An emergency disposal fire-fighting robot integrating flue gas purification and fire extinguishing functions

Abstract

The application discloses an emergency disposal fire-fighting robot integrating flue gas purification and fire extinguishing functions, and relates to the technical field of fire-fighting robots.The emergency disposal fire-fighting robot comprises a mobile robot, a mechanical arm body, an end head barrel and other components;an inner side of the end head barrel forms a barrel cavity, which is connected with a communicating cavity in the mechanical arm body;an annular air tank is fixed on an inner side wall of the end head barrel, a communicating hole is formed in an outer wall of the annular air tank, and a side hole is formed in a side wall of the end head barrel;the robot is internally provided with a storage cavity for storing fire extinguishing agents and an air cavity provided with a filter element, the air cavity is connected with a suction pipe through a side branch pipe, and a negative pressure hose is connected with the annular air tank;an inner cavity in the robot is rotationally connected with a switching disc, a Z-shaped flow channel is formed in the switching disc, a top opening of the switching disc is connected with the communicating cavity through a vertical pipe, and a bottom opening of the switching disc is selectively connected with the suction pipe or the air pipe.The emergency disposal fire-fighting robot can synchronously extract flue gas from a fire scene and introduce the flue gas into the air cavity for filtration in the process of fire extinguishing, so that the smoke density and toxicity can be effectively reduced, the fire extinguishing function can be realized, and the safety and efficiency of emergency disposal are improved.

Description

Technical Field

[0001] This invention relates to the field of firefighting robot technology, and more specifically to an emergency response firefighting robot that integrates smoke purification and fire extinguishing functions. Background Technology

[0002] In emergency response to incidents such as fires and toxic gas leaks, firefighting and emergency rescue work faces numerous challenges. Traditional firefighting equipment, such as handheld fire extinguishers and fixed sprinkler systems, while meeting basic firefighting needs to a certain extent, has significant limitations. These devices typically only allow for area-specific firefighting operations, lacking flexibility and precision, and unable to effectively spray into corners of complex environments. For example, in special environments such as laboratories, underground spaces, and enclosed chambers, these devices often struggle to reach the target area, resulting in low firefighting efficiency and an inability to effectively detect and treat toxic fumes and harmful volatile substances.

[0003] While existing patrol-type firefighting robots have addressed some of the limitations of traditional firefighting equipment, they still suffer from limited functionality. Most of these robots are equipped with end-effectors in the form of single nozzles or rigid spray guns, enabling them to perform only basic firefighting operations and lacking the ability to precisely spray extinguishing agents. Furthermore, their ability to handle on-site smoke or toxic gases is extremely limited, failing to effectively reduce smoke concentration and toxicity, thus impacting on-site safety. Especially in environments with complex wiring and limited space, such as laboratories, conventional firefighting robots struggle to move flexibly and locate precisely, leading to incomplete detection of toxic fumes and harmful volatiles, and even the risk of missing high-risk areas.

[0004] The limitations of this single form and function of firefighting not only severely affect firefighting efficiency but also pose significant safety hazards to emergency rescue personnel. Therefore, developing a firefighting equipment that combines multiple functions and possesses greater flexibility and precision to address emergencies such as fires and toxic gas leaks in complex environments is a pressing issue in the field of firefighting and emergency rescue. Summary of the Invention

[0005] In view of this, the present invention provides an emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, aiming to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An emergency response firefighting robot integrating smoke purification and fire extinguishing functions includes: a mobile robot equipped with a robotic arm body, the end of which is fixedly connected to an end tube. The end tube has an inner cavity for spraying extinguishing agent, and this cavity communicates with a connecting channel inside the robotic arm body. An annular gas holder is fixed to the inner wall of the end tube, and the outer wall of the annular gas holder has evenly spaced connecting holes. A side hole corresponding to the connecting hole is formed through the side wall of the end tube. The robot also includes:

[0008] The mobile robot has a storage chamber and an air chamber inside. The storage chamber is used to store fire extinguishing agent and has a suction tube inserted into it at the top. The air chamber is equipped with a filter element and has a side branch pipe and an air pipe on one side of the air chamber and a negative pressure hose on the other side. The side branch pipe is connected to the suction tube and the negative pressure hose is connected to the annular air tank.

[0009] An inner cavity is located inside the mobile robot and above the storage cavity and the air cavity. The inner cavity is rotatably connected to a switching disk. The switching disk has a Z-shaped flow channel inside. The top opening of the Z-shaped flow channel is located at the center of the top surface of the switching disk and is connected to the connecting cavity through a vertical pipe. A gas-liquid dual-purpose pump is installed on the vertical pipe. The bottom opening of the Z-shaped flow channel is located at the bottom edge of the switching disk and can be selectively connected to the suction tube or the air tube by rotating the switching disk.

[0010] Through the above technical solution, the emergency response firefighting robot integrating smoke purification and fire extinguishing functions provided by this invention, by setting up storage chambers and gas chambers inside the mobile robot, and equipping it with structures such as an annular gas holder, switching plate, and Z-shaped flow channel, achieves free switching between the extinguishing agent passage and the gas extraction passage, enabling the robot to simultaneously possess the dual functions of fire extinguishing and smoke filtration. This design not only improves fire extinguishing efficiency but also effectively reduces the concentration and toxicity of smoke at the fire scene, significantly enhancing the safety and adaptability of emergency rescue.

[0011] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the robotic arm body includes a base rotatably connected to the top surface of the mobile robot, a support arm fixed on the base, multiple movable arms connected to the ends of the support arm, an end arm connected to the ends of the multiple movable arms, and an end tube fixed to the end of the end arm.

[0012] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the connection nodes between the support arm and the movable arm, the connection nodes between two adjacent movable arms, and the connection nodes between the movable arm and the end arm are all connected by a swing mechanism.

[0013] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the swing mechanism includes two rotatably connected cylindrical members and a swing motor fixedly installed on one of the cylindrical members. The output shaft of the swing motor is fixedly connected to a swing shaft, and the end of the swing shaft away from the swing motor is fixedly installed on the other cylindrical member.

[0014] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, a number of monitoring sensors are evenly installed at the end of the end cylinder.

[0015] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the monitoring sensor includes one or more of a temperature sensor, a humidity sensor, and a toxic gas sensor.

[0016] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the outer edge of the switching disk has teeth, the inner cavity is fixed with a drive motor, the power output end of the drive motor is fixedly connected with a drive gear, and the drive gear meshes with the teeth on the switching disk.

[0017] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the mobile robot is equipped with a movable door for disassembling and assembling the filter element.

[0018] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, the vertical pipe is fixed on the mobile robot, and its bottom end is sealed and rotatably connected to the top opening of the Z-shaped flow channel of the switching disk.

[0019] Preferably, in the above-mentioned emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, when the bottom opening of the Z-shaped flow channel is connected to the suction pipe, the gas-liquid dual-purpose pump operates, which can spray the extinguishing agent while simultaneously drawing in smoke; when the bottom opening of the Z-shaped flow channel is connected to the air pipe, the gas-liquid dual-purpose pump operates, only drawing in the gas at the end cylinder, thus facilitating the handling of toxic gases.

[0020] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an emergency response firefighting robot that integrates smoke purification and fire extinguishing functions, which has the following beneficial effects:

[0021] 1. By setting a switching disk and a Z-shaped flow channel structure, this invention can achieve free switching between the extinguishing agent passage and the gas suction passage, enabling the fire-fighting robot to have dual functions of fire extinguishing mode and air purification mode, adapting to the needs of different emergency scenarios.

[0022] 2. By setting up a multi-section swingable connecting movable arm and end arm structure, the present invention realizes the flexible extension of the fire-fighting mechanical arm in complex spaces, which can reach areas that are difficult for conventional fire-fighting equipment to reach, thereby improving the accuracy of fire extinguishing and the versatility of its application.

[0023] 3. This invention achieves rapid extraction and remote spraying of extinguishing agent by setting up a connecting cavity inside the robotic arm and connecting the extinguishing agent storage chamber with a gas-liquid dual-purpose pump, thus possessing highly efficient fire extinguishing capabilities.

[0024] 4. By setting an annular gas holder and side hole structure on the end cylinder, the present invention can simultaneously extract smoke from the fire scene during the fire extinguishing process and introduce the smoke into the gas chamber for filtration, effectively reducing the smoke concentration and toxicity, and improving the safety of on-site operations. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 The attached figure is a structural schematic diagram of the emergency response firefighting robot provided by the present invention;

[0027] Figure 2 The attached figure is a structural schematic diagram of the robotic arm body provided by the present invention;

[0028] Figure 3 The attached figure is a schematic diagram of the swing mechanism provided by the present invention;

[0029] Figure 4 The attached figure is a schematic diagram of the internal structure of the end tube provided by the present invention;

[0030] Figure 5 The attached figure is a schematic diagram of the internal structure of the mobile robot provided by the present invention;

[0031] Figure 6 The attached figure is provided by the present invention. Figure 5 A magnified view of part A in the middle;

[0032] Figure 7 The attached figure is a schematic diagram of a half-section of the switching disk provided by the present invention.

[0033] in:

[0034] 1-Mobile robot; 2-Base; 3-Support arm; 4-Moving arm; 5-End arm; 6-End cylinder; 7-Connecting cavity; 8-Cylindrical component; 9-Oscillating motor; 10-Oscillating shaft; 11-Monitoring sensor; 12-Cylinder cavity; 13-Vertical pipe; 14-Gas-liquid dual-purpose pump; 15-Storage cavity; 16-Inner cavity; 17-Switching disc; 18-Z-shaped flow channel; 19-Drive gear; 20-Drive motor; 21-Suction tube; 22-Air chamber; 23-Filter element; 24-Side branch pipe; 25-Negative pressure hose; 26-Side hole; 27-Annular air tank; 28-Connecting hole; 29-Air pipe. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] See Figure 1 and Figures 2 to 7 This invention discloses an emergency response firefighting robot integrating smoke purification and fire extinguishing functions, comprising: a mobile robot 1, on which a robotic arm body is provided, and an end tube 6 is fixedly connected to the end of the robotic arm body. The end tube 6 has an inner cavity 12 for spraying extinguishing agent, and the cavity 12 is connected to a communicating channel 7 inside the robotic arm body; an annular gas holder 27 is fixed on the inner wall of the end tube 6, and the outer wall of the annular gas holder 27 has evenly distributed communicating holes 28. The side wall of the end tube 6 has a through hole 26 corresponding to the communicating hole 28; and further comprising:

[0037] The mobile robot 1 has a storage chamber 15 and an air chamber 22 inside. The storage chamber 15 is used to store fire extinguishing agent, and the top of the storage chamber 15 has a suction tube 21 inserted into it. The air chamber 22 is equipped with a filter element 23. The air chamber 22 has a side branch pipe 24 and an air pipe 29 on one side of the filter element, and a negative pressure hose 25 on the other side. The side branch pipe 24 is connected to the suction tube 21, and the negative pressure hose 25 is connected to the annular gas tank 27.

[0038] An inner cavity 16 is located inside the mobile robot 1 and above the storage cavity 15 and the air cavity 22. A switching disk 17 is rotatably connected to the inner cavity 16. A Z-shaped flow channel 18 is formed inside the switching disk 17. The top opening of the Z-shaped flow channel 18 is located at the center of the top surface of the switching disk 17 and is connected to the connecting cavity 7 via a vertical pipe 13. A gas-liquid dual-purpose pump 14 is installed on the vertical pipe 13. The bottom opening of the Z-shaped flow channel 18 is located at the bottom edge of the switching disk 17 and can be selectively connected to the suction pipe 21 or the air pipe 29 by rotating the switching disk 17. When the gas-liquid dual-purpose pump 14 is running, the extinguishing agent in the storage cavity 15 can be drawn through the suction pipe 21 and sprayed out from the end cylinder 6 through the connecting cavity 7 to extinguish the fire.

[0039] The mobile robot 1 provided in this embodiment is a conventional four-wheeled walking robot, which will not be described in detail here.

[0040] See Figures 1 to 2 The robotic arm body includes a base 2 rotatably connected to the top surface of the mobile robot 1, a support arm 3 fixed on the base 2, multiple movable arms 4 connected to the end of the support arm 3, an end arm 5 connected to the end of the multiple movable arms 4, and an end tube 6 fixed to the end of the end arm 5.

[0041] In this embodiment, the base 2 can be rotated and installed by a motor drive, and is equipped with bearings and other structures, which is the foundation of the entire fire-fighting mechanical arm. The support arm 3, several movable arm sections 4 and the end arm 5 are connected by a connecting cavity 7, and the cylinder cavity 12 inside the end cylinder 6 forms a spray channel for the extinguishing agent.

[0042] To further optimize the above technical solution, the connection nodes between the support arm 3 and the movable arm 4, the connection nodes between two adjacent movable arms 4, and the connection nodes between the movable arm 4 and the end arm 5 are all connected by a swing mechanism.

[0043] See Figure 3 The swing mechanism includes two rotatably connected cylindrical members 8, and a swing motor 9 fixedly mounted on one of the cylindrical members 8. The output shaft of the swing motor 9 is fixedly connected to a swing shaft 10, and the end of the swing shaft 10 away from the swing motor 9 is fixedly mounted on the other cylindrical member 8.

[0044] In this embodiment, the two cylindrical members 8 are rotatably connected by bearings, and multiple sealing rings are provided in the interlayer to ensure sealing. When the swing motor 9 is running, the swing shaft 10 drives the upper arm to swing. This multi-section flexible swing structure enables the fire-fighting robotic arm to have multi-degree-of-freedom adjustment capabilities, and can automatically adjust its path according to the shape of obstacles, making it particularly suitable for directional fire spraying operations in complex spaces.

[0045] Thus, by setting up a multi-section swingable movable arm 4 and end arm 5 structure, the fire-fighting mechanical arm can be flexibly extended in complex spaces, reaching areas that are difficult for conventional fire-fighting equipment to reach, improving the accuracy and versatility of fire extinguishing. Through the connecting cavity 7 and the gas-liquid dual-purpose pump 14, the rapid extraction and remote spraying of the extinguishing agent are realized, giving it a highly efficient fire extinguishing capability.

[0046] In addition, by extending the robotic arm itself, objects can be moved to maintain a safe distance.

[0047] See Figure 4 Several sets of monitoring sensors 11 are evenly installed at the end of the end cylinder 6.

[0048] In this embodiment, the monitoring sensor 11 includes one or more of a temperature sensor, a humidity sensor, and a toxic gas sensor, thereby enabling the monitoring of environmental safety within a confined space.

[0049] In other embodiments, the monitoring sensor 11 can also wirelessly link with the control system of the mobile robot 1, thereby uploading environmental change data in real time during the fire extinguishing process and providing intelligent support for subsequent decision-making.

[0050] See Figure 6 The outer edge of the switching disk 17 has teeth, and the inner cavity 16 is fixed with a drive motor 20. The power output end of the drive motor 20 is fixedly connected with a drive gear 19, which meshes with the teeth on the switching disk 17.

[0051] To facilitate the removal and replacement of filter element 23, the mobile robot 1 is equipped with a movable door for installing and removing filter element 23. The movable door can be installed using a sliding rail type, hinge type, or other methods, allowing for quick opening and airtight closure.

[0052] To further optimize the above technical solution, the vertical pipe 13 is fixed on the mobile robot 1, and its bottom end is sealed and rotatably connected to the top opening of the Z-shaped flow channel 18 of the switching disk 17.

[0053] In this embodiment, Novec 1230 liquid extinguishing agent is used. This extinguishing agent has the characteristics of low toxicity, fast vaporization speed, and low extinguishing residue. It has good fluidity in the gas-liquid mixing structure and mixes evenly with air, which is conducive to forming a highly efficient extinguishing atomization zone.

[0054] Filter element 23 uses high-efficiency porous ceramic material or composite carbon fiber material, which has excellent high temperature resistance and multi-stage particle filtration capability. It can effectively remove particulate matter below PM2.5 and a variety of common toxic gas components, significantly improving the air purification effect.

[0055] In this embodiment, when the suction pipe 21 draws in the extinguishing agent, the side branch pipe 24 also draws in the gas in the gas chamber 22. The gas chamber 22, through the negative pressure action, uses the negative pressure hose 25, the annular gas holder 27, the connecting hole 28 and the side hole 26 to draw in the smoke from the fire. The smoke is drawn into the gas chamber 22 and filtered by the filter element 23, thereby reducing harmful substances. The filtered smoke is then discharged together with the extinguishing agent.

[0056] When the drive motor 20 rotates the switching disk 17 via the drive gear 19, the bottom opening of the Z-shaped flow channel 18 can selectively connect to the suction tube 21 or the air tube 29.

[0057] When the bottom opening of the Z-shaped flow channel 18 is connected to the suction pipe 21, the gas-liquid dual-purpose pump 14 is running, which can spray the extinguishing agent while simultaneously drawing out smoke.

[0058] When the bottom opening of the Z-shaped flow channel 18 is connected to the gas pipe 29, the gas-liquid dual-purpose pump 14 will operate and only draw gas from the end cylinder 6, thus facilitating the treatment of toxic gases.

[0059] Therefore, by setting the switching disk 17 and the Z-shaped flow channel 18 structure, the fire extinguishing agent passage and the gas suction passage can be freely switched, enabling the robotic arm to have dual functions of fire extinguishing mode and air purification mode, adapting to the needs of different emergency scenarios.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An emergency response firefighting robot integrating smoke purification and fire extinguishing functions, comprising: A mobile robot (1) is provided with a robotic arm body, and an end tube (6) is fixedly connected to the end of the robotic arm body. A cylinder cavity (12) for spraying extinguishing agent is formed on the inner side of the end tube (6), and the cylinder cavity (12) is connected to the communicating cavity (7) inside the robotic arm body. The robot is characterized in that an annular gas holder (27) is fixed on the inner side wall of the end tube (6), and a communicating hole (28) is evenly opened on the outer wall of the annular gas holder (27). A side hole (26) corresponding to the communicating hole (28) is opened through the side wall of the end tube (6). The robot also includes: The mobile robot (1) has a storage chamber (15) and an air chamber (22) inside. The storage chamber (15) is used to store fire extinguishing agent, and the top of the storage chamber (15) has a suction tube (21) inserted into it. The air chamber (22) is equipped with a filter element (23), and the air chamber (22) has a side branch pipe (24) and an air pipe (29) on one side of the filter element, and a negative pressure hose (25) on the other side. The side branch pipe (24) is connected to the suction tube (21), and the negative pressure hose (25) is connected to the annular gas tank (27). An inner cavity (16) is located inside the mobile robot (1) and above the storage cavity (15) and the air cavity (22). The inner cavity (16) is rotatably connected to a switching disk (17). A Z-shaped flow channel (18) is opened inside the switching disk (17). The top opening of the Z-shaped flow channel (18) is located at the center of the top surface of the switching disk (17), and it is connected to the connecting cavity (7) through a vertical pipe (13). A gas-liquid dual-purpose pump (14) is installed on the vertical pipe (13). The bottom opening of the Z-shaped flow channel (18) is located at the bottom edge of the switching disk (17), and it can be selectively connected to the suction tube (21) or the air tube (29) by rotating the switching disk (17).

2. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 1, characterized in that, The robotic arm body includes a base (2) rotatably connected to the top surface of the mobile robot (1), a support arm (3) is fixed on the base (2), a plurality of movable arms (4) are connected to the support arm (3) at both ends, an end arm (5) is connected to the end of the plurality of movable arms (4), and an end tube (6) is fixed to the end of the end arm (5).

3. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 2, characterized in that, The connection nodes between the support arm (3) and the movable arm (4), the connection nodes between two adjacent movable arms (4), and the connection nodes between the movable arm (4) and the end arm (5) are all connected by a swing mechanism.

4. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 3, characterized in that, The swing mechanism includes two rotatably connected cylindrical members (8) and a swing motor (9) fixedly mounted on one of the cylindrical members (8). The output shaft of the swing motor (9) is fixedly connected to a swing shaft (10), and the end of the swing shaft (10) away from the swing motor (9) is fixedly mounted on the other cylindrical member (8).

5. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 1, characterized in that, Several sets of monitoring sensors (11) are evenly installed at the end of the end cylinder (6).

6. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 5, characterized in that, The monitoring sensor (11) includes one or more of a temperature sensor, a humidity sensor, and a toxic gas sensor.

7. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 1, characterized in that, The outer edge of the switching disk (17) has teeth, and the inner cavity (16) is fixed with a drive motor (20). The power output end of the drive motor (20) is fixedly connected with a drive gear (19), and the drive gear (19) meshes with the teeth on the switching disk (17).

8. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 1, characterized in that, The mobile robot (1) is equipped with a movable door for removing and installing the filter element (23).

9. The emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to claim 1, characterized in that, The vertical tube (13) is fixed on the mobile robot (1), and its bottom end is sealed and rotatably connected to the top opening of the Z-shaped flow channel (18) of the switching disk (17).

10. An emergency response firefighting robot integrating smoke purification and fire extinguishing functions according to any one of claims 1-9, characterized in that, When the bottom opening of the Z-shaped flow channel (18) is connected to the suction pipe (21), the gas-liquid dual-purpose pump (14) is running and can draw smoke gas while spraying fire extinguishing agent; when the bottom opening of the Z-shaped flow channel (18) is connected to the gas pipe (29), the gas-liquid dual-purpose pump (14) is running and will only draw gas from the end cylinder (6), thus facilitating the treatment of toxic gas.

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