CN114712754A - Intelligent fire extinguishing robot for storage lithium battery - Google Patents
Intelligent fire extinguishing robot for storage lithium battery Download PDFInfo
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- CN114712754A CN114712754A CN202210213289.XA CN202210213289A CN114712754A CN 114712754 A CN114712754 A CN 114712754A CN 202210213289 A CN202210213289 A CN 202210213289A CN 114712754 A CN114712754 A CN 114712754A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 39
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 39
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 239000007789 gas Substances 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 19
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000011780 sodium chloride Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000009529 body temperature measurement Methods 0.000 claims description 3
- 229910001873 dinitrogen Inorganic materials 0.000 claims 1
- 239000000779 smoke Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 239000003595 mist Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent fire-extinguishing robot for a lithium battery warehouse, which comprises a lower-layer movable chassis module, a middle-layer control system module and an upper-layer fire-extinguishing system module, wherein the lower-layer movable chassis module, the middle-layer control system module and the upper-layer fire-extinguishing system module are sequentially arranged from bottom to top; the lower-layer mobile chassis module comprises a chassis frame, and a Mecanum wheel, a direct-current servo driving system, a chassis control module and a power supply module are arranged below the chassis frame; the upper-layer fire extinguishing system module comprises an upper-layer platform, wherein a manipulator, a high-pressure spray nozzle, a high-pressure nitrogen cylinder and a water tank are arranged on the upper-layer platform, the high-pressure nitrogen cylinder is connected to the high-pressure spray nozzle through a gas pipeline controlled to be switched on and off by an electromagnetic valve, and the water tank is connected to the high-pressure spray nozzle through a high-pressure water pump and a water pipeline; the middle-layer control system module comprises an edge calculation module, a mechanical arm control cabinet and an environment sensing and sensing system, wherein the edge calculation module, the mechanical arm control cabinet and the environment sensing and sensing system are arranged between the chassis frame and the upper-layer platform. The intelligent fire extinguishing system has the advantages of intelligence, low cost, small size, flexibility and the like, and meets the fire extinguishing requirements of lithium battery storage places.
Description
Technical Field
The invention relates to the technical field of fire-fighting robots, in particular to a lithium battery intelligent fire-fighting robot for storage.
Background
Along with the rapid development and application of lithium batteries, fire accidents of energy storage power stations and lithium battery factories occur at times, and the main reason is thermal runaway and thermal runaway expansion in the use process of the lithium batteries. Can in time discover lithium cell thermal runaway's emergence through lithium cell thermal runaway early warning system, after the system produced the warning of thermal runaway, need in time put out a fire to the flame that the thermal runaway leads to, prevent that the conflagration from stretching, cause bigger calamity. After the thermal runaway early warning is generated, the mobile robot can timely and accurately run to the position of the early warning battery pack and automatically make further decisions on the field situation, actions such as fire extinguishment or fire fighting calling are automatically executed, the fire spreading is prevented, larger disasters are caused, and the method has important significance in fire extinguishment of the storage lithium battery.
Present fire prevention robot that disappears is mainly to the large-scale robot that the scene of a fire was put out a fire, has bulky, intelligent degree low, the cost is noble, use into with maintenance cost shortcoming such as expensive, can't satisfy the user demand of lithium cell storage place key technique of putting out a fire.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent lithium battery storage fire-extinguishing robot, in particular to an intelligent, low-cost, small and flexible mobile robot which meets the fire-extinguishing requirements of lithium battery storage places.
The invention aims to realize the technical scheme that the intelligent fire-extinguishing robot for the lithium battery warehouse comprises a lower-layer mobile chassis module, a middle-layer control system module and an upper-layer fire-extinguishing system module which are sequentially arranged from bottom to top;
the lower-layer mobile chassis module comprises a chassis frame, wherein Mecanum wheels, a direct-current servo driving system, a chassis control module and a power module are arranged below the chassis frame, and the chassis control module controls the Mecanum wheels through the direct-current servo driving system;
the upper-layer fire extinguishing system module comprises an upper-layer platform, wherein a manipulator, a high-pressure spray nozzle, a high-pressure nitrogen cylinder and a water tank are arranged on the upper-layer platform, the high-pressure nitrogen cylinder is connected to the high-pressure spray nozzle through a gas pipeline controlled to be switched on and off by an electromagnetic valve, and the water tank is connected to the high-pressure spray nozzle through a high-pressure water pump and a water pipeline;
a cylindrical steel pipe for supporting the upper platform is arranged between the chassis frame and the upper platform;
the middle-layer control system module comprises an edge calculation module, a mechanical arm control cabinet and an environment sensing and sensing system which are arranged between the chassis frame and the upper-layer platform; the mechanical arm control cabinet is used for controlling the action of the mechanical arm and controlling the electromagnetic valve and the high-pressure water pump, the environment sensing and sensing system is used for sensing the surrounding environment of the robot and outputting data to the edge computing module, and the mechanical arm control cabinet is connected with and controlled by the edge computing module;
the environment sensing and sensing system comprises an RGBD camera, a laser radar, a temperature and humidity sensor, an infrared temperature measurement sensor and an infrared obstacle avoidance sensor.
In a further scheme, four sets of Mecanum wheels are arranged below the chassis frame, the direct-current servo driving system comprises a direct-current motor driver and a direct-current servo motor, and the direct-current servo motor is provided with four sets of Mecanum wheels and respectively controls the four sets of Mecanum wheels.
In a further scheme, the output of the direct current servo motor is transmitted to the Mecanum wheel through a reduction gearbox and a gear transmission mechanism, the reduction gearbox is a planetary gear reduction gearbox, and the gear transmission mechanism is a parallel shaft involute gear transmission mechanism.
In a further scheme, the lower-layer mobile chassis module further comprises a control button, the control button is arranged at the top of the chassis frame and at least comprises a starting button, a stopping button and an emergency stopping button, and the control button is used for controlling the working state of the robot through manual operation.
In a further scheme, a two-degree-of-freedom mechanical arm is further arranged on the upper-layer platform, the two-degree-of-freedom mechanical arm has two moving degrees of freedom of rotation and pitching around a vertical axis and is controlled to move, the action of the two-degree-of-freedom mechanical arm is controlled by a mechanical arm control cabinet, and the high-pressure spray head is mounted on the two-degree-of-freedom mechanical arm.
According to the further scheme, the manipulator is provided with two fingers clamping jaws for clamping a lithium battery, and the upper platform is also provided with a NaCl solution tank.
In a further scheme, a thermocouple is further arranged on the manipulator.
In a further scheme, two high-pressure nitrogen bottles are arranged and are arranged on two sides of the upper platform in a lying mode, and barometers are arranged on the gas path pipelines.
In a further scheme, the middle-layer control system module further comprises a wireless transmission and alarm module which is connected with the edge calculation module, and the wireless transmission and alarm module comprises a wireless communication module for communicating with the outside and an alarm module for giving out sound and light alarms.
In conclusion, the beneficial effects of the invention are as follows: the current temperature of a lithium battery at a target point is detected through an infrared temperature sensor, meanwhile, smoke and flame target detection is carried out through images collected by an RGBD (red green blue digital) camera, whether smoke and flame are generated on the spot or not is judged, and the autonomous recognition of fire conditions is realized; if the temperature exceeds 200 ℃, smoke or flame is detected at the same time, which indicates that the site is on fire, and water mist needs to be sprayed for extinguishing the fire; if only high temperature (more than 200 ℃) is detected, the thermal runaway is in the initial stage, the temperature is reduced and air is isolated through high-pressure nitrogen injection to prevent ignition, and then the thermal runaway battery is taken out through a manipulator on the upper layer of the mobile robot and placed into a NaCl solution to enable the thermal runaway battery to discharge rapidly. If the temperature does not reach the high-temperature threshold value, smoke and flame are not detected, the mobile robot conducts further detection through a thermocouple on the mechanical arm, the high temperature is still not detected, it is indicated that thermal runaway of the lithium battery does not occur, the mobile robot communicates with the thermal runaway early warning system through the wireless transmission module, and the early warning system is corrected to give a false alarm. The robot disclosed by the invention is intelligent, low in cost, small and flexible, meets the fire extinguishing requirement of a lithium battery storage place, has the functions of sensing, positioning, map construction, path planning, autonomous decision making and the like, is provided with a controllable cooling and fire extinguishing system, controls the fire at the first time, and effectively reduces the fire caused by thermal runaway of the lithium battery.
Drawings
FIG. 1 is a schematic view of the modular construction of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a bottom perspective illustration of the present invention;
FIG. 4 is a schematic view of the overall structure of the lower mobile chassis module of the present invention;
FIG. 5 is a schematic diagram of the overall structure of a middle level control system module according to the present invention;
FIG. 6 is a schematic view of the overall structure of a middle and upper fire suppression system module according to the present invention;
FIG. 7 is a bottom perspective schematic view of a mid-upper fire suppression system module of the present invention;
fig. 8 is a decision flow diagram of the robot in the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The embodiment is as follows: referring to fig. 1-7, a lithium battery intelligent fire-extinguishing robot for storage adopts a modular design scheme, and the main structure of the robot is respectively a lower-layer mobile chassis module 103, a middle-layer control system module 102 and an upper-layer fire-extinguishing system module 101 from bottom to top.
The lower layer mobile chassis module 103 comprises a chassis frame, wherein mecanum wheels 201-5, a direct current servo driving system, a chassis control module 204 and a power supply module 202 are arranged below the chassis frame, and the chassis control module 204 controls the mecanum wheels 201-5 through the direct current servo driving system. Four sets of Mecanum wheels 201-5 are arranged below the chassis frame, the direct current servo driving system comprises a direct current motor driver 205 and a direct current servo motor 201-1, and the direct current servo motor 201-1 is provided with four sets and respectively controls the four sets of Mecanum wheels 201-5. The chassis control module 204 adopts a single chip microcomputer based on an STM32F103 chip, and the single chip microcomputer control module is connected with a direct current motor driver 205 and is used for controlling the walking of the robot. The output of the direct current servo motor 201-1 is transmitted to a Mecanum wheel through a reduction gearbox and a gear transmission mechanism, wherein the reduction gearbox is a planetary gear reduction gearbox 201-2, and the gear transmission mechanism is a parallel shaft involute gear transmission mechanism 201-3. The gear transmission mechanism includes two involute gears that mesh with each other to output the power of the dc servo motor 201-1 to the connecting shaft 201-4 of the mecanum wheel 201-5.
The power module 202 is a commercial 48v lithium battery pack to supply power to the robot. The robot adopts a four-wheel independent driving mode. An encoder 201-0 is further connected to the dc servo motor 201-1 for detecting and feeding back the rotation speed of the dc servo motor 201-1.
The lower layer mobile chassis module 103 further comprises control buttons, the control buttons are arranged on the top of the chassis frame, the control buttons at least comprise a start button 203-2, a stop button 203-3 and an emergency stop button 203-1, and the control buttons are used for controlling the working state of the robot through manual operation.
The upper-layer fire extinguishing system module 101 comprises an upper-layer platform, wherein a manipulator 401, a high-pressure spray nozzle 402, a high-pressure nitrogen cylinder 404-1 and a water tank 403-1 are arranged on the upper-layer platform, the high-pressure nitrogen cylinder 404-1 is connected to the high-pressure spray nozzle 402 through an air channel pipeline 404-3 controlled to be on and off by an electromagnetic valve, and the water tank 403-1 is connected to the high-pressure spray nozzle 402 through a high-pressure water pump 403-2 and a water channel pipeline 403-3. The upper-layer platform is also provided with a two-degree-of-freedom mechanical arm which has two degrees of freedom of movement including rotation around a vertical axis and pitching and is controlled to move, and the high-pressure nozzle 402 is mounted on the two-degree-of-freedom mechanical arm.
The high-pressure nozzle 402 has two working modes, namely, a high-pressure nitrogen cylinder 404-1 sprays high-pressure nitrogen through a gas pipeline 404-3 and the high-pressure nozzle 402; or the high-pressure water pump 403-2 pumps the water in the water tank 403-1 to the high-pressure nozzle 402 to spray high-pressure water mist. The high pressure showerhead 402 may select a type having two independent orifices or a type having only one orifice.
The high-pressure nitrogen cylinder 404-1 is provided with two high-pressure nitrogen cylinders which are arranged on two sides of the upper platform in a horizontal manner, and the air passage pipeline 404-3 is provided with an air pressure gauge 404-2.
The tail end of the manipulator 401 is connected with a two-finger clamping jaw 401-1 and a thermocouple 401-2 through a connecting flange and used for clamping a lithium battery, and a NaCl solution pool 405 is further arranged on the upper platform; the thermocouple 401-2 is used to detect the temperature of the lithium battery.
The cylindrical steel pipes 104 for supporting the upper platform are arranged between the chassis frame and the upper platform, the number of the cylindrical steel pipes 104 is four, flanges are arranged at two ends of each cylindrical steel pipe 104 and are respectively connected with the upper platform and the chassis frame through bolts, and threaded holes 103-1 are formed in the positions, used for connecting the cylindrical steel pipes, of the chassis frame and the upper platform.
The whole bottom of the upper platform is used as a water tank, so that the space can be saved as much as possible.
The middle-layer control system module 102 comprises an edge calculation module 302, a mechanical arm control cabinet 301 and an environment sensing and sensing system, which are arranged between the chassis frame and the upper-layer platform; the mechanical arm control cabinet 301 is used for controlling the actions of the mechanical arm 401 and controlling the electromagnetic valve and the high-pressure water pump 403-2, the environment sensing and sensing system is used for sensing the surrounding environment of the robot and outputting data to the edge computing module 302, and the mechanical arm control cabinet 301 is connected with and controlled by the edge computing module 302; the motion of the two-degree-of-freedom mechanical arm is also controlled by the mechanical arm control cabinet 301.
The environment sensing and sensing system comprises an RGBD camera 304, a laser radar 306, a temperature and humidity sensor, an infrared temperature measurement sensor 305 and an infrared obstacle avoidance sensor 303. In this embodiment, RGBD camera, lidar and infrared temperature sensor set up the front side at the robot, and wherein the RGBD camera is Intel realsense D435 RGBD camera, and lidar is the mist a2 lidar.
The middle control system module 102 further comprises a wireless transmission and alarm module 308 connected to the edge computing module 302, wherein the wireless transmission and alarm module 308 comprises a wireless communication module for communicating with the outside and an alarm module for emitting an audible and visual alarm.
The edge calculation module 302 selects an imperial great Jetson Xavier NX artificial intelligence device, wherein the Jetson Xavier NX is used as a main control system and is provided with an Ubuntu system, and an ROS system is installed in the Ubuntu system, and the system comprises functions of an instant positioning and map construction system, target recognition, fire judgment, autonomous decision and the like.
The movement of the robot and the upper control of the mechanical arm and the two-degree-of-freedom mechanical arm adopt an ROS system to carry out motion control, and a motion instruction is transmitted to the chassis control module and the mechanical arm control cabinet through a network.
And performing robot positioning and environment mapping by adopting a visual SLAM framework, wherein the SLAM framework performs timely positioning and mapping by adopting ORB-SLAM 2.
The migration learning training is carried out through the yolo v5 target recognition network, and flame and smoke are detected through the trained network.
And the autonomous decision and fire extinguishing action of the robot on the thermal runaway site are implemented through a designed decision algorithm. The decision algorithm principle is as follows:
the autonomous decision making process of the intelligent fire-fighting robot comprises the following conditions that firstly, the current temperature of a lithium battery at a target point is detected through an infrared temperature sensor, meanwhile, the detection of smoke and flame targets is carried out through images collected by a camera, and whether smoke and flame are generated on site is judged; if the temperature exceeds 200 ℃, smoke or flame is detected at the same time, which indicates that the site is on fire, and water mist needs to be sprayed for extinguishing the fire; if only high temperature (more than 200 ℃) is detected, the thermal runaway is in the initial stage, the temperature is reduced and air is isolated through high-pressure nitrogen injection to prevent ignition, and then the thermal runaway battery is taken out through a manipulator on the upper layer of the mobile robot and placed into a NaCl solution to enable the thermal runaway battery to discharge rapidly. If the temperature does not reach the high-temperature threshold value, meanwhile, smoke and flame are not detected, the mobile robot conducts further detection through a thermocouple on the mechanical arm, the high temperature is still not detected, it is indicated that thermal runaway of the lithium battery does not occur, the mobile robot communicates with a thermal runaway early warning system through the wireless transmission module, and false alarm of the early warning system is corrected. The mobile robot needs to continuously detect the temperature around the mobile robot in the process of moving to a target point, if the temperature is too high, whether flame exists in the front or not needs to be further detected, the size of fire is judged through a target monitoring network, if the mobile robot detects that a big fire occurs and cannot extinguish, the mobile robot gives an alarm through a wireless communication module, calls for fire rescue, and escapes from a fire scene.
When the lithium battery on the storage shelf is out of control due to heat, the early warning system transmits a wireless signal, the wireless transmission and alarm module 308 of the middle-layer control system module 102 receives and detects the target position of the lithium battery out of control due to heat, the robot is started, the robot rapidly moves to the target position according to the decision algorithm shown in fig. 5, the azimuth angle of the high-pressure nozzle is adjusted to be aligned with the lithium battery out of control due to heat after the target position is reached, nitrogen or water mist is sprayed, and combustion or fire expansion is hindered.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (9)
1. An intelligent fire-extinguishing robot for a lithium battery warehouse is characterized by comprising a lower-layer movable chassis module, a middle-layer control system module and an upper-layer fire-extinguishing system module which are sequentially arranged from bottom to top;
the lower-layer mobile chassis module comprises a chassis frame, wherein Mecanum wheels, a direct-current servo driving system, a chassis control module and a power module are arranged below the chassis frame, and the chassis control module controls the Mecanum wheels through the direct-current servo driving system;
the upper-layer fire extinguishing system module comprises an upper-layer platform, wherein a manipulator, a high-pressure spray nozzle, a high-pressure nitrogen cylinder and a water tank are arranged on the upper-layer platform, the high-pressure nitrogen cylinder is connected to the high-pressure spray nozzle through a gas pipeline controlled to be switched on and off by an electromagnetic valve, and the water tank is connected to the high-pressure spray nozzle through a high-pressure water pump and a water pipeline;
a cylindrical steel pipe for supporting the upper platform is arranged between the chassis frame and the upper platform;
the middle-layer control system module comprises an edge calculation module, a mechanical arm control cabinet and an environment sensing and sensing system which are arranged between the chassis frame and the upper-layer platform; the mechanical arm control cabinet is used for controlling the actions of the mechanical arm and controlling the electromagnetic valve and the high-pressure water pump, the environment sensing and sensing system is used for sensing the surrounding environment of the robot and outputting data to the edge computing module, and the mechanical arm control cabinet is connected with and controlled by the edge computing module;
the environment sensing and sensing system comprises an RGBD camera, a laser radar, a temperature and humidity sensor, an infrared temperature measurement sensor and an infrared obstacle avoidance sensor.
2. The intelligent fire-extinguishing robot for the warehouse lithium battery as recited in claim 1, wherein four sets of Mecanum wheels are arranged below the chassis frame, the DC servo drive system comprises a DC motor driver and a DC servo motor, and the DC servo motor is provided with four sets of DC servo motors and respectively controls the four sets of Mecanum wheels.
3. The intelligent fire-extinguishing robot for the storage lithium battery as claimed in claim 2, wherein the output of the direct current servo motor is transmitted to the Mecanum wheel through a reduction gearbox and a gear transmission mechanism, the reduction gearbox is a planetary gear reduction gearbox, and the gear transmission mechanism is a parallel axis involute gear transmission mechanism.
4. The intelligent fire-extinguishing robot for the storage lithium batteries according to claim 3, wherein the lower-layer mobile chassis module further comprises control buttons, the control buttons are arranged on the top of the chassis frame and comprise at least a start button, a stop button and an emergency stop button, and the control buttons are used for controlling the working state of the robot through manual operation.
5. The intelligent fire-extinguishing robot for the storage lithium batteries according to claim 1, wherein a two-degree-of-freedom mechanical arm is further arranged on the upper platform, the two-degree-of-freedom mechanical arm has two degrees of freedom of movement including rotation around a vertical axis and pitching and is controlled to move, the action of the two-degree-of-freedom mechanical arm is controlled by a mechanical arm control cabinet, and the high-pressure spray head is mounted on the two-degree-of-freedom mechanical arm.
6. The intelligent fire-extinguishing robot for the storage lithium battery as claimed in claim 1, wherein the manipulator is provided with two fingers for clamping the lithium battery, and the upper platform is further provided with a NaCl solution tank.
7. The intelligent fire-extinguishing robot for the storage lithium battery as claimed in claim 6, wherein a thermocouple is further arranged on the manipulator.
8. The intelligent fire-extinguishing robot for the storage lithium battery as claimed in claim 1, wherein two high-pressure nitrogen gas bottles are arranged and are horizontally arranged on two sides of the upper platform, and a barometer is arranged on the gas path pipeline.
9. The intelligent fire-extinguishing robot for the storage lithium batteries as claimed in claim 1, wherein the middle control system module further comprises a wireless transmission and alarm module connected with the edge computing module, and the wireless transmission and alarm module comprises a wireless communication module for communicating with the outside and an alarm module for giving out sound and light alarms.
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| CN202210213289.XA CN114712754A (en) | 2022-03-04 | 2022-03-04 | Intelligent fire extinguishing robot for storage lithium battery |
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| CN113658400A (en) * | 2021-08-13 | 2021-11-16 | 国网新疆电力有限公司电力科学研究院 | Fire early warning device for high-voltage power field monitoring |
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