CN111803840B - A self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent - Google Patents
A self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent Download PDFInfo
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- CN111803840B CN111803840B CN202010817494.8A CN202010817494A CN111803840B CN 111803840 B CN111803840 B CN 111803840B CN 202010817494 A CN202010817494 A CN 202010817494A CN 111803840 B CN111803840 B CN 111803840B
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- fire extinguishing
- extinguishing agent
- interlocking door
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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
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
A self-pressurizing explosion-proof robot fire extinguishing system with fire extinguishing agent is characterized in that electromagnetic valves are respectively arranged on outlets of fire extinguishing agent tank bodies and nitrogen tank body pipelines and used for controlling fire extinguishing agent and nitrogen switches. The manual switch of the nitrogen tank is opened and then enters the main pipeline through the pressure reducing valve and the electromagnetic valve, the electromagnetic valve of the fire extinguishing agent tank body is opened and then enters the main pipeline for spraying nitrogen through the three-way valve, the stepless speed regulating spray head, the fire source sensor and the distance sensor are arranged at the outlet end of the fire extinguishing main pipeline, and the fire extinguishing agent is sprayed out through the stepless speed regulating spray head by taking the depressurized nitrogen as power. The invention has the advantages of self pressurization, self extinguishing agent carrying, explosion prevention, flexibility, small volume, large carrying capacity, automatic identification of fire sources, automatic extinguishing, saving of extinguishing agent, suitability for local extinguishing in narrow space, climbing and obstacle crossing, and automatic gravity center balancing of extinguishing agent in the extinguishing agent tank body.
Description
Technical Field
The invention relates to a fire extinguishing system, in particular to a self-pressurization self-contained fire extinguishing agent explosion-proof robot fire extinguishing system, and belongs to the technical field of robot fire extinguishment.
Background
Aiming at the fire extinguishment in some narrow space at present, because the space of the position of the fire spot is limited, the fire truck can not enter the fire spot in time to fight the fire, so that the fire is not extinguished in time, the fire extinguishing difficulty is increased, and the casualties and the property loss are serious. The traditional fire extinguishing mode adopts a fire truck booster pump to extinguish fire of a fire water monitor on a fire-fighting robot, the fire truck is large in size, the fire extinguishing is not effective in a narrow space, the fire-fighting robot drags a water bag to extinguish fire on a fire scene, the fire truck is inconvenient to turn round and can only ensure normal supply of foam liquid in a water pipe by straight lines, as long as the booster pump on the fire truck is opened, the water monitor starts spraying water, so that the water monitor does not find a fire source, a large amount of fire extinguishing agent is wasted, the cost is high, the fire extinguishing agent cannot be effectively utilized, rescue and extinguishment are not timely, high-efficiency fire extinguishment is not realized, the fire is extinguished more and more, finally, small fire is changed into big fire, and property loss and casualties are serious.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the self-pressurization self-contained fire extinguishing agent explosion-proof robot fire extinguishing system which has small volume and large carrying capacity, can automatically identify a fire source and then extinguish the fire, saves the fire extinguishing agent, is suitable for local fire extinguishment with narrow space, and has good automatic balance gravity center performance of the fire extinguishing agent in a fire extinguishing agent tank body when the robot climbs a slope and surmount a barrier.
In order to achieve the above purpose, the invention provides a self-pressurizing self-carrying fire extinguishing agent explosion-proof robot fire extinguishing system, which comprises a crawler robot motion platform formed by a robot body and a robot crawler, wherein a fire extinguishing agent tank body is arranged on the crawler robot motion platform, a fire extinguishing agent electromagnetic valve for controlling the opening and closing of the fire extinguishing agent pipeline is arranged on an outlet pipeline of the fire extinguishing agent tank body, the outlet pipeline of the fire extinguishing agent tank body is connected with a nitrogen pressure tank through a three-way valve, the nitrogen pressure tank is arranged on a support above the robot crawler, a manual switch and a pressure reducing valve are arranged at a tank opening of the nitrogen pressure tank, a nitrogen electromagnetic valve for controlling the opening and closing of the nitrogen pipeline is arranged on a nitrogen outlet pipeline behind the pressure reducing valve, a stepless speed regulating spray nozzle is arranged at an outlet end of the fire extinguishing pipeline, a fire source sensor and a distance sensor are arranged on the fire extinguishing pipeline, at least one group of gravity center automatic balancing devices for preventing the weight center of the tank body from shifting caused by the low flow direction of the fire extinguishing agent in the tank body are arranged in the fire extinguishing agent tank body, the gravity center automatic balancing devices comprise a partition plate, a first interlocking door, a second interlocking door and a connecting rod, a connecting hole and a connecting rod are arranged at the bottom of the first interlocking door, a second interlocking door and a connecting hole, a second interlocking door is arranged at the bottom of the first interlocking door and a second interlocking door, a second interlocking door is in a sealing door, and a sealing door is arranged at the bottom of the first interlocking door, and a sealing door is in front of the sealing door, and a sealing door is in a sealing door, and a sealing door is in a sealing door and a sealing door.
In order to improve the stability between the fire extinguishing agent tank body and the robot body, the fire extinguishing agent tank body is in an oval shape and is tightly attached to the robot body.
The opening and closing angle between the first interlocking door and the second interlocking door is 0-90 degrees, and the first interlocking door and the second interlocking door are symmetrically arranged by taking the extension line of the partition plate as the center.
The robot crawler is characterized by further comprising a standby nitrogen pressure tank, wherein the standby nitrogen pressure tank is installed on a support above the robot crawler.
The top ends of the first interlocking door and the second interlocking door are respectively connected with two sides of the partition plate above the communication hole in a sealing way through a folder.
In order to increase the tightness and prevent the fire extinguishing agent in the tank body from flowing to the lower part from the joint of the partition plate and the top ends of the first interlocking door and the second interlocking door and the joint of the partition plate and the bottom ends of the first interlocking door and the second interlocking door, the sealing rubber cushion is arranged at the joint of the partition plate and the top ends of the first interlocking door and the second interlocking door, and the sealing rubber cushion is arranged at the joint of the partition plate and the bottom ends of the first interlocking door and the second interlocking door.
And the nitrogen pressure tank and the standby nitrogen pressure tank are respectively provided with a pressure indicator.
Compared with the prior art, the crawler robot has the advantages that the fire extinguishing agent tank body is arranged on the crawler robot moving platform, the fire extinguishing agent electromagnetic valve is arranged on the outlet pipeline of the fire extinguishing agent tank body, the manual switch and the pressure reducing valve are arranged at the tank opening of the nitrogen pressure tank, the nitrogen electromagnetic valve used for controlling the opening and the closing of the nitrogen pipeline is arranged on the nitrogen outlet pipeline behind the pressure reducing valve, the manual switch and the nitrogen electromagnetic valve are opened, nitrogen passes through the pressure reducing valve to the electromagnetic valve, the pressure reducing valve is powered by the depressurized nitrogen, the fire extinguishing agent electromagnetic valve is opened again, the fire extinguishing agent is sprayed out through the fire extinguishing pipeline, the stepless speed regulating spray head is arranged at the outlet end of the fire extinguishing pipeline, the fire extinguishing agent sensor and the distance sensor are arranged on the fire extinguishing pipeline, after the fire extinguishing agent is found, whether the fire extinguishing agent is in a range is judged by the distance sensor according to the position of the fire source, once the travel distance is in the range, the three-way valve is arranged, after the fire extinguishing agent is mixed, the fire extinguishing agent is sprayed out from the stepless speed regulating spray head, the fire extinguishing agent is saved, waste of the fire extinguishing agent is not caused, the fire extinguishing agent is effectively and fast, the space is reduced, the fire extinguishing agent is discharged, the fire extinguishing agent is prevented from flowing in the small center of gravity, the fire extinguishing agent is prevented from flowing into the fire extinguishing agent tank body because of the low center, and the fire extinguishing agent is stable and the fire extinguishing agent is prevented from flowing into the position of the fire extinguishing tank, and is in the place with the position, and the fire extinguishing agent is caused by the low center, and the position is caused by the low center of gravity.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a layout of the automatic balancing device for the center of gravity in the tank of the fire extinguishing agent when ascending a slope according to the present invention;
FIG. 4 is a layout of the automatic balancing device for the center of gravity in the fire extinguishing agent tank when descending a slope;
FIG. 5 is a schematic diagram of a horizontal road center of gravity automatic balancing device;
fig. 6 is a cross-sectional view of the gravity center automatic balancing device of the present invention in a horizontal road.
In the figure, 1, a robot body, 2, a robot crawler, 3, a fire extinguishing agent tank body, 3.1, a partition plate, 3.2, a first interlocking door, 3.3, a second interlocking door, 3.4, an interlocking connecting rod, 3.5, a communication hole, 3.6, a folder, 3.7, a sealing rubber pad, 3.8, a first cavity, 3.9, a second cavity, 3.10, a third cavity, 4, a fire source sensor, 5, a fire extinguishing pipeline, 5.1, a stepless speed regulating spray head, 6, a nitrogen pressure tank, 6.1, a pressure reducing valve, 6.2, a standby nitrogen pressure tank, 6.3, a pressure indicator, 7 and a distance sensor.
Detailed Description
The present invention will be further described with reference to the accompanying drawings (the left-right direction in the following description is the same as the left-right direction in fig. 1, but is for the purpose of describing the present invention).
1-2, A self-pressurizing self-carrying fire extinguishing agent anti-explosion robot fire extinguishing system comprises a crawler robot moving platform formed by a robot body 1 and a robot crawler 2, wherein the fire extinguishing agent tank 3 is installed on the crawler robot moving platform, the crawler robot can be in a narrow space and can climb a slope and pass through faults, the fire extinguishing agent tank 3 is installed on the crawler robot moving platform, the fire extinguishing agent tank 3 is fixedly connected with the upper part of the robot body 1 through bolts, a fire extinguishing agent electromagnetic valve (not shown in the figure) is arranged on an outlet pipeline of the fire extinguishing agent tank 3, the fire extinguishing agent electromagnetic valve is used for controlling the opening and closing of an outlet pipeline of the fire extinguishing agent tank 3, the outlet pipeline of the fire extinguishing agent tank 3 is connected with a nitrogen pressure tank 6 through a three-way valve, the nitrogen pressure tank 6 is installed on a bracket above the robot crawler 2, a tank opening of the nitrogen pressure tank 6 is provided with a valve 6.1, a nitrogen electromagnetic valve (not shown in the figure) used for controlling the opening and closing of the nitrogen pipeline is arranged on a nitrogen outlet pipeline behind the pressure reducing valve 6.1, a switch and a nitrogen pressure sensor is opened through a nitrogen pressure reducing valve 5, the fire extinguishing agent is sprayed out of a fire extinguishing agent sensor 5, and the fire extinguishing agent is sprayed out of the fire extinguishing agent 5 through a fire extinguishing agent sensor 5 through the fire extinguishing agent sensor 5; at least one group of gravity center automatic balancing devices for preventing the gravity center of the tank body from shifting due to the low flowing direction of the extinguishing agent in the tank body are arranged in the extinguishing agent tank body 3, and the gravity center automatic balancing devices comprise a baffle plate 3.1, the fire extinguishing agent tank is characterized in that the first interlocking door 3.2, the second interlocking door 3.3 and the interlocking connecting rod 3.4 are hermetically and fixedly connected with the inner wall of the fire extinguishing agent tank body 3, the communication hole 3.5 is formed in the lower portion of the partition plate 3.1, the top ends of the first interlocking door 3.2 and the second interlocking door 3.3 are respectively hermetically hinged to two sides of the partition plate above the communication hole 3.5, the interlocking connecting rod 3.4 is arranged between the first interlocking door 3.2 and the second interlocking door 3.3, the first interlocking door 3.2 and the second interlocking door 3.3 are obliquely arranged, and in the process that the first interlocking door 3.2 and the second interlocking door 3.3 rotate forwards and backwards under the gravity, the bottom end of one of the first interlocking door 3.2 and the bottom end of the second interlocking door 3.3 are closely attached to the partition plate 3.1 at the bottom of the communication hole 3.5, so that fire extinguishing agent in the tank body can be prevented from flowing from the communication hole 3.5 to the lower position.
A spare nitrogen pressure tank 6.2 is also included, which spare nitrogen pressure tank 6.2 is mounted on a stand above the robot track 2.
The opening and closing angle between the first interlocking door 3.2 and the second interlocking door 3.3 is 0 degrees to 90 degrees, and the first interlocking door 3.2 and the second interlocking door 3.3 are symmetrically arranged by taking the extension line of the partition plate 3.1 as the center.
The top ends of the first interlocking door 3.2 and the second interlocking door 3.3 are respectively connected with two sides of the partition plate above the communication hole 3.5 in a sealing way through a folder 3.6.
The sealing rubber cushion 3.7 is arranged at the joint of the partition plate 3.1 and the top ends of the first interlocking door 3.2 and the second interlocking door 3.3, and the sealing rubber cushion 3.7 is arranged at the joint of the partition plate 3.1 and the bottom ends of the first interlocking door 3.2 and the second interlocking door 3.3.
The nitrogen pressure tank 6 and the standby nitrogen pressure tank 6.2 are respectively provided with a pressure indicator 6.3.
The method comprises the following steps:
Aiming at the current fire in some narrow spaces, because the space of the fire point is limited, the fire engine can not enter the fire point in time to fight the fire, the fire is not extinguished in time, the fire extinguishing difficulty is increased, and the casualties and the property loss are serious.
According to the self-pressurizing robot fire extinguishing system, nitrogen is used as power in self-pressurizing, no additional pressure pump is needed to provide power, and self-pressurizing fire extinguishing can be realized through the matched use of the fire extinguishing agent tank 3 and the nitrogen pressure tank 6 carried by the crawler robot;
The invention can flexibly realize early fire extinguishing of small fire in narrow space, adopts a robot self-carrying fire extinguishing agent to extinguish fire in narrow space, can conveniently find a fire source by arranging a fire source sensor 4 and a distance sensor 7 on a fire extinguishing pipeline 5, judges whether the fire source is in a range or not according to the position of the fire source to the self by the distance sensor 7 after the fire source is found, once the travelling distance is in the range, the crawler-type robot starts to spray fire extinguishing agent mist, saves fire extinguishing agent, does not cause waste of fire extinguishing agent, can be suitable for relatively narrow space and can extinguish fire efficiently and rapidly, and the fire extinguishing agent tank 3 is in an elliptic shape and clings to the robot body 1, and is carried by the crawler-type robot to climb a slope, surmount obstacles and climb up and down stairs.
The gravity center automatic balancing device in the fire extinguishing agent tank body 3 can be arranged according to the length of the tank body, two groups of gravity center automatic balancing devices are arranged in the fire extinguishing agent tank body 3, when the crawler robot of the invention goes up a slope, as shown in fig. 3, 5 and 6, the second interlocking door 3.3 can rotate towards the direction of the communication hole 3.5 due to the action of gravity, the steeper gradient is, the larger the stress of the second interlocking door 3.3 is, the right side of the partition plate 3.1 above the communication hole 3.5 is closely attached, the fire extinguishing agent in the fire extinguishing agent tank body 3 is blocked by the second interlocking door 3.3 on the right side due to the communication hole 3.5, the fire extinguishing agent in the fire extinguishing agent tank body 3 can not flow to the lower part, and the fire extinguishing agent in the first cavity 3.8 in the fire extinguishing agent tank body 3 keeps the gravity center balanced, and the gravity centers of the crawler robot in the second cavity 3.9 and the third cavity 3.10 can not be unbalanced or unstable, if the gravity center of the crawler robot is not in the gravity center of the crawler robot, the fire extinguishing agent tank 3 is not balanced, and the gravity of the crawler robot is not balanced, the gravity center of the gravity of the crawler robot is not balanced, the gravity of the crawler type is at the point when the fire extinguishing agent tank 3 is in the crawler type, the crawler type is not has the gravity center, the fire extinguishing agent is in the fire extinguishing agent, and the fire extinguishing agent is concentrated at the tail when the fire station is more than the tail when the fire extinguishing agent is in the crawler;
As shown in fig. 4, 5 and 6, when the crawler robot of the present invention descends, the first interlocking door 3.2 rotates in the direction of the communicating hole 3.5 due to the action of gravity, the steeper the gradient, the greater the force applied to the first interlocking door 3.2 is, the closer the left side of the partition plate 3.1 above and at the bottom of the communicating hole 3.5 is, the fire extinguishing agent in the fire extinguishing agent tank 3 is blocked by the first interlocking door 3.2 at the left side and does not flow to the lower part, the fire extinguishing agent in the first cavity 3.8 in the fire extinguishing agent tank 3 keeps the gravity balance, and the fire extinguishing agent in the second cavity 3.9 and the third cavity 3.10 keeps the gravity balance, so that the crawler robot can not turn over.
The invention adopts the high-efficiency foam extinguishing agent, integrates oxygen isolation, temperature reduction and fuel sealing, has the extinguishing effect equivalent to 20L of water and can absorb harmful compounds in smoke, thereby having better extinguishing effect, and the extinguishing agent is a nontoxic and harmless green extinguishing agent, and the equipment is free from cleaning.
The crawler-type robot disclosed by the invention is flexible to move, strong in climbing obstacle-surmounting capability, good in automatic balancing gravity center performance, good in explosion-proof performance, automatic in pressurizing, free of cleaning, and especially suitable for local extinguishment with narrow space (such as an electronic computer room, communication equipment, power equipment (such as a power distribution room, a power generation room and an oil immersed transformer room), subway stations, libraries, archives and relics, gas turbines, fuel libraries, dangerous chemical warehouses, gas stations, oil and gas wells, fire protection of offshore oil and gas exploitation platforms, metallurgy, chemical industry, food, medicine, packaging industry and the like), can also be used for general fire scenes with wide space, early detection of early extinguishment is realized, casualties and property loss are greatly reduced, the application range is wide, and early fire sources can be extinguished, and when a single crawler-type robot disclosed by the invention can be used for simultaneously and cooperatively extinguishing if the fire extinguishing requirements cannot be met.
The fire extinguishing response time is extremely short, the storage capacity of the fire extinguishing liquid is 50L-200L, the flow rate of the spray head of the stepless speed regulating spray head is 5-15L/min, the rotation angle of the spray head is 90 degrees/2 degrees of freedom, the fire extinguishing mechanism is smoke abatement, temperature reduction and fire extinguishing, the working pressure of the fire extinguishing liquid is lower than 1Mp, the capacity pressure of a nitrogen pressure tank is 6L-20MPa, an RS-232 interface or a CAN bus interface is provided, the corrosion and rust resistance of the inner surfaces of all storage tank pipelines and joints contacted with fire extinguishing agents is not lower than that of austenitic stainless steel materials, the shock resistance of the fire extinguishing liquid meets the vehicle standard requirement, the vibration resistance of the fire extinguishing liquid meets the vehicle standard requirement, the working temperature of the fire extinguishing liquid is-20 ℃ to 55 ℃, the biological safety of the fire extinguishing liquid is skin and mucous membrane contact non-irritation, and the environmental safety of the fire extinguishing liquid is natural degradation time of 18d. The weight of the whole machine is less than 500Kg.
Claims (7)
1. A self-pressurizing self-carrying fire extinguishing agent explosion-proof robot fire extinguishing system comprises a crawler robot moving platform formed by a robot body (1) and a robot crawler (2), and is characterized in that a fire extinguishing agent tank body (3) is installed on the crawler robot moving platform, a fire extinguishing agent electromagnetic valve used for controlling opening and closing of the fire extinguishing agent pipeline is arranged on an outlet pipeline of the fire extinguishing agent tank body (3), the outlet pipeline of the fire extinguishing agent tank body (3) is connected with a nitrogen pressure tank (6) through a three-way valve, the nitrogen pressure tank (6) is installed on a support above the robot crawler (2), a manual switch and a pressure reducing valve (6.1) are arranged at a tank opening of the nitrogen pressure tank (6.1), a nitrogen electromagnetic valve used for controlling opening and closing of the nitrogen pipeline is arranged on a nitrogen outlet pipeline behind the pressure reducing valve (6.1), a stepless speed regulating spray head (5.1) is installed at an outlet end of the fire extinguishing pipeline (5), at least one group of fire extinguishing agent preventing devices are arranged inside the fire extinguishing agent tank body (3) and used for preventing a fire extinguishing agent from flowing to a position of a lower center of gravity of the tank body (3.1), a connecting rod (3.3.1) is connected with a connecting rod (3.1) and a sealing device (3.1) is arranged at the bottom of a connecting rod (3.3.3), and a sealing device is connected with a sealing device, the top of first interlocking door (3.2), second interlocking door (3.3) respectively with the airtight articulated of both sides of intercommunicating pore (3.5) top baffle, interlock connecting rod (3.4) install between first interlocking door (3.2), second interlocking door (3.3) and make first interlocking door (3.2), second interlocking door (3.3) all slope setting, in the rotatory in-process of first interlocking door (3.2), second interlocking door (3.3) atress fore-and-aft of gravity, the airtight laminating of baffle (3.1) of bottom and intercommunicating pore (3.5) bottom in first interlocking door (3.2), second interlocking door (3.3).
2. The self-pressurizing self-extinguishing agent explosion-proof robot fire extinguishing system according to claim 1, wherein the extinguishing agent tank body (3) is in an elliptical shape and is tightly attached to the robot body (1).
3. A self-pressurizing self-contained fire extinguishing agent explosion-proof robot fire extinguishing system according to claim 1 or 2, further comprising a spare nitrogen pressure tank (6.2), said spare nitrogen pressure tank (6.2) being mounted on a stand above the robot track (2).
4. A self-pressurizing self-extinguishing agent explosion-proof robot fire extinguishing system according to claim 3, wherein the opening and closing angle between the first interlocking door (3.2) and the second interlocking door (3.3) is 0 ° -90 °, and the first interlocking door (3.2) and the second interlocking door (3.3) are symmetrically arranged with the extension line of the partition plate (3.1) as the center.
5. A self-pressurizing self-extinguishing agent explosion-proof robot fire extinguishing system according to claim 3, wherein the top ends of the first interlocking door (3.2) and the second interlocking door (3.3) are respectively connected with two sides of a partition above the communication hole (3.5) in a sealing way through a folder (3.6).
6. A self-pressurizing self-extinguishing agent explosion-proof robot fire extinguishing system according to claim 3, characterized in that a sealing rubber pad (3.7) is arranged at the joint of the partition plate (3.1) and the top ends of the first interlocking door (3.2) and the second interlocking door (3.3), and the sealing rubber pad (3.7) is arranged at the joint of the partition plate (3.1) and the bottom ends of the first interlocking door (3.2) and the second interlocking door (3.3).
7. A self-pressurizing self-extinguishing agent explosion-proof robot fire extinguishing system according to claim 3, wherein pressure indicator gauges (6.3) are arranged on the nitrogen pressure tank (6) and the standby nitrogen pressure tank (6.2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010817494.8A CN111803840B (en) | 2020-08-14 | 2020-08-14 | A self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent |
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| CN202010817494.8A CN111803840B (en) | 2020-08-14 | 2020-08-14 | A self-pressurized explosion-proof robot fire extinguishing system with its own fire extinguishing agent |
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| CN111803840B true CN111803840B (en) | 2025-02-11 |
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| CN112691313B (en) * | 2021-01-07 | 2022-05-06 | 延安华宇油气工程技术有限公司 | Ignition treatment equipment for out-of-control blowout of oil exploitation |
| CN115554631B (en) * | 2022-09-23 | 2023-06-30 | 中国商用飞机有限责任公司 | Storage and spraying device and fire-extinguishing aircraft |
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| CN212235717U (en) * | 2020-08-14 | 2020-12-29 | 徐州鑫科机器人有限公司 | Self-pressurized self-contained fire extinguishing agent explosion-proof robot fire extinguishing system |
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| WO2008105948A2 (en) * | 2006-10-06 | 2008-09-04 | Irobot Corporation | Robotic vehicle with tracks and flippers |
| CN111494845B (en) * | 2019-01-31 | 2021-12-14 | 西门子股份公司 | Fire-fighting robot and control method thereof |
| CN110370294B (en) * | 2019-06-19 | 2021-06-22 | 浙江华消科技有限公司 | Robot |
| CN110281832A (en) * | 2019-06-27 | 2019-09-27 | 上海神舟汽车节能环保股份有限公司 | A kind of automobile-used double tank water storage devices |
| CN110653092A (en) * | 2019-10-14 | 2020-01-07 | 山东电子职业技术学院 | Electric automatization water smoke heat sink |
| CN111284577B (en) * | 2020-03-04 | 2021-03-09 | 张梅 | Chassis structure of crawler-type robot |
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| CN212235717U (en) * | 2020-08-14 | 2020-12-29 | 徐州鑫科机器人有限公司 | Self-pressurized self-contained fire extinguishing agent explosion-proof robot fire extinguishing system |
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