Vehicle-mounted water cannon three-freedom-degree numerical control supporting mechanism

Abstract

A vehicle-mounted water cannon three-freedom-degree numerical control supporting mechanism comprises a sprayer supporting mechanism and a base. The design of a full-rotation auxiliary plane five-rod two-freedom-degree mechanism is adopted in the sprayer supporting mechanism. A rack, a driving arm, a driving rod, a connecting rod and a bracket are included. Under driving control of a control motor,the bracket can achieve the two-freedom-degree flexible pitching motion, the rack can achieve the controllable rotation motion around the base, through coupling of the flexible controllable motion ofthe bracket and the rotation motion of the rack, a spray gun arranged on the bracket can achieve the three-freedom-degree flexible controllable motion, and accordingly high-flexibility water sprayingwork is achieved. Compared with a traditional water spraying device, a water spraying robot mechanism is high in flexibility, high in rigidity and good in stability, and better water spraying stability and water spraying quality can be guaranteed. The five-rod two-freedom-degree water spraying robot mechanism is low in coupling degree, programming control is easy, the five-rod two-freedom-degreewater spraying robot mechanism is particularly applicable to the fields of municipal administration fire control, environment protection and the like, the technology advantages are obvious, and the market prospects are wide.

Description

technical field [0001] The invention relates to the field of water cannons, in particular to a three-degree-of-freedom numerical control support mechanism of a vehicle-mounted water cannon. Background technique [0002] The water cannon is generally installed on the car body. It is a kind of fire-fighting equipment that uses water as the working medium and sprays water through the nozzle of the cannon body. It is a powerful tool for road sprinkling, tree pest control, atmospheric dust reduction and other fields. The operation mode of the water cannon is generally divided into two types: manual control and automatic control. The manual control water cannon body is installed on the support frame, and the person directly operates the cannon body to perform water spraying operations. , the water spray effect is poor, but the manual control type water bubble is simple in structure, easy to maintain and low in cost, and is still the most widely used type of water cannon in the fi...

AI Technical Summary

Problems solved by technology

[0003] Although the automatic control water cannon no longer requires manual operation and has a high degree of automation, it can realize automatic water spraying operations relying on electronic equipment such as sensors. Not only because the pipe body and movable joints need to bear large inertial force and water pressure during the water spraying operation, it puts forward relatively strict requirements on sealing and processing accuracy, but also because the automatic control water monitor body is the mechanical The arm needs to consider fluid dynamics factors and has higher design requirements. Therefore, the cost of automatic control water cannons is high, and it has only been used as a fire-fighting equipment to a limited extent. Manually operated vehicle-mounted water cannon

In addition, the control motors of the automatic control water cannon drive the pipe wall are all installed on the closing joints, the water cannon needs to bear a larger motion inertia during the movement process, and the dynamic performance of the system is poor

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