An intelligent fire-fighting robot based on the Internet of Things

Abstract

The invention discloses an intelligent fire-fighting robot based on the Internet of Things, comprising a vehicle body and wheels. An annular pipe storage cylinder is rotatably provided at the rear of the vehicle body, a water pipe is wound on the annular pipe storage cylinder, one end of the water pipe passes through the annular pipe storage cylinder and is connected to the water inlet pipe through a rotating joint, and the other end extends to the outside of the annular pipe storage cylinder and is connected to a water source. A synchronous linkage mechanism is provided between the wheel and the annular pipe storage cylinder, the synchronous linkage mechanism comprises a linkage rod, a linkage gear plate and a connecting gear plate rotatably arranged on the vehicle body, an annular tooth portion is provided on the outer periphery of the annular pipe storage cylinder, one side of the connecting gear plate is meshed and connected with the annular tooth portion, and the other side is meshed and connected with the linkage gear plate, the linkage rod is rotatably arranged at one side of the vehicle body, and a driving component for driving the linkage rod to rotate is provided on the rotating shaft. When the fire-fighting robot of the invention moves forward and backward to extinguish a fire, the water pipe at the rear of the vehicle body can be synchronously wound and unwound to avoid affecting the travel route of the fire-fighting robot.

Description

Technical Field

[0001] The invention relates to an intelligent fire-fighting robot, in particular to an intelligent fire-fighting robot based on the Internet of Things. Background Art

[0002] As a kind of special robot, firefighting robots play an increasingly important role in firefighting and emergency rescue. The firefighting robots currently used cooperate with firefighters to carry out firefighting and rescue. Firefighting robots are often equipped with firefighting equipment, such as fire hoses. In the actual use of fire hoses, the external fire hoses on the fire hoses have poor synchronization with the movements of the firefighting robots when following the movements of the firefighting robots. When the firefighting robots are carrying out firefighting, they will move back and forth and cooperate with the swing of the hoses to extinguish the fire. When the firefighting robots move forward and drive the fire hoses to lengthen, it will seriously affect the retreat of the firefighting robots, seriously affecting the convenience of using the firefighting robots. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent fire-fighting robot based on the Internet of Things to solve the above technical problems.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent fire-fighting robot based on the Internet of Things, comprising a body and a water gun, a camera and an infrared sensor arranged at the head of the body, a water inlet pipe being arranged at the rear of the body, an annular tube storage cylinder being rotatably arranged at the rear of the body, the annular tube storage cylinder being coaxially arranged with the water inlet pipe and surrounding the outside of the water inlet pipe, a water pipe being wound around the annular tube storage cylinder, one end of the water pipe passing through the annular tube storage cylinder and being connected to the water inlet pipe through a rotating joint, and the other end extending to the outside of the annular tube storage cylinder and being connected to a water source, wheels being arranged on both sides of the body, and the vehicle The wheel is rotatably arranged on the vehicle body through a rotating shaft, a synchronous linkage mechanism is arranged between the wheel and the annular storage tube, the synchronous linkage mechanism includes a linkage rod, a linkage gear plate and a connecting gear plate, the outer periphery of the annular storage tube is provided with an annular tooth portion, the connecting gear plate is rotatably arranged on the vehicle body, one side of the connecting gear plate is meshed with the annular tooth portion, and the other side is meshed with the linkage gear plate, the linkage rod is rotatably arranged on one side of the vehicle body and one end is fixedly connected to the linkage gear plate, a driving component for driving the linkage rod to rotate is arranged on the rotating shaft, and the driving component is used to drive the linkage rod to rotate simultaneously when the wheel rotates.

[0005] Preferably, side extension plates are symmetrically provided at the front and rear ends of the vehicle body side walls, the linkage rod is rotatably connected to the two sets of side extension plates and one end located at the rear of the vehicle body extends backwards and is coaxially fixedly connected to the linkage gear plate, the driving component includes a worm part and a worm wheel part, the worm part is sleeved and fixed on the rotating shaft, the worm wheel part is fixed on the linkage rod and meshingly connected with the worm part.

[0006] Preferably, a separation connection mechanism is also included, annular baffles are provided at both axial ends of the circumferential outer wall of the annular storage tube, the annular tooth portion is rotatably sleeved on the annular baffle, and the separation connection mechanism is used to rotationally connect the annular tooth portion and the annular baffle when the fire-fighting robot moves normally, and to fixedly connect the annular tooth portion and the annular baffle when the robot is performing firefighting.

[0007] Preferably, the separation and connection mechanism includes an electric telescopic cylinder, an annular plate, a slider and a connecting rod, the annular plate is rotatably arranged in the annular baffle, an extension plate is provided on one side of the annular plate, the electric telescopic cylinder is fixed on the outer wall of the annular baffle, the extension plate penetrates the annular baffle and is fixedly connected to the output end of the electric telescopic cylinder, a first arc groove for the extension plate to slide along the circumference of the annular baffle is provided on the side wall of the annular baffle, the slider is radially slidably arranged in the annular baffle along the annular baffle, an insertion plate groove for the slider to be inserted is provided on the inner circumference of the annular tooth portion, one end of the connecting rod is rotatably connected to the annular plate, and the other end is rotatably arranged inside the slider.

[0008] Preferably, an annular limiting groove is provided on the inner circumferential wall of the annular tooth portion, an annular limiting plate is provided on the outer circumference of the annular baffle plate to form a rotational connection with the annular limiting groove, a slider groove for sliding a slider is provided in the annular baffle plate, and the slider groove passes through the annular limiting groove.

[0009] Preferably, the plug plate grooves are evenly arranged in multiple groups on the inner wall of the annular limit groove, triangular protrusions are provided between adjacent plug plate grooves, and the sliders are arranged in multiple groups along the circumference of the annular plate, and each group of sliders is connected to the annular baffle through a connecting rod.

[0010] Preferably, a first rotation zone is provided inside the sliding block, leaving a rotation space when the connecting rod rotates, and a second rotation zone is provided inside the annular plate, leaving a rotation space when the connecting rod rotates.

[0011] Preferably, a base plate is provided at the rear of the vehicle body above the annular pipe storage tube, the base plate extends axially along the annular pipe storage tube, a bottom plate is extended from the bottom of the base plate toward one side of the annular pipe storage tube, the bottom plate is symmetrically arranged between two groups of annular baffles, a limiting rod is rotatably arranged between the two groups of bottom plates, a mouth frame is also provided at the bottom of the base plate, the limiting rod passes through the middle of the mouth frame, a plurality of mouth frames are evenly arranged along the length direction of the limiting rod, a plurality of guide wheels are rotatably arranged at the bottom of the mouth frame, and a pipe storage area is reserved between the mouth frame closest to the side of the annular tooth portion and the bottom plate close to the side of the annular tooth portion.

[0012] Preferably, a rotating shaft is provided at the top of the mouth frame, and the mouth frame is rotatably connected to the base plate through the rotating shaft. Guide rods are symmetrically provided on both sides of the mouth frame, and a second arc groove for sliding the guide rods is provided at the bottom of the base plate to limit the rotation range of the mouth frame.

[0013] Preferably, a duct assembly is provided on one side of the rear part of the vehicle body located at the bottom of the annular storage tube, the duct assembly includes two symmetrically arranged groups of long plates, and also includes guide rollers rotatably arranged between the two groups of long plates, the guide rollers are symmetrically formed in pairs to form a group of guide rollers, the guide roller groups are arranged in an arc shape and distributed between the two groups of long plates, and one end of the water pipe on the annular storage tube passes through each group of guide rollers and is connected to an external water source.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] By rotating and arranging an annular pipe storage barrel at the rear of the vehicle body, a water pipe is arranged on the annular pipe storage barrel, an annular tooth portion is arranged on the outer circumference of the annular pipe storage barrel, and the annular pipe storage barrel is connected to the wheel through a synchronous linkage mechanism. When the vehicle body moves forward, the annular pipe storage barrel will release the pipe to make the vehicle body move normally. When the vehicle body moves backward, the annular pipe storage barrel will turn over to collect the pipe without causing the previously released pipe to affect the moving route of the vehicle body.

[0016] In addition, a separation connection mechanism is provided between the annular tooth portion and the annular baffle plate. During the normal movement of the fire-fighting robot, the annular tooth portion is separated from the annular baffle plate. The rotation of the wheel drives the annular tooth portion to rotate without driving the annular storage tube to rotate. When the fire-fighting robot is extinguishing a fire, the annular tooth portion is connected to the annular baffle plate through the separation connection mechanism, so as to ensure that the fire-fighting robot can retract and release the water pipe when extinguishing a fire.

[0017] By setting a limit rod on the top of the annular pipe storage tube, it can be prevented that the water pipes will not overlap and intersect during the process of winding and releasing the pipes. Multiple groups of mouth frames are set along the length direction of the limit rods and the mouth frames are rotatably set at the bottom of the base plate and a guide wheel is set at the bottom. The water pipes can be arranged at equal intervals and stably retracted and released. In combination with the catheter assembly, the annular pipe storage tube can be ensured to be more stable and smooth during the process of releasing and collecting the pipes.

[0018] A pipe storage area is reserved between the mouth frame closest to the annular tooth portion and the bottom plate close to the annular tooth portion. The pipe storage area can store water pipes. When the water pipes at the positions of multiple groups of mouth frames move, the water pipes in the pipe storage area are driven forward without pulling the water pipes between the bottom plate and the annular baffle, thereby avoiding affecting the stability of the connection between the water pipes and the water inlet pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. 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 creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2yes Figure 1 A magnified schematic diagram of part A;

[0022] Figure 3 It is a schematic diagram of the overall structure of the present invention highlighting one side of the annular storage tube;

[0023] Figure 4 It is an exploded schematic diagram of the present invention highlighting the annular tooth portion, the annular storage tube and the sliding block;

[0024] Figure 5 is a cross-sectional schematic diagram highlighting the interior of the annular tooth portion of the present invention;

[0025] Figure 6 yes Figure 5 A magnified schematic diagram of part B;

[0026] Figure 7 This is a schematic diagram of the overall structure of the present invention from an upward viewing angle;

[0027] Figure 8 yes Figure 7 A magnified schematic diagram of part C;

[0028] Fig. 9 It is a schematic diagram for explaining the present invention, highlighting the positions of the guide rollers and the long board.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0030] 1. Car body; 2. Water gun; 3. Camera; 4. Infrared sensor; 5. Water inlet pipe; 6. Annular storage tube; 7. Annular base; 8. Annular step groove; 9. Annular step ring; 10. Water pipe; 11. Wheel; 12. Synchronous linkage mechanism; 121. Linkage rod; 122. Linkage gear plate; 123. Connecting gear plate; 13. Annular gear part; 14. Driving part; 141. Worm part; 142. Worm wheel; 15. Side extension plate; 161. Electric telescopic cylinder; 162. Annular plate; 163. Slider ; 164, connecting rod; 17, annular baffle; 18, first arc groove; 19, plug-in plate groove; 20, annular limit groove; 21, annular limit plate; 22, slider groove; 23, triangular protrusion; 24, first rotating area; 25, second rotating area; 26, base plate; 27, bottom plate; 28, limit rod; 29, mouth frame; 30, guide wheel; 31, storage area; 32, rotating rod; 33, guide rod; 34, second arc groove; 35, long plate; 36, guide roller group; 361, guide roller; 37, annular groove. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-9 , the present invention provides a technical solution:

[0033] See also Figure 1 , an intelligent fire-fighting robot based on the Internet of Things, comprising a body 1 and a water gun 2, a camera 3 and an infrared sensor 4 arranged at the head of the body 1, and a water inlet pipe 5 (see Figure 4 ), wherein the camera 3, the infrared sensor 4 and the external handle in the fire-fighting robot are all existing methods, so they will not be elaborated.

[0034] See also Figure 3 , 4 The tail of the vehicle body 1 is also rotatably provided with an annular storage tube 6, wherein the tail of the vehicle body 1 is provided with an annular base 7, and the end of the annular base 7 away from the vehicle body 1 is provided with an annular step groove 8, and one end of the annular storage tube 6 is provided with an annular step ring 9 that rotatably cooperates with the annular step groove 8, so that the annular storage tube 6 will not be separated when rotating. The annular storage tube 6 is coaxially arranged with the water inlet pipe 5 and surrounds the outside of the water inlet pipe 5. A water pipe 10 is wound around the annular storage tube 6, one end of the water pipe 10 passes through the annular storage tube 6 and is connected to the water inlet pipe 5 through a rotating joint, and the other end extends to the outside of the annular storage tube 6 and is connected to the water source. Wheels 11 are provided on both sides of the vehicle body 1, and the wheels 11 are rotatably arranged on the vehicle body 1 through a rotating shaft. A synchronous linkage mechanism 12 is provided between the wheels 11 and the annular storage tube 6, wherein the synchronous linkage mechanism 12 is symmetrically arranged on the vehicle body 1 On both sides of the vehicle body 1, the synchronous linkage mechanism 12 includes a linkage rod 121, a linkage gear plate 122 and a connecting gear plate 123. The outer periphery of the annular storage tube tube 6 is provided with an annular tooth portion 13. The connecting gear plate 123 is rotatably arranged on the vehicle body 1. One side of the connecting gear plate 123 is meshed and connected with the annular tooth portion 13, and the other side is meshed and connected with the linkage gear plate 122. The linkage rod 121 is rotatably arranged on one side of the vehicle body 1 and one end is fixedly connected with the linkage gear plate 122. A driving component 14 for driving the linkage rod 121 to rotate is provided on the rotating shaft. The driving component 14 is used to drive the linkage rod 121 to rotate at the same time when the wheel 11 rotates, so that the forward and reverse rotation of the annular storage tube tube 6 can be controlled according to the forward and backward movement of the fire-fighting robot, so that the length of the water pipe 10 externally connected to the outside of the vehicle body 1 is maintained at a certain length when the fire-fighting robot moves forward and backward, thereby ensuring the smoothness of the movement of the fire-fighting robot.

[0035] See also Figure 3 ,4 The front and rear ends of the side wall of the vehicle body 1 are symmetrically provided with side extension plates 15, and the linkage rod 121 is rotatably connected to the two sets of side extension plates 15, and one end located at the rear of the vehicle body 1 extends backward and is coaxially fixedly connected to the linkage gear plate 122. The driving component 14 includes a worm portion 141 and a worm wheel 142. The worm portion 141 is sleeved and fixed on the rotating shaft, and the worm wheel 142 is fixed on the linkage rod 121 and meshed with the worm portion 141. Each set of linkage rods 121 passes through the positions of two sets of wheels 11 on one side of the vehicle body 1, and the rotating shaft of each set of wheels 11 is meshed with the linkage shaft through the worm portion 141 and the worm wheel 142, so that when the wheel 11 rotates, a greater driving force is generated to drive the annular storage tube 6 to rotate.

[0036] See also Figure 4-6 In order to prevent the water pipe 10 from being tangled or released when the fire-fighting robot is moving without performing fire-fighting tasks, a separation connection mechanism is also provided. Annular baffles 17 are provided at both ends of the axial direction of the outer wall of the annular storage tube 6, and the annular tooth portion 13 is rotatably sleeved on the annular baffle 17. The separation connection mechanism is used to rotatably connect the annular tooth portion 13 with the annular baffle 17 when the fire-fighting robot moves normally, and to fixedly connect the annular tooth portion 13 with the annular baffle 17 when the robot is performing fire-fighting.

[0037] See also Figure 4-6 The separation and connection mechanism includes an electric telescopic cylinder 161, an annular plate 162, a slider 163 and a connecting rod 164. The annular plate 162 is rotatably arranged in the annular baffle 17. An extension plate is provided on one side of the annular plate 162. The electric telescopic cylinder 161 is fixed to the outer wall of the annular baffle 17. The extension plate penetrates the annular baffle 17 and is fixedly connected to the output end of the electric telescopic cylinder 161. A first arc groove 18 for the extension plate to slide along the circumference of the annular baffle 17 is provided on the side wall of the annular baffle 17. The slider 163 is radially slidably arranged in the annular baffle 17. A plug-in plate groove 19 for the slider 163 to be inserted is provided on the inner circumference of the annular tooth portion 13. One end of the connecting rod 164 is rotatably connected to the annular plate 162, and the other end is connected to the annular plate 162. One end is rotatably arranged inside the slider 163, and the extension plate is driven to slide in the first arc groove 18 by the extension and contraction of the output shaft of the external electric telescopic cylinder 161, which can drive the annular plate 162 to rotate in the annular baffle 17, thereby driving one end of the connecting rod 164 to move, and pushing the slider 163 to slide through the connecting rod 164. When the annular tooth portion 13 and the annular baffle 17 need to rotate relative to each other, it is only necessary to drive the slider 163 to slide to the outside of the plug-in plate groove 19 through the cooperation of the annular plate 162 and the connecting rod 164. When the annular tooth portion 13 and the annular baffle 17 need to be connected, it is only necessary to drive the slider 163 to slide to the inside of the plug-in plate groove 19 through the cooperation of the annular plate 162 and the connecting rod 164.

[0038] See also Figure 4-6In order to prevent the annular tooth portion 13 from disengaging from the annular baffle plate 17 when they rotate relative to each other, an annular limiting groove 20 is provided on the inner circumferential wall of the annular tooth portion 13, and an annular limiting plate 21 is provided on the outer circumference of the annular baffle plate 17 to form a rotational connection with the annular limiting groove 20. A slider groove 22 for sliding the slider 163 is provided in the annular baffle plate 17, and the slider groove 22 passes through the annular limiting groove 20. Through the cooperation between the annular limiting plate 21 and the annular limiting groove 20, it can be ensured that the annular tooth portion 13 does not move axially when rotating on the annular baffle plate 17.

[0039] See also Figure 4-6 In order to form a fixed type between the annular tooth portion 13 and the annular baffle 17 at any time, the slider 163 can be inserted into the plug-in plate groove 19 by sliding radially outwardly toward the annular baffle 17. The plug-in plate groove 19 is evenly provided with multiple groups on the inner peripheral wall of the annular limit groove 20. A triangular protrusion 23 is provided between adjacent plug-in plate grooves 19. The slider 163 is provided with multiple groups along the circumferential side of the annular plate 162. Each group of sliders 163 is connected to the annular baffle 17 through a connecting rod 164. The number of the plug-in plate grooves 19 is an integer multiple of the sliders 163, ensuring that multiple groups of sliders When sliding outward at the same time, 163 can be inserted into the plug-in plate groove 19 at the same time, and the end of the slider 163 used for inserting the plug-in plate groove 19 is triangular in shape, which can cooperate with the inclined surface on the triangular protrusion 23 during insertion to guide the slider 163 into the plug-in plate groove 19. The inner end of the plug-in plate groove 19 is triangular in shape to accommodate the slider 163, and the open end is rectangular in shape, which can ensure that the slider 163 is inserted into the plug-in plate groove 19, and can also ensure that the relative rotation between the annular tooth portion 13 and the annular baffle 17 is well restricted after one end of the slider 163 is inserted into the plug-in plate groove 19.

[0040] See also Figure 5 , 6 A first rotation area 24 is provided inside the slider 163, and a rotation space is left when the connecting rod 164 rotates. A second rotation area 25 is provided inside the annular plate 162, and a rotation space is left when the connecting rod 164 rotates, ensuring that the connecting rod 164 has a rotation space when the annular baffle 17 rotates and drives the slider 163 to slide through the connecting rod 164.

[0041] See also Figure 7 , 8A base plate 26 is provided at the rear of the vehicle body 1 above the annular tube storage tube 6. The base plate 26 extends axially along the annular tube storage tube 6. A bottom plate 27 extends toward one side of the annular tube storage tube 6 from the bottom of the base plate 26. The bottom plate 27 is symmetrically arranged between the two groups of annular baffles 17. A limiting rod 28 is rotatably arranged between the two groups of bottom plates 27. The distance between the limiting rod 28 and the surface of the annular tube storage tube 6 is less than twice the diameter of the water pipe 10, preferably equal to the diameter of the water pipe 10, so that the water pipe 10 will overlap and intertwine during the process of the annular tube storage tube 6 winding or unwinding the water pipe 10. A mouth frame 29 is also provided at the bottom of the base plate 26. The limiting rod 28 passes through the middle of the mouth frame 29. A plurality of groups of mouth frames 29 are evenly arranged along the length direction of the limiting rod 28. A circle of water pipes 10 passes between adjacent mouth frames 29. A plurality of guide wheels 30 are rotatably arranged at the bottom of the mouth frame 29. In the embodiment, the thickness of the guide wheel 30 is smaller than the thickness of the rod body at the bottom of the mouth frame 29, so that it is easy to be embedded in the bottom of the mouth frame 29 and form a rotating connection. In this way, the annular pipe storage tube 6 can better take care of the water pipe 10 when winding or unwinding the water pipe 10. In addition, a pipe storage area 31 is reserved between the mouth frame 29 closest to the side of the annular tooth portion 13 and the bottom plate 27 close to the side of the annular tooth portion 13, and the bottom plate 27 on one side of the pipe storage area 31 and the annular baffle 17 close to the side of the vehicle body 1 press a circle of water pipe 10, and the compressed water pipe 10 end passes through the radial inner side of the annular pipe storage tube 6 and is connected to the water inlet pipe 5 through a rotating joint. When the annular pipe storage tube 6 unwinds the water pipe 10, the water pipe 10 in the pipe storage area 31 will move toward the side of the mouth frame 29 to supplement the amount of pipe release, ensuring that the water pipe 10 connected to the water inlet pipe 5 will not be pulled when releasing the pipe.

[0042] See also Figure 7 , 8 In order to prevent the mouth frame 29 from hitting the limit rod 28 when rotating and affecting the rotation of the limit rod 28, a rotating rod 32 is provided on the top of the mouth frame 29, and the mouth frame 29 is rotatably connected to the base plate 26 through the rotating rod 32. Guide rods 33 are symmetrically provided on both sides of the mouth frame 29, and a second arc groove 34 for the guide rod 33 to slide is provided at the bottom of the base plate 26 to limit the rotation range of the mouth frame 29.

[0043] See also Fig. 9 A conduit assembly is provided on one side of the bottom of the annular storage tube 6 at the rear of the vehicle body 1. The conduit assembly includes two symmetrically arranged long plates 35, and also includes guide rollers 361 rotatably arranged between the two groups of long plates 35. The guide rollers 361 are symmetrically arranged in pairs to form a group of guide roller groups 36. The guide roller groups 36 are arranged in an arc shape and distributed between the two groups of long plates 35. One end of the water pipe 10 on the annular storage tube 6 passes through each group of guide roller groups 36 and is connected to an external water source. Each group of guide rollers 361 is provided with an annular groove 37, which can well supply the water pipe 10 to move while showing the water pipe 10 moving axially along the guide roller 361.

[0044] See also Figure 1-9As shown, when the device is in use, the fire-fighting robot is transported to the fire-fighting scene by means of transportation equipment, one end of the water pipe 10 on the annular storage tube 6 is passed through each group of guide roller groups 36 and fixedly connected to the water pump at the water source, and then the fire-fighting robot is remotely controlled to the fire-fighting area by means of a remote control device, and then the output end of the electric telescopic cylinder 161 is driven to move by means of the remote control device (the remote control method is the prior art), the electric telescopic cylinder 161 drives the extension plate to move in the first arc groove 18 and drives the annular plate 162 to rotate in the annular baffle 17, the annular plate 162 rotates and pushes the slider 163 to slide along the radial outer side of the annular baffle 17 through the connecting rod 164, and when the slider 163 slides, it cooperates with the triangular protrusion 23 and is inserted into the plug-in plate groove 19, thereby connecting and fixing the annular tooth portion 13 and the annular baffle 17.

[0045] After that, the water pump can be started to draw water from the water source through the water pipe 10 and provide it to the water gun 2 of the fire-fighting robot. The water gun 2 sprays water to extinguish the fire. During the fire-fighting process, the remote control is controlled to drive the fire-fighting robot to move forward and backward to cooperate with the water gun 2 to extinguish the fire. When the fire-fighting robot moves forward, the wheel 11 drives the linkage rod 121 to rotate through the cooperation of the worm part 141 and the worm wheel 142. The rotation of the linkage rod 121 drives the linkage gear plate 122 to rotate. The rotation of the linkage gear plate 122 drives the connecting gear plate 123 to rotate. The rotating rod drives the annular tooth portion 13 to rotate, thereby driving the annular storage tube 6 to rotate, so as to assist the water pipe 10 on the storage tube to be prevented from rolling. When the fire-fighting robot moves backward, the annular storage tube 6 is driven to prevent rotation and reel in the water pipe 10, so that the water pipe 10 between the rear of the vehicle body 1 and the water source is kept at a certain length to avoid affecting the moving route of the fire-fighting robot. Since the annular storage tube 6 and the water inlet pipe 5 are coaxially arranged, and one end of the water pipe 10 is connected to the water inlet pipe 5 through a rotating joint, it can be ensured that the water cavity can be continuously supplied with water.

[0046] After the fire-fighting robot has finished extinguishing the fire, the fire-fighting robot is driven to move to the water source, and the water pipe 10 can be rolled up at the same time, avoiding manual work to continue to retract the water pipe 10, saving time and effort.

[0047] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent fire-fighting robot based on the Internet of Things, comprising a body (1) and a water gun (2), a camera (3) and an infrared sensor (4) arranged at the head of the body (1), a water inlet pipe (5) being arranged at the rear of the body (1), and characterized in that: The rear part of the vehicle body (1) is also rotatably provided with an annular tube storage barrel (6), the annular tube storage barrel (6) is coaxially arranged with the water inlet pipe (5) and surrounds the outside of the water inlet pipe (5), a water pipe (10) is wound around the annular tube storage barrel (6), one end of the water pipe (10) passes through the annular tube storage barrel (6) and is connected to the water inlet pipe (5) through a rotating joint, and the other end extends to the outside of the annular tube storage barrel (6) and is connected to a water source. Wheels (11) are provided on both sides of the vehicle body (1), the wheels (11) are rotatably arranged on the vehicle body (1) through a rotating shaft, and a synchronous linkage mechanism (12) is provided between the wheels (11) and the annular tube storage barrel (6), the synchronous linkage mechanism (12) comprising a linkage A rod (121), a linkage toothed disc (122) and a connecting toothed disc (123), wherein an annular toothed portion (13) is provided on the outer periphery of the annular storage tube (6), the connecting toothed disc (123) is rotatably arranged on the vehicle body (1), one side of the connecting toothed disc (123) is meshedly connected with the annular toothed portion (13), and the other side is meshedly connected with the linkage toothed disc (122), the linkage rod (121) is rotatably arranged on one side of the vehicle body (1) and one end is fixedly connected with the linkage toothed disc (122), a driving component (14) for driving the linkage rod (121) to rotate is provided on the rotating shaft, and the driving component (14) is used to drive the linkage rod (121) to rotate simultaneously when the wheel (11) rotates; The device also includes a separation connection mechanism, wherein annular baffles (17) are provided at both ends of the axial direction of the circumferential outer wall of the annular storage tube (6), and the annular tooth portion (13) is rotatably sleeved on the annular baffle (17). The separation connection mechanism is used to rotationally connect the annular tooth portion (13) and the annular baffle (17) when the fire-fighting robot moves normally, and to fixedly connect the annular tooth portion (13) and the annular baffle (17) when the robot is performing fire-fighting. The separation connection mechanism comprises an electric telescopic cylinder (161), an annular plate (162), a slider (163) and a connecting rod (164); the annular plate (162) is rotatably arranged in an annular baffle (17); an extension plate is provided on one side of the annular plate (162); the electric telescopic cylinder (161) is fixed to the outer wall of the annular baffle (17); the extension plate penetrates the annular baffle (17) and is fixedly connected to the output end of the electric telescopic cylinder (161); a first arc groove (18) is provided on the side wall of the annular baffle (17) for the extension plate to slide along the circumference of the annular baffle (17); the slider (163) is slidably arranged in the annular baffle (17) along the radial direction of the annular baffle (17); an inserting plate groove (19) for the slider (163) to be inserted is provided on the inner circumference of the annular tooth portion (13); one end of the connecting rod (164) is rotatably connected to the annular plate (162) and the other end is rotatably arranged inside the slider (163).

2. The intelligent fire-fighting robot based on the Internet of Things according to claim 1, characterized in that: Side extension plates (15) are symmetrically provided at the front and rear ends of the side wall of the vehicle body (1); the linkage rod (121) is rotatably connected to the two sets of side extension plates (15) and one end located at the rear of the vehicle body (1) extends backwards and is coaxially fixedly connected to the linkage gear plate (122); the driving component (14) comprises a worm portion (141) and a worm wheel (142); the worm portion (141) is sleeved and fixed on the rotating shaft; the worm wheel (142) is fixed on the linkage rod (121) and meshingly connected with the worm portion (141).

3. The intelligent fire-fighting robot based on the Internet of Things according to claim 1, characterized in that: An annular limiting groove (20) is provided on the inner peripheral wall of the annular tooth portion (13); an annular limiting plate (21) is provided on the outer periphery of the annular baffle (17) and is rotatably connected to the annular limiting groove (20); a slider groove (22) is provided in the annular baffle (17) for the slider (163) to slide; the slider groove (22) passes through the annular limiting groove (20).

4. The intelligent fire-fighting robot based on the Internet of Things according to claim 3 is characterized in that: The insert plate grooves (19) are evenly arranged in a plurality of groups on the inner peripheral wall of the annular limiting groove (20), triangular protrusions (23) are arranged between adjacent insert plate grooves (19), and the slide blocks (163) are arranged in a plurality of groups along the peripheral side of the annular plate (162), and each group of slide blocks (163) is connected to the annular baffle (17) via a connecting rod (164).

5. The intelligent fire-fighting robot based on the Internet of Things according to claim 4 is characterized in that: The slider (163) is provided with a first rotation area (24) inside, leaving a rotation space when the connecting rod (164) rotates, and the annular plate (162) is provided with a second rotation area (25) inside, leaving a rotation space when the connecting rod (164) rotates.

6. The intelligent fire-fighting robot based on the Internet of Things according to claim 1, characterized in that: A base plate (26) is provided at the rear of the vehicle body (1) above the annular tube storage tube (6). The base plate (26) extends axially along the annular tube storage tube (6). A bottom plate (27) extends from the bottom of the base plate (26) toward one side of the annular tube storage tube (6). The bottom plate (27) is symmetrically arranged between two groups of annular baffles (17). A limit rod (28) is rotatably arranged between the two groups of bottom plates (27). A mouth frame (29) is also provided at the bottom of the base plate (26). The limit rod (28) passes through the middle of the mouth frame (29). A plurality of mouth frames (29) are evenly arranged along the length direction of the limit rod (28). A plurality of guide wheels (30) are rotatably arranged at the bottom of the mouth frame (29). A storage area (31) is reserved between the mouth frame (29) closest to the annular tooth portion (13) and the bottom plate (27) close to the annular tooth portion (13).

7. The intelligent fire-fighting robot based on the Internet of Things according to claim 6, characterized in that: A rotating rod (32) is provided at the top of the mouth frame (29), and the mouth frame (29) is rotatably connected to the base plate (26) via the rotating rod (32). Guide rods (33) are symmetrically provided on both sides of the mouth frame (29), and a second arc groove (34) for the guide rods (33) to slide is provided at the bottom of the base plate (26), which is used to limit the rotation range of the mouth frame (29).

8. The intelligent fire-fighting robot based on the Internet of Things according to claim 1, characterized in that: A conduit assembly is provided on one side of the rear portion of the vehicle body (1) located at the bottom of the annular storage tube (6), the conduit assembly comprising two groups of symmetrically arranged long plates (35), and also comprising guide rollers (361) rotatably arranged between the two groups of long plates (35), wherein the guide rollers (361) are symmetrically arranged in pairs to form a group of guide rollers (36), and the guide rollers (36) are arranged in an arc shape and distributed between the two groups of long plates (35), and one end of the water pipe (10) on the annular storage tube (6) passes through each group of guide rollers (36) and is connected to an external water source.

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