CN102343130B - High-rise building fire fighting robot - Google Patents
High-rise building fire fighting robot Download PDFInfo
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- CN102343130B CN102343130B CN 201010241790 CN201010241790A CN102343130B CN 102343130 B CN102343130 B CN 102343130B CN 201010241790 CN201010241790 CN 201010241790 CN 201010241790 A CN201010241790 A CN 201010241790A CN 102343130 B CN102343130 B CN 102343130B
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Abstract
The invention relates to a high-rise building fire fighting robot, which can rapidly move on the external of a high-rise building, accurately position, and use a multi-functional fire extinguishing system and an evacuation apparatus to perform fire extinguishing and rescue. The robot comprises a fireproof slideway (1), a walking mechanism (2), a multi-functional fire extinguishing system (3) and an evacuation apparatus (4). The robot is characterized in that: the fireproof slideway (1) is arranged on an outer wall of the high-rise building or inside an architectural decorative curtain wall; the walking mechanism (2) moves up and down in a vertical direction of the high-rise building along the fireproof slideway (1); the multi-functional fire extinguishing system (3) comprises a follow-up device (31), a lateral pulley (32), a water spraying and fire extinguishing device (33), a window breaking device (34), a fire extinguishing bullet emitter (35), an intelligent fire extinguishing controller (36) and a fire condition monitoring video camera (37), wherein the follow-up device (31), the water spraying and fire extinguishing device (33), the window breaking device (34), the fire extinguishing bullet emitter (35) and the fire condition monitoring video camera (37) are arranged on the lateral pulley (32); the evacuation apparatus (4) comprises a pedal (41), an evacuation lateral pulley (42) and a guardrail (43), wherein the lateral pulley (32) and the evacuation lateral pulley (42) move laterally on the walking mechanism (2).
Description
Affiliated technical field
The present invention relates to a kind of fire-fighting robot, particularly can be in the outside fast moving of skyscraper, accurately locate and use multifunctional fire extinguishing system and escape device to implement the high building fire fighting robot of fire extinguishing and rescue.
Background technology
Along with development and national economy, complex structure, intensive skyscraper and the high-rise building of personnel increase rapidly.It is fast that fire of high-rise building has fire spreading, personnel are difficult to timely evacuation, the fire attack difficulty is big, environment and skyscraper complex structure make three-dimensional fire extinguishing and rescue be difficult to characteristics such as expansion, skyscraper fire extinguishing now and rescue are main sues and labours and the outside water spray of fire fighting truck by fire fighter inside, the fire fighter sues and labours inside and is subjected to story height and the descending personnel of taking refuge obstruction to be difficult to put in place fast, fire fighting truck is outside is sprayed water limitation in height mostly about 100 meters, the highlyest be no more than 200 meters, helpless to the outside water spray of fire more than 200 meters, existing means can't effectively be put out a fire and rescue skyscraper and high-rise building fire, in case skyscraper and high-rise building breaking out of fire will bring massive losses to people's life security and property.
Summary of the invention
For overcoming the deficiency that above-mentioned prior art can't effectively be puted out a fire to save life and property skyscraper and high-rise building fire, the invention provides a kind of can be in the outside fast moving of skyscraper, accurately locate and use multifunctional fire extinguishing system and escape device to implement the high building fire fighting robot of fire extinguishing and rescue.
The present invention solves the technical scheme that its technical problem takes: the high building fire fighting robot comprises the fire prevention slideway, walking mechanism, multifunctional fire extinguishing system and escape device, it is characterized in that: the fire prevention slideway comprises housing, the lid door, guide rail, the slideway controller, the vertical lifting member, the fire water passage, compressed air channel and door opener, the fire prevention slideway be installed on the external wall of high-rise building or the building decoration curtain wall in, guide rail, the vertical lifting member is fixed on the housing inboard, walking mechanism comprises drive unit, the lifting travelling wheel, two-way locating wheel, horizontal slide rail, the slide rail expansion bend, water inlet snap joint, air inlet snap joint, driving governor and fall arrest safety, lifting travelling wheel and fire prevention slideway vertical lifting member are joined and are incorporated in drive unit and drive lower edge skyscraper vertical direction and move up and down, two-way locating wheel contacts to guarantee to move up and down with the fire prevention runner rails to be stablized accurately, the multifunctional fire extinguishing system is by hunting gear, horizontal coaster, sprinkler system, window breaker, the fire extinguisher bomb transmitter, fire extinguishing intelligent controller and condition of a fire surveillance camera are formed, laterally coaster is placed on the horizontal slide rail of walking mechanism and along horizontal slide rail and laterally moves, laterally on the coaster hunting gear is arranged fixedly, sprinkler system, window breaker, fire extinguisher bomb transmitter and condition of a fire surveillance camera are installed on the hunting gear, escape device comprises pedal, escape horizontal coaster and guardrail, pedal and guardrail are fixed on the horizontal coaster of escape, and the horizontal coaster of escaping is placed on the horizontal slide rail of walking mechanism and along horizontal slide rail and moves.Described high building fire fighting robot, be further characterized in that: be coated with fire proof heat-insulation layer inside and outside around the member body of fire prevention slideway housing, fire proof heat-insulation layer can be the hard heat-insulating plate, also can be fire-resistance cloth or the fire-resistant blanket of high-temperature flexible material, incombustible paper, described fire prevention slideway lid door comprises the fireproofing and heat resistant layer, the torsion hinge that resets, the flexible anti fire bed, waistcloth wallboard and fire-retardant fastener, the torsion hinges fixing that resets fixes on lid door and goes up and will cover door and housing links together, lid door fireproofing and heat resistant layer guarantees that thermal-flame can't enter fire prevention slideway inside, when the flexible anti fire bed is used for protecting torsion to reset hinge opening and closing not by flame from damaging, the waistcloth wallboard is consistent with the external wall of high-rise building decorative curtain wall, play beauty function, fire-retardant fastener guarantees the fire protecting performance after the lid door is closed, the fire prevention runner rails can be shape, it also can be special pipe I-steel, described slideway controller comprises slideway control trolley, floor controller and floor location device, slideway control trolley is to walking mechanism, multifunctional fire extinguishing system and escape device provide electrical source of power and control signal, control floor location device stretched out after the floor controller was received the control signal that fire-fighting fire alarm interlock signal (fire floor and position) or fire fighter send, make the walking mechanism that moves up or down stop at this floor position, during the withdrawal of floor location device, walking mechanism continues to move up or down, described fire prevention slideway vertical lifting member comprises tooth bar fluctuating orbit and pedestal, the tooth bar fluctuating orbit has a flank of tooth and a light face, pedestal is fixed on the housing inboard, the tooth bar fluctuating orbit is installed on the pedestal, fire prevention slideway fire water passage and compressed air channel are used for providing fire water and compressed air to the multifunctional fire extinguishing system, the fire water passage comprises fire water snap joint and fire water control magnetic valve, compressed air channel comprises compressed air snap joint and compressed air control magnetic valve, after walking mechanism arrives designated floor, the control fire water snap joint of floor controller and compressed air snap joint dock and open fire water control magnetic valve with walking mechanism water inlet snap joint and air inlet snap joint and compressed air control magnetic valve supplies water to walking mechanism, air feed, fire prevention slideway door opener is formed by opening roller and gripper shoe, door opener is placed on before and after the walking mechanism, when moving, walking mechanism promotes door opener forward, when entering a lid door inboard, door opener unlatching roller will cover a door jack-up, to cover door and open fully along with the movement of door opener by certain angle and the unlatching roller that highly is arranged in order, the lid door torsion stressed door that will cover of hinge that resets is pressed on the unlatching roller, after walking mechanism is passed through, the door opener unlatching roller that is installed in the walking mechanism rear portion progressively withdraws from, and the lid door is slowly closed; Described high building fire fighting robot, be further characterized in that: the walking mechanism drive unit, lifting travelling wheel and two-way locating wheel cooperate with fire prevention slideway vertical lifting member and guide rail to be realized moving, the lifting travelling wheel comprises gear and roller, roller leans against the light face of vertical lifting member tooth bar fluctuating orbit, guarantee the flank of tooth positive engagement of lifting travelling wheel wheel and rack fluctuating orbit, two-way locating wheel contacts when guaranteeing that walking mechanism moves up and down stable with guide rail, reliably, the slideway expansion bend comprises flexible push rod, backstay and positioning sleeve, flexible push rod, positioning sleeve links to each other with horizontal slide rail, backstay pass with horizontal slide rail on fixing positioning sleeve rise and support and positioning action, flexible push rod promotes transverse slipway outwards away from external wall of high-rise building, be convenient to the fire fighting operation of multifunctional fire extinguishing system, laterally slide rail comprises track, combination snap joint, slide rail trolley and water and gas conduit, the walking mechanism driving governor comprises the floor detector, slip circuit closer and walking synchronizing indicator, the floor location device that the floor detector detects fire prevention slideway slideway controller sends the signal that puts in place, walking mechanism stops to move up and down, the walking synchronizing indicator detects the synchronism that two ends walking mechanism drive unit moves up and down, when error occurring drive unit is proofreaied and correct, water inlet snap joint and air inlet snap joint and fire prevention slideway fire water passage, the fire water snap joint of compressed air channel, compressed air snap joint butt joint, open fire water control magnetic valve and compressed air control magnetic valve, compressed air and fire water enter horizontal slide rail water and gas conduit, water inlet snap joint and air inlet snap joint and fire water snap joint, compressed air snap joint butt joint can be motor drives, also can be that electromagnet or compressed air are connected or disengagement, laterally slide rail arranges a plurality of combination snap joints along track by the precalculated position, fire water and compressed air can be outwards exported in combination snap joint, the slip circuit closer of driving governor is input to electrical source of power and control signal on driving governor and the slideway trolley by the slideway control trolley of slideway controller, walking mechanism fall arrest safety and the interlock of vertical lifting member tooth bar fluctuating orbit, the fall arrest safety is locked with walking mechanism when meeting accident, and guarantees safety; Described high building fire fighting robot, it is characterized in that: multifunctional fire extinguishing system sprinkler system comprises spout, horizontal rotary mechanism, rotating mechanism up and down, water pipeline, sprinkling fire video camera and the water jet of saving oneself, fire water by water pipeline through horizontal rotary mechanism and up and down rotating mechanism sprayed by spout, horizontal rotary mechanism and rotating mechanism control spout direction up and down, sprinkling fire cameras view and control fire extinguishing procedure, the water jet of saving oneself comprises airtight water tank, gas cylinder, save oneself sparge pipe and gas cylinder control valve, the gas cylinder control valve is opened, gases at high pressure in the gas cylinder enter airtight water tank and the hydraulic pressure in the airtight water tank are gone out through the sparge pipe ejection of saving oneself, what the sparge pipe of saving oneself sprayed can be current, also can be water smoke, window breaker comprises liftout attachment, expansion link, percussion mechanism and impact head, window breaker breaks up the skyscraper glass curtain wall when being mainly used in the fire fire fighting and rescue, window breaker arrives assigned address, liftout attachment stretches out expansion link, impact head and prop up glass curtain wall glass, percussion mechanism on the expansion link sends percussion action, impact a shattered glass, percussion mechanism adopts the electromechanical shock structure, also can be electromagnet or Pneumatic immpacting structure, the fire extinguisher bomb transmitter comprises transmitting tube, launcher, cutting ferrule, fire extinguisher bomb, draw-in groove and card ereisma, transmitting tube is installed on the launcher, there is cutting ferrule at the transmitting tube rear portion, fire extinguisher bomb inserts between transmitting tube and the cutting ferrule, draw-in groove on the fire extinguisher bomb is blocked by cutting ferrule card ereisma, fire extinguishing intelligent controller control fire extinguisher bomb transmitter is sprayed compressed air by transmitting tube, be enclosed within the fire extinguisher bomb directive burning things which may cause a fire disaster under the effect of compressed air pressure on the card ereisma, burst open behind the fire extinguisher bomb contact burning things which may cause a fire disaster and make fray-out of flame, fire extinguisher bomb can be the liquid fire extinguishing bullet, it also can be dry chemical projectile, described hunting gear comprises and horizontally rotates mechanism, rotating mechanism up and down, turning cylinder and bracing frame, multifunctional fire extinguishing system sprinkler system, window breaker, fire extinguisher bomb transmitter and condition of a fire surveillance camera are installed on the bracing frame, bracing frame links to each other with turning cylinder, hunting gear is rotating mechanism and horizontally rotate mechanism and can control bracing frame and rotate up and down and horizontally rotate up and down, hunting gear is fixed on the horizontal coaster, horizontal coaster comprises laterally walks wheel mechanism, track circuit closer and coaster snap joint, laterally coaster walks laterally that wheel mechanism is placed on the horizontal slide rail and drives on horizontal track of sliding track laterally mobile by laterally walking wheel mechanism, multifunctional fire extinguishing system power supply and control signal can be obtained by the slide rail trolley of track circuit closer from the horizontal slide rail of walking mechanism, also can control with controller by the fire extinguishing intelligent controller is power autonomous, the fire extinguishing intelligent controller can be that line traffic control is arranged, also can be wireless signal control, laterally the snap joint of coaster coaster can be docked with horizontal slide rail combination snap joint, compressed air in the water and gas conduit and fire water are introduced multi-functional emission system by combination snap joint and coaster snap joint, and the butt joint of combination snap joint and coaster snap joint can be motor drives, also can be that electromagnet or compressed air promote to connect or throw off; Described high building fire fighting robot, be further characterized in that: escape device comprises pedal, escape horizontal coaster and guardrail, guardrail is fixed on the pedal and is installed on the horizontal coaster of escape, the horizontal coaster of escaping is made up of transversal driving mechanism and escape coaster circuit closer, the horizontal coaster of escaping is placed on the horizontal slide rail of walking mechanism and is laterally laterally moving on the track of sliding track, escape slideway circuit closer is introduced the escape device transversal driving mechanism by the slide rail trolley with electrical source of power and control signal, described walking mechanism, multifunctional fire extinguishing system and escape device outside all can be wrapped up fire-proof heat-insulating material and be prevented that flame from burning, fire-proof heat-insulating material can be the hard refractory PLASTIC LAMINATED, also can be inorganic fire-resistance cloth, inorganic fire-resistant blanket, layer flexible inorganic fires such as inorganic fire paper are composited.
The invention has the beneficial effects as follows, a kind of can be in the outside fast moving of skyscraper, accurately locate and use multifunctional fire extinguishing system and escape device to implement the high building fire fighting robot of fire extinguishing and rescue, be swift in response, highly effective and safe, easy to use.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is that the present invention overlooks organigram, wherein:
Fig. 1 a is the present invention's slideway lid door organigram when closing of preventing fires;
Fig. 1 b is the present invention's slideway lid door organigram when opening of preventing fires;
Fig. 2 a is that guide rail of the present invention is the fire prevention slideway organigram of section bar;
Fig. 2 b is that guide rail of the present invention is the fire prevention slideway organigram of pipe i-beam structure;
Fig. 3 a is that the horizontal slide rail of walking mechanism of the present invention stretches out organigram (guide rail is section bar);
Fig. 3 b is that the horizontal slide rail of walking mechanism of the present invention stretches out organigram (guide rail is the pipe I-steel);
Fig. 4 is that the horizontal slide rail of walking mechanism of the present invention is regained organigram;
Fig. 5 is door opener organigram of the present invention;
Fig. 6 is multifunctional fire extinguishing of the present invention system organigram, wherein:
Fig. 6 a is multifunctional fire extinguishing of the present invention system organigram;
Fig. 6 b is multifunctional fire extinguishing of the present invention system fire extinguisher bomb transmitter organigram;
Fig. 7 is escape device organigram of the present invention.
Among the figure: 1. the slideway of preventing fires, 11. housing, 111. member body, 112. fire proof heat-insulation layer, 12. lid doors, 121. fireproofing and heat resistant layers, the hinge 122. torsion resets, 123. the flexible anti fire bed, 124. waistcloth wallboards, 125. fire-retardant fasteners, 13. guide rail, 14. the slideway controller, 141. slideways control trolley, 142. floor controllers, 143. floor location device, 15. the vertical lifting member, 151. tooth bar fluctuating orbits, 152. pedestals, 16. fire water passage, 161. fire water snap joint, 162. fire water magnetic valves, 17. compressed air channels, 171. compressed air snap joint, 172. compressed air electromagnetic valve, 18. door openers, 181. open roller, 182. gripper shoe, 2. walking mechanism, 21. drive units, 22. lifting travelling wheels, 221. gear, 222. roller, 23. two-way locating wheels, 24. horizontal slide rails, 241. track, 242. make up quick street corner, 243. slide rail trolleys, 244. water and gas conduits, 25. slide rail expansion bend, 251. flexible push rod, 252. backstays, 253. positioning sleeves, 26. water inlet snap joint, 27. air inlet snap joint, 28. driving governors, 281. slip circuit closers, 282. floor detector, 283. the walking synchronizing indicator, 29. fall arrest safeties, 3. multifunctional fire extinguishing system, 31. hunting gear, 311. horizontally rotate mechanism, rotating mechanism about in the of 312., 313. turning cylinders, 314. bracing frame, 32. horizontal coaster, 321. laterally walk wheel mechanism, 322. slide rail circuit closers, 323. coaster snap joint, 33. sprinkler system, 331. spouts, 332. horizontal rotary mechanisms, 333. rotating mechanism up and down, 334. water pipeline, 335. sprinkling fire video cameras, 336. water jets of saving oneself, 3361. airtight water tank, 3362. gas cylinder, 3363. sparge pipes of saving oneself, 3364. gas cylinder control valves, 34. window breaker, 341. liftout attachment, 342. expansion links, 343. percussion mechanisms, 344. impact head, 35. the fire extinguisher bomb transmitter, 351. transmitting tubes, 352. launchers, 353. cutting ferrule, 354. fire extinguisher bomb, 355. draw-in grooves, 356. card ereismas, 36. fire extinguishing intelligent controller, 37. condition of a fire surveillance camera, 4. escape device, 41. pedals, the horizontal coaster 42. escape, 43. guardrails.
The specific embodiment
At Fig. 1, Fig. 2 a, among Fig. 2 b and Fig. 5, the high building fire fighting robot comprises fire prevention slideway (1), walking mechanism (2), multifunctional fire extinguishing system (3) and escape device (4), it is characterized in that: fire prevention slideway (1) comprises housing (11), lid door (12), guide rail (13), slideway controller (14), vertical lifting member (15), fire water passage (16), compressed air channel (17) and door opener (18), the fire prevention slideway (1) be installed on the external wall of high-rise building or the building decoration curtain wall in, guide rail (13), vertical lifting member (15) is fixed on housing (11) inboard.
In Fig. 3 a and Fig. 3 b, walking mechanism (2) comprises drive unit (21), lifting travelling wheel (22), two-way locating wheel (23), horizontal slide rail (24), slide rail expansion bend (25), water inlet snap joint (26), air inlet snap joint (27), driving governor (28) and fall arrest safety (29), lifting travelling wheel (22) and fire prevention slideway (1) vertical lifting member (15) are joined and are incorporated in drive unit (21) and drive lower edge skyscraper vertical direction and move up and down, two-way locating wheel (23) contact with fire prevention slideway (1) guide rail (13) guarantee to move up and down stablize accurate.
At Fig. 6 a, among Fig. 6 b and Fig. 7, multifunctional fire extinguishing system (3) is by hunting gear (31), horizontal coaster (32), sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35), fire extinguishing intelligent controller (36) and condition of a fire surveillance camera (37) are formed, laterally coaster (32) is placed on the horizontal slide rail of walking machine (2) structure (24) upward and laterally moves along horizontal slide rail (24), laterally coaster (32) is gone up fixedly hunting gear (31), sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35) and condition of a fire surveillance camera (37) are installed on the hunting gear (31).Escape device (4) comprises pedal (41), escape horizontal coaster (42) and guardrail (43), pedal (41) and guardrail (43) are fixed on the horizontal coaster of escape (42), and the horizontal coaster (42) of escaping is placed on the horizontal slide rail of walking machine (2) structure (24) and goes up also along laterally slide rail (24) is mobile.
At Fig. 2 a, Fig. 2 b, Fig. 3 a, Fig. 3 b, Fig. 5, among Fig. 6 a and Fig. 6 b, the member body (111) of fire prevention slideway (1) housing (11) is coated with fire proof heat-insulation layer (112) all around, fire prevention slideway (1) lid door (12) comprises fireproofing and heat resistant layer (121), the torsion hinge (122) that resets, flexible anti fire bed (123), waistcloth wallboard (124) and fire-retardant fastener (125), the torsion hinge (122) that resets is fixed on lid door (12) and goes up and will cover door (12) and housing (11) links together, slideway controller (14) comprises slideway control trolley (141), floor controller (142) and floor location device (143), slideway control trolley (141) is to walking mechanism (2), multifunctional fire extinguishing system (3) and escape device (4) provide electrical source of power and control signal, floor controller (142) is received fire-fighting fire alarm interlock signal (fire floor, the position) control floor location device (143) stretches out or after the control signal sent of fire fighter, make the walking mechanism (2) that moves up or down stop this floor position, during floor location device (143) withdrawal, walking mechanism (2) continues to move up or down, fire prevention slideway (1) vertical lifting mechanism (15) comprises tooth bar fluctuating orbit (151) and pedestal (152), tooth bar fluctuating orbit (151) has a flank of tooth and a light face, pedestal (152) is fixed on housing (11) inboard, tooth bar fluctuating orbit (151) is installed on the pedestal (152), fire water passage (16) comprises fire water snap joint (161) and fire water control magnetic valve (162), compressed air channel (17) comprises compressed air snap joint (171) and compressed air control magnetic valve (172), after walking mechanism (2) arrives designated floor, floor controller (142) control fire water snap joint (161) and compressed air snap joint (171) dock and open fire water control magnetic valve (162) with walking mechanism (2) water inlet snap joint (26) and air inlet snap joint (27) and compressed air control magnetic valve (172) supplies water to walking mechanism (2), air feed, fire prevention slideway (1) door opener (18) is formed by opening roller (181) and gripper shoe (182), door opener (18) is placed on before and after the walking mechanism (2), promote door opener (18) forward when walking mechanism (2) is mobile, when entering Gai Men (12) inboard, door opener (18) unlatching roller (181) will cover door (12) jack-up, to cover door (12) and open fully along with the movement of door opener (18) by certain angle and the unlatching roller (181) that highly is arranged in order, lid door (12) torsion stressed door (12) that will cover of hinge (122) that resets is pressed on the unlatching roller (181), after walking mechanism (2) is passed through, door opener (18) the unlatching roller (181) that is installed in walking mechanism (2) rear portion progressively withdraws from, lid door (12) is slowly closed, walking mechanism (2) drive unit (21), lifting travelling wheel (22) and two-way locating wheel (23) cooperate with fire prevention slideway (1) vertical lifting member (15) and guide rail (13) to be realized moving, lifting travelling wheel (22) comprises gear (221) and roller (222), roller (222) leans against the light face of vertical lifting member (15) tooth bar fluctuating orbit (151), guarantee the flank of tooth positive engagement of lifting travelling wheel (22) gear (221) and tooth bar fluctuating orbit (151), two-way locating wheel (23) contacts with guide rail (13) and guarantees that walking mechanism (2) is stable when moving up and down, reliably, slideway expansion bend (25) comprises flexible push rod (251), backstay (252) and positioning sleeve (253), flexible push rod (251), positioning sleeve (253) links to each other with horizontal slide rail (24), backstay (252) passes the positioning sleeve (253) fixing with horizontal slide rail (24), flexible push rod (251) promotes horizontal slide rail (24) outwards away from external wall of high-rise building, be convenient to multifunctional fire extinguishing system (3) fire fighting operation, laterally slide rail (24) comprises track (241), combination snap joint (242), slide rail trolley (243) and water and gas conduit (244), walking mechanism (2) driving governor (28) comprises floor detector (282), slip circuit closer (281) and walking synchronizing indicator (283), the floor location device (143) that detects fire prevention slideway (1) slideway controller (14) when floor detector (282) sends the signal that puts in place, walking mechanism (2) stops to move up and down, walking synchronizing indicator (283) detects the synchronism that two ends walking mechanism (2) drive unit (21) moves up and down, drive unit (21) is proofreaied and correct when error occurring, water inlet snap joint (26) and air inlet snap joint (27) and fire prevention slideway (1) fire water passage (16), the fire water snap joint (161) of compressed air channel (17), compressed air snap joint (171) butt joint, open fire water control magnetic valve (162) and compressed air control magnetic valve (172), compressed air and fire water enter horizontal slide rail (24) water and gas conduit (244), laterally slide rail (24) track (241) arranges a plurality of combination snap joints (242) by the precalculated position, fire water and compressed air are outwards exported in combination snap joint (242), the slip circuit closer (281) of driving governor (28) is input to electrical source of power and control signal on driving governor (28) and the slideway trolley (243) by the slideway control trolley (141) of slideway controller (14), walking mechanism (2) fall arrest safety (29) and vertical lifting member (15) tooth bar fluctuating orbit (151) interlock, fall arrest safety (29) is locked with walking mechanism (2) when meeting accident landing; Multifunctional fire extinguishing system (3) sprinkler system (33) comprises spout (331), horizontal rotary mechanism (332), rotating mechanism (333) up and down, water pipeline (334), sprinkling fire video camera (335) and the water jet of saving oneself (336), fire water by water pipeline (334) through horizontal rotary mechanism (332) and up and down rotating mechanism (333) sprayed by spout (331), horizontal rotary mechanism (332) and rotating mechanism (333) control spout (331) direction up and down, sprinkling fire video camera (335) observation and control fire extinguishing procedure, the water jet (336) of saving oneself comprises airtight water tank (3361), gas cylinder (3362), save oneself sparge pipe (3363) and gas cylinder control valve (3364), gas cylinder control valve (3364) is opened, gases at high pressure in the gas cylinder (3362) enter airtight water tank (3361) hydraulic pressure in the airtight water tank (3361) are gone out through the sparge pipe of saving oneself (3363) to spray, window breaker (34) comprises liftout attachment (341), expansion link (342), percussion mechanism (343) and impact head (344), window breaker (34) arrives assigned address, liftout attachment (341) stretches out expansion link (342), impact head (344) and prop up glass curtain wall glass, percussion mechanism (343) on the expansion link (342) sends percussion action, impact head (344) shattered glass, fire extinguisher bomb transmitter (35) comprises transmitting tube (351), launcher (352), cutting ferrule (353), fire extinguisher bomb (354), draw-in groove (355) and card ereisma (356), transmitting tube (351) is installed on the launcher (352), there is cutting ferrule (353) at transmitting tube (351) rear portion, fire extinguisher bomb (354) inserts between transmitting tube (351) and the cutting ferrule (353), draw-in groove (355) on the fire extinguisher bomb (354) is blocked by cutting ferrule (353) card ereisma (356), fire extinguishing intelligent controller (36) control fire extinguisher bomb transmitter (35) is sprayed compressed air by transmitting tube (351), be enclosed within fire extinguisher bomb (354) the directive burning things which may cause a fire disaster under the effect of compressed air pressure on the card ereisma (356), burst open behind fire extinguisher bomb (354) the contact burning things which may cause a fire disaster and make fray-out of flame, hunting gear (31) comprises and horizontally rotates mechanism (311), rotating mechanism (312) up and down, turning cylinder (313) and bracing frame (314), multifunctional fire extinguishing system (3) sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35) and condition of a fire surveillance camera (37) are installed on the bracing frame (314), bracing frame (314) links to each other with turning cylinder (313), hunting gear (31) is rotating mechanism (312) and horizontally rotate mechanism (311) control bracing frame (314) and rotate up and down and horizontally rotate up and down, servomechanism (31) is fixed on the horizontal coaster (32), horizontal coaster (32) comprises laterally walks wheel mechanism (321), track circuit closer (322) and coaster snap joint (323), laterally coaster (32) walks laterally that wheel mechanism (321) is placed on that horizontal slide rail (24) is gone up and drives and go up laterally mobile at horizontal slide rail (24) track (241) by laterally walking wheel mechanism (321), multifunctional fire extinguishing system (3) power supply and control signal can be obtained by the slide rail trolley (243) of track circuit closer (322) from the horizontal slide rail (24) of walking mechanism (2), also can control with controller by fire extinguishing intelligent controller (36) is power autonomous, laterally coaster (32) coaster snap joint (323) can be docked with horizontal slide rail (24) combination snap joint (242), compressed air in the water and gas conduit (244) and fire water are introduced multi-functional emission system (3) by combination snap joint (242) and coaster snap joint (323), the butt joint of combination snap joint (242) and coaster snap joint (323) can be motor drives, also can be that electromagnet or compressed air are connected or disengagement; Escape device (4) comprises pedal (41), escape horizontal coaster (42) and guardrail (43), guardrail (43) is fixed on pedal (41) and goes up and be installed on the horizontal coaster of escape (42), the horizontal coaster (42) of escaping is made up of transversal driving mechanism (421) and escape coaster circuit closer (422), the horizontal coaster (42) of escaping is placed on the horizontal slide rail (24) of walking mechanism (2) and goes up and upward laterally move at horizontal slide rail (24) track (241), and escape slideway circuit closer (422) passes through slide rail trolley (243) with electrical source of power and control signal introducing escape device (4) transversal driving mechanism (421).
Claims (10)
1. the high building fire fighting robot comprises fire prevention slideway (1), walking mechanism (2), multifunctional fire extinguishing system (3) and escape device (4), it is characterized in that: fire prevention slideway (1) comprises housing (11), lid door (12), guide rail (13), slideway controller (14), vertical lifting member (15), fire water passage (16), compressed air channel (17) and door opener (18), the fire prevention slideway (1) be installed on the external wall of high-rise building or the building decoration curtain wall in, walking mechanism (2) comprises drive unit (21), lifting travelling wheel (22), two-way locating wheel (23), horizontal slide rail (24), slide rail expansion bend (25), water inlet snap joint (26), air inlet snap joint (27), driving governor (28) and fall arrest safety (29), lifting travelling wheel (22) and fire prevention slideway (1) vertical lifting member (15) are joined and are incorporated in drive unit (21) and drive lower edge skyscraper vertical direction and move up and down, two-way locating wheel (23) contacts with fire prevention slideway (1) guide rail (13), multifunctional fire extinguishing system (3) is by hunting gear (31), horizontal coaster (32), sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35), fire extinguishing intelligent controller (36) and condition of a fire surveillance camera (37) are formed, laterally coaster (32) is placed on the horizontal slide rail (24) of walking mechanism (2), laterally coaster (32) is gone up fixedly hunting gear (31), sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35) and condition of a fire surveillance camera (37) are installed on the hunting gear (31), escape device (4) comprises pedal (41), escape horizontal coaster (42) and guardrail (43), pedal (41) and guardrail (43) are fixed on the horizontal coaster (42) of escaping, and the horizontal coaster (42) of escaping is placed on walking mechanism (2), and laterally slide rail (24) is upward also mobile along horizontal slide rail (24).
2. according to the described high building fire fighting of claim 1 robot, it is characterized in that: the member body (111) of fire prevention slideway (1) housing (11) is coated with fire proof heat-insulation layer (112) all around, fire prevention slideway (1) vertical lifting mechanism (15) comprises tooth bar fluctuating orbit (151) and pedestal (152), tooth bar fluctuating orbit (151) has a flank of tooth and a light face, tooth bar fluctuating orbit (151) is installed on the pedestal (152), and guide rail (13), vertical lifting member (15) are fixed on housing (11) inboard.
3. according to the described high building fire fighting of claim 1 robot, it is characterized in that: fire prevention slideway (1) lid door (12) comprises fireproofing and heat resistant layer (121), torsion reset hinge (122), flexible anti fire bed (123), waistcloth wallboard (124) and fire-retardant fastener (125), fire prevention slideway (1) door opener (18) is formed by opening roller (181) and gripper shoe (182), door opener (18) is placed on before and after the walking mechanism (2), open roller by certain angle and highly be arranged in order, torsion resets hinge (122) between Gai Men (12) and housing (11).
4. according to the described high building fire fighting of claim 1 robot, it is characterized in that: fire prevention slideway (1) slideway controller (14) comprises slideway control trolley (141), floor controller (142) and floor location device (143), fire water passage (16) comprises fire water snap joint (161) and fire water control magnetic valve (162), compressed air channel (17) comprises compressed air snap joint (171) and compressed air control magnetic valve (172), and slideway controller (14), fire water passage (16), compressed air channel (17) are fixed on housing (11) inboard.
5. according to the described high building fire fighting of claim 1 robot, it is characterized in that: walking mechanism (2) comprises drive unit (21), lifting travelling wheel (22), two-way locating wheel (23), horizontal slide rail (24), slide rail expansion bend (25), water inlet snap joint (26), air inlet snap joint (27), driving governor (28) and fall arrest safety (29), lifting travelling wheel (22) comprises gear (221) and roller (222), the flank engagement of gear (221) and tooth bar fluctuating orbit (151), roller (222) leans against the light face of vertical lifting member (15) tooth bar fluctuating orbit (151), two-way locating wheel (23) contacts with guide rail (13), laterally slide rail (24) comprises track (241), combination snap joint (242), slide rail trolley (243) and water and gas conduit (244), track (241) arranges a plurality of combination snap joints (242), slide rail expansion bend (25) comprises flexible push rod (251), backstay (252) and positioning sleeve (253), flexible push rod (251), positioning sleeve (253) links to each other with horizontal slide rail (24), backstay (252) passes the positioning sleeve (253) fixing with horizontal slide rail (24), driving governor (28) comprises floor detector (282), slip circuit closer (281) and walking synchronizing indicator (283), the flank engagement of fall arrest safety (29) and vertical lifting member (15) tooth bar fluctuating orbit (151).
6. according to the described high building fire fighting of claim 1 robot, it is characterized in that: multifunctional fire extinguishing system (3) sprinkler system (33) comprises spout (331), horizontal rotary mechanism (332), rotating mechanism (333) up and down, water pipeline (334), sprinkling fire video camera (335), the water jet (336) of saving oneself, the water jet (336) of saving oneself comprises airtight water tank (3361), gas cylinder (3362), save oneself sparge pipe (3363) and gas cylinder control valve (3364), window breaker (34) comprises liftout attachment (341), expansion link (342), percussion mechanism (343) and impact head (344), fire extinguisher bomb transmitter (35) comprises transmitting tube (351), launcher (352), cutting ferrule (353), fire extinguisher bomb (354), draw-in groove (355) and card ereisma (356), transmitting tube (351) is installed on the launcher (352), there is cutting ferrule (353) at transmitting tube (351) rear portion, fire extinguisher bomb (354) inserts between transmitting tube (351) and the cutting ferrule (353), card ereisma (356) is stuck on the draw-in groove (355) of fire extinguisher bomb (354), fire extinguisher bomb transmitter (35) provides kinetic energy emission fire extinguisher bomb (354) by compressed air, fire extinguisher bomb (354) is liquid extinguisher fire extinguisher bomb or dry chemical projectile, and percussion mechanism (343) is the electromechanical shock structure, electromagnet or Pneumatic immpacting structure.
7. according to the described high building fire fighting of claim 1 robot, it is characterized in that: multifunctional fire extinguishing system (3) hunting gear (31) comprises and horizontally rotates mechanism (311), rotating mechanism (312) up and down, turning cylinder (313) and bracing frame (314), sprinkler system (33), window breaker (34), fire extinguisher bomb transmitter (35) and condition of a fire surveillance camera (37) are installed on the bracing frame (314), bracing frame (314) links to each other with turning cylinder (313), hunting gear (31) is fixed on the horizontal coaster (32), horizontal coaster (32) comprises laterally walks wheel mechanism (321), track circuit closer (322) and coaster snap joint (323), laterally the wheel mechanism (321) of laterally walking of coaster (32) is placed on the horizontal slide rail (24).
8. according to the described high building fire fighting of claim 1 robot, it is characterized in that: escape device (4) comprises pedal (41), escape horizontal coaster (42) and guardrail (43), guardrail (43) is fixed on pedal (41) and goes up and be installed on the horizontal coaster of escape (42), the horizontal coaster (42) of escaping is made up of transversal driving mechanism (421) and escape coaster circuit closer (422), the horizontal coaster (42) of escaping is placed on the horizontal slide rail (24) of walking mechanism (2) and goes up and upward laterally move at horizontal slide rail (24) track (241), and escape slideway circuit closer (422) passes through slide rail trolley (243) with electrical source of power and control signal introducing escape device (4) transversal driving mechanism (421).
9. according to the described high building fire fighting of claim 1 robot, it is characterized in that: described fire water snap joint (161), compressed air snap joint (171), water inlet snap joint (26), air inlet snap joint (27), combination snap joint (242), coaster snap joint (323) are that motor drives, electromagnet or compressed air promote to connect or throw off.
10. according to the described high building fire fighting of claim 1 robot, it is characterized in that: fire-proof heat-insulating material all can be wrapped up in described walking mechanism, multifunctional fire extinguishing system and escape device outside, fire-proof heat-insulating material, fireproofing and heat resistant layer (121) be the hard refractory PLASTIC LAMINATED or the same with flexible anti fire bed (123) be that inorganic fire-resistance cloth, inorganic fire-resistant blanket, inorganic fire paper layer flexible inorganic fire are composited.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010241790 CN102343130B (en) | 2010-07-30 | 2010-07-30 | High-rise building fire fighting robot |
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| CN 201010241790 CN102343130B (en) | 2010-07-30 | 2010-07-30 | High-rise building fire fighting robot |
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| CN102343130A CN102343130A (en) | 2012-02-08 |
| CN102343130B true CN102343130B (en) | 2013-08-21 |
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