Multifunctional fire extinguishing device for fire fighting robot and operation method of multifunctional fire extinguishing device

Abstract

The invention discloses a multifunctional fire extinguishing device for a fire fighting robot and an operation method thereof.The fire extinguishing device comprises a connecting base, a fire extinguishing mechanism and a locking mechanism, the connecting base is fixedly mounted on a fire fighting robot platform and connected with a lifting mechanism, and a fire fighting equipment mounting platform is arranged on the lifting mechanism; the fire extinguishing mechanism comprises a high-pressure water cannon fire extinguishing module, a dry powder jet fire extinguishing module and a carbon dioxide fire extinguishing module, the high-pressure water cannon fire extinguishing module and the dry powder jet fire extinguishing module are mounted on the fire fighting equipment mounting platform, the carbon dioxide fire extinguishing module is mounted on the connecting base, and the carbon dioxide fire extinguishing module is provided with an electromagnetic valve and a pressure reduction nozzle. The operation method comprises the following steps: S1, module installation; s2, fire extinguishing operation; and S3, module disassembly. Module mounting and dismounting can be completed without tools. Specific modules are designed for different fire types, the defect that a single module is universal and not special is overcome, and fire extinguishing pertinence and success rate are improved.

Description

A multifunctional fire extinguishing device for fire-fighting robots and its operating method. Technical Field

[0001] This invention belongs to the field of fire protection application technology, specifically relating to a multi-functional fire extinguishing device for fire extinguishing robots and its operating method. Background Technology

[0002] In the field of fire emergency rescue, fire-fighting robots are key equipment that replaces manual labor in high-risk fire scenes to perform fire-fighting operations. Their operational efficiency and functional adaptability directly affect the effectiveness of fire suppression. With the diversification of fire types, higher demands are placed on the functional flexibility and response speed of fire-fighting robots. However, currently available fire-fighting robots generally suffer from technical defects such as fixed functional modules, low replacement efficiency, and poor module versatility. Specific problems are as follows: 1. Fixed functional modules and poor scenario adaptability: Existing traditional fire-fighting robots mostly adopt an integrated structural design, with each device integrating only a single fire-fighting functional module. In actual fire rescue scenarios, different types of fires require different extinguishing media and methods. When the fire type changes, due to the limited functionality of the integrated design, it is impossible to switch functions by replacing modules; the entire fire-fighting robot must be replaced. This not only delays valuable fire-fighting opportunities due to the equipment replacement process, leading to the spread of the fire, but also requires the configuration of multiple robots with different functions to cope with different scenarios, significantly increasing the equipment procurement and subsequent maintenance costs for fire departments. 2. Low efficiency in multi-module robot replacement, failing to meet rapid response requirements: Some manufacturers have developed fire-fighting robots with multiple fire-fighting modules to improve the robots' adaptability to different scenarios. However, the module connection structure of these robots is complex, and the module replacement process requires specialized tools and multiple operators. According to statistics from actual applications, the average module replacement time for this type of robot exceeds 15 minutes. Fire scene rescue demands extremely high "rapid response," and excessively long module replacement times cannot meet the operational needs of rapid fire control and extinguishing in the early stages of a fire, easily leading to decreased rescue efficiency and even secondary disasters. 3. Inconsistent module interface specifications, low universality and reusability: Due to the current lack of unified module interface technical standards in the fire-fighting robot industry, the interface specifications of fire-fighting functional modules produced by different manufacturers differ, resulting in fire-fighting modules from different manufacturers being incompatible with common robot platforms. This lack of interface standardization means that fire departments need to select modules from the same manufacturer as the existing robot platform when upgrading equipment or adding modules. This not only limits the flexibility of equipment selection but also prevents fire extinguishing modules from different platforms from being reused, resulting in high module idle rates, resource waste, and further increasing the overall cost of fire operations. Summary of the Invention

[0003] The purpose of this invention is to address the technical problems described in the background section by providing a multi-functional fire extinguishing device and its operation method for fire extinguishing robots. Through standardized interface design and a quick-locking mechanism, it enables rapid switching of modules such as high-pressure water cannons, dry powder spraying, and carbon dioxide fire extinguishing within 3 minutes. At the same time, the modules are highly adaptable to the robot platform, compatible with mainstream small and medium-sized fire extinguishing robot platforms, balancing fire extinguishing efficiency and equipment versatility, and reducing fire extinguishing operation costs.

[0004] The technical solution of the present invention: A multi-functional fire extinguishing device for a fire extinguishing robot, comprising a connecting base, a fire extinguishing mechanism, and a locking mechanism. The connecting base is fixedly installed on the fire extinguishing robot platform and is connected to a lifting mechanism. A fire equipment installation platform is provided on the lifting mechanism. The fire extinguishing mechanism includes a high-pressure water cannon fire extinguishing module, a dry powder spray fire extinguishing module, and a carbon dioxide fire extinguishing module. The high-pressure water cannon fire extinguishing module and the dry powder spray fire extinguishing module are installed on the fire equipment installation platform. The carbon dioxide fire extinguishing module is installed on the connecting base and is equipped with a solenoid valve and a pressure reducing nozzle. The locking mechanism is installed on the side of the fire extinguishing robot platform.

[0005] The connecting base includes a first slide rail and a first base mounting block fixedly installed on the fire-fighting robot platform. A fluid interface is provided inside the first base mounting block, and a carbon dioxide delivery pipe is connected to the fluid interface. The carbon dioxide fire extinguishing module is installed inside the first base mounting block and connected to the fluid interface. The carbon dioxide delivery pipe is installed on the connecting base, and the lifting mechanism is set on the first slide rail.

[0006] The lifting mechanism includes two connecting rods that are hinged together in the middle to form an X-shaped structure by a first pin. One connecting rod has a fixed block hinged to its bottom, and the other connecting rod has a slider hinged to its bottom. The bottom of the fire equipment installation platform is provided with an installation plate. The installation plate has a limiting strip groove inside. The top of the connecting rod that is hinged to the fixed block is hinged to one end of the installation plate. The top of the connecting rod that is connected to the slider is hinged to a second pin. The second pin passes through the limiting strip groove. The lifting mechanism of the platform is controlled by inserting a locking pin when the connecting rod is pushed to a designated position.

[0007] The first slide rail has an I-beam structure in cross section, and the slider has a T-shaped groove adapted to the I-beam structure.

[0008] The high-pressure water cannon fire extinguishing module includes a mounting base fixedly installed on the fire equipment installation platform, and a high-pressure water cannon interface installed on the mounting base.

[0009] The dry powder spray fire extinguishing module includes a storage tank and an electrically controlled lever matched with the storage tank. The electrically controlled lever is connected to a collar, which is fitted onto a sliding rod. A limit groove is provided on the fire equipment installation platform, and the storage tank is installed inside the limit groove. The lifting and lowering of the electrically controlled lever is achieved through a motor built into the electrically controlled lever.

[0010] The locking mechanism includes an unlocking button, a return spring, and an elastic locking tongue. The lower part of the unlocking button is fitted with a return spring, and the lower end of the return spring abuts against the top of the elastic locking tongue. The locking end of the elastic locking tongue is normally embedded in the locking groove to form a lock. The locking groove is opened at the docking interface of the fire-fighting robot platform.

[0011] The fire extinguishing mechanism is equipped with a positioning hole and an electrical interface at its bottom, and a positioning pin that matches the positioning hole is provided on the connecting base.

[0012] It also includes a pressure sensor, which is installed on the carbon dioxide fire extinguishing module.

[0013] A method for operating a multi-functional fire extinguishing device for a fire-fighting robot includes the following steps: S1: Module installation: Align the positioning hole at the bottom of the target fire extinguishing mechanism with the positioning pin, and lower the fire extinguishing mechanism vertically to the surface of the connecting base. At this time, the elastic locking tongue of the locking mechanism automatically engages with the locking groove under the force of the return spring, completing the mechanical locking. Simultaneously, the electrical interface and fluid interface at the bottom of the fire extinguishing mechanism are connected to the corresponding interfaces of the connecting base via wires. S2: Fire extinguishing operation: Taking an electrical fire as an example, after connecting the carbon dioxide gas source, the robot control system sends a start signal to the carbon dioxide fire extinguishing module through the electrical interface. The built-in solenoid valve of the carbon dioxide fire extinguishing module opens, and liquid carbon dioxide is atomized and sprayed through the pressure-reducing nozzle. At the same time, the pressure sensor provides real-time feedback of the pressure to the robot terminal. When the pressure is lower than a certain value, a low-pressure alarm is triggered, prompting the replacement of the module. S3: Module disassembly: Press the unlock button of the locking mechanism and rotate it. The elastic locking tongue is compressed and reset. At this time, the fire extinguishing mechanism can be lifted upward to complete the disassembly.

[0014] The beneficial effects of this invention are as follows: This invention utilizes a quick-locking mechanism of "positioning pin + elastic locking tongue" and a multi-interface integrated design, allowing for tool-free module installation / disassembly, thus solving the problem of time-consuming replacement associated with traditional bolt-fixing. Dedicated modules are designed for different fire types, avoiding the "general-purpose but not specialized" shortcomings of single modules, improving the targeting and success rate of fire suppression. Simultaneously, the modules have built-in status monitoring functions, enabling early warning of faults. The various fire suppression modules of this application adopt a unified interface adaptation scheme, with each core module using the same bottom connection structure, and the connection base conforming to national standards. This solves the compatibility issues of different modules and different robot platforms, reducing the equipment procurement and maintenance costs for fire departments. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a rear view of Figure 1 in the present invention; Figure 3 is a schematic diagram of the locking mechanism in the present invention; Figure 4 is a diagram showing the positional relationship between the positioning hole and the electrical interface in the present invention; Figure 5 is a cross-sectional view of the first slide rail and the slider in the present invention.

[0016] Reference numerals: 1-Connecting base, 2-Locking mechanism, 3-Firefighting robot platform, 4-Lifting mechanism, 5-Firefighting equipment installation platform, 6-High-pressure water cannon extinguishing module, 7-Dry powder spray extinguishing module, 8-Carbon dioxide extinguishing module, 9-First slide rail, 10-First base mounting block, 11-Fluid interface, 12-Carbon dioxide delivery pipe, 13-First pin, 14-Connecting rod, 15-Fixing block, 16-Slider, 17-Limiting strip groove, 18-Second pin, 19-Mounting plate, 20-Mounting seat, 21-High-pressure water cannon interface, 22-Storage tank, 23-Electrically controlled lever, 24-Loop ring, 25-Slide rod, 26-Limiting groove, 27-Unlocking button, 28-Reset spring, 29-Elastic locking tongue, 30-Positioning hole, 31-Electrical interface, 32-Locking groove, 33-Pressure sensor, 34-Solenoid valve, 35-Pressure reducing nozzle. Detailed Implementation

[0017] Referring to Figures 1-5, a multi-functional fire extinguishing device for a fire-fighting robot includes a connecting base 1, a fire extinguishing mechanism, and a locking mechanism 2. The connecting base 1 is fixedly installed on the fire-fighting robot platform 3. The connecting base 1 is connected to a lifting mechanism 4, and a fire-fighting equipment installation platform 5 is provided on the lifting mechanism 4. The fire extinguishing mechanism includes a high-pressure water cannon fire extinguishing module 6, a dry powder spray fire extinguishing module 7, and a carbon dioxide fire extinguishing module 8. The high-pressure water cannon fire extinguishing module 6 and the dry powder spray fire extinguishing module 7 are installed on the fire-fighting equipment installation platform 5. The carbon dioxide fire extinguishing module 8 is installed on the connecting base 1. The carbon dioxide fire extinguishing module 8 is equipped with a solenoid valve 34 and a pressure reducing nozzle 35. The locking mechanism 2 is installed on the side of the fire-fighting robot platform 3.

[0018] In this application, the various components achieve rapid mechanical and fluid connection through bolt fasteners and sealing interfaces, ensuring connection stability and functional reliability. The connecting base 1 is made of high-strength aluminum alloy to enhance the strength and robustness of the device. The inclusion of the high-pressure water cannon fire extinguishing module 6, carbon dioxide fire extinguishing module 8, and dry powder spray fire extinguishing module 7 primarily increases the device's multifunctionality and applicability. The inclusion of the solenoid valve 34 and pressure-reducing nozzle 35 facilitates adjustment of the device's spray pressure. The locking mechanism 2 facilitates rapid control of various fire extinguishing modules to ensure safety.

[0019] The connecting base 1 includes a first slide rail 9 and a first base mounting block 10 fixedly installed on the fire robot platform 3. The first base mounting block 10 is provided with a fluid interface 11, which is connected to a carbon dioxide delivery pipe 12. The carbon dioxide fire extinguishing module 8 is installed in the first base mounting block 10 and connected to the fluid interface 11. The carbon dioxide delivery pipe 12 is installed on the connecting base 1, and the lifting mechanism 4 is set on the first slide rail 9.

[0020] The first slide rail 9 is mainly for controlling the lifting mechanism 4; the fluid interface 11 is mainly for connecting to the interfaces of various fire extinguishing modules to facilitate fire extinguishing; the carbon dioxide delivery pipe 12 is mainly for facilitating the transmission of carbon dioxide fire extinguishing gas in the device.

[0021] The lifting mechanism 4 includes two connecting rods 14 that are hinged in the middle to form an X-shaped structure by a first pin 13. One connecting rod 14 is hinged to a fixed block 15 at its bottom, and the other connecting rod 14 is hinged to a slider 16 at its bottom. The bottom of the fire equipment installation platform 5 is provided with an installation plate 19. The installation plate 19 is provided with a limiting strip groove 17. The top end of the connecting rod 14 that is hinged to the fixed block 15 is hinged to one end of the installation plate 19. The top end of the connecting rod 14 that is connected to the slider 16 is hinged to a second pin 18. The second pin 18 passes through the limiting strip groove 17. The platform lifting mechanism 4 is controlled by inserting a locking pin (not shown in the figure) when the connecting rod 14 is pushed to a designated position.

[0022] In the application, the lifting mechanism 4 is provided with at least two sets to ensure the balanced support of the mounting plate 19 and to ensure the safety and stability of the components on it.

[0023] In this application, the slider 16 is mounted on the first slide rail 9, and in conjunction with the fixing block 15, it facilitates the adjustment of the height of the fire equipment installation platform 5 to meet the fire extinguishing requirements of the device. The limiting strip groove 17 is mainly designed to facilitate the control and positioning of the top end of the connecting rod 14, ensuring the safety of the device.

[0024] The first slide rail 9 is an I-beam structure, and the slider 16 has a T-shaped groove adapted to the I-beam structure. This design is mainly to ensure a stable fit between the first slide rail 9 and the slider 16, ensuring that the slider 16 is fastened onto the first slide rail 9.

[0025] The high-pressure water cannon fire extinguishing module 6 includes a mounting base 20 fixedly installed on the fire equipment installation platform 5, and a high-pressure water cannon interface 21 installed on the mounting base 20. This configuration is mainly to facilitate the control function of water-based fire extinguishing.

[0026] The dry powder spray fire extinguishing module 7 includes a storage tank 22 and an electrically controlled lever 23 matched with the storage tank 22. The electrically controlled lever 23 is connected to a collar 24, which is fitted onto a sliding rod 25. A limit groove 26 is provided on the fire equipment installation platform 5, and the storage tank 22 is located inside the limit groove 26. The lifting and lowering of the electrically controlled lever 23 is controlled by a motor built into the lever 23. This design is mainly to facilitate the operation and control of the dry powder fire extinguishing function. The storage tank 22 is mainly used to store the fire extinguishing agent, and the limit groove 26 is mainly used to limit the movement of the storage tank 22, prevent shaking, and ensure the safety of the storage tank 22.

[0027] The locking mechanism 2 includes an unlocking button 27, a return spring 28, and an elastic locking tongue 29. The lower part of the unlocking button 27 is fitted with the return spring 28, and the lower end of the return spring 28 abuts against the top of the elastic locking tongue 29. The locking end of the elastic locking tongue 29 is normally embedded in the locking groove 32 to form a lock. The locking groove 32 is opened at the docking interface of the fire robot platform 3.

[0028] The locking mechanism 2 is used to lock the connection between the fire extinguishing mechanism and the fire robot platform 3. The specific connection and locking logic is as follows: the locking mechanism 2 is installed on the connection end of the fire extinguishing mechanism, and the corresponding locking groove 32 is opened at the docking interface of the fire robot platform 3. When the fire extinguishing mechanism and the fire robot platform 3 are docked, the locking end of the elastic locking tongue 29 will be embedded in the locking groove 32 of the interface of the fire robot platform 3 under the elastic force of the return spring 28, thereby realizing the physical engagement and fixing of the two and achieving the locking effect. When the unlocking button 27 is pressed, the button presses down the elastic locking tongue 29 so that its locking end is disengaged from the locking groove 32, thereby releasing the engagement and separating the fire extinguishing mechanism from the platform.

[0029] The fire extinguishing mechanism is equipped with a positioning hole 30 and an electrical interface 31 at its bottom, and the connecting base 1 is provided with a positioning pin (not shown in the figure) that matches the positioning hole 30.

[0030] The positioning hole 30 is mainly for easy positioning and fixing. The electrical interface 31 is mainly for easy connection of electrical equipment to facilitate power supply and control. The positioning pin is mainly for easy fixing and positioning.

[0031] It also includes a pressure sensor 33, which is installed on the carbon dioxide fire extinguishing module 8. This installation is mainly to facilitate the monitoring of the internal pressure of the carbon dioxide fire extinguishing module 8, so as to facilitate the timely replacement or control of the carbon dioxide fire extinguishing agent.

[0032] In addition, in practical applications, silicone shock-absorbing pads are nested at the connection points between various modules and the base to alleviate the vibration and impact of the modules during robot movement and prevent the interfaces from becoming loose. Furthermore, the fluid interface in this application adopts a double sealing ring design to ensure that there is no leakage of the fire extinguishing medium.

[0033] An operating method for a multi-functional fire extinguishing device for a fire-fighting robot includes the following steps: S1: Module installation: Align the positioning hole 30 at the bottom of the target fire extinguishing mechanism with the positioning pin, and lower the fire extinguishing mechanism vertically to the surface of the connecting base 1. At this time, the elastic locking tongue 29 of the locking mechanism 2 automatically engages with the locking groove 32 under the force of the return spring 28, completing the mechanical locking. Simultaneously, the electrical interface 31 and fluid interface 11 at the bottom of the fire extinguishing mechanism are connected to the corresponding interfaces of the connecting base 1 via wires. S2: Fire extinguishing operation: Taking an electrical fire as an example, after connecting the carbon dioxide gas source, the robot control system sends a start signal to the carbon dioxide fire extinguishing module through the electrical interface 31. The solenoid valve 34 built into the carbon dioxide fire extinguishing module 8 opens, and liquid carbon dioxide is atomized and sprayed through the pressure reducing nozzle 35. At the same time, the pressure sensor 33 provides real-time feedback of the pressure to the robot terminal. When the pressure is lower than a certain value, a low pressure alarm is triggered, prompting the replacement of the module. S3: Module disassembly: Press the unlock button 27 of the locking mechanism 2 and rotate it. The elastic locking tongue 29 is compressed and reset. At this time, the fire extinguishing mechanism can be disassembled by lifting it upward.

[0034] This invention utilizes a quick-locking mechanism combining a "positioning pin + elastic locking tongue" and a multi-interface integrated design, enabling tool-free module installation / disassembly and solving the problem of time-consuming replacement associated with traditional bolt-fixed systems. Dedicated modules are designed for different fire types, avoiding the "general-purpose but not specialized" shortcomings of single modules, thus improving the targeting and success rate of fire suppression. Simultaneously, the modules incorporate status monitoring functions to provide early warning of malfunctions. The various fire suppression modules in this application employ a unified interface adaptation scheme, with each core module using the same bottom connection structure, and the connection base conforming to national standards. This resolves compatibility issues between different modules and different robot platforms, reducing equipment procurement and maintenance costs for fire departments.

Claims

1. A multi-functional fire extinguishing device for fire-fighting robots, characterized in that... The system includes a connecting base (1), a fire extinguishing mechanism and a locking mechanism (2). The connecting base (1) is fixedly installed on the fire robot platform (3). The connecting base (1) is connected to a lifting mechanism (4). A fire equipment installation platform (5) is provided on the lifting mechanism (4). The fire extinguishing mechanism includes a high-pressure water cannon fire extinguishing module (6), a dry powder spray fire extinguishing module (7) and a carbon dioxide fire extinguishing module (8). The high-pressure water cannon fire extinguishing module (6) and the dry powder spray fire extinguishing module (7) are installed on the fire robot platform (3). The carbon dioxide fire extinguishing module (8) is installed on the connecting base (1). The carbon dioxide fire extinguishing module (8) is equipped with a solenoid valve (34) and a pressure reducing nozzle (35). The locking mechanism (2) is installed on the side of the fire robot platform (3).

2. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: The connecting base (1) includes a first slide rail (9) and a first base mounting block (10) fixedly installed on the fire robot platform (3). The first base mounting block (10) is provided with a fluid interface (11), and the fluid interface (11) is connected to a carbon dioxide delivery pipe (12). The carbon dioxide fire extinguishing module (8) is installed in the first base mounting block (10) and connected to the fluid interface (11). The carbon dioxide delivery pipe (12) is installed on the connecting base (1), and the lifting mechanism (4) is set on the first slide rail (9).

3. The multi-functional fire extinguishing device for fire-fighting robots according to claim 2, characterized in that: The lifting mechanism (4) includes two connecting rods (14) that are hinged together in the middle by a first pin (13) to form an X-shaped structure. One connecting rod (14) is hinged to a fixed block (15) at the bottom, and the other connecting rod (14) is hinged to a slider (16) at the bottom. The fire equipment installation platform (5) is provided with an installation plate (19) at the bottom. The installation plate (19) is provided with a limiting strip groove (17) inside. The top of the connecting rod (14) that is hinged to the fixed block (15) is hinged to one end of the installation plate (19). The top of the connecting rod (14) that is connected to the slider (16) is hinged to a second pin (18). The second pin (18) passes through the limiting strip groove (17).

4. The multi-functional fire extinguishing device for fire-fighting robots according to claim 3, characterized in that: The first slide rail (9) has an I-beam structure in cross section, and the slider (16) has a T-shaped groove adapted to the I-beam structure.

5. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: The high-pressure water cannon fire extinguishing module (6) includes a mounting base (20) fixedly installed on the fire equipment installation platform (5) and a high-pressure water cannon interface (21) installed on the mounting base (20).

6. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: The dry powder spray fire extinguishing module (7) includes a storage tank (22) and an electric control handle (23) matched with the storage tank (22). The electric control handle (23) is connected to a collar (24), which is fitted onto a slide rod (25). A limit groove (26) is provided on the fire equipment installation platform (5). The storage tank (22) is located inside the limit groove (26). The electric control handle (23) is raised and lowered by a motor built into it.

7. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: The locking mechanism (2) includes an unlocking button (27), a return spring (28), and an elastic locking tongue (29). The lower part of the unlocking button (27) is fitted with the return spring (28), and the lower end of the return spring (28) rests against the top of the elastic locking tongue (29). The locking end of the elastic locking tongue (29) is normally embedded in the locking groove (32) to form a lock. The locking groove (32) is opened at the docking interface of the fire robot platform (3).

8. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: The fire extinguishing mechanism is equipped with a positioning hole (30) and an electrical interface (31) at the bottom, and a positioning pin matching the positioning hole (30) is provided on the connecting base (1).

9. The multi-functional fire extinguishing device for fire-fighting robots according to claim 1, characterized in that: It also includes a pressure sensor (33), which is mounted on the carbon dioxide fire extinguishing module (8).

10. The method of operating the multifunctional fire extinguishing device for a fire-fighting robot according to any one of claims 1-9, characterized in that: Includes the following steps: S1: Module installation: Align the positioning hole (30) at the bottom of the target fire extinguishing mechanism with the positioning pin, and lower the fire extinguishing mechanism vertically to the surface of the connecting base (1). At this time, the elastic locking tongue (29) of the locking mechanism (2) automatically engages with the locking groove (32) under the force of the return spring (28), completing the mechanical locking. At the same time, the electrical interface (31) and fluid interface (11) at the bottom of the fire extinguishing mechanism are connected to the corresponding interfaces of the connecting base (1) through wires. S2: Fire extinguishing operation: Taking an electrical fire as an example, after connecting the carbon dioxide gas source, the robot controls... The control system sends a start signal to the carbon dioxide fire extinguishing module through the electrical interface (31). The solenoid valve (34) built into the carbon dioxide fire extinguishing module (8) opens, and liquid carbon dioxide is atomized and sprayed through the pressure reducing nozzle (35). At the same time, the pressure sensor (33) feeds back the pressure to the robot terminal in real time. When the pressure is lower than a certain value, a low pressure alarm is triggered, prompting the replacement of the module. S3: Module disassembly: Press the unlock button (27) of the locking mechanism (2) and rotate it. The elastic locking tongue (29) is compressed and reset. At this time, the fire extinguishing mechanism can be disassembled by pulling it upward.

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