RU229053U1 - MOBILE ROBOT OF THE MOBILE ROBOTIC COMPLEX OF RECONNAISSANCE AND FIRE-FIGHTING OF LIGHT CLASS - Google Patents

Abstract

The utility model relates to fire-fighting equipment, in particular to technical means that increase the efficiency and reduce the time of conducting an emergency response at an emergency facility with radioactivity. The technical task of the claimed utility model is to increase the functional capabilities and the efficiency of using the "Mobile robot of the mobile robotic complex for reconnaissance and light-class fire extinguishing" during reconnaissance and decontamination by developing design and technical solutions for its additional equipment with a container intended for storing radioactive toxic fragments of products, equipment and structures of an emergency facility collected using the manipulator of the "Mobile robot..." and their subsequent joint transportation, i.e. removal for decontamination, which is important for minimizing the time of conducting an emergency response and without significant costs. The set task was solved by the fact that for the "Mobile robot..." a removable steel container of a special shape of a bucket type with a capacity of about 10 ^dm3 and a load capacity of 20 kg was designed, manufactured, tested and offered for use in the process of conducting ASR. The technical result of the claimed utility model is an increase in the functional capabilities and efficiency of using a mobile robot in reconnaissance and decontamination by assembling chemically toxic products and their subsequent transportation. The easily assembled container of the "Mobile robot..." is very simple in design, manufacture and operation and can find application in the practice of fire and rescue units of the Special Departments of the Federal Fire Service of the Ministry of Emergency Situations of Russia.

Description

Human activity is increasingly faced with the use of radioactive, chemical and toxic substances, which creates conditions for their unexpected release into the environment. Such incidents occur in nuclear and chemical industries, during the transportation of hazardous goods by various means, during their storage and handling. Elimination of the consequences of these emergencies requires the presence and work of specialists in hazardous conditions. Emergency rescue teams must enter the emergency area, evacuate people from there, provide assistance to victims, remove harmful substances and dangerous fragments, dismantle or strengthen damaged building structures, etc. Thus, rescuers are forced to act in life-threatening conditions, and most of the work is associated with the performance of routine operations [see Batanov, A.F. Robotic systems for special operations [Electronic resource] / A.F. Batanov, S.N. Gritsinin, S.V. Murkin // Special equipment. - 1999. - No. 6. - Access mode: http://www.ess.ru/sites/default/files/files/articles/1999/06/1999_06_02.pdf].

Emergency rescue operations (ERO) are actions to save people, material and cultural assets, protect the natural environment in emergency zones and during military operations, localize and suppress or reduce to the minimum possible level the impact of hazardous factors characteristic of them.

Emergency rescue operations are characterized by the presence of factors that threaten the life and health of the people carrying out these operations, and require their special training, equipment and supplies [see Organization and management of civil defense and protection of the population and territories from natural and man-made emergencies: Textbook / Under the general editorship of G.N. Kirillov. - 7th ed., reprinted - Moscow: Institute of Risk and Safety, 2011 - 536 p.].

Contents of emergency rescue operations:

conducting reconnaissance of routes for the advancement of formations and work areas (objects);

localization and extinguishing of fires at work sites (facilities) and access routes to them;

search for victims, their extraction from damaged and burning buildings, rubble, gassed, flooded and smoke-filled premises;

opening up destroyed, damaged and collapsed protective structures and rescuing people inside them;

supply of air to collapsed protective structures;

providing first medical and emergency aid to the injured and evacuating them to medical facilities;

withdrawal (removal) of the population from dangerous places to safe areas;

sanitary treatment of people and disinfection, decontamination of their clothing, territory, structures, equipment, food, water.

To protect personnel from the effects of dangerous fire factors, toxic substances and radioactive radiation, various group and individual protective equipment is used. However, in extreme conditions of fires and emergencies, these means often do not provide reliable protection for rescuers, i.e. direct human participation in extinguishing a fire is associated with a certain degree of risk.

A promising direction for improving fire extinguishing technology and conducting emergency response operations at economic and infrastructure facilities, ensuring the safety of rescuers in extreme conditions is the widespread introduction of fire robots [see Mikeev A.K. Fire protection of nuclear power plants. - Moscow: Energoatomizdat, 1990. - 432 p.].

Indeed, initially in the industrial sphere mobile robotic complexes (MRC) were widespread in the nuclear industry, at nuclear power plants (NPP). At present, such systems are developed for use in extinguishing fires, eliminating the consequences of accidents with hazardous substances in all types of transport, in chemical production, in clearing debris formed as a result of earthquakes, in general, in all cases where there is a danger of significant risk to people engaged in these works.

Various fire-fighting MRKs are used to extinguish fires. Depending on their purpose, they are equipped with water pumps, foam and powder extinguishing modules, etc., autonomous diesel generator units, a set of chemical absorbents, information systems, communication equipment and many other types of equipment.

Thus, the light-class mobile robotic reconnaissance and fire extinguishing complex (MRK-RP) is designed to conduct reconnaissance both indoors and outdoors using video monitoring systems, search for and eliminate fire sources, directly perform fire extinguishing and localize hazardous areas, i.e. in conditions of high-intensity heat flows and significant levels of radiation, aggravated by chemical and radiation contamination [see Mobile robotic complex. Operation manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE - LU. - M: VNIIPO EMERCOM of Russia, - 85 p.].

MRK-RP provides:

connection with the standard control system;

detection of obstacles and construction of a terrain map showing impassable areas;

three-dimensional visualization of the RTC with display of the current position of its moving parts;

monitoring the temperature state of the surrounding environment with an indication of the amount of heat flow from the corresponding side in color gradation;

autonomous return of the robot in case of loss of connection or upon command from the operator along a previously completed trajectory;

blocking the operator's actions when moving the robot into temperature-hazardous zones;

automatic placement of the manipulator in the transport or working position using position sensors of moving parts.

The MRK-RP product (see Fig. 1) includes [see GOST R 54344-2011 “Fire-fighting equipment. Mobile robotic systems for emergency rescue operations and fire extinguishing. Classification. General technical requirements. Test methods”]:

mobile robot - 1 assembled;

power supply system - not shown conditionally;

delivery vehicle - 2 (rapid response vehicle ABR-ROBOT);

means of communication between the operator and the coordinating (command) control post - not shown.

The mobile robot (MR) is (Fig. 2) a self-propelled, remotely controlled (by cable or radio), tracked vehicle - 3 with a manipulator (MR) - 4, an on-board part of the control system and a television system - 5, equipped with additional replaceable technological equipment, the composition of which changes depending on the task being performed.

A possible radiation accident at a protected facility will in most cases be accompanied by the removal of radiation-emitting elements beyond the perimeter (shell) of the protective circuit. One of such accident scenarios may occur with the occurrence of an explosion followed by a fire (examples: accidents at the Chernobyl Nuclear Power Plant, the Mayak Chemical Plant, etc.). During an explosion, radioactive elements (fragments of process equipment and structures, products with the uranium component itself and other hazardous elements that arise during the process of decay and half-decay) fly apart due to the blast wave and, based on the analysis of such situations, will be located relatively compactly in area.

In this case, reconnaissance will consist of finding radioactive fragments (including taking into account the level of exposure dose) with simultaneous decontamination (in this case, this is the removal/removal of radioactive fragments) [see Order of the Ministry of Emergency Situations of Russia dated 16.10.2017 No. 444 "On approval of the Combat Regulations of fire protection units, determining the procedure for organizing fire extinguishing and conducting emergency rescue operations"]. For work with such objects (fragments), the MP has a manipulator - 4 with a set of replaceable gripping jaws - 6, with a nominal lifting capacity of 30 kg and having five degrees of freedom (mobility) [see Mobile robotic complex. Operation manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE - LU. - M.: VNIIPO EMERCOM of Russia, - 85 p.]. The MP and manipulator are controlled by the operator via a radio signal (up to 1000 m in open areas) or via a 100 m long cable line.

The technical task of the claimed utility model is to increase the functional capabilities and efficiency of using the "Mobile robot of the robotic complex for reconnaissance and fire extinguishing of a light class" during reconnaissance and decontamination by developing design and technical solutions for equipping it with a container intended for storing radioactive and/or chemically toxic fragments of products, equipment and structures of an emergency facility collected with the help of a standard manipulator and their subsequent joint transportation, i.e. removal for decontamination, which is important for minimizing the time of conducting an emergency response and, moreover, without significant costs.

The proposed container - 7 will increase the tactical and technical capabilities of the MP, since it will provide an increase in the number of toxic fragments removed "at one time", thereby reducing the number of empty (idle) runs of the MP and, ultimately, reducing the time for conducting the ASR.

Technology knows similar mobile machines and their working bodies, especially in the construction industry. We believe it is necessary to include bucket-type units and machines for earthmoving and earthmoving-transport works (excavators, scrapers, loaders) with the help of which not only soil is moved, but also construction and installation equipment, tooling, tools, etc.

The applicant has chosen as a prototype the design of the Belarus-82 tractor with a front mounted loader and a grab installation [see Earthmoving Machines: Textbook for students of higher education institutions majoring in "Lifting and transport, construction, road machines and equipment"/D.P. Volkov, V.Ya. Krikun, P.E. Totolin et al.; under the general editorship of D.P. Volkov. - M.: Mashinostroenie, 1992 - 448 p.].

The obvious disadvantages of such mobile special equipment are that it is not suitable for work at the site of a radioactive accident, either in terms of design, dimensions, or the engineering materials used.

The task was solved by the fact that for the "Mobile robot of the mobile robotic complex of reconnaissance and fire extinguishing of the light class" a removable steel container - 7 of a special form of a bucket type with a capacity of about 10 ^dm3 , a load capacity of 20 kg and a weight of 5 kg was designed, manufactured, tested and offered for use. The use of stainless steel to create a container prevents corrosion and increases the service life of the structure. To prevent the container from overflowing with water (for example, when extinguishing fires with aqueous solutions or when working in the rain), slit-type drainage holes are provided at both ends of the lower part of its structure.

The design of the container - 7 provides for a negative slope of its outer wall, which increases the parameters of the profile cross-country ability of the MP in conditions of blockages and destruction, and, in particular, when it "climbs" a vertical obstacle, for example, a step of a flight of stairs. Then, due to the negative slope of the outer wall of the container, it plays the role of a "ski" (i.e. the outer wall of the container is an analogue of the "ski" of road layers).

And in order to prevent the collected toxic fragments from falling out of the container, for example, when it moves down a flight of stairs, or when the Mobile Robot - 1 suddenly stops, the angle of negative inclination of its outer wall relative to the horizon, after mounting on the MP, must exceed the permissible trim angle of the Mobile Robot by about 10 degrees (Fig. 2). The permissible trim angle of this MP is known [see Mobile Robotic Complex. Operation Manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M .: VNIIPO EMERCOM of Russia, - 85 p.] - no more than 35 degrees. Hence, the angle of negative inclination of the outer wall of the container relative to the horizon, after its mounting on the MP, must be at least 45 degrees.

In addition, in order to guarantee that the collected hazardous fragments will not fall out of the container during the movement of the MP, it is proposed to flange the edge of its outer wall during its manufacturing process, i.e. bend it at an angle of ~ 45° (see Fig. 3, view a), so that this flange is 50...60 mm wide.

The second option for solving this issue. For the same purpose, it is advisable to provide a flap in the container design, for example, like the one found in the scraper bucket. In this case, the quick-release flap is a welded structure made of a strip - 10 and two tubes - 9 (Fig. 3, view c), with a total width of 50 ... 60 mm. To place it in both sides of the container, four through holes - 8 should be drilled (Fig. 3, view b). Before starting the ASR, two round steel rods - 77 with threads on the ends must be inserted through the steel tubes, as well as through the four holes - 8 in the sides, and the flap must be fixed with nuts. In this case, the location of the holes on the sides is such that the specified part in the working position will be located at an angle of ~ 45 ° to the plane of the outer wall of the container.

The third option for solving the problem. Or it is also proposed to weld one guide groove each 50...60 mm long to the inner sides of the right and left sides of the container (Fig. 3, view g), which are to be positioned at an angle of ~ 45° to the plane of the outer wall and which are intended for lowering along them before the start of the ASR of an easily removable steel strip - 12 50...60 mm wide and its fixation.

The mobile robot of the light class reconnaissance and fire extinguishing robotic complex operates as follows.

When moving the special-purpose operational equipment "Mobile robot..." as part of the MRK-RP is placed in the van of the rapid response vehicle ABR-ROBOT - 2 (see Fig. 1) [see Mobile robotic complex. Operation manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE - LU. - M.: VNIIPO EMERCOM of Russia, - 85 p.] and is locked by means of turnbuckles, removable stretchers, front and rear eyebolts (Fig. 4, view a). Before transporting the complex, the container must be dismantled. The container is quickly removable and can also be quickly installed, since no tools are required to screw in/unscrew the eyebolts.

Upon arrival at the call site, the MP is unlocked by loosening and removing the turnbuckles and removable stretchers.

Then the MP is switched on and, using the technological control panel, it is self-unloaded along the standard ramp of the ABR-ROBOT vehicle (Fig. 4, view b).

Next, the MP should be installed on a flat surface and an external inspection should be carried out with the installation of overview television installations - 5 on the manipulator - 4. Check the charge level of the batteries (at least 12.8 V), and a number of other routine maintenance works should be carried out in accordance with the operating instructions [see Mobile robotic complex. Operating manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M .: VNIIPO EMERCOM of Russia, - 85 p.].

The proposed container (Fig. 3) is attached to the front end part of the MP body power structure by means of eye bolts.

After completing the above work, it is necessary to set the "Power" switch on the MP control panel to the ON position. Then [see Mobile robotic complex. Operation manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M.: VNIIPO EMERCOM of Russia, - 85 p.] check the functioning of the MP: in motion, manipulator, television system and additional equipment.

MRK-RP is switched on and ready for operation. The complex is switched on depending on the task: when controlled by cable or by radio. Control mode is command.

Using the MP complex

The speed of movement must be selected depending on the operating conditions.

Whenever possible, use level, horizontal areas with firm ground or the tops (ridges) of uneven surfaces to turn the MP.

When driving on gravel, pebbles, snow, sand, loose soil, deep ruts, a minimum number of turns should be made, especially sharp ones, to avoid clogging the running track with soil, which can lead to the tracks falling off or overloading the motor-sprockets.

When reversing, the overview camera must be aimed so that it can monitor the position of the cable to avoid running over it.

When overcoming threshold obstacles (vertical step, scarp, curb, sleeper, etc.), it is recommended to position the MP so that its longitudinal axis is perpendicular to the obstacle.

Drive onto the obstacle at minimum speed and stop the MP immediately after the rollover starts (as soon as the image on the monitor starts to float). Continue moving only after the tracks touch the surface of the platform.

On a steep (over 15°) climb (from a steep descent) with a sharp bend, enter (leave) at minimum speed, in order to avoid "pecking" and the MP hitting the surface of the platform. Increase the speed only after the MP passes through the bend.

When moving along a longitudinal slope (Fig. 2) or stairs, it is recommended to turn the manipulator towards the ascent and set the grip - 6 to the position of maximum distance from the manipulator's axis of rotation. On steep slopes, move more slowly, the steeper the slope, try to avoid turns towards the ascent.

Avoid turning on a steep descent. If this is not possible, turn the MP smoothly (at minimum speed).

Heavy soil (liquid mud, fine dry sand, deep snow) or water-flooded areas should be overcome by the shortest route, making a minimum number of turns. If skidding begins, move back along the track and take a detour.

Lifting, transportation of goods and carrying out special works

When working with a manipulator, the operator must take into account the following:

if the load weight is close to the maximum permissible (30 kg), lift the links and rotate the manipulator - 4 with minimum speed and amplitude;

It is recommended to grasp long heavy objects by the middle part; when handling such objects, avoid hitting the MP-1.

The service area of the manipulator - 4 is determined by the manipulator's reach - 1.5 m and the restrictions imposed by the structural elements of the MP.

When transporting loads in the grip of a manipulator, it is necessary to take into account that a loaded MP - 1 is more prone to tipping over on steep slopes and getting stuck in areas with heavy soil.

MRK-RP has four sets of replaceable sponges:

the main grip jaws are straight,

special sponges - for gripping small objects,

grab type jaws,

jaws for gripping cylindrical objects with diameters from 50 to 200 mm.

The dangerous load must be grasped by the jaws of the gripper as close as possible to the center of mass. In MP, the gripper switches off automatically when the part is clamped to the set standard force of 800 or 1000 N. Mechanical protection is provided.

According to the designers, the MP drives up to the required point, and with the help of video cameras with visual positioning, the operator, by means of the manipulator - 4, lifts (and holds) a radioactive fragment from the surface (ground, floor, etc.). Then the manipulator loads the hazardous item into the MP container of the proposed design. And this technological operation is repeated again and again. After filling the container, the robot moves towards the disposal container (which is not shown in the figures) to collect and store hazardous objects. Thus, the process of clearing the territory of the emergency facility from hazardous objects and materials is carried out. At the same time, it is necessary to take into account that the battery ensures continuous operation of the MP for 4 hours [see. Mobile robotic complex. Operation manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M.: VNIIPO EMERCOM of Russia, - 85 p.] - and this is at a positive ambient temperature. Consequently, the amount of electric power stored in batteries and its economical use, especially in low-temperature conditions, is a "bottleneck" in the implementation of the tactical and technical capabilities of the MR. And it is precisely this that is intended to be "expanded" by the proposed design and technical solutions for the implementation of a larger volume of operational tasks.

Firefighting

The technologies for performing work using water-foam and powder fire extinguishing modules and a fine-mist water fire extinguishing system are described in detail in the Operation Manual [see Mobile robotic complex. Operation Manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M.: VNIIPO EMERCOM of Russia, - 85 p.].

Upon completion of the ASR, the decontamination and degassing work of the MP must actually be performed by personnel in special suits [see the Labor Protection Rules in Fire Departments. Order of the Ministry of Labor and Social Protection of the Russian Federation dated 11.12. 2020 No. 881 n] and in accordance with the technical documentation of the manufacturer [see the Mobile Robotic Complex. Operation Manual. NT598.00.00.000 RE. Approved by NT598.00.00.000RE-LU. - M .: VNIIPO EMERCOM of Russia, - 85 p.].

After which the observation television installations on the manipulator are dismantled and, using the technological control panel along the ramp (Fig. 4, view b), the MRK-RP is placed in the regular place of the ABR-ROBOT vehicle, as well as secured using turnbuckles, removable stretchers and eye bolts (Fig. 4, view a).

In general, the plans, tactical decisions and specific features of conducting emergency rescue operations in radioactive contamination zones, in areas of chemical contamination, etc. are carried out in accordance with the provisions [see Methodological recommendations for the actions of units of the federal fire service in extinguishing fires and conducting emergency rescue operations. In accordance with the instructions of the State Secretary - Deputy Minister of the Russian Federation for Civil Defense, Emergencies and Elimination of Consequences of Natural Disasters V.A. Puchkov dated 26.05.2010 No. 43-2007-2007-18. - Yekaterinburg, OOO "Izdatelstvo" Kalan ", 2010 - 112 p.] and other official and industry documents, the fire extinguishing plan (FEP), which is developed by the head of the fire and rescue unit together with the administration of the production facility.

A comparison of the claimed design and technical solution with the prototype shows that it has the following technical features:

as ensuring safe conditions and labor protection for firefighters and rescuers during the implementation of emergency response operations, since there is no need for their direct participation in the process;

compact overall dimensions of the container in the MP combat position;

simplicity of design, manufacture and operation. Consequently, it can be assumed that the claimed technical solution meets the criterion of "novelty".

The utility model can be manufactured on standard equipment using known technological processes and tooling, therefore it meets the criterion of “industrial applicability”.

This technical solution is cost-effective and ensures longer operating time of the MP in the area of radioactive and/or chemical contamination, which allows a greater volume of tasks to be performed.

Thus, the technical result achieved by the utility model consists in increasing the functional capabilities and efficiency of using a mobile robot in reconnaissance and decontamination by assembling chemically toxic products and their subsequent transportation.

The proposed container for additional equipment of the "Mobile Robot..." in full size was made of metal and tested in 2022 at the Special Fire Service No. 1 of the Federal State Budgetary Institution "Special Directorate of the Federal Fire Service No. 5 of the Ministry of Emergency Situations of Russia".

The easy-to-assemble container of the “Mobile Robot…” is very simple in design, manufacture and operation and can be used in the practice of fire and rescue units of the Special Departments of the Federal Fire Service of the Ministry of Emergency Situations of Russia.

All this generally increases the efficiency of operation of mobile robotic reconnaissance and light-class fire extinguishing systems during the process of conducting emergency response operations at emergency sites, provided that they are additionally equipped with a container of the proposed design.

Claims (7)

1. A mobile robot of the mobile robotic complex for reconnaissance and fire extinguishing (MRK-RP) of a light class, which is a self-propelled, remotely controlled tracked vehicle with a manipulator, an on-board part of the control system and a television system, characterized in that a steel bucket-type container with the ability to accommodate radioactive and toxic fragments of damaged products is rigidly attached to the front end part of its body, the outer wall of which is made with a flanging edge and a negative slope. 2. A mobile robot according to item 1, characterized in that the container is rigidly attached to the head part of the body of the mobile robot by means of two threaded holes in its body and two eye bolts. 3. A mobile robot according to item 1, characterized in that slot-type drainage holes are provided at both ends of the lower part of the container structure. 4. A mobile robot according to paragraph 1, characterized in that the angle of negative inclination of its outer wall must exceed the value of the permissible trim angle of the mobile robot by about 10°. 5. A mobile robot according to item 1, characterized in that the flanging of the edge of the outer wall of the container is made at an angle of ~ 45° and a width of 50...60 mm. 6. A mobile robot according to item 1, characterized in that four through holes are made in the right and left sides of the container with two round steel rods with threads at the ends and nuts placed in them, with the possibility of placing a quick-release shutter made of a steel strip at an angle of ~ 45° to the plane of the outer wall, along the long sides of which steel tubes are welded, while the total width of the shutter will be 50...60 mm. 7. A mobile robot according to item 1, characterized in that one guide groove, each 50...60 mm long, is welded to the inner sides of the right and left sides of the container, located at an angle of ~45° to the plane of the outer wall, with the possibility of lowering a steel strip 50...60 mm wide along them and fixing it.