Fire extinguishing device based on mechanical arm

Abstract

The utility model relates to the technical field of intelligent mechanization and intelligent fire fighting, and discloses a fire extinguishing device based on a mechanical arm, which comprises a mounting base, the top of the mounting base is fixedly connected with a rotating mechanical arm, and the other end of the rotating mechanical arm is rotatably connected with a swinging mechanical arm I; and the other end of the first swinging mechanical arm is rotationally connected with a second swinging mechanical arm, the right side of the exterior of the second swinging mechanical arm is fixedly connected with an extension mechanical arm, and the right side of the exterior of the extension mechanical arm is connected with a telescopic mechanism. According to the utility model, the multi-channel conveying mechanism is connected with an external fire extinguishing medium, such as gas, liquid or dry powder, through the conveying pipe, so that the fire extinguishing medium can be quickly conveyed during fire extinguishing, the fire extinguishing efficiency is effectively improved, the sprayed fire extinguishing medium is quickly diffused, and the contact area with a fire source is increased; and stable operation in various environments is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent mechanization and intelligent fire fighting technical field especially relates to a fire extinguishing device based on mechanical arm. BACKGROUND

[0002] In some large factory workshops, such as automobile manufacturing workshops, electronic equipment production workshops, etc., there are usually a large number of mechanical equipment, flammable materials and electrical lines. When a fire occurs, the mechanical arm fire extinguishing device can quickly shuttle between various equipment and passages in the workshop, quickly reach the fire source position for fire extinguishing, which can effectively protect the production equipment and products and reduce the economic loss caused by the fire.

[0003] Part of the prior art fire extinguishing device usually uses a camera and other visual equipment to shoot and analyze the image of the fire scene. On the one hand, the specific position, shape and size of the fire source are identified through image processing technology; on the other hand, the position of the fire source is compared and matched with the position information of the mechanical arm, and the angle, distance and other parameters of the mechanical arm required to move are calculated to realize accurate aiming at the fire source.

[0004] With the rapid development of modern industrialization and automation, the intensive distribution of high-value equipment puts forward higher requirements for fire fighting facilities. However, the traditional fire fighting system mainly relies on the fixed point spraying system, which has serious shortcomings in coverage and response speed. In addition, the existing equipment usually uses a single fire extinguishing medium, which cannot adapt to complex and diverse fire environments. In recent years, intelligent mechanical arms have become an important tool in the automation field due to their flexibility and intelligent characteristics, but they have not been effectively integrated into the fire fighting system. In view of the above problems, a fire extinguishing device based on mechanical arm is proposed. UTILITY MODEL CONTENT

[0005] In order to make up for the above shortcomings, the utility model provides a fire extinguishing device based on mechanical arm, which aims to solve the problems of poor flexibility, single medium and slow response of traditional fire fighting system, and provides a modular multi-medium fire extinguishing device that can be seamlessly combined with intelligent mechanical arm. The device has the characteristics of high flexibility, rapid response and strong multi-medium adaptability, and is suitable for fire fighting in various complex scenes.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] A fire extinguishing device based on a mechanical arm, comprising a mounting base, the top of the mounting base is fixedly connected with a rotating mechanical arm, the other end of the rotating mechanical arm is rotatably connected with a swinging mechanical arm one, the other end of the swinging mechanical arm one is rotatably connected with a swinging mechanical arm two, the rotating mechanism inner cavity of the swinging mechanical arm two is provided with a high-pressure hose telescopic winch, the outer right side of the swinging mechanical arm two is fixedly connected with an extension mechanical arm, the outer right side of the extension mechanical arm is connected with a telescopic mechanism, the inner side of the swinging mechanical arm one is fixedly connected with a multi-channel conveying mechanism;

[0008] As a further description of the above technical solution:

[0009] The telescopic mechanism comprises a telescopic cylinder, the outer right side of the telescopic cylinder is fixedly connected with a high-pressure spray head, the outer right side of the telescopic cylinder has an annular base, the annular base is externally mounted with a flame and an infrared sensor, the outer left side of the telescopic cylinder is fixedly connected with a conveying hose, the outer left side of the conveying hose is fixedly connected with a multi-channel conveying pipe one, the outer side of the multi-channel conveying pipe one is fixedly connected with a three-channel electromagnetic valve;

[0010] As a further description of the above technical solution:

[0011] The other end of the multi-channel conveying pipe one is fixedly connected with a balance assembly, the outer side of the telescopic cylinder is fixedly connected to the outer right side of the extension mechanical arm;

[0012] As a further description of the above technical solution:

[0013] The balance assembly comprises a gravity ball, the bottom of the gravity ball is fixedly connected with a connecting hose, the outer side of the gravity ball is fixedly connected to the outer left side of the multi-channel conveying pipe one;

[0014] As a further description of the above technical solution:

[0015] The multi-channel conveying mechanism comprises a multi-channel conveying pipe two, the outer side of the multi-channel conveying pipe two is fixedly connected with an input pipe, the outer side of the multi-channel conveying pipe two is fixedly connected to the inner side of the swinging mechanical arm one;

[0016] As a further description of the above technical solution:

[0017] The outer right side annular base of the extension mechanical arm is fixedly connected with a flame sensor, the outer side of the flame sensor is in contact with the outer side of the telescopic cylinder;

[0018] As a further description of the above technical solution:

[0019] The other end of the extension mechanical arm is fixedly connected with a clamping jaw, the outer side of the clamping jaw is in contact with the outer side of the telescopic cylinder;

[0020] As a further description of the above technical solutions:

[0021] The outside of the multi-channel conveying pipe one is provided with a mounting through hole, the inside of the multi-channel conveying pipe one is provided with a cavity, and the outside of the three-channel electromagnetic valve is fixedly connected to the outside of the cavity.

[0022] As a further description of the above technical solutions:

[0023] The outside of the connecting hose is connected with the outside of the multi-channel conveying pipe two, and the outside of the connecting hose is fixedly connected to the outside bottom end of the swinging mechanical arm one.

[0024] As a further description of the above technical solutions:

[0025] The outside of the conveying hose is fixedly connected to the inside of the swinging mechanical arm two, and the other end of the conveying hose is fixedly connected to the outside top end of the gravity ball.

[0026] The utility model has the advantages of the following beneficial effects:

[0027] 1、The utility model discloses a multi-channel conveying mechanism connects the outside extinguishing medium such as gas, liquid or dry powder through the conveying pipe, ensures that extinguishing agent can be sent rapidly when extinguishing, high -pressure spray head adopts advanced atomization technology, effectively promotes the extinguishing efficiency, makes the extinguishing medium after spraying spread rapidly, increases the contact area with the fire source, is equipped with three -level medium conveying control system, ensures stable operation under various environments, and the gravity ball assembly can be adjusted automatically when the mechanical arm pose changes, keeps the balance of system, avoids the unstable conveying due to unbalance.

[0028] 2、The utility model discloses a flame sensor and visual sensor joint signal guide rotary mechanical arm 2 tracks the fire source. The control mainboard will open the air pressure valve on the air cylinder and the electromagnetic valve of conveying medium in turn, and push -pull pipe pushes the spray head to the fire source position. When the spray head reaches the appropriate position, the electromagnetic valve of the extinguishing medium suitable for the flame type is opened, and the extinguishing medium starts to spray, at the same time, the voice control module will receive the control signal, activate the voice broadcast and emergency signal, and feedback the fire information to the control center in time. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A kind of extinguishing device based on mechanical arm of the utility model is shown in the stereogram;

[0030] Figure 2 The structure diagram of the high-pressure spray head of the extinguishing device based on mechanical arm of the utility model is shown in the structure diagram;

[0031] Figure 3A structure schematic view of a telescopic air cylinder of a fire extinguishing device based on a mechanical arm is provided in the utility model.

[0032] Figure 4 A structure schematic view of a cavity of a fire extinguishing device based on a mechanical arm is provided in the utility model.

[0033] Figure 5 A structure schematic view of a swing mechanical arm two of a fire extinguishing device based on a mechanical arm is provided in the utility model.

[0034] Legend:

[0035] 1, installation base; 2, rotating mechanical arm; 3, swing mechanical arm one; 4, swing mechanical arm two; 5, extension mechanical arm; 6, telescopic air cylinder; 7, high-pressure spray head; 8, connecting mounting bracket; 9, conveying hose; 10, multi-pass conveying pipe one; 11, cavity; 12, mounting through hole; 13, three-way electromagnetic valve; 14, gravity ball; 15, connecting hose; 16, multi-pass conveying pipe two; 17, input pipe; 18, flame sensor; 19, clamping jaw. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0037] Reference Figures 1 to 3The utility model provides an embodiment: a fire extinguishing device based on mechanical arm, including installation base 1, installation base 1 adopts high -strength metal material to be made, passes through special rust -proof treatment, ensure that can stably support entire device under various complex environment, the steering base of mechanical hand installs infrared flame sensor 18, visual module, digital display screen, flame sensor 18, visual sensor detects flame and sends signal to control mainboard, and control mainboard receives signal and switches power supply in proper order: closes mechanical hand servo motor and makes it stop work and contracts mechanical hand, flame sensor 18, infrared sensor guides mechanical arm to track fire source, and control mainboard opens the air pressure valve on cylinder and the electromagnetic valve of conveying medium in proper order, and the telescopic pipe is pushed and the spray head is forwardly extended, and the electromagnetic valve of the medium suitable for the type of flame is opened and is sprayed to the flame, and the voice control module accepts signal and activates voice and emergency broadcast and transmits signal to control center, and transmits standby and support pulse signal to adjacent equipment, and sends stop work pulse signal to the equipment in regional system, can realize: endows intelligent mechanical arm with all -weather monitoring, early warning, rescue function, promotes traditional fire -fighting industry to upgrade intelligent, the top fixed connection of installation base 1 has rotary mechanical arm 2, and rotary mechanical arm 2 is made of solid alloy material,

[0038] Integrates the precision drive motor and transmission system inside, can carry out 360 degrees rotation in horizontal direction, and rotation precision can reach ±0.1 degree, provides wide operation range for subsequent fire extinguishing operation, one end of rotary mechanical arm 2 is rotatably connected with swing mechanical arm one 3, swing mechanical arm one 3 also adopts high -quality alloy material, has good rigidity and toughness, and its inside is provided with special drive device, can swing greatly in vertical plane, and swing angle range is -90 degrees to +90 degrees, can flexibly adjust position according to actual fire extinguishing demand. The other end of swing mechanical arm one 3 is rotatably connected with swing mechanical arm two 4, and the right side outside swing mechanical arm two 4 is fixedly connected with extension mechanical arm 5, and extension mechanical arm 5 has telescopic characteristics, and its inside adopts advanced screw rod transmission mechanism and high -strength telescopic sleeve, can flexibly stretch and contract according to the distance of fire source, and the right side outside extension mechanical arm 5 is connected with telescopic mechanism, and the inside of swing mechanical arm one 3 is fixedly connected with multi -passage conveying mechanism, and the multi -passage conveying mechanism includes multi -passage conveying pipe two 16, and multi -passage conveying pipe two 16 is made of high -strength corrosion -resistant pipe material, has good sealing property and pressure resistance, and the outside of multi -passage conveying pipe two 16 is fixedly connected with input pipe 17.

[0039] Input pipe 17 is used to connect to an external fire extinguishing medium supply source, such as a fire water tank or dry powder storage tank. The external fixed connection of multi-channel delivery pipe 16 is to the inside of the swinging robotic arm 3. The delivery pipe converter housing is composed of multiple hollow cavities. Each hollow cavity has an interface for a rotatable joint that can connect to the medium delivery pipe. The three-channel delivery pipe is connected to a circumferential base. The outer port of the base has an interface for connecting to the delivery pipe. The other end has a corresponding pipeline outlet in the cylinder that extends into the hollow cavity converter. The three-channel delivery mechanism and the delivery pipe converter are combined with sealing rings and bearings. The corresponding base is bolted to form a rotatable delivery converter. The medium reaches the corresponding hollow converter cavity through the multi-channel delivery pipe cavity. Multi-layer sealing rings prevent leakage. The housing and the rotating shaft rotate axially. The medium can be converted and output through the inner cavity cylinder. The rotatable connector installed on the converter housing can also meet the radial rotation of the delivery pipe and the delivery converter housing.

[0040] The telescopic mechanism includes a telescopic cylinder 6, which is made of high-strength aluminum alloy. This material is not only lightweight but also possesses excellent pressure resistance and corrosion resistance, ensuring stable operation in complex firefighting environments. A high-pressure nozzle 7 is fixedly connected to the external right side of the telescopic cylinder 6. The high-pressure nozzle 7 is specially designed, and its nozzle diameter and spray angle can be adjusted according to different firefighting needs. The nozzle uses advanced atomization technology to fully atomize the extinguishing medium, allowing it to spread rapidly after being sprayed, increasing the contact area with the fire source and thus improving firefighting efficiency. A delivery hose 9 is fixedly connected to the external left side of the telescopic cylinder 6. The delivery hose 9 is made of high-strength, wear-resistant, and highly flexible rubber material, and also has an embedded metal wire reinforcement layer to improve its pressure resistance. This design allows the delivery hose 9 to bend flexibly during the movement of the robotic arm while withstanding the high-pressure delivery of the extinguishing medium, ensuring stable medium transmission. A multi-channel delivery pipe 10 is fixedly connected to the outer left side of the delivery hose 9. This multi-channel delivery pipe is composed of liquid, solid, and gas delivery pipes. The liquid delivery pipe originates from the main fire hose, while the solid and gas delivery pipes originate from the storage container. Each pipe is equipped with a tee connector and a corresponding electrically controlled valve. The solenoid valve is connected to the robotic arm control board. The liquid, solid, and gas delivery pipes are connected to corresponding multi-channel delivery pipe turning connection devices. A tee and branch valve are provided at the connection end between the multi-channel delivery pipe and the robotic arm, with reserved interfaces for manual operation and equipment branching, providing multiple options. The medium delivery control system consists of a three-level system: a main control valve, an emergency + reserved control valve, and a terminal control valve.

[0041] The third control valve adopts high-sensitivity pyroelectric sensor elements for the flame sensor 18 and the infrared flame sensor 18, which can quickly and accurately detect the infrared radiation signals emitted by the flame, with a response time of less than 0.1 second. Once the flame is detected, it will immediately send a signal to the control mainboard. The three different detection signals of the flame, far-infrared, and visual sensors are verified and confirmed with each other to prevent misoperation. The three-way electromagnetic valve 13 is fixedly connected to the outside of the multi-path delivery pipe one 10. The three-way electromagnetic valve 13 adopts advanced electromagnetic control technology, which can quickly and accurately switch the delivery channel of different fire extinguishing media. It has high-precision valve cores and sealing structures to ensure that the media will not leak during switching. Through the instructions of the control mainboard, the three-way electromagnetic valve 13 can quickly deliver the corresponding fire extinguishing medium to the high-pressure nozzle 7 according to the type of fire and the demand for fire extinguishing. The other end of the multi-path delivery pipe one 10 is fixedly connected to a balancing assembly, which includes a gravity ball 14. When the mechanical arm performs various actions, the gravity ball 14 can automatically adjust its position according to the attitude change of the mechanical arm, thereby maintaining the balance of the entire telescopic mechanism and the delivery pipe, avoiding unstable delivery or equipment damage due to imbalance. The bottom of the gravity ball 14 is fixedly connected to a connecting hose 15, which also adopts a material with good flexibility and wear resistance, ensuring the free swing of the gravity ball 14 and preventing it from breaking during movement. The gravity ball 14 is fixedly connected to the outside of the multi-path delivery pipe one 10 on the left side, and the telescopic air cylinder 6 is fixedly connected to the outside of the extension mechanical arm 5 on the right side.

[0042] Referring to Figures 3 to 5 , the flame sensor 18 is fixedly connected to the outside right of the extension mechanical arm 5. The visual sensor intelligently selects fire extinguishing media according to the type of fire and switches the fire extinguishing media according to image changes. The pressure measuring display screen, the control mainboard, the external power supply, and the signal line are installed in the base box. The flame sensor 18 and the visual sensor send signals to the control mainboard after detecting the flame. After receiving the signals, the control mainboard closes the mechanical hand servo motor to make it retract, opens the air pressure valve and the gas pipe branch valve to push the telescopic pipe and the nozzle forward to spray fire extinguishing medium, and the outside of the flame sensor 18 contacts the outside of the telescopic air cylinder 6. The other end of the extension mechanical arm 5 is fixedly connected to a gripper 19 made of high-strength alloy steel and subjected to special heat treatment process, which has extremely high hardness and toughness. The outside of the gripper 19 contacts the outside of the telescopic air cylinder 6. The outside of the multi-path delivery pipe one 10 is provided with a mounting hole 12, and the inside of the multi-path delivery pipe one 10 is provided with a cavity 11.

[0043] The cavity 11 adopts a special streamline design, and the inner wall is polished to minimize the resistance and friction of the fire extinguishing medium during transportation. The three-way electromagnetic valve 13 is fixedly connected outside the cavity 11. The outside of the connecting hose 15 is connected to the outside of the multi-way delivery pipe two 16. The outside of the connecting hose 15 is fixedly connected to the bottom end of the swinging mechanical arm one 3. The outside of the delivery hose 9 is fixedly connected to the inside of the swinging mechanical arm two 4. The other end of the delivery hose 9 is fixedly connected to the top end of the gravity ball 14.

[0044] The mechanical arm not only can extinguish fire, but also can be used for production operation, can widen market application range, is applicable to intelligent factory, chemical plant and other scenes needing daily operation + fire extinguishing function, enhances the economy of equipment.

[0045] At present, there are many special fire extinguishing mechanical arms in the market, and the design of integrated production operation is less. The complexity of the technical scheme is enhanced, which makes it more difficult to be bypassed or easily copied, improves the utilization rate of equipment. The mechanical arm can carry out material handling, detection and other tasks in daily life, and quickly switch to fire extinguishing mode when fire occurs, avoid equipment idle, improve the return on investment.

[0046] Working principle: when the device is deployed to the place that needs to be monitored, the infrared flame sensor 18 and the visual sensor installed on the mechanical hand turning base start real-time monitoring of the surrounding environment. Once the flame is detected, the infrared flame sensor 18 will quickly transmit the signal to the control mainboard. After the control mainboard receives the signal, it will first instruct the mechanical hand servo motor to stop working and retract the mechanical hand to ensure its own safety, then the joint signal of the flame sensor 18 and the visual sensor guides the rotating mechanical arm 2 to track the fire source. The control mainboard will open the air pressure valve on the gas cylinder and the electromagnetic valve of the delivery medium in turn, push the telescopic pipe to extend the nozzle to the fire source position. When the nozzle reaches the appropriate position, the electromagnetic valve of the fire extinguishing medium suitable for the type of flame is opened, and the fire extinguishing medium starts to spray. At the same time, the voice control module will receive the control signal, activate the voice broadcast and emergency signal, and timely feedback the fire information to the control center.

[0047] In addition, the system can send standby and support pulse signals to adjacent devices, and send signals to stop operation to other devices in the regional system, thereby realizing the coordination of various devices, cooperating with swing mechanical arm one 3 and swing mechanical arm two 4, and flexibly adjusting the fire extinguishing position to meet different fire extinguishing needs, and the extended mechanical arm 5 adjusts the length according to the position of the fire source to ensure that the spray head can effectively reach the fire source, and the multi-channel conveying mechanism connects external fire extinguishing medium such as fire water or dry powder through the conveying pipe to ensure that the fire extinguishing agent can be quickly delivered during fire extinguishing. The high-pressure spray head 7 adopts advanced atomization technology to effectively improve the fire extinguishing efficiency, so that the fire extinguishing medium after being sprayed can quickly spread and increase the contact area with the fire source, and the entire device adopts high-strength and corrosion-resistant materials and is equipped with a three-stage medium conveying control system to ensure stable operation in various environments. The gravity ball 14 assembly can automatically adjust when the mechanical arm pose changes to maintain the balance of the system and avoid unstable conveying due to imbalance. Finally, combined with the rapid response of the flame sensor 18, the visual sensor and the electromagnetic valve, the entire fire extinguishing device constitutes an intelligent and efficient fire extinguishing system, which greatly improves the automation degree and emergency response capability of fire fighting work. Through these advanced designs and integration, the device not only effectively deals with fires, but also promotes the development of traditional fire fighting industry towards intelligentization.

[0048] Finally, it should be noted that: the above only preferred embodiments of the present application, and not for limiting the present application, although the foregoing detailed description of the present application, for those skilled in the art, it can still be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A fire extinguishing device based on a robot arm, comprising a mounting base (1), characterized in that: The top of mounting base (1) is fixedly connected with rotating mechanical arm (2), the other end of rotating mechanical arm (2) is rotatably connected with swing mechanical arm one (3), the other end of swing mechanical arm one (3) is rotatably connected with swing mechanical arm two (4), the rotating mechanism inner cavity of swing mechanical arm two (4) is provided with high-pressure hose winch, the external right side of swing mechanical arm two (4) is fixedly connected with extension mechanical arm (5), the external right side of extension mechanical arm (5) is connected with telescopic mechanism, the internal of swing mechanical arm one (3) is fixedly connected with multi-channel conveying mechanism.

2. The fire extinguishing device based on a mechanical arm according to claim 1, characterized in that: The telescopic mechanism includes telescopic cylinder (6), the external right side of telescopic cylinder (6) is fixedly connected with high-pressure spray head (7), the external right side of telescopic cylinder (6) has annular base, annular base external right side installs flame and infrared sensor, the external left side of telescopic cylinder (6) is fixedly connected with conveying hose (9), the external left side of conveying hose (9) is fixedly connected with multi-channel conveying pipe one (10), the external of multi-channel conveying pipe one (10) is fixedly connected with three-way electromagnetic valve (13).

3. The fire extinguishing device based on a mechanical arm according to claim 2, characterized in that: The other end of multi-channel conveying pipe one (10) is fixedly connected with balance assembly, the external of telescopic cylinder (6) is fixedly connected on the external right side of extension mechanical arm (5).

4. The fire extinguishing device based on a mechanical arm according to claim 3, characterized in that: The balance assembly includes gravity ball (14), the bottom of gravity ball (14) is fixedly connected with connecting hose (15), the external of gravity ball (14) is fixedly connected on the external left side of multi-channel conveying pipe one (10).

5. The fire extinguishing device based on a mechanical arm according to claim 4, characterized in that: The multi-channel conveying mechanism includes multi-channel conveying pipe two (16), the external of multi-channel conveying pipe two (16) is fixedly connected with input pipe (17), the external of multi-channel conveying pipe two (16) is fixedly connected in the internal of swing mechanical arm one (3).

6. The fire extinguishing device based on a mechanical arm according to claim 3, characterized in that: The external right side annular base of extension mechanical arm (5) is fixedly connected with flame sensor (18), the external of flame sensor (18) is in contact with the external of telescopic cylinder (6).

7. The fire extinguishing device based on a mechanical arm according to claim 3, characterized in that: The other end of extension mechanical arm (5) is fixedly connected with clamping jaw (19), the external of clamping jaw (19) is in contact with the external of telescopic cylinder (6).

8. The fire extinguishing device based on a mechanical arm according to claim 2, characterized in that: The external of multi-channel conveying pipe one (10) is provided with mounting through hole (12), the internal of multi-channel conveying pipe one (10) is provided with cavity (11), the external of three-way electromagnetic valve (13) is fixedly connected on the external of cavity (11).

9. The fire extinguishing device based on a mechanical arm according to claim 5, characterized in that: The external of connecting hose (15) is connected with the external of multi-channel conveying pipe two (16), the external of connecting hose (15) is fixedly connected on the external bottom end of swing mechanical arm one (3).

10. The fire extinguishing device based on a mechanical arm according to claim 4, characterized in that: The external of conveying hose (9) is fixedly connected in the internal of swing mechanical arm two (4), the other end of conveying hose (9) is fixedly connected on the external top end of gravity ball (14).

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