An automatically deployed fire-fighting track inspection robot

Abstract

This invention belongs to the field of robot design technology and discloses an automatically deployed fire-fighting track inspection robot, comprising: a fire-extinguishing component, including a plurality of fire-extinguishing elements, for fire extinguishing; a gripping component, for gripping the fire-extinguishing elements and deploying them to the fire point for fire extinguishing; a track component, for supporting the gripping component and planning the movement path of the gripping component; a drive component, detachably mounted on the track component, for controlling the movement of the gripping component; and a control mechanism, including a control unit. In this invention, under the control of the control mechanism, the drive component can drive the gripping component to move along the extension direction of the track component, thereby enabling the gripping component to approach the fire-extinguishing component and the fire point. Simultaneously, under the control of the control mechanism, the gripping unit can sequentially grip at least some of the fire-extinguishing elements and control the gripping unit to deploy the gripped fire-extinguishing elements to the fire point for fire extinguishing, thereby extinguishing the fire in a timely manner.

Description

Technical Field

[0001] This invention belongs to the field of robot design technology, specifically relating to an automatically deployed fire-fighting track inspection robot. Background Technology

[0002] Currently, fire extinguishing balls have become a common type of firefighting equipment. They typically consist of the following components: an outer shell, usually made of a high-temperature resistant and flame-retardant material; an extinguishing agent, containing one or more extinguishing agents; a fuse / trigger, usually installed inside the ball to ensure timely activation in the event of a fire; and a battery, typically housed inside the fire extinguishing ball to power the fuse / trigger.

[0003] Generally, a fire extinguishing ball is a type of fire-fighting equipment used in emergencies. It can typically extinguish fires quickly in their early stages and reduce their spread. Generally, fire extinguishing balls are effective at extinguishing fires involving solid materials (such as wood and paper), oil fires (such as oil stoves and kitchen grease traps), and electrical equipment fires. When a fire occurs, the user simply throws the fire extinguishing ball towards the fire source, or places it in locations where the fire may spread, triggering the activation mechanism. The fire extinguishing ball will then automatically release the extinguishing agent to extinguish the fire. Due to its characteristics, fire extinguishing balls are suitable for use in small or relatively enclosed spaces, such as in utility tunnels. In these locations, fire extinguishing balls can be stored and placed in various locations; when a fire breaks out, the ball can be thrown directly at the source of the fire. To extinguish fires promptly and improve the safety of staff, multiple fire-fighting robots can be used to patrol pipe corridors and other areas to replace manual patrols and perform initial fire suppression. However, in pipe corridors and other areas with small spaces, setting up multiple robots can reduce the area available for manual passage, thereby affecting the entry of subsequent staff and potentially impacting further fire suppression and cleanup operations. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an automatically deployable fire-fighting track inspection robot to solve the problems mentioned in the background.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An automatically deployed fire-fighting track inspection robot includes:

[0007] Fire extinguishing assembly, comprising several fire extinguishing components, for extinguishing fires;

[0008] The grabbing component is used to grab the fire extinguishing device and deliver it to the fire point to extinguish the fire.

[0009] The track component is used to support the gripping component and plan the movement path of the gripping component;

[0010] The drive component, detachably mounted on the track component, is used to control the movement of the gripping component;

[0011] and a control mechanism, including a control unit for controlling the operation of the gripping component and the drive component, wherein the control mechanism is detachably mounted on the track component;

[0012] The grasping component includes a movable base, a support part, and a grasping part. The support part is connected to the movable base and fits against the track component. The support part is used to support the movable base and the grasping part. The grasping part is detachably installed on the movable base and is used to grasp the fire extinguishing component. The fire extinguishing component is detachably connected to the track component through the support component.

[0013] The control mechanism can control the operation of the drive component to control the movement of the grabbing component along the extension direction of the track component. The control mechanism can also control the grabbing part to grab at least some of the fire extinguishing components in sequence and control the grabbing part to drop the grabbed fire extinguishing components to the fire point for fire extinguishing.

[0014] In some embodiments, the track assembly includes a plurality of track splicing parts, each track splicing part including two first splicing members arranged in parallel, two second splicing members connected between the two first splicing members and retractably disposed, and two docking parts slidably connected to the two second splicing members respectively; at least a portion of the first splicing members in the track assembly have a square cross-section;

[0015] Each docking part belonging to the same track splicing part forms a group of docking parts. The track assembly is in a splicing state. When the track assembly is in the splicing state, at least some docking parts dock with docking parts in different groups.

[0016] In some embodiments, each of the first splicing members is provided with a movable groove for the support to pass through. The longitudinal section of the movable groove is T-shaped. The support includes two support rods with T-shaped cross sections. The support rods are connected to the movable seat. When the track assembly is in the splicing state, the support rods are placed in the movable groove.

[0017] Along the extension direction of the first splicing component, both ends of the moving groove are inserted into the corresponding first splicing component, and the moving groove is inserted into the bottom end of the corresponding first splicing component.

[0018] The drive assembly includes two drive units. When the track assembly is in the splicing state, the two drive units are respectively placed at both ends of the track assembly and are detachably connected to the adjacent track splicing parts. The drive assembly also includes two traction units. The two traction units are respectively connected to the output ends of different drive units. When the track assembly is in the splicing state, the two traction units are detachably connected to the two ends of the moving seat that are symmetrically distributed.

[0019] In some embodiments, the fire extinguishing assembly includes a plurality of fire extinguishing mechanisms, the number of which is the same as the number of the first splicing parts. Each fire extinguishing mechanism is correspondingly attached to a different first docking part, and the first docking parts are all placed between two fire extinguishing mechanisms.

[0020] The support assembly includes several support mechanisms, the number of which is the same as the number of fire extinguishing mechanisms. Each support mechanism is set close to a different support mechanism. Each support mechanism includes a first docking part connected to the adjacent fire extinguishing mechanism and a second docking part connected to the adjacent first splicing part. Each fire extinguishing mechanism can complete a detachable connection with the adjacent track splicing part by docking the adjacent first docking part and the adjacent second docking part.

[0021] In some embodiments, the fire extinguishing mechanism includes a fire extinguishing box and at least one fire extinguishing component. The fire extinguishing box includes a box body, a first cover plate, and a second cover plate. The fire extinguishing box has a placement cavity, and the fire extinguishing component is placed in the corresponding placement cavity. The placement cavity has a first opening facing the track splicing part and a second opening facing away from the track splicing part. The first cover plate and the second cover plate are slidably connected to adjacent boxes. The first cover plate is used to cover the first opening, and the second cover plate is used to cover the second opening.

[0022] All fire extinguishing mechanisms also include inclined plates, which are detachably installed on the bottom wall of the corresponding placement cavity.

[0023] In some embodiments, the housing includes a first wall, two second walls, and a third wall. The two second walls are symmetrically distributed and are both connected to the bottom of the adjacent first wall, and the third walls are all located below the second walls. The housing also includes a sliding part, which is slidably connected to the adjacent first wall and the second wall and is also connected to the adjacent third wall.

[0024] The first cover plate and the second cover plate are slidably connected to the adjacent first wall; the inclined plates are detachably installed on the top of the corresponding third wall; baffles are installed at both ends of the top of the inclined plates.

[0025] In some embodiments, each third wall is connected to at least one of the two adjacent second walls by at least one elastic portion, and each third wall is connected to a first traction member.

[0026] In some embodiments, each sliding part is rotatably connected to a rotating part, each sliding part is provided with a limiting part on one side, each limiting part is connected to an adjacent second wall and each limiting part is provided with a limiting groove corresponding to the rotating part; each limiting part is provided with a through hole, each third wall is connected to a second traction member, and each second traction member passes through an adjacent through hole; each rotating part is connected to an adjacent sliding part with an elastic member, and each rotating part is connected to a third traction member.

[0027] In some embodiments, the second traction member is provided with a first adsorption portion, and the third traction member is provided with a second adsorption portion.

[0028] In some embodiments, each sliding part includes a plurality of sliding plates. Each sliding plate belonging to the same sliding part is arranged along the extension direction of the placement cavity. Among the sliding plates belonging to the same sliding part, the sliding plate closer to the second wall is slidably connected to the adjacent first wall and the second wall, and each adjacent sliding plate is slidably connected to the other.

[0029] The third wall is connected to the sliding plate of the adjacent sliding part that is away from the second wall, and the rotating part is rotatably connected to the sliding plate of the adjacent sliding part that is away from the second wall.

[0030] The beneficial effects of this invention are:

[0031] 1. In this invention, under the control of the control mechanism, the drive component can drive the grasping component to move along the extension direction of the track component, thereby enabling the grasping component to approach the fire extinguishing component and the fire point. Simultaneously, under the control of the control mechanism, the grasping part can sequentially grasp at least a portion of the fire extinguishing components and control the grasping part to deliver the grasped fire extinguishing components to the fire point for fire extinguishing, thus enabling timely fire suppression. Furthermore, in this invention, the track component supports the grasping component and plans its movement path. The track component can be installed in the top area of ​​pipe racks, etc., thereby preventing the fire extinguishing components and the grasping part from occupying part of the movable area of ​​the pipe rack, etc., and thus avoiding affecting firefighters or operators entering the pipe rack to perform fire extinguishing, patrol, or inspection operations.

[0032] 2. In this invention, the track assembly includes multiple track splicing parts. When these multiple splicing parts are spliced ​​together, the track is formed. By setting the track assembly as a splicing structure, it is convenient to select different track splicing parts according to different scenarios, thereby planning the movement path of the grasping component according to the scenario, avoiding the need to directly replace the entire track assembly for different scenarios. Furthermore, by setting the track assembly as a splicing structure, when some track splicing parts are damaged, these damaged parts can be replaced individually, which also facilitates the maintenance of the track assembly.

[0033] 3. In this invention, by setting the sliding part as a combined structure and the sliding part being composed of multiple sliding plates that slide together, when the third wall moves down, the downward movement distance of the third wall is greater than the length of a single sliding plate, thereby increasing the downward movement distance of the third wall. This avoids the need to use ladders or other objects to complete the placement of the fire extinguisher due to the short downward movement distance of the third wall, improving the safety of the operator and avoiding the need for other personnel to repeatedly hand the fire extinguisher to the operator. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure of an automatically deployed fire-fighting track inspection robot according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the support component structure according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the track splicing section structure according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the driving component structure according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the sliding part structure according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the fire extinguishing mechanism structure according to an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the elastic part structure according to an embodiment of the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Figure 1 This is a schematic diagram of the overall structure of an automatically deployed fire-fighting track inspection robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the support component structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the track splicing section structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the driving component structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the sliding part structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the fire extinguishing mechanism structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the elastic part structure according to an embodiment of the present invention.

[0044] like Figures 1 to 7As shown, an automatically deployed fire-fighting track inspection robot includes:

[0045] Fire extinguishing assembly 1 includes several fire extinguishing components 112 for fire extinguishing;

[0046] The grabbing component 2 is used to grab the fire extinguishing component 112 and drop the fire extinguishing component 112 to the fire point for fire extinguishing;

[0047] Track component 3 is used to support gripping component 2 and plan the movement path of gripping component 2;

[0048] Drive component 4, which is detachably mounted on track component 3, is used to control the movement of gripping component 2;

[0049] and control mechanism 5, including control unit, for controlling the operation of gripping component 2 and drive component 4, the control mechanism 5 being detachably installed on track component 3;

[0050] The grasping component 2 includes a movable base 21, a support part 22, and a grasping part 23. The support part 22 is connected to the movable base 21 and is fitted to the track component 3. The support part 22 is used to support the movable base 21 and the grasping part 23. The grasping part 23 is detachably installed on the movable base 21 and is used to grasp the fire extinguishing component 112. The fire extinguishing component 1 is detachably connected to the track component 3 through the support component 6.

[0051] The control mechanism 5 can control the operation of the drive component 4 to control the gripping component 2 to move along the extension direction of the track component 3. The control mechanism 5 can also control the gripping part 23 to sequentially grip at least some of the fire extinguishing components 112 and control the gripping part 23 to throw the gripped fire extinguishing components 112 to the fire point for fire extinguishing.

[0052] Currently, fire extinguishing balls have become a common type of firefighting equipment. They typically consist of the following components: an outer shell, usually made of a high-temperature resistant and flame-retardant material; an extinguishing agent, containing one or more extinguishing agents; a fuse / trigger, usually installed inside the ball to ensure timely activation in the event of a fire; and a battery, typically housed inside the fire extinguishing ball to power the fuse / trigger.

[0053] Generally, a fire extinguishing ball is a type of fire-fighting equipment used in emergencies. It can typically extinguish fires quickly in their early stages and reduce their spread. Generally, fire extinguishing balls are effective at extinguishing fires involving solid materials (such as wood and paper), oil fires (such as oil stoves and kitchen grease traps), and electrical equipment fires. When a fire occurs, the user simply throws the fire extinguishing ball towards the fire source, or places it in locations where the fire may spread, triggering the activation mechanism. The fire extinguishing ball will then automatically release the extinguishing agent to extinguish the fire. Due to its characteristics, fire extinguishing balls are suitable for use in small or relatively enclosed spaces, such as in utility tunnels. In these locations, fire extinguishing balls can be stored and placed in various locations; when a fire breaks out, the ball can be thrown directly at the source of the fire. To extinguish fires promptly and improve the safety of staff, multiple fire-fighting robots can be used to patrol pipe corridors and other areas to replace manual patrols and perform initial fire suppression. However, in pipe corridors and other areas with small spaces, setting up multiple robots can reduce the area available for manual passage, thereby affecting the entry of subsequent staff and potentially impacting further fire suppression and cleanup operations.

[0054] It should be noted that in this invention, the core control structure is the control mechanism 5. The control unit in the control mechanism 5 can be configured as a controller, which can control the operation of the drive unit 41, the gripping unit 23, and other structures through electrical connection. The gripping unit 23 can be configured as a robotic arm or other structures. The control mechanism 5 may also include structures such as fire detectors and alarms.

[0055] In this invention, under the control of the control mechanism 5, the drive component 4 can drive the grasping component 2 to move along the extension direction of the track component 3, thereby enabling the grasping component 2 to approach the fire extinguishing component 1 and the fire point. At the same time, under the control of the control mechanism 5, the grasping part 23 can sequentially grasp at least some of the fire extinguishing components 112 and control the grasping part 23 to place the grasped fire extinguishing components 112 to the fire point for fire extinguishing, thereby extinguishing the fire in a timely manner.

[0056] It should be noted that the track assembly 3 is used to support the grabbing assembly 2 and plan the movement path of the grabbing assembly 2. The track assembly 3 can be installed in the top area of ​​the pipe gallery, for example, the track assembly 3 can be installed at the top arm, so as to avoid the fire extinguishing component 112 and the grabbing part 23 occupying part of the movable area of ​​the pipe gallery, thereby avoiding affecting the fire extinguishing personnel or operators to enter the pipe gallery to perform fire extinguishing, patrol or inspection operations.

[0057] It should also be noted that initially, the gripping component 2 can be deployed in any area, but through the control of the driving component 4, the gripping component 2 can be transferred from the initial area and automatically deployed in any area. At the same time, the gripping component 2 can move cyclically in each area.

[0058] Regarding the fire extinguishing procedure, it should be noted that after the fire-fighting rail inspection robot detects the fire point, the controller controls the grabbing component 2 to grab the nearest fire extinguishing component 112 to perform the fire extinguishing operation. At the same time, the controller can be connected to a remote control platform, and the controller can transmit on-site information to the remote control platform. The remote control platform can also directly control the grabbing component 2 to extinguish the fire.

[0059] In some embodiments, the track assembly 3 includes a plurality of track splicing parts 31, each track splicing part 31 including two parallel first splicing members 311, two second splicing members 312 connected between the two first splicing members 311 and telescopically disposed, and two docking parts 313 slidably connected to the two second splicing members 312 respectively; at least a portion of the first splicing members 311 in the track assembly 3 has a square cross-section;

[0060] Each docking part 313 belonging to the same track splicing part 31 forms a group of docking parts 313. The track assembly 3 is in a splicing state. When the track assembly 3 is in the splicing state, at least some docking parts 313 dock with docking parts 313 in different groups.

[0061] In this invention, the track assembly 3 includes multiple track splicing parts 31. When the multiple track splicing parts 31 are spliced ​​together, the track is formed. By setting the track assembly 3 as a splicing structure, it is convenient to select different track splicing parts 31 according to different scenarios, so as to plan the movement path of the grasping component 2 according to the scenario, avoiding the need to directly replace the entire track assembly 3 according to different scenarios.

[0062] By setting the track assembly 3 as a splicing structure, when a part of the track splicing part 31 is damaged, this part of the track splicing part 31 can be replaced separately, which also facilitates the maintenance of the track assembly 3.

[0063] At least some of the first splicing parts 311 in the track assembly 3 have a square cross-section. When the track assembly 3 is used in pipe racks or other places with bends, some of the first splicing parts 31 in the track splicing part 31 may be first splicing parts 311 with an arc-shaped structure.

[0064] In some embodiments, the first splicing member 311 is provided with a moving groove 3111 for the support part 22 to pass through. The longitudinal section of the moving groove 3111 is T-shaped. The support part 22 includes two support rods with T-shaped cross sections. The support rods are connected to the moving seat 21. When the track assembly 3 is in the splicing state, the support rods are placed in the moving groove 3111.

[0065] Along the extension direction of the first splicing member 311, both ends of the moving groove 3111 are inserted through the corresponding first splicing member 311, and the moving groove 3111 is inserted through the bottom end of the corresponding first splicing member 311.

[0066] The drive assembly 4 includes two drive units 41. When the track assembly 3 is in the splicing state, the two drive units 41 are respectively placed at both ends of the track assembly 3 and are detachably connected to the adjacent track splicing parts 31. The drive assembly 4 also includes two traction units 42. The two traction units 42 are respectively connected to the output ends of different drive units 41. When the track assembly 3 is in the splicing state, the two traction units 42 are detachably connected to the two ends of the movable seat 21 that are symmetrically distributed.

[0067] When the track assembly 3 is in the splicing state, the support rods are all placed in the moving groove 3111, so that the gripping assembly 2 can be fixed in the area close to the track assembly 3.

[0068] The drive assembly 4 can adopt various structures, such as a single-axis robot. In this embodiment, the drive part 41 in the drive assembly 4 can be a motor, and the traction part 42 can be a traction line. When the drive part 41 winds up the traction part 42, the gripping assembly 2 moves.

[0069] When the track assembly 3 is in the splicing state, the two drive units 41 are respectively placed at both ends of the track assembly 3 and are detachably connected to the adjacent track splicing parts 31; when the track assembly 3 is in the splicing state, the two traction units 42 are respectively detachably connected to the two ends of the movable seat 21 that are symmetrically distributed. With this arrangement, the gripping component 2 can move back and forth along the extension direction of the track assembly 3.

[0070] In some embodiments, the fire extinguishing assembly 1 includes a plurality of fire extinguishing mechanisms 11, the number of fire extinguishing mechanisms 11 being the same as the number of first splicing parts 311, each fire extinguishing mechanism 11 being disposed close to a different first splicing part 311, and each first splicing part 311 being placed between two fire extinguishing mechanisms 11.

[0071] The support assembly 6 includes several support mechanisms 61, the number of which is the same as the number of fire extinguishing mechanisms 11. Each support mechanism 61 is set close to a different fire extinguishing mechanism 11. Each support mechanism 61 includes a first docking part 611 connected to an adjacent fire extinguishing mechanism 11 and a second docking part 612 connected to an adjacent first splicing part 311. Each fire extinguishing mechanism 11 can be detachably connected to the adjacent track splicing part 31 by docking the adjacent first docking part 611 and the adjacent second docking part 612.

[0072] In the track assembly 3, the track splicing parts 31 can be spliced ​​together. After splicing, the remaining track splicing parts 31 can be fixed by fixing some of the track splicing parts 31, thereby realizing the automatic deployment of some track splicing parts 31. The fixing method can be a threaded connection. Similarly, since the fire extinguishing mechanism 11 can be detachably connected to the adjacent track splicing part 31 by docking the adjacent first docking part 611 and the adjacent second docking part 612, when the track splicing part 31 is fixed, the corresponding fire extinguishing mechanism 11 is fixed, thereby completing the automatic deployment of the fire extinguishing mechanism 11.

[0073] The first docking member 611 and the second docking member 612 can be docked by a snap-fit ​​method. For example, the first docking member 611 is a snap-fit ​​rod, and the second docking member 612 is a snap-fit ​​post with a snap-fit ​​groove. When the snap-fit ​​rod is snapped into the snap-fit ​​groove, the first docking member 611 and the second docking member 612 are docked.

[0074] In some embodiments, each fire extinguishing mechanism 11 includes a fire extinguishing box 111 and at least one fire extinguishing element 112. Each fire extinguishing box 111 includes a box body 1111, a first cover plate 1112, and a second cover plate 1113. Each fire extinguishing box 111 has a placement cavity, and each fire extinguishing element 112 is placed in a corresponding placement cavity. Each placement cavity has a first opening facing the track splicing part 31 and a second opening facing away from the track splicing part 31. The first cover plate 1112 and the second cover plate 1113 are slidably connected to adjacent box bodies 1111. The first cover plate 1112 is used to cover the first opening, and the second cover plate 1113 is used to cover the second opening.

[0075] Each fire extinguishing mechanism 11 also includes an inclined plate 113, which is detachably installed on the bottom wall of the corresponding placement cavity.

[0076] The fire extinguishing mechanism 11 is equipped with a fire extinguishing element 112, which can be a fire extinguishing ball. The fire extinguishing mechanism 11 can also be equipped with a temperature sensor and an alarm, so that the controller can receive the fire extinguishing signal in time when a fire occurs near the fire extinguishing mechanism 11.

[0077] It should be noted that a fire extinguishing mechanism 11 is provided on one side of the first splicing component 311. Therefore, the grabbing part 23 may include two mechanical arms and other grabbing structures. When extinguishing a fire, the two mechanical arms can grab a single fire extinguishing component 112 at the same time and then extinguish the fire simultaneously.

[0078] In the fire extinguishing mechanism 11, at least one fire extinguishing element 112 is included, and multiple fire extinguishing elements 112 can be set in the placement cavity in order to reduce the frequency of filling the fire extinguishing element 112 and increase the number of available fire extinguishing elements 112.

[0079] The fire extinguishing device 112 can exit the placement cavity through the first opening, and when it is necessary to fill the fire extinguishing device 112, it can be placed through the second opening.

[0080] The inclined plate 113 can guide the fire extinguishing element 112 to move to the outlet area inside the placement cavity. When there are multiple fire extinguishing elements 112 in the placement cavity, after the fire extinguishing element 112 placed in the outlet area is moved out, the remaining fire extinguishing elements 112 replace it and are placed in the outlet area, thereby avoiding the need for the grabbing mechanism to grab from multiple areas when it is close to the fire extinguishing mechanism 11.

[0081] In some embodiments, each of the housings 1111 includes a first wall 7, two second walls 8, and a third wall 9. The two second walls 8 are symmetrically distributed and are both connected to the bottom of the adjacent first wall 7, and the third walls 9 are all located below the second walls 8. Each of the housings 1111 also includes a sliding part 10, which is slidably connected to the adjacent first wall 7 and the second wall 8 and is also connected to the adjacent third wall 9.

[0082] The first cover plate 1112 and the second cover plate 1113 are slidably connected to the adjacent first wall 7; the inclined plates 113 are detachably installed on the top of the corresponding third wall 9; baffles 12 are installed at both ends of the top of the inclined plates 113 respectively.

[0083] The sliding part 10 is slidably connected to the first wall 7 and the second wall 8 and supports the third wall 9. The third wall 9 can be separated from the second wall 8, so that the third wall 9 can be close to the ground to facilitate the placement of the fire extinguishing device 112. This avoids the need to use a ladder to place the fire extinguishing device 112 when the fire extinguishing device 11 is placed at a high position, thereby improving the safety of the personnel placing the fire extinguishing device 112.

[0084] Since the inclined plate 113 is detachably installed on the third wall 9, in order to prevent the fire extinguishing device 112 from separating from the inclined plate 113 under the action of gravity after the fire extinguishing device 112 is placed, the present invention provides a baffle 12 to limit the movement range of the fire extinguishing device 112.

[0085] In some embodiments, each of the third walls 9 is connected to at least one of the two adjacent second walls 8 by an elastic portion 13, and each of the third walls 9 is connected to a first traction member 14.

[0086] The elastic part 13 can be configured as a tension spring or other elastic structure. This method can be used when the number of fire extinguishing components 112 is small or the fire extinguishing components 112 are relatively light, so as to achieve the fit between the third wall 9 and the second wall 8. This avoids the separation of the third wall 9 and the second wall 8 due to the placement of the fire extinguishing component 112, which would affect the stable placement of the fire extinguishing component 112 in the placement cavity. It can also prevent the fire extinguishing mechanism 11 from occupying more area. When it is necessary to place the fire extinguishing component 112, the operator can directly pull the first traction component 14, so that the third wall 9 overcomes the force of the elastic part 13 and moves closer to the ground.

[0087] In some embodiments, each sliding part 10 is rotatably connected to a rotating part 15, and each sliding part 10 has a limiting part 16 on one side. Each limiting part 16 is connected to an adjacent second wall 8 and has a limiting groove corresponding to the rotating part 15. Each limiting part 16 has a through hole, and each third wall 9 is connected to a second traction member 17, which passes through an adjacent through hole. Each rotating part 15 is connected to an adjacent sliding part 10 by an elastic member, and each rotating part 15 is connected to a third traction member 18.

[0088] When there are many fire extinguishing components 112 or the fire extinguishing components 112 are heavy, the above method is not suitable for replacing the fire extinguishing components 112. In this embodiment, another method is used to replace the fire extinguishing components 112.

[0089] When a portion of the rotating part 15 is placed in the limiting groove, the rotating part 15, the sliding part 10, and the third wall 9 cannot move down, causing the third wall 9 to adhere to the second wall 8. When the rotating part 15 separates from the limiting groove, the third wall 9 moves down automatically. After the fire extinguishing device 112 is placed, the third wall 9 can be pulled up by pulling the third traction line.

[0090] It should be noted that the elastic element can pull the rotating part 15 closer to the limiting groove. When the third wall 9 needs to be moved down, the second traction line needs to be pulled first to separate the rotating part 15 from the limiting groove. When the third wall 9 needs to be reset, the second traction line also needs to be pulled first to avoid the rotating part 15 from touching the bottom of the limiting part 16 and thus hindering the reset of the third wall 9.

[0091] In some embodiments, the second traction member 17 is provided with a first adsorption part, and the third traction member 18 is provided with a second adsorption part 19.

[0092] Both the first adsorption part and the second adsorption part 19 can be configured as suction cups or other structures. When the first adsorption part or the second adsorption part 19 is adsorbed onto a wall or other surface, the corresponding traction line can be prevented from sagging, thereby preventing the corresponding traction line from touching walking personnel.

[0093] In some embodiments, each sliding part 10 includes a plurality of sliding plates. Each sliding plate belonging to the same sliding part 10 is arranged along the extension direction of the placement cavity. Among the sliding plates belonging to the same sliding part 10, the sliding plate near the second wall 8 is slidably connected to the adjacent first wall 7 and the second wall 8, and each adjacent sliding plate is slidably connected to the other.

[0094] The third wall 9 is connected to the sliding plate of the adjacent sliding part 10 that is away from the second wall 8, and the rotating part 15 is rotatably connected to the sliding plate of the adjacent sliding part 10 that is away from the second wall 8.

[0095] In some cases, the track assembly 3 is at a relatively high height. At the same time, in order to avoid the track assembly 3 occupying too much area, the track assembly 3 itself is relatively low. In this case, even if the third wall 9 is lowered, the lowering height of the third wall 9 is relatively limited, and it may still be necessary to use objects such as ladders to place the fire extinguishing device 112.

[0096] By setting the sliding part 10 as a combined structure and the sliding part 10 being composed of multiple sliding plates that slide together, when the third wall 9 moves down, the downward movement distance of the third wall 9 is greater than the length of a single sliding plate, thereby increasing the downward movement distance of the third wall 9. This avoids the need to use ladders or other objects to place the fire extinguisher 112 due to the short downward movement distance of the third wall 9, improving the safety of the operator, and avoiding the need for other personnel to repeatedly hand the fire extinguisher 112 to the operator.

[0097] In summary, in this invention, under the control of the control mechanism 5, the drive component 4 can drive the grasping component 2 to move along the extension direction of the track component 3, thereby enabling the grasping component 2 to approach the fire extinguishing component 1 and the fire point. Simultaneously, under the control of the control mechanism 5, the grasping part 23 can sequentially grasp at least a portion of the fire extinguishing components 112 and control the grasping part 23 to deliver the grasped fire extinguishing components 112 to the fire point for fire extinguishing, thus enabling timely fire suppression. Furthermore, in this invention, the track component 3 supports the grasping component 2 and plans the movement path of the grasping component 2. The track component 3 can be installed in the top area of ​​pipe racks, etc., thereby preventing the fire extinguishing components 112 and the grasping part 23 from occupying part of the movable area of ​​the pipe rack, etc., and thus avoiding affecting firefighters or operators entering the pipe rack to perform fire extinguishing, patrol, or inspection operations.

[0098] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An automatically deployed fire-fighting track inspection robot, characterized in that, include: Fire extinguishing assembly (1), comprising several fire extinguishing components (112), for extinguishing fire; The fire extinguishing assembly (1) includes several fire extinguishing mechanisms (11), each fire extinguishing mechanism (11) includes a fire extinguishing box (111), each fire extinguishing box (111) includes a box body (1111), each box body (1111) includes a first wall (7), two second walls (8), and a third wall (9), the two second walls (8) are symmetrically distributed and are connected to the bottom of the adjacent first wall (7); each box body (1111) also includes a sliding part (10), each sliding part (10) is slidably connected to the adjacent first wall (7) and second wall (8) and is connected to the adjacent third wall (9); each third wall (9) is connected to at least one elastic part (13) between itself and at least one of the two adjacent second walls (8), and each third wall (9) is connected to a first traction member (14); The grabbing component (2) is used to grab the fire extinguishing device (112) and place the fire extinguishing device (112) at the fire point to extinguish the fire; The track component (3) is used to support the gripping component (2) and plan the movement path of the gripping component (2); The track assembly (3) includes multiple track splicing parts (31), each of which includes two parallel first splicing pieces (311), two retractable second splicing pieces (312) connected between the two first splicing pieces (311), and two docking parts (313) slidably connected to the two second splicing pieces (312). The drive assembly (4) is detachably mounted on the track assembly (3) and is used to control the movement of the gripping assembly (2); The drive assembly (4) includes two drive units (41). When the track assembly (3) is in the splicing state, the two drive units (41) are respectively placed at both ends of the track assembly (3) and are detachably connected to the adjacent track splicing parts (31). The drive assembly (4) also includes two traction units (42). The two traction units (42) are respectively connected to the output ends of different drive units (41). When the track assembly (3) is in the splicing state, the two traction units (42) are detachably connected to the two ends of the moving seat (21) which are symmetrically distributed. By setting the sliding part as a combined structure and the sliding part being composed of multiple sliding plates that slide together, when the third wall moves down, the distance that the third wall can move down is greater than the length of a single sliding plate, thereby increasing the distance that the third wall can move down and avoiding the need to use ladders or other objects to complete the placement of fire extinguishers due to the short distance that the third wall can move down. and control mechanism (5), including control unit for controlling the operation of gripping component (2) and drive component (4), the control mechanism (5) is detachably installed on track component (3). The gripping component (2) includes a movable base (21), a support (22), and a gripping part (23). The support (22) is connected to the movable base (21) and is fitted to the track assembly (3). The support (22) is used to support the movable base (21) and the gripping part (23). The gripping part (23) is detachably installed on the movable base (21) and is used to grip the fire extinguishing component (112). The fire extinguishing component (1) is detachably connected to the track assembly (3) through the support assembly (6). The control mechanism (5) can control the operation of the drive component (4) to control the gripping component (2) to move along the extension direction of the track component (3). The control mechanism (5) can also control the gripping part (23) to grab at least some of the fire extinguishing components (112) in sequence and control the gripping part (23) to drop the grabbed fire extinguishing components (112) to the fire point for fire extinguishing.

2. The automatically deployed fire-fighting track inspection robot according to claim 1, characterized in that, At least some of the first splice pieces (311) in the track assembly (3) have a square cross-section; Each docking part (313) belonging to the same track splicing part (31) forms a group of docking parts (313). The track assembly (3) has a splicing state. When the track assembly (3) is in the splicing state, at least some docking parts (313) dock with docking parts (313) in different groups.

3. The automatically deployed fire-fighting track inspection robot according to claim 2, characterized in that, The first splicing part (311) is provided with a moving groove (3111) for the support part (22) to pass through. The longitudinal section of the moving groove (3111) is T-shaped. The support part (22) includes two support rods with T-shaped sections. The support rods are connected to the moving seat (21). When the track assembly (3) is in the splicing state, the support rods are placed in the moving groove (3111). Along the extension direction of the first splicing member (311), both ends of the moving groove (3111) are inserted through the corresponding first splicing member (311), and the moving groove (3111) is inserted through the bottom of the corresponding first splicing member (311).

4. The automatically deployed fire-fighting track inspection robot according to claim 3, characterized in that, The number of fire extinguishing mechanisms (11) is the same as the number of first splicing parts (311). Each fire extinguishing mechanism (11) is set close to a different first splicing part (311) in a one-to-one correspondence. The first splicing parts (311) are all placed between two fire extinguishing mechanisms (11). The support assembly (6) includes several support mechanisms (61). The number of support mechanisms (61) is the same as the number of fire extinguishing mechanisms (11). Each support mechanism (61) is set close to a different fire extinguishing mechanism (11). Each support mechanism (61) includes a first docking part (611) connected to the adjacent fire extinguishing mechanism (11) and a second docking part (612) connected to the adjacent first splicing part (311). Each fire extinguishing mechanism (11) can complete the detachable connection with the adjacent track splicing part (31) by docking the adjacent first docking part (611) and the adjacent second docking part (612).

5. The automatically deployed fire-fighting track inspection robot according to claim 4, characterized in that, The fire extinguishing mechanism (11) also includes at least one fire extinguishing component (112), and the fire extinguishing box (111) also includes a first cover plate (1112) and a second cover plate (1113). The fire extinguishing box (111) has a placement cavity, and the fire extinguishing component (112) is placed in the corresponding placement cavity. The placement cavity has a first opening facing the track splicing part (31) and a second opening facing away from the track splicing part (31). The first cover plate (1112) and the second cover plate (1113) are slidably connected to the adjacent box body (1111). The first cover plate (1112) is used to cover the first opening, and the second cover plate (1113) is used to cover the second opening. The fire extinguishing mechanism (11) also includes an inclined plate (113), which is detachably installed on the bottom wall of the corresponding placement cavity.

6. The automatically deployed fire-fighting track inspection robot according to claim 5, characterized in that, The third wall (9) is placed below the second wall (8); The first cover plate (1112) and the second cover plate (1113) are slidably connected to the adjacent first wall (7); the inclined plate (113) is detachably installed on the top of the corresponding third wall (9); baffles (12) are installed at both ends of the top of the inclined plate (113).

7. The automatically deployed fire-fighting track inspection robot according to claim 6, characterized in that, Each sliding part (10) is rotatably connected to a rotating part (15). Each sliding part (10) has a limiting part (16) on one side. Each limiting part (16) is connected to an adjacent second wall (8) and each limiting part (16) has a limiting groove corresponding to the rotating part (15). Each limiting part (16) has a through hole. Each third wall (9) is connected to a second traction member (17). Each second traction member (17) passes through an adjacent through hole. Each rotating part (15) is connected to an adjacent sliding part (10) with an elastic member. Each rotating part (15) is connected to a third traction member (18).

8. The automatically deployed fire-fighting track inspection robot according to claim 7, characterized in that, The second traction component (17) is provided with a first adsorption part, and the third traction component (18) is provided with a second adsorption part (19).

9. The automatically deployed fire-fighting track inspection robot according to claim 8, characterized in that, Each sliding part (10) includes multiple sliding plates. Each sliding plate belonging to the same sliding part (10) is arranged along the extension direction of the placement cavity. Among the sliding plates belonging to the same sliding part (10), the sliding plate near the second wall (8) is slidably connected to the adjacent first wall (7) and second wall (8), and each adjacent sliding plate is slidably connected to the other two sliding plates. The third wall (9) is connected to the sliding plate in the adjacent sliding part (10) that is away from the second wall (8), and the rotating part (15) is rotatably connected to the sliding plate in the adjacent sliding part (10) that is away from the second wall (8).

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