L-shaped clamping plate 605 and the large L-shaped clamping plate 606 are used to hold the gripper open at the side, and the overlapping clamping method prevents the gripper from falling off when pulling the fence and the anti-theft window, which is convenient for improving the efficiency of the robot. Because illegal buildings are generally columnar fences and closed welded anti-theft windows, the columnar rods of the fence are easy to fall off from the front end of the gripper when the traditional gripper with an opening at the front clamps the fence and the anti-theft window and applies a pulling force to destroy the fence, which affects the working efficiency of the fire-fighting robot. However, time is precious for emergency rescue during fire fighting. The shorter the time consumed by the fire-fighting robot to destroy illegal buildings, the more people the firefighters can save. In addition, the fourth telescopic motor 602 drives the small L-shaped clamping plate 605 and the large L-shaped clamping plate 606 to clamp the object through telescopic transmission, which has a better clamping effect than the meshing transmission and avoids the risk of tooth disengagement. The frame bracket 601 is in the shape of a frame with a hollow interior. Among them, an L-shaped connector 611 is installed at the output end of the fourth telescopic motor 602, and a first limit slider 603 is connected to one side of the L-shaped connector 611, and the first limit slider 603 is connected to one side of the square frame bracket 601 through the connection, and the first limit slider 603 slides along the side rod of the square frame bracket 601. The fourth telescopic motor 602 is started by an external power supply to drive the L-shaped connector 611 and the first limit slider 603 to slide up and down along the side plate of one side of the square frame bracket 601. The side of the first limit slider 603 away from the L-shaped connector 611 is connected with a small L-shaped clamping plate 605, and the bottom end of the small L-shaped clamping plate 605 is installed with a first inner plate 609, and the small L-shaped clamping plate 605 and the first inner plate 609 are magnetically connected; The side of the frame bracket 601 away from the first limiting slider 603 is penetrated and connected with the second limiting slider 604, and one side of the second limiting slider 604 is connected with a large L-shaped clamping plate 606, and the bottom end of the inner side of the large L-shaped clamping plate 606 is installed with a second inner panel 610, and the large L-shaped clamping plate 606 and the second inner panel 610 are magnetically connected. Because the connection between the first inner panel 609 and the second inner panel 610 and the small L-shaped clamping plate 605 and the large L-shaped clamping plate 606 is magnetically connected, the angle of the second inner panel 610 and the first inner panel 609 can be adjusted according to the shape of the fence. Among them, the small L-shaped clamping plate 605 is the negative electrode, the first inner plate 609 is the positive electrode, the large L-shaped clamping plate 606 is the positive electrode, and the second inner plate 610 is the negative electrode; this structure can make the first inner plate 609 and the second inner plate 610 have suction force between each other when the small L-shaped clamping plate 605 and the large L-shaped clamping plate 606 are close to each other, so as to achieve a better clamping effect. The first inner panel 609 and the second inner panel 610 can fit the shape of the round tube. When facing the square tube, the second inner panel 610 and the first inner panel 609 can be removed. A hinge point 608 is hinged at the middle position of the bottom of the square frame bracket 601. A limiting I-shaped frame 607 is provided on both sides of the square frame bracket 601. The middle position of the limiting I-shaped frame 607 and the hinge point 608 pass through each other, and the limiting I-shaped frame 607 is hingedly connected to the square frame bracket 601 through the hinge point 608. Among them, one side of the limiting I-frame 607 is hingedly connected to the small L-shaped clamp 605, and the other side of the limiting I-frame 607 is hingedly connected to the large L-shaped clamp 606. Because the large L-shaped clamp 606 and the small L-shaped clamp 605 are hinged to the two sides of the limiting I-frame 607, the middle position of the limiting I-frame 607 is hinged to the bottom end of the square bracket 601 through the hinge point 608, so that the transmission is transmitted through the limiting I-frame 607. When the L-shaped connecting member 611 pushes the first limiting slider 603 to move downward, the limiting I-frame 607 flips around the hinge point 608, thereby driving the second limiting slider 604 on the other side to slide up and down along the side plate on the other side of the square bracket 601, so that the large L-shaped clamp 606 and the small L-shaped clamp 605 can approach to clamp the object.

[0019] Working principle: First, the first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 are started by an external power supply. When the first telescopic motor 502 is started, it pushes the first rack 505, and drives the first gear 508 to rotate through meshing transmission. The first gear 508 drives the first transmission rod 511 to rotate. The first transmission rod 511 drives the second bevel gear 516 to rotate. The second bevel gear 516 drives the fourth bevel gear 518 to rotate through meshing transmission. The fourth bevel gear 518 drives the fifth bevel gear 519 to rotate through meshing transmission, thereby driving the clamping structure 6 fixed at one end of the fourth transmission rod 521 to rotate around the central axis of the fourth transmission rod 521, thereby using the torque of the motor to destroy the illegal buildings clamped by the clamping structure 6. Then, when the second telescopic motor 503 is started, it pushes the second rack 506, and drives the second gear 509 to rotate through meshing transmission, and the second gear 509 drives the second transmission rod 512 to rotate, and the second transmission rod 512 drives the first bevel gear 515 to rotate, and the first bevel gear 515 drives the third bevel gear 517 to rotate through meshing transmission, and the third bevel gear 517 drives the L-shaped bracket 520 and the clamping structure 6 fixed at one end to rotate around the central axis of the third bevel gear 517, and the torque of the motor destroys the illegal buildings clamped by the clamping structure 6, and the angle of the clamping structure 6 can be adjusted to facilitate clamping of illegal buildings in narrow places. When the third telescopic motor 504 is started, it pushes the third rack 507, and drives the third gear 510 to rotate through meshing transmission. The third gear 510 drives the third transmission rod 513 to rotate. The third transmission rod 513 drives the U-shaped bracket 514 to rotate around the central axis of the third transmission rod 513. The U-shaped bracket 514 drives the first telescopic motor 502 and the second telescopic motor 503 at the bottom. The entire assembly and the clamping structure 6 are rotated around the central axis of the third transmission rod 513, and the torque of the motor destroys the illegal buildings clamped by the clamping structure 6. The angle of the clamping structure 6 can be adjusted to facilitate adjusting the angle to clamp the crooked illegal buildings. In addition, the first telescopic motor 502, the second telescopic motor 503 and the third telescopic motor 504 are controlled separately and individually, and can be controlled simultaneously through the main control panel, so as to develop more operation modes. When the first telescopic motor 502 and the second telescopic motor 503 rotate at the same time, the clamping structure 6 can rotate around the fourth transmission rod 521 and revolve around the axis of the third bevel gear 517 at the same time, thereby enhancing the destructive power of the fire-fighting robot and improving the working efficiency of the fire-fighting robot during the fire-fighting process.

[0020] Finally, the fourth telescopic motor 602 is started by an external power supply to drive the L-shaped connecting piece 611 and the first limiting slider 603 to slide up and down along the side plate on one side of the square bracket 601. In addition, the large L-shaped clamping plate 606 and the small L-shaped clamping plate 605 are hinged to the two sides of the limiting I-shaped frame 607, and the middle position of the limiting I-shaped frame 607 is hinged to the bottom end of the square bracket 601 through the hinge point 608, so as to transmit the power through the limiting I-shaped frame 607. When the L-shaped connecting piece 611 pushes the first limiting slider 603 to move downward, the limiting I-shaped frame 607 flips around the hinge point 608, thereby driving the second limiting slider 604 on the other side to slide up and down along the side plate on the other side of the square bracket 601, so that the large L-shaped clamping plate 606 and the small L-shaped clamping plate 605 can approach to clamp the object. In addition, the first inner panel 609 and the second inner panel 610 are connected to the small L-shaped clamping plate 605 and the large L The connection of the L-shaped splint 606 is magnetically connected, and the angle of the second inner plate 610 and the first inner plate 609 can be adjusted according to the shape of the fence, wherein the small L-shaped splint 605 is the negative pole, the first inner plate 609 is the positive pole, the large L-shaped splint 606 is the positive pole, and the second inner plate 610 is the negative pole. This structure can make the first inner plate 609 and the second inner plate 610 have suction force between each other when the small L-shaped splint 605 and the large L-shaped splint 606 are close to each other, so that the clamping effect is better, and the first inner plate 609 and the second inner plate 610 can fit the shape of the round tube. When facing a square tube, the second inner plate 610 and the first inner plate 609 can be removed. In addition, the fourth telescopic motor 602 drives the small L-shaped splint 605 and the large L-shaped splint 606 to clamp objects through telescopic transmission, which has a better clamping effect than the meshing transmission and avoids the risk of tooth disengagement.

[0021] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire-fighting robot mechanical arm rotation mechanism, comprising a fire-fighting robot main control room (1), a moving roller (2), a supporting boom (3) and a connecting cover plate (4), characterized in that: A steering structure (5) is installed at the bottom end of the connecting cover plate (4), and a clamping structure (6) is installed at the bottom end of the steering structure (5), wherein the steering structure (5) adjusts the angle of the clamping structure (6) and rotates the clamping structure (6). The steering structure (5) comprises an L-shaped back plate (501), a first telescopic motor (502), a second telescopic motor (503) and a third telescopic motor (504); the L-shaped back plate (501) is mounted on the bottom end of the connecting cover plate (4); the first telescopic motor (502), the second telescopic motor (503) and the third telescopic motor (504) are mounted on one side inside the L-shaped back plate (501); the first telescopic motor (502), the second telescopic motor (503) and the third telescopic motor (504) drive the clamping structure (6) to rotate about different axes within a small range through transmission; The clamping structure (6) comprises a square frame bracket (601) and a fourth telescopic motor (602); the square frame bracket (601) is mounted on the bottom end of the steering structure (5); the fourth telescopic motor (602) is mounted on the top end of the square frame bracket (601); a small L-shaped clamping plate (605) and a large L-shaped clamping plate (606) are provided on both sides of the square frame bracket (601); the fourth telescopic motor (602) drives the small L-shaped clamping plate (605) and the large L-shaped clamping plate (606) to move relative to each other through transmission.

2. A fire fighting robot mechanical arm rotation mechanism according to claim 1, characterized in that: Movable rollers (2) are installed on both sides of the fire-fighting robot main control room (1), a supporting boom (3) is installed at one end of the fire-fighting robot main control room (1), and a connecting cover plate (4) is installed at one end of the supporting boom (3) away from the fire-fighting robot main control room (1).

3. The fire fighting robot mechanical arm rotation mechanism according to claim 1, characterized in that: The output end of the first telescopic motor (502) is equipped with a first rack (505), and a first gear (508) is installed on one side of the first rack (505). The first rack (505) and the first gear (508) are meshed for transmission, and a first transmission rod (511) is fixed to the bottom end of the first gear (508). The output end of the second telescopic motor (503) is provided with a second rack (506), and a second gear (509) is provided on one side of the second rack (506); the second rack (506) and the second gear (509) are meshed for transmission; a second transmission rod (512) is fixed to the bottom end of the second gear (509), and the first transmission rod (511) runs through the interior of the second transmission rod (512). The output end of the third telescopic motor (504) is provided with a third rack (507), and a third gear (510) is provided on one side of the third rack (507); the third rack (507) and the third gear (510) are meshed for transmission; a third transmission rod (513) is fixed to the bottom end of the third gear (510), and the interior of the third transmission rod (513) is penetrated by the second transmission rod (512).

4. The fire fighting robot mechanical arm rotation mechanism according to claim 3, characterized in that: A U-shaped bracket (514) is fixed to one end of the third transmission rod (513) away from the third gear (510), and the U-shaped bracket (514) has a U-shaped appearance.

5. The fire fighting robot mechanical arm rotation mechanism according to claim 4, characterized in that: A first bevel gear (515) is fixed to one end of the second transmission rod (512) away from the second gear (509). A third bevel gear (517) is provided on one side of the bottom end of the first bevel gear (515), and the third bevel gear (517) and the first bevel gear (515) are meshed with each other. The third bevel gear (517) is installed on one side inside the U-shaped bracket (514), and the third bevel gear (517) and the U-shaped bracket (514) are hingedly connected. An L-shaped bracket (520) is fixed to a side of the third bevel gear (517) close to the U-shaped bracket (514), and a fourth transmission rod (521) passes through a side of the L-shaped bracket (520) away from the third bevel gear (517), and a fifth bevel gear (519) is fixed to an end of the fourth transmission rod (521) close to the third bevel gear (517), and an end of the fourth transmission rod (521) away from the fifth bevel gear (519) is fixedly connected to the frame bracket (601).

6. The fire fighting robot mechanical arm rotation mechanism according to claim 5, characterized in that: A second bevel gear (516) is fixed to one end of the first transmission rod (511) away from the first gear (508), and a fourth bevel gear (518) is provided on one side of the second bevel gear (516). The fourth bevel gear (518) is installed on a side of the U-shaped bracket (514) away from the third bevel gear (517), and the fourth bevel gear (518) and the U-shaped bracket (514) are hingedly connected. The second bevel gear (516), the fourth bevel gear (518) and the fifth bevel gear (519) are meshingly driven.

7. The fire fighting robot mechanical arm rotation mechanism according to claim 1, characterized in that: The square frame support (601) is in the shape of a square frame with a hollow interior. The output end of the fourth telescopic motor (602) is provided with an L-shaped connecting piece (611), one side of the L-shaped connecting piece (611) is connected to a first limiting slider (603), and the first limiting slider (603) is connected to one side of the square frame bracket (601) through a through connection, and the first limiting slider (603) slides along a side rod of the square frame bracket (601). A small L-shaped clamping plate (605) is connected to the side of the first limiting sliding block (603) away from the L-shaped connecting piece (611), and a first inner panel (609) is installed at the bottom end of the small L-shaped clamping plate (605), and the small L-shaped clamping plate (605) and the first inner panel (609) are magnetically connected.

8. The fire fighting robot mechanical arm rotation mechanism according to claim 7, characterized in that: A second limiting slider (604) is connected through one side of the square frame bracket (601) away from the first limiting slider (603), and a large L-shaped clamping plate (606) is connected to one side of the second limiting slider (604). A second inner panel (610) is installed at the bottom end of the inner side of the large L-shaped clamping plate (606). The large L-shaped clamping plate (606) and the second inner panel (610) are magnetically connected. The small L-shaped clamping plate (605) is a negative electrode, the first inner embedded plate (609) is a positive electrode, the large L-shaped clamping plate (606) is a positive electrode, and the second inner embedded plate (610) is a negative electrode.

9. The fire fighting robot mechanical arm rotation mechanism according to claim 8, characterized in that: A hinge point (608) is hinged at the middle position of the bottom of the square frame bracket (601), and a limiting I-shaped frame (607) is provided on both sides of the square frame bracket (601), and the middle position of the limiting I-shaped frame (607) and the hinge point (608) are penetrated, and are hingedly connected to the square frame bracket (601) through the hinge point (608). One side of the position-limiting I-shaped frame (607) is hingedly connected to the small L-shaped clamping plate (605), and the other side of the position-limiting I-shaped frame (607) is hingedly connected to the large L-shaped clamping plate (606).

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