CN115006764B

CN115006764B - Intelligent fire-fighting robot

Info

Publication number: CN115006764B
Application number: CN202210702239.8A
Authority: CN
Inventors: 李峰; 高娟; 张云龙; 邵世芬; 王晖
Original assignee: Qingdao Technical College
Current assignee: Qingdao Technical College
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2023-08-22
Anticipated expiration: 2042-05-25
Also published as: CN115006764A

Abstract

The invention provides an intelligent fire-fighting robot, wherein a driving upright post (302) and an auxiliary upright post (303) of a fire-fighting platform (3) are vertically and rectangularly arranged, two ends of a cross rod (304) are respectively sleeved on the driving upright post (302) and the auxiliary upright post (303), a fireproof cloth roller (305) is fixedly arranged on the driving upright post (302), a cover plate (306) is arranged on the tops of the driving upright post (302) and the auxiliary upright post (303), a telescopic cylinder and a fire-extinguishing powder spray head (307) are arranged on the cover plate (306), an air suction port of a vacuum fan (309) is arranged between a double-layer bottom plate (301) and the cover plate (306), and a foam spray head (312) is arranged at the bottoms of the driving upright post (302) and the auxiliary upright post (303). The invention has the beneficial effects that: identifying the size of a fire hazard object, automatically adjusting the size of a fire extinguishing platform to cover and isolate the object, and preventing the expansion of the fire range; meanwhile, the fire extinguishing platform integrates various fire extinguishing means, and is easy to build and suitable for upgrading and reconstruction of a factory building.

Description

Intelligent fire-fighting robot

Technical Field

The invention relates to the technical field of fire-fighting equipment, in particular to an intelligent fire-fighting robot.

Background

The fire-fighting robot is used as a special robot and plays an important role in fire extinguishment and rescue. Most of the existing fire-fighting robots can replace fire-fighting rescue workers to enter dangerous disaster accident sites such as inflammable and explosive, poisonous, anoxic, dense smoke and the like to extinguish fire, so that the fire-fighting workers are prevented from being injured. Some fire-fighting robots are used for inspection and early warning and pre-treatment of initial fire, the fire-fighting robot fire treatment means are relatively single, cannot cope with complex fire situations, lack accurate treatment under the condition of burning objects with different sizes, and do not have the functions of adjusting fire extinguishing areas or fire blocking ranges along with the sizes of the objects, and limiting or eliminating the initial fire within the minimum range.

Disclosure of Invention

The invention aims to solve the technical problems that: aiming at the problems existing in the prior art, the intelligent fire-fighting robot is provided, can monitor the risk of fire and identify the risk of fire or the size of an object on which the fire has occurred, automatically adjusts the size of a fire-fighting platform to cover and isolate the object, and prevents the expansion of the range of the fire; meanwhile, the fire extinguishing platform gathers various fire extinguishing means, foam is sprayed from the bottom of the fire extinguishing platform to block the ground, fire extinguishing powder is sprayed from the middle of the fire extinguishing platform to extinguish the fire, the top space of the fire extinguishing platform is vacuumized, cut off and then burnt, the whole process is high in automation degree, and the fire extinguishing platform is easy to build and suitable for upgrading and reconstruction of a factory building.

The technical problems to be solved by the invention are realized by adopting the following technical scheme: the intelligent fire-fighting robot comprises a frame, a driving unit, a fire-fighting platform and a monitoring device, wherein the frame is a cuboid frame, the driving unit is respectively arranged on eight top corners of the frame, the driving unit comprises a driving motor, a spiral winding column, ropes and a brake, two ends of the spiral winding column are respectively connected with the driving motor and the brake, one ends of the ropes are wound on the spiral winding column, the other ends of the ropes are connected with a double-layer bottom plate of the fire-fighting platform, the fire-fighting platform further comprises a driving upright post, an auxiliary upright post, a cross rod, a fireproof cloth roller, a cover plate, a fire-fighting powder spray head, a powder box, a vacuum blower, a foam liquid box, a micro pump and a foam spray head, the driving upright post and three auxiliary upright posts are vertically and are arranged on the double-layer bottom plate in a rectangular mode, the driving upright post is fixedly arranged on the double-layer bottom plate, the auxiliary upright posts are inserted in slideways at the bottom of the double-layer bottom plate, two ends of the cross rod are respectively sleeved on the driving upright post and the auxiliary upright post, one end of the two adjacent auxiliary upright posts, the fireproof cloth roller is fixedly arranged on the driving upright post, the top of the driving upright post and the double-layer bottom plate is provided with a push cover plate which moves along the driving upright post, the axial direction of the driving upright post and the foam liquid box, the micro pump and the foam liquid spray head are respectively arranged on the double-layer bottom plate, the annular air suction nozzle is connected with the air suction nozzle, the air suction nozzle and the air nozzle is respectively, the air-jet pump is arranged between the air suction nozzle and the air-jet pump and the air-jet device, the air-type and the air-jet machine, the air-jet machine and the intelligent fire-fighting robot comprises a fire-fighting robot and the air pump. The walking motor is in contact fit with the frame, a pair of sliding grooves and a pair of hinged rocker arms which are arranged in a mirror image mode are symmetrically arranged in the annular support, two symmetrical ends of the cross rocker arms are inserted into the pair of sliding grooves, the other two symmetrical ends of the cross rocker arms are connected with the end portions of the rocker arms, the rocker arms are connected with the swinging motor through a belt or a chain, and the camera, the temperature sensor and the smoke sensor are all arranged on the cross rocker arms.

Preferably, a winding displacement guide post is axially arranged above the spiral winding post in parallel, a sliding block in threaded fit connection with the winding displacement guide post is sleeved on the winding displacement guide post, the winding displacement guide post is in transmission connection with the spiral winding post through a synchronous belt, and a right-angle through hole for a rope to pass through is formed in the sliding block.

Preferably, the wire arranging guide post comprises a wire arranging optical axis and a wire arranging screw rod, the sliding block is in threaded fit connection with the wire arranging screw rod, and the wire arranging optical axis penetrates through a guide hole in the sliding block to play an axial guiding role.

Preferably, the inside of fire prevention cloth cylinder is equipped with the torsional spring, and the multilayer fire prevention cloth has been laid to the outside of fire prevention cloth cylinder, the torsional spring provides resilience force for the fire prevention cloth is laid on the fire prevention cloth cylinder, is equipped with the couple of fixing on the drive stand on the fire prevention cloth.

Preferably, a linear motor is mounted on the driving upright, and the linear motor pushes the cross rod to slide along the driving upright.

Preferably, the driving upright post and the auxiliary upright post are respectively provided with an axial through hole, and a pipeline used for connecting the micro pump and the foam spray head is embedded in the axial through holes.

Preferably, the foam nozzle is of a convex cylindrical structure, a plurality of through holes for generating foam are uniformly formed in the large-diameter cylindrical pipe wall of the lower part of the foam nozzle along the circumference, and the small-diameter cylindrical pipe of the upper part of the foam nozzle is connected with the micropump.

Preferably, the frame is formed by splicing industrial aluminum profiles.

Preferably, the spiral winding post is provided with a spiral groove for guiding the winding of the rope.

Preferably, the cover plate is formed by overlapping a plurality of rectangular plates with different sizes, and the sizes of the rectangular plates of the plurality of layers are sequentially increased from bottom to top.

Compared with the prior art, the invention has the beneficial effects that: the fire risk can be monitored, the fire risk or the size of an object on which the fire occurs can be identified, the size of the fire extinguishing platform can be automatically adjusted to cover and isolate the object, and the expansion of the fire range is prevented; meanwhile, the fire extinguishing platform gathers various fire extinguishing means, foam is sprayed from the bottom of the fire extinguishing platform to block the ground, fire extinguishing powder is sprayed from the middle of the fire extinguishing platform to extinguish the fire, the top space of the fire extinguishing platform is vacuumized, cut off and then burnt, the whole process is high in automation degree, and the fire extinguishing platform is easy to build and suitable for upgrading and reconstruction of a factory building.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

Fig. 1 is a schematic structural diagram of the whole machine of the present invention.

Fig. 2 is a schematic structural view of a driving unit according to the present invention.

Fig. 3, 4 and 5 are schematic structural views of the fire extinguishing platform of the present invention.

Fig. 6 and 7 are schematic structural diagrams of the monitoring device of the present invention.

The marks in the figure: the fire extinguishing system comprises a frame, a 2-driving unit, a 201-driving motor, a 202-spiral winding column, a 203-rope, a 204-brake, a 205-winding guide column, a 206-slider, a 3-fire extinguishing platform, a 301-double-layer bottom plate, a 302-driving column, a 303-auxiliary column, a 304-cross rod, a 305-fire protection cloth roller, a 306-cover plate, a 307-fire extinguishing powder spray head, a 308-powder box, a 309-vacuum fan, a 310-foam liquid box, a 311-micropump, a 312-foam spray head, a 4-monitoring device, a 401-U-shaped support, a 402-annular support, a 403-cross swing rod, a 404-swing motor, a 405-walking motor, a 406-camera, a 407-temperature sensor and a 408-smoke sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1 and 2, an intelligent fire-fighting robot comprises a frame 1, a driving unit 2, a fire-extinguishing platform 3 and a monitoring device 4, wherein the frame 1 is a cuboid frame, preferably, the frame 1 is formed by splicing industrial aluminum profiles, and the intelligent fire-fighting robot is convenient to install, light in structure and convenient to refit and install a factory building. The driving unit 2 is respectively installed on eight apex angles of the frame 1, and the driving unit 2 includes driving motor 201, spiral wrapping post 202, rope 203 and brake 204, and the both ends of spiral wrapping post 202 are connected with driving motor 201 and brake 204 respectively, and the top axial parallel of spiral wrapping post 202 is equipped with winding displacement guide pillar 205, and winding displacement guide pillar 205 includes winding displacement optical axis and winding displacement lead screw, slider 206 and winding displacement lead screw threaded fit connection, and the winding displacement optical axis passes the guiding hole on the slider 206 and plays axial direction effect. The wire arranging guide post 205 is connected with the spiral winding post 202 through a synchronous belt in a transmission way, a right-angle through hole for the rope 203 to pass through is formed in the sliding block 206, one end of the rope 203 is wound on the spiral winding post 202, the other end of the rope 203 passes through the right-angle through hole in the sliding block 206 and is connected with the double-layer bottom plate 301 of the fire extinguishing platform 3, and in order to improve the even winding of the rope 203 on the spiral winding post 202, a spiral groove for guiding the winding of the rope 203 is formed in the spiral winding post 202.

As shown in fig. 3, fig. 4 and fig. 5, the fire extinguishing platform 3 comprises a double-layer bottom plate 301, a driving upright post 302, auxiliary upright posts 303, a cross rod 304, a fire cloth roller 305, a cover plate 306, a fire extinguishing powder spray nozzle 307, a powder box 308, a vacuum fan 309, a foam liquid box 310, a micropump 311 and a foam spray nozzle 312, wherein the driving upright post 302 and the three auxiliary upright posts 303 are vertically and rectangularly arranged on the double-layer bottom plate 301, the driving upright post 302 is fixedly arranged on the double-layer bottom plate 301, the auxiliary upright posts 303 are inserted into slide ways at the bottom of the double-layer bottom plate 301, two ends of the cross rod 304 are respectively sleeved on the driving upright post 302, the auxiliary upright posts 303 and the two adjacent auxiliary upright posts 303, a linear motor is arranged on the driving upright post 302, and the linear motor pushes the cross rod 304 to slide along the driving upright post 302. The fire-proof cloth roller 305 is fixedly arranged on the driving upright post 302, a torsion spring is arranged in the fire-proof cloth roller 305, a plurality of layers of fire-proof cloth are paved outside the fire-proof cloth roller 305, the torsion spring provides resilience force for the fire-proof cloth paved on the fire-proof cloth roller 305, and hooks fixed on the driving upright post 302 are arranged on the fire-proof cloth. The cover plate 306 is formed by overlapping a plurality of layers of rectangular plates with different sizes, the sizes of the rectangular plates of the layers are sequentially increased from bottom to top, the cover plate 306 is arranged at the top of the driving upright post 302 and the auxiliary upright post 303, a telescopic cylinder pushing the cover plate 306 to move axially along the driving upright post 302 and the fire extinguishing powder spray nozzle 307 are arranged on the double-layer bottom plate 301, the fire extinguishing powder spray nozzle 307 is connected with the powder box 308, the vacuum fan 309 and the foam liquid box 310 are all fixedly arranged on the double-layer bottom plate 301, an air suction port of the vacuum fan 309 is arranged between the double-layer bottom plate 301 and the cover plate 306, the micropump 311 is connected with the foam liquid box 310 and the foam spray nozzle 312, the foam spray nozzle 312 is arranged at the bottoms of the driving upright post 302 and the auxiliary upright post 303, preferably, the driving upright post 302 and the auxiliary upright post 303 are respectively provided with axial through holes, pipelines used for connecting the micropump 311 and the foam spray nozzle 312 are embedded in the axial through holes, the foam spray nozzle 312 is of a convex cylindrical structure as a whole, a plurality of through holes for generating foam are uniformly arranged on the large-diameter cylindrical pipe wall of the lower part of the foam spray nozzle 312 along the circumference, and the small-diameter cylindrical pipe on the upper part of the micropump 312 is connected with the micropump.

As shown in fig. 6 and 7, the monitoring device 4 includes a U-shaped bracket 401, an annular bracket 402, a cross swing rod 403, a swing motor 404, a walking motor 405, a camera 406, a temperature sensor 407 and a smoke sensor 408, wherein the two ends of the U-shaped bracket 401 are respectively provided with the annular bracket 402 and the walking motor 405, the walking motor 405 is in contact fit with the frame 1, a pair of sliding grooves and a pair of hinged rocker arms arranged in mirror images are symmetrically arranged in the cross shape in the annular bracket 402, two symmetrical ends of the cross swing rod 403 are inserted in the pair of sliding grooves in a cross shape, the other two symmetrical ends of the cross swing rod 403 are connected with the end parts of the rocker arms, and the rocker arms are connected with the swing motor 404 through a belt or a chain, so that the camera 406, the temperature sensor 407 and the smoke sensor 408 for identifying and detecting environments are all installed on the cross swing rod 403.

After the frame 1 is assembled according to the size of a factory building or a space, the driving motor 201 of the driving unit 2 starts to work, the fire extinguishing platform 3 is lifted to a high position through the ropes 203, the driving motor 201 stops rotating, the brake 204 limits the ropes 203, and the fire extinguishing platform 3 stays at the top of the frame 1. The temperature sensor 407 and the smoke sensor 408 of the monitoring device 4 are always in a working state, indoor temperature and smoke are monitored, meanwhile, the camera 406 also monitors a factory building in real time through the cross swing rod 403, the rocker arm of the annular bracket 402 starts to swing when the swing motor 404 rotates, and the cross swing rod 403 also starts to swing so as to enlarge the monitoring range of the camera 406, the temperature sensor 407 and the smoke sensor 408. When a fire risk is detected, the position and size information of the fire hazard articles collected through the cameras 406 (the information can be recorded into the processor in advance according to the types of products) are recorded, the driving unit 2 moves the fire extinguishing platform 3 to the position above the fire hazard articles through the ropes 203 of the fire hazard articles, the linear motor on the driving upright post 302 pushes the cross rod 304 to stretch, so that the auxiliary upright post 303 starts to move until the rectangular area surrounded by the driving upright post 302 and the three auxiliary upright posts 303 is equal to the size of the fire hazard articles, and as the fire cloth on the fire cloth roller 305 is wrapped outside the rectangular area surrounded by the driving upright post 302 and the three auxiliary upright posts 303, the torsion springs are arranged in the fire cloth roller 305 and provide resilience force and tensioning force for the fire cloth paved on the fire cloth roller 305 and the rectangular area; the telescoping cylinder on the cover 306 then pushes the cover 306 downward until the height of the cover 306 approaches the height of the fire hazard article; the driving unit 2 descends the fire extinguishing platform 3 through the ropes 203 until the driving upright post 302 and the three auxiliary upright posts 303 enclose a rectangular area to cover fire hazard objects; the micro pump 311 starts to operate, the foam nozzle 312 starts to generate foam, block gas and prevent fire from spreading from the ground, the fire extinguishing powder nozzle 307 on the cover plate 306 starts to spray fire extinguishing powder from top to bottom, and the vacuum fan 309 starts to operate, and the air in the sealing area (i.e. covered object) formed between the cover plate 306 and the double-layer bottom plate 301 is pumped away.

The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. An intelligent fire control robot, its characterized in that: the fire extinguishing platform comprises a frame (1), a driving unit (2), a fire extinguishing platform (3) and a monitoring device (4), wherein the frame (1) is a cuboid frame, the driving unit (2) is respectively arranged on eight top corners of the frame (1), the driving unit (2) comprises a driving motor (201), a spiral winding column (202), a rope (203) and a brake (204), two ends of the spiral winding column (202) are respectively connected with the driving motor (201) and the brake (204), one end of the rope (203) is wound on the spiral winding column (202), the other end of the rope is connected with a double-layer base plate (301) of the fire extinguishing platform (3), the fire extinguishing platform (3) further comprises a driving upright post (302), an auxiliary upright post (303), a cross rod (304), a fireproof cloth roller (305), a cover plate (306), a fire extinguishing powder spray nozzle (307), a powder box (308), a vacuum fan (309), a foam liquid box (310), a micro pump (311) and a foam spray nozzle (312), the driving upright post (302) and three auxiliary uprights (303) are vertically and are arranged on the double-layer base plate (301) in a rectangular shape, the double-layer base plate (301) is fixedly arranged on the double-layer base plate (301) and the double-layer base plate is fixedly arranged on the base plate (301) and the double-layer base plate (301) and the base is fixedly arranged on the base station. The two ends of the cross rod (304) are respectively sleeved on the driving upright post (302), the auxiliary upright posts (303) and two adjacent auxiliary upright posts (303), the fireproof cloth roller (305) is fixedly arranged on the driving upright post (302), the cover plate (306) is arranged at the top of the driving upright post (302) and the auxiliary upright posts (303), the telescopic cylinder pushing the cover plate (306) to move along the axial direction of the driving upright post (302) and the fire extinguishing powder spray head (307) are arranged on the double-layer bottom plate (301), the fire extinguishing powder spray head (307) is connected with the powder box (308), the vacuum fan (309) and the foam liquid box (310) are fixedly arranged on the double-layer bottom plate (301), the air suction port of the vacuum fan (309) is arranged between the double-layer bottom plate (301) and the cover plate (306), the micro pump (311) is connected with the foam liquid box (310) and the foam spray head (312), the foam spray head (312) is arranged at the bottom of the driving upright post (302) and the auxiliary upright posts (303), the monitoring device (4) comprises a U-shaped bracket (401), a ring-shaped motor (403), a cross bracket (404), a swing sensor (408), a smoke sensor (406) and a camera (407), the two ends of the U-shaped support (401) are respectively provided with an annular support (402) and a traveling motor (405), the traveling motor (405) is in contact fit with the frame (1), a pair of sliding grooves and a pair of hinged rocker arms which are arranged in a mirror image mode are symmetrically arranged in the annular support (402), the two symmetrical ends of the cross rocker arms (403) are inserted into the pair of sliding grooves in a cross mode, the other two symmetrical ends of the cross rocker arms are connected with the end portions of the rocker arms, the rocker arms are connected with the swinging motor (404) through a belt or a chain, the camera (406), the temperature sensor (407) and the smoke sensor (408) are all arranged on the cross rocker arms (403), a wire-arranging guide pillar (205) is axially arranged in parallel above the spiral winding pillar (202), a sliding block (206) in threaded fit connection with the wire-arranging guide pillar (205) is sleeved on the wire-arranging guide pillar, the wire guide pillar (205) is in transmission connection with the spiral winding pillar (202) through a synchronous belt, a right-angle through hole for a rope (203) to pass through is formed in the sliding block (206), the wire-arranging guide pillar (205) comprises a wire-arranging guide pillar (206) and a wire guide screw (305) which is in an axial direction, the wire guide screw (305) is in the wire guide shaft is in the wire guide way, and the wire guide screw (305) is in the guide shaft is in the fire-preventing mode, the fire-preventing guide roller (305) is in the fire-preventing mode, the fire-preventing and the fire-preventing, the torsion spring provides resilience force for the fire-proof cloth laid on fire-proof cloth cylinder (305), is equipped with the couple of fixing on drive stand (302) on the fire-proof cloth, install linear electric motor on drive stand (302), linear electric motor promotes cross pole (304) along drive stand (302) slip, be equipped with the spiral recess that supplies rope (203) winding direction on spiral wrapping post (202).

2. The intelligent fire-fighting robot according to claim 1, wherein: the driving upright post (302) and the auxiliary upright post (303) are respectively provided with an axial through hole, and a pipeline used for connecting the micro pump (311) and the foam spray head (312) is embedded in the axial through holes.

3. An intelligent fire robot according to claim 1 or 2, characterized in that: the foam nozzle (312) is of a convex cylindrical structure, a plurality of through holes for generating foam are uniformly formed in the large-diameter cylindrical pipe wall of the lower portion of the foam nozzle (312) along the circumference, and the small-diameter cylindrical pipe of the upper portion of the foam nozzle (312) is connected with the micropump (311).

4. The intelligent fire-fighting robot according to claim 1, wherein: the frame (1) is formed by splicing industrial aluminum profiles.

5. The intelligent fire-fighting robot according to claim 1, wherein: the cover plate (306) is formed by overlapping a plurality of layers of rectangular plates with different sizes, and the sizes of the rectangular plates of the layers are sequentially increased from bottom to top.