CN219333035U

CN219333035U - Full-automatic fire extinguishing device applied to fire-fighting robot

Info

Publication number: CN219333035U
Application number: CN202223145202.4U
Authority: CN
Inventors: 李森; 高艺晋; 杨佳洛; 张怡; 李淮周; 王永东; 李婷婷
Original assignee: Zhengzhou University of Light Industry
Current assignee: Zhengzhou University of Light Industry
Priority date: 2022-11-26
Filing date: 2022-11-26
Publication date: 2023-07-14
Anticipated expiration: 2032-11-26

Abstract

The utility model provides a full-automatic fire extinguishing device applied to a fire-fighting robot, which is used for solving the technical problems of single applicable environment, insufficient fire extinguishing capability and fixed spraying direction of the conventional fire extinguishing device. The fire extinguisher comprises a rotary platform, wherein at least two bases for placing fire extinguishers are arranged on the rotary platform, a fixing mechanism matched with the fire extinguishers is fixedly arranged on the side part of each base, and an automatic triggering mechanism matched with a pressing handle of each fire extinguisher is arranged on the rotary platform; the outlet of the fire extinguisher is connected with a multi-way valve through a conveying pipe, the multi-way valve is connected with one end of a spray pipe through a hose, a flow valve is arranged on the spray pipe, a nozzle is arranged at the other end of the spray pipe, the spray pipe is connected with an outlet control mechanism, and an automatic triggering mechanism, the flow valve and the outlet control mechanism are all connected with a robot control system. The fire extinguishing agent spraying device can be mounted on a fire extinguishing robot, and can realize automatic triggering and automatic adjustment of the spraying height and flow of the fire extinguishing agent; convenient and flexible to use.

Description

Full-automatic fire extinguishing device applied to fire-fighting robot

Technical Field

The utility model relates to the technical field of fire-fighting equipment, in particular to a full-automatic fire extinguishing device applied to a fire-fighting robot.

Background

At present, fire-fighting robots can be classified into a detecting fire-fighting robot and a fire-extinguishing fire-fighting robot, wherein a fire-extinguishing device is an important component of the fire-fighting robot, and the fire-extinguishing devices of the existing fire-fighting robots mainly comprise a water jet type, a foam jet type, a fire-extinguishing bomb emission type and a portable fire extinguisher type. The water jet type is mainly classified into two types: one is to carry the water tank type, utilize pressurizing device to increase the water pressure and spray through the squirt, another is to carry the hosepipe type, and it is through carrying a return bend on fire control robot, when meetting the condition of a fire, will fire the hose insert in the return bend, fire control robot carries the hosepipe to get into the scene of a fire and rescue. The foam spraying fire extinguisher uses fire-fighting robot to carry foam generator to extinguish fire. The fire extinguishing bomb launching type adopts a vehicle-mounted launcher to throw fire extinguishing bomb to fire a fire source, and the fire is extinguished remotely.

The prior fire-fighting robot fire extinguishing device has the following defects:

1) Carrying a water tank type: because the fire-fighting robot has limited carrying capacity, the fire-extinguishing device carrying the water tank has limited carrying water quantity.

2) Carrying a water band: the fire hose has restricted fire control robot's range of motion, and weight is very big after the hosepipe fills water, causes great influence to robot motion ability to meet complicated topography hosepipe and twine easily and tie a knot.

3) Foam injection type fire extinguishing device: the foam spraying time is too long, and the fire extinguishing efficiency is low.

4) Fire extinguishing bomb emission type: the hit probability is lower, and the use step is loaded down with trivial details, and fire extinguishing bomb carries limited quantity.

5) Carry fire extinguisher formula: the fire extinguisher has the advantages of limited quantity, single type, incapability of changing the spraying angle, low fire extinguishing efficiency and small fire extinguishing coverage area.

The common defects of the fire extinguishing devices are that the applicable environment is single, only one fire extinguishing material can be carried, and the diversity of the fire scene environment can not be met; the carrying capacity is limited, the fire extinguishing capability is insufficient, the spraying direction is fixed, the fire extinguishing coverage area is small, and the fire extinguishing efficiency is low.

Disclosure of Invention

Aiming at the technical problems of single applicable environment, insufficient fire extinguishing capability and fixed spraying direction of the existing fire extinguishing device, the utility model provides a full-automatic fire extinguishing device applied to a fire-fighting robot, which can simultaneously carry fire extinguishers with various fire extinguishing materials and can be flexibly selected according to fire types, so as to cope with fire sources caused by different substances in a fire scene, thereby meeting the diversity of the fire scene environment; the plurality of fire extinguishers can be triggered singly or simultaneously, and the spraying direction can realize omnibearing spraying through the rotary platform and the outlet control mechanism.

In order to achieve the above purpose, the technical scheme of the utility model is realized as follows: the full-automatic fire extinguishing device comprises a rotary platform, wherein an expansion platform is arranged on one side of the rotary platform, at least two bases for placing fire extinguishers are arranged on the rotary platform, a fixing mechanism matched with the fire extinguishers is fixedly arranged on the side part of each base, and an automatic triggering mechanism matched with a pressing handle of each fire extinguisher is arranged on the rotary platform; the outlet of the fire extinguisher is connected with a multi-way valve through a conveying pipe, the multi-way valve is connected with one end of a spray pipe through a hose, a flow valve is arranged on the spray pipe, a nozzle is arranged at the other end of the spray pipe, the spray pipe is connected with an outlet control mechanism, and the outlet control mechanism is fixed on an expansion platform; the automatic triggering mechanism, the flow valve and the outlet control mechanism are all connected with the robot control system.

Preferably, a rotation control mechanism is arranged at the lower part of the rotation platform, and the rotation control mechanism is connected with a robot control system.

Preferably, the rotation control mechanism comprises a direct current motor, a pinion is arranged on an output shaft of the direct current motor, the pinion is meshed with a bull gear, the bull gear is nested on a rotary bearing, the upper part of the rotary bearing is fixedly connected with a rotary platform, and the bottom of the rotary bearing is arranged on the fire-fighting robot through a bearing base; the direct current motor is connected with a robot control system.

Preferably, an angle sensor is arranged on the large gear, and the angle sensor is connected with a robot control system.

Preferably, the fixing mechanism comprises a fixing frame, the bottom of the fixing frame is fixed on the base, and the upper part of the fixing frame is provided with a hoop which is matched with the bottle body of the fire extinguisher.

Preferably, the automatic triggering mechanism comprises a push rod motor, the lower part of the push rod motor is fixed on the rotary platform, a clamping block is fixed on the upper part of the push rod motor, a clamping groove is formed in the lower part of the clamping block, and the clamping groove is matched with the pressing handle; the push rod motor is connected with the robot control system.

Preferably, the outlet control mechanism comprises an electric push rod, the lower part of the electric push rod is fixed on the expansion platform, the upper part of the electric push rod is provided with a fixing device, and the fixing device is respectively connected with the spray pipe and the hose.

Preferably, the fixing device comprises a fixing block, the fixing block is fixed on the upper portion of the electric push rod, two fixing clamps are arranged on the fixing block, one fixing clamp is connected with the spray pipe, and the other fixing clamp is connected with the hose.

Preferably, one end of the flow valve is connected with the spray pipe, the other end of the flow valve is connected with the hose, and the flow valve is arranged between the two fixing clamps.

Preferably, the nozzle is an oval flat port, and the clamping groove is a concave notch.

Compared with the prior art, the utility model has the beneficial effects that:

1) The fire-fighting robot is carried on the fire-fighting robot, can realize automatic triggering through an automatic starting mechanism, and automatically adjusts the fire-extinguishing agent spraying height and flow of the fire extinguisher.

2) According to the fire type, the corresponding fire extinguisher can be flexibly replaced, and the fire extinguisher can be quickly replaced and put into fire rescue again after being sprayed; the fire extinguisher is carried at one time and is flexibly selected and used according to the type of the fire source, so that the fire source caused by different substances in a fire scene can be dealt with, the diversity of the fire scene environment can be met, and the problem that the fire extinguishing substances of the existing fire extinguishing device are single can be solved.

3) The existing hand-held fire extinguisher in the building is easy to obtain and convenient to use, can be installed and used without any modification, is flexible to use, and solves the transportation problem of fire extinguishing materials.

4) When extinguishing fire, the outlet speed of the nozzle can be automatically adjusted by the flow valve, the outlet height can be adjusted by the outlet control mechanism, the flame root is aligned, the problem that the spraying direction of the existing fire extinguishing device is single is solved, and the fire extinguishing efficiency is improved.

5) The oval flat port is designed at the outlet of the nozzle, so that the problem of insufficient spraying coverage area of the fire extinguishing agent is solved, the effective area of fire extinguishing is increased, and the fire extinguishing efficiency is improved.

6) Can realize 360 degrees free rotation extinguishment and solve the problem of insufficient extinguishment capability.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic structural view of the outlet control mechanism in fig. 1.

In the figure, 1 is an automatic triggering mechanism, 2 is a clamping block, 3 is a push rod motor, 4 is a fire extinguisher, 5 is a conveying pipe, 6 is a flow valve, 7 is a spray pipe, 8 is an outlet control mechanism, 9 is an expanding platform, 10 is a rotary control mechanism, 11 is a rotary platform, 12 is a spray nozzle, 13 is a fixing mechanism, 14 is a base, 15 is a pressing handle, 16 is a multi-way valve, 17 is a hose, 18 is a fixing frame, 19 is an electric push rod, 20 is a fixing block, and 21 is a fixing clamp.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, the full-automatic fire extinguishing device applied to the fire-fighting robot comprises a rotary platform 11, wherein the rotary platform 11 is a disc for driving the whole device to rotate. An expansion platform 9 is fixedly arranged on one side of the rotary platform 11, and the expansion platform 9 rotates along with the rotary platform and is used for installing the outlet control mechanism 8. The rotary platform 11 is provided with at least two bases 14 for placing fire extinguishers, and the circular bases 14 are used for placing fire extinguishers, as shown in fig. 1, and the number of fire extinguishers is 4. The side part of the base 14 is fixedly provided with a fixing mechanism 13 matched with the fire extinguisher, and the fixing mechanism 13 is used for fixing the fire extinguisher from the side part. The automatic triggering mechanism 1 matched with the pressing handle 15 of the fire extinguisher is arranged on the rotary platform 11, one side of the fire extinguisher is arranged on the automatic triggering mechanism 1, and the automatic triggering mechanism 1 presses the manual pressing valve of the fire extinguisher through the expansion and contraction of the push rod motor, so that the fire extinguisher is opened instead of being manually operated, and the existing portable fire extinguisher is not changed. The portable fire extinguisher is adopted as a fire extinguishing means, compared with other fire extinguishing devices, the portable fire extinguisher has stronger fire extinguishing capability, can be carried for 4 cans for 3-4kg once to enter a fire scene to ensure the fire extinguishing efficiency, is visible everywhere in a building fire, and is convenient to replace. The rotary platform 11 is provided with a fixing mechanism 13 and an automatic triggering mechanism 1 of four fire extinguishers.

The outlet of the fire extinguisher is connected with a multi-way valve 16 through a conveying pipe 5, the multi-way valve 16 is connected with one end of a spray pipe 7 through a hose 17, four input ports and an output port are arranged on the multi-way valve 16, the four input ports are respectively connected with the spray ports of the four fire extinguishers through the conveying pipe 5, and one output port is connected with the spray pipe 7, so that the fire extinguishing agent sprayed out of the fire extinguisher is conveyed to the spray pipe. The spray pipe 7 is provided with a flow valve 6, and the flow valve 6 is of the type: the flow valve 6 is used for adjusting the flow rate of the fire extinguishing agent in the spray pipe, and the other end of the spray pipe 7 is provided with a nozzle 12 for spraying the fire extinguishing agent. The spray pipe 7 is connected with an outlet control mechanism 8, the spray pipe 7 is a rigid plastic round pipe and is horizontally arranged, and the outlet control mechanism 8 is fixed on an expansion platform 9 and is used for adjusting the height of the spray pipe so as to adjust the vertical height of the sprayed fire extinguishing agent. The automatic triggering mechanism 1, the flow valve 6 and the outlet control mechanism 8 are all connected with a robot control system, and a high-performance industrial personal computer is selected as the robot control system.

Further, a rotation control mechanism 10 is arranged at the lower part of the rotation platform 11, a robot control system of the rotation control mechanism 10 is connected, and the rotation control mechanism 10 is used for controlling the rotation of the rotation platform. The rotation control mechanism 10 comprises a direct current motor, the direct current motor adopts a 12V direct current motor, a speed reducer is arranged on the direct current motor, so that the torque of the direct current motor is maximum, and the rotation platform 11 is driven to rotate. The pinion is installed on the output shaft of reduction gear, and the pinion meshes with the gear wheel as the action wheel, and the gear wheel nests in the outside of swivel bearing, swivel bearing upper portion and swivel platform 11 fixed connection, and the swivel bearing bottom passes through the bearing base and installs on fire control robot, and the bearing base is fixed on crawler-type chassis, has guaranteed that swivel platform rotates for fire control robot. The direct current motor is connected with the control system to control the start and stop of the direct current motor, so that the rotation of the rotating platform is controlled.

Further, an angle sensor is arranged on the large gear and is connected with a control system. The model of the angle sensor is P2020-360-A, and is used for measuring the rotation angle of the rotating platform so as to better align the fire source. Four fire extinguishers form a group of equipment for automatic triggering and spraying direction control of the single-tank fire extinguisher. A total of 4 sets of fire extinguishing apparatus are mounted on the rotary platform 11, ensuring that each set of fire extinguishing apparatus can be rotated through 90 degrees for better control of the direction of fire extinguishing. The height of the fire-fighting equipment nozzle can be automatically adjusted through the push rod motor 8 according to the position of the fire source, and the optimal fire-extinguishing angle is found. Meanwhile, when the rotation of the rotary platform 11 is adjusted, the fire-fighting robot can extinguish fire in different directions when the position of the fire-fighting robot is not good, and the fire-extinguishing efficiency is improved.

Further, the fixing mechanism 13 includes a fixing frame 18, the bottom of the fixing frame 18 is fixed on the base 14, and a hoop is arranged at the upper part of the fixing frame 18 and is matched with the body of the fire extinguisher. The number of the hoops is 2, and the hoops are respectively arranged on the upper part and the lower part of the bottle body of the fire extinguisher, and the tightness of the hoops is quickly adjusted through screws, so that the quick-mounting and replacement device is applicable to fire extinguishers with different diameters.

Further, the automatic triggering mechanism 1 comprises a push rod motor 3, the lower part of the push rod motor 3 is fixed on the rotary platform 11, a clamping block 2 is fixed on the upper part of the push rod motor 3, a clamping groove is arranged on the lower part of the clamping block 2, and the clamping groove is matched with the pressing handle 15; the push rod motor 3 is connected with a robot control system. The model of the push rod motor 3 is SXTL300mm, the stroke is 30 cm, the push rod motor 3 is arranged right behind the fire extinguisher, the rotation speed of the push rod motor is even and slow, the torque is large, and the power is better provided for triggering the fire extinguisher. The clamping groove is a concave metal notch, is concave, and stably provides a stress point for the pressure handle 15 of the manual pressure valve of the fire extinguisher, so that the trigger is ensured to be successful. One section of the concave metal clamping groove is fixed in the clamping groove at the top of the push rod motor, the height of the groove is adjusted to enable the pressing handle 15 of the manual pressing valve of the fire extinguisher to be inserted into the concave notch, and when the push rod motor moves downwards, the clamping groove is driven to press the pressing valve of the fire extinguisher to trigger.

Further, the outlet control mechanism 8 comprises an electric push rod, and the model is SXTL300mm. The lower part of the electric push rod is fixed on the expansion platform 9, the upper part of the electric push rod, namely the end part of the push rod, is provided with a fixing device, and the fixing device is respectively connected with the spray pipe 7 and the hose 17 and is used for adjusting the height of the spray pipe. The fixing device comprises a fixing block, the fixing block is fixed at the top of the electric push rod through a screw, two fixing clamps are arranged on the fixing block, one fixing clamp is connected with the spray pipe 7, and the other fixing clamp is connected with the hose 17. The fixing clamps are fixed at two ends of the fixing block through screws, and the other ends of the two fixing clamps are sleeved into the hose 17 and the spray pipe 7 respectively. The outlet face of the nozzle is perpendicular to the rotary platform 11, and the electric push rod can move vertically to drive the nozzle to move up and down. The nozzle 12 is an oval flat port, the length of the nozzle is about 20cm, the width of the nozzle is about 5cm, and the outlet is designed into a flat shape, so that the effective area for extinguishing fire is increased, and the fire extinguishing efficiency is improved.

Further, one end of the flow valve 6 is connected with the spray pipe 7, the other end of the flow valve 6 is connected with the hose 17, and the flow valve 6 is arranged between the two fixing clamps, so that effective support of the flow valve and the spray pipe is ensured.

The specific control method of the utility model is as follows: starting a control system to initialize various data, and waiting for the fire-fighting robot to give action instructions; the control system starts an automatic triggering mechanism of the fire extinguisher, controls the downward moving distance of the push rod motor through timing, opens the flow valve, and sprays the fire extinguishing agent by the fire extinguisher; the electric push rod of the outlet control mechanism is adjusted to control the nozzle to move up and down so as to aim at a fire source; measuring the flow rate of the fire extinguishing agent through a flow valve to judge whether the metering of the fire extinguisher in the first tank is enough, if not, automatically triggering other three push rod motors to work simultaneously, and adjusting the flow valve through a robot control system to find proper flow; if the fire extinguisher is sprayed, the control system ascends the automatic triggering mechanism and the outlet control mechanism to the starting positions to stop; if the fire extinguishers of the 4 groups of equipment are completely sprayed, the fire extinguishers arranged in the building are replaced on site.

The utility model adopts the existing hand-held fire extinguisher in the building as the fire extinguishing material, can be installed on the fire extinguishing device for use without any modification, can be quickly replaced on site after the fire extinguisher is sprayed, saves time and improves the fire extinguishing efficiency. Not only flexible to use, but also solves the transportation problem of fire extinguishing materials. The push rod motor is used as a power source, a manual valve acting on the fire extinguisher is pressed, automatic injection can be realized, the automatic injection is connected with the spray pipe through a hose, a flow valve is added at the outlet of the hose, and an outlet control mechanism is designed to adjust the vertical height of the spray nozzle, so that the injection metering speed and direction can be freely adjusted. Four fire extinguishers are designed and installed for meeting actual fire extinguishing demands, the fire extinguishers are uniformly distributed on a circular rotating platform, the rotating platform is rotatable, and fire extinguisher types can flexibly combine corresponding fire extinguishers according to fire types, so that fire sources caused by different substances in a fire scene can be met, and the diversity of fire scene environments can be met; using a rotating platform with a deceleration direct current motor as a power source, and controlling a rotation angle by using an angle sensor to enable a nozzle outlet to be aligned with a fire source; when the fire situation is relatively violent, a plurality of extinguishers can be triggered simultaneously to extinguish the fire, the flow valve is regulated, and the fire extinguishing efficiency is improved.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims

1. The full-automatic fire extinguishing device applied to the fire-fighting robot comprises a rotary platform (11), wherein an expansion platform (9) is arranged on one side of the rotary platform (11), and the full-automatic fire extinguishing device is characterized in that at least two bases (14) for placing fire extinguishers are arranged on the rotary platform (11), a fixing mechanism (13) matched with the fire extinguishers is fixedly arranged on the side part of each base (14), and an automatic triggering mechanism (1) matched with a pressing handle (15) of each fire extinguisher is arranged on the rotary platform (11); the outlet of the fire extinguisher is connected with a multi-way valve (16) through a conveying pipe (5), the multi-way valve (16) is connected with one end of a spray pipe (7) through a hose (17), a flow valve (6) is arranged on the spray pipe (7), a nozzle (12) is arranged at the other end of the spray pipe (7), the spray pipe (7) is connected with an outlet control mechanism (8), and the outlet control mechanism (8) is fixed on an expansion platform (9); the automatic triggering mechanism (1), the flow valve (6) and the outlet control mechanism (8) are all connected with the robot control system.

2. The full-automatic fire extinguishing device applied to the fire-fighting robot according to claim 1, wherein a rotary control mechanism (10) is arranged at the lower part of the rotary platform (11), and the rotary control mechanism (10) is connected with a robot control system.

3. The full-automatic fire extinguishing device applied to the fire-fighting robot according to claim 2, wherein the rotation control mechanism (10) comprises a direct current motor, a pinion is arranged on an output shaft of the direct current motor, the pinion is meshed with a large gear, the large gear is nested on a rotary bearing, the upper part of the rotary bearing is fixedly connected with a rotary platform (11), and the bottom of the rotary bearing is arranged on the fire-fighting robot through a bearing base; the direct current motor is connected with a robot control system.

4. A fully automatic fire extinguishing apparatus for use on a fire fighting robot according to claim 3, wherein the gearwheel is provided with an angle sensor, the angle sensor being connected to a robot control system.

5. The full-automatic fire extinguishing apparatus applied to a fire-fighting robot according to any one of claims 1 to 4, wherein the fixing mechanism (13) comprises a fixing frame (18), the bottom of the fixing frame (18) is fixed on the base (14), and a hoop is arranged at the upper part of the fixing frame (18) and matched with the body of the fire extinguisher.

6. The full-automatic fire extinguishing device applied to the fire-fighting robot according to claim 5, wherein the automatic triggering mechanism (1) comprises a push rod motor (3), the lower part of the push rod motor (3) is fixed on a rotary platform (11), a clamping block (2) is fixed on the upper part of the push rod motor (3), a clamping groove is arranged on the lower part of the clamping block (2), and the clamping groove is matched with a pressing handle (15); the push rod motor (3) is connected with the robot control system.

7. The full-automatic fire extinguishing device applied to the fire-fighting robot according to claim 6, wherein the outlet control mechanism (8) comprises an electric push rod (19), the lower part of the electric push rod is fixed on the expansion platform (9), the upper part of the electric push rod is provided with a fixing device, and the fixing device is respectively connected with the spray pipe (7) and the hose (17).

8. The full-automatic fire extinguishing apparatus applied to the fire-fighting robot according to claim 7, wherein the fixing device comprises a fixing block (20), the fixing block (20) is fixed on the upper portion of the electric push rod (19), two fixing clips (21) are arranged on the fixing block (20), one fixing clip is connected with the spray pipe (7), and the other fixing clip is connected with the hose (17).

9. The full-automatic fire extinguishing apparatus applied to a fire-fighting robot according to claim 8, wherein one end of the flow valve (6) is connected with the nozzle (7), the other end of the flow valve (6) is connected with the hose (17), and the flow valve (6) is arranged between two fixing clamps.

10. The full-automatic fire extinguishing apparatus applied to a fire-fighting robot according to any one of claims 6 to 9, wherein the nozzle (12) is an oval flat port, and the clamping groove is a concave slot.