Highway-railway dual-purpose fire-fighting robot

Abstract

The highway-railway dual-purpose fire-fighting robot comprises a vehicle frame system, a fire-fighting equipment integration system, a walking system and an electrical control system, and the fire-fighting equipment integration system is arranged at the top of the vehicle frame system; the walking system comprises crawler belt mechanisms, track wheel mechanisms and jacking mechanisms, the crawler belt mechanisms are arranged on the two sides of the bottom of the frame system, the two jacking mechanisms are arranged in the advancing direction and the retreating direction of the frame system respectively, and the two track wheel mechanisms are connected with the executing ends of the two jacking mechanisms respectively; the electrical control system is electrically connected with the fire fighting equipment integration system, the crawler belt mechanism, the track wheel mechanism and the jacking mechanism. Through the rail wheel mechanism and the jacking mechanism, the robot can independently walk in the railway environment, and autonomous switching and efficient operation in the highway environment and the railway environment can be achieved.

Description

Technical Field

[0001] This invention relates to the field of special firefighting robot technology, specifically to a firefighting robot that can be used for both road and rail transport. Background Technology

[0002] With the rapid development of the national economy and robotics technology, firefighting robots are increasingly replacing firefighters in entering fire scenes to fight fires, significantly improving the fire brigade's ability to extinguish major and severe fires and playing an important role in reducing national property losses and casualties among firefighters.

[0003] Most existing firefighting robots are designed for firefighting in highway environments, and their walking mechanisms are mostly tracked. However, fires often occur in railway environments or mixed road-rail scenarios, such as railway tunnels, bridges, and platforms. Existing firefighting robots cannot autonomously enter the core area of ​​a railway accident due to the lack of a dedicated track walking mechanism. In such cases, the current practice is to manually add external transport equipment, such as a rail flatbed cart, to the bottom of the firefighting robot's tracked walking mechanism to adapt to the railway environment. However, this method is time-consuming (generally more than 15 minutes to install), and requires recalibration of parameters after installation, which is very detrimental to fire rescue and will delay the rescue opportunity. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and propose a dual-purpose firefighting robot for both road and rail use, so as to solve the technical problem that the switching time of existing firefighting robots in dual-purpose road and rail scenarios is too long and thus delays the rescue opportunity.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: Chassis system; A fire-fighting equipment integration system, wherein the fire-fighting equipment integration system is installed on top of the vehicle frame system; The walking system includes a track mechanism, a rail wheel mechanism, and a lifting mechanism. The track mechanism is located on both sides of the bottom of the frame system. The two lifting mechanisms are respectively located in the forward and backward directions of the frame system. The two rail wheel mechanisms are respectively connected to the execution ends of the two lifting mechanisms. An electrical control system is electrically connected to the fire-fighting equipment integration system, the track mechanism, the track wheel mechanism, and the lifting mechanism, respectively.

[0006] In some embodiments, the track wheel mechanism includes two hub motor track wheels and a crossbeam. The crossbeam is fixed to the execution end at the bottom of the lifting mechanism. The two hub motor track wheels are rotatably connected to both ends of the crossbeam. The track wheel mechanism can fall to contact the ground under the action of the lifting mechanism to enable the robot to walk by means of the track wheel mechanism, and rise to separate from the ground to enable the robot to walk by means of the track mechanism.

[0007] In some embodiments, the lifting mechanism includes a first driving member, a screw assembly, a guide assembly, and a connecting beam. The connecting beam is fixed to the frame system. One end of each of the two guide assemblies is fixed to one end of the connecting beam, and the other end is fixedly connected to the crossbeam. The telescopic end of the screw assembly is fixed to the crossbeam located between the two guide assemblies. The fixed end of the screw assembly is connected to the first driving member. Under the action of the first driving member, the screw assembly drives the track wheel mechanism to move up and down.

[0008] In some embodiments, the screw assembly includes a first fixing plate, a sleeve, and a lifting rod. One end of the lifting rod is connected to the first driving member, and the other end is fixed to the first fixing plate. The other end of the first fixing plate is fixed to the crossbeam. The sleeve has an internal thread that matches the external thread of the lifting rod. The sleeve and the lifting rod are connected by matching internal and external threads.

[0009] In some embodiments, the guide assembly includes a second fixing plate, a vertical rod, and a slider. The two second fixing plates are respectively fixed to both ends of the crossbeam, one end of each of the two sliders is respectively fixed to the two second fixing plates, and a groove is formed inside each of the two vertical rods. The other ends of the two sliders are respectively slidably disposed in the two grooves.

[0010] In some embodiments, the chassis system includes a chassis assembly and a suspension assembly. The chassis assembly includes a second drive component and a main frame. The main frame is welded from alloy steel, and the second drive component is mounted on the main frame. The suspension assembly is mounted on top of the chassis assembly to provide shock absorption for the robot.

[0011] In some embodiments, the length of the main frame is less than or equal to 2800 mm, the width of the main frame is less than or equal to 1700 mm, and the height of the main frame is less than or equal to 1400 mm.

[0012] In some embodiments, the track mechanism includes a drive wheel, a support wheel, a transmission member, and a track. The drive wheel is connected to the second drive member, and the plurality of support wheels are connected to the drive wheel through the transmission member. The track is sleeved on the outside of the plurality of support wheels.

[0013] In some embodiments, the fire-fighting equipment integration system includes a water cannon assembly and a dry powder fire extinguishing assembly, which are respectively mounted on the vehicle frame system. The water cannon assembly is used to provide water for fire extinguishing for the robot, and the dry powder fire extinguishing assembly is used to provide dry powder for fire extinguishing for the robot.

[0014] In some embodiments, the electrical control system includes a control mechanism, a sensor mechanism, and an actuator. The control mechanism is signal-connected to both the sensor mechanism and the actuator, and the control mechanism performs command control on the actuator based on data collected by the sensor mechanism.

[0015] Compared with the prior art, the beneficial effects of the present invention mainly include: This invention provides a dual-purpose firefighting robot for both road and rail transport. By adding a track wheel mechanism and a lifting mechanism to its walking system, and coordinating the lifting mechanism with an electrical control system, the robot can choose to be driven by either a tracked mechanism or the track wheel mechanism, depending on the actual operating environment. When the track wheel mechanism is needed, it can be lifted out to contact the ground by the lifting mechanism, allowing the robot to move along the railway. This achieves the goal of enabling the firefighting robot to extinguish fires in both road and rail environments. This switching time is less than 5 minutes, significantly reducing the operation time previously required for manual switching, which is beneficial for firefighting, buys valuable time for fire rescue, and helps minimize losses. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the dual-purpose road-rail firefighting robot described in this invention; Figure 2 This is another overall structural schematic diagram of the dual-purpose road-rail firefighting robot described in this invention; Figure 3 This is a schematic diagram of the frame system described in this invention; Figure 4 This is another structural schematic diagram of the frame system described in this invention; Figure 5 This is a schematic diagram of the lifting structure and track wheel mechanism described in this invention; Figure 6 This is another structural schematic diagram of the lifting mechanism and track wheel structure described in this invention.

[0017] Explanation of reference numerals in the attached figures: 100. Chassis system; 110. Second drive unit; 120. Main frame; 200. Firefighting equipment integration system; 210. Water cannon assembly; 211. Cannon body structure; 212. Spray nozzle; 213. Third drive unit; 220. Dry powder fire extinguishing assembly; 221. Storage tank; 222. Spray pipe; 223. Fourth drive unit. 300. Walking system; 310. Track mechanism; 311. Drive wheel; 312. Track roller; 313. Transmission component; 314. Track; 320. Rail wheel mechanism; 321. Hub motor rail wheel; 322. Crossbeam; 330. Lifting mechanism; 331. First drive component; 332. Screw assembly; 3321. First fixing plate; 3322. Sleeve; 3323. Lifting rod; 333. Guide assembly; 3331. Second fixing plate; 3332. Upright; 3333. Slider; 334. Connecting beam. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] like Figures 1-2 As shown, this invention provides a dual-purpose (road and rail) firefighting robot, including a frame system 100, a firefighting equipment integration system 200, a walking system 300, and an electrical control system. The frame system 100 is the main body of the firefighting robot, and the firefighting equipment integration system 200 is disposed on top of the frame system 100. The walking system 300 includes a track mechanism 310, a track wheel mechanism 320, and a lifting mechanism 330. The track mechanism 310 is disposed on both sides of the bottom of the frame system 100, and the two lifting mechanisms 330 are respectively disposed in the forward and backward directions of the frame system 100. The two track wheel mechanisms 320 are respectively connected to the execution ends of the two lifting mechanisms 330. The electrical control system is electrically connected to the firefighting equipment integration system 200, the track mechanism 310, the track wheel mechanism 320, and the lifting mechanism 330.

[0020] Thus, the dual-purpose road-rail firefighting robot provided by this invention can not only extinguish fires in road environments by moving the robot via the track mechanism 310, but also in railway environments by moving the robot via the rail wheel mechanism 320. Furthermore, this invention, through the coordinated control of the electrical control system, can control the lifting mechanism 330 to move up and down, thereby causing the rail wheel mechanism 320 to descend to contact the ground or rise to leave the ground, enabling rapid switching between road and railway environments. Compared with the existing manual switching method, the design structure of this invention greatly shortens the switching time, which can be basically controlled within 5 minutes, thus gaining rescue time for fire rescue and helping to reduce losses.

[0021] The following provides a detailed description of the structure of each component of the dual-purpose road-rail firefighting robot provided by this invention.

[0022] In one embodiment, such as Figure 3 and Figure 4 As shown, the chassis system 100 includes a chassis assembly and a suspension assembly. The chassis assembly includes a second drive unit 110 and a main frame 120. The main frame 120 is welded from a combination of Q345B high-strength alloy steel and 6061-T6 aluminum alloy. Its bottom double-layer crossbeam design enhances torsional resistance. The connecting parts of the key parts of the main frame 120 all use ISO40 flanges and 8.8 grade high-strength bolts. Its welding process follows the V-groove standard and implements non-destructive testing to ensure structural strength and durability.

[0023] In one embodiment, the second drive component 110 is mounted on the main frame 120; the length of the main frame 120 is less than or equal to 2800mm, the width of the main frame 120 is less than or equal to 1700mm, and the height of the main frame 120 is less than or equal to 1400mm, which can smoothly pass through the railway tunnel inspection port (width ≤ 3000mm), solving the defects of existing equipment being bulky and having poor passage in narrow passages.

[0024] In one embodiment, the chassis system 100 may also be equipped with other supporting facilities for the firefighting robot, such as a battery system, a control mechanism, and a cooling system. The battery system is preferably a 72V lithium iron phosphate battery pack arranged in layers in the middle of the chassis system 100, with a reserved heat dissipation channel and a common circuit with the liquid cooling system. The second drive unit 110 is a dual-mode motor and is installed near the drive wheel. The control mechanism is integrated into the rear of the chassis system 100 and achieves coordinated control of the water cannon and sensors through a CAN bus. The cooling system may include a radiator, which works with a flow sensor to ensure coordinated temperature control of the battery and motor. All components are integrated into the chassis through modular design, taking into account the center of gravity balance, maintenance convenience, and electromagnetic compatibility.

[0025] In one embodiment, the suspension assembly is mounted on top of the chassis assembly to provide shock absorption for the robot.

[0026] In one embodiment, the suspension assembly is prior art and may include, for example, a torsion bar spring, a shock absorber, and a balance elbow. The torsion bar spring is a 60Si2Mn spring steel torsion bar (30mm in diameter, 800mm in length), with a pre-torsion angle of 15°, absorbing impact energy ≥5kJ, and a fatigue life ≥10kJ. 5 The cycle continues; the shock absorber is a bidirectional hydraulic shock absorber (stroke 100mm, damping force adjustable range 500-1500N), which is arranged in parallel with the torsion bar spring, with a damping coefficient ratio of 1:2; the balance elbow is a cast steel balance elbow (length 300mm), which is connected to the frame through a joint bearing, with a rotation angle range of ±20°, and the lubrication method is dry lubrication (graphite coating).

[0027] In one embodiment, the fire-fighting equipment integration system 200 includes a water cannon assembly 210 and a dry powder fire extinguishing assembly 220, which are respectively mounted on the vehicle frame system 100. The water cannon assembly 210 is used to provide water for fire extinguishing for the robot, and the dry powder fire extinguishing assembly 220 is used to provide dry powder for fire extinguishing for the robot.

[0028] In one embodiment, the water cannon assembly 210 includes a cannon body structure 211, a nozzle 212, and a third drive component 213. The cannon body structure 211 is a three-dimensional adjustable water cannon (model: PSY-25), made of aluminum alloy casting (ZL104), with anodized surface treatment (thickness ≥20μm). The cannon body structure 211 is connected to the base via a ball joint, achieving horizontal rotation of ±180° and elevation angle of -20° to +60°. The nozzle 212 is made of silicon carbide material (hardness HRA90). The nozzle has an inner diameter of 12mm, a flow range of 10-25L / s, and an effective range of ≥35m (water column form) or ≥20m (mist form). The nozzle 212 is connected by a thread, and the replacement time is ≤30 seconds. The third drive component 213 can rotate horizontally and is driven by a worm gear reducer (transmission ratio 1:100) by a 24V DC brushless motor (power 150W). The pitch adjustment is driven by a lead screw and nut mechanism (stroke 100mm) by a motor of the same model. The motor has a built-in encoder (accuracy ±0.1°) and supports closed-loop control.

[0029] In one embodiment, the dry powder fire extinguishing assembly 220 includes a storage tank 221, a nozzle 222, and a fourth driving component 223. The storage tank 221 is a cylindrical tank (made of 304 stainless steel, 3mm thick), with a diameter of 400mm, a height of 800mm, and a volume of 50L. The top of the tank is equipped with a pressure gauge (range 0-3MPa), a safety valve (opening pressure 2.5MPa), and a filling port (G1 / 2 interface). The nozzle of the nozzle 222 adopts a Venturi design, with a dry powder outlet velocity ≥20m / s and a coverage radius ≥8m. The nozzle is connected to the storage tank 221 by a clamp and has a built-in filter (1mm aperture) to prevent impurities from clogging it. The fourth driving component 223 is connected to the electrical control system signal.

[0030] In the above technical solution, the water cannon base is connected to the top of the vehicle frame system 100 by four M16 bolts with a preload torque of 200 N·m. The bottom of the water cannon base is equipped with a rubber shock-absorbing pad (10 mm thick, Shore A hardness 70A) to absorb the vibration of the cannon body. The storage tank 221 is connected to the rear of the vehicle frame system 100 by a clamp-type fixing device (30 mm wide, 304 stainless steel material) with a clamp preload of 500 N and an internal rubber buffer pad (5 mm thick).

[0031] In the above technical solution, the water cannon assembly 210 and the dry powder fire extinguishing assembly 220 also include grounding measures. Metal components such as the cannon body structure 211 and the storage tank 221 are connected to the chassis system 100 through copper braided strips (cross-sectional area 10mm²), with a grounding resistance ≤0.1Ω. Equipotential bonding points are set every 5m in the pipeline system to ensure that all metal components have the same potential. Its protective measures include an IP67 sealing rating at the cannon body structure 211, the storage tank 221 and the pipeline interface, which is suitable for rain (GB / T 4208-2017) or short-term immersion (depth 300mm, lasting 30 minutes). The electrical compartment (including controller and sensor) is IP67 protected, and the joints are coated with silicone sealant.

[0032] In one embodiment, the fire-fighting equipment integration system 200 further includes a piping assembly comprising water pipes and dry powder pipes. The main water pipe is made of 304 stainless steel seamless pipe (outer diameter 25mm, wall thickness 2mm), and the branch pipes are made of high-pressure rubber hoses (pressure resistance ≥3MPa). The pipes are connected via clamp-type quick couplings (DIN2353 standard), with a disassembly time ≤30 seconds. The main dry powder pipe is made of carbon steel galvanized pipe (outer diameter 20mm, wall thickness 1.5mm), and the branch pipes are made of PTFE hoses (temperature resistance -40℃~150℃). The pipe fixing spacing is ≤500mm, and the pipes are connected to the chassis system 100 via stainless steel cable ties.

[0033] In addition, the fire-fighting equipment integrated system 200 is also equipped with various sensors. Specifically, an infrared thermal imager (resolution 640×480, temperature range -20℃~500℃) is integrated on the top of the robot, and a lidar (scanning radius 50m, accuracy ±2cm) is installed at the front for fire source location. An angle sensor (accuracy ±0.1°) is installed on the water cannon base, a pressure sensor (range 0-3MPa) is installed on the storage tank 221, and a flow sensor (range 0-30L / s) is installed on the pipeline. All sensors communicate with the electrical control system via a CAN bus.

[0034] The core of this invention lies in the fact that the walking system 300 is equipped with both a track mechanism 310 and a rail wheel mechanism 320 to enable switching between road and railway use environments.

[0035] In one embodiment, the track mechanism 310 includes a drive wheel 311, a support roller 312, a transmission member 313, and a track 314. The drive wheel 311 is connected to the second drive member 110, and the plurality of support rollers 312 are connected to the drive wheel 311 through the transmission member 313. The track 314 is sleeved on the outside of the plurality of support rollers 312.

[0036] In the above technical solution, the track 314 is a rubber track with a coreless metal structure (pitch 50mm, width 200mm), with a pre-embedded steel wire rope skeleton (diameter 2mm, spacing 10mm) on the inner side and a herringbone pattern (depth 8mm) on the outer side. The track plates are combined with the transmission components through a high-temperature vulcanization process, with a tensile strength ≥14MPa and an elongation at break ≥300%. The drive wheel 311 is a cast steel drive wheel (24 teeth, module 5), with a pitch that is coprime to the track pitch, a meshing accuracy of ±0.2mm, and a galvanized surface treatment (thickness 80μm) to ensure corrosion resistance in accordance with ISO 9227 standards. The support roller 312 is a double-row tapered roller bearing support roller (diameter 150mm), made of GCr15, with a chrome-plated surface treatment (thickness 50μm). The wheel body is made of low-friction coefficient nylon material (dynamic friction coefficient 0.15) to reduce wear on the inner surface of the track.

[0037] In one embodiment, such as Figure 5 and Figure 6 As shown, the track wheel mechanism 320 includes two hub motor track wheels 321 and a crossbeam 322. The crossbeam 322 is fixed to the execution end at the bottom of the lifting mechanism 330. The two hub motor track wheels 321 are rotatably connected to the two ends of the crossbeam 322. The track wheel mechanism 320 can fall to contact the ground under the action of the lifting mechanism 330 to enable the robot to walk by the track wheel mechanism 320, and rise to separate from the ground to enable the robot to walk by the track mechanism 310.

[0038] In one embodiment, the hub motor in the hub motor track wheel 321 is a 10-inch DC brushless hub motor with the following parameters:

[0039] In one embodiment, the lifting mechanism 330 includes a first driving member 331, a screw assembly 332, a guide assembly 333, and a connecting beam 334. The connecting beam 334 is fixed to the frame system 100. One end of each of the two guide assemblies 333 is fixed to one end of the connecting beam 334, and the other end is fixedly connected to the crossbeam 322. The telescopic end of the screw assembly 332 is fixed to the crossbeam 322 located between the two guide assemblies 333. The fixed end of the screw assembly 332 is connected to the first driving member 331. Under the action of the first driving member 331, the screw assembly 332 drives the track wheel mechanism 320 to move up and down.

[0040] In one embodiment, the selection parameters for the first drive unit 331 are as follows:

[0041] In one embodiment, the screw assembly 332 includes a first fixing plate 3321, a sleeve 3322, and a lifting rod 3323. One end of the lifting rod 3323 is connected to the first driving member 331, and the other end is fixed to the first fixing plate 3321. The other end of the first fixing plate 3321 is fixed to the crossbeam 322. The sleeve 3322 has an internal thread that matches the external thread of the lifting rod 3323. The sleeve 3322 and the lifting rod 3323 are connected by matching internal and external threads.

[0042] In one embodiment, the guide assembly 333 includes a second fixing plate 3331, a vertical rod 3332, and a slider 3333. The two second fixing plates 3331 are respectively fixed to both ends of the crossbeam 322, and one end of each slider 3333 is fixed to the two second fixing plates 3331. Each vertical rod 3332 has a groove inside, and the other end of each slider 3333 is slidably disposed in the two grooves.

[0043] In the above technical solution, when the first driving component 331 is activated, the lifting rod 3323 is driven to rotate in the sleeve 3322 to realize the lifting of the lifting rod 3323, which in turn drives the crossbeam 322 to move up and down. At the same time, the two sliders 3333 slide in the grooves formed inside the two uprights 3332 to ensure that the track wheel mechanism 320 moves vertically without deviating.

[0044] In one embodiment, the electrical control system includes a control mechanism, a sensor mechanism, and an actuator. The control mechanism is signal-connected to both the sensor mechanism and the actuator, and the control mechanism performs command control on the actuator based on data collected by the sensor mechanism.

[0045] In one embodiment, the electrical control system uses a low-voltage wiring harness, which is a high-temperature resistant silicone wire (rated voltage 72V, temperature resistance 150℃), with a sheath material of glass fiber reinforced nylon, a fixing point spacing of ≤200mm, and shock resistance performance conforming to QC / T 413-2002 standard; the control wiring harness is a tinned copper core wire (rated voltage 24V), with a sheath material of PVC, protected by a corrugated pipe, and arranged in layers with the low-voltage wiring harness (spacing ≥50mm); the grounding system adopts the method of directly connecting the frame system 100 to the negative terminal of the battery pack, with a grounding resistance ≤0.1Ω, and all metal parts are connected by an equipotential bonding strip, conforming to GB50054-2011 standard.

[0046] In one embodiment, the control mechanism uses an ARM Cortex-M7 core chip (200MHz), integrates CAN / RS485 / Ethernet interfaces, has a control cycle of 1ms, and supports fault self-diagnosis (code coverage ≥95%). The temperature sensor has a range of -40℃ to 120℃, the pressure sensor has a range of 0 to 3MPa, the angle sensor has an accuracy of ±0.1°, and the data refresh rate is 100Hz.

[0047] In summary, the dual-purpose (road and rail) firefighting robot provided by this invention has the following beneficial effects: 1. This invention has the ability to autonomously travel along railway tracks and correct the path in real time (deviation ≤ 5mm / m), and can independently enter the core area of ​​railway accidents to carry out firefighting operations; at the same time, this invention adopts a lifting mechanism 330 combined with a control mechanism integrated algorithm to realize the rapid replacement of the track mechanism 310 and the track wheel mechanism 320 and the automatic call of parameters, realize one-click automatic switching (time ≤ 5 minutes), and automatically complete parameter calibration without manual intervention; 2. The overall size of the present invention is optimized to a maximum of 2800mm (length) × 1700mm (width) × 1400mm (height), with a width ≤ 2000mm, which can pass smoothly through the inspection port of railway tunnel (width ≤ 3000mm). 3. This invention adopts a modular layout, which independently integrates fire-fighting equipment, battery packs and control systems, and enables rapid assembly and disassembly through standardized interfaces.

[0048] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A dual-purpose (road and rail) firefighting robot, characterized in that, include: Chassis system; A fire-fighting equipment integration system, wherein the fire-fighting equipment integration system is installed on top of the vehicle frame system; The walking system includes a track mechanism, a rail wheel mechanism, and a lifting mechanism. The track mechanism is located on both sides of the bottom of the frame system. The two lifting mechanisms are respectively located in the forward and backward directions of the frame system. The two rail wheel mechanisms are respectively connected to the execution ends of the two lifting mechanisms. An electrical control system is electrically connected to the fire-fighting equipment integration system, the track mechanism, the track wheel mechanism, and the lifting mechanism.

2. The dual-purpose (road and rail) firefighting robot according to claim 1, characterized in that, The track wheel mechanism includes two hub motor track wheels and a crossbeam. The crossbeam is fixed to the execution end at the bottom of the lifting mechanism. The two hub motor track wheels are rotatably connected to both ends of the crossbeam. The track wheel mechanism can fall to contact the ground under the action of the lifting mechanism to enable the robot to walk by the track wheel mechanism, and rise to separate from the ground to enable the robot to walk by the track mechanism.

3. The dual-purpose road-rail firefighting robot according to claim 2, characterized in that, The lifting mechanism includes a first driving component, a screw assembly, a guide assembly, and a connecting beam. The connecting beam is fixed to the frame system. One end of each of the two guide assemblies is fixed to one end of the connecting beam, and the other end is fixedly connected to the crossbeam. The telescopic end of the screw assembly is fixed to the crossbeam located between the two guide assemblies. The fixed end of the screw assembly is connected to the first driving component. Under the action of the first driving component, the screw assembly drives the track wheel mechanism to move up and down.

4. The dual-purpose road-rail firefighting robot according to claim 3, characterized in that, The screw assembly includes a first fixing plate, a sleeve, and a lifting rod. One end of the lifting rod is connected to the first driving member, and the other end is fixed to the first fixing plate. The other end of the first fixing plate is fixed to the crossbeam. The sleeve has an internal thread that matches the external thread of the lifting rod. The sleeve and the lifting rod are connected by matching internal and external threads.

5. The dual-purpose road-rail firefighting robot according to claim 3, characterized in that, The guide assembly includes a second fixing plate, uprights, and sliders. The two second fixing plates are respectively fixed to both ends of the crossbeam, and one end of each of the two sliders is fixed to the two second fixing plates. Each of the two uprights has a groove inside, and the other end of each of the two sliders is slidably disposed in the two grooves.

6. The dual-purpose (road and rail) firefighting robot according to claim 1, characterized in that, The chassis system includes a chassis assembly and a suspension assembly. The chassis assembly includes a second drive component and a main frame. The main frame is welded from alloy steel, and the second drive component is mounted on the main frame. The suspension assembly is mounted on top of the chassis assembly to provide shock absorption for the robot.

7. The dual-purpose road-rail firefighting robot according to claim 6, characterized in that, The length of the main frame is less than or equal to 2800mm, the width of the main frame is less than or equal to 1700mm, and the height of the main frame is less than or equal to 1400mm.

8. The dual-purpose road-rail firefighting robot according to claim 6, characterized in that, The track mechanism includes a drive wheel, a support wheel, a transmission component, and a track. The drive wheel is connected to the second drive component, and the multiple support wheels are connected to the drive wheel through the transmission component. The track is sleeved on the outside of the multiple support wheels.

9. The dual-purpose (road and rail) firefighting robot according to claim 1, characterized in that, The fire-fighting equipment integration system includes a water cannon assembly and a dry powder fire extinguishing assembly, which are respectively mounted on the vehicle frame system. The water cannon assembly is used to provide water for fire extinguishing for the robot, and the dry powder fire extinguishing assembly is used to provide dry powder for fire extinguishing for the robot.

10. The dual-purpose (road and rail) firefighting robot according to claim 1, characterized in that, The electrical control system includes a control mechanism, a sensor mechanism, and an actuator. The control mechanism is signal-connected to both the sensor mechanism and the actuator, and performs command control on the actuator based on the data collected by the sensor mechanism.

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