CN113041538A - Hanging rail type fire extinguishing robot - Google Patents
Hanging rail type fire extinguishing robot Download PDFInfo
- Publication number
- CN113041538A CN113041538A CN202110048836.9A CN202110048836A CN113041538A CN 113041538 A CN113041538 A CN 113041538A CN 202110048836 A CN202110048836 A CN 202110048836A CN 113041538 A CN113041538 A CN 113041538A
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- CN
- China
- Prior art keywords
- fire extinguishing
- fire
- driving mechanism
- pitching
- nozzle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention provides a rail-mounted fire-extinguishing robot, which solves the problems that the existing fire-extinguishing system is high in cost and difficult to install a spray head in a narrow space. The robot comprises a shell, a hanging rail driving device arranged on the upper part of the shell, at least one fire extinguishing tank and a corresponding electric push rod arranged in the shell, and a directional fire extinguishing device arranged on a mounting plate at the bottom of the shell; the electric push rod is used for pressing a handle of the fire extinguishing tank; the directional fire extinguishing device comprises a rotary driving mechanism, a pitching driving mechanism, an air guide pipeline, a fire source detector and a fire extinguishing nozzle; the fire extinguishing nozzle is arranged on the pitching driving mechanism; the pitching driving mechanism is arranged below the mounting plate and used for driving the fire extinguishing nozzle to perform pitching motion; the rotary driving mechanism is arranged above the mounting plate and is used for driving the pitching driving mechanism and the fire extinguishing nozzle to synchronously rotate; the upper end opening of the gas guide pipe is connected with the outlet of the fire extinguishing tank, and the lower end opening is connected with the inlet of the fire extinguishing nozzle; the fire source detector is arranged on the fire extinguishing nozzle and arranged in the same direction as the fire extinguishing nozzle.
Description
Technical Field
The invention relates to a fire extinguishing system, in particular to a rail-mounted fire extinguishing robot.
Background
The occurrence of fire often causes great loss to people's life and property. Suitable fire fighting equipment is essential to extinguish the fire in its bud. At present, most of fire extinguishing systems are fixedly installed, spray heads are pre-paved in places where fire easily occurs, and when the fire occurs, fire extinguishing media are sprayed out of the fire extinguishing systems through the spray heads to achieve fire extinguishing. However, for places with relatively large space, such as a rail-mounted inspection system, the number of the spray heads required to be paved is large, so that the cost for laying the fire extinguishing system is high; in addition, the difficulty in installing the spray head in narrow spaces such as a pipe gallery is high.
Disclosure of Invention
The invention provides a rail-hanging type fire extinguishing robot, aiming at solving the technical problems that the cost is higher and the difficulty in installing spray heads in a narrow space is higher due to the fact that a large number of spray heads need to be laid in an existing fire extinguishing system.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a rail-hanging type fire-extinguishing robot is characterized in that: comprises a shell, a hanging rail driving device arranged on the upper part of the shell, at least one fire extinguishing tank and a corresponding electric push rod arranged in the shell, and a directional fire extinguishing device arranged on a mounting plate at the bottom of the shell; the electric push rod is used for pressing a handle of the fire extinguishing tank;
the directional fire extinguishing device comprises a rotary driving mechanism, a pitching driving mechanism, an air guide pipeline, a fire source detector and a fire extinguishing nozzle;
the fire extinguishing nozzle is arranged on the pitching driving mechanism;
the pitching driving mechanism is positioned below the mounting plate and used for driving the fire extinguishing nozzle to perform pitching motion;
the rotary driving mechanism is arranged above the mounting plate and is used for driving the pitching driving mechanism and the fire extinguishing nozzle to synchronously rotate;
the upper end opening of the air guide pipeline is connected with an outlet of the fire extinguishing tank, and the lower end opening of the air guide pipeline is connected with an inlet of the fire extinguishing nozzle;
the fire source detector is arranged on the directional fire extinguishing device or the fire extinguishing nozzle, and the fire source detector and the fire extinguishing nozzle are arranged in the same direction.
Further, the directional fire extinguishing device also comprises a protective cover;
the protective cover covers the pitching driving mechanism, and an outlet of the fire extinguishing nozzle extends out of the protective cover;
the fire source detector is positioned on the outer wall of the protective cover or positioned outside the protective cover;
and the rotation driving mechanism is used for driving the pitching driving mechanism and the protective cover to synchronously rotate.
Further, the rotary driving mechanism comprises a rotary driving motor, a first gear, a second gear, a rotary bearing block and a hollow rotary shaft;
the rotary driving motor is arranged on the mounting plate, and the first gear is coaxially arranged on an output shaft of the rotary driving motor;
the rotary bearing block is arranged on the mounting plate;
the hollow rotating shaft is arranged in the rotating bearing seat in a penetrating mode through a bearing, and the second gear is fixedly connected and sleeved on the hollow rotating shaft and meshed with the first gear;
the air guide pipe comprises a extinguishing medium circulation channel formed by a hollow cavity in the hollow rotating shaft, the upper end of the extinguishing medium circulation channel is connected with the outlet of the fire extinguishing tank through a first rotary joint, and the lower end of the extinguishing medium circulation channel is connected with the inlet of the fire extinguishing nozzle through a second rotary joint.
Further, the air guide pipeline also comprises an air guide pipe arranged between the second rotary joint and the fire extinguishing nozzle.
Furthermore, a connecting plate for fixing the protective cover is arranged on the hollow rotating shaft.
Further, the pitching driving mechanism comprises a pitching driving motor and a transmission deflector rod;
the pitching driving motor is arranged on the connecting plate, one end of the transmission deflector rod is connected with the output of the pitching driving motor, the other end of the transmission deflector rod is clamped on the air duct, and the transmission deflector rod is used for deflecting the air duct to perform pitching motion so as to drive the fire extinguishing nozzle to perform pitching motion.
Furthermore, the number of the fire extinguishing pots and the number of the electric push rods are two, and outlets of the two fire extinguishing pots are respectively connected with the upper end opening of the air guide pipe.
Compared with the prior art, the invention has the advantages that:
1. the invention utilizes the track of the prior routing inspection system to hang the robot on the track, realizes the movement of the fire extinguishing robot on the track, can carry out movable fire extinguishing, can detect the position of a fire source by a fire source detector, realizes the horizontal rotation and pitching direction movement of a fire extinguishing nozzle through a rotary driving mechanism and a pitching driving mechanism, and realizes the accurate positioning of the fire source according to the detection result of the fire source detector.
2. The robot carries two fire extinguishing pots, the handles of the fire extinguishing pots are pressed tightly through the electric push rods, fire extinguishing medium gas is sprayed out, and a long-time fire extinguishing process can be guaranteed; and a standard universal fire extinguishing tank is adopted, and the fire extinguishing tank can be easily replaced after being used.
3. The hollow rotary shaft is connected with the rotary joint, and not only serves as the rotary shaft, but also serves as a fire extinguishing medium channel, and during the rotation of the hollow rotary shaft, the fire extinguishing medium can still ensure that the fire extinguishing medium does not leak from the fire extinguishing tank to the fire extinguishing nozzle.
Drawings
FIG. 1 is a schematic structural diagram of a rail-mounted fire-fighting robot of the present invention suspended on a guide rail;
FIG. 2 is a first schematic structural view of the rail-mounted fire-fighting robot of the present invention (the housing only shows the mounting plate);
FIG. 3 is a second schematic structural view of the rail-mounted fire-fighting robot of the present invention (the housing only shows the mounting plate, and the protective cover is not shown);
FIG. 4 is a first schematic structural diagram of a directional fire extinguishing apparatus in the rail-mounted fire extinguishing robot according to the present invention;
FIG. 5 is a schematic structural view of a directional fire extinguishing apparatus in the rail-mounted fire extinguishing robot according to the present invention;
FIG. 6 is a sectional view of a directional fire-extinguishing device in the rail-mounted fire-extinguishing robot according to the present invention;
wherein the reference numbers are as follows:
1-shell, 11-mounting plate, 2-hanging rail driving device, 3-fire extinguishing tank, 4-electric push rod, 5-directional fire extinguishing device, 51-rotary driving mechanism, 511-rotary driving motor, 512-first gear, 513-second gear, 514-rotary bearing seat, 515-hollow rotary shaft, 516-extinguishing medium circulation channel, 517-first support frame, 518-second support frame, 52-pitch driving mechanism, 521-pitch driving motor, 522-transmission deflector rod, 53-air guide pipeline, 531-air inlet pipe, 532-air guide pipe, 54-fire source detector, 55-fire extinguishing nozzle, 56-protective cover, 57-first rotary joint, 58-second rotary joint and 59-connecting plate, 6-orbit.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 6, a rail-mounted fire-extinguishing robot comprises a housing 1, a rail-mounted driving device 2 arranged above the housing 1, at least one rechargeable battery arranged in the housing 1, at least one fire-extinguishing tank 3 and a corresponding electric push rod 4 arranged in the housing 1, a directional fire-extinguishing device 5 arranged on a mounting plate 11 at the bottom of the housing 1, and a guiding system; the rail hanging driving device 2 is arranged on the rail 6 in a hanging mode, and functions of the rail hanging type fire extinguishing robot in moving, stopping, climbing, turning and the like on the rail 6 are achieved; the fire extinguishing tank 3 is used for providing fire extinguishing medium, the electric push rod is used for pressing a handle of the fire extinguishing tank 3, the handle of the fire extinguishing tank 3 is automatically opened through the electric push rod, the directional fire extinguishing device 5 achieves a fire extinguishing function, the fire source detector 54 is used for detecting a fire position, and the guiding system guides the fire extinguishing nozzle 55 of the directional fire extinguishing device 5 to move to the fire position according to the position detected by the fire source detector 54 so as to achieve automatic fire extinguishing; the rechargeable battery provides a power source for the operation of the robot.
The directional fire extinguishing device 5 comprises a rotary driving mechanism 51, a pitching driving mechanism 52, an air guide pipeline 53, a fire source detector 54, a fire extinguishing nozzle 55 and a protective cover 56; the fire extinguishing nozzle 55 is clamped on the pitching driving mechanism 52, and the pitching driving mechanism 52 is positioned below the mounting plate 11 and is used for driving the fire extinguishing nozzle 55 to perform pitching motion; the rotary driving mechanism 51 is arranged above the mounting plate 11 and is used for driving the pitching driving mechanism 52 and the fire extinguishing nozzle 55 to synchronously rotate; the upper end opening of the air guide pipeline 53 is connected with the outlet of the fire extinguishing tank 3, and the lower end opening thereof is connected with the inlet of the fire extinguishing nozzle 55; in this embodiment, the fire source detector 54 is disposed on the fire extinguishing nozzle 55, and the fire source detector 54 is disposed in the same direction as the fire extinguishing nozzle 55; in other embodiments, the fire detector 54 may be disposed on the outer wall of the enclosure 56 and co-current with the fire suppression nozzles 55.
The swing driving mechanism 51 includes a swing driving motor 511, a first gear 512, a second gear 513, a swing bearing block 514, and a hollow swing shaft 515; the rotary driving motor 511 is arranged on the mounting plate 11 through a first supporting frame 517, and a first gear 512 is coaxially arranged on an output shaft of the rotary driving motor 511; swivel bearing block 514 is disposed on mounting plate 11; the hollow rotating shaft 515 is inserted into the rotating bearing block 514 through a bearing, the second gear 513 is sleeved on the hollow rotating shaft 515 and is engaged with the first gear 512, a fire extinguishing medium circulation passage 516 is formed by a hollow cavity inside the hollow rotating shaft 515, the upper end of the fire extinguishing medium circulation passage 516 is connected with the outlet of the fire extinguishing tank 3 through a first rotary joint 57, and the lower end is connected with the inlet of the fire extinguishing nozzle 55 through a second rotary joint 58. The air guide line 53 of the present embodiment includes an air inlet pipe 531 provided between the outlet of the fire extinguishing tank 3 and the first rotary joint 57, a fire extinguishing medium circulating passage 516 on the hollow rotary shaft 515, an air guide pipe 532 between the second rotary joint 58 and the inlet of the fire extinguishing nozzle 55. A second support bracket 518 for supporting the air inlet duct 531 is provided on the mounting plate 11.
The hollow rotating shaft 515 of this embodiment is provided with a connecting plate 59 for fixing the protection cover 56, the connecting plate 59 is positioned below the mounting plate 11, the protection cover 56 covers the pitch driving mechanism 52 and is fixedly mounted on the connecting plate 59, the outlet of the fire extinguishing nozzle 55 extends out of the protection cover 56, and the fire source detector 54 is also positioned outside the protection cover 56.
The pitch drive mechanism 52 includes a pitch drive motor 521 and a drive dog 522; the pitching driving motor 521 is arranged on the connecting plate 59, one end of the transmission deflector rod 522 is connected with the output of the pitching driving motor 521, and the other end of the transmission deflector rod 522 is of a U-shaped frame structure and is used for clamping the air duct 532 and deflecting the air duct 532 to perform pitching motion, so that the fire extinguishing nozzle 55 is pushed to rotate around the axis of the hollow rotating shaft 515. The rotation driving motor 511 drives the first gear 512 to rotate, the first gear 512 drives the second gear 513 to rotate, the second gear 513 is fixedly connected with the hollow rotating shaft 515 into a whole, the hollow rotating shaft 515 rotates synchronously with the second gear 513, and further drives the pitching driving mechanism 52, the fire extinguishing nozzle 55 and the protective cover 56 thereon to synchronously and horizontally rotate; driven by the pitch driving motor 521, the transmission deflector rod 522 drives the air duct 532 to perform pitch motion, so that the fire extinguishing nozzle 55 rotates around the axis of the hollow rotating shaft 515.
In the embodiment, the track 6 is a track in the existing rail hanging type inspection system, and the fire extinguishing robot can move on the track 6 to realize movable fire extinguishing; the first rotary joint 57 and the second rotary joint 58 of the present embodiment both ensure the fire extinguishing medium to pass through and serve as a rotating shaft, thereby achieving two functions.
The quantity of jar 3 and electric putter 4 of putting out a fire in this embodiment is two, and the export of two jar 3 of putting out a fire is connected with the upper end opening of air duct way 53 respectively. The standard universal fire extinguishing tank 3 is adopted, and the fire extinguishing tank 3 can be easily replaced after being used.
The working process of the robot of the embodiment is as follows:
the directional fire extinguishing device 5 is driven by the hanging rail driving device 2 to move to a position close to the fire source point, and the fire source detector 54 provides the accurate direction of fire; under the action of the rotary driving motor 511 and the pitching driving motor 521, the fire extinguishing nozzle 55 rotates and points to the fire source accurately; then the electric push rod presses the handle of the fire extinguishing tank 3 tightly, and the fire extinguishing tank 3 is opened; the fire extinguishing medium in the fire extinguishing tank 3 sequentially passes through the air inlet pipe 531, the fire extinguishing medium circulation channel 516 of the hollow revolving shaft 515 and the air guide pipe 532 to enter the fire extinguishing nozzle 55, and the fire extinguishing nozzle 55 sprays the fire extinguishing medium to a fire source to realize the fire extinguishing function. After the fire source detector 54 senses that the fire is successfully extinguished, the electric push rod loosens the handle of the fire extinguishing tank 3 to stop extinguishing the fire; and finally, the fire extinguishing robot returns to the initial position.
The above description is only for the purpose of describing the preferred embodiments of the present invention and does not limit the technical solutions of the present invention, and any known modifications made by those skilled in the art based on the main technical concepts of the present invention fall within the technical scope of the present invention.
Claims (7)
1. A rail-hung fire-extinguishing robot is characterized in that: comprises a shell (1), a hanging rail driving device (2) arranged at the upper part of the shell (1), at least one fire extinguishing tank (3) and a corresponding electric push rod (4) arranged in the shell (1), and a directional fire extinguishing device (5) arranged on a mounting plate (11) at the bottom of the shell (1); the electric push rod (4) is used for pressing a handle of the fire extinguishing tank (3);
the directional fire extinguishing device (5) comprises a rotary driving mechanism (51), a pitching driving mechanism (52), an air guide pipeline (53), a fire source detector (54) and a fire extinguishing nozzle (55);
the fire extinguishing nozzle (55) is arranged on the pitching driving mechanism (52);
the pitching driving mechanism (52) is positioned below the mounting plate (11) and is used for driving the fire extinguishing nozzle (55) to perform pitching motion;
the rotary driving mechanism (51) is arranged above the mounting plate (11) and is used for driving the pitching driving mechanism (52) and the fire extinguishing nozzle (55) to synchronously rotate;
the upper end opening of the air guide pipeline (53) is connected with the outlet of the fire extinguishing tank (3), and the lower end opening thereof is connected with the inlet of a fire extinguishing nozzle (55);
the fire source detector (54) is arranged on the directional fire extinguishing device (5) or the fire extinguishing nozzle (55), and the fire source detector (54) and the fire extinguishing nozzle (55) are arranged in the same direction.
2. The rail-mounted fire-extinguishing robot according to claim 1, wherein: the directional fire extinguishing device (5) further comprises a protective cover (56);
the protective cover (56) covers the pitching driving mechanism (52), and the outlet of the fire extinguishing nozzle (55) extends out of the protective cover (56);
the fire source detector (54) is positioned on the outer wall of the protective cover (56) or positioned outside the protective cover (56);
the rotary driving mechanism (51) is used for driving the pitching driving mechanism (52) and the protective cover (56) to synchronously rotate.
3. The rail-mounted fire-extinguishing robot according to claim 2, wherein: the rotary driving mechanism (51) comprises a rotary driving motor (511), a first gear (512), a second gear (513), a rotary bearing seat (514) and a hollow rotary shaft (515);
the rotary driving motor (511) is arranged on the mounting plate (11), and the first gear (512) is coaxially arranged on an output shaft of the rotary driving motor (511);
the rotary bearing seat (514) is arranged on the mounting plate (11);
the hollow rotating shaft (515) is arranged in the rotating bearing seat (514) in a penetrating way through a bearing, and the second gear (513) is fixedly connected and sleeved on the hollow rotating shaft (515) and is meshed with the first gear (512);
the air guide pipeline (53) comprises a extinguishing medium circulation channel (516) formed by a hollow cavity in the hollow rotating shaft (515), the upper end of the extinguishing medium circulation channel (516) is connected with the outlet of the fire extinguishing tank (3) through a first rotary joint (57), and the lower end of the extinguishing medium circulation channel is connected with the inlet of the fire extinguishing nozzle (55) through a second rotary joint (58).
4. The rail-mounted fire-extinguishing robot according to claim 3, wherein: the air guide pipeline (53) further comprises an air guide pipe (532) arranged between the second rotary joint (58) and the fire extinguishing nozzle (55).
5. The rail-mounted fire-extinguishing robot according to claim 3, wherein: the hollow rotating shaft (515) is provided with a connecting plate (59) for fixing the protective cover (56).
6. The rail-mounted fire-extinguishing robot according to claim 5, wherein: the pitching driving mechanism (52) comprises a pitching driving motor (521) and a transmission deflector rod (522);
the pitching driving motor (521) is arranged on the connecting plate (59), one end of the transmission deflector rod (522) is connected with the output of the pitching driving motor (521), and the other end of the transmission deflector rod is clamped on the air duct (532) and used for deflecting the air duct (532) to perform pitching motion.
7. The rail-mounted fire-extinguishing robot according to any one of claims 1 to 6, wherein: the number of the fire extinguishing pots (3) and the number of the electric push rods (4) are two, and outlets of the two fire extinguishing pots (3) are respectively connected with an upper end opening of the air guide pipe (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110048836.9A CN113041538A (en) | 2021-01-14 | 2021-01-14 | Hanging rail type fire extinguishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110048836.9A CN113041538A (en) | 2021-01-14 | 2021-01-14 | Hanging rail type fire extinguishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113041538A true CN113041538A (en) | 2021-06-29 |
Family
ID=76508476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110048836.9A Pending CN113041538A (en) | 2021-01-14 | 2021-01-14 | Hanging rail type fire extinguishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113041538A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967331A (en) * | 2021-11-22 | 2022-01-25 | 东北林业大学 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing |
| CN114497786A (en) * | 2022-02-22 | 2022-05-13 | 广东能源集团科学技术研究院有限公司 | Battery rack for container type energy storage power station and management method thereof |
| CN114522356A (en) * | 2022-01-19 | 2022-05-24 | 深圳市森讯达电子技术有限公司 | Family fire-extinguishing robot |
| CN117484472A (en) * | 2024-01-02 | 2024-02-02 | 广州国巡机器人科技有限公司 | Fire-fighting rail robot |
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| CN201139897Y (en) * | 2007-11-27 | 2008-10-29 | 宗延杰 | Vertical fire extinguisher with automatic scan |
| CN101670158A (en) * | 2009-10-13 | 2010-03-17 | 华东交通大学 | Indoor large-space automatic fire extinguishing device capable of seeking target in short time |
| CN202325622U (en) * | 2011-11-24 | 2012-07-11 | 杭州新纪元消防科技有限公司 | Intelligent water mist fire extinguisher special for tunnel |
| CN102631759A (en) * | 2012-05-13 | 2012-08-15 | 华东交通大学 | Large-indoor-space automatic fire extinguishing system using two-stage drive mechanism |
| CN103075175A (en) * | 2012-12-31 | 2013-05-01 | 无锡佑仁科技有限公司 | Trail-constrained suspension type tunnel fire-fighting robot |
| CN108261706A (en) * | 2018-03-23 | 2018-07-10 | 沈阳理工大学 | A kind of vcehicular tunnel intelligent fire extinguishing system |
| CN209019811U (en) * | 2018-07-12 | 2019-06-25 | 南京天创电子技术有限公司 | A kind of rail mounted firefighting robot |
| CN110354423A (en) * | 2019-07-12 | 2019-10-22 | 东南大学 | A kind of suspension type links work at selected spots with that in entire areas firefighting robot |
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2021
- 2021-01-14 CN CN202110048836.9A patent/CN113041538A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201139897Y (en) * | 2007-11-27 | 2008-10-29 | 宗延杰 | Vertical fire extinguisher with automatic scan |
| CN101670158A (en) * | 2009-10-13 | 2010-03-17 | 华东交通大学 | Indoor large-space automatic fire extinguishing device capable of seeking target in short time |
| CN202325622U (en) * | 2011-11-24 | 2012-07-11 | 杭州新纪元消防科技有限公司 | Intelligent water mist fire extinguisher special for tunnel |
| CN102631759A (en) * | 2012-05-13 | 2012-08-15 | 华东交通大学 | Large-indoor-space automatic fire extinguishing system using two-stage drive mechanism |
| CN103075175A (en) * | 2012-12-31 | 2013-05-01 | 无锡佑仁科技有限公司 | Trail-constrained suspension type tunnel fire-fighting robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967331A (en) * | 2021-11-22 | 2022-01-25 | 东北林业大学 | Self-propelled drainage type wind power fire-extinguishing robot applied to forest fire extinguishing |
| CN114522356A (en) * | 2022-01-19 | 2022-05-24 | 深圳市森讯达电子技术有限公司 | Family fire-extinguishing robot |
| CN114497786A (en) * | 2022-02-22 | 2022-05-13 | 广东能源集团科学技术研究院有限公司 | Battery rack for container type energy storage power station and management method thereof |
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| CN117484472A (en) * | 2024-01-02 | 2024-02-02 | 广州国巡机器人科技有限公司 | Fire-fighting rail robot |
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Application publication date: 20210629 |