A forest fire-fighting robot

Abstract

The present invention discloses a forest firefighting robot comprising a crawler chassis, a soil screening device mounted on two crawler chassis support frames, a combustible material separation device, a crushed soil transmission device, a high-speed ejection device, and a carrying box. The soil screening device scoops up crushed soil and transports it backward. The combustible material separation device includes a blade whose inlet is connected to the soil screening device and a rotating separation mechanism connected to the blade. Debris is blocked above the rotating separation mechanism, and crushed soil passes through the rotating separation mechanism. The crushed soil transmission device includes a primary conveyor belt located below the soil discharge port of the blade, a secondary conveyor belt connected to the outlet of the primary conveyor belt via a multi-rod extension mechanism, and the secondary conveyor belt is located above the primary conveyor belt. The high-speed ejection device includes an outer cover whose feed port is connected to the secondary conveyor belt, a rotating body disposed within the outer cover, a discharge port provided on the sidewall of the outer cover, and a high-speed motor connected to the outer cover. The robot is suitable for various complex working conditions and has high safety and firefighting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of forest fire equipment, in particular to a forest fire extinguishing robot. Background Art

[0002] A forest fire is a fire that spreads and expands freely within forest land without human control, causing harm and loss to forests, forest ecosystems, and humans. Forest fires are sudden, destructive, and difficult to manage and respond to. The most immediate harm caused by a forest fire is the death or injury of trees. This fire reduces forest stock and severely impacts forest growth. Forests are renewable resources with long growth cycles, and recovery after fires takes a long time. Especially after high-intensity, large-scale forest fires, forests struggle to recover and are often replaced by low-value forests or shrubs. Repeated fires can lead to wasteland or even bare land.

[0003] Today, with increasingly hot and dry climates and rising forest temperatures, coupled with some human-caused factors, forest fires are becoming more frequent, with both the area and frequency of fires continuing to grow. Forest fires pollute the air, damage forest ecosystems, burn nearby facilities and buildings, and endanger the lives of nearby residents. Some forest fires, due to the complex and steep terrain that makes extinguishing them difficult, can burn continuously for days, causing widespread destruction and severely impacting the local ecological environment.

[0004] To protect the natural environment and prevent vegetation loss, forest fire extinguishing measures are crucial. Because forest fires are typically large, firefighters entering the forest to extinguish them are vulnerable to falling trees and inhaling large amounts of harmful fumes, leading to gas poisoning. Therefore, the various uncertainties associated with forest fires pose a significant threat to the safety of firefighters themselves.

[0005] Please refer to Figure 1 and Figure 2 , Figure 1 A schematic diagram of a typical forest fire prevention and extinguishing combustible material clearing robot in the prior art; Figure 2 for Figure 1Another view of the figure. The existing forest fire prevention and extinguishing combustible material cleaning robot includes a robot body 1, in which a water storage tank 4, a material storage tank 6 and a lifting tank are provided. The top of the robot body is fixedly connected to a water sprinkler 7, the bottom of the inner wall of the water storage tank 4 is fixedly connected to a water pump 2, the top of the water pump 2 is fixedly connected to a water pipe 3, the top of the water pipe 3 passes through the water storage tank 4 and is fixedly connected to the water sprinkler 7, and one side of the robot body is fixedly connected to a connector 5. The forest fire prevention and extinguishing combustible material cleaning robot absorbs combustible materials such as leaves, branches and plastics on the ground through a high-power absorber, and transports them to the storage tank through a material pipe to clean the combustible materials, thereby preventing the combustible materials from burning and causing fires.

[0006] However, existing forest fire prevention and extinguishing combustible material cleaning robots require human operation. When a forest fire occurs, the ambient temperature is very high and the air contains a large amount of harmful gases, which have a great impact on the human body and may cause casualties. The combustibles are transported to the storage tank through a feed pipe, and solids are transported by pipes. When encountering large volumes of combustibles, they are prone to blockage and malfunction, making it impossible to perform normal operations. The roller-driven mode is adopted, and in complex hilly and mountainous terrain conditions, the rollers cannot travel normally, and are prone to tilting or even overturning, and cannot effectively clean up combustibles, and has a small scope of application. Installing a high-power absorber can only clean up combustibles floating on the ground, but there are more grass, shrubs, etc. in the forest that cannot be handled. The robot carries a water tank for fire extinguishing and prevention work, but has a short battery life and cannot work for a long time. It needs to constantly add water to the water tank, which wastes manpower and material resources and has a low fire extinguishing efficiency.

[0007] In summary, how to effectively solve the problem of the bulkiness and low fire extinguishing efficiency of traditional forest fire extinguishing devices is an urgent problem that technicians in this field need to solve. Summary of the Invention

[0008] The purpose of the present invention is to provide a forest fire extinguishing robot, which can be applied to various complex working conditions, has high safety and high fire extinguishing efficiency.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A forest fire fighting robot comprises a crawler chassis, a soil rolling and screening device mounted on two sides of the crawler chassis support frame, a combustible material separation device, a soil crushing transmission device, a high-speed ejection device and a carrying box.

[0011] The soil screening device scoops up the crushed soil and transports it backwards;

[0012] The combustible separation device includes a blade whose inlet is connected to the soil screening device, and a rotating separation mechanism connected to the blade, wherein debris is blocked on the rotating separation mechanism and the crushed soil passes through the rotating separation mechanism;

[0013] The crushed soil transmission device includes a primary conveyor belt located below the soil outlet of the shovel blade, and a secondary conveyor belt connected to the outlet of the primary conveyor belt through a multi-rod lifting mechanism, wherein the secondary conveyor belt is located above the primary conveyor belt.

[0014] The high-speed ejection device includes an outer cover whose feed port is connected to the secondary conveyor belt, a rotating body arranged in the outer cover, a side wall of the outer cover is provided with a discharge port, and the outer cover is connected to a high-speed motor.

[0015] Optionally, the soil rolling and screening device includes a soil rolling support rod connected to the support frame, a cutter shaft rotatably connected to connecting plates at both ends of the soil rolling support rod, a driving device for driving the cutter shaft to rotate, a soil rolling cutter and a soil crushing and screening plate concentrically mounted on the cutter shaft, and the soil crushing and screening plate is built into the middle space of the soil rolling cutter;

[0016] It also includes a transport plate installed on the cutter shaft, the openings of two adjacent soil rolling cutters are opposite or the connection ends are opposite, and the transport plate is installed in the gap between the two soil rolling cutters.

[0017] Optionally, the soil rolling cutter includes a soil rolling blade, an assembly block and a mounting plate, the soil rolling blade is mounted on the mounting plate through the assembly block, the mounting plate is connected to the cutter shaft, and the soil rolling blade is distributed around the soil crushing screening plate;

[0018] The connecting plate is an arc-shaped plate, and the curvature of the end away from the soil rolling support rod is greater than the curvature of the end close to the soil rolling support rod.

[0019] Optionally, the combustible separation device further comprises a debris compression and storage platform installed on the upper side of the blade close to the rotating separation mechanism, and a telescopic separation mechanism provided at the opening of the debris compression and storage platform;

[0020] The rotary separation mechanism includes a rotary servo installed on the blade, a primary rotary gear connected to the output shaft of the rotary servo, a secondary rotary gear meshing with the primary rotary gear, a rotary rocker arm connected at one end to the rotating shaft of the secondary rotary gear, and a supporting combustible separation fork whose two ends are respectively connected to the rotary rocker arms on both sides, and the supporting combustible separation fork is provided with a hook fork.

[0021] Optionally, the telescopic separation mechanism includes a telescopic servo installed on the debris compression and storage platform, a rotationally controlled telescopic crank connected to the output shaft of the telescopic servo, a telescopic connecting rod with a first end connected to the rotationally controlled telescopic crank and a second end slidably connected to the debris compression and storage platform, a slider rod whose lower end moves synchronously with the second end of the telescopic connecting rod, a secondary compression gear and a primary compression gear installed on the upper end of the slider rod and meshing with each other, a compression servo with an output shaft connected to the primary compression gear, and a compression separation fork coaxially connected to the secondary compression gear.

[0022] Optionally, the crushed soil transmission device further includes a crushed soil receiving platform provided at the end of the primary conveyor belt, and a chain transmission mechanism connecting the primary conveyor belt and the secondary conveyor belt.

[0023] The primary conveyor belt and the secondary conveyor belt both have V-shaped patterns;

[0024] The chain transmission mechanism includes a chain transmission motor installed on the crushed soil collection platform, a chain transmission gear connected to the output shaft of the chain transmission motor, a primary transmission belt sprocket connected to the primary transmission belt through a reversing gear set, a secondary transmission belt sprocket and a gear connected to the secondary transmission belt, the primary transmission belt sprocket and the secondary transmission belt sprocket and the sprocket part of the gear are connected by a roller chain, and the secondary transmission belt sprocket and the gear part are meshed with the chain transmission gear;

[0025] A transverse track and a vertical track are provided at the end of the crushed soil storage platform, and the connecting shafts on both sides of the baffle are respectively connected to the transverse track and the vertical track. A telescopic drive device is fixed at the end of the crushed soil storage platform, and the telescopic shaft of the telescopic drive device is fixedly connected to the connecting shaft in the transverse track.

[0026] Optionally, the multi-rod lifting mechanism includes a base, a lifting hydraulic mechanism installed on the base, a driving rod connected to the lifting hydraulic mechanism via a slide rail, a first-level rod hinged at one end to the base and hinged at the middle to the driving rod via a first rotating shaft, a second-level rod hinged at one end to the base at the first rotating shaft, a second-level rod hinged at one end to the base, a first-level rod hinged at one end to the other ends of the first and second-level rods, a third-level rod hinged at one end to the first-level rod, and a third-level rod hinged at one end to the first and second-level rods, the other ends of the third-level rod and the third-level rod hinged to the lifting platform;

[0027] The middle of the third and second level rods is connected to the first and second level rods through a rectangular connecting pin.

[0028] Optionally, the outer cover has a plurality of discharge ports, and each discharge port is provided with a corresponding automatic door opening and closing mechanism;

[0029] The feed inlet of the outer cover is a funnel-type feed inlet;

[0030] The automatic door opening mechanism includes a door opening and closing control servo, a control gear connected to the output shaft of the door opening and closing control servo, and an arc toothed door whose rack is meshed with the control gear;

[0031] The discharge port includes a left discharge port, a central discharge port, and a right discharge port. The central discharge port is provided with a central left circular arc toothed door and a central right circular arc toothed door. The racks of the central left circular arc toothed door and the central right circular arc toothed door are respectively engaged with the two sides of the corresponding control gear.

[0032] Optionally, the body of the carrying box is divided into two parts, the upper and lower parts, by a fuel tank cover, the fuel tank is placed in the lower half of the space, and the carrying box is placed in the upper half of the space. The upper half of the space is separated from the outside world by the carrying box cover, and a laser radar, a binocular camera, a smoke sensor and a gas sensor are installed on the outside of the carrying box.

[0033] Optionally, the crawler chassis includes steel crawlers on both sides, a drive shaft connected to the steel crawlers on both sides, a diesel engine meshed with the main driving bevel gear on the drive shaft, two chassis support frames respectively connected to the inner sides of the steel crawlers on both sides, and an intelligent central control platform and a temperature sensor fixed to the chassis support frames;

[0034] The drive shaft includes a shaft body on which the driving main bevel gear is installed, a differential sun gear installed at both ends of the shaft body, a plurality of differential planetary gears fixed in the differential sun gear, a differential control shaft connected to the shaft body at both ends through brackets, a differential control gear installed on the differential control shaft and meshing with the differential sun gear, a pair of differential bevel gears installed on the differential control shaft, a differential motor whose gears mesh with the pair of differential bevel gears, and the differential planetary gears mesh with the gears of the side shaft body.

[0035] Optionally, the chassis support frame includes a main body support frame, a telescopic hydraulic mechanism connected to the main body support frame, a blade soil rolling and screening device connecting rod installed at the lower end of the telescopic hydraulic mechanism, and a plurality of mounting holes provided on the main body support frame;

[0036] The steel crawler includes a crawler, a traveling mechanism connected to the inner side of the crawler, a driving wheel, a drag chain wheel, a supporting wheel and a guide wheel installed on the traveling mechanism, a spring shock absorber arranged between the supporting wheel and the traveling mechanism, and a tensioning device installed between the guide wheel and the traveling mechanism.

[0037] The forest fire-fighting robot provided by the present invention includes a crawler chassis, a soil rolling and screening device installed on the crawler chassis support frames on both sides, a combustible material separation device, a crushed soil transmission device, a high-speed ejection device and a carrying box. The soil rolling and screening device scoops up the crushed soil and transports it backward; the combustible material separation device includes a shovel blade whose inlet is connected to the soil rolling and screening device, and a rotating separation mechanism connected to the shovel blade. Miscellaneous objects are blocked on the top of the rotating separation mechanism, and the crushed soil passes through the rotating separation mechanism; the crushed soil transmission device includes a primary conveyor belt located below the soil discharge port of the shovel blade, a secondary conveyor belt connected to the outlet of the primary conveyor belt through a multi-rod lifting mechanism, and the secondary conveyor belt is located above the primary conveyor belt. The high-speed ejection device includes an outer cover whose feed port is connected to the secondary conveyor belt, a rotating body arranged in the outer cover, and a discharge port is provided on the side wall of the outer cover. The outer cover is connected to the high-speed motor.

[0038] The soil rolling screening device is installed at the front end of the robot, which preliminarily screens the crushed soil and transports it to the combustible material separation device to separate the combustible material from the crushed soil. The crushed soil is then transported to the high-speed ejection device by the soil transmission device for directional ejection fire extinguishing. The crawler chassis supports and installs various devices, forming an overall shape and transmitting power to ensure the normal operation of the forest fire extinguishing intelligent robot.

[0039] Compared with existing forest fire extinguishing equipment, the forest fire extinguishing robot provided by the present invention integrates more functions, can automatically walk, turn, and crush soil and projectile directionally to extinguish fire. It has low operating risk, high endurance, can be used flexibly in complex terrains such as hilly and mountainous areas, has low cost, long service life, and high fire extinguishing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of a typical forest fire prevention and extinguishing combustible material clearing robot in the prior art;

[0042] Figure 2 This is a front view of a typical forest fire prevention and extinguishing combustible material clearing robot in the prior art;

[0043] Figure 3 A schematic diagram of the overall structure of the forest fire extinguishing intelligent robot designed for the present invention;

[0044] Figure 4 An exploded view of the forest fire extinguishing intelligent robot designed for this invention;

[0045] Figure 5 A schematic diagram of the structure of the forest fire extinguishing intelligent robot designed by the present invention when it is retracted;

[0046] Figure 6 A top view of the forest fire extinguishing intelligent robot designed for the present invention;

[0047] Figure 7 This is a schematic diagram of the structure of the soil screening device;

[0048] Figure 8 This is a schematic diagram of the assembly of the soil rolling knife connection part of the soil rolling screening device;

[0049] Figure 9 This is an exploded view of the soil screening device;

[0050] Figure 10 This is a schematic diagram of the structure of the combustible separation device;

[0051] Figure 11 This is a top view of the combustible separation device;

[0052] Figure 12 This is a side view of the driving part of the combustible separation device;

[0053] Figure 13 This is a schematic diagram of the driving structure of the combustible separation device;

[0054] Figure 14 This is a schematic diagram of the structure of the soil crushing transmission device;

[0055] Figure 15 Schematic diagram of the coordination between the primary transmission belt, the secondary transmission belt and the chain transmission mechanism;

[0056] Figure 16 This is a top view of the coordination between the primary conveyor belt, the secondary conveyor belt and the chain drive mechanism.

[0057] Figure 17 Schematic diagram of the multi-rod extension mechanism;

[0058] Figure 18 It is a top view of the multi-rod extension mechanism;

[0059] Figure 19 This is an enlarged view of the connection and matching part of the rods of the multi-rod extension and lifting mechanism;

[0060] Figure 20 This is a schematic diagram of the high-speed ejection device mechanism;

[0061] Figure 21 This is a structural diagram of the automatic door opening and closing mechanism when it is closed;

[0062] Figure 22 This is a partial enlarged view of the central left circular arc toothed door and the central right circular arc toothed door in the opened state;

[0063] Figure 23 It is a schematic diagram of the structure of the carrying box of the present invention;

[0064] Figure 24 This is a schematic diagram of the explosion of the carrier box of the present invention;

[0065] Figure 25 This is a schematic diagram of the crawler chassis structure of the present invention;

[0066] Figure 26 is a schematic diagram of the power drive portion of the crawler chassis of the present invention;

[0067] Figure 27 This is an exploded view of the drive shaft part of the crawler chassis;

[0068] Figure 28 A schematic diagram of a diesel engine according to the present invention;

[0069] Figure 29 A partially exploded schematic diagram of the chassis support frame of the present invention;

[0070] Figure 30 Schematic diagram of an explosion of the intelligent central control platform of the present invention;

[0071] Figure 31 is a schematic diagram of a steel crawler of the present invention;

[0072] Figure 32 is a control flow chart of the present invention;

[0073] Figure 33 This is a system architecture diagram of the present invention;

[0074] The following are marked in the accompanying drawings:

[0075] 1 soil rolling screening device, 11 soil rolling support frame, 12 knife shaft motor, 13 knife shaft bevel gear, 14 knife shaft, 15 soil rolling knife, 151 soil rolling blade, 152 assembly block, 153 mounting plate, 16 transport plate, 17 soil crushing screening plate, 2 combustible material separation device, 21 shovel, 22 rotating separation mechanism, 221 rotating rocker arm, 222 combustible material separation fork, 223 rotating steering gear, 224 primary rotating gear, 225 secondary rotating gear, 23 combustible material compression storage platform, 24 telescopic separation mechanism, 241 compression separation fork, 242 telescopic steering gear, 243 telescopic crank, 244 telescopic connecting rod, 245 slider rod, 246 primary compression gear, 247 secondary compression gear, 248 compression steering gear, 3 soil crushing transmission Conveying device, 31 primary conveyor belt, 32 crushed soil collection platform, 33 chain transmission mechanism, 331 primary conveyor belt sprocket, 332 roller chain, 333 secondary conveyor belt sprocket and gear, 334 chain transmission gear, 335 chain transmission motor, 336 reversing gear set, 337 telescopic drive device, 338 baffle, 34 multi-rod lifting mechanism, 341 lifting platform, 342 base, 343 lifting hydraulic mechanism, 344 driving rod, 345 first primary rod, 346 second primary rod, 347 first secondary rod, 348 second secondary rod, 349 third secondary rod, 3410 tertiary rod, 3411 rectangular connecting pin, 35 secondary conveyor belt, 4 high-speed ejection device, 41 outer cover, 42 automatic door opening and closing mechanism, 42 1 Left circular arc toothed door, 422 Central left circular arc toothed door, 423 Central right circular arc toothed door, 424 Right circular arc toothed door, 425 Switch servo, 426 Control gear, 43 High-speed rotating body, 44 High-speed motor, 45 Funnel-type feed port, 5 Carrying box, 51 Box body, 52 Carrying box cover, 53 Fuel tank cover, 54 Fuel tank, 55 LiDAR, 56 Binocular camera, 57 Smoke sensor and gas sensor, 6 Tracked chassis, 61 Steel track, 611 Drive wheel, 612 Roller, 613 Spring shock absorber, 614 Travel mechanism, 615 Guide wheel, 616 Tensioning device, 617 Drag chain wheel, 618 Track, 62 Intelligent central control platform, 621 Platform frame, 622 Battery , 623 GNSS receiver, 624 ECU, 63 diesel engine, 631 main drive gear, 632 main shaft, 633 engine regulator, 634 oil inlet, 635 oil return port, 636 air inlet, 637 engine body, 64 drive shaft, 641 differential control gear, 642 differential motor, 643 differential control shaft, 644 differential sun gear, 645 differential planetary gear, 646 drive main bevel gear, 65 chassis support frame, 651 main body support frame, 652 telescopic hydraulic mechanism, 653 blade soil rolling and screening device connecting rod, 654 main body mounting hole, 655 carrier box mounting hole, 656 soil crushing and transportation device mounting hole, 657 high-speed ejection device mounting hole, 66 temperature sensor. DETAILED DESCRIPTION

[0076] The core of the present invention is to provide a forest fire extinguishing robot, which can be applied to various complex working conditions, has high safety and high fire extinguishing efficiency.

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0078] In a specific embodiment, the forest fire fighting robot provided by the present invention includes a crawler chassis 6, a soil screening device 1 mounted on support frames on both sides of the crawler chassis 6, a combustible material separation device 2, a soil crushing transmission device 3, a high-speed ejection device 4, and a carrying box 5.

[0079] The soil screening device 1 scoops up the crushed soil and transports it backwards;

[0080] The combustible separation device 2 includes a blade 21 whose inlet is connected to the soil screening device 1 and a rotary separation mechanism 22 connected to the blade 21. Debris is blocked on the rotary separation mechanism 22, and the crushed soil passes through the rotary separation mechanism 22.

[0081] The crushed soil transmission device 3 includes a primary conveyor belt 31 located below the soil outlet of the shovel blade 21, a secondary conveyor belt 35 connected to the outlet of the primary conveyor belt 31 through a multi-rod lifting mechanism 34, and the secondary conveyor belt 35 is located above the primary conveyor belt 31.

[0082] The high-speed ejection device 4 includes an outer cover 41 whose feed port 45 is connected to the secondary conveyor belt 35 , a rotating body 43 arranged in the outer cover 41 , a discharge port is provided on the side wall of the outer cover 41 , and the outer cover 41 is connected to a high-speed motor 44 .

[0083] In the above structure, see Figure 3-Figure 6 The forest fire extinguishing intelligent robot is composed of a soil rolling and screening device 1, a combustible material separation device 2, a soil crushing transmission device 3, a high-speed ejection device 4, a carrying box 5, and a crawler chassis 6.

[0084] The inlet of the blade 21 is connected to the soil screening device 1. The rotary separation mechanism 22 is connected to the blade 21. Debris is blocked above the rotary separation mechanism 22, while the crushed soil passes through the rotary separation mechanism 22. The primary conveyor belt 31 is located below the soil discharge port of the blade 21. The secondary conveyor belt 35 is connected to the outlet of the primary conveyor belt 31 via a multi-rod lifting mechanism 34. The secondary conveyor belt 35 is located above the primary conveyor belt 31. The feed port 45 of the outer housing 41 is connected to the secondary conveyor belt 35. The rotating body 43 is located within the outer housing 41. The sidewall of the outer housing 41 is provided with a discharge port. The outer housing 41 is connected to a high-speed motor 44.

[0085] The soil screening device 1 is installed at the front end of the robot, which screens the crushed soil and transports it to the combustible separation device 2 to separate the combustibles from the crushed soil. The crushed soil is then transported by the crushed soil transmission device 3 to the high-speed ejection device 4 for directional ejection fire extinguishing. The crawler chassis 6 supports and installs each device. overall , transmit power to ensure the normal operation of the forest fire extinguishing intelligent robot Work.

[0086] In the event of a forest fire, the robot can be used for fully automated firefighting. The front end of the intelligent forest firefighting robot features a soil screening device. A soil-sweeping blade, soil-crushing screening plate, and transport plate mounted on a blade shaft rotate together to initially screen the soil before transporting it to the rear of the device. The combustible separation device, comprised of a shovel blade, a rotating separation mechanism, a combustible compression and storage platform, and a telescopic separation mechanism, further screens and separates the soil from the combustibles. The soil enters the soil-crushing transport device, where the rotating and telescopic separation mechanisms work together to collect the combustibles onto the combustible compression and storage platform. The soil-crushing transport device operates in three stages: a primary conveyor belt transports the soil to the soil-crushing storage platform, a lifting mechanism transports the accumulated soil on the soil-crushing storage platform to a secondary conveyor belt, and a chain drive mechanism transports the soil to a high-speed ejection device. The high-speed ejection device consists of a high-speed motor, housing, high-speed rotor, and automatic door mechanism. Crushed soil enters the device through a funnel-shaped feed port. The high-speed rotor rotates at high speed, and the automatic door mechanism controls the ejection direction, projecting the soil toward the fire, effectively isolating the air and suffocating the fire. The payload box is mounted on the chassis support frame, with the lower half housing the fuel tank and the upper half for the payload. The tracked chassis carries the entire robot's weight and connects the various devices. Designed in an inverted trapezoidal shape, it offers enhanced trench-crossing and obstacle-crossing capabilities compared to conventional chassis, making it suitable for diverse forested terrain, including hilly, mountainous areas. The intelligent central control system consists of a data acquisition module, an analysis and storage module, and an overall control module. The data acquisition module consists of GNSS, temperature sensor, lidar, binocular camera, smoke sensor and gas sensor, etc., and is used to collect navigation data and external environment data information. The analysis and storage module analyzes and makes decisions on the collected data. The overall control module controls the motor, servo and hydraulic mechanism to achieve the goal of automatic walking and steering of the robot and directional projection of crushed soil for fire extinguishing.

[0087] Compared with existing forest fire extinguishing equipment, the forest fire extinguishing robot provided by the present invention integrates more functions, can automatically walk, turn, and crush soil and projectile directionally to extinguish fire. It has low operating risk, high endurance, can be used flexibly in complex terrains such as hilly and mountainous areas, has low cost, long service life, and high fire extinguishing efficiency.

[0088] Based on the above-mentioned specific embodiments, the soil rolling and screening device 1 includes a soil rolling support rod 11 connected to a support frame, a cutter shaft 14 rotatably connected to connecting plates at both ends of the soil rolling support rod 11, a drive device for driving the cutter shaft 14 to rotate, a soil rolling cutter 15 concentrically mounted on the cutter shaft 14, and a soil crushing and screening plate 17, wherein the soil crushing and screening plate 17 is built into the middle space of the soil rolling cutter 15;

[0089] The transport plate 16 is further included and is mounted on the cutter shaft 14 . The openings or connection ends of two adjacent soil rolling cutters 15 are opposite to each other, and the transport plate 16 is mounted in the gap between the two soil rolling cutters 15 .

[0090] In some embodiments, see Figure 7 The soil crushing and screening plate 17 and the soil rolling knife 15 are installed concentrically on the cutter shaft 14, and the transport plate 16 is assembled between the two. The cutter shaft motor 12 installed on the soil rolling support frame 11 drives the cutter shaft bevel gear 13 to rotate, driving the soil crushing and screening plate 17, the soil rolling knife 15 and the transport plate 16 to rotate together. The soil rolling knife 15 is installed in opposite directions. After the soil is rolled out, it first passes through the soil crushing and screening plate 17 to screen out large stones and soil blocks, and then is transported to the rear of the device by the transport plate 16.

[0091] Optionally, there are through holes on the crushing and screening plate 17 to reduce weight. The edge of the transport plate 16 has serrations, which are high in strength and sharper, making it easier to crush stones.

[0092] Based on the above specific embodiments, see Figure 8 、 9 The soil scraper 15 includes a soil scraper blade 151, an assembly block 152, and a mounting plate 153. The soil scraper blade 151 is mounted on the mounting plate 153 via the assembly block 152. The mounting plate 153 is connected to the cutter shaft 14. The soil scraper blades 151 are distributed around the soil crushing and screening plate 17. The soil scraper blades 151 are mounted on the mounting plate 153 via the blade assembly block 152 and are connected to the cutter shaft 14. The soil scraper blades 151 are distributed around the soil crushing and screening plate 17 and rotate together.

[0093] The connecting plate is an arc-shaped plate, and the arc of the end away from the soil rolling support rod 11 is greater than the arc of the end close to the soil rolling support rod 11, so as to prevent the connecting plate from colliding with the ground.

[0094] Based on the above embodiments, the combustible separation device 2 further includes a debris compression and storage platform 23 mounted on the upper side of the blade 21 close to the rotating separation mechanism 22, and a telescopic separation mechanism 24 provided at the opening of the debris compression and storage platform 23;

[0095] The rotating separation mechanism 22 includes a rotating servo 223 installed on the shovel 21, a primary rotating gear 224 connected to the output shaft of the rotating servo 223, a secondary rotating gear 225 meshing with the primary rotating gear 224, a rotating rocker arm 221 connected at one end to the rotating shaft of the secondary rotating gear 225, and a supporting combustible separation fork 222 whose two ends are respectively connected to the rotating rocker arms 221 on both sides, and the supporting combustible separation fork 222 is provided with a hook fork.

[0096] In some embodiments, see Figure 10 、 11The combustible material screening device 2 is composed of a shovel 21, a rotating separation mechanism 22, a combustible material compression and storage platform 23, and a telescopic separation mechanism 24.

[0097] The debris compression and storage platform 23 is mounted on the upper side of the blade 21 near the rotating separation mechanism 22, and the telescopic separation mechanism 24 is located at the opening of the debris compression and storage platform 23. The blade 21 collects the crushed soil and combustibles delivered by the soil screening device 1. The rotating separation mechanism 22 and the telescopic separation mechanism 24 cooperate to store the combustibles on the combustible compression and storage platform 23, while the crushed soil is further transported to the crushed soil conveying device 3.

[0098] The rotary servo 223 is installed on the shovel 21, and the rotary servo 223 provides power. The first-level rotary gear 224 is connected to the output shaft of the rotary servo 223, and the rotary servo 223 drives the first-level rotary gear 224 to move. The second-level rotary gear 225 is engaged with the first-level rotary gear 224, and one end of the rotary rocker arm 221 is connected to the rotating shaft of the second-level rotary gear 225, thereby driving the rotary rocker arm 221 to swing. The two ends of the supporting combustible separation fork 222 are respectively connected to the rotary rocker arms 221 on both sides, and the supporting combustible separation fork 222 swings with the rotating rocker arm 221. The supporting combustible separation fork 222 is equipped with a hook fork, which scoops up debris through the hook fork, and the broken soil leaks out of the hook fork. At the same time, the supporting combustible separation fork 222 swings to transfer debris to the combustible compression storage platform 23. It has a simple structure and is easy to operate.

[0099] Based on the above-mentioned specific embodiments, the telescopic separation mechanism 24 includes a telescopic servo 242 installed on the debris compression and storage platform 23, a rotationally controlled telescopic crank 243 connected to the output shaft of the telescopic servo 242, a telescopic link 244 with a first end connected to the rotationally controlled telescopic crank 243 and a second end slidably connected to the debris compression and storage platform 23, a slider rod 245 whose lower end moves synchronously with the second end of the telescopic link 244, a secondary compression gear 247 and a primary compression gear 246 installed on the upper end of the slider rod 245 and meshing with each other, a compression servo 248 with an output shaft connected to the primary compression gear 246, and a compression separation fork 241 coaxially connected to the secondary compression gear 247.

[0100] In some embodiments, see Figure 12 、 13The rotating rocker arm 221 supports the combustible separation fork 222. The primary and secondary rotating gears 224 and 225 are connected to the rotating servo 223 to provide driving force. The hook-shaped combustible separation fork 222 rotates and transports the combustibles to the combustible compression and storage platform 23. The telescopic servo 242 rotates and controls the telescopic crank 243 and telescopic connecting rod 244 to extend the slider rod 245. The compression servo 248 rotates the compression separation fork 241 via the primary and secondary compression gears 246 and 247, separating and compressing the combustibles. After the fire is extinguished, the compression servo 248 drives the compression separation fork 241 to rotate in the opposite direction via the primary and secondary compression gears 246 and 247, unloading the compressed combustibles.

[0101] Based on the above-mentioned specific embodiments, the crushed soil transmission device 3 further includes a crushed soil receiving platform 32 provided at the end of the primary conveyor belt 31, and a chain transmission mechanism 33 connecting the primary conveyor belt 31 and the secondary conveyor belt 35. Both the primary conveyor belt 31 and the secondary conveyor belt 35 have V-shaped patterns.

[0102] The chain transmission mechanism 33 includes a chain transmission motor 335 installed on the crushed soil storage platform 32, a chain transmission gear 334 connected to the output shaft of the chain transmission motor 335, a primary transmission belt sprocket 331 connected to the primary transmission belt 31 through a reversing gear set 336, and a secondary transmission belt sprocket and gear 333 connected to the secondary transmission belt 35. The sprocket portions of the primary transmission belt sprocket 331 and the secondary transmission belt sprocket and gear 333 are connected by a roller chain 332, and the gear portion of the secondary transmission belt sprocket and gear 333 is meshed with the chain transmission gear 334.

[0103] The end of the crushed soil storage platform 32 is equipped with transverse and vertical tracks. The connecting shafts on either side of the baffle 338 are connected to the transverse and vertical tracks, respectively. A telescopic drive 337 is fixed to the end of the crushed soil storage platform 32. The telescopic shaft of the telescopic drive 337 is fixedly connected to the connecting shaft in the transverse track. The telescopic drive 337 pushes the baffle 338 to rotate upward, ensuring that the crushed soil does not slip out of the middle after being lifted by the multi-rod lifting mechanism 34.

[0104] In some embodiments, see Figure 14 The crushed soil conveying device 3 consists of a primary conveyor belt 31, a crushed soil receiving platform 32, a chain drive mechanism 33, a multi-rod lifting mechanism 34, and a secondary conveyor belt 35. Crushed soil enters the primary conveyor belt 31 through the blade 21 and is collected on the crushed soil receiving platform 32. The multi-rod lifting mechanism 33 then transports the crushed soil to the secondary conveyor belt 35. Both the primary conveyor belt 31 and the secondary conveyor belt 35 have V-shaped patterns, which provide good adhesion when transporting crushed soil.

[0105] See Figure 15 、 16The chain drive mechanism 33 consists of a primary transmission belt sprocket 331, a roller chain 332, a secondary transmission belt sprocket and gear 333, a chain drive gear 334, a chain drive motor 335, and a reversing gear set 336. The primary transmission belt sprocket 331 is connected to the primary transmission belt 31 through the reversing gear set 336. The secondary transmission belt sprocket and gear 333 are connected to the secondary transmission belt 35. The two sprockets are connected by a roller chain 332. The gear portion of the secondary transmission belt sprocket and gear 333 meshes with the chain drive gear 334, and the chain drive motor 335 provides power.

[0106] Based on the above-mentioned specific embodiments, the multi-rod lifting mechanism 34 includes a base 342, a lifting hydraulic mechanism 343 installed on the base 342, a driving rod 344 connected to the lifting hydraulic mechanism 343 via a slide rail, a first primary rod 345 having one end hinged to the base 342 and a middle portion hinged to the driving rod 344 via a first rotating shaft, a second primary rod 346 having one end hinged to the base 342 at the first rotating shaft, a second secondary rod 348 having one end hinged to the base 342, a first secondary rod 347 having one end hinged to the first primary rod 345 and the other end of the second secondary rod 348, a third secondary rod 349 having one end hinged to the first primary rod 345, and a third secondary rod 3410 having one end hinged to the first secondary rod 347. The other ends of the third secondary rod 3410 and the third secondary rod 349 are hinged to the lifting platform 341.

[0107] The middle of the third secondary rod 349 and the first secondary rod 347 is connected by a rectangular connecting pin 3411 .

[0108] In some embodiments, see Figure 17 、 18 19. The lifting hydraulic mechanism 343 is mounted on the base 342 and connected to the drive rod 344 via a slide rail. Contraction of the hydraulic mechanism 343 causes the drive rod 344 to rotate upward, driving the first primary rod 345 to rotate clockwise. The second primary rod 346, constrained by the second secondary rod 348, rotates leftward under the action of the drive rod 344. The first and second secondary rods 345 and 348 work together to cause the first and second secondary rods 347 and the third and second secondary rods 349 to extend and retract, raising the lifting platform 341. A third secondary rod 3410 is attached to the lower left end of the lifting platform. Due to the length difference between the left and right rods, the lifting platform 341 tilts downward as it is raised, achieving the mechanism's lifting and transporting crushed soil from the lifting platform 341 to the secondary conveyor belt 35. The first and second secondary rods 347 and the third and second secondary rods 349 are connected by a rectangular connecting pin 3411, ensuring parallel, non-interfering movement of the rods.

[0109] On the basis of the above-mentioned specific embodiments, the outer cover 41 has a plurality of discharge ports, and each discharge port is provided with a corresponding automatic opening and closing door mechanism 42;

[0110] The feed inlet of the outer cover 41 is a funnel-type feed inlet 45;

[0111] The automatic door opening mechanism includes a door opening and closing control servo 425, a control gear 426 connected to the output shaft of the door opening and closing control servo 425, and an arc toothed door 421 whose rack is meshed with the control gear 426;

[0112] The discharge port includes a left discharge port, a central discharge port, and a right discharge port. A central left circular arc toothed door 422 and a central right circular arc toothed door 423 are provided at the central discharge port. The racks of the central left circular arc toothed door 422 and the central right circular arc toothed door 423 are respectively engaged with the two sides of their corresponding control gears 426.

[0113] In some embodiments, see Figure 20 The high-speed ejection device 4 consists of an outer cover 41, an automatic door opening and closing mechanism 42, a high-speed rotating body 43, a high-speed motor 44, and a funnel-type feeding port 45. The crushed soil enters the outer cover 41 from the secondary conveyor belt 35 through the funnel-type feeding port 45. The high-speed motor 44 drives the high-speed rotating body 43 to rotate at a high speed, and the crushed soil is ejected by centrifugal force to extinguish the fire.

[0114] See Figure 21 The automatic door opening mechanism 42 is composed of a left circular arc toothed door 421, a central left circular arc toothed door 422, a central right circular arc toothed door 423, a right circular arc toothed door 424, a door opening and closing control servo 425, and a control gear 426. When the fire extinguishing position is determined, the door opening and closing control servo 425 rotates through the control gear 426 to control the opening and closing of the left circular arc toothed door 421, the central left circular arc toothed door 422, the central right circular arc toothed door 423 and the right circular arc toothed door 424, thereby achieving precise fire extinguishing.

[0115] See Figure 22 The door opening and closing control servo 425 located in the center drives the control gear 426 to rotate right, causing the central left arc toothed door 422 to rotate left to open, and the central right arc toothed door 423 to rotate right to open. The door opening and closing control servo 425 rotates left, and the central left arc toothed door 422 and the central right arc toothed door 423 rotate in opposite directions to close.

[0116] Based on the above-mentioned specific embodiments, the box body 51 of the carrying box 5 is divided into two parts, the upper and lower parts, by the fuel tank cover 53. The fuel tank 54 is placed in the lower half of the space, and the carrying box 5 is placed in the upper half of the space. The upper half of the space is separated from the outside by the carrying box cover 52. A laser radar 55, a binocular camera 56, a smoke sensor 57 and a gas sensor 58 are installed on the outside of the carrying box 5.

[0117] In some embodiments, see Figure 23 、24 The box 51 is divided into two parts: the lower half houses the fuel tank 54, and the upper half houses the cargo box 5. This part is separated by a fuel tank cover 53, and the cargo box 5 is separated from the outside world by a cargo box cover 52. The cargo box 5 is equipped with a laser radar 55, a binocular camera 56, a smoke sensor 57, and a gas sensor 58 to collect environmental and image data.

[0118] Based on the above-mentioned specific embodiments, the crawler chassis 6 includes two steel crawlers 61, a drive shaft 64 connected to the two steel crawlers 61, a diesel engine 63 meshing with the main driving bevel gear 646 on the drive shaft 64, two chassis support frames 65 respectively connected to the inner sides of the two steel crawlers 61, an intelligent central control platform 62 fixed to the chassis support frames 65, and a temperature sensor 66;

[0119] The drive shaft includes a shaft body on which a driving main bevel gear 646 is installed, a differential sun gear 644 installed at both ends of the shaft body, a plurality of differential planetary gears 645 fixed in the differential sun gear 644, a differential control shaft 643 connected to the shaft body at both ends through brackets, a differential control gear 641 installed on the differential control shaft 643 and meshing with the differential sun gear 644, a pair of differential bevel gears installed on the differential control shaft 643, a differential motor 642 whose gears mesh with a pair of differential bevel gears, and the differential planetary gears 645 meshing with the gears of the side shaft body.

[0120] In some embodiments, see Figure 25 、 26 The crawler chassis 6 consists of steel crawlers 61, an intelligent central control platform 62, a diesel engine 63, a drive shaft 64, a chassis support frame 65, and a temperature sensor 66. The steel crawlers 61 on both sides are connected to the diesel engine 63 through the drive shaft 64, the chassis support frame 65 is connected to the steel crawlers 61, and temperature sensors 66 are installed on the left and right.

[0121] See Figure 27 The drive shaft consists of a differential control gear 641, a differential motor 642, a differential control shaft 643, a differential sun gear 644, differential planetary gears 645, and a drive main bevel gear 646. When traveling straight, the differential motor 642 does not rotate, and the power input from the drive main bevel gear 646 is evenly distributed by the drive shaft 64. When turning right, the differential motor 642 rotates rightward, causing the differential control gears 641 on both sides to rotate in the opposite direction, driving the differential sun gear 644 and differential planetary gears 645 on both sides to rotate, distributing more power to the left steel track 61, creating a speed difference between the two steel tracks 61, and thus achieving a smooth right turn. The same applies to left turns.

[0122] See Figure 28The diesel engine 63 consists of a main drive gear 631, a main shaft 632, an engine regulator 633, an oil inlet 634, an oil return port 635, an air intake 636 and an engine body 637. The oil inlet 634 and the oil return port 635 are connected to the fuel tank 54 and to the drive shaft 64 in the crawler chassis to provide power for the forest fire extinguishing intelligent robot.

[0123] Based on the above-mentioned specific embodiments, the chassis support frame 65 includes a main support frame 651, a telescopic hydraulic mechanism 652 connected to the main support frame 651, a blade soil screening device connecting rod 653 installed at the lower end of the telescopic hydraulic mechanism 652, and a plurality of mounting holes provided on the main support frame 651;

[0124] The steel track 61 includes a track 618, a traveling mechanism 614 connected to the inner side of the track 618, a driving wheel 611 installed on the traveling mechanism 614, a drag chain wheel 617, a supporting wheel 612 and a guide wheel 615, a spring shock absorber 613 arranged between the supporting wheel 612 and the traveling mechanism 614, and a tensioning device 616 installed between the guide wheel 615 and the traveling mechanism 614.

[0125] In some embodiments, see Figure 29 The chassis support frame 65 consists of a main support frame 651, a telescopic hydraulic mechanism 652, a shovel blade soil-rolling and screening device connecting rod 653, a main body mounting hole 654, a carrier box mounting hole 655, and a soil-crushing and transporting device mounting hole 656. The telescopic hydraulic mechanism 652 is connected to the main support frame 651 and is fixedly coupled to the soil-crushing and screening device 1 and the combustible material separation device 2 via the shovel blade soil-rolling and screening device connecting rod 653. The soil-crushing and screening device 1 and the combustible material separation device 2 can be retracted when not in the firefighting state. The steel tracks 61 on both sides are connected to the chassis support frame 65 through the main body mounting holes 654. The carrier box 5 is connected to the chassis support frame 65 through the carrier box mounting holes 655. The soil-crushing and transporting device 3 is connected to the chassis support frame 65 through the soil-crushing and transporting device mounting holes 656. The high-speed ejection device 4 is connected to the chassis support frame 65 through the high-speed ejection device mounting holes 657.

[0126] See Figure 30 The intelligent central control platform consists of a platform frame 621, a battery 622, a GNSS receiver 623, and an ECU 624. The upper half of the platform frame 621 houses the GNSS receiver 623 and ECU 624, which are used to receive navigation data, analyze and store it, and perform overall control. The lower half houses the battery 622, which supplies power to the electrical equipment.

[0127] See Figure 31The steel track 61 includes a drive wheel 611, a sprocket 617, supporting rollers 612, a guide wheel 615, a running mechanism 614, a tensioning device 616, and a track 618. The rotation of the drive wheel 611 drives the entire track 618. The three supporting rollers 612 directly support the entire track 618. The guide wheel 615 supports the upper track 618 and can change its direction of movement. The sprocket 617 also supports the upper track 618, reducing the swing amplitude of the upper track 618 and reducing energy loss. The running mechanism 614 provides overall support. The tensioning device 616 creates a certain amount of pre-tension in the track 618, acting as a buffer to prevent damage to the mechanism when encountering external forces. The spring shock absorber 613 has a better shock absorption effect when the road is steeply inclined. Track 618 is designed with a wider size and adopts an anti-slip off-road pattern. It has strong adhesion, wear resistance and high rigidity. The steel track 61 has a lower center of gravity and adopts an inverted trapezoidal shape. Compared with ordinary rectangular track chassis and triangular track chassis, it has better trench crossing performance and obstacle crossing performance, and is suitable for complex and changeable forest terrain environments such as hilly and mountainous areas.

[0128] See Figure 32 The system architecture diagram of the present invention is shown below. The data acquisition module uses a laser radar, temperature sensor, smoke sensor, and gas sensor to collect environmental data, a binocular camera to collect image data, and GNSS to acquire navigation data. This collected data is input into the analysis and storage module via the CAN bus. The memory stores valid information, and the central processing unit analyzes and makes decisions based on it. The controller uses PWM to control the differential motor, blade shaft motor, high-speed motor, chain drive motor, rotary servo, telescopic servo, compression servo, and switch servo. It also controls the hydraulic mechanism via the CAN bus to control the crawler chassis 6, soil screening device, high-speed ejection device, combustible material separation device, automatic door opening and closing mechanism, multi-rod extension mechanism, and overall telescopic mechanism, thereby achieving automatic travel, steering, and fire prevention and extinguishing operations. Each device returns its real-time status as feedback to the central processing unit, forming a closed-loop control system.

[0129] See Figure 33This is a control flow chart of the present invention. The intelligent forest fire-fighting robot receives input environmental data, image data, and navigation data. The central processing unit performs analysis and decision-making. It uses information transmitted by temperature sensors, smoke sensors, and gas sensors, along with flame image recognition technology, to comprehensively determine whether a forest fire has occurred. If a forest fire has occurred, a fire alarm is issued. When the fire extinguishing area is within the robot's operating range, the central processing unit sends operating instructions and performs path planning and tracking. It determines the location of the area requiring extinguishing and selects to control different switch servos for precise extinguishing. After extinguishing the fire, the compressed and collected combustible materials are unloaded. When the fire extinguishing area is outside the robot's operating range, the robot performs path planning and tracking based on the detection information, automatically tracking the fire extinguishing area. If no forest fire has occurred, a safety alert is issued, and appropriate material transportation can be performed using navigation information.

[0130] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0131] The forest fire extinguishing robot provided by the present invention is introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A forest fire extinguishing robot, characterized in that: It comprises a crawler chassis 6, a soil screening device (1) mounted on support frames of the crawler chassis (6) on both sides, a combustible separation device (2), a crushed soil transmission device (3), a high-speed ejection device (4) and a carrying box (5), The soil rolling and screening device (1) scoops up the crushed soil and transports it backwards; The combustible separation device (2) comprises a shovel blade (21) whose inlet is connected to the soil screening device (1), and a rotary separation mechanism (22) connected to the shovel blade (21), wherein debris is blocked on the rotary separation mechanism (22) and the crushed soil passes through the rotary separation mechanism (22); The soil crushing transmission device (3) comprises a primary transmission belt (31) located below the soil discharge port of the shovel blade (21), a secondary transmission belt (35) connected to the outlet of the primary transmission belt (31) via a multi-rod extension mechanism (34), and the secondary transmission belt (35) is located above the primary transmission belt (31). The high-speed ejection device (4) includes an outer cover (41) whose feed port (45) is connected to the secondary conveyor belt (35), a rotating body (43) arranged in the outer cover (41), a side wall of the outer cover (41) is provided with a discharge port, and the outer cover (41) is connected to a high-speed motor (44); The combustible separation device (2) further includes a debris compression and storage platform (23) mounted on the upper side of the blade (21) close to the rotating separation mechanism (22), and a telescopic separation mechanism (24) disposed at the opening of the debris compression and storage platform (23); The rotary separation mechanism (22) comprises a rotary steering gear (223) mounted on the blade (21), a primary rotary gear (224) connected to an output shaft of the rotary steering gear (223), a secondary rotary gear (225) meshing with the primary rotary gear (224), a rotary rocker arm (221) connected at one end to a rotating shaft of the secondary rotary gear (225), and a combustible separation support fork (222) having two ends respectively connected to the rotary rocker arm (221) on both sides, wherein the combustible separation support fork (222) is provided with a hook fork.

2. The forest fire extinguishing robot according to claim 1, characterized in that: The soil rolling screening device (1) comprises a soil rolling support rod (11) connected to the support frame, a knife shaft (14) rotatably connected to connecting plates at both ends of the soil rolling support rod (11), a driving device for driving the knife shaft (14) to rotate, a soil rolling knife (15) and a soil crushing screening plate (17) coaxially mounted on the knife shaft (14), wherein the soil crushing screening plate (17) is built into the middle space of the soil rolling knife (15); It also includes a transport plate (16) installed on the knife shaft (14), the openings of two adjacent soil rolling knives (15) are opposite to each other or the connection ends are opposite to each other, and the transport plate (16) is installed in the gap between the two soil rolling knives (15).

3. The forest fire extinguishing robot according to claim 2, characterized in that: The soil rolling knife (15) comprises a soil rolling blade (151), an assembly block (152) and a mounting plate (153); the soil rolling blade (151) is mounted on the mounting plate (153) via the assembly block (152); the mounting plate (153) is connected to the knife shaft (14); and the soil rolling blade (151) is distributed around the soil crushing screening plate (17); The connecting plate is an arc-shaped plate, and the arc of the end away from the soil rolling support rod (11) is greater than the arc of the end close to the soil rolling support rod (11).

4. The forest fire extinguishing robot according to claim 3, characterized in that: The telescopic separation mechanism (24) comprises a telescopic servo (242) mounted on the sundries compression and storage platform (23), a rotationally controlled telescopic crank (243) connected to an output shaft of the telescopic servo (242), a telescopic connecting rod (244) having a first end connected to the rotationally controlled telescopic crank (243) and a second end slidably connected to the sundries compression and storage platform (23), a slider rod (245) whose lower end moves synchronously with the second end of the telescopic connecting rod (244), a secondary compression gear (247) and a primary compression gear (246) mounted on the upper end of the slider rod (245) and meshing with each other, a compression servo (248) having an output shaft connected to the primary compression gear (246), and a compression separation fork (241) coaxially connected to the secondary compression gear (247).

5. The forest fire extinguishing robot according to claim 1, characterized in that: The crushed soil transmission device (3) further includes a crushed soil receiving platform (32) provided at the end of the primary transmission belt (31), a chain transmission mechanism (33) connecting the primary transmission belt (31) and the secondary transmission belt (35), The primary conveyor belt (31) and the secondary conveyor belt (35) both have V-shaped patterns; The chain transmission mechanism (33) includes a chain transmission motor (335) installed on the crushed soil storage platform (32), a chain transmission gear (334) connected to the output shaft of the chain transmission motor (335), a primary transmission belt sprocket (331) connected to the primary transmission belt (31) through a reversing gear set (336), and a secondary transmission belt sprocket and gear (333) connected to the secondary transmission belt (35); the primary transmission belt sprocket (331) and the sprocket portion of the secondary transmission belt sprocket and gear (333) are connected by a roller chain (332); and the gear portion of the secondary transmission belt sprocket and gear (333) is meshed with the chain transmission gear (334); The end of the crushed soil receiving platform (32) is provided with a transverse track and a vertical track, and the connecting shafts on both sides of the baffle (338) are respectively connected to the transverse track and the vertical track. The end of the crushed soil receiving platform (32) is fixed with a telescopic drive device (337), and the telescopic shaft of the telescopic drive device (337) is fixedly connected to the connecting shaft in the transverse track.

6. The forest fire extinguishing robot according to claim 1, characterized in that: The multi-rod lifting mechanism (34) includes a base (342), a lifting hydraulic mechanism (343) installed on the base (342), a driving rod (344) connected to the lifting hydraulic mechanism (343) through a slide rail, a first-level rod (345) having one end hinged to the base (342) and a middle portion hinged to the driving rod (344) through a first rotating shaft, a second-level rod (346) having one end hinged to the base (342) at the first rotating shaft, and a second-level rod (347) having one end hinged to the base (342) at the first rotating shaft. A second-level rod (348) hinged to the base (342), a first-level rod (347) hinged at one end to the first-level rod (345) and at the other end to the second-level rod (348), a third-level rod (349) hinged at one end to the first-level rod (345), and a third-level rod (3410) hinged at one end to the first-level rod (347), and the other ends of the third-level rod (3410) and the third-level rod (349) are hinged to the lifting platform (341); The third secondary rod (349) is connected to the middle of the first secondary rod (347) via a rectangular connecting pin (3411).

7. The forest fire extinguishing robot according to any one of claims 1 to 6, characterized in that: The outer cover (41) has a plurality of discharge ports, and each discharge port is provided with a corresponding automatic door opening and closing mechanism (42); The feed inlet of the outer cover (41) is a funnel-type feed inlet (45); The automatic door opening mechanism comprises a door opening and closing control servo (425), a control gear (426) connected to an output shaft of the door opening and closing control servo (425), and an arc toothed door (421) whose rack meshes with the control gear (426); The discharge port comprises a left discharge port, a central discharge port, and a right discharge port. A central left circular arc toothed door (422) and a central right circular arc toothed door (423) are provided at the central discharge port. The racks of the central left circular arc toothed door (422) and the central right circular arc toothed door (423) are respectively engaged with the two sides of the corresponding control gear (426).

8. The forest fire extinguishing robot according to any one of claims 1 to 6, characterized in that: The box body (51) of the carrying box (5) is divided into upper and lower parts by a fuel tank cover (53), the fuel tank (54) is placed in the lower half space, and the carrying box (5) is placed in the upper half space, and the upper half space is separated from the outside by the carrying box cover (52). A laser radar (55), a binocular camera (56), a smoke sensor (57) and a gas sensor (58) are installed on the outside of the carrying box (5).

9. The forest fire extinguishing robot according to any one of claims 1 to 6, characterized in that: The crawler chassis (6) includes steel crawlers (61) on both sides, a drive shaft (64) connected to the steel crawlers (61) on both sides, a diesel engine (63) meshed with a driving main bevel gear (646) on the drive shaft (64), two chassis support frames (65) respectively connected to the inner sides of the steel crawlers (61) on both sides, an intelligent central control platform (62) and a temperature sensor (66) fixed on the chassis support frames (65); The drive shaft comprises a shaft body on which the driving main bevel gear (646) is mounted, a differential sun gear (644) mounted at both ends of the shaft body, a plurality of differential planetary gears (645) fixed in the differential sun gear (644), a differential control shaft (643) connected to the shaft body at both ends through brackets, a differential control gear (641) mounted on the differential control shaft (643) and meshing with the differential sun gear (644), a pair of differential bevel gears mounted on the differential control shaft (643), a differential motor (642) whose gears mesh with the pair of differential bevel gears, and the differential planetary gears (645) meshing with the gears of the side shaft body.

10. The forest fire extinguishing robot according to claim 9, characterized in that: The chassis support frame (65) comprises a main support frame (651), a telescopic hydraulic mechanism (652) connected to the main support frame (651), a blade soil rolling screening device connecting rod (653) installed at the lower end of the telescopic hydraulic mechanism (652), and a plurality of mounting holes provided on the main support frame (651); The steel crawler (61) comprises a crawler (618), a traveling mechanism (614) connected to the inner side of the crawler (618), a driving wheel (611) mounted on the traveling mechanism (614), a drag chain wheel (617), a supporting wheel (612) and a guide wheel (615), a spring shock absorber (613) arranged between the supporting wheel (612) and the traveling mechanism (614), and a tensioning device (616) mounted between the guide wheel (615) and the traveling mechanism (614).

Images