Multifunctional emergency rescue robot

Abstract

The invention relates to the technical field of emergency rescue equipment, and discloses a multifunctional emergency rescue robot which comprises an all-terrain crawler walking vehicle, and a bottom mounting plate is mounted at the bottom of the all-terrain crawler walking vehicle; a special-shaped box body matched with the internal structure of the all-terrain crawler walking vehicle is installed on the front middle portion of the top end of the bottom installation plate, side protection plates are installed on the two sides of the special-shaped box body, and the two sides of the side protection plates are connected with the corresponding positions of the inner side of the all-terrain crawler walking vehicle respectively. By adding and arranging the isolating and diluting mechanism, high-temperature and high-pressure steam jetted by the isolating and diluting mechanism can quickly dilute the concentration of liquefied petroleum gas in a closed or semi-closed space and reduce the possibility of reaching the explosion limit when a fire disaster is caused by leakage of the liquefied petroleum gas in a petrochemical plant, and a water curtain barrier is formed by the steam, so that the safety of the liquefied petroleum gas is improved. Fire can be effectively prevented from spreading to peripheral equipment, and a safe buffer area is created for the rescue robot and subsequent treatment.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue equipment technology, specifically a multifunctional emergency rescue robot. Background Technology

[0002] In the production and operation of petrochemical plants, the widespread use and transportation of various flammable gases pose significant safety hazards. Gases such as methane, propane, ethylene, hydrogen sulfide, and liquefied petroleum gas generally possess extremely low ignition energy, wide explosive limits, and rapid diffusion capabilities. Once a leak occurs, they readily mix with air to form an explosive mixture, which can ignite fires or even chain explosions upon contact with static electricity, high temperatures, or open flames. The root cause of this risk lies in the fact that gas transportation systems operate under harsh conditions for extended periods: continuous high pressure and high temperature can cause fatigue cracks in pipeline materials; welding defects gradually expand into leakage channels under repeated stress; and long-term erosion by corrosive media such as hydrogen sulfide can cause pitting and intergranular corrosion in carbon steel pipelines, ultimately leading to sudden ruptures. In addition, the aging of equipment sealing systems and the accumulation of minor leaks due to valve core wear further exacerbate the risk of gas leakage, setting the stage for fire accidents.

[0003] Among various flammable gas leaks, liquefied petroleum gas (LPG) presents a particularly significant challenge in handling due to its unique characteristics. Because LPG is approximately 1.5 times denser than air, it doesn't diffuse as rapidly as lighter gases like methane after a leak. Instead, it tends to accumulate in low-lying areas such as the ground, trenches, and under equipment, forming a concealed explosive gas cloud. When such leaks occur in enclosed or semi-enclosed spaces like pump rooms, limited ventilation can cause the gas concentration to quickly exceed the lower explosive limit. If a fire breaks out, the high-temperature flames and the accumulated unburned gas create a dangerous "pincer attack," making it difficult for rescuers to penetrate the flame barrier to reach the leak point. Furthermore, they must be wary of secondary explosions caused by gas disturbance in low-lying areas. Crucially, firefighting operations must simultaneously address two objectives: firstly, preventing the continued volatilization of leaked gas from polluting the surrounding environment and protecting rescuers from injury or death due to inhalation of toxic gases; and secondly, rapidly controlling the fire to prevent equipment overheating and failure. However, traditional sprinkler fire suppression technology has significant limitations in this scenario: the water curtain struggles to penetrate high-density liquefied petroleum gas clouds to reach the combustion core, and the water flow may agitate accumulated gas in low-lying areas, causing it to mix thoroughly with air and create a larger explosion hazard. Furthermore, excessive spraying can exacerbate water accumulation in enclosed spaces, hindering subsequent equipment maintenance and rescue operations. Therefore, those skilled in the art have proposed a multi-functional emergency rescue robot to address these technical problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multifunctional emergency rescue robot that solves the limitations of traditional sprinkler fire extinguishing methods when fires are caused by liquefied petroleum gas leaks in petrochemical plants.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multifunctional emergency rescue robot, comprising...

[0006] All-terrain tracked vehicle with a bottom mounting plate installed on its bottom;

[0007] The top front of the bottom mounting plate is fitted with a special-shaped box that fits the internal structure of the all-terrain tracked vehicle. Side guards are installed on both sides of the special-shaped box, and the two sides of the side guards are connected to the corresponding positions on the inside of the all-terrain tracked vehicle.

[0008] The interior of the irregularly shaped enclosure is divided into three independent chambers—a temporary storage chamber, a vapor chamber, and a liquid nitrogen chamber—by two partition plates.

[0009] A visual camera is installed on the upper middle part of one side of the outer wall of the irregularly shaped box for external operators to observe the fire extinguishing situation in real time and assist in movement operations. A control receiver is installed on the inner side of the all-terrain tracked vehicle for receiving control commands and signals sent by external operators.

[0010] The bottom dispersion mechanism is located at the bottom of the bottom mounting plate and is used to disperse the liquefied petroleum gas that has accumulated on the ground when a fire is caused by a leak of liquefied petroleum gas in a sealed or semi-sealed space in a petrochemical plant.

[0011] An isolation and dilution mechanism is installed on the top side of an irregularly shaped box. It is used to isolate the fire caused by a leak of liquefied petroleum gas in a sealed or semi-sealed space in a petrochemical plant, and to dilute the leaked liquefied petroleum gas.

[0012] The oxygen-deficient cooling mechanism is located on the other side of the top of the irregularly shaped box and is used to reduce the oxygen content and cool down the fire scene caused by the leakage of liquefied petroleum gas.

[0013] The condensation recovery mechanism, located at the bottom of the mounting plate, is used to collect and process the liquid mixture of water and liquefied petroleum gas formed after cooling and fire extinguishing at the fire site.

[0014] Preferably, the bottom dispersing mechanism includes a micro compressor. A micro compressor is provided on one side of the top center of the bottom mounting plate. The micro compressor receives and compresses nitrogen gas supplied from the outside through a connecting pipe. A dispersing seat is provided at the bottom center of the bottom mounting plate, and part of the nitrogen gas compressed by the micro compressor is supplied into the interior of the dispersing seat through the connecting pipe.

[0015] Preferably, the bottom dispersing mechanism further includes horizontal flow channels. The outer wall of the dispersing seat has a circumferential array of multiple horizontal flow channels. The compressed nitrogen discharged from the horizontal flow channels is horizontally guided and discharged to disperse the liquefied petroleum gas accumulated around the all-terrain tracked vehicle. The lower outer wall of the dispersing seat has a circumferential array of multiple inclined flow channels. The compressed nitrogen discharged from the inclined flow channels is inclined and guided and discharged to disperse the liquefied petroleum gas accumulated on the ground.

[0016] Preferably, the isolation and dilution mechanism includes electric heating tubes, and multiple sets of electric heating tubes are equidistantly arranged in the lower part of the inner wall of the steam chamber. A steam generator is arranged in the lower part of the outer wall of the irregular-shaped box near the steam chamber. A pressure gauge for real-time detection of the internal pressure of the steam chamber is provided on the steam generator. A liquid injection nozzle is provided in the middle of one side of the irregular-shaped box, and a sealing cap is threaded onto the liquid injection nozzle.

[0017] Preferably, the isolation and dilution mechanism further includes a steam pipe. A steam pipe is provided on one side of the top of the irregular-shaped box, and the bottom end of the steam pipe is connected to the interior of the steam chamber. An electromagnetic control valve II for controlling the steam flow is provided on the steam pipe. An umbrella-shaped seat is threaded to the top of the steam pipe, and the interior of the umbrella-shaped seat is connected to the interior of the steam pipe. Multiple steam nozzles are arranged in a circumferential array on the outer edge of the umbrella-shaped seat.

[0018] Preferably, the oxygen-deficient cooling mechanism includes a small liquid nitrogen generator. The small liquid nitrogen generator is located at the top center of the bottom mounting plate. The small liquid nitrogen generator receives nitrogen gas compressed by a miniature compressor and purifies and liquefies the compressed nitrogen gas at low temperature. The liquid nitrogen generated by the small liquid nitrogen generator is discharged into the liquid nitrogen chamber through a connecting pipe.

[0019] Preferably, the oxygen-deficient cooling mechanism further includes a liquid nitrogen manifold. A liquid nitrogen manifold is provided on one side of the top center of the irregularly shaped box, and the interior of the liquid nitrogen manifold is connected to the interior of the liquid nitrogen chamber. An electromagnetic control valve for controlling the flow of liquid nitrogen is provided on the liquid nitrogen manifold, and a sealing rotating cap is provided on the top of the liquid nitrogen manifold. The connection between the sealing rotating cap and the liquid nitrogen manifold is connected through a sealing bearing seat.

[0020] Preferably, the oxygen-deficient cooling mechanism further includes inclined spray channels. The upper part of the outer wall of the liquid nitrogen discharge pipe has multiple inclined spray channels arranged in a circular array. The inclined spray channels have an inclination angle of 30 degrees. The lower part of the inner wall of the sealing rotating cap has multiple inclined drive plates arranged in a circular array. The upper part of the outer wall of the sealing rotating cap has multiple arc-shaped rods fixedly connected at equal intervals. The interior of the arc-shaped rods is connected to the interior of the sealing rotating cap. Multiple liquid nitrogen discharge nozzles are equidistantly opened in the middle of the side of the outer wall of the arc-shaped rod away from the sealing rotating cap.

[0021] Preferably, the condensation recovery mechanism includes an electromagnet ring seat, with an electromagnet ring seat provided at each of the four corners of the bottom of the bottom mounting plate, and a metal ring seat provided at the bottom of each electromagnet ring seat. The middle of the outer wall of the electromagnet ring seat on the same side is connected to the middle of the outer wall of the metal ring seat through a corrugated telescopic tube. A liquid pump is provided at the middle of both sides of the bottom of the bottom mounting plate. The liquid pumping end on the same side is connected to the interior of the corresponding corrugated telescopic tube through the cooperation of the internal flow channel and connecting pipe in the corresponding bottom mounting plate. The liquid pumping end injects the pumped and collected mixed liquid into the temporary storage chamber for collection through the cooperation of the internal flow channel and connecting pipe in the bottom mounting plate.

[0022] Preferably, the condensation recovery mechanism further includes a rubber sealing ring. The bottom of the outer wall of the metal ring seat is provided with a rubber sealing ring, and the bottom of the outer wall of the rubber sealing ring is provided with a sealing gasket. The top center of the sealing gasket has a plurality of liquid extraction channels arranged in a circular array. One end of the liquid extraction channel passes through the rubber sealing ring and communicates with the interior of the corrugated telescopic tube.

[0023] Working Principle: When dealing with a fire caused by liquefied petroleum gas (LPG) leakage in a closed or semi-closed space of a petrochemical plant, rescuers first close the valves on the LPG delivery pipeline. Then, they connect a nitrogen cylinder or nitrogen generator to the nitrogen input of a miniature compressor via a connecting pipe. After connection, rescuers use control equipment and a visual camera to move the all-terrain tracked vehicle to the location of the LPG leak and fire, and begin firefighting operations. When the all-terrain tracked vehicle reaches the fire location, the bottom drive mechanism activates. At this time, nitrogen supplied from outside is injected into the miniature compressor on the all-terrain tracked vehicle through the connecting pipe for compression, increasing the pressure of the supplied nitrogen. High-density nitrogen can be sprayed to a greater distance, thus facilitating the dispersal of leaked liquefied petroleum gas (LPG) accumulated on the ground around the all-terrain tracked vehicle. This creates a nitrogen-filled firebreak around the vehicle. After compression and pressurization, the nitrogen is injected through a connecting pipe into the dispersal seat at the bottom of the all-terrain tracked vehicle. The nitrogen in the dispersal seat is dispersed into various channels. In the horizontal channels, the nitrogen disperses the leaked LPG suspended above the ground around the vehicle. In the inclined channels, the nitrogen disperses the leaked LPG close to the ground surface. By increasing the nitrogen content around the fire scene, the oxygen concentration is reduced, effectively suppressing the fire's spread and preventing reignition after extinguishing.Then, the isolation and dilution mechanism is activated. First, the water stored in the steam chamber is heated by an electric heating element. After the water in the steam chamber is heated, it is converted into high-temperature steam by a steam generator on the irregularly shaped box. As the amount of high-temperature steam in the steam chamber increases, the pressure inside also increases. At the same time, rescuers monitor the pressure in the steam chamber in real time using a pressure gauge on the steam generator. Once the pressure in the steam chamber reaches the set standard, external rescuers remotely control the opening of the second electromagnetic control valve on the steam exhaust pipe. When the second electromagnetic control valve opens, the high-temperature, high-pressure steam in the steam chamber enters the interior of the steam exhaust pipe and then enters the steam... The high-temperature, high-pressure steam inside the pipe is propelled into the interior of the umbrella-shaped base by the steam at the bottom, and then sprayed out into the external environment through the steam nozzles on the umbrella-shaped base. The steam nozzles on the umbrella-shaped base spray saturated steam into the leak, fire area, and around the all-terrain tracked vehicle. By spraying a large amount of high-temperature, high-pressure steam into the fire or leak area, the concentration of liquefied petroleum gas in the closed or semi-closed space of the petrochemical plant is rapidly diluted, thereby reducing the explosion risk at the leak or fire location. At the same time, the sprayed high-temperature, high-pressure steam can form a water curtain barrier to prevent the fire from spreading to surrounding equipment and fire extinguishing equipment, thus completing the isolation and dilution treatment of the leak or fire area.Subsequently, the oxygen-deficient cooling mechanism is activated. Simultaneously, the bottom dispersing mechanism is activated to continuously inject high-pressure nitrogen into the space where the liquefied petroleum gas leaked or caught fire. By increasing the nitrogen content in the space and decreasing the oxygen content, an oxygen-deficient environment is created, reducing the risk of fire spread, secondary reignition, and explosion. At the same time, a small liquid nitrogen generator further purifies and cools the nitrogen, which has already been compressed by a micro-compressor, converting the high-pressure nitrogen into liquid nitrogen, which is then injected into the liquid nitrogen chamber within the steam generator. As the liquid nitrogen content in the chamber increases, so does its pressure. Once the pressure reaches a certain level, external rescue personnel open the electromagnetic control valve on the liquid nitrogen discharge pipe using control equipment, allowing the high-pressure liquid nitrogen from the chamber to enter the discharge pipe. After nitrogen enters the liquid nitrogen manifold, it is sprayed out through the inclined spray channel on the manifold. Due to the inclined characteristics of the inclined spray channel, the high-pressure liquid nitrogen sprayed out from the inclined spray channel simultaneously drives the inclined drive plate to rotate. While the inclined drive plate rotates, it simultaneously drives the sealing rotating cap and the arc rod on it to rotate synchronously. Then, as the liquid nitrogen in the sealing rotating cap continues to increase, the liquid nitrogen in the sealing rotating cap enters the arc rod and is evenly sprayed out into the external environment through the liquid nitrogen nozzle on the arc rod. The liquid nitrogen that rotates and disperses around the external environment on the arc rod is atomized by the high temperature of the fire and quickly vaporizes. During the vaporization process, the liquid nitrogen absorbs a large amount of heat, causing the temperature of the fire source and the surrounding area to drop rapidly below the ignition point of the combustibles. At the same time, the nitrogen covers the surface of the fire source to isolate oxygen, thereby ultimately achieving the effect of extinguishing the fire. This completes the oxygen-deficient cooling and fire extinguishing treatment around the fire source.Afterwards, the condensation recovery mechanism was activated. Following cooling and fire extinguishing by the oxygen-deficient cooling system, the LPG leak and fire area within the petrochemical plant was rapidly converted from gaseous to liquid state by the cryogenic medium liquid nitrogen, causing it to settle on the ground. Simultaneously, the high-temperature steam was also condensed and liquefied into water by the liquid nitrogen, settling on the ground. The two then formed a mixture of water and liquid LPG on the ground. External rescue personnel then used control equipment to de-energize the electromagnet ring, causing it to lose its magnetism. The electromagnet ring, now devoid of magnetic attraction, slid downwards due to gravity, simultaneously causing the corrugated expansion joint connecting the two to open. As the electromagnet ring fell to the ground, it caused the rubber sealing ring on it to... The sealing gasket forms a seal with the ground, and after falling, it enters the mixed liquid remaining on the ground. Then, the pump on the base plate starts, and due to the negative pressure generated inside the corrugated expansion pipe, the mixed liquid on the ground flows through the suction channel on the sealing gasket into the corrugated expansion pipe. The pump then pumps the liquid into the temporary storage chamber inside the steam generator for centralized collection. This method not only enables the recycling of liquefied petroleum gas (LPG), reducing resource waste and secondary pollution, but also improves the stability of the leaked LPG by condensing and liquefying it, while reducing the risk of secondary explosions in the leak area. This completes the condensation and recovery of the leaked LPG.

[0024] This invention provides a multifunctional emergency rescue robot. It has the following beneficial effects:

[0025] 1. This invention, by adding and setting a bottom dispersion mechanism, addresses fires caused by liquefied petroleum gas leaks in petrochemical plants. This mechanism uses compressed nitrogen to be directionally injected through horizontal and inclined channels. On the one hand, it can accurately disperse liquefied petroleum gas suspended and close to the ground around the all-terrain tracked vehicle, breaking its accumulation in low-lying areas. On the other hand, the inert gas ring formed by the nitrogen diffusion can reduce the surrounding oxygen concentration, reducing the risk of fire reignition and secondary explosions from the source. At the same time, the chemical inertness of nitrogen avoids corrosion or pollution of equipment, ensuring that no additional damage is caused to on-site facilities during the rescue process.

[0026] 2. By adding and setting up an isolation and dilution mechanism, this invention can quickly dilute the concentration of liquefied petroleum gas in enclosed or semi-enclosed spaces and reduce the possibility of it reaching the explosion limit when facing fires caused by liquefied petroleum gas leaks in petrochemical plants. Moreover, the water curtain barrier formed by the steam can effectively block the spread of fire to surrounding equipment, creating a safe buffer zone for the rescue robot itself and subsequent disposal. Compared with traditional spraying, this method of treatment can penetrate high-density gas clouds with its steam jet, which not only avoids excessive water accumulation affecting the scene, but also improves the coverage efficiency of the leak area.

[0027] 3. This invention, by adding and setting up an oxygen-deficient cooling mechanism, addresses fires caused by liquefied petroleum gas leaks in petrochemical plants. Firstly, it continuously injects nitrogen to reduce the oxygen content at the fire scene, creating an oxygen-deficient environment to suppress the spread of fire. Secondly, after being diffused by the rotating spray assembly, the liquid nitrogen rapidly absorbs a large amount of heat during vaporization, lowering the temperature of the fire source and surrounding area below the ignition point of combustibles, achieving a dual effect of cooling and fire extinguishing. The rotating design of the arc-shaped rod expands the coverage area of ​​the liquid nitrogen, ensuring that the cooling and oxygen-deficient effects are evenly applied to the fire scene, improving fire extinguishing efficiency. The inert nature of nitrogen also ensures the safety of the disposal process.

[0028] 4. This invention, by adding and setting a condensation recovery mechanism, addresses the issue of liquid water forming a mixture on the ground surface when liquefied petroleum gas (LPG) transforms from a gaseous to a liquid state and condenses with vapor. This mechanism efficiently collects the mixture of water and LPG through the cooperation of sealing gaskets and rubber sealing rings, achieving resource recovery to reduce waste and secondary pollution. It also temporarily stores the mixture through negative pressure suction, preventing residual liquid from evaporating again and forming explosive gas clouds, thus reducing the risk of secondary explosions. Furthermore, the electromagnet-controlled telescopic structure retracts when not in use, not affecting the robot's all-terrain movement, while gravity pressure ensures a sealing effect during use, improving the stability of the collection process. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the front structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the rear structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the bottom structure of the present invention;

[0032] Figure 4 This is a cross-sectional view of the internal structure of the irregularly shaped box of the present invention;

[0033] Figure 5 This is a schematic diagram of the dispersing base structure of the present invention;

[0034] Figure 6This is a partial structural diagram of the steam pipe of the present invention;

[0035] Figure 7 This is a partial structural diagram of the sealing rotating cap of the present invention;

[0036] Figure 8 This is a partial structural diagram of the liquid nitrogen manifold of the present invention;

[0037] Figure 9 This is a cross-sectional schematic diagram of the internal structure of the sealing rotating cap of the present invention;

[0038] Figure 10 This is a partial structural diagram of the corrugated expansion tube of the present invention;

[0039] Figure 11 This is a partial structural diagram of the metal ring seat of the present invention.

[0040] The components include: 1. All-terrain tracked vehicle; 2. Side guard plate; 3. Bottom mounting plate; 4. Steam generator; 5. Liquid injection nozzle; 6. Visual camera; 7. Steam pipe; 8. Umbrella-shaped seat; 9. Sealing rotating cap; 10. Arc-shaped rod; 11. Electromagnetic control valve one; 12. Liquid nitrogen pipe; 13. Electromagnetic control valve two; 14. Irregularly shaped box; 15. Corrugated telescopic pipe; 16. Small liquid nitrogen generator; 17. Control receiver; 18. Miniature compressor. 19. Liquid pump; 20. Rubber sealing ring; 21. Dispersing seat; 22. Sealing gasket; 23. Electric heating tube; 24. Divider plate; 25. Temporary storage chamber; 26. Steam chamber; 27. Liquid nitrogen chamber; 28. Horizontal flow channel; 29. ​​Inclined flow channel; 30. Steam nozzle; 31. Liquid nitrogen nozzle; 32. Sealed bearing seat; 33. Inclined spray channel; 34. Inclined drive plate; 35. Electromagnetic ring seat; 36. Metal ring seat; 37. Liquid pumping channel. Detailed Implementation

[0041] The technical solutions in 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.

[0042] Please see the appendix Figure 1 - Appendix Figure 3 This invention provides a multi-functional emergency rescue robot, including an all-terrain tracked vehicle 1, with a bottom mounting plate 3 installed at its bottom; a non-circular box 14 that fits the internal structure of the all-terrain tracked vehicle 1 is installed at the top front of the bottom mounting plate 3, and side guard plates 2 are installed on both sides of the non-circular box 14, with the two sides of the side guard plates 2 respectively connected to the corresponding positions on the inner side of the all-terrain tracked vehicle 1.

[0043] Please see the appendix Figure 4 The interior of the irregularly shaped box 14 is divided into three independent chambers: a temporary storage chamber 25, a steam chamber 26, and a liquid nitrogen chamber 27 by two partition plates 24. A visual camera 6 is installed on the upper middle part of one side of the outer wall of the irregularly shaped box 14 for external operators to observe the fire extinguishing situation in real time and to assist in mobile operations. A control receiver 17 is installed on one side of the interior of the all-terrain tracked vehicle 1 for receiving control commands and signals sent by external operators.

[0044] Please see the appendix Figure 2 - Appendix Figure 3 and attached Figure 5 The bottom dispersion mechanism is located at the bottom of the bottom mounting plate 3 and is used to disperse the liquefied petroleum gas that has accumulated on the ground when a fire is caused by a leak of liquefied petroleum gas in a sealed or semi-sealed space in a petrochemical plant.

[0045] The bottom dispersing mechanism includes a micro compressor 18. The micro compressor 18 is located on one side of the top center of the bottom mounting plate 3. The micro compressor 18 receives and compresses the nitrogen gas delivered from the outside through the connecting pipe. The dispersing seat 21 is located at the bottom center of the bottom mounting plate 3. Part of the nitrogen gas after being compressed by the micro compressor 18 is delivered into the interior of the dispersing seat 21 through the connecting pipe.

[0046] When the bottom drive mechanism is started, the nitrogen gas supplied from the outside is injected into the micro compressor 18 on the all-terrain tracked vehicle 1 through the connecting pipe and compressed. This increases the pressure of the supplied nitrogen gas, which can be sprayed to a farther position when it is sprayed, thus facilitating the dispersal of leaked liquefied petroleum gas accumulated on the ground around the all-terrain tracked vehicle 1 and forming a fireproof ring made of nitrogen around the all-terrain tracked vehicle 1.

[0047] The bottom dispersing mechanism also includes horizontal flow channels 28. The outer wall of the dispersing seat 21 has a circumferential array of multiple horizontal flow channels 28. The compressed nitrogen discharged from the horizontal flow channels 28 is horizontally guided and discharged to disperse the liquefied petroleum gas accumulated around the all-terrain tracked vehicle 1. The lower outer wall of the dispersing seat 21 has a circumferential array of multiple inclined flow channels 29. The compressed nitrogen discharged from the inclined flow channels 29 is inclined and guided and discharged to disperse the liquefied petroleum gas accumulated on the ground.

[0048] Then, the compressed and pressurized nitrogen gas is injected into the dispersion seat 21 at the bottom of the all-terrain tracked vehicle 1 through the connecting pipe. The nitrogen gas entering the dispersion seat 21 is dispersed in various channels inside. The nitrogen gas in the horizontal channel 28 disperses the leaked liquefied petroleum gas suspended above the ground around the all-terrain tracked vehicle 1 while being sprayed out. The nitrogen gas in the inclined channel 29 disperses the leaked liquefied petroleum gas close to the ground surface around the all-terrain tracked vehicle 1 while being sprayed out. By increasing the nitrogen content around the fire scene, the oxygen concentration around the fire scene is reduced, thereby suppressing the re-spread of the fire and the possibility of secondary reignition after the fire is extinguished.

[0049] Furthermore, due to the rapid diffusion of nitrogen, nitrogen can not only suffocate and extinguish the fire flames around the all-terrain tracked vehicle 1, significantly shortening the combustion time of leaked liquefied petroleum gas, but also, since nitrogen is an inert gas, it is non-corrosive and will not affect the environment or high-precision equipment in the petrochemical plant during use, thereby completing the dispersal treatment of liquefied petroleum gas leaking from the bottom of the ground at the fire scene.

[0050] Please see the appendix Figure 6 An isolation and dilution mechanism is installed on the top side of the irregular-shaped box 14. It is used to isolate the fire and dilute the leaked liquefied petroleum gas when a fire is caused by a leak in a sealed or semi-sealed space in a petrochemical plant.

[0051] The isolation and dilution mechanism includes electric heating tubes 23. Multiple sets of electric heating tubes 23 are equidistantly arranged on the lower part of the inner wall of the steam chamber 26. A steam generator 4 is arranged on the lower part of the outer wall of the irregular box 14 near the steam chamber 26. A pressure gauge is installed on the steam generator 4 for real-time detection of the internal pressure of the steam chamber 26. A liquid injection nozzle 5 is arranged on the middle of one side of the irregular box 14. A sealing cap is threaded onto the liquid injection nozzle 5.

[0052] When the isolation and dilution mechanism is activated, the water stored in the steam chamber 26 is first heated by the electric heating tube 23. After the water in the steam chamber 26 is heated, the heated water is converted into high-temperature steam by the steam generator 4 on the irregular box 14. As the high-temperature steam in the steam chamber 26 increases, the pressure inside also increases. At the same time, the rescuers observe the pressure in the steam chamber 26 in real time through the pressure gauge on the steam generator 4.

[0053] The isolation and dilution mechanism also includes a steam pipe 7. A steam pipe 7 is provided on one side of the top of the irregular box 14, and the bottom end of the steam pipe 7 is connected to the interior of the steam chamber 26. An electromagnetic control valve 13 for controlling the steam flow is provided on the steam pipe 7. An umbrella-shaped seat 8 is threaded to the top of the steam pipe 7, and the interior of the umbrella-shaped seat 8 is connected to the interior of the steam pipe 7. Multiple steam nozzles 30 are arranged in a circular array on the outer edge of the umbrella-shaped seat 8.

[0054] After the pressure inside the steam chamber 26 reaches the set value standard, external rescue personnel control the electromagnetic control valve 13 on the steam exhaust pipe 7 to open via remote control equipment. When the electromagnetic control valve 13 opens, the high-temperature and high-pressure steam inside the steam chamber 26 enters the interior of the steam exhaust pipe 7. Then, the high-temperature and high-pressure steam entering the steam exhaust pipe 7 is pushed into the interior of the umbrella-shaped seat 8 by the bottom steam, and is sprayed out into the external environment through the steam exhaust nozzle 30 on the umbrella-shaped seat 8. The steam exhaust nozzle 30 on the umbrella-shaped seat 8 sprays saturated steam into the leak, fire area and around the all-terrain tracked vehicle 1.

[0055] By spraying a large amount of high-temperature, high-pressure steam into the fire or leak area, the concentration of liquefied petroleum gas in the enclosed or semi-enclosed space of the petrochemical plant is rapidly diluted, thereby reducing the risk of explosion at the leak or fire location. At the same time, the sprayed high-temperature, high-pressure steam can form a water curtain barrier to prevent the fire from spreading to surrounding equipment and fire extinguishing equipment, thus completing the isolation and dilution treatment of the leak or fire area.

[0056] Please see the appendix Figure 7 - Appendix Figure 9 The oxygen-deficient cooling mechanism is located on the other side of the top of the irregular box 14 and is used to reduce the oxygen content and cool down the fire scene caused by the leakage of liquefied petroleum gas.

[0057] The oxygen deficiency cooling mechanism includes a small liquid nitrogen generator 16. The small liquid nitrogen generator 16 is located at the top center of the bottom mounting plate 3. The small liquid nitrogen generator 16 receives nitrogen gas after being compressed by a miniature compressor 18, and purifies and liquefies the compressed nitrogen gas at low temperature. The liquid nitrogen generated by the small liquid nitrogen generator 16 is discharged into the liquid nitrogen chamber 27 through a connecting pipe.

[0058] When the oxygen-deficient cooling mechanism is activated, the bottom dispersing mechanism is activated simultaneously to continuously inject high-pressure nitrogen into the space where liquefied petroleum gas is leaking or on fire. By increasing the nitrogen content in the space and reducing the oxygen content, an oxygen-deficient environment is created in the fire space, reducing the risk of fire spread, secondary reignition, and explosion.

[0059] The oxygen-deficient cooling mechanism also includes a liquid nitrogen manifold 12. The liquid nitrogen manifold 12 is provided on one side of the top center of the irregular box 14, and the interior of the liquid nitrogen manifold 12 is connected to the interior of the liquid nitrogen chamber 27. An electromagnetic control valve 11 for controlling the flow of liquid nitrogen is provided on the liquid nitrogen manifold 12. A sealing rotating cap 9 is provided on the top of the liquid nitrogen manifold 12, and the connection between the sealing rotating cap 9 and the liquid nitrogen manifold 12 is connected through a sealing bearing seat 32.

[0060] Meanwhile, the small liquid nitrogen generator 16 purifies and cools the nitrogen gas after it has been compressed by the micro compressor 18, thereby converting the high-pressure nitrogen gas into liquid nitrogen and injecting it into the liquid nitrogen chamber 27 in the steam generator 4. As the liquid nitrogen content in the liquid nitrogen chamber 27 increases, the pressure of the liquid nitrogen in the liquid nitrogen chamber 27 also increases. Then, when the liquid nitrogen pressure in the liquid nitrogen chamber 27 reaches a certain value, the external rescue personnel open the electromagnetic control valve 11 on the liquid nitrogen discharge pipe 12 through the control equipment, so that the high-pressure liquid nitrogen in the liquid nitrogen chamber 27 enters the liquid nitrogen discharge pipe 12.

[0061] The oxygen-deficient cooling mechanism also includes inclined spray grooves 33. Multiple inclined spray grooves 33 are arranged in a circular array on the upper part of the outer wall of the liquid nitrogen discharge pipe 12. The inclined spray grooves 33 have an inclination angle of 30 degrees. Multiple inclined drive plates 34 are arranged in a circular array on the lower part of the inner wall of the sealing rotating cap 9. Multiple arc-shaped rods 10 are fixedly connected at equal intervals on the upper part of the outer wall of the sealing rotating cap 9. The interior of the arc-shaped rods 10 is connected to the interior of the sealing rotating cap 9. Multiple liquid nitrogen discharge nozzles 31 are opened at equal intervals on the side of the outer wall of the arc-shaped rods 10 away from the sealing rotating cap 9.

[0062] After high-pressure liquid nitrogen enters the liquid nitrogen manifold 12, it is sprayed out through the inclined spray channel 33 on the liquid nitrogen manifold 12. Due to the inclined characteristics of the inclined spray channel 33, the high-pressure liquid nitrogen sprayed out from the inclined spray channel 33 simultaneously drives the inclined drive plate 34 to rotate. While the inclined drive plate 34 is rotating, it simultaneously drives the sealing rotating cap 9 and the arc rod 10 on it to rotate synchronously. Then, as the liquid nitrogen in the sealing rotating cap 9 continues to increase, the liquid nitrogen in the sealing rotating cap 9 enters the arc rod 10 and is evenly sprayed out into the external environment through the liquid nitrogen nozzle 31 on the arc rod 10. The liquid nitrogen that rotates and disperses around the external environment on the arc rod 10 is atomized by the high temperature of the fire and quickly vaporizes. During the vaporization process, the liquid nitrogen absorbs a large amount of heat, causing the temperature of the fire source and the surrounding area to drop rapidly below the ignition point of the combustibles. At the same time, the nitrogen covers the surface of the fire source to isolate oxygen, thereby achieving the effect of extinguishing the fire. This completes the oxygen deficiency cooling and fire extinguishing treatment around the fire source.

[0063] Please see the appendix Figure 10 - Appendix Figure 11The condensation recovery mechanism, located at the bottom of the mounting plate 3, is used to collect and process the liquid mixture of water and liquefied petroleum gas formed after cooling and fire extinguishing at the fire site.

[0064] The condensation recovery mechanism includes an electromagnet ring seat 35. An electromagnet ring seat 35 is provided at each of the four corners of the bottom of the bottom mounting plate 3. A metal ring seat 36 is provided at the bottom of each electromagnet ring seat 35. The middle of the outer wall of the electromagnet ring seat 35 on the same side is connected to the middle of the outer wall of the metal ring seat 36 through a corrugated telescopic tube 15. A liquid pump 19 is provided at the middle of both sides of the bottom of the bottom mounting plate 3. The liquid pump 19 on the same side is connected to the inside of the corresponding corrugated telescopic tube 15 through the cooperation of the internal flow channel and connecting pipe in the corresponding bottom mounting plate 3. The liquid pump 19 discharges the pumped and collected mixed liquid into the temporary storage chamber 25 for collection through the cooperation of the internal flow channel and connecting pipe in the bottom mounting plate 3.

[0065] When the condensation recovery mechanism is activated, after the liquefied petroleum gas leak and fire area in the petrochemical plant is cooled and extinguished by the oxygen-deficient cooling mechanism, the liquefied petroleum gas in the closed or semi-closed space at the fire location is quickly converted into liquid by the low-temperature medium liquid nitrogen and falls to the ground. Then, the high-temperature steam is also affected by the liquid nitrogen and condenses into water and falls to the ground. The two form a mixture of water and liquid liquefied petroleum gas on the ground.

[0066] The condensation recovery mechanism also includes a rubber sealing ring 20. The bottom of the outer wall of the metal ring seat 36 is provided with a rubber sealing ring 20. The bottom of the outer wall of the rubber sealing ring 20 is provided with a sealing gasket 22. The top center of the sealing gasket 22 has a plurality of liquid extraction channels 37 arranged in a circular array. One end of the liquid extraction channel 37 passes through the rubber sealing ring 20 and communicates with the interior of the corrugated expansion tube 15.

[0067] Then, external rescuers use control equipment to de-energize the electromagnet ring seat 35, causing it to lose its magnetism. With the electromagnet ring seat 35 losing its magnetic attraction, it moves downward due to gravity, which also causes the corrugated telescopic tube 15 connecting the two to open. As the electromagnet ring seat 35 falls to the ground, it causes the rubber sealing ring 20 and sealing gasket 22 on it to come into contact with the ground to form a seal. At the same time, the sealing gasket 22 enters the mixed liquid remaining on the ground after falling.

[0068] Then, the pump 19 on the bottom mounting plate 3 is started. Under the influence of the negative pressure generated in the corrugated expansion pipe 15, the mixed liquid on the ground enters the corrugated expansion pipe 15 through the pumping channel 37 on the sealing gasket 22. Then, it is pumped by the pump 19 and injected into the temporary storage chamber 25 in the steam generator 4 for centralized collection. This treatment method can not only realize the recycling of liquefied petroleum gas, reducing resource waste and secondary pollution, but also improve the stability of leaked liquefied petroleum gas by condensing and liquefying it, while reducing the risk of secondary explosion in the leak area. This completes the condensation and recovery treatment of leaked liquefied petroleum gas.

[0069] When the condensation recovery mechanism is not in use, the electromagnet ring seat 35 is energized to generate magnetism, which attracts the metal ring seat 36. After being attracted, the metal ring seat 36 can also cause the corrugated telescopic tube 15 to contract synchronously, thereby preventing the all-terrain tracked vehicle 1 from being affected by the corrugated telescopic tube 15 when moving, facilitating its all-terrain movement. Moreover, in the working state, the metal ring seat 36 presses down on the rubber sealing ring 20 and sealing gasket 22 at its bottom through gravity, so that the rubber sealing ring 20 and sealing gasket 22 are in complete contact with the ground. This sealing method forms a sealed state inside the corrugated telescopic tube 15, which facilitates the subsequent negative pressure pumping and discharge of the mixed liquid.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-functional emergency rescue robot, characterized by, The utility model relates to all-terrain tracked vehicle (1) bottom mounting plate (3) is installed on the bottom of all-terrain tracked vehicle (1), and the bottom mounting plate (3) top is installed with the special-shaped box (14) that is in accord with the internal structure of all-terrain tracked vehicle (1) in the front part, and the both sides of special-shaped box (14) are installed with side guard plate (2), and the both sides of side guard plate (2) are connected with the corresponding position of all-terrain tracked vehicle (1) inside respectively. The inside of special-shaped box (14) is separated into three independent chambers of temporary storage chamber (25), steam chamber (26) and liquid nitrogen chamber (27) in turn by two partition plates (24). The upper middle of one side of the outer wall of special-shaped box (14) is provided with a visual camera (6) for real-time observation of the fire extinguishing situation by the external operator and auxiliary movement operation, and the inside of all-terrain tracked vehicle (1) is provided with a control receiver (17) for receiving the control instructions and signals sent by the external operator. The bottom dispersion mechanism is arranged at the bottom of the bottom mounting plate (3) and is used for dispersing the liquefied petroleum gas accumulated on the ground when the liquefied petroleum gas in the sealed or semi-sealed space of the petrochemical plant leaks and causes a fire. The isolation and dilution mechanism is arranged at one side of the top of the special-shaped box (14) and is used for isolating the fire and diluting the leaked liquefied petroleum gas when the liquefied petroleum gas in the sealed or semi-sealed space of the petrochemical plant leaks and causes a fire. The oxygen-deficient cooling mechanism is arranged at the other side of the top of the special-shaped box (14) and is used for reducing the oxygen content and cooling the fire caused by the leakage of the liquefied petroleum gas. The condensation and recovery mechanism is arranged at the bottom of the bottom mounting plate (3) and is used for recovering and collecting the water and liquefied petroleum gas liquid mixture formed by the liquefaction of the fire field after the cooling and fire extinguishing treatment. The bottom dispersion mechanism includes a miniature compressor (18), and the top middle of one side of the bottom mounting plate (3) is provided with the miniature compressor (18), which receives and compresses the nitrogen gas delivered from the outside through the connecting pipe. The bottom dispersion mechanism further includes horizontal flow channels (28), and the outer wall of the dispersion seat (21) is circumferentially provided with a plurality of horizontal flow channels (28), and the compressed nitrogen gas discharged from the horizontal flow channels (28) is horizontally guided and discharged to disperse the accumulated liquefied petroleum gas around the all-terrain tracked vehicle (1).

2. The multi-functional emergency rescue robot according to claim 1, wherein The outer wall of the dispersion seat (21) is circumferentially provided with a plurality of inclined flow channels (29) at the lower middle, and the compressed nitrogen gas discharged from the inclined flow channels (29) is inclinedly guided and discharged to disperse the liquefied petroleum gas accumulated on the ground.

3. The multi-functional emergency rescue robot according to claim 2, wherein ​ 4. The multi-functional emergency rescue robot according to claim 1, wherein The isolation dilution mechanism comprises electric heating pipes (23), a plurality of groups of electric heating pipes (23) are equidistantly arranged in the lower part of the inner wall of the steam cavity (26), a steam generator (4) is arranged on the outer wall side of the lower part of the special-shaped box (14) close to the steam cavity (26), a pressure gauge for detecting the internal pressure of the steam cavity (26) in real time is arranged on the steam generator (4), and a liquid injection nozzle (5) is arranged on the middle part of one side of the special-shaped box (14).

5. The multi-functional emergency rescue robot according to claim 4, wherein The isolation dilution mechanism further comprises a steam exhaust pipe (7), the steam exhaust pipe (7) is arranged on one side of the top end of the special-shaped box (14) and communicates with the inside of the steam cavity (26) at the bottom end, an electromagnetic control valve two (13) for controlling the steam flow is arranged on the steam exhaust pipe (7), an umbrella-shaped seat (8) is threadedly connected to the top end of the steam exhaust pipe (7), the inside of the umbrella-shaped seat (8) communicates with the inside of the steam exhaust pipe (7), and a plurality of steam exhaust nozzles (30) are arranged in a circumferential array on the outer side edge of the umbrella-shaped seat (8).

6. The multi-functional emergency rescue robot according to claim 1, wherein The hypoxic cooling mechanism comprises a small liquid nitrogen machine (16), the small liquid nitrogen machine (16) is arranged on the middle part of the top end of the bottom mounting plate (3), receives nitrogen compressed and processed by a part of the micro-compressor (18), purifies and low-temperature liquefies the compressed nitrogen, and discharges the liquid nitrogen generated by the small liquid nitrogen machine (16) into the liquid nitrogen cavity (27) through a connecting pipe.

7. The multi-functional emergency rescue robot according to claim 6, wherein The hypoxic cooling mechanism further comprises a liquid nitrogen exhaust pipe (12), the liquid nitrogen exhaust pipe (12) is arranged on one side of the middle part of the top end of the special-shaped box (14) and communicates with the inside of the liquid nitrogen cavity (27), an electromagnetic control valve one (11) for controlling the liquid nitrogen flow state is arranged on the liquid nitrogen exhaust pipe (12), a sealing rotating cap (9) is arranged on the top of the liquid nitrogen exhaust pipe (12), and the connection between the sealing rotating cap (9) and the liquid nitrogen exhaust pipe (12) is connected through a sealing bearing seat (32).

8. The multi-functional emergency rescue robot according to claim 7, wherein The hypoxic cooling mechanism further comprises inclined spray grooves (33), a plurality of inclined spray grooves (33) are arranged in a circumferential array on the upper part of the outer wall of the liquid nitrogen exhaust pipe (12), the inclination angle of the inclined spray grooves (33) is thirty degrees, a plurality of inclined driving pieces (34) are arranged in a circumferential array on the lower part of the inner wall of the sealing rotating cap (9), a plurality of arc-shaped rods (10) are fixedly connected to the upper part of the outer wall of the sealing rotating cap (9) at equal intervals, the inside of the arc-shaped rod (10) communicates with the inside of the sealing rotating cap (9), and a plurality of liquid nitrogen exhaust nozzles (31) are arranged in the middle part of one side of the arc-shaped rod (10) away from the sealing rotating cap (9) at equal intervals.

9. The multi-functional emergency rescue robot according to claim 1, wherein The condensation recovery mechanism comprises electromagnet ring seats (35), the bottom end of the bottom mounting plate (3) is provided with electromagnet ring seats (35) at four corners, the bottom of the electromagnet ring seat (35) is provided with a metal ring seat (36), the outer wall of the electromagnet ring seat (35) on the same side is connected with the outer wall of the metal ring seat (36) through a corrugated expansion pipe (15) in the middle, the bottom end of the bottom mounting plate (3) is provided with a liquid pump (19) in the middle on both sides, the liquid end of the liquid pump (19) on the same side is connected with the corresponding corrugated expansion pipe (15) through the internal flow channel in the corresponding bottom mounting plate (3) and the connecting pipe, and the liquid collected by the liquid pump (19) is injected into the temporary storage cavity (25) through the internal flow channel in the bottom mounting plate (3) and the connecting pipe to be collected.

10. The multi-functional emergency rescue robot according to claim 9, wherein The condensation recovery mechanism further comprises a rubber sealing ring (20), the outer wall of the metal ring seat (36) is provided with a rubber sealing ring (20) at the bottom, the outer wall of the rubber sealing ring (20) is provided with a sealing gasket (22) at the bottom, the top end of the sealing gasket (22) is provided with a plurality of liquid suction flow channels (37) in the middle in a circular array, and one end of the liquid suction flow channel (37) penetrates the rubber sealing ring (20) and is connected with the inside of the corrugated expansion pipe (15).

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