Multifunctional magnetic wall-climbing fire-fighting robot

Abstract

This invention provides a multifunctional magnetic wall-climbing firefighting robot, comprising a platform with a tracked walking device mounted on the underside of a support suspension. The platform is equipped with an extinguishing agent discharge pipe, an opening device, and several extinguishing agent storage tanks. A pressure medium transfer device is installed at the lower end of the extinguishing agent discharge pipe, including an inlet end cap and a spray end cap. The inlet end cap has several inlet pipes, and the spray end cap has a discharge pipe at its lower end. A supply pipe is threaded onto the discharge pipe, and a spray end pipe is located at its lower end. A corrugated pipe connects the spray end pipe and the supply pipe. The opening device includes a hollow drill rod with a hollow drill bit at its lower end. Several grooves are provided on the side wall of the hollow drill rod, each containing a pivot pin. A retainer is mounted on the pivot pin, and friction blocks and centrifugal blocks of different masses are respectively located at the upper and lower ends of the retainer. This robot allows for flexible wall climbing, fixed-point adsorption and loading, and integrates multiple functions such as wall breaking, detection, and fire extinguishing, resulting in good performance and high fire extinguishing efficiency.

Description

Technical Field

[0001] This invention belongs to the field of intelligent fire fighting and rescue equipment technology, and in particular relates to a multifunctional magnetic wall-climbing firefighting robot. Background Technology

[0002] While existing wall-climbing robots exist, their functions are relatively limited. For example, CN202211294656.X provides a magnetic adaptive wall-climbing robot based on magnetic field strength measurement. By adjusting the air gap between the magnet and the magnetically conductive wall surface through control components, the magnetic attraction between the robot and the wall surface is adjusted, thereby improving the robot's adaptability. It is mainly used for rust removal, spraying, and inspection of large metal tanks and ship walls. Some are used for the inspection and auxiliary maintenance of large structures such as dams. However, these robots cannot be directly applied to fire fighting. Although patent CN201911372016.4 uses a positioning flange and claws in the mounting base to fix the robot to the wall surface and connects the fire hose and water pipe through a folding arm for fire fighting and rescue, and CN03134403.8 uses a suction cup and four sets of drive devices to achieve climbing on the exterior walls of buildings for fire fighting. However, for container yards, where containers are densely stacked and located in confined spaces, there are currently no targeted wall-climbing firefighting robots. Furthermore, conventional aerial ladder trucks or firefighting robots cannot effectively extinguish fires on burning containers without moving them. Summary of the Invention

[0003] In view of this, the present invention aims to overcome the defects in the prior art and propose a multifunctional magnetic wall-climbing firefighting robot that can flexibly move and operate in confined spaces.

[0004] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0005] A multifunctional magnetic wall-climbing firefighting robot includes a platform mounted on a support suspension. A magnetically attached tracked walking device is installed under the support suspension. On the platform are installed extinguishing agent discharge pipes, an opening device, and several extinguishing agent storage tanks. The extinguishing agent discharge pipes are vertically arranged on the platform, and a pressure medium transfer device is installed at their lower end. The pressure medium transfer device includes an inlet end cap and a spray end cap. The inlet end cap has several inlet pipes, and a control valve is installed on each inlet pipe. The lower end of the spray end cap has a discharge pipe, and a supply valve is threaded onto the discharge pipe. The liquid supply pipe has a spray end pipe at its lower end, and the spray end pipe and the liquid supply pipe are connected by a corrugated pipe. The opening device includes a hollow drill rod fitted on the outside of the liquid supply pipe, and a hollow drill bit at the lower end of the hollow drill rod. At the same time, the extinguishing agent storage tank is connected to the inlet pipe. Several grooves are provided on the side wall of the hollow drill rod, and a rotating pin is provided in the groove. A retainer is installed on the rotating pin. Friction blocks and centrifugal blocks of different masses are respectively provided at both ends of the retainer. When the hollow drill rod rotates, the friction blocks and the liquid supply pipe transmit driving force through friction, so that the liquid supply pipe and the drill bit are fed synchronously.

[0006] Furthermore, the control valve is a remote-controlled solenoid valve.

[0007] Furthermore, the inlet end cap is provided with a first connecting flange, and the spray end cap is provided with a second connecting flange. The first and second connecting flanges are fixed together by bolts.

[0008] Furthermore, both the end face of the inlet cap facing the spray cap and the end face of the spray cap facing the inlet cap are provided with grooves. After the inlet cap and the spray cap are fastened and sealed, a medium storage cavity is formed inside them.

[0009] Furthermore, magnetic blocks are embedded in the tracks of the magnetically adsorbed track walking device.

[0010] Furthermore, the platform is equipped with an explosion-proof box, which contains a mains power access module and a backup power module, the backup power module including a lithium battery.

[0011] Furthermore, the explosion-proof box is equipped with a drive motor, which is an explosion-proof motor. The output end of the drive motor is equipped with a worm gear reducer, and the output end of the worm gear reducer drives the hollow drill rod to rotate.

[0012] Furthermore, the outer wall of the injection end pipe is provided with several probes.

[0013] Furthermore, the extinguishing agent tank includes a liquid nitrogen storage tank.

[0014] Compared with existing technologies, the present invention has the following advantages:

[0015] This invention features a robot that flexibly climbs walls, performs fixed-point adsorption and loading, and integrates multiple functions such as wall breaking, detection, and fire extinguishing. It can stably climb the walls of corrugated container structures, has a strong magnetic attraction force, a firm magnetic field lock when hovering and loading, and can perform continuous operations such as opening holes, detection, and fire extinguishing. It is remotely controlled, efficient, fast, and effective, with high fire extinguishing efficiency. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure created by this invention;

[0018] Figure 2 Top view created for this invention;

[0019] Figure 3 A schematic diagram illustrating the frontal structure of this invention;

[0020] Figure 4 This is a schematic diagram of the opening device portion in the present invention;

[0021] Figure 5 for Figure 4 The left view;

[0022] Figure 6 This is a schematic diagram of the end cap portion incorporated in this invention.

[0023] Figure 7 for Figure 6 A bottom view;

[0024] Figure 8 A schematic diagram of the injection end cap in this invention;

[0025] Figure 9 for Figure 8 Top view. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] A multi-functional magnetic wall-climbing firefighting robot, such as Figures 1 to 9 As shown, the system includes a platform 2 mounted on a support suspension 1. A magnetically adsorbed tracked walking device 3 is mounted under the support suspension. Typically, the tracks of the magnetically adsorbed tracked walking device are embedded with magnetic blocks, and the magnetic control can be made of a strong magnetic material, such as neodymium iron boron. The tracked chassis structure is a conventional technology in the prior art and will not be described in detail here. The platform is equipped with an extinguishing agent discharge pipe 4, an opening device 5, and several extinguishing agent storage tanks 6. Typically, the aforementioned extinguishing agent tanks include liquid nitrogen storage tanks, and may also include long-distance mobile or fixed fire protection equipment, such as mobile fire trucks and fire hydrants, which are piped into the discharge pipe.

[0031] The extinguishing agent discharge pipeline is vertically arranged on the platform, with a pressure medium transfer device 7 installed at its lower end. The pressure medium transfer device includes an inlet cap 8 and a discharge cap 9. Several inlet pipes 10 are installed on the inlet cap, and control valves 11 are installed on each inlet pipe. The multiple inlet pipes allow for the simultaneous connection of fire hoses and multiple extinguishing agent storage tanks. Typically, the control valves are remote-controlled solenoid valves.

[0032] The lower end of the spray end cap is provided with a discharge pipe 12, and a supply pipe 13 is threaded onto the discharge pipe. The lower end of the supply pipe is provided with a spray end pipe 14, and the spray end pipe and the supply pipe are connected by a corrugated pipe 15. The opening device includes a hollow drill rod 16 fitted on the outside of the supply pipe, and a hollow drill bit 17 is provided at the lower end of the hollow drill rod. At the same time, the extinguishing agent storage tank is connected to the inlet pipe. The spray end pipe can be pushed downward by the ejection mechanism. That is, through the friction between the friction block and the supply pipe, it is ensured that the supply pipe can be fed to a position approximately the same as the drill bit when the drill bit is drilling. After the drill bit penetrates the container, the ejection mechanism pushes the spray end pipe outward of the drill bit. The corrugated pipe can adaptively extend and retract to ensure pipeline connection and unobstructed flow. The ejection mechanism can be an electrically controlled, hydraulically controlled ejection cylinder, or a purely mechanical mechanism. Alternatively, the pressure medium transfer device can be displaced axially along the extinguishing agent discharge pipeline. A drive mechanism is installed on the platform or the extinguishing agent discharge pipeline to move the pressure medium transfer device, thereby allowing the drill bit to extend beyond the nozzle end pipe. Since the distance between the nozzle end pipe and the drill bit end is small, the pressure medium transfer device does not need to provide excessive displacement. This structural form also achieves nozzle end pipe extension. Of course, even if the nozzle end pipe does not extend beyond the drill bit, the extinguishing medium sprayed through the nozzle end pipe can still be sprayed into the container through the hollow drill bit for fire fighting and rescue. The main difference is that through further structural optimization and improvement, the nozzle end pipe can extend beyond the drill bit. Since the connection between the nozzle end pipe and the supply pipe is a corrugated pipe with expansion and contraction deformation characteristics, the nozzle end pipe, after extending beyond the drill bit, can generate fluctuations under the action of medium pressure, allowing the extinguishing medium to be sprayed over a wider range in all directions, resulting in higher fire fighting and rescue efficiency.

[0033] Several grooves 18 are provided on the side wall of the hollow drill rod, and a pivot pin 19 is provided in the groove. A retainer 20 is installed on the pivot pin. Friction blocks and centrifugal blocks 21 with different masses are provided at both ends of the retainer. When the hollow drill rod is driven to rotate, the centrifugal block with a larger mass is thrown off to the outside by centrifugal force, while the friction block with a lighter mass transmits the driving force to the fluid supply pipe through friction, so that the fluid supply pipe and the drill bit are fed synchronously.

[0034] In an optional embodiment, the inlet end cap is provided with a first connecting flange 22, and the spray end cap is provided with a second connecting flange 23. The first and second connecting flanges are fixed together by bolts. The end face of the inlet end cap facing the spray end cap and the end face of the spray end cap facing the inlet end cap are both provided with grooves. After the inlet end cap and the spray end cap are fastened and sealed, a medium storage cavity is formed inside them.

[0035] The platform is equipped with an explosion-proof enclosure 25, which contains a mains power access module, a backup power module, and an adapter circuit. The backup power module includes a lithium battery. For example, the explosion-proof enclosure contains a drive motor, which is also explosion-proof. A worm gear reducer is installed at the output of the drive motor, and the output of the worm gear reducer drives the hollow drill rod to rotate.

[0036] In an optional embodiment, the outer wall of the aforementioned spray nozzle is equipped with several probes 24. After the drill bit drills a hole, the spray nozzle extends into the container. Rescue personnel can use the probes to determine the location of the accident inside the container through remote infrared thermal imaging and video images, and adjust the direction of the sprayed fire extinguishing medium on the spray nozzle. This allows for the rapid spraying of fire-fighting water or nitrogen into the fire area for initial and early rapid fire extinguishing and rescue, resulting in higher fire extinguishing efficiency. As an example, the spray nozzle inserted into the drill rod is a rectangular threaded assembly with multiple directional probes at its end after passing through a corrugated pipe. After the spray nozzle is retracted, it is in a clearance fit state within the hollow drill rod and is shorter than the drill rod. During low-speed drilling of the hollow drill rod, it maintains its shortest retraction state and does not rub against the hollow drill rod. After the hole is drilled, the reverse acceleration, under the centrifugal force of the centrifugal metal block, causes the friction block to press the rectangular threaded sleeve inside the hollow drill rod, generating a rotational torque that further loosens and extends the jet tube, causing its end to extend and move, pushing away any remaining obstacles (drilled material) in the hollow drill rod until the end enters the drilled space. At this point, the bellows has the freedom to change its orientation during rotation. Observation and jet orientation can be switched to improve processing efficiency. After processing is completed, the drill bit reverses direction and accelerates rotation, similar to the above, to retract the jet tube, laying the foundation for lifting the drill.

[0037] In application, this multi-functional magnetic wall-climbing firefighting robot can carry fire hoses to climb on the surface of containers. When it climbs to a container where there is a hazardous chemical leak or thermal runaway fire, it can use the drilling bit carried on the platform to make holes on the surface of the container and at the same time extend the fire extinguishing agent pipeline into the container for rapid fire extinguishing and rescue.

[0038] The multifunctional magnetic wall-climbing firefighting robot provided by this invention has a compact and highly flexible structure, enabling it to stably climb the corrugated walls of shipping containers. It integrates multiple functions, including wall breaching, detection, and firefighting. It can also be applied to emergency leak sealing, breach detection, and firefighting operations on large ships and storage tanks.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional magnetic wall-climbing firefighting robot, characterized in that: The system includes a platform mounted on a support suspension. A magnetically attached tracked walking device is installed under the support suspension. On the platform are fire extinguishing agent discharge pipes, opening devices, and several fire extinguishing agent storage tanks. The fire extinguishing agent discharge pipes are vertically arranged on the platform, with a pressure medium transfer device installed at their lower end. The pressure medium transfer device includes an inlet end cap and a spray end cap. The inlet end cap has several inlet pipes, each with a control valve. The spray end cap has a discharge pipe at its lower end, with a supply pipe threaded onto the discharge pipe. The supply pipe has a... The device includes a spray end pipe, which is connected to the liquid supply pipe via a corrugated pipe. The opening device includes a hollow drill rod fitted around the outside of the liquid supply pipe, and a hollow drill bit at the lower end of the hollow drill rod. Simultaneously, the extinguishing agent storage tank is connected to the inlet pipe. Several grooves are provided on the side wall of the hollow drill rod, and a rotating pin is provided in each groove. A retainer is installed on the rotating pin, and friction blocks and centrifugal blocks of different masses are respectively provided at the upper and lower ends of the retainer. When the hollow drill rod rotates, the friction blocks and the liquid supply pipe transmit driving force through friction, so that the liquid supply pipe and the drill bit are fed synchronously.

2. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The control valve is a remote-controlled solenoid valve.

3. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The inlet end cap is provided with a first connecting flange, and the spray end cap is provided with a second connecting flange. The first and second connecting flanges are fixed together by bolts.

4. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The end face of the inlet cap facing the spray cap and the end face of the spray cap facing the inlet cap are both provided with grooves. After the inlet cap and the spray cap are fastened and sealed, a medium storage cavity is formed inside them.

5. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The tracks of the magnetically adsorbed track walking device are embedded with magnetic blocks.

6. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The platform is equipped with an explosion-proof box, which contains a mains power access module and a backup power module, the backup power module including a lithium battery.

7. A multifunctional magnetic wall-climbing firefighting robot according to claim 6, characterized in that: The explosion-proof box is equipped with a drive motor, and the output end of the drive motor is equipped with a worm gear reducer, which drives the hollow drill rod to rotate.

8. The multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The outer wall of the injection end pipe is equipped with several probes.

9. A multifunctional magnetic wall-climbing firefighting robot according to claim 1, characterized in that: The extinguishing agent storage tank includes a liquid nitrogen storage tank.

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