Pulsed air pressure spray device and fire extinguishing device for quadruped robot

Abstract

The utility model relates to fire engineering technical field discloses pulse air pressure spraying device and fire extinguishing device for four -legged robot, include: water tank subassembly is suitable for installing on four -legged robot, pulse air pressure spraying water gun is fixed on water tank subassembly, pulse air pressure spraying water gun has water inlet joint, air inlet joint, water storage chamber, gas storage chamber and water outlet, pulse air pressure spraying water gun is equipped with integrated valve and gun steering engine subassembly, integrated valve can control gas storage chamber and water storage chamber intercommunication or disconnect, and gun steering engine subassembly is linked with integrated valve, water pump is used for sending water in water tank subassembly to water inlet joint, gas cylinder is connected with air inlet joint through gas pipe, the utility model discloses through setting up water tank subassembly, need not to help external energy supply, water supply device, need not to connect complex pipeline and power component, and the flexibility is higher, will not cause the interference to four -legged robot's leg movement, promotes four -legged robot's terrain adaptation advantage.

Description

Technical Field

[0001] This utility model relates to the field of fire protection engineering technology, specifically to a pulse air pressure spray device and fire extinguishing device for quadruped robots. Background Technology

[0002] In fire rescue, industrial emergency response, and firefighting operations in special scenarios (such as chemical industrial parks, tunnels, and high-rise buildings), fire scenes are often accompanied by high temperatures, dense smoke, toxic gas leaks, or the risk of building collapse, directly threatening the lives of firefighters. Traditional firefighting methods mainly rely on manual handheld water guns, vehicle-mounted fire monitors, and fixed fire-fighting equipment, but they have unavoidable shortcomings in terms of practicality and safety, specifically: Manual handheld water guns: Operators need to go deep into the fire scene and be directly exposed to the risks of high temperature, thick smoke, building collapse and toxic gas, making it difficult to guarantee their life safety; in addition, due to the physical limitations of the personnel, the water gun spray pressure and range are limited, and it is impossible to cover fire sources at a distance or at a height. At the same time, the single person's working radius is small, and the response efficiency is low when facing large areas or moving fire sources. Vehicle-mounted fire monitors, while possessing strong spraying capabilities, are large and heavy, relying on flat roads for passage. They are completely immobile in unstructured terrains such as narrow passages, stairwells, rubble piles, and mountains, making it impossible to reach the core area of ​​the fire source. For example, when a fire breaks out on a lower floor of a high-rise building, vehicle-mounted fire monitors have difficulty breaking through stairwell obstacles; when a fire breaks out in a densely packed area of ​​a chemical industrial park, they are easily blocked by the equipment and cannot approach it. Fixed fire protection facilities can only cover a pre-defined area (such as ceiling sprinklers and wall fire hydrants). They are completely ineffective against sudden mobile fire sources (such as flowing flammable liquids) or fire sources beyond the coverage area (such as fires involving equipment at heights). Furthermore, they cannot adjust the spray angle and range according to changes in the fire intensity.

[0003] To address the shortcomings of traditional firefighting methods, quadruped robots, with their multi-jointed leg structure, can traverse obstacles, climb stairs, and move flexibly in complex terrain, making them an ideal platform for spray fire suppression systems in high-risk scenarios. Related technologies that mount conventional continuous spray devices on quadruped robots require bulky water pumps and long pipelines. This structure far exceeds the load capacity of quadruped robots, leading to unstable gait and reduced mobility. Utility Model Content This invention provides a pulsed air pressure spray device and fire extinguishing device for quadruped robots, in order to solve the problem of poor mobility of quadruped robots caused by mounting conventional continuous spray devices on them in related technologies.

[0004] In a first aspect, this utility model provides a pulsed pneumatic spray device for a quadruped robot, comprising: Water tank assembly, suitable for installation on quadruped robots; A pulse air pressure spray water gun is fixed on the water tank assembly. The pulse air pressure spray water gun has a water inlet connector, an air inlet connector, a water storage chamber, an air storage chamber, and a water outlet. The pulse air pressure spray water gun is equipped with an integrated valve and a gun-opening servo assembly. The integrated valve can control the connection or disconnection between the air storage chamber and the water storage chamber. The gun-opening servo assembly is linked with the integrated valve. A water pump is used to deliver water from the water tank assembly to the water inlet connector; The gas cylinder is connected to the air inlet connector via a gas tube.

[0005] Beneficial Effects: The water tank assembly provides water to the pulse pressure spray gun via a water pump and compressed gas to the pulse pressure spray gun via a gas cylinder. The pulse pressure spray gun can intermittently spray high-pressure water mist, which, compared to continuous spray in related technologies, has lower water consumption, stronger impact, and higher fire extinguishing efficiency. By installing the water tank assembly, there is no need for external power and water supply devices, nor for connecting complex pipelines and power components, resulting in greater flexibility. It does not interfere with the leg movement of the quadruped robot, enhancing its terrain adaptability, which is particularly advantageous in scenarios lacking external water or power sources. By installing the water tank assembly on the quadruped robot, its excellent terrain adaptability allows it to move flexibly in complex terrains such as narrow streets, mountains, and ruins, quickly reaching the fire scene and avoiding the disadvantages of large equipment being unable to move smoothly in narrow sections. Operators can remotely control the quadruped robot to enter dangerous fire scenes, preventing firefighters from directly facing high temperatures, toxic gases, collapses, and other dangerous environments, reducing the risk of casualties.

[0006] In one optional embodiment, the water tank assembly includes a first water tank and a second water tank, which are distributed along the front-rear direction of the quadruped robot. The first water tank is provided with a first water outlet, and the second water tank is provided with a second water outlet. The first water outlet and the second water outlet are connected by a connecting pipe, and the water inlet of the water pump is connected to the connecting pipe through a pump inlet pipe.

[0007] Beneficial effects: The water tank assembly includes a first water tank and a second water tank, which are distributed along the front-rear direction of the quadruped robot. The first and second water tanks simultaneously supply water to the pulse air pressure spray gun through a water pump, which can prevent the center of gravity from shifting and avoid the quadruped robot from having an unstable gait.

[0008] In one optional embodiment, the front end of the pulse pressure spray water gun is fixed to the first water tank via a first connector, and the rear end of the pulse pressure spray water gun is fixed to the second water tank via a second connector.

[0009] Beneficial effects: The front end of the pulse air pressure spray water gun is fixed to the first water tank through the first connector, and the rear end of the pulse air pressure spray water gun is fixed to the second water tank through the second connector. The pulse air pressure spray water gun is connected to the first water tank and the second water tank as a whole. When the pulse air pressure spray device is mounted on a quadruped robot, there is no need to fix the pulse air pressure spray water gun separately to the quadruped robot, which makes it easier to use and install.

[0010] In one alternative embodiment, the water pump is fixed to the second water tank and located on one side of the pulse pressure spray water gun, while the gas cylinder is located on the other side of the pulse pressure spray water gun.

[0011] Beneficial effects: By fixing the water pump to the second water tank, the pump and the second water tank are connected as a whole. When mounting the pulse air pressure spray device on the quadruped robot, there is no need to fix the water pump separately, making it easier to use and install. By placing the water pump on one side of the pulse air pressure spray gun and the air cylinder on the other side, the center of gravity shift can be further avoided, preventing the quadruped robot from exhibiting gait instability.

[0012] In one alternative embodiment, the gas cylinder is secured to the first water tank and the second water tank by at least two third connectors.

[0013] Beneficial effects: The gas cylinder is fixed to the first and second water tanks by at least two third connectors, and the gas cylinder is connected to the first and second water tanks as a whole. When the pulse air pressure spray device is mounted on the quadruped robot, there is no need to fix the gas cylinder separately, which makes it easier to use and install.

[0014] In one optional embodiment, a temperature and distance measuring component is provided above the front end of the pulse pressure spray water gun.

[0015] Beneficial effects: By setting up temperature and distance measuring components, high-temperature areas can be accurately identified and the straight-line distance between the quadruped robot and the fire source can be measured. Combined with the quadruped robot's motion posture data, the optimal spray angle and pressure parameters of the pulse spray device can be calculated to ensure that the pulse water mist accurately covers the fire source, avoids water waste, and improves fire extinguishing efficiency.

[0016] In one optional embodiment, the temperature and distance measuring assembly includes: a protective cover, a binocular camera, a distance measuring instrument, and a glass cover, wherein the binocular camera and the distance measuring instrument are disposed inside the protective cover, and the glass cover is disposed outside the protective cover.

[0017] Beneficial effects: The binocular camera can accurately identify high-temperature areas, and the rangefinder can measure the straight-line distance between the quadruped robot and the fire source. Combined with the quadruped robot's motion posture data, the optimal spray angle and pressure parameters of the pulse spray device can be calculated, ensuring that the pulsed water mist accurately covers the fire source, avoiding water waste and improving fire extinguishing efficiency. The protective cover protects the binocular camera and rangefinder from damage caused by high temperatures. The glass cover ensures that the binocular camera can identify high-temperature areas, and the rangefinder can measure the straight-line distance between the quadruped robot and the fire source.

[0018] In one optional embodiment, the water storage chamber has a water inlet, a water inlet valve is provided between the water inlet and the air inlet connector, and the water outlet is located at one end of the water storage chamber; The gas cylinder is connected to the air inlet in sequence via a pressure reducing valve, a gas pipe, and a pneumatic quick-release connector.

[0019] In one optional embodiment, the firing servo assembly is disposed on the air intake connector and includes a servo bracket, a trigger, a servo, and a push rod. The integrated valve includes a main valve core, and the push rod is coaxial with the main valve core and connected to the trigger. The servo can drive the trigger to rotate so that the push rod pushes the main valve core.

[0020] Beneficial effects: When the servo motor is working, the trigger rotates around the output shaft of the servo motor, which in turn drives the push rod to rotate around the output shaft at an angle, lifting the main valve core a certain distance, thereby separating the air chamber and the water chamber. Using servo motors for control is advantageous because servo motors are small and lightweight, reducing the overall weight and adapting to the load requirements of quadruped robots, thus avoiding the impact of excessive weight on movement stability in complex terrain.

[0021] Secondly, this utility model provides a fire extinguishing device, including a quadruped robot and a pulse air pressure spray device for the quadruped robot, wherein the water tank assembly is installed on the quadruped robot.

[0022] Beneficial Effects: This fire extinguishing device uses a water tank assembly to supply water to the pulse pressure spray gun via a water pump and a gas cylinder to supply compressed gas to the pulse pressure spray gun. The pulse pressure spray gun can intermittently spray high-pressure water mist, which, compared to continuous spray in related technologies, has lower water consumption, stronger impact, and higher fire extinguishing efficiency. By using the water tank assembly, there is no need for external power or water supply devices, nor for connecting complex pipelines and power components, resulting in greater flexibility. It does not interfere with the leg movement of the quadruped robot, enhancing its terrain adaptability, which is particularly advantageous in scenarios lacking external water or power sources. By installing the water tank assembly on the quadruped robot, its excellent terrain adaptability allows it to move flexibly in complex terrains such as narrow streets, mountains, and ruins, quickly reaching the fire scene and avoiding the disadvantages of large equipment being unable to move smoothly in narrow sections. Operators can remotely control the quadruped robot to enter dangerous fire scenes, preventing firefighters from directly facing dangerous environments such as high temperatures, toxic gases, and collapses, reducing the risk of casualties. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a fire extinguishing device according to an embodiment of the present utility model; Figure 2 for Figure 1 Schematic diagram of a medium-pulse air pressure spray water gun; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 1 A partial structural diagram of a medium-pulse air pressure spray water gun; Figure 5 for Figure 1 A top view of a partial structure of a medium-pulse air pressure spray water gun; Figure 6 for Figure 1 Half-section view of the temperature and distance measuring component.

[0025] Explanation of reference numerals in the attached figures: 1. Pulse air pressure spray water gun; 101. Air inlet; 102. Valve stem; 103. Water inlet valve; 104. Water storage chamber; 105. Water outlet; 106. Air storage chamber; 107. Integrated valve; 108. Spring; 109. Plug; 2. Temperature and distance measuring components; 201. Protective cover; 202. Binocular camera; 203. Rangefinder; 204. Glass cover; 3. Firing servo assembly; 301. Servo bracket; 302. Trigger; 303. Servo; 304. Push rod; 4. First water tank; 5. Breathing valve; 6. Water inlet connector; 7. Quadruped robot; 8. Pump inlet pipe; 9. Pump outlet pipe; 10. Water pump; 11. Second water tank; 12. Second connector; 13. Pressure reducing valve; 14. Air pipe; 15. Pneumatic quick-release connector; 16. Air cylinder; 17. Third connector; 18. Water inlet; 19. First connector; 20. Upper clamp; 21. Air inlet connector; 22. First water outlet; 23. Connecting pipe; 24. Second water outlet. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, 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 utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0030] To address the shortcomings of traditional firefighting methods, quadruped robots, with their multi-jointed leg structure, can traverse obstacles, climb stairs, and move flexibly in complex terrain, making them an ideal platform for spray fire extinguishing devices in high-risk scenarios. Related technologies that mount conventional continuous spray devices on quadruped robots require bulky water pumps and long pipelines. This structure far exceeds the load capacity of quadruped robots, leading to unstable gait and reduced mobility, failing to achieve the "rapid arrival" advantage that traditional methods cannot match.

[0031] Furthermore, the solution of mounting a conventional continuous spray device on a quadruped robot does not take into account lightweighting and space layout. Compared with the compact design of traditional fire-fighting facilities, its pipes and power components are messy and not only occupy too much installation space for the robot, but may also interfere with leg movement, further weakening the quadruped robot's terrain adaptability advantage.

[0032] The following is combined Figures 1 to 6 The following describes embodiments of the present invention.

[0033] According to an embodiment of the present invention, a pulse air pressure spray device for a quadruped robot is provided, comprising: a water tank assembly, a pulse air pressure spray water gun 1, a water pump 10, and an air cylinder 16.

[0034] The water tank assembly is suitable for installation on the quadruped robot 7; the pulse air pressure spray water gun 1 is fixed on the water tank assembly. The pulse air pressure spray water gun 1 has a water inlet connector 6, an air inlet connector 21, a water storage chamber 104, an air storage chamber 106, and a water outlet 105. The pulse air pressure spray water gun 1 is equipped with an integrated valve 107 and a gun-opening servo assembly 3. The integrated valve 107 can control the connection or disconnection between the air storage chamber 106 and the water storage chamber 104. The gun-opening servo assembly 3 is linked with the integrated valve 107; the water pump 10 is used to send water from the water tank assembly to the water inlet connector 6; the gas cylinder 16 is connected to the air inlet connector 21 through the air pipe 14.

[0035] In this embodiment, the water tank assembly provides water to the pulse pressure spray gun 1 via the water pump 10, and the gas cylinder 16 provides compressed gas to the pulse pressure spray gun 1. The pulse pressure spray gun 1 can intermittently spray high-pressure water mist, which, compared with continuous spray in related technologies, has lower water consumption, stronger impact force, and higher fire extinguishing efficiency. By setting up the water tank assembly, there is no need to rely on external power and water supply devices, and there is no need to connect complex pipelines and power components, resulting in greater flexibility. It does not interfere with the leg movement of the quadruped robot 7, enhancing the terrain adaptability of the quadruped robot 7, which has significant advantages in scenarios where external water sources or power supplies are lacking. By installing the water tank assembly on the quadruped robot 7, due to the quadruped robot 7's good terrain adaptability, it can move flexibly in complex terrains such as narrow streets, mountains, and ruins, quickly reaching the fire scene, avoiding the disadvantages of large equipment being unable to move smoothly in narrow sections. Operators can remotely control the quadruped robot 7 to enter dangerous fire scenes, avoiding firefighters directly facing dangerous environments such as high temperatures, toxic gases, and collapses, reducing the risk of casualties.

[0036] This pulse air pressure spray device utilizes three major fire extinguishing principles: pulse impact, atomization heat absorption, and oxygen isolation. It can extinguish fires instantly and is suitable for various types of fires, including solid fires, gas fires, and petrochemical fires. It can also directly extinguish electrical fires without creating a circuit.

[0037] The pulse air pressure spray device provided in this embodiment has a pulse water mist outlet velocity of 120 meters per second. Each launch requires only 1 liter of water, which can be atomized into more than 1,700 liters of water mist. It has strong kinetic energy and can reach the center of the fire source to extinguish the flames instantly.

[0038] The pulse air pressure spray device provided in this embodiment significantly improves water utilization through efficient atomization technology, saving about 10 times more water than traditional fire extinguishing methods, reducing water waste, and also reducing environmental pollution from wastewater after fire extinguishing.

[0039] In one embodiment, the water tank assembly includes a first water tank 4 and a second water tank 11, which are distributed along the front-rear direction of the quadruped robot 7. The first water tank 4 is provided with a first water outlet 22, and the second water tank 11 is provided with a second water outlet 24. The first water outlet 22 and the second water outlet 24 are connected by a connecting pipe 23, and the water inlet of the water pump 10 is connected to the connecting pipe 23 through a pump inlet pipe 8.

[0040] In this embodiment, the water tank assembly includes a first water tank 4 and a second water tank 11. The first water tank 4 and the second water tank 11 are distributed along the front-rear direction of the quadruped robot 7. The first water tank 4 and the second water tank 11 simultaneously supply water to the pulse air pressure spray water gun 1 through the water pump 10, which can avoid the center of gravity shift and prevent the quadruped robot 7 from having an unstable gait.

[0041] In one specific embodiment, the first water tank 4 and the second water tank 11 are installed at the front and rear ends of the quadruped robot 7, the first water tank 4 is installed at the top front end of the quadruped robot 7, and the second water tank 11 is installed at the top rear end of the quadruped robot 7.

[0042] In one embodiment, the first water tank 4 and / or the second water tank 11 are provided with a breather valve 5.

[0043] In one embodiment, the first water tank 4 and / or the second water tank 11 are provided with a water inlet 18, through which water can be injected into the first water tank 4 and / or the second water tank 11.

[0044] In one embodiment, the first water outlet 22 is located at the bottom of the first water tank 4, and the second water outlet 24 is located at the bottom of the second water tank 11.

[0045] In this embodiment, by setting the first water outlet 22 at the bottom of the first water tank 4, the water in the first water tank 4 can be prevented from being not completely sucked out. Similarly, by setting the second water outlet 24 at the bottom of the second water tank 11, the water in the second water tank 11 can be prevented from being not completely sucked out.

[0046] Specifically, such as Figure 1 As shown, the first water outlet 22 is close to the side of the first water tank 4, and the second water outlet 24 is close to the side of the second water tank 11. The first water outlet 22 is connected to the connecting pipe 23, and the second water outlet 24 is connected to the connecting pipe 23, which facilitates the setting of the position of the connecting pipe 23 and avoids interference between the connecting pipe 23 and the quadruped robot 7.

[0047] In one specific embodiment, the outlet 105 of the water pump 10 is connected to the pump outlet pipe 9, and the pump outlet pipe 9 is connected to the inlet connector 6.

[0048] In one embodiment, the front end of the pulse air pressure spray water gun 1 is fixed to the first water tank 4 by the first connector 19, and the rear end of the pulse air pressure spray water gun 1 is fixed to the second water tank 11 by the second connector 12.

[0049] In this embodiment, the front end of the pulse air pressure spray water gun 1 is fixed to the first water tank 4 via the first connector 19, and the rear end of the pulse air pressure spray water gun 1 is fixed to the second water tank 11 via the second connector 12. The pulse air pressure spray water gun 1 is connected to the first water tank 4 and the second water tank 11 as a whole. When the pulse air pressure spray device is mounted on the quadruped robot 7, it is no longer necessary to fix the pulse air pressure spray water gun 1 separately to the quadruped robot 7, which makes it easier to use and install.

[0050] In one specific embodiment, the first connector 19 is a saddle clamp, and the second connector 12 is a water gun rear mounting base. Of course, in other alternative embodiments, the first connector 19 and the second connector 12 can be other structures that can fix the pulse air pressure spray water gun 1 to the first water tank 4 and the second water tank 11. This embodiment does not specifically limit the structure of the first connector 19 and the second connector 12.

[0051] In one embodiment, the water pump 10 is fixed on the second water tank 11 and located on one side of the pulse pressure spray water gun 1, while the gas cylinder 16 is located on the other side of the pulse pressure spray water gun 1.

[0052] In this embodiment, by fixing the water pump 10 to the second water tank 11 and connecting the water pump 10 and the second water tank 11 as a whole, when mounting the pulse air pressure spray device on the quadruped robot 7, there is no need to fix the water pump 10 separately, making it easier to use and install. By placing the water pump 10 on one side of the pulse air pressure spray water gun 1 and the air cylinder 16 on the other side of the pulse air pressure spray water gun 1, the center of gravity shift can be further avoided, preventing the quadruped robot 7 from exhibiting unstable gait.

[0053] Specifically, such as Figure 1 As shown, the water pump 10 is located on the side of the pulse air pressure spray water gun 1 near the connecting pipe 23, which can reduce the length of the pump inlet pipe 8 and avoid the pipes being messy.

[0054] In one embodiment, the gas cylinder 16 is secured to the first water tank 4 and the second water tank 11 by at least two third connectors 17.

[0055] In this embodiment, the gas cylinder 16 is fixed to the first water tank 4 and the second water tank 11 by at least two third connectors 17. The gas cylinder 16 is connected to the first water tank 4 and the second water tank 11 as a whole. When the pulse air pressure spray device is mounted on the quadruped robot 7, there is no need to fix the gas cylinder 16 separately, which makes it easier to use and install.

[0056] In one specific embodiment, the third connector 17 is a U-shaped pipe clamp. Of course, in other alternative embodiments, the third connector 17 can be any other structure capable of securing the gas cylinder 16.

[0057] In one embodiment, a temperature measuring and distance measuring component 2 is provided above the front end of the pulse air pressure spray water gun 1.

[0058] In this embodiment, by setting the temperature and distance measuring component 2, the high-temperature area can be accurately identified and the straight-line distance between the quadruped robot 7 and the fire source can be measured. Combined with the motion posture data of the quadruped robot 7, the optimal spray angle and pressure parameters of the pulse spray device can be calculated to ensure that the pulse water mist accurately covers the fire source, avoids water waste, and improves fire extinguishing efficiency.

[0059] In one specific embodiment, the temperature measuring and ranging component 2 is disposed on the first connector 19.

[0060] Specifically, the first connecting member 19 is a riding clamp, including a lower clamp and an upper clamp 20. The pulse air pressure spray water gun 1 passes through the space enclosed by the upper clamp 20 and the lower clamp, and the temperature measuring and distance measuring component 2 is set on the upper clamp 20.

[0061] In one embodiment, such as Figure 6 As shown, the temperature and distance measuring component 2 includes: a protective cover 201, a binocular camera 202, a distance measuring instrument 203, and a glass cover 204. The binocular camera 202 and the distance measuring instrument 203 are located inside the protective cover 201, and the glass cover 204 is located outside the protective cover 201.

[0062] In this embodiment, the binocular camera 202 can accurately identify high-temperature areas, and the rangefinder 203 can measure the straight-line distance between the quadruped robot 7 and the fire source. Combined with the motion posture data of the quadruped robot 7, the optimal spray angle and pressure parameters of the pulse spray device can be calculated to ensure that the pulse water mist accurately covers the fire source, avoiding water waste and improving fire extinguishing efficiency. The protective cover 201 protects the binocular camera 202 and the rangefinder 203 from damage caused by high temperatures. The glass cover 204 ensures that the binocular camera 202 can identify high-temperature areas, and the rangefinder 203 can measure the straight-line distance between the quadruped robot 7 and the fire source.

[0063] In one embodiment, the water storage chamber 104 has a water inlet, and a water inlet valve 103 is provided between the water inlet and the air inlet connector 21. The water outlet 105 is located at one end of the water storage chamber 104. The gas cylinder 16 is connected to the air inlet connector 21 in sequence through a pressure reducing valve 13, a gas pipe 14, and a pneumatic quick-release connector 15. The air inlet connector 21 is connected to the air inlet 101.

[0064] In this embodiment, such as Figure 4 and Figure 5 The firing servo assembly 3 is mounted on the air intake connector 21 and includes a servo bracket 301, a trigger 302, a servo 303, and a push rod 304. The integrated valve 107 includes a main valve core. The push rod 304 is coaxial with the main valve core and connected to the trigger 302. The servo 303 can drive the trigger 302 to rotate so that the push rod 304 pushes the main valve core.

[0065] In this embodiment, when the servo motor 303 is working, the trigger 302 rotates around the output shaft of the servo motor 303, thus driving the push rod 304 to rotate around the output shaft of the servo motor 303 by an angle. This can lift the main valve core a certain distance, thereby connecting the air chamber 106 and the water chamber 104. Using the servo motor 303 for control is advantageous because the servo motor 303 is small and lightweight, reducing the overall weight and adapting to the load requirements of the quadruped robot 7, avoiding the impact of excessive weight on the stability of movement in complex terrain. Furthermore, the torque range of the servo motor 303 is 5-20 kg. cm can provide a stable driving force for the spray device, ensuring the continuity and accuracy of fire extinguishing operations.

[0066] Specifically in one embodiment, such as Figure 2 and Figure 3 As shown, the main valve core includes a valve stem 102, a plug 109, and a spring 108. The plug 109 is fixed to the valve stem 102. When the servo motor 303 is working, the trigger 302 rotates around the output shaft of the servo motor 303, thus driving the push rod 304 to rotate around the output shaft of the servo motor 303 by an angle, which can lift the valve stem 102 a certain distance. At this time, the spring 108 generates a restoring force. When the servo motor 303 is reset, the valve stem 102 is reset under the action of the spring 108.

[0067] Specifically, the contact section of the push rod 304 is spherical and its diameter is larger than that of the valve stem 102.

[0068] It should be noted that the specific structure of the integrated valve 107 and the structure of the main valve core are existing technologies and will not be described in detail in this embodiment.

[0069] The operation steps of the pulse air pressure spray device for the quadruped robot 7 provided in this embodiment are as follows: First, the operator opens the valve of the gas cylinder 16 to fill the pulse air pressure spray water gun 1 with air. The operator sends a command to the quadruped robot 7 to move to the vicinity of the fire source, observes and determines the specific location and coordinates of the fire source through the binocular camera 202, and, based on the distance parameters of the rangefinder 203, moves it to the optimal position for extinguishing the fire. A command is sent to the water pump 10 to fill the pulse air pressure spray water gun 1 with water until water flows out of the outlet 105. Then, a command is sent to the servo motor 303, and the push rod 304 moves to lift the valve rod 102, causing the water to spray at the outlet 105. The push rod 304 holds the valve rod 102 up for less than 1 second, after which the servo motor 303 resets, and the valve rod 102 resets. After a 2-second interval, the command is sent to the servo motor 303 again, and the push rod 304 moves to lift the valve rod 102, causing water to spray at the outlet 105. This operation is repeated 10 times to form a large area of ​​water mist that can reach the center of the fire source and extinguish the flames.

[0070] According to an embodiment of the present invention, another aspect provides a fire extinguishing device, including a quadruped robot 7 and a pulse air pressure spray device for the quadruped robot 7 provided in the above embodiment, with a water tank assembly installed on the quadruped robot 7.

[0071] This fire extinguishing device uses a water tank assembly to supply water to the pulse pressure spray gun 1 via a water pump 10 and a gas cylinder 16 to supply compressed gas to the pulse pressure spray gun 1. The pulse pressure spray gun 1 can intermittently spray high-pressure water mist, which, compared to continuous spray in related technologies, has lower water consumption, stronger impact, and higher fire extinguishing efficiency. By setting up the water tank assembly, there is no need for external power and water supply devices, nor for connecting complex pipelines and power components, resulting in greater flexibility. It does not interfere with the leg movement of the quadruped robot 7, enhancing the quadruped robot 7's terrain adaptability, which is particularly advantageous in scenarios lacking external water or power sources. By installing the water tank assembly on the quadruped robot 7, its excellent terrain adaptability allows it to move flexibly in complex terrains such as narrow streets, mountains, and ruins, quickly reaching the fire scene and avoiding the disadvantages of large equipment being unable to move smoothly in narrow sections. Operators can remotely control the quadruped robot 7 to enter dangerous fire scenes, preventing firefighters from directly facing dangerous environments such as high temperatures, toxic gases, and collapses, reducing the risk of casualties.

[0072] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A pulsed pneumatic spray device for a quadruped robot, characterized in that, include: A water tank assembly suitable for mounting on a quadruped robot (7); A pulse air pressure spray water gun (1) is fixed on the water tank assembly. The pulse air pressure spray water gun (1) has a water inlet connector (6), an air inlet connector (21), a water storage chamber (104), an air storage chamber (106), and a water outlet (105). The pulse air pressure spray water gun (1) is equipped with an integrated valve (107) and a gun-opening servo assembly (3). The integrated valve (107) can control the connection or disconnection between the air storage chamber (106) and the water storage chamber (104). The gun-opening servo assembly (3) is linked with the integrated valve (107). A water pump (10) is used to deliver water from the water tank assembly to the water inlet connector (6). The gas cylinder (16) is connected to the air inlet connector (21) via the air pipe (14).

2. The pulsed pneumatic spray device for a quadruped robot according to claim 1, characterized in that, The water tank assembly includes a first water tank (4) and a second water tank (11). The first water tank (4) and the second water tank (11) are distributed along the front-back direction of the quadruped robot (7). The first water tank (4) is provided with a first water outlet (22), and the second water tank (11) is provided with a second water outlet (24). The first water outlet (22) and the second water outlet (24) are connected by a connecting pipe (23). The water inlet of the water pump (10) is connected to the connecting pipe (23) through a pump inlet pipe (8).

3. The pulsed pneumatic spray device for a quadruped robot according to claim 2, characterized in that, The front end of the pulse air pressure spray water gun (1) is fixed to the first water tank (4) by the first connector (19), and the rear end of the pulse air pressure spray water gun (1) is fixed to the second water tank (11) by the second connector (12).

4. The pulsed pneumatic spray device for a quadruped robot according to claim 3, characterized in that, The water pump (10) is fixed on the second water tank (11) and located on one side of the pulse air pressure spray water gun (1), while the gas cylinder (16) is located on the other side of the pulse air pressure spray water gun (1).

5. The pulsed pneumatic spray device for a quadruped robot according to claim 2, characterized in that, The gas cylinder (16) is fixed to the first water tank (4) and the second water tank (11) by at least two third connectors (17).

6. The pulsed pneumatic spray device for a quadruped robot according to any one of claims 1 to 5, characterized in that, The pulse air pressure spray water gun (1) is equipped with a temperature measuring and distance measuring component (2) above the front end.

7. The pulsed pneumatic spray device for a quadruped robot according to claim 6, characterized in that, The temperature and distance measuring component (2) includes: a protective cover (201), a binocular camera (202), a distance measuring instrument (203), and a glass cover (204). The binocular camera (202) and the distance measuring instrument (203) are located inside the protective cover (201), and the glass cover (204) is located outside the protective cover (201).

8. The pulsed pneumatic spray device for a quadruped robot according to any one of claims 1 to 5, characterized in that, The water storage chamber (104) has a water inlet, and a water inlet valve (103) is provided between the water inlet and the air inlet connector (21). The water outlet (105) is located at one end of the water storage chamber (104). The gas cylinder (16) is connected to the air inlet connector (21) in sequence via a pressure reducing valve (13), a gas pipe (14), and a pneumatic quick-release connector (15).

9. The pulsed pneumatic spray device for a quadruped robot according to any one of claims 1 to 5, characterized in that, The firing servo assembly (3) is mounted on the air intake connector (21) and includes a servo bracket (301), a trigger (302), a servo (303), and a push rod (304). The integrated valve (107) includes a main valve core. The push rod (304) is coaxial with the main valve core and connected to the trigger (302). The servo (303) can drive the trigger (302) to rotate so that the push rod (304) pushes the main valve core.

10. A fire extinguishing device, characterized in that, The invention includes a quadruped robot (7) and a pulsed air pressure spray device for the quadruped robot (7) according to any one of claims 1 to 9, wherein the water tank assembly is mounted on the quadruped robot (7).

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