Electric drive type smoke exhaust robot

Abstract

This application discloses an electrically driven smoke extraction robot, including a tracked chassis assembly, a frame assembly mounted on the tracked chassis assembly, a hydraulic system, a fire-fighting system, a cooling system, a boom assembly, and an electrical system mounted on the frame assembly; and a fan connected to the end of the boom assembly via a rotary reducer; the water outlet of the fire-fighting system is connected to a fire monitor and a fine water mist nozzle on the fan; the electrical system includes a low-voltage DC drive system connected to a battery pack inside the frame assembly, and the output of the low-voltage DC drive system is connected to the tracked chassis assembly, the hydraulic system, and the cooling system for power supply; it also includes a high-voltage AC drive system that draws power from the outside via a cable and is connected to the fan, effectively controlling the wind direction at the fire scene and reducing the smoke concentration at the fire scene.

Description

Technical Field

[0001] This application relates to an electrically driven smoke extraction robot, belonging to the field of robotics technology. Background Technology

[0002] One of the leading causes of death in fires is inhalation of toxic fumes and asphyxiation due to oxygen deprivation, a problem particularly acute in confined spaces such as underground parking lots. On the one hand, large rescue vehicles struggle to enter, and air circulation is poor within these spaces; on the other hand, the interaction between the high temperatures and combustion products at the fire scene easily creates unique microclimates, leading to increased local wind speeds and uncontrollable wind direction, potentially blowing flames and hot smoke towards firefighters, seriously threatening their safety. Smoke extraction robots, compact in size and combining smoke extraction and firefighting functions, can control wind direction and reduce smoke concentration at the fire scene, providing cover for firefighters during their operations.

[0003] Existing technologies often employ high-pressure fire truck-mounted fans, including tank-type fire truck bodies and fans. However, existing truck-mounted fans can only move up and down via hydraulic cylinders or rotate within a small angle, unable to achieve large-angle rotation, resulting in limited smoke exhaust direction and insufficient adaptability to different scenarios. Furthermore, existing smoke extraction robots are powered by engines; particles and harmful gases in the dense smoke environment of a fire scene may clog the engine's air intake system or reduce air intake, leading to high noise levels and insufficient stability and continuous working capacity when long-distance operations are required in fire scenes. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide an electrically driven smoke extraction robot for controlling the wind direction in a fire and reducing the smoke concentration in the fire.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] This application provides an electrically driven smoke extraction robot, including: a tracked chassis assembly, a frame assembly mounted on the tracked chassis assembly, a hydraulic system, a fire protection system, a cooling system, a boom assembly, an electrical system, and a fan connected to the end of the boom assembly via a rotary reducer;

[0007] The water outlet of the fire protection system is connected to the fire monitor and fine water mist nozzle on the fan.

[0008] The electrical system includes a low-voltage DC drive system connected to a battery pack within the chassis assembly, the output of which is connected to the tracked chassis assembly, the hydraulic system, and the cooling system for power supply; it also includes a high-voltage AC drive system that draws power from the outside via a cable and is connected to a fan.

[0009] Furthermore, the fire protection system includes a quick connector for connecting to an external water source;

[0010] Manual ball valves and electric ball valves are connected in parallel with the outlet end of the quick connector;

[0011] The water cannon hose is connected to the outlet end of the manual ball valve via a first rotary joint, and the outlet end of the water cannon hose is connected to the fire monitor of the fan via a second rotary joint.

[0012] A fine water mist pipe is connected to the outlet end of an electric ball valve, and the outlet end of the fine water mist pipe is connected to a fine water mist nozzle in a fan.

[0013] Furthermore, the first rotary joint is installed at the hinge between the boom assembly and the vehicle frame assembly, so that the water cannon hose can rotate synchronously with the boom pitching movement.

[0014] The second rotary joint is installed on the slewing support of the blower, so that the water cannon hose can rotate synchronously with the horizontal slewing motion of the blower.

[0015] Furthermore, the manual ball valve and the electric ball valve can be opened and closed independently without interfering with each other, enabling water cannons and fine water mists to operate individually or simultaneously.

[0016] Furthermore, the electrically driven smoke extraction robot also includes a cable reel mounted on the chassis assembly, used to simultaneously wind up and unwind the cable connected to the high-voltage AC drive system while the robot is moving, thereby enabling remote high-voltage power supply.

[0017] Furthermore, the fan achieves a horizontal rotation angle of not less than 180° through a rotary reducer.

[0018] Furthermore, a mounting plate is provided at the end of the boom assembly;

[0019] The fixed end of the slewing reducer is connected to the mounting plate at the end of the boom assembly, and the slewing end is connected to the slewing support for the fan.

[0020] Furthermore, the cooling system includes: a cooling water pump, a heat exchanger, a water hose reel arranged on the frame assembly, and several self-spraying nozzles;

[0021] The cooling water pump drives the coolant to flow through the fan motor and heat exchanger to form a motor cooling circulation loop.

[0022] The water hose reel is connected to an external water source and transported via a heat exchanger to the spray nozzles arranged on the surface of the vehicle frame assembly, forming a self-spraying circuit.

[0023] Furthermore, the heat exchanger is simultaneously connected to the motor cooling circulation loop and the self-spraying loop.

[0024] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0025] This application has a mounting plate at the end of the boom assembly. One end of the fan's slewing reducer is connected to the mounting plate, and the other end is connected to the fan's slewing support, which completes lifting, pitching, and large-angle slewing movements, enabling the fan to operate in multiple angles and postures, with good scene adaptability.

[0026] By combining a low-voltage DC drive system with a high-voltage AC drive system, it has a fast response speed, low noise, and stable operation.

[0027] Equipped with a vehicle-mounted cable, the reel rotates as the smoke extraction and fire extinguishing robot moves, simultaneously laying or rewinding the cable to enable remote power supply for the robot and ensure stable operation over long distances. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of an electrically driven smoke extraction robot in its non-working state, as provided in this application.

[0029] Figure 2 This is a schematic diagram of the structure of an electrically driven smoke extraction robot in its working state, as provided in this application.

[0030] Figure 3 This is a schematic diagram of the fire protection system structure provided in this application;

[0031] Figure 4 This is the working path of the low-voltage DC drive system and the high-voltage AC drive system provided in this application;

[0032] Figure 5 This is the working route of the fire protection system provided in this application;

[0033] In the diagram: 1. Tracked chassis assembly; 2. Frame assembly; 3. Hydraulic system; 4-1. Cable reel; 4-2. Water hose reel; 5. Fire protection system; 5-1. Quick coupling; 5-2. Manual ball valve; 5-3. Electric ball valve; 5-4. Water cannon hose; 5-5. Fine water mist hose; 5-6. First rotary joint; 5-7. Second rotary joint; 6. Cooling system; 7. Fan; 8. Boom assembly; 9. Electrical system. Detailed Implementation

[0034] The present application will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and should not be used to limit the scope of protection of the present application.

[0035] Example 1:

[0036] like Figure 1 , 2As shown, this application provides an electrically driven smoke extraction robot, which includes a tracked chassis assembly 1 and a frame assembly 2 mounted on the tracked chassis assembly 1. The frame assembly 2 is equipped with a hydraulic system 3, a fire-fighting system 5, a cooling system 6, a boom assembly 8, and an electrical system 9.

[0037] The boom assembly 8 has a flange-like mounting plate at its end. The fan 7 is connected to the mounting plate at the end of the boom assembly 8 via a slewing reducer. Specifically, the mounting plate is connected to the non-rotating part of the slewing reducer, and the rotating part of the slewing reducer is connected to a flange-like structure on the side of the fan 7. Under the action of the boom assembly 8, the fan 7 can perform lifting, pitching, and slewing movements, enabling it to operate in multiple angles and postures.

[0038] It is feasible to install multiple sets of fine water mist nozzles and fire monitors on the fan 7, and connect the water outlet of the fire protection system 5 to the fire monitors and fine water mist nozzles on the fan 7.

[0039] Electrical system 9 consists of a low-voltage DC drive system and a high-voltage AC drive system, such as... Figure 4 As shown, (a) is the working route diagram of the low-voltage DC drive system, and (b) is the working route diagram of the high-voltage AC drive system. The low-voltage DC drive system is powered by a battery pack built into the chassis assembly 2. The low-voltage DC control system controls the travel motor, hydraulic pump motor, and cooling pump motor respectively. The travel motor drives the tracked chassis assembly 1 to travel, the hydraulic pump motor provides power to the hydraulic system 3, and the cooling pump motor provides power to the cooling system 6.

[0040] The high-voltage AC drive system draws power from the outside through the cable reel 4-1 to provide power input to the drive motor of the fan 7; the high-voltage AC control system delivers high-voltage AC power to the motor of the fan 7 and controls the start-up, shutdown, speed regulation and abnormal protection of the motor of the fan 7, realizing high-power operation of the fan through the high-voltage AC control system; when the smoke extraction robot moves on the tracked chassis assembly 1, the cable reel 4-1 rotates along with it, synchronously laying or winding the cable, realizing remote power supply for the smoke extraction robot.

[0041] In this embodiment, the cable reel 4-1 is fixed to the rear of the frame assembly 2.

[0042] Example 2:

[0043] like Figure 3 The diagram shown is a structural schematic of a fire protection system. Figure 5 This describes the working route of the fire protection system. Fire protection system 5 consists of quick-connect coupling 5-1, manual ball valve 5-2, electric ball valve 5-3, fire monitor hose 5-4, fine water mist hose 5-5, and a first rotary joint 5-6 and a second rotary joint 5-7. Specifically...

[0044] Quick connector 5-1 is located on the side of the frame assembly 2 and is used to connect to an external water source; manual ball valve 5-2 and electric ball valve 5-3 are connected in parallel to the outlet end of quick connector 5-1; the inlet end of water cannon hose 5-4 is connected to the outlet end of manual ball valve 5-2 through first rotary connector 5-6, and the inlet end of fine water mist hose 5-5 is directly connected to the outlet end of electric ball valve 5-3; wherein, the outlet end of water cannon hose 5-4 is connected to the fire monitor of fan 7 through second rotary connector 5-7, and the outlet end of fine water mist hose 5-5 is directly connected to the fine water mist nozzle of fan 7.

[0045] It is feasible to install the first rotary joint 5-6 at the hinge of the boom assembly 8 and the frame assembly 2, and the second rotary joint 5-7 on the slewing support of the blower 7, so that the water cannon hose 5-4 rotates synchronously with the boom pitching movement and synchronously with the blower horizontal slewing movement.

[0046] When the fine water mist on the fan 7 is working alone, the manual ball valve 5-2 is closed and the electric ball valve 5-3 is opened. The water flow route 1 first passes through the quick connector 5-1 of the standard fire interface to draw water from the outside → through the electric ball valve 5-3 → through the fine water mist pipeline 5-5 → to the multiple sets of fine water mist nozzles of the fan 7, where it is sprayed out to form fine water mist for fire extinguishing, dust removal and other operations.

[0047] When the fire monitor on the fan 7 is working alone, the manual ball valve 5-2 is opened and the electric ball valve 5-3 is closed. The water flow route 2 first passes through the quick connector 5-1 of the standard fire interface to draw water from the outside → through the manual ball valve 5-2 → rotary connector 5-6 → fire monitor hose 5-4 → rotary connector 5-7 → and then reaches the fire monitor of the fan 7 to spray out a water column for fire extinguishing, dust removal and other operations.

[0048] When the fine water mist and fire monitor on the fan 7 work simultaneously, the manual ball valve 5-2 opens and the electric ball valve 5-3 opens. The water source reaches the multiple sets of fine water mist nozzles and fire monitors on the fan 7 through water flow route 1 and water flow route 2 respectively. After being sprayed out, they form fine water mist and water columns for fire extinguishing, dust removal and other operations.

[0049] The cooling system 6 includes a water hose reel 4-2 for connecting the water inlet of the cooling system 6, a cooling water pump, a heat exchanger, and a self-spraying nozzle, which together form a self-spraying circuit and a motor cooling circulation circuit. Specifically, the water hose reel 4-2 is mounted at the rear of the frame assembly 2; the cooling water pump and the heat exchanger are both mounted on the base plate inside the frame assembly 2, and the heat exchanger is located between the cooling water pump and the water hose reel 4-2.

[0050] The drive motor of fan 7 operates using water cooling. Several self-spraying nozzles are arranged on the frame assembly 2, specifically on the top and side plates of the frame assembly. When the self-spraying circuit is working, external water enters the heat exchanger through water pipes to remove the heat from the motor cooling cycle, and finally is sprayed out through the self-spraying nozzles to cool the robot body, thus adapting it to the high-temperature smoke environment.

[0051] When the motor cooling circulation loop is working, the cooling water pump pumps the heated coolant from the drive motor of the fan 7 into the heat exchanger. The external water source cools the coolant, and the cooled coolant then enters the drive motor of the fan 7. The heated coolant then re-enters the cooling water pump, thus forming a circulation to cool the drive motor of the fan 7. Both the self-spraying loop and the motor cooling circulation loop simultaneously pass through the heat exchanger to achieve continuous cooling of the coolant in the drive motor of the fan 7 by the external water source.

[0052] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0053] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An electrically driven smoke evacuation robot, characterized by, include: Tracked chassis assembly (1), frame assembly (2) mounted on the tracked chassis assembly (1), hydraulic system (3) mounted on the frame assembly (2), fire protection system (5), cooling system (6), boom assembly (8), and electrical system (9). And a fan (7) connected to the end of the boom assembly (8) via a slewing reducer; The outlet of the fire protection system (5) is connected to the fire monitor and fine water mist nozzle on the fan (7); The electrical system (9) includes a low-voltage DC drive system connected to the battery pack in the chassis assembly (2), the output of which is connected to the track chassis assembly (1), the hydraulic system (3) and the cooling system (6) for power supply; it also includes a high-voltage AC drive system that draws power from the outside via a cable and is connected to a fan (7).

2. The electrically-driven smoke evacuation robot of claim 1, wherein, The fire protection system (5) includes a quick connector (5-1) for connecting to an external water source. A manual ball valve (5-2) and an electric ball valve (5-3) are connected in parallel with the outlet end of the quick connector (5-1). The water cannon hose (5-4) is connected to the outlet end of the manual ball valve (5-2) via the first rotary joint (5-6), and the outlet end of the water cannon hose (5-4) is connected to the fire cannon of the fan (7) via the second rotary joint (5-7). A fine water mist pipe (5-5) is connected to the outlet end of an electric ball valve (5-3), and the outlet end of the fine water mist pipe (5-5) is connected to a fine water mist nozzle in a blower (7).

3. The electrically-driven smoke evacuation robot of claim 2, wherein, The first rotary joint (5-6) is installed at the hinge between the boom assembly (8) and the frame assembly (2); The second rotary joint (5-7) is installed on the slewing support of the fan (7).

4. The electrically-driven smoke evacuation robot of claim 2, wherein, The manual ball valve (5-2) and the electric ball valve (5-3) can be opened and closed independently without interference, enabling water cannons and fine water mist to operate individually or simultaneously.

5. The electrically-driven smoke evacuation robot of claim 1, wherein, The electric-driven smoke extraction robot also includes a cable reel (4-1) mounted on the frame assembly (2), which is used to simultaneously reel in and unreel the cable connected to the high-voltage AC drive system when the robot is walking, so as to realize remote high-voltage power supply.

6. The electrically-driven smoke evacuation robot of claim 1, wherein, The fan (7) achieves a horizontal rotation angle of not less than 180° through a rotary reducer.

7. The electrically-driven smoke evacuation robot of claim 1, wherein, The boom assembly (8) is provided with a mounting plate at its end; The fixed end of the slewing reducer is connected to the mounting plate at the end of the boom assembly (8), and the slewing end is connected to the slewing support of the fan (7).

8. The electrically-driven smoke evacuation robot of claim 1, wherein, The cooling system (6) includes: a cooling water pump, a heat exchanger, a water hose reel (4-2) arranged on the frame assembly (2) and several self-spraying nozzles; The cooling water pump drives the coolant to flow through the motor and heat exchanger of the fan (7) to form a motor cooling circulation loop; The water hose reel (4-2) is connected to an external water source and transported to the spray nozzles arranged on the surface of the frame assembly (2) via a heat exchanger, forming a self-spraying circuit.

9. The electrically-driven smoke evacuation robot of claim 7, wherein, The heat exchanger is connected to both the motor cooling circulation loop and the self-spraying loop.

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