Ground-based robotic firefighting system with automatic hose reel

Abstract

Ground-based robotic firefighting system with automatic hose reel includes tracked drive, front moldboard, rear stop, load-bearing side housing, front modular section with equipment compartments, rear protective section, load-bearing top cover, and fire monitor. Ground-based robotic firefighting system additionally includes electrically driven hose reel with chain transmission for automatic winding or unwinding of high-pressure hose, fluid delivery mechanism for use while in motion with movable sleeve, elbow, hose nozzle, and radial bearing to ensure the delivery of fire extinguishing agent through main line to fire monitor while hose reel is rotating; hose feed system with guide rollers; shut-off valves for auxiliary pressure pipe with connecting hose head, and shut-off valves for the supply of fire-suppressant to fire monitor, wherein reel is mounted inside the firefighting unit with the possibility of rotation and is connected to electric drive via chain transmission, and one end of high-pressure hose is connected to movable sleeve via radial bearing, and the other end is connected to external water supply source, ensuring a continuous supply of pressurized fire-extinguishing agent during reel rotation while winding or unwinding high-pressure hose while moving firefighting system.

Description

The utility model belongs to the field of fire equipment and fire extinguishing means, in particular to fire ground robotic complexes (modules, robots). Fire ground robotic The complex is designed for autonomous remote localization and elimination of fires in in hard-to-reach and dangerous places. The use of such complexes makes it possible to reduce the risks of threats to life and health. fire department personnel when extinguishing fires and ignitions in difficult chemical and explosive industries, critical infrastructure facilities, especially in conditions of threat missile and artillery strikes on these objects. Designs of fire ground robotic complexes used by units State Emergency Service of Ukraine, namely: Hektor (Czech Republic), Magirus wolf R1 (Germany), Colosus (France), LUF CRV (Austria), VODOGRAY, TENGUS-5, ZMIY, ARKAN FIRE (Ukraine) provide for the equipment of a high-performance fire monitor for fire extinguishing, which provides long-distance fire extinguishing agent delivery, flexible control and fast deployment. However, well-known ground-based firefighting robotic systems from various global manufacturers have a significant disadvantage: they are all equipped with a high-performance fire monitor for fire extinguishing, which provides the supply of fire extinguishing agent by obtaining it or from a tank on the complex itself or from an external source of fire extinguishing agent with a compressor by connecting to it the sleeve line that the robot complex pulls along when moving to the starting position application, and then it is filled with fire extinguishing agent. This limits the time of extinguishing the fire when using a built-in reservoir with extinguishing agent or using an external sources of fire extinguishing agent with a compressor create the prerequisites for bending, damage fire hose connected to the complex and to the compressor, when dragging on a hard surface due to friction, catches on scattered debris of structures or ammunition and limits maneuverability firefighting robotic complex due to the inability to quickly change position without stopping the supply of fire extinguishing agent and emptying the hose line, which involves the involvement of fire department personnel. The well-known mobile firefighting robot UA 115770 [1], which is designed to extinguish fires in automatic mode, containing a platform placed on a tracked self-propelled installation, autonomous pump, container for fire extinguishing agent, communications for supplying fire extinguishing agent, gun barrel with drive and control system, sensors and electric motors to ensure movement. The disadvantage of this technical solution is that the mobile fire robot is not equipped automated hose line control system. The supply of fire extinguishing agent is carried out through permanently connected communications from the internal tank with fire extinguishing agent. The design does not provide for relatively long operation, the extinguishing time is limited by the supply of fire extinguishing agent. substances in the body of a mobile robot. A firefighting robot is known from patent EP 0913171 A1 [2], which is divided into a tracked tractor and trailer. The trailer contains a hose reel from which the hose can be unwound while driving. Reel for the hose has a chain drive that can be controlled using a hand crank. The water that comes through a hose, is directed from the trailer to the water cannon, which is mounted on the tractor. The disadvantage of the technical solution is that the hose reel has only a manual drive. The sleeve unwinds passively during movement. The sleeve is wound exclusively manually by turning the handle, which requires physical effort and time, impossible in dangerous conditions. The trailer separates from the tractor at the scene of the fire and remains stationary, which makes it impossible to change position during extinguishing without stopping the water supply, disconnecting the trailer, manual winding the hose, attaching it to the tractor, moving it, disconnecting it and re-winding it. A well-known firefighting robot under patent US 8,381,826 B2 [3], designed for remote controlled fire extinguishing in dangerous and hard-to-reach areas. The fire robot contains a frame design with a protective body, tracked chassis with independent left and right drives tracks, a water cannon with the ability to change the direction of fire extinguishing agent supply, a system remote control, lighting and video surveillance systems. The robot is equipped with a case cooling by water spray and internal fans to protect against overheating. The supply of extinguishing agent is carried out by connecting the fire robot to external water source through a hose, while water is supplied to the water cannon through internal pipelines and connecting pipes. The robot movement and water supply are controlled by remotely by an operator from a safe area. The disadvantage of this technical solution is that the fire robot is not equipped with an integrated automatic hose reel and does not have a controlled winding and unwinding mechanism fire hose during movement. The hose line is connected to the robot externally and does not is controlled automatically, which makes it impossible to change the robot position with simultaneous continuous feed extinguishing agent under pressure. To move the robot during the fire extinguishing process, the need to stop the water supply and manually adjust the position of the fire hose. Lack of automated hose line control system reduces maneuverability, mobility and the effectiveness of using a fire robot in difficult firefighting conditions. A known method of delivering an all-terrain robotic complex to the scene of a fire and a device for its implementation under patent RU 2553016 SI [4], which belongs to the field of fire equipment and robotic fire extinguishing equipment. The technical solution involves the use of robotic complex consisting of two self-propelled platforms. The first platform equipped with a fire extinguishing installation, video surveillance and communication systems, and the second platform Designed to accommodate pumping equipment and connect to an external water source. Water is supplied to the fire center by means of water intake by a pumping station, installed on the second platform, with subsequent water supply via a hose line to the first platform that carries out fire extinguishing. The hose line is stored in the form of a bay and deployed between platforms during the operation of the complex. The disadvantage of this technical solution is that the hose line is not equipped with an automatic hose a coil with a forced drive, and its deployment and laying is carried out in the form of a coil without automated control of the length of the sleeve. The design of the complex does not provide for the possibility automatic winding and unwinding of the fire hose during platform movement, which prevents continuous supply of water or foam under pressure when changing the position of the fire module. In addition, fire extinguishing and water supply are carried out using two separate platforms, which complicates the maneuvering of the complex, increases the deployment time and does not provide a compact autonomous fire module with the possibility of simultaneous movement, controlled winding or hose line unwinding and fire extinguishing. Lack of integrated automatic hose reel reduces the mobility and efficiency of the complex in confined spaces and high dynamics of fire development. A known mobile robotic fire extinguishing complex under patent RU 2580779 C2 [5], designed for remotely controlled fire extinguishing, reconnaissance of ignition sources and supply of fire extinguishing agents to the emergency zone. The complex includes a self-propelled chassis, a body with compartments for the power plant and fire extinguishing systems, an on-board remote control system and radio telemetry, video surveillance system, pumping station, water tanks and foam generator, fire hose reel (fire monitor) with remote control, as well as auxiliary equipment (including a blade and a self-irrigation system). Supply of water or drinking mixture is carried out through a fire monitor under pressure created by a pumping unit, with using your own containers or connecting to an external water source. The disadvantage of the technical solution is that the complex is not equipped with an integrated system automated hose line control. There is no electric hose reel, which would provide automated feeding and picking up of the hose during movement and water supply relatively long time. This limits the time of application of the complex in difficult fire conditions environment or its maneuverability when connecting an external water source. A fire hose deployment device based on a US patent was chosen as a close analogue. 9,623,271 B2 [6], which is designed to provide a fire hose to a fire robotic vehicle. The device is used as part of a ground robotic complex and provides transportation and deployment of the fire hose from an external source water to the fire complex. Structurally, the device is designed as a separate transport a trolley or module that moves with the firefighting robot and contains the means of stacking fire hose. During the movement of the fire complex, the fire hose passively unfolds along terrain surface, providing the ability to connect the robot to an external source fire extinguishing agent and feeding it to the fire hydrant. The disadvantage of this technical solution is that the device does not contain an integrated hose reel with electrically driven and does not provide automated winding and unwinding of the fire hose during the movement of the fire robot. The deployment of the hose is carried out passively, without forced control the length of the hose line, which makes it difficult to change the position of the fire robot during the fire extinguishing process. The design does not provide for the possibility of continuous supply of fire extinguishing agent under pressure during simultaneous movement of the fire robot and controlled control of the hose line. To change the firefighter's position, it becomes necessary to stop the supply of extinguishing agent or manual interference with hose laying, which reduces mobility, efficiency and effectiveness of firefighting in in difficult and dangerous conditions. The utility model is based on the task: by changing the design of the ground-based fire engine robotic complex to create a more mobile fire ground robotic complex with automatic hose reel, capable of not only reaching the position and delivering water without risk damage to the hose line, but also to independently change position, continuously supplying fire extinguishing agent substance from an external source under pressure and providing automatic unwinding and rolling up of the sleeve while moving. The proposed utility model is aimed at overcoming the shortcomings of a close analogue and ensures the achievement of the main technical result, which is to ensure continuous supply of extinguishing agent during movement and position change of the ground-based robotic fire engine complex with an automatic hose reel due to the use of an automatic reel with electric drive and fluid supply mechanism in motion through a movable sleeve. The task is solved by the fact that the fire ground robotic complex with automatic hose reel containing a crawler drive, front blade, rear stop, supporting side body, front modular part with equipment compartments, rear protective part, carrying the top cover, the fire monitor, according to the utility model, further comprises a coil hose reel with electric drive and chain transmission for automatic winding or unwinding of the high-pressure hose, fluid supply mechanism in motion with a movable sleeve, elbow, hose head, radial bearing to ensure the supply of fire extinguishing agent through main line to the fire monitor during rotation of the hose reel, hose feed system with guide rollers, shut-off valve of additional pressure pipe with connecting hose head, shut-off valve for supplying fire retardant to the fire monitor, while the coil is installed inside the fire system with the possibility of rotation and is connected to electrically driven through a chain transmission, and the high-pressure hose is connected at one end to a movable sleeve through a radial bearing, the other end with an external source water supply that ensures a continuous supply of fire extinguishing agent under pressure during rotation of the reel when winding or unwinding the high-pressure hose when moving fire department complex. The utility model is illustrated by drawings. Fig. 1 shows a side view of a ground-based firefighting robotic complex with automatic hose reel; Fig. 2 shows a front view of a ground-based firefighting robotic complex with automatic hose reel; Fig. 3 shows a rear view of a ground-based firefighting robotic complex with automatic hose reel; Fig. 4 shows a view of the hose reel of a ground-based firefighting robotic complex with automatic hose reel; Fig. 5 shows a photo of a test sample of a ground-based robotic firefighting vehicle complex with automatic hose reel. The accepted designations in Fig. 1-4: crawler engine (1); front blade (2); backstop (3); supporting side body of the complex (4); front modular part (5); equipment compartments (6); rear protective part (7); supporting top cover (8); sleeve coil (9); high-pressure hose (10); main fire extinguishing agent supply line (11); fire monitor (12); thermal protection system (13); nozzles with sprayers (14); electric linear actuators (15; 16; 17); video system unit (18); bracket (19); main camera (20); video transmitter antenna (21); rear view camera (22); additional pressure pipe shut-off valve (23); connecting sleeve head (24); sleeve feeding system (25); guide rollers (26); shut-off valve for supplying fire retardant to the fire monitor (27); a fluid supply mechanism in motion with a movable sleeve (28); transitional part of the fastener (29); elbow behind the sleeve head and radial bearing (30); side part of the body (31); bolted connections (32); rubber seals (33); side parts of the coil (35); electric coil drive (36); chain drive (37) bolted connection of the top cover and side part (38); bolted to the crawler platform (39). A ground-based firefighting robotic complex with an automatic hose reel has been developed consists of a crawler engine (1) with a fixed front blade (2) and rear stop (3), supporting side body of the complex (4), frontal modular part (5) with compartments for equipment (6), rear protective part (7), supporting top cover (8). Inside the complex, a hose reel (9) with an electric drive and a chain drive is installed. gear (36; 37) for winding and rewinding the high-pressure hose (10). The reel is installed on the transition part of the mount (29) through a radial bearing (30) with the possibility of rotation. Side parts of the coil (35) limit the horizontal displacement of the sleeve. The connecting pins (34) form high pressure hose reel drum. Chain drive sprocket The coil (36) is connected to the electric drive via a chain (37). The fluid supply mechanism in motion includes a movable sleeve (28) with an elbow and a hose head, installed through a radial bearing (30), plan washer securing the coil to the side part housing (31), bolted joints (32), rubber seals (33). The movable sleeve (28) provides continuous supply of fire extinguishing agent from the high-pressure hose (10) along the main line (11) to the fire monitor (12) while the reel is rotating. The hose feed system (25) with guide rollers (26) is located at the rear fire complex and ensures orderly unwinding and rewinding of the hose. The additional pressure pipe fitting (23) with the connecting hose head (24) is intended for connecting additional hose lines or equipment. The fire monitor (12) is installed on the upper part of the complex and is connected to the main main line (11). Electric linear actuators of the fire monitor drive (15, 16) provide monitor rotation and elevation. The monitor sprayer electric linear actuator (17) controls the angle and type of spraying. Shut-off valve for supplying fire retardant to the fire monitor (27) allows remote control of the supply of fire extinguishing agent. The thermal protection system (13) with spray nozzles (14) is located around the module for protection against high temperatures. The video system unit (18) with bracket (19) carries the main working camera (20) with a wide viewing angle and a rear view camera (22). Video transmitter antenna (21) provides wireless transmission of video data. Bolted connection of the top cover and side part (38) and bolted fastening of the module to crawler platform (39) provide strength and rigidity of the structure. The technical result is achieved by the fact that the fire ground robotic complex with automatic hose reel contains a crawler motor (1), a front blade (2), a rear stop (3), supporting side body (4), front modular part (5) with equipment compartments (6), rear a protective part (7), a supporting top cover (8), a fire monitor (12) and is characterized in that The fire ground robotic complex additionally includes a hose reel (9) with an electric drive and chain transmission (36, 37) for automatic winding and unwinding of the hose high pressure (10), fluid supply mechanism in motion with a movable sleeve (28), elbow, sleeve head, radial bearing (30), which ensures the supply of fire extinguishing agent along the main mains (11) to the fire monitor (12) during rotation of the hose reel, hose feed system (25) with guide rollers (26), shut-off valve of additional pressure pipe (23) with connecting hose head (24), shut-off valve for supplying fire-retardant substance to the fire extinguisher monitor (27), while the coil is installed inside the fire complex with the possibility of rotation and connected to the electric drive through a chain transmission, the high-pressure hose is one connected at one end to the movable bushing through a radial bearing, and at the other end to the external a water supply source that provides a continuous supply of fire extinguishing agent under pressure under the reel rotation time when winding or unwinding the high-pressure hose during movement fire department complex. The technical result of the proposed utility model is to ensure continuous supply fire extinguishing agent during movement and change of position of the fire complex due to the use of automatic hose reel with electric drive and chain transmission for winding and unwinding of the high-pressure hose, the fluid supply mechanism in motion with a movable sleeve with an elbow and hose head, radial bearing, which ensures continuous supply of fire extinguishing agent substance during the rotation of the reel, the hose feed system with guide rollers, which allows the firefighting complex can change position during extinguishing without stopping the supply of extinguishing agent, automatically unwind the hose when moving away from the water source and automatically roll up the sleeve when approaching, protecting the sleeve from damage, increasing tactical maneuverability of the fire complex and reducing the time for preparation for reuse. The principle of operation of a ground-based firefighting robotic complex with an automatic hose reel consists of remotely controlled detection of fire centers, ignitions, analysis of the situation and autonomous fire extinguishing using powerful jets of extinguishing agent through a fire extinguisher monitor, as well as the possibility of evacuating people or equipment when working where it is dangerous for people, ensuring a quick and effective response without risking the lives of firefighters. During the operation of the firefighting complex during movement from the water supply source to the place In case of fire, the hose reel (9) with an electric drive automatically unwinds the high-pressure hose (10). The electric drive rotates the coil in the unwinding direction via a chain transmission (36, 37). The sleeve passes through a sleeve feed system (25) with guide rollers (26) that ensure uniform and orderly unwinding without kinks and tangles. Movable sleeve (28) with elbow and sleeve head, mounted through a radial bearing (30), provides continuous supply of fire extinguishing agent under pressure up to 1.0 MPa from an external source water supply via high-pressure hose (10) along the main line (11) to the fire monitor (12) while the reel is rotating. This allows water to be supplied even when unwinding or rolling up the sleeve. When the fire brigade approaches the water supply source or if a change is necessary position, the electric reel drive automatically winds the high-pressure hose in the opposite direction. The hose feed system (25) with guide rollers (26) ensures orderly winding sleeves on the reel without damage. The fire monitor (12) can be remotely controlled via electric linear actuators drive (15; 16; 17) for rotation, lifting and changing the spray angle. Supply shut-off valve of fire retardant to the fire monitor (27) allows remote control of the supply The thermal protection system (13) with spray nozzles (14) protects complex from high temperatures. Application. The fire complex is moved to the area of ​​use using a minibus or pickup truck with a trailer equipped with a high-performance water pump or motor pump. Deployment time is 5-7 minutes. At a safe distance from the fire, it can an additional hose line is laid, to which the hose of the fire complex is connected, which has length of at least 200 m. A ground-based firefighting robotic complex has been developed with automatic hose reel under the guidance of an operator via radio from a safe location is directed into the combustion zone. In this case, the fire hose is automatically unwound or rewound when necessary on command. operator, preventing him from bending or dragging. The robotic complex is equipped with panoramic camera, front and rear for continuous monitoring, with which The operator analyzes the situation and determines the situation. The fire department uses fire extinguishing agents substances (water or foam) through the fire monitor, cooling the fire, blocking the access of oxygen or knocking down the flame. For high temperature operation, it has a self-cooling device with nozzles for spraying a finely dispersed mixture, controlled remotely. The fire complex can work with a team of people or in cooperation with a fire UAV, performing reconnaissance, extinguishing, clearing roads, evacuating people in danger. Thus, the combination of all the above features creates the conditions for the implementation of continuous supply of fire extinguishing agent during movement and position change of the fire robot, automatic unwinding and rewinding the high-pressure hose while driving, protecting the hose from damage, increasing tactical maneuverability and reducing preparation time for reuse when minimum number of personnel operations. Availability of a hose reel with an electric drive and chain transmission for automatic winding and rewinding of the high-pressure hose, the fluid supply mechanism in motion with movable sleeve with elbow and sleeve head, radial bearing, which provides continuous supply of fire extinguishing agent under pressure during rotation of the coil, supply system sleeves with guide rollers, which distinguishes the claimed technical solution from the prototype. In total, no new features containing the distinctive part of the formula of the utility model were found in technical solutions of similar purpose. Combination of coil with electric drive, mechanism fluid supply in motion through a movable sleeve with a radial bearing and a hose supply system with guide rollers in a single integrated design of the fire complex has not been used before applied in well-known technical solutions. The information provided indicates that a set of conditions has been met when using the claimed fire ground robotic complex with automatic hose reel: the technical solution belongs to the field of fire equipment and fire extinguishing equipment, in particular to ground-based robotic firefighting complexes with automatic supply systems for fire extinguishing agents through hose lines designed for autonomous fire extinguishing and remote localization and elimination fires in hard-to-reach and dangerous places; the technical solution, when used, is capable of ensuring a continuous supply of fire extinguishing agent during movement and position change of the robot, automatic unwinding and rewinding of the high-pressure hose during movement, protecting the sleeve from damage, increasing the tactical maneuverability of the fire robot and reduction of preparation time for reuse; for a ground-based firefighting robotic complex with an automatic hose reel, which is claimed, in the form in which it is described in the formula, its possibility is confirmed practical implementation in the form of technical means described in the application, including a tracked engine, hose reel with electric drive and chain transmission, fluid supply mechanism in motion with movable sleeve and radial bearing, sleeve feed system with guide rollers, fire monitor with electric linear actuators, thermal protection system, video unit systems and remote control system. A sample module was manufactured and tested in polygon conditions, Fig. 5. Based on the above, it can be argued that the declared ground fire The robotic complex with an automatic hose reel is new and industrially applicable. In general, the use of the developed fire ground robotic complex with automatic hose reel minimizes the risks of injury and loss of personnel during extinguishing fires at such facilities as: ammunition depots; in tunnels; at metro stations; underground structures and large warehouses; in large logistics warehouses; at petrochemical warehouses and oil refineries; fires involving unknown hazardous materials that may be accessible complicated for fire engines and personnel; fire extinguishing in industrial enterprises and residential buildings, especially in conditions fire damage by the enemy. This will enable rapid response to threats and emergencies, their localization and liquidation. Sources of information: 1. Pat UA 115770 U, MPK A62S 27 / 00, A62S 99 / 00. Mobile firefighting robot / Abramov Yu.O., Kryvtsova V.I., Sobina V.O.; owner National University of Civil Defense of Ukraine; appl. 11 / 16 / 2016; published 04 / 25 / 2017, Bul. No. 8. 2. Pat. ER 0913171 A1, IRS A62C 27 / 00, A62C 33 / 04. Fire-fighting robot / Zawadke T.; Applicant: IVECO MAGIRUS AG (DE); filed 10 / 28 / 1998; published 06.05.1999, Bulletin 1999 / 18. 3. Patent US 8,381,826 B2, IRS A62C 27 / 00. Fire Fighting Robot / Al-Azemi HA; filed 03 / 29 / 2010; published 26.02.2013. 4. Patent of the Russian Federation RU 2553016 C1, IPC A62S 27 / 00. Method of delivery of the robotic complex increased cross-country ability to reach the site of a fire and conduct emergency rescue operations and the device for its implementation / Tsarichenko S.G., Savin M.V., Pavlov E.V., Nosach Yu.I., Penkov I.A., Ivanov V.Yu.; copyright holder: EMERCOM of Russia; declared 25.12.2013; published 10.06.2015, Bulletin No. 16. 5. Patent RU 2580779 C2, IPC A62C 27 / 00. Mobile robotic fire extinguishing system / Nekrasov E.V., Shelomov S.B.; patent holder: Scientific and Production Association LLC "Siberian Arsenal"; declared 14.08.2014; published 10.04.2016, Bulletin No. 10. 6. Pat. US 9,623,271 B2, IRS A62S 27 / 00, A62S 33 / 04. Fire hose deployment device / McLoughlin JE, Athanasiades NG, Toh KM; Assignee: ROM Acquisition Corporation (US); filed 09 / 12 / 2011; published April 18, 2017.

Claims

Fire ground robotic complex with automatic hose reel, which contains a crawler engine, a front blade, a rear stop, a supporting side body, a front modular part with compartments for equipment, rear protective part, supporting upper cover, fire monitor, which is characterized by the fact that the fire ground robotic the complex additionally includes a hose reel with an electric drive and a chain drive transmission for automatic winding or unwinding of the high-pressure hose, mechanism fluid supply in motion with a movable sleeve, elbow, sleeve head, radial bearing to ensure the supply of fire extinguishing agent along the main line to fire monitor during rotation of the hose reel, hose feed system with guide rollers, shut-off valve of the additional pressure pipe with connecting hose head, shut-off valve for supplying fire retardant substance to fire monitor, with the coil installed inside the fire complex with capable of rotation and connected to the electric drive via a chain transmission, and the sleeve high pressure is connected at one end to the movable sleeve through a radial bearing, the second end - with an external water supply source, ensuring a continuous supply of fire extinguishing agent under pressure during the rotation of the reel during winding or unwinding the high-pressure hose when moving the firefighting complex.

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