CN111249656A - Compressed air foam lifting and spraying robot - Google Patents
Compressed air foam lifting and spraying robot Download PDFInfo
- Publication number
- CN111249656A CN111249656A CN202010221516.4A CN202010221516A CN111249656A CN 111249656 A CN111249656 A CN 111249656A CN 202010221516 A CN202010221516 A CN 202010221516A CN 111249656 A CN111249656 A CN 111249656A
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- compressed air
- air foam
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- chassis
- foam
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- 239000006260 foam Substances 0.000 title claims abstract description 135
- 238000005507 spraying Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 4
- 241000239290 Araneae Species 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000001629 suppression Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 abstract description 2
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000001988 toxicity Effects 0.000 description 2
- 231100000419 toxicity Toxicity 0.000 description 2
- 206010021143 Hypoxia Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0036—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using foam
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a compressed air foam lifting and spraying robot. The device comprises a chassis, a foam interface, a rotary table, a lifting arm support, a compressed air foam pipeline, a compressed air foam release device, a central control system and a remote controller. The invention adopts a mode of combining the self-walking chassis with a plurality of supporting legs to automatically expand or contract the supporting legs, thereby solving the problems of small size, light chassis, instability and easy overturn when lifting and jetting. The invention has high lifting height, can apply compressed air foam on a protected object in a downward ejection mode or a hook mode, and is beneficial to overcoming the influence of wind, fire plume and high-temperature heat radiation by the compressed air foam with low density and light weight. The invention is flexible, adopts a remote control mode, and solves the technical problem of effectively applying compressed air foam. The invention can be provided with different release devices to release the compressed air foam to a target area, thereby meeting the actual requirements of large-scale fire suppression such as petrochemical storage tanks, process devices, oil immersed transformers and the like.
Description
Technical Field
The invention relates to a fire-fighting robot, in particular to a compressed air foam lifting and spraying robot.
Background
The petrochemical engineering relates to flammable and explosive and toxic and harmful substances with various types, large quantity, complex production process and high fire risk, once a fire disaster occurs, the combustion speed is high, the fire behavior development is rapid, a large-area three-dimensional fire disaster is easy to form, the suppression difficulty is very high, and due to the high temperature of a fire scene, high-risk risks such as flammability, explosiveness, dense smoke oxygen deficiency, toxicity and harm exist, so that the requirements on fire-fighting rescue equipment are very high, and novel efficient unmanned fire-fighting equipment is urgently needed.
The compressed air foam fire extinguishing technology is characterized in that foam is generated by injecting air into a foam solution at positive pressure, the foam is uniform and fine, the liquid separation time is long, the stability is good, the fire extinguishing efficiency is high, and the afterburning resistance is strong, so that typical petrochemical fires such as oil immersed transformers, oil tanks and petrochemical process devices can be effectively extinguished. However, petrochemical fire suppression is rarely used at present for specific reasons including:
(1) the compressed air foam of high stability is little, the quality is light, and the range of current conventional compressed air foam fire engine is limited, penetrates the height not enough, and the protection range is less, can't satisfy typical petrochemical engineering conflagration actual demand of putting out a fire and save life and property.
(2) The conventional compressed air foam fire truck cannot be used in places with hazards of explosion, high temperature and the like, such as oil tanks, process devices and the like.
(3) The existing conventional large-flow compressed air foam gun has insufficient shooting height, dispersed foam jet flow, great loss along the way, great influence by environmental wind and fire plume and poor effect in fighting high-level fire of large-scale oil tanks and process devices.
Therefore, the existing compressed air foam fire extinguishing equipment cannot meet the requirement of large petrochemical fire suppression, and the unmanned compressed air foam injection equipment which is flexible, safe and effective is urgently needed.
Disclosure of Invention
In view of the defects of the prior art, the compressed air foam lifting and spraying robot provided by the invention has the advantages of high lifting height, wide protection range, high fire extinguishing efficiency, strong re-ignition resistance and flexibility, can effectively penetrate through fire plumes to a high-temperature region of a fire to extinguish a large petrochemical fire, and can lift a release device to a certain height to be hooked on a protected object to effectively extinguish a high-level fire, so that the problem that unmanned efficient fire extinguishing equipment is urgently needed for petrochemical fire extinguishment is solved.
The technical scheme adopted by the invention is as follows: a compressed air foam lifting and jetting robot is characterized by comprising a chassis, foam interfaces, a rotary table, a lifting arm support, a compressed air foam pipeline, a compressed air foam releasing device, a central control system and a remote controller, wherein walking mechanisms are symmetrically arranged in the middle of the chassis, a plurality of supporting legs are arranged on the periphery of the chassis, the rotary table and the central control system are arranged on the upper portion of the chassis, the foam interfaces are arranged at one end of the chassis, supporting legs are arranged at the tail ends of the supporting legs, the lower end of the lifting arm support is fixedly connected with the rotary table, the compressed air foam releasing device is arranged at the upper end of the lifting arm support, the compressed air foam pipeline is arranged on the lifting arm support, the lower end of the compressed air foam pipeline is communicated with the foam interfaces, the upper end of the compressed air foam pipeline is communicated with the compressed air foam releasing device, when, when the chassis moves to a target position to be put out a fire, the supporting legs are stretched, the lifting arm support and the compressed air foam pipeline are unfolded, and the compressed air foam releasing device is lifted to a certain height.
The central control system comprises a camera arranged at the front end of a chassis, a pan-tilt camera arranged behind the chassis, an infrared camera and a high-definition camera on a compressed air foam release device; the central control system also comprises a four-screen divider connected with the camera, the pan-tilt camera, the infrared camera and the high-definition camera, and the four-screen divider is connected to the first wireless signal transmitter and the first antenna through an image transmission channel; the central control system also comprises a first PLC connected with the monitoring sensor, the walking mechanism, the rotary table, the lifting arm support and the supporting legs, and the first PLC is connected to the second wireless signal transmitter and the second antenna through a data transmission channel.
The remote controller comprises a remote control box, a second PLC, a first receiver and a second receiver, wherein the first receiver connected with a third antenna is connected to the remote control box through a graph transmission channel; and the second receiver connected with the fourth antenna is connected with a second PLC through a data transmission channel, and the second PLC is connected to the remote control box.
The walking mechanism of the invention adopts any one of crawler type, wheel type, joint wheel type or joint crawler type.
The support legs of the invention adopt hydraulic telescopic folding spider legs, and the bottoms of the support legs are provided with anti-skid pads.
The lifting arm support adopts a folding lifting arm support, and the lifting height is 5-30 m.
The compressed air foam release device adopts a compressed air foam gun or a compressed air foam hook pipe.
The working principle of the invention is as follows: in daily life, the compressed air foam lifting and spraying robot is in a standby and ready-to-war state, the supporting legs 1-2 are in a contracted folding state, the lifting arm support 4 and the compressed air foam pipeline 5 are in a folding state, and the front end of the foam interface 2 is communicated with a compressed air foam fire truck 12 through a fire hose or a hose 11; the rear end of the foam interface 2 is connected with a compressed air foam generating device 6 through a compressed air foam pipeline 5. When a fire disaster occurs to the protected target, an operator operates the remote controller 8, and information interaction and control are realized through the butt joint of the wireless signal receiver and the antenna of the remote controller 8 and the wireless signal transmitter and the antenna of the central control system 7. Firstly, a PCL controls a traveling mechanism 1-1 of the robot to travel to a fire disaster area, the traveling mechanism 1-1 of the robot stops traveling after the robot travels to a preset position, a PLC electrically controls to open a hydraulic telescopic folding supporting leg 1-2, a supporting surface is expanded through a plurality of supporting legs 1-2, and the whole robot is firmly supported to prevent toppling or moving due to jetting recoil; then the PCL is used for electrically controlling and unfolding the hydraulic lifting arm support 4 and the compressed air foam pipeline 5, lifting the compressed air foam release device 6 to a certain height, and then adjusting the compressed air foam release device 6 to a preset spraying direction or hooking the compressed air foam release device 6 on a protected object through coordination with a control motor of the compressed air foam release device 6. And then the compressed air foam generating device or the compressed air foam fire truck 12 is started, the compressed air foam is conveyed to the robot through the fire hose or the hose 11, and the fire is sprayed and extinguished through the compressed air foam releasing device 6.
In the fire extinguishing process, according to different monitoring sensor parameters received by a remote controller 8 and image information of cameras at different positions, the direction of the rotary table 3, the height of the lifting arm support 4 and the direction of the compressed air foam release device 6 can be adjusted at any time by the remote controller 8 through a central control system 7, and then the height, the spraying direction and the angle of the compressed air foam release device 6 are adjusted, so that compressed air foam can be applied more effectively and fire can be extinguished; after the fire extinguishing is finished, the lifting arm support 4 and the compressed air foam pipeline 5 are firstly folded and stacked on the chassis through the central control system 7 by the remote controller 8, and then the supporting legs 1-2 are folded, and the power is supplemented to advance to the preset position.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a mode of combining the chassis of the self-walking robot with a plurality of supporting legs, automatically contracts the supporting legs when the robot moves, automatically extends the supporting legs when the robot reaches the purpose of fire extinguishing, can realize the lifting injection of large-flow compressed air foam, has the maximum lifting height of 15 m-30 m, and solves the problems of small size, light chassis, instability and easy overturn when the robot is used for lifting injection.
2. The invention has high lifting height, can intensively apply compressed air foam on a protected object in a downward ejection mode or a hook mode, and is beneficial to overcoming the influence of wind, fire plume and high-temperature heat radiation by the compressed air foam with small density and light weight.
3. The invention is flexible, adopts a remote control mode, can be close to high-risk areas such as high temperature, flammability and explosiveness, lack of oxygen in dense smoke, toxicity and harm and the like to carry out spraying fire extinguishing, and solves the technical problem of effectively applying compressed air foam.
4. The invention can be equipped with various different releasing devices to effectively release the high-stability compressed air foam to a target area, thereby meeting the actual requirements of large-scale fire suppression such as petrochemical storage tanks, process devices, oil immersed transformers and the like with high height and large fire hazard range.
Drawings
FIG. 1 is a schematic structural view of the present invention in a lifted state;
FIG. 2 is a schematic structural view of the present invention in a folded state;
FIG. 3 is a top schematic view of the support leg of the present invention fully extended;
FIG. 4 is a control schematic diagram of the present invention control system;
FIG. 5 is a control schematic of the remote control of the present invention;
FIG. 6 is a schematic diagram of an embodiment of the invention for suppressing a fire in an oil immersed transformer;
fig. 7 is a schematic view of an embodiment of the present invention for fighting a tank fire.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
As shown in fig. 1 to 3, the compressed air foam lifting and jetting robot comprises a chassis 1, a foam interface 2, a rotary table 3, a lifting arm support 4, a compressed air foam pipeline 5, a compressed air foam release device 6, a central control system 7 and a remote controller 8, wherein traveling mechanisms 1-1 are symmetrically arranged in the middle of the chassis 1, a crawler-type traveling mechanism is adopted in the embodiment, and a storage battery is adopted for providing power for the chassis 1; four supporting legs 1-2 are connected around a chassis 1 through bolts, a fixed turntable 3 and a central control system 7 are connected on the upper portion of the chassis 1 through bolts, a foam interface 2 is arranged at one end of the chassis 1, the tail ends of the supporting legs 1-2 are connected with the fixed supporting legs 1-3 through bolts, a hydraulic telescopic folding spider leg is adopted in the embodiment, and anti-skid pads are arranged at the bottoms of the supporting legs 1-3; the lifting arm support 4 adopts a hydraulic folding type lifting arm support.
The lower end of a lifting arm support 4 is fixedly connected with a rotary table 3 through a bolt, the upper end of the lifting arm support 4 is fixedly connected with a compressed air foam release device 6 through a bolt, a compressed air foam pipeline 5 is fixedly connected to the lifting arm support 4 through a fixture, the lower end of the compressed air foam pipeline 5 is communicated with a foam interface 2, the upper end of the compressed air foam pipeline 5 is communicated with the compressed air foam release device 6, when a chassis 1 advances, a supporting leg 1-2 is in a contracted folding state, the lifting arm support 4 and the compressed air foam pipeline 5 are in folding states (shown in figure 2), when the chassis 1 advances to a target position to be put out a fire, the supporting leg 1-2 is extended (shown in figures 1 and 3), the lifting arm support 4 and the compressed air foam pipeline 5 are unfolded and lifted to a certain height, a remote controller 8 is adopted to adjust the direction of the rotary table 3 at, The height of the lifting arm support 4 and the direction of the compressed air foam release device 6 are increased, the height, the spraying direction and the angle of the compressed air foam release device 6 are further adjusted, and the compressed air foam release device 6 is adjusted to the preset spraying direction. The supporting surface is enlarged by the four supporting legs 1-2, and the whole robot is firmly supported to prevent toppling or moving due to jet recoil.
As shown in fig. 4, the central control system 7 includes a camera arranged at the front end of the chassis 1, a pan-tilt camera behind the chassis 1, an infrared camera and a high-definition camera on the compressed air foam release device 6; the central control system 7 further comprises a four-screen-division device connected with the front-end camera, the pan-tilt camera, the infrared camera and the high-definition camera, and the four-screen-division device is connected to the first wireless signal transmitter and the first antenna through an image transmission channel; the central control system 7 further comprises a first PLC connected with the monitoring sensor, the traveling mechanism 1-1, the rotary table 3, the lifting arm support 4 and the supporting legs 1-2, and the first PLC is connected to the second wireless signal transmitter and the second antenna through a data transmission channel.
As shown in fig. 5, the remote controller 8 includes a remote control box, a second PLC, a first receiver, a second receiver, the first receiver connected to the third antenna is connected to the remote control box through a pattern transmission path; and the second receiver connected with the fourth antenna is connected with a second PLC through a data transmission channel, and the second PLC is connected to the remote control box.
Example 1: the compressed air foam lifting jet robot is used for fighting a fire disaster of a large oil-immersed transformer, and is shown in figure 6. The compressed air foam release device 6 of the present embodiment employs an electrically controlled compressed air foam gun. The walking mechanism 1-1 of the compressed air foam lifting and jetting robot is controlled by a remote controller 8 through a PCL of a central control system 7 to move towards an oil immersed transformer 10, after the walking mechanism moves to a certain distance in front of the oil immersed transformer, the compressed air foam lifting and jetting robot stops moving, a PLC (programmable logic controller) is used for electrically controlling to open a hydraulic telescopic folding type supporting leg 1-2, a supporting surface is expanded through four supporting legs 1-2 to firmly support the whole robot, then a lifting arm frame 4 and a compressed air foam pipeline 5 are unfolded through the PCL in an electrically controlled mode and are lifted to a height of 5 m-20 m, the directions of a rotary table 3 and a compressed air foam releasing device 6 are adjusted through the central control system 7 by the remote controller 8, the jetting direction and the angle of the compressed air foam releasing device 6 are further adjusted, a compressed air foam gun is adjusted to face a fire area of the large oil immersed transformer, and a compressed air foam, carry compressed air foam to compressed air foam through fire hose 11 and lift high injection robot, compressed air foam release 6 adopts compressed air foam big gun to spray and puts out a fire, adopts remote controller 8 to adjust injection direction and angle at any time through central control system 7 among the fire extinguishing process to more effectively apply compressed air foam and put out a fire.
Example 2: the compressed air foam lifting jet robot is used for fighting a large oil tank fire, as shown in fig. 7. The compressed air foam release device 6 of the present embodiment employs a compressed air foam hook tube. A remote controller 8 is adopted to control a traveling mechanism 1-1 of the compressed air foam lifting and spraying robot to travel to an oil tank 9 through PCL of a central control system 7, the compressed air foam lifting and spraying robot stops traveling when the compressed air foam lifting and spraying robot travels to the bottom of the oil tank 9, a PLC (programmable logic controller) is used for electrically controlling to open a hydraulic telescopic folding type supporting leg 1-2, a supporting surface is expanded through four supporting legs 1-2 to firmly support the whole robot, then a PCL is used for electrically controlling to expand a hydraulic lifting arm frame 4 and a compressed air foam pipeline 5 and lift the hydraulic lifting arm frame to the height of the oil tank, a hook pipe communicated with a compressed air foam release device 6 is hung on the tank wall of the oil tank 9, a compressed air foam fire truck 12 is started, compressed air foam is conveyed to the compressed air foam lifting and spraying fire extinguishing are carried out through a fire hose 11.
The central control system 7 adopts four paths of camera signals to be connected to a wireless signal transmitter through a 4-split screen divider and a picture transmission channel, a video is transmitted to a remote controller 8 through an antenna, the central control system 7 and the remote controller 8 perform information interaction through the wireless signal transmitter and a transmitting antenna, and the action of the compressed air foam height-lifting injection robot is controlled. An RS485 signal interface is reserved in the remote controller 8, and the remote controller can be expanded to a fire emergency command center in the later period.
The compressed air foam release device adopts a compressed air foam gun or a compressed air foam hook pipe, and the spraying mode comprises upward shooting, horizontal shooting, downward shooting or hooking on a protected object for spraying. The power of the chassis is provided by a storage battery or a diesel engine.
Claims (6)
1. A compressed air foam lifting and jetting robot is characterized by comprising a chassis (1), foam interfaces (2), a rotary table (3), a lifting arm support (4), a compressed air foam pipeline (5), a compressed air foam releasing device (6), a central control system (7) and a remote controller (8), wherein walking mechanisms (1-1) are symmetrically arranged in the middle of the chassis (1), a plurality of supporting legs (1-2) are arranged on the periphery of the chassis (1), the rotary table (3) and the central control system (7) are arranged on the upper portion of the chassis (1), the foam interfaces (2) are arranged at one end of the chassis (1), the supporting legs (1-3) are arranged at the tail ends of the supporting legs (1-2), the lower end of the lifting arm support (4) is fixedly connected with the rotary table (3), the compressed air foam releasing device (6) is arranged at the upper end of the lifting, be equipped with compressed air foam pipeline (5) on elevating cantilever crane (4), compressed air foam pipeline (5) lower extreme and foam interface (2) intercommunication, compressed air foam pipeline (5) upper end and compressed air foam release (6) intercommunication, when chassis (1) was advanced, supporting leg (1-2) were in the shrink fold condition, and elevating cantilever crane (4) and compressed air foam pipeline (5) were in fold condition, when chassis (1) was advanced to the target position and is prepared to put out a fire, supporting leg (1-2) extended, and elevating cantilever crane (4) and compressed air foam pipeline (5) expand and lift compressed air foam release (6) to a take the altitude.
2. The compressed air foam lifting and spraying robot as claimed in claim 1, wherein the central control system (7) comprises a camera arranged at the front end of the chassis (1), a pan-tilt camera arranged behind the chassis (1), an infrared camera arranged on the compressed air foam releasing device (6) and a high-definition camera; the central control system (7) further comprises a four-screen divider connected with the camera, the pan-tilt camera, the infrared camera and the high-definition camera, and the four-screen divider is connected to the first wireless signal transmitter and the first antenna through an image transmission channel; the central control system (7) further comprises a first PLC (programmable logic controller) connected with the monitoring sensor, the travelling mechanism (1-1), the rotary table (3), the lifting arm support (4) and the supporting legs (1-2), and the first PLC is connected to the second wireless signal transmitter and the second antenna through a data transmission channel;
the remote controller (8) comprises a remote control box, a second PLC, a first receiver and a second receiver, wherein the first receiver connected with the third antenna is connected to the remote control box through a graph transmission channel; and the second receiver connected with the fourth antenna is connected with a second PLC through a data transmission channel, and the second PLC is connected to the remote control box.
3. A compressed air foam lifting spray robot according to claim 1, wherein the traveling mechanism (1-1) is any one of a crawler type, a wheel type, an articulated wheel type, or an articulated crawler type.
4. A compressed air foam height-raising spray robot according to claim 1, characterized in that the support legs (1-2) are hydraulic telescopic folding spider legs, and the bottoms of the support legs (1-3) are provided with anti-skid pads.
5. The compressed air foam lifting and spraying robot as claimed in claim 1, wherein the lifting arm support (4) is a hydraulic folding lifting arm support, and the lifting height is 5 m-30 m.
6. The compressed air foam lifting and spraying robot as claimed in claim 1, wherein the compressed air foam releasing device (6) is a compressed air foam gun or a compressed air foam hook tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010221516.4A CN111249656A (en) | 2020-03-26 | 2020-03-26 | Compressed air foam lifting and spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010221516.4A CN111249656A (en) | 2020-03-26 | 2020-03-26 | Compressed air foam lifting and spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111249656A true CN111249656A (en) | 2020-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010221516.4A Pending CN111249656A (en) | 2020-03-26 | 2020-03-26 | Compressed air foam lifting and spraying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111249656A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112091928A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for improving operation stability of nuclear emergency robot |
| CN113733163A (en) * | 2021-11-05 | 2021-12-03 | 杭州骏沃机电科技有限公司 | Adaptive safety device for manipulator |
| CN115257987A (en) * | 2022-06-23 | 2022-11-01 | 江苏徐工工程机械研究院有限公司 | Elevating spraying robot crawler telescopic chassis |
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| CN212067537U (en) * | 2020-03-26 | 2020-12-04 | 应急管理部天津消防研究所 | Compressed air foam lifting and spraying robot |
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2020
- 2020-03-26 CN CN202010221516.4A patent/CN111249656A/en active Pending
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| CN102698395A (en) * | 2012-06-19 | 2012-10-03 | 明光市浩淼消防科技发展有限公司 | Mobile remote control elevated fire extinguishing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115257987A (en) * | 2022-06-23 | 2022-11-01 | 江苏徐工工程机械研究院有限公司 | Elevating spraying robot crawler telescopic chassis |
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