A self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent

Abstract

A self-pressurizing explosion-proof robot fire extinguishing system with its own fire extinguishing agent, wherein electromagnetic valves are respectively arranged at the outlets of the fire extinguishing agent tank and the nitrogen tank pipes to control the fire extinguishing agent and nitrogen switches. After the manual switch of the nitrogen tank is turned on, it passes through the pressure reducing valve and the electromagnetic valve and enters the main pipeline through the three-way valve; after the electromagnetic valve of the fire extinguishing agent tank is opened, it also enters the main pipeline for spraying nitrogen through the three-way valve; the outlet end of the fire extinguishing main pipeline is equipped with a stepless speed regulating nozzle, a fire source sensor and a distance sensor; the fire extinguishing agent is sprayed out through the stepless speed regulating nozzle using the decompressed nitrogen as the power. At least one set of automatic center of gravity balancing device is arranged inside the fire extinguishing agent tank. The present invention is self-pressurizing, self-contained with fire extinguishing agent, explosion-proof, flexible, small in size, large in load capacity, can automatically identify the fire source and automatically extinguish the fire, saves fire extinguishing agent, is suitable for local fire extinguishing in narrow spaces, and has the ability to automatically balance the center of gravity when climbing a slope or crossing an obstacle.

Description

Technical Field

[0001] The invention relates to a fire extinguishing system, in particular to a self-pressurizing explosion-proof robot fire extinguishing system with its own fire extinguishing agent, belonging to the technical field of robot fire extinguishing. Background Art

[0002] In the current firefighting of some narrow spaces, due to the limited space at the fire point, the fire truck cannot enter the fire point in time to put out the fire, resulting in untimely firefighting, increased difficulty in firefighting, and serious casualties and property losses. The traditional firefighting method is to use the fire truck booster pump to put the firefighting robot on the firefighting water cannon to extinguish the fire. The fire truck is large in size and does not have a good effect on firefighting in a small space. The firefighting robot drags the water bag to the firefighting site to extinguish the fire. It is inconvenient to turn around and take a straight line to ensure the normal supply of foam liquid in the water pipe. As long as the booster pump on the fire truck is turned on, the water cannon starts to spray water, resulting in a large amount of fire extinguishing agent being wasted before the water cannon finds the fire source. The cost is high and the fire extinguishing agent cannot be effectively used. The rescue and firefighting are not timely and cannot be extinguished efficiently. The fire is extinguished more and more, and eventually a small fire becomes a big fire, resulting in heavy property losses and casualties. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent. The system has a small size and a large load capacity. It can automatically identify the fire source and then extinguish the fire, thus saving fire extinguishing agent. The system is suitable for local fire extinguishing in a narrow space. The fire extinguishing agent in the fire extinguishing agent tank has good automatic balancing performance when the robot climbs a slope or overcomes an obstacle.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a self-pressurized explosion-proof robot fire extinguishing system with a fire extinguishing agent, comprising a crawler robot motion platform composed of a robot body and robot tracks, a fire extinguishing agent tank body is installed on the crawler robot motion platform, a fire extinguishing agent solenoid valve for controlling the opening and closing of the fire extinguishing agent pipeline is arranged on the outlet pipe of the fire extinguishing agent tank body, the outlet pipe of the fire extinguishing agent tank body is connected to a nitrogen pressure tank through a three-way valve, the nitrogen pressure tank is installed on a bracket above the robot tracks, a manual switch and a pressure reducing valve are arranged at the tank mouth of the nitrogen pressure tank, a nitrogen solenoid valve for controlling the opening and closing of the nitrogen pipeline is arranged on the nitrogen outlet pipe behind the pressure reducing valve, a stepless speed regulating nozzle is installed at the outlet end of the fire extinguishing pipeline, a fire source sensor and a distance sensor are arranged on the fire extinguishing pipeline; At least one group of automatic center of gravity balancing devices is arranged inside the agent tank body to prevent the center of gravity of the tank body from shifting due to the fire extinguishing agent in the tank body flowing to a lower place. The automatic center of gravity balancing device includes a partition, a first interlocking door, a second interlocking door, and an interlocking connecting rod. The partition is tightly and fixedly connected to the inner wall of the fire extinguishing agent tank body, and a connecting hole is arranged at the lower part of the partition. The top ends of the first interlocking door and the second interlocking door are respectively tightly hinged to the two sides of the partition above the connecting hole. The interlocking connecting rod is installed between the first interlocking door and the second interlocking door and makes the first interlocking door and the second interlocking door tilted. In the process of the first interlocking door and the second interlocking door rotating back and forth under gravity, the bottom end of one of the first interlocking door and the second interlocking door is tightly fitted with the partition at the bottom of the connecting hole to prevent the fire extinguishing agent in the tank body from flowing from the connecting hole to a lower place.

[0005] In order to improve the stability between the fire extinguishing agent tank and the robot body, the fire extinguishing agent tank of the present invention is elliptical in shape and is closely attached to the robot body.

[0006] The opening and closing angle between the first interlocking door and the second interlocking door is 0°-90°, and the first interlocking door and the second interlocking door are symmetrically arranged with the extension line of the partition as the center.

[0007] It also includes a spare nitrogen pressure tank, which is installed on a bracket above the robot crawler.

[0008] The top ends of the first interlocking door and the second interlocking door are respectively and tightly connected to the two sides of the partition plate above the communicating hole through folders.

[0009] In order to increase the sealing performance and prevent the fire extinguishing agent in the tank from seeping to a lower place from the top connection between the partition and the first interlocking door and the second interlocking door and the bottom joint between the partition and the first interlocking door and the second interlocking door, the present invention provides a sealing rubber gasket at the top connection between the partition and the first interlocking door and the second interlocking door, and provides a sealing rubber gasket at the bottom joint between the partition and the first interlocking door and the second interlocking door.

[0010] Pressure indicators are provided on both the nitrogen pressure tank and the standby nitrogen pressure tank.

[0011] Compared with the prior art, the crawler robot of the present invention has a fire extinguishing agent tank installed on the crawler robot motion platform, a fire extinguishing agent solenoid valve is arranged on the outlet pipe of the fire extinguishing agent tank, a manual switch and a pressure reducing valve are arranged on the tank mouth of the nitrogen pressure tank, a nitrogen solenoid valve for controlling the opening and closing of the nitrogen pipeline is arranged on the nitrogen outlet pipe behind the pressure reducing valve, the manual switch and the nitrogen solenoid valve are opened, nitrogen passes through the pressure reducing valve to the solenoid valve, the decompressed nitrogen is used as the power, and the fire extinguishing agent solenoid valve is opened again to spray the fire extinguishing agent through the fire extinguishing pipeline, a stepless speed regulating nozzle is installed at the outlet end of the fire extinguishing pipeline, a fire source sensor and a distance sensor are arranged on the fire extinguishing pipeline, so that the fire source can be easily found, and after the fire source is found Afterwards, the distance sensor determines whether it is within the range according to the position of the fire source to itself. Once the travel distance is within the range, the nitrogen pressure tank passes through the three-way valve, mixes with the fire extinguishing solvent, and then sprays it from the stepless speed regulation nozzle, which saves the fire extinguishing agent and does not cause waste of the fire extinguishing agent. It can be used in a relatively narrow space and extinguish the fire efficiently and quickly. At least one group of automatic center of gravity balancing devices is arranged inside the fire extinguishing agent tank body to prevent the center of gravity of the tank body from shifting due to the fire extinguishing agent flowing to a lower place, so as to prevent the fire extinguishing agent in the fire extinguishing agent tank body from flowing to a lower place after passing through the connecting hole, avoid the imbalance or instability of the center of gravity caused by the shift of the center of gravity of the fire extinguishing agent in the fire extinguishing agent tank body, and improve the safety performance of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention;

[0013] Figure 2 for Figure 1 Front view of

[0014] Figure 3 It is a layout diagram of the automatic center of gravity balancing device in the fire extinguishing agent tank when going uphill according to the present invention;

[0015] Figure 4 It is a layout diagram of the automatic center of gravity balancing device in the fire extinguishing agent tank when going downhill according to the present invention;

[0016] Figure 5 It is a structural schematic diagram of the automatic balancing device for the center of gravity of a horizontal road;

[0017] Figure 6 It is a cross-sectional view of the automatic center of gravity balancing device of the present invention when it is on a horizontal road.

[0018] In the figure: 1. Robot body, 2. Robot tracks, 3. Fire extinguishing agent tank, 3.1. Partition, 3.2. First interlocking door, 3.3. Second interlocking door, 3.4. Interlocking connecting rod, 3.5. Connecting hole, 3.6. Folder, 3.7. Sealing rubber pad, 3.8. First cavity, 3.9. Second cavity, 3.10. Third cavity, 4. Fire source sensor, 5. Fire extinguishing pipeline, 5.1. Stepless speed regulating nozzle, 6. Nitrogen pressure tank, 6.1. Pressure reducing valve, 6.2. Spare nitrogen pressure tank, 6.3. Pressure indicator, 7. Distance sensor. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings (the left and right directions in the following description are Figure 1 The left and right directions are the same, just for describing the present invention).

[0020] like Figure 1-Figure 2As shown, a self-pressurized explosion-proof robot fire extinguishing system with a fire extinguishing agent includes a crawler robot motion platform composed of a robot body 1 and a robot crawler 2, a fire extinguishing agent tank 3 is installed on the crawler robot motion platform, the crawler robot can be in a narrow space, can climb a slope, and cross a fault, a fire extinguishing agent tank 3 is installed on the crawler robot motion platform, the fire extinguishing agent tank 3 is fixedly connected to the upper part of the robot body 1 by bolts, and a fire extinguishing agent solenoid valve (not shown in the figure) is arranged on the outlet pipe of the fire extinguishing agent tank 3, and the fire extinguishing agent solenoid valve is used to control the fire extinguishing agent tank The outlet pipeline of the fire extinguishing agent tank body 3 is opened and closed. The outlet pipeline of the fire extinguishing agent tank body 3 is connected to the nitrogen pressure tank 6 through a three-way valve. The nitrogen pressure tank 6 is installed on the bracket above the robot crawler 2. A pressure reducing valve 6.1 is set at the tank mouth of the nitrogen pressure tank 6. A nitrogen solenoid valve (not shown in the figure) for controlling the opening and closing of the nitrogen pipeline is set on the nitrogen outlet pipeline behind the pressure reducing valve 6.1. The manual switch and the nitrogen solenoid valve on the nitrogen pressure tank 6 are turned on, and the nitrogen passes through the pressure reducing valve and the pipeline to the solenoid valve. The nitrogen after decompression is used as the power, and then the fire extinguishing agent solenoid valve is opened to spray the fire extinguishing agent through the fire extinguishing pipeline 5. The fire extinguishing agent is sprayed out through the fire extinguishing pipeline 5. The outlet end of the fire extinguishing pipeline 5 is equipped with a stepless speed regulating nozzle 5.1. The fire source sensor 4 and the distance sensor 7 are arranged on the fire extinguishing pipeline 5. At least one set of automatic center of gravity balancing device is arranged inside the fire extinguishing agent tank body 3 to prevent the center of gravity of the tank body from shifting due to the fire extinguishing agent flowing to a lower place in the tank body. The automatic center of gravity balancing device includes a partition 3.1, a first interlocking door 3.2, a second interlocking door 3.3, and an interlocking connecting rod 3.4. The partition 3.1 is fixedly connected to the inner wall of the fire extinguishing agent tank body 3. A connecting hole 3.4 is arranged at the lower part of the partition 3.1. 5, the top ends of the first interlocking door 3.2 and the second interlocking door 3.3 are respectively hingedly connected to the two sides of the partition above the connecting hole 3.5, and the interlocking connecting rod 3.4 is installed between the first interlocking door 3.2 and the second interlocking door 3.3 and makes the first interlocking door 3.2 and the second interlocking door 3.3 tilted. In the process of the first interlocking door 3.2 and the second interlocking door 3.3 rotating back and forth under gravity, the bottom end of one of the first interlocking door 3.2 and the second interlocking door 3.3 is tightly fitted with the partition 3.1 at the bottom of the connecting hole 3.5 to prevent the fire extinguishing agent in the tank from flowing from the connecting hole 3.5 to a lower place.

[0021] It also includes a spare nitrogen pressure tank 6.2, which is installed on a bracket above the robot track 2.

[0022] The opening and closing angle between the first interlocking door 3.2 and the second interlocking door 3.3 is 0°-90°, and the first interlocking door 3.2 and the second interlocking door 3.3 are symmetrically arranged with the extension line of the partition plate 3.1 as the center.

[0023] The top ends of the first interlocking door 3.2 and the second interlocking door 3.3 are respectively connected to the two sides of the partition above the communicating hole 3.5 through the folder 3.6.

[0024] A sealing rubber pad 3.7 is provided at the top connection of the partition plate 3.1 and the first interlocking door 3.2 and the second interlocking door 3.3, and a sealing rubber pad 3.7 is provided at the bottom connection of the partition plate 3.1 and the first interlocking door 3.2 and the second interlocking door 3.3.

[0025] The nitrogen pressure tank 6 and the spare nitrogen pressure tank 6.2 are both provided with a pressure indicator 6.3.

[0026] Specifically:

[0027] In response to some current fires in narrow spaces, due to the limited space at the fire site, fire trucks are unable to enter the fire site in time to put out the fire. Fire extinguishing is not timely, and the difficulty of fire extinguishing increases, resulting in serious casualties and property losses.

[0028] The self-pressurizing robot fire extinguishing system of the present invention uses nitrogen as the power for self-pressurization, and does not require an additional pressure pump to provide power. The self-pressurizing fire extinguishing can be achieved by using the fire extinguishing agent tank 3 and the nitrogen pressure tank 6 carried by the crawler robot itself;

[0029] The present invention is flexible and can realize early fire extinguishing of small fires in narrow spaces. It adopts the robot to carry fire extinguishing agent for fire extinguishing, and can go deep into the narrow space to extinguish the fire. By arranging the fire source sensor 4 and the distance sensor 7 on the fire extinguishing pipeline 5, the fire source can be easily found. After finding the fire source, the distance sensor 7 determines whether it is within the range according to the position of the fire source to itself. Once the travel distance is within the range, the crawler robot starts to spray the fire extinguishing agent mist, which saves the fire extinguishing agent and does not cause the waste of the fire extinguishing agent. It can also be applied to relatively small spaces for efficient and rapid fire extinguishing. The fire extinguishing agent tank body 3 of the present invention is elliptical in shape and is tightly attached to the robot body 1. The crawler robot carries the fire extinguishing agent tank body 3 to climb slopes, overcome obstacles, and go up and down stairs. When climbing slopes, overcoming obstacles, and going up and down stairs, the fire extinguishing agent in the tank body can automatically balance the center of gravity, and will not cause the robot's center of gravity to be unbalanced or unstable.

[0030] The center of gravity automatic balancing device in the fire extinguishing agent tank body 3 can be set according to the length of the tank body. In the fire extinguishing agent tank body 3 of the present invention, two sets of center of gravity automatic balancing devices are set. When the crawler robot of the present invention goes uphill, Figure 3 , Figure 5 , Figure 6As shown, due to the effect of gravity, the second interlocking door 3.3 will rotate toward the connecting hole 3.5. The steeper the slope, the greater the force on the second interlocking door 3.3, and the second interlocking door 3.3 will be tightly fitted with the right side of the partition 3.1 above and below the connecting hole 3.5. The fire extinguishing agent in the fire extinguishing agent tank 3 will not flow to the lower place because the connecting hole 3.5 is blocked by the second interlocking door 3.3 on the right side. The fire extinguishing agent in the first cavity 3.8 of the fire extinguishing agent tank 3 maintains a balanced center of gravity. Similarly, the fire extinguishing agent in the second cavity 3.9 and the third cavity 3.10 maintains a balanced center of gravity, which will not cause the tracked robot to lose balance or become unstable. If there is no automatic center of gravity balancing device in the fire extinguishing agent tank 3, when the tracked robot goes uphill, the fire extinguishing agent in the tank moves backward at the same time, and the center of gravity is concentrated at the tail of the fire extinguishing agent tank 3, resulting in a heavy tail and a light head, and an imbalance of the system center of gravity, which causes the tracked robot to be unstable when climbing and crossing obstacles.

[0031] Figure 4 , Figure 5 , Figure 6 As shown, when the tracked robot of the present invention goes downhill, due to the effect of gravity, the first interlocking door 3.2 will rotate in the direction of the connecting hole 3.5. The steeper the slope, the greater the force on the first interlocking door 3.2, and the first interlocking door 3.2 will be tightly fitted with the left side of the partition 3.1 above and below the connecting hole 3.5. The fire extinguishing agent in the fire extinguishing agent tank 3 will not flow to a lower place because the connecting hole 3.5 is blocked by the first interlocking door 3.2 on the left side. The fire extinguishing agent in the first cavity 3.8 in the fire extinguishing agent tank 3 maintains a balanced center of gravity. Similarly, the fire extinguishing agent in the second cavity 3.9 and the third cavity 3.10 maintains a balanced center of gravity, and the tracked robot will not roll over. If there is no automatic center of gravity balancing device in the fire extinguishing agent tank 3, when the tracked robot goes uphill, the fire extinguishing agent in the tank moves backwards at the same time, concentrating the center of gravity at the tail of the fire extinguishing agent tank 3, resulting in a heavy tail and a light head, and an imbalance in the center of gravity of the system, causing the tracked robot to fall back when climbing a slope and crossing an obstacle.

[0032] The present invention adopts a high-efficiency foam fire extinguishing agent, which integrates oxygen isolation, temperature reduction and fuel sealing. 1L of fire extinguishing agent is equivalent to the fire extinguishing effect of 20L of water, and can absorb harmful compounds in smoke, so it has a better fire extinguishing effect; and the fire extinguishing agent is a non-toxic and harmless green fire extinguishing agent, and the equipment does not need to be cleaned.

[0033] The robot of the present invention is maneuverable and flexible, has strong climbing and obstacle crossing capabilities, has good automatic center of gravity balancing performance during climbing and obstacle crossing, has good explosion-proof performance, is automatically pressurized, comes with a high-efficiency fire extinguishing agent, and does not require cleaning. It is particularly suitable for local fire extinguishing in narrow spaces (for example: computer rooms, communication equipment, power equipment (such as distribution rooms, generator rooms, oil-immersed transformer rooms), subway stations, libraries, archives and cultural relics museums, gas turbines, fuel depots, hazardous chemical warehouses, gas stations, oil and gas wells and offshore oil and gas production platforms, metallurgy, chemical industry, food, medicine and packaging industries, etc.) Fire protection), can also be used in general fire scenes with open spaces, achieves early detection and early fire extinguishing, greatly reduces casualties and property losses, has a wide range of applications, and can extinguish early fire sources; when a single tracked robot of the present invention is extinguishing a fire, if it cannot meet the fire extinguishing needs, multiple robots can be used to cooperate in fire extinguishing at the same time.

[0034] The fire extinguishing response time of the present invention is very short seconds; the storage capacity of the fire extinguishing liquid is 50L-200L; the nozzle flow rate of the stepless speed regulating nozzle is 5-15L / min, and the nozzle rotation angle is 90 degrees / 2 degrees of freedom; the fire extinguishing mechanism is smoke elimination, cooling, and fire extinguishing; the working pressure of the present invention is that the pipeline pressure is less than 1Mp; the capacity pressure of the nitrogen pressure tank is 6L-20MPa; an RS-232 interface or a CAN bus interface is provided; the corrosion and rust resistance of the inner surface of all storage tank pipelines and joints in contact with the fire extinguishing agent is not lower than that of austenitic stainless steel materials; the impact resistance of the present invention meets the requirements of vehicle-mounted standards; the vibration resistance of the present invention meets the requirements of vehicle-mounted standards; the working temperature of the present invention is -20℃∽55℃; the biological safety of the present invention: no irritation to skin and mucous membrane contact; the environmental safety of the present invention: natural degradation time is 18d. The weight of the whole machine of the present invention is less than 500Kg.

Claims

1. A self-pressurizing, self-contained fire extinguishing agent explosion-proof robot fire extinguishing system, comprising a crawler-type robot motion platform consisting of a robot body (1) and a robot crawler (2), characterized in that: A fire extinguishing agent tank (3) is installed on the crawler robot motion platform, a fire extinguishing agent solenoid valve for controlling the opening and closing of the fire extinguishing agent pipeline is arranged on the outlet pipeline of the fire extinguishing agent tank (3), the outlet pipeline of the fire extinguishing agent tank (3) is connected to a nitrogen pressure tank (6) through a three-way valve, the nitrogen pressure tank (6) is installed on a bracket above the robot crawler (2), a manual switch and a pressure reducing valve (6.1) are arranged at the tank mouth of the nitrogen pressure tank (6), a nitrogen solenoid valve for controlling the opening and closing of the nitrogen pipeline is arranged on the nitrogen outlet pipeline behind the pressure reducing valve (6.1), a stepless speed regulating nozzle (5.1) is installed at the outlet end of the fire extinguishing pipeline (5), and a fire source sensor (4) and a distance sensor (7) are arranged on the fire extinguishing pipeline (5); at least one group of center of gravity automatic balancing devices are arranged inside the fire extinguishing agent tank (3) to prevent the center of gravity of the tank from shifting due to the fire extinguishing agent flowing to a lower place in the tank body, and the center of gravity automatic balancing device is arranged inside the fire extinguishing agent tank (3), ... The dynamic balancing device comprises a partition (3.1), a first interlocking door (3.2), a second interlocking door (3.3), and an interlocking connecting rod (3.4); the partition (3.1) is tightly fixedly connected to the inner wall of the fire extinguishing agent tank (3); a connecting hole (3.5) is arranged at the bottom of the partition (3.1); the top ends of the first interlocking door (3.2) and the second interlocking door (3.3) are respectively tightly hinged to the two sides of the partition above the connecting hole (3.5); the interlocking connecting rod (3.4) is installed between the first interlocking door (3.2) and the second interlocking door (3.3) and makes the first interlocking door (3.2) and the second interlocking door (3.3) tilted; when the first interlocking door (3.2) and the second interlocking door (3.3) rotate forward and backward under gravity, the bottom end of one of the first interlocking door (3.2) and the second interlocking door (3.3) is tightly fitted to the partition (3.1) at the bottom of the connecting hole (3.5).

2. The self-pressurizing and self-contained fire extinguishing agent explosion-proof robot fire extinguishing system according to claim 1 is characterized in that: The fire extinguishing agent tank (3) is elliptical in shape and is closely attached to the robot body (1).

3. A self-pressurizing explosion-proof robot fire extinguishing system with its own fire extinguishing agent according to claim 1 or 2, characterized in that: It also comprises a spare nitrogen pressure tank (6.2), which is installed on a bracket above the robot crawler (2).

4. The self-pressurizing explosion-proof robot fire extinguishing system with its own fire extinguishing agent according to claim 3 is characterized in that: The opening and closing angle between the first interlocking door (3.2) and the second interlocking door (3.3) is 0°-90°, and the first interlocking door (3.2) and the second interlocking door (3.3) are symmetrically arranged with the extension line of the partition plate (3.1) as the center.

5. The self-pressurizing and self-contained fire extinguishing agent explosion-proof robot fire extinguishing system according to claim 3 is characterized in that: The top ends of the first interlocking door (3.2) and the second interlocking door (3.3) are respectively connected in a sealed manner to the two sides of the partition above the communicating hole (3.5) via a folder (3.6).

6. The self-pressurizing and self-contained fire extinguishing agent explosion-proof robot fire extinguishing system according to claim 3 is characterized in that: A sealing rubber pad (3.7) is provided at the top connection of the partition (3.1) and the first interlocking door (3.2) and the second interlocking door (3.3), and a sealing rubber pad (3.7) is provided at the bottom connection of the partition (3.1) and the first interlocking door (3.2) and the second interlocking door (3.3).

7. The self-pressurizing and self-contained fire extinguishing agent explosion-proof robot fire extinguishing system according to claim 3 is characterized in that: The nitrogen pressure tank (6) and the standby nitrogen pressure tank (6.2) are both provided with a pressure indicator (6.3).

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