阅读说明：本技术 一种用于顶管隧道的倒挂式灭火机器人 (A reverse hanging type fire-extinguishing robot for push pipe tunnel ) 是由 赖华景 许继源 冯泽君 李颖 杨国宇 陈潇跃 连佳生 柳淦元 何燕君 王小博 丁 于 2021-08-06 设计创作，主要内容包括：本发明提出一种用于顶管隧道的倒挂式灭火机器人,包括移动机构、灭火底座、灭火瓶组件、控制阀门组件、灭火机械臂、灭火气管和主控模块；所述移动机构设置于所述灭火底座的顶端,所述灭火机械臂设置于所述灭火底座的底端；所述灭火瓶组件设置于所述灭火底座的内部；所述主控模块分别与所述移动机构、控制阀门组件和灭火机械臂通信连接；所述灭火瓶组件通过气瓶输出管与所述控制阀门组件的输入端连接,所述控制阀门组件的输出端与所述灭火气管；所述灭火气管沿着所述灭火机械臂设置,所述灭火机械臂的输出端设置有火源检测组件；本发明能在隧道内快速移动,通过灭火机械臂对火源进行精确的探测和定位并对准火源喷射灭火剂,有效提高灭火的效率。(The invention provides an inverted fire-extinguishing robot for a pipe-jacking tunnel, which comprises a moving mechanism, a fire-extinguishing base, a fire-extinguishing bottle assembly, a control valve assembly, a fire-extinguishing mechanical arm, a fire-extinguishing air pipe and a main control module, wherein the fire-extinguishing mechanical arm is arranged on the fire-extinguishing bottle assembly; the moving mechanism is arranged at the top end of the fire extinguishing base, and the fire extinguishing mechanical arm is arranged at the bottom end of the fire extinguishing base; the fire extinguishing bottle assembly is arranged inside the fire extinguishing base; the main control module is respectively in communication connection with the moving mechanism, the control valve assembly and the fire extinguishing mechanical arm; the fire extinguishing bottle assembly is connected with the input end of the control valve assembly through a gas bottle output pipe, and the output end of the control valve assembly is connected with the fire extinguishing gas pipe; the fire extinguishing air pipe is arranged along the fire extinguishing mechanical arm, and the output end of the fire extinguishing mechanical arm is provided with a fire source detection assembly; the invention can move rapidly in the tunnel, accurately detect and position the fire source through the fire extinguishing mechanical arm and jet the fire extinguishing agent aiming at the fire source, thereby effectively improving the fire extinguishing efficiency.)

1. The utility model provides a hanging-upside down type fire-extinguishing robot for push pipe tunnel which characterized in that: the fire extinguishing device comprises a moving mechanism, a fire extinguishing base, a fire extinguishing bottle assembly, a control valve assembly, a fire extinguishing mechanical arm, a fire extinguishing gas pipe and a main control module;

the moving mechanism is arranged at the top end of the fire extinguishing base, and the fire extinguishing mechanical arm is arranged at the bottom end of the fire extinguishing base; the fire extinguishing bottle assembly is arranged inside the fire extinguishing base;

the main control module is respectively in communication connection with the moving mechanism, the control valve assembly and the fire extinguishing mechanical arm;

the fire extinguishing bottle assembly is connected with the input end of the control valve assembly through a gas bottle output pipe, and the output end of the control valve assembly is connected with the fire extinguishing gas pipe;

the fire extinguishing air pipe is arranged along the fire extinguishing mechanical arm and extends to the output end of the fire extinguishing mechanical arm;

the output end of the fire extinguishing mechanical arm is provided with a fire source detection assembly for detecting and positioning a fire source.

2. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 1, characterized in that: the fire source detection assembly comprises a red ultraviolet and ultraviolet composite flame surveying lens and a live-action camera;

the live-action camera set up in the output of arm of putting out a fire, compound flame of red ultraviolet surveys the camera lens set up in the live-action camera.

3. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 1, characterized in that: the fire extinguishing bottle component comprises a dry powder gas bottle and an inert gas bottle, and the dry powder gas bottle and the inert gas bottle are respectively arranged at two ends of the interior of the fire extinguishing base;

the gas cylinder output pipe comprises a dry powder gas pipe and an inert gas pipe, and the output end of the dry powder gas cylinder is connected with the control valve component through the dry powder gas pipe;

the inert gas bottle is connected with the control valve assembly through the inert gas pipe; and the dry powder air pipe and the inert gas pipe are respectively provided with a flow control valve.

4. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 3, characterized in that: the fire extinguishing device is characterized in that a middle fixing block is arranged between the dry powder gas cylinder and the inert gas cylinder, side fixing blocks are respectively arranged between the dry powder gas cylinder and the fire extinguishing base and between the inert gas cylinder and the fire extinguishing base, and the middle fixing block and the side fixing blocks are both made of damping sponge.

5. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 4, characterized in that: the fire extinguishing base is characterized in that buckle protrusions are respectively arranged between the dry powder gas cylinder and the inert gas cylinder and on the inner walls of the two sides of the fire extinguishing base, and the middle fixing block and the two side fixing blocks are respectively connected with the corresponding buckle protrusions in a buckled mode.

6. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 3, characterized in that: still include rearmounted trachea, the trachea of putting out a fire set up in the front side of the arm of putting out a fire, rearmounted trachea set up in the rear side of the arm of putting out a fire, rearmounted trachea passes through control valve subassembly with the inert gas cylinder is connected, rearmounted trachea court the rear side of the arm of putting out a fire is provided with the air jet.

7. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 6, characterized in that: the control valve assembly comprises four pneumatic electromagnetic valves, a flow divider valve and a collecting pipe;

the four pneumatic electromagnetic valves comprise a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve;

the dry powder air pipe and the first electromagnetic valve;

the inert gas pipe is respectively connected with a second electromagnetic valve and a fourth electromagnetic valve through the shunt valve, and the output end of the fourth electromagnetic valve is connected with the rear gas pipe;

the output end of the second electromagnetic valve and the output end of the first electromagnetic valve are both connected with a collecting pipe, the collecting pipe is connected to the third electromagnetic valve, and the output end of the third electromagnetic valve is connected with the fire extinguishing air pipe.

8. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 1, characterized in that: the moving mechanism comprises at least two moving wheels, and a hub motor is arranged in each moving wheel for driving.

9. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 1, characterized in that: the fire-extinguishing mechanical arm adopts four-axis arm, just four axis of rotation of four-axis arm all are provided with rotates the auto-lock.

10. The inverted fire extinguishing robot for pipe-jacking tunnels according to claim 1, characterized in that: the fire extinguishing mechanical arm is provided with a plurality of temperature sensors for detecting the ambient temperature.

Technical Field

The invention relates to the technical field of fire-extinguishing robots, in particular to a reverse hanging type fire-extinguishing robot for a pipe-jacking tunnel.

Background

Along with the continuous and stable growth of economy in China, the urbanization process is further accelerated, and the demand of underground pipe-jacking tunnels in China is increased year by year. Meanwhile, the underground pipe-jacking tunnel can pass through highways, railways, rivers, ground buildings, underground structures, various underground pipelines and the like. The cable is placed in the underground pipe-jacking tunnel, so that the damage to the cable caused by severe conditions such as typhoon, hailstone and ice and snow can be effectively avoided, and the underground pipe-jacking tunnel is not limited by the terrain.

The underground pipe-jacking tunnels are easy to cause fire because of the conditions of dry environment, short circuit of cables, heating at cable splicing positions and the like, the pipe-jacking tunnels arranged underground are 600 meters shortest and 1100 meters longest, if electric power personnel just drive the underground pipe-jacking tunnels after the fire is detected, much time is needed, the fire is easy to spread, so that great economic loss is caused, and when the fire is great, the fire is artificially extinguished, so that certain danger is caused; at present, the market lacks the fire-extinguishing robot who is used for secret pipe jacking tunnel specially, and the fire-extinguishing robot on the market is ground walking basically and removes, directly uses not only need to occupy the space in the tunnel, and the dim environment removes inconveniently in the tunnel, and has debris easily on ground to hinder the fire-extinguishing robot and remove, and the efficiency of putting out a fire from ground is lower, is unfavorable for in time putting out the fire source.

Disclosure of Invention

In view of the above defects, the invention aims to provide a reverse hanging type fire-extinguishing robot for a pipe-jacking tunnel, which solves the problems of inconvenient movement and low fire-extinguishing efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

a reverse hanging type fire-extinguishing robot for a pipe-jacking tunnel comprises a moving mechanism, a fire-extinguishing base, a fire-extinguishing bottle assembly, a control valve assembly, a fire-extinguishing mechanical arm, a fire-extinguishing air pipe and a main control module;

the moving mechanism is arranged at the top end of the fire extinguishing base, and the fire extinguishing mechanical arm is arranged at the bottom end of the fire extinguishing base; the fire extinguishing bottle assembly is arranged inside the fire extinguishing base;

the main control module is respectively in communication connection with the moving mechanism, the control valve assembly and the fire extinguishing mechanical arm;

the fire extinguishing bottle assembly is connected with the input end of the control valve assembly through a gas bottle output pipe, and the output end of the control valve assembly is connected with the fire extinguishing gas pipe;

the fire extinguishing air pipe is arranged along the fire extinguishing mechanical arm and extends to the output end of the fire extinguishing mechanical arm;

the output end of the fire extinguishing mechanical arm is provided with a fire source detection assembly for detecting and positioning a fire source.

Preferably, the fire source detection assembly comprises a red ultraviolet and ultraviolet composite flame surveying lens and a live-action camera;

the live-action camera set up in the output of arm of putting out a fire, compound flame of red ultraviolet surveys the camera lens set up in the live-action camera.

Preferably, the fire extinguishing cylinder assembly comprises a dry powder gas cylinder and an inert gas cylinder, and the dry powder gas cylinder and the inert gas cylinder are respectively arranged at two ends of the interior of the fire extinguishing base;

the gas cylinder output pipe comprises a dry powder gas pipe and an inert gas pipe, and the output end of the dry powder gas cylinder is connected with the control valve component through the dry powder gas pipe;

the inert gas bottle is connected with the control valve assembly through the inert gas pipe; and the dry powder air pipe and the inert gas pipe are respectively provided with a flow control valve.

Preferably, a middle fixing block is arranged between the dry powder gas cylinder and the inert gas cylinder, side fixing blocks are respectively arranged between the dry powder gas cylinder and the fire extinguishing base and between the inert gas cylinder and the fire extinguishing base, and the middle fixing block and the side fixing blocks are both prepared from damping sponge.

Preferably, buckle bulges are respectively arranged between the dry powder gas cylinder and the inert gas cylinder and on the inner walls of the two sides of the fire extinguishing base, and the middle fixing block and the two side fixing blocks are respectively connected with the corresponding buckle bulges in a buckling mode.

Preferably, still include rearmounted trachea, the trachea of putting out a fire set up in the front side of the arm of putting out a fire, rearmounted trachea set up in the rear side of the arm of putting out a fire, rearmounted trachea pass through control valve subassembly with the inert gas cylinder is connected, rearmounted trachea court the rear side of the arm of putting out a fire is provided with the jet orifice.

Preferably, the control valve assembly comprises four pneumatic electromagnetic valves, a flow dividing valve and a collecting pipe;

the four pneumatic electromagnetic valves comprise a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve;

the dry powder air pipe and the first electromagnetic valve;

the inert gas pipe is respectively connected with a second electromagnetic valve and a fourth electromagnetic valve through the shunt valve, and the output end of the fourth electromagnetic valve is connected with the rear gas pipe;

the output end of the second electromagnetic valve and the output end of the first electromagnetic valve are both connected with a collecting pipe, the collecting pipe is connected to the third electromagnetic valve, and the output end of the third electromagnetic valve is connected with the fire extinguishing air pipe.

Preferably, the moving mechanism comprises at least two moving wheels, and the moving wheels are internally provided with hub motors for driving.

Preferably, the fire-extinguishing mechanical arm adopts four-axis mechanical arm, just four axis of rotation of four-axis mechanical arm all are provided with and rotate the auto-lock.

Preferably, a plurality of temperature sensors are arranged on the fire extinguishing mechanical arm and used for detecting the ambient temperature.

One of the above technical solutions has the following advantages or beneficial effects:

the fire extinguishing robot is high in automation degree, can move to the fire scene at the top of the tunnel through the moving mechanism, accurately detects and positions the fire source, aims the fire extinguishing pipe at the fire source through the fire extinguishing mechanical arm, can effectively improve the fire extinguishing efficiency, and avoids spreading of fire.

Drawings

FIG. 1 is a schematic view of the overall structure of one embodiment of the present invention;

FIG. 2 is a schematic illustration of the installation of a fire suppression bottle assembly according to one embodiment of the present invention;

FIG. 3 is a detailed schematic view of the internal structure of a fire suppression base according to one embodiment of the present invention;

FIG. 4 is a detailed schematic view of a control valve assembly according to one embodiment of the present invention;

fig. 5 is a detailed view of the posterior airway in accordance with an embodiment of the present invention.

Wherein: the fire extinguishing device comprises a moving mechanism 1, a moving wheel 11, a fire extinguishing base 2, a buckle protrusion 21, a fire extinguishing bottle component 3, a gas bottle output pipe 30, a dry powder gas pipe 301, an inert gas pipe 302, a flow control valve 303, a dry powder gas bottle 31, an inert gas bottle 32, a middle fixing block 33, a side fixing block 34, a control valve component 4, a first electromagnetic valve 41, a second electromagnetic valve 42, a third electromagnetic valve 43, a fourth electromagnetic valve 44, a flow dividing valve 45, a collecting pipe 46, a fire extinguishing mechanical arm 5, a temperature sensor 51, a fire extinguishing gas pipe 6, a main control module 7, a fire source detection component 8, a red ultraviolet composite flame surveying lens 81, a live-action camera 82, a rear gas pipe 9 and a gas nozzle 91.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following describes, with reference to fig. 1 to 5, a reverse hanging type fire extinguishing robot for a pipe jacking tunnel according to an embodiment of the present invention, including a moving mechanism 1, a fire extinguishing base 2, a fire extinguishing bottle assembly 3, a control valve assembly 4, a fire extinguishing mechanical arm 5, a fire extinguishing gas pipe 6, and a main control module 7;

the moving mechanism 1 is arranged at the top end of the fire extinguishing base 2, and the fire extinguishing mechanical arm 5 is arranged at the bottom end of the fire extinguishing base 2; the fire extinguishing bottle assembly 3 is arranged inside the fire extinguishing base 2;

the main control module 7 is respectively in communication connection with the moving mechanism 1, the control valve assembly 4 and the fire extinguishing mechanical arm 5;

the fire extinguishing bottle assembly 3 is connected with the input end of the control valve assembly 4 through a gas bottle output pipe 30, and the output end of the control valve assembly 4 is connected with the fire extinguishing gas pipe 6;

the fire extinguishing gas pipe 6 is arranged along the fire extinguishing mechanical arm 5 and extends to the output end of the fire extinguishing mechanical arm 5;

the output end of the fire extinguishing mechanical arm 5 is provided with a fire source detection assembly 8 for detecting and positioning a fire source.

Specifically, in this embodiment, the fire-extinguishing robot is installed on the top of a tunnel in an upside-down manner, the top of the tunnel is installed on a track, the moving mechanism 1 of the fire-extinguishing robot is installed on the track, so that the fire-extinguishing robot can move along the track, when a fire occurs in the tunnel, the main control module 7 receives fire information, the moving mechanism 1 is controlled to start and move the fire-extinguishing robot above a fire point, the control valve assembly 4 is opened, a fire extinguishing agent in the fire-extinguishing bottle assembly 3 is sprayed out of the fire-extinguishing gas pipe 6 after passing through the gas cylinder output pipe 30, meanwhile, the fire source is detected and positioned through the fire source detection assembly 8, after the position of the fire source is determined, the angle of the output end of the fire-extinguishing mechanical arm 5 is controlled and adjusted by the main control module 7 to align to the fire source, the output end of the fire-extinguishing mechanical arm 5 is provided with a fire-extinguishing nozzle, and the fire-extinguishing nozzle is connected with the output end of the fire-extinguishing gas pipe 6, the fire extinguishing nozzle is aligned to a fire source, the fire extinguishing agent is sprayed out of the fire extinguishing air pipe 6 to accurately extinguish the fire source, the automation degree is high, the fire extinguishing robot can quickly move to a fire scene through the top of the tunnel, and the fire source is accurately detected and positioned, so that the fire extinguishing efficiency is effectively improved, and the fire is prevented from spreading;

in addition, the main control module 7 is provided with a WiFi module which can communicate with external monitoring equipment and the like, the fire-extinguishing robot comprises an automatic mode and a manual mode, the fire-extinguishing robot can automatically operate according to a program after receiving fire information to extinguish a fire on the fire scene, meanwhile, a control signal can be sent to the WiFi module through the monitoring equipment, and the WiFi module converts the signal to the main control module 7, so that the fire-extinguishing robot is manually controlled;

the power supply of the fire-extinguishing robot can be supplied with power by installing a storage battery in the base, and in addition, the power supply mode of a train can be referred to, and the power supply of the track is realized by arranging an electric guide rail on the track of the tunnel, so that the fire-extinguishing robot can obtain electric energy by the electric guide rail at any time.

Further, the fire source detection assembly 8 comprises a red ultraviolet composite flame surveying lens 81 and a live-action camera 82; the live-action camera 82 is arranged at the output end of the fire extinguishing mechanical arm 5, and the red and ultraviolet composite flame surveying lens 81 is arranged at the live-action camera 82. Specifically, in this embodiment, the live-action camera 82 is disposed at the output end of the fire-extinguishing mechanical arm 5, and during the rotation of the fire-extinguishing mechanical arm 5, the live-action camera 82 can record or shoot the actual situation of the on-site fire, and simultaneously send the acquired on-site image to the main control module 7 for analysis, so as to analyze the level of the fire and the specific position of the fire source, and control the flow rate of the fire extinguishing agent sprayed through the control valve assembly 4 according to different fire levels, thereby realizing the adjustment of the flow rate suitable for each level, saving the use of the fire extinguishing agent, and avoiding waste; the scene video or the image can be sent to external monitoring equipment, and workers can know the actual fire condition in the tunnel in real time; meanwhile, when the fire extinguishing robot is manually controlled by workers, the fire information of the scene can be mastered; in addition, the infrared and ultraviolet composite flame surveying lens 81 is arranged in the embodiment, is mainly used for detecting flame, detecting high-temperature points of a fire source, detecting ambient temperature, quickly capturing the cable heating condition, and improving the fire source positioning precision by combining the live-action camera 82, so that a fire extinguishing agent is sprayed to the highest temperature point, and the fire source extinguishing efficiency is improved.

Further, the fire extinguishing cylinder assembly 3 comprises a dry powder gas cylinder 31 and an inert gas cylinder 32, wherein the dry powder gas cylinder 31 and the inert gas cylinder 32 are respectively arranged at two ends of the interior of the fire extinguishing base 2;

the gas cylinder output pipe 30 comprises a dry powder gas pipe 301 and an inert gas pipe 302, and the output end of the dry powder gas cylinder 31 is connected with the control valve assembly 4 through the dry powder gas pipe 301;

the inert gas bottle 32 is connected with the control valve assembly 4 through the inert gas pipe 302; the dry powder gas pipe 301 and the inert gas pipe 302 are respectively provided with a flow control valve 303.

Specifically, in the present embodiment, the output end of the dry powder gas cylinder 31 is connected to the control valve assembly 4 through the dry powder gas pipe 301, the inert gas cylinder 32 is connected to the control valve assembly 4 through the inert gas pipe 302, and the dry powder gas cylinder 31 is filled with dry powder and is mainly used for fire extinguishing and fire retardation; the inert gas cylinder 32 is filled with inert flame-retardant gas, the inert gas can be released under the action of pressure difference after the control valve is opened, dry powder is taken out from the dry powder gas cylinder 31 and mixed by the gas released by the inert gas cylinder 32, and then the dry powder is sprayed out from a nozzle at the output end of the fire extinguishing mechanical arm 5 through the fire extinguishing gas pipe 6, so that the fire is extinguished; in addition, the dry powder gas pipe 301 and the inert gas pipe 302 are provided with flow control valves 303, and in this embodiment, the flow rate of the dry powder and the inert gas flowing out from the dry powder gas cylinder 31 and the inert gas cylinder 32 can be controlled by using the electronic flow control valves 303, so that the flow rate of the fire extinguishing agent (mixture of the gas in the inert gas cylinder 32 and the dry powder in the dry powder gas cylinder 31) sprayed from the fire extinguishing gas pipe 6 can be controlled.

Further, a middle fixing block 33 is arranged between the dry powder gas cylinder 31 and the inert gas cylinder 32, side fixing blocks 34 are respectively arranged between the dry powder gas cylinder 31 and the fire extinguishing base 2 and between the inert gas cylinder 32 and the fire extinguishing base 2, and the middle fixing block 33 and the side fixing blocks 34 are all made of damping sponge.

Specifically, in the embodiment, a baffle is detachably arranged on one side of the fire extinguishing base 2 and is used for fixing and blocking the dry powder gas cylinder 31 and the inert gas cylinder 32 and preventing the gas cylinders from sliding outwards; when the dry powder gas cylinder 31 or the inert gas cylinder 32 is used up after the shelf life or in the fire extinguishing process and needs to be replaced, the electric power personnel firstly open the baffle, then the fixed blocks at the two sides are taken out, the connecting gas valve of the dry powder gas cylinder 31 or the inert gas cylinder 32 is screwed off, can take out the gas cylinder from the base of putting out a fire 2 in, change the back, put into the base of putting out a fire 2 with new gas cylinder in, connect the air valve after, the fixed block just can be put into again to the inspection atmospheric pressure, what the fixed block adopted is the shock attenuation sponge, the shock attenuation sponge has certain hardness, not only can fix dry powder gas cylinder 31 or inert gas cylinder 32, prevent its landing, can also be between dry powder gas cylinder 31 and inert gas cylinder 32, play absorbing effect between the inner wall of dry powder gas cylinder 31 and base of putting out a fire 2 and between inert gas cylinder 32 and the inner wall of base of putting out a fire 2, effectively protect the gas cylinder and base of putting out a fire 2.

Further, the fastening protrusions 21 are respectively arranged between the dry powder gas cylinder 31 and the inert gas cylinder 32 and on the inner walls of the two sides of the fire extinguishing base 2, and the middle fixing block 33 and the two side fixing blocks 34 are respectively fastened and connected with the corresponding fastening protrusions 21.

Specifically, in this embodiment, when the fixing block is put in to fix the dry powder gas cylinder 31 and the inert gas cylinder 32, the fixing block can be pushed in until the middle fixing block 33 and the two side fixing blocks 34 are respectively connected with the corresponding snap protrusions 21 in a snap manner, so that the position of the fixing block can be positioned and fixed, the positioning function of the fixing block is achieved, and the dry powder gas cylinder 31 and the inert gas cylinder 32 can be prevented from sliding due to the sliding of the fixing block.

Further, still include rearmounted trachea 9, the trachea of putting out a fire 6 set up in the front side of mechanical arm 5 of putting out a fire, rearmounted trachea 9 set up in the rear side of mechanical arm 5 of putting out a fire, rearmounted trachea 9 passes through control valve subassembly 4 with inert gas cylinder 32 connects, rearmounted trachea 9 court the rear side of mechanical arm 5 of putting out a fire is provided with jet-propelled mouth 91.

Specifically, when the fire extinguishing agent is sprayed from the fire extinguishing nozzle 6, a certain reaction force is generated, the reaction force is a recoil force which is usually speaking, the recoil force affects the spraying angle of the fire extinguishing agent, and the fire extinguishing agent cannot be accurately sprayed to the point of the highest temperature of a fire source, therefore, in the embodiment, the postposition air pipe 9 is arranged on one side of the fire extinguishing mechanical arm 5 opposite to the fire extinguishing air pipe 6, the postposition air pipe 9 is connected with the inert gas cylinder 32, when the gas in the inert gas cylinder 32 is sprayed from the fire extinguishing air pipe 6, the gas also flows to the postposition air pipe 9 and is sprayed towards the direction opposite to the spraying direction of the fire extinguishing air pipe 6 through the gas spraying port 91, so that the recoil force generated when the fire extinguishing agent is sprayed from the fire extinguishing nozzle is offset, the stability of the mechanical arm is maintained, and the accuracy of the spraying angle of the fire extinguishing agent is ensured.

Further, the control valve assembly 4 comprises four pneumatic solenoid valves, a flow dividing valve 45 and a collecting pipe 46; the four pneumatic solenoid valves include a first solenoid valve 41, a second solenoid valve 42, a third solenoid valve 43, and a fourth solenoid valve 44;

the dry powder air pipe 301 and the first electromagnetic valve 41;

the inert gas pipe 302 is respectively connected with the second electromagnetic valve 42 and the fourth electromagnetic valve 44 through the flow dividing valve 45, and the output end of the fourth electromagnetic valve 44 is connected with the rear gas pipe 9;

the output end of the second electromagnetic valve 42 and the output end of the first electromagnetic valve 41 are both connected with a collecting pipe 46, the collecting pipe 46 is connected to the third electromagnetic valve 43, and the output end of the third electromagnetic valve 43 is connected with the fire extinguishing gas pipe 6.

Specifically, in this embodiment, the dry powder in the dry powder gas cylinder 31 is communicated to the first electromagnetic valve 41 through the dry powder gas pipe 301, the inert gas cylinder 32 is communicated to the second electromagnetic valve 42 and the fourth electromagnetic valve 44 through the flow dividing valve 45 on the inert gas pipe 302, the first electromagnetic valve 41 and the second electromagnetic valve 42 are opened, the dry powder passes through the first electromagnetic valve 41, the inert gas passes through the second electromagnetic valve 42, the dry powder and the inert gas simultaneously enter the collecting pipe 46 to be mixed and then communicated to the third electromagnetic valve 43, when the fire extinguishing and fire extinguishing agent spraying needs to be started, the third electromagnetic valve 43 is opened, the mixed fire extinguishing agent is output to the fire extinguishing gas pipe 6 and sprayed out from the fire extinguishing nozzle along the fire extinguishing mechanical arm 5, meanwhile, the inert gas is communicated to the fourth electromagnetic valve 44 through the flow dividing valve 45, when the fire extinguishing needs to be started, the fourth electromagnetic valve 44 is simultaneously opened, the inert gas is output to the post gas pipe 9, the inert gas is sprayed out from the gas spraying port 91 of the rear gas pipe 9, so that the recoil generated when the fire extinguishing agent is sprayed out is counteracted; the first electromagnetic valve 41 and the second electromagnetic valve 42 respectively control the opening and closing of the dry powder gas cylinder 31 and the inert gas cylinder 32, the third electromagnetic valve 43 controls the opening and closing of the fire extinguishing agent sprayed to the fire extinguishing gas pipe 6, and the fourth electromagnetic valve 44 controls the opening and closing of the rear gas pipe 9 sprayed with the inert gas, so that effective differential control is performed on the dry powder and the inert gas, and the safe and stable fire extinguishing operation is guaranteed.

Further, the moving mechanism 1 includes at least two moving wheels 11, and a hub motor is provided in the moving wheels 11 for driving. Specifically, adopt two removal wheels 11 in one side in an embodiment, four removal wheels 11 in total in both sides, and four removal wheels 11 correspond respectively and set up an in-wheel motor and drive, or can set up an in-wheel motor respectively through both sides, drive all removal wheels 11 with one side, drive through in-wheel motor and can omit a large amount of drive disk assembly, make the robot structure of putting out a fire of this embodiment simpler compacter, it is littleer to occupy space, install more simple and convenient in the limited tunnel in space, and practice thrift the space in the tunnel.

Further, the fire extinguishing mechanical arm 5 adopts a four-axis mechanical arm, and four rotating shafts of the four-axis mechanical arm are all provided with rotating self-locking. Specifically, in the embodiment, the fire mechanical arm adopts a four-axis mechanical arm, so that the rotation of four degrees of freedom can be realized, and the fire extinguishing nozzle can be oriented to any angle, so that the fire can be extinguished when the fire appears in all directions, the fire extinguishing effect is ensured, and the fire extinguishing performance of the fire extinguishing robot is improved; in addition, to the recoil that produces when spouting fire extinguishing agent, the four-axis robot of this embodiment has all set up the auto-lock at four axis of rotation, after having confirmed the angle of spouting fire extinguishing agent, locks four axles of four-axis robot, effectively avoids spouting the reaction force that fire extinguishing agent leads to, guarantees the invariant of angle of putting out a fire simultaneously, improves the effect of putting out a fire.

Further, the fire-extinguishing robot arm 5 is provided with a plurality of temperature sensors 51 for detecting the ambient temperature. Specifically, in this embodiment, be provided with a plurality of temperature sensor 51 on the arm 5 of putting out a fire, distribute around the arm 5 of putting out a fire, prevent that the condition of a fire from stretching to the fire-fighting robot, lead to the robot trouble, the threshold value of the temperature of setting for in host system 7, temperature sensor 51 sends the temperature that detects to host system 7, the threshold value that has set for has been surpassed to the temperature, host system 7 will control the fire-fighting robot and keep away from the fire source, the fire-fighting robot can keep certain safe distance to put out the condition of a fire, send the suggestion electric power personnel of external equipment alarm through the wiFi simultaneously.

Other configurations and operations of a hanging-down type fire extinguishing robot for a pipe-jacking tunnel according to an embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.