Telescopic hard tube type fire extinguishing robot

Abstract

The telescopic hard pipe type fire extinguishing robot comprises a first fire extinguishing tank, a second fire extinguishing tank, a connecting main plate, a three-way pipe, a nozzle, a downward pressing operation mechanism, a linkage locking mechanism and a pipeline cleaning mechanism, the first fire extinguishing tank and the second fire extinguishing tank are each provided with a pressing type operation handle, and the connecting main plate is provided with the three-way pipe; and the first fire extinguishing tank, the second fire extinguishing tank and the nozzle are respectively communicated with corresponding ports of the three-way pipe. The fire extinguishing device has the beneficial effects that the fire extinguishing device can improve the fire extinguishing medium switching operation convenience; and through the pipeline cleaning mechanism, automatic impact cleaning can be carried out on the pipeline where the three-way pipe and the nozzle are located, and the situation that the last fire extinguishing medium remains in the pipeline, and normal use of the switched fire extinguishing medium is affected is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of fire-fighting robots, in particular to a telescopic hard-tube type fire-fighting robot. Background Art

[0002] With the rapid development of robot technology, firefighting robots are increasingly replacing firefighters to enter the second line of fire scenes to fight fires, significantly improving the firefighting forces' actual combat capabilities to extinguish extremely large and vicious fires, and also playing an important role in reducing property losses and casualties of firefighting and rescue personnel.

[0003] The conventional structure of the current fire-fighting robot is to add a fire-extinguishing device to a chassis with a wheel system. When extinguishing a fire, the chassis with a wheel system carries the fire-extinguishing device and moves to the fire source to extinguish the fire. However, the current fire-extinguishing devices are large in size and are not easy to enter narrow spaces. For example, a fire-fighting robot disclosed in a Chinese utility model patent document with a publication number of CN217409612U is provided with a fire-extinguishing device on a trolley. When extinguishing a fire, the trolley carries the fire extinguisher and moves to the fire source to extinguish the fire. It can be seen from the patent that the fire-fighting robot is large in size and is not easy to enter narrow spaces. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to provide a fire-fighting robot which is small in size and can easily enter a narrow space.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A telescopic hard-tube fire-fighting robot, a machine head, and a visual acquisition device is arranged on the machine head;

[0007] A fire extinguishing nozzle is arranged on the nose of the machine, and the fire extinguishing nozzle controls the opening and closing of the internal pipe through an electromagnetic control mechanism;

[0008] A plurality of fuselages arranged in series, wherein a fuselage at one end is connected to the fuselage head through a steering assembly, the plurality of fuselages are connected in series through the steering assembly, and a driving assembly is arranged on the fuselage to drive the fuselage to move;

[0009] A fire extinguishing tank is arranged in the fuselage, and a plurality of fire extinguishing tanks are connected in series, and the fire extinguishing tank close to the nose is connected to the fire extinguishing nozzle;

[0010] The control unit is arranged in the nose of the machine, and a wireless device is arranged on the control unit to connect to the wireless controller. The control unit is also electrically connected to the driving assembly, the steering assembly, the electromagnetic control mechanism on the fire-extinguishing nozzle, and the visual acquisition device.

[0011] The fire-fighting robot is formed into a snake-like robot whose length can be increased as needed by connecting multiple bodies containing fire extinguishing tanks and heads equipped with fire-fighting nozzles in series, so that the robot has a smaller cross-section. When extinguishing a fire, the robot can enter a narrow space to extinguish the fire, allowing the fire-fighting equipment to enter areas that firefighters or conventional robots cannot enter, thereby penetrating into the fire scene and improving the fire-fighting efficiency. The robot is controlled by a wireless controller, which improves the safety of the firefighters.

[0012] Preferably, the fire extinguishing nozzle comprises:

[0013] The nozzle is hinged on the machine head, and the nozzle is connected to the fire extinguishing tank in the machine head through a connecting hose, and the connecting hose is connected to the electromagnetic control mechanism.

[0014] A nozzle assembly fixedly connected to the nozzle away from the nozzle, the nozzle assembly is connected to a connecting hose on the nozzle,

[0015] A first linear motor is fixedly connected to the machine head, wherein an output end of the first linear motor is hinged with a connecting rod, and an end of the connecting rod away from the first linear motor is hinged at the middle of the nozzle.

[0016] Preferably, the fire extinguishing nozzle further comprises a floating connector provided on the nozzle, and the floating connector connects the nozzle and the nozzle assembly.

[0017] Preferably, the fuselage further comprises:

[0018] A fuselage shell, wherein the fuselage shell is an internal hollow structure, the fire extinguishing tank is fixedly connected to the fuselage shell, and the driving assembly is arranged outside the fuselage shell;

[0019] A second linear motor fixedly connected to the side of the fuselage shell, each side of the fuselage shell is provided with a second linear motor;

[0020] An angle adjustment tube, two ends of which are respectively hinged on the output end of the second linear motor and the driving component.

[0021] Preferably, the drive assembly comprises:

[0022] A driving wheel, the exterior of which is covered with a tire;

[0023] A battery tube, the driving wheel is rotatably connected to one end of the battery tube, one end of the battery tube away from the driving wheel is hinged to the fuselage shell, and the angle adjustment tube is hinged to the middle of the battery tube.

[0024] Preferably, the body shell is a rectangular parallelepiped structure, and the drive components are arranged on four sides of the body shell, wherein two groups of drive components are arranged on each side.

[0025] Preferably, the angle adjustment tube is a shock-absorbing shaft.

[0026] Preferably, the steering assembly comprises:

[0027] Two connecting plates arranged opposite to each other, each connecting plate being provided with connecting ears, and each connecting plate being fixedly connected to the end of the fuselage;

[0028] A cross shaft, two shafts on the cross shaft are rotatably connected to the connecting lugs to form a universal joint structure;

[0029] A steering motor, each connecting lug is fixedly connected to a steering motor, and the output shaft of the steering motor is fixedly connected to the cross shaft;

[0030] A series pipe, both ends of which are respectively fixed to different connecting plates to connect the fire extinguishing tanks in series.

[0031] Preferably, the steering assembly further comprises a heat-insulating sleeve fixedly connected to the connecting plate, two ends of the heat-insulating sleeve are respectively fixedly connected to the side surfaces of the connecting plate, and the cross shaft, the steering motor and the series pipe are all arranged in the heat-insulating sleeve.

[0032] Preferably, the fire extinguishing tank comprises:

[0033] Tank;

[0034] A first interface and a second interface are provided at both ends of the tank body, wherein the first interface and the second interface are respectively connected to the series pipe;

[0035] A first solenoid valve and a second solenoid valve are disposed in the tank body, wherein the first solenoid valve and the second solenoid valve are connected to a first interface and a second interface respectively;

[0036] An electrical connection plate is arranged on the tank body, and the electrical connection plate is electrically connected to the second solenoid valve and the second solenoid valve, and the electrical connection plate is used to connect the control unit.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The fire-fighting robot is formed into a snake-like robot whose length can be increased as needed by connecting multiple bodies containing fire extinguishing tanks and heads equipped with fire-fighting nozzles in series, so that the robot has a smaller cross-section. When extinguishing a fire, the robot can enter a narrow space to extinguish the fire, allowing the fire-fighting equipment to enter areas that firefighters or conventional robots cannot enter, thereby penetrating into the fire scene and improving the fire-fighting efficiency. The robot is controlled by a wireless controller, which improves the safety of the firefighters. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0040] Figure 2 It is a front view of an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of the head rotating part in an embodiment of the present invention;

[0042] Figure 4 It is a left side view of an embodiment of the present invention;

[0043] Figure 5 A top view of an embodiment of the present invention;

[0044] Figure 6 It is a structural schematic diagram of a fuselage in an embodiment of the present invention;

[0045] Figure 7 It is a schematic diagram of the structure of the driving component in an embodiment of the present invention;

[0046] Figure 8 It is a schematic diagram of the installation of the fuselage and the driving assembly according to an embodiment of the present invention.

[0047] Fig. 9 It is a structural schematic diagram of the fuselage connection part in an embodiment of the present invention;

[0048] Fig.10 It is a schematic diagram of the structure of a fire extinguishing tank in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0050] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; 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. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically limited.

[0052] See also Figures 1 to 10 This embodiment discloses a telescopic hard-tube fire-fighting robot, comprising:

[0053] The machine head 100 is provided with a visual acquisition device (not shown in the figure) for acquiring external images.

[0054] The fire extinguishing nozzle 200 is arranged on the machine head 100, and the fire extinguishing nozzle 200 controls the opening and closing of the internal pipeline through an electromagnetic control mechanism (not shown in the figure).

[0055] A plurality of fuselages 300 are arranged in series, and a fuselage 300 at one end is connected to the nose 100 via a steering assembly 400. The plurality of fuselages 300 are connected in series via the steering assembly 400. A driving assembly 320 is arranged on the fuselage 300 to drive the fuselage 300 to move.

[0056] The fire extinguishing tank 500 is arranged in the fuselage 300, and a plurality of the fire extinguishing tanks 500 are connected in series through a pipeline structure arranged inside the fuselage. The fire extinguishing tank 500 in the fuselage 300 connected to the head 100 is connected to the fire extinguishing nozzle 200 through the pipeline structure.

[0057] A control unit (not shown) is disposed in the machine head 100, and a wireless device is provided on the control unit to connect to a wireless controller. The control unit is also electrically connected to the drive assembly 320, the steering assembly 400, the electromagnetic control mechanism on the fire extinguishing nozzle 200, and the visual acquisition device.

[0058] In this embodiment, when extinguishing a fire, a preset number of fuselages 300 are connected in series, and the fuselages 300 are connected to the head 100. The driving assembly 320 is controlled by the wireless controller to drive the robot, and then the robot is driven to move. The multiple fuselages 300 form a snake shape. The driving assembly 320 arranged on each fuselage 300 allows the robot to load enough fire extinguishing tanks 500. Since the fire extinguishing tanks 500 form a series structure through the fuselage 300, the fire extinguishing robot can have a cross-section as small as possible and a length that is long enough. At the same time, the fire extinguishing materials required for fire extinguishing can be guaranteed, so that the fire extinguishing robot can pass through a narrow space and enter an area that general fire extinguishers and robots cannot enter. When extinguishing a fire, the internal pipeline of the fire extinguishing nozzle 200 is opened by the electromagnetic control mechanism on the fire extinguishing nozzle 200, and the fire extinguishing material stored in the fire extinguishing tank 500 is sprayed to the fire source through the nozzle of the fire extinguishing nozzle 200, thereby achieving the purpose of extinguishing the fire.

[0059] The telescopic hard tube fire-fighting robot disclosed in the embodiment of the present invention forms a snake-like robot whose length can be increased as needed by connecting in series a plurality of fuselages 300 including fire-extinguishing tanks 500 and a head 100 provided with a fire-extinguishing nozzle 200, so that the robot has a smaller cross-section. When extinguishing a fire, the robot can enter a narrow space to extinguish the fire, so that the fire-fighting equipment can enter areas that fire-fighting personnel or conventional robots cannot enter, thereby penetrating into the fire scene and improving the fire-fighting efficiency. Moreover, the robot is controlled by a wireless controller, which improves the safety of the fire-fighting personnel.

[0060] Specifically, in the present embodiment, the interior of the head 100 is hollow, the exterior of the head 100 is covered with flame-retardant and heat-insulating materials, the control unit is connected to the interior of the head 100 by threads, and in the present embodiment, the head 100 is a square cylindrical structure, an observation hole is provided at the end of the head 100 away from the fuselage 300, the visual acquisition device obtains external images through the observation hole, and the observation hole is inlaid with a heat-insulating sheet made of high-temperature resistant and flame-retardant transparent material, such as PEI or polysulfone materials with excellent high-temperature resistance, or high-temperature resistant glass.

[0061] The electromagnetic control mechanism is a two-position two-way electromagnetic valve, which is used to control the opening and closing of the pipeline in the fire extinguishing nozzle 200. The electromagnetic control mechanism is fixedly connected to the inside of the machine head 100 by screws.

[0062] The fire extinguishing nozzle 200 comprises:

[0063] The nozzle 210 is hinged on the machine head 100, and the nozzle 210 is provided with a connecting hose. The connecting hose is connected to the pipeline structure in the machine head 100 to connect to the inactivation tank 500, and the connecting hose is connected to the electromagnetic control mechanism.

[0064] A spray head assembly 240 is fixedly connected to and away from the spray pipe 210 , and the spray head assembly 240 is communicated with a connecting hose on the spray pipe 210 .

[0065] A first linear motor 220 is fixedly connected to the machine head 100, and a connecting rod 230 is hinged at the output end of the first linear motor 220. One end of the connecting rod 230 away from the first linear motor 220 is hinged at the middle of the nozzle 210. The first linear motor 220 adjusts the angle of the nozzle 210 through the connecting rod 230.

[0066] Specifically, a groove structure for installing the first linear motor 220 is opened on the head 100, and the first linear motor 220 is fixedly connected to the groove structure by screws. The output end of the first linear motor 220 and the middle of the nozzle 210 are provided with ear structures, and the two ends of the connecting rod 230 are respectively hinged to the first linear motor 220 and the ear structures on the nozzle 210 through pins.

[0067] The nozzle assembly 240 includes a nozzle and a cover body fixed to the nozzle, wherein the cover body is a trumpet-shaped structure. In some examples, a column mist conversion switch is also provided at the nozzle for adjusting the state of the fire extinguishing material spraying, such as columnar spraying or mist spraying. It should be noted that the column mist conversion switch can be purchased on the market.

[0068] The connecting hose and the electromagnetic control mechanism are both located inside the nozzle 210. The electromagnetic control mechanism is located on the connecting hose to control the opening or closing of the connecting hose. Both ends of the connecting hose are respectively connected to the nozzle and the pipeline structure located on the body 100 through pipe joints.

[0069] Further, such as Figure 1 As shown, the fire extinguishing nozzle 200 further includes a floating connector 250 disposed on the nozzle 210 . The floating connector 250 connects the nozzle 210 and the nozzle assembly 240 to change the angle of the nozzle assembly 240 .

[0070] Specifically, the floating connector 250 includes two mutually hinged ear seats, namely a first ear seat and a second ear seat, the end of the nozzle 210 and the nozzle assembly 240 are respectively connected to the first ear seat and the second ear seat through a threaded structure, wherein the first ear seat and the second ear seat are both provided with a flat base and an ear structure, the ear structure and the base are an integral structure, the nozzle 210 and the nozzle assembly 240 are connected to the base through a threaded structure, the nozzle assembly 240 and the mouth of the nozzle 210 are connected through a hose, the floating connector 250 also includes an angle adjustment motor, the angle adjustment motor is fixed to the first ear seat, the output shaft of the angle adjustment motor is fixedly connected to the hinge shaft on the second ear seat through a key shaft connection, the hinge shaft and the second ear seat are fixedly connected through a key shaft, when the angle of the nozzle assembly 240 needs to be adjusted, the second ear seat is rotated on the first ear seat by rotating the angle adjustment motor to achieve the purpose of adjusting the nozzle assembly 240.

[0071] Furthermore, the exterior of the fire extinguishing nozzle 200, the nozzle assembly 240 and the floating connector 250 are coated with flame retardant heat insulating materials to prevent high temperature from burning the angle adjustment motor and the structure inside the fire extinguishing nozzle 200;

[0072] It should be noted that, in some examples, the fire extinguishing nozzle 200 may also be fixedly connected to the machine head 100, wherein the fire extinguishing nozzle 200 may also not include the floating connector 250 and the first linear motor 220, and the angle of the fire extinguishing nozzle 200 follows the angle change of the machine head 100;

[0073] When adjusting the angle of the fire extinguishing nozzle 200, the angle of the head 100 can be adjusted through the steering assembly 400. When the angle of the head 100 needs to be adjusted over a large range, multiple steering assemblies 400 can work together to bend the entire robot, thereby completing the adjustment of the angle of the head 100.

[0074] like Figure 2 , Figures 4 to 8 As shown, the fuselage 300 includes a fuselage shell 310, and the fuselage shell 310 is an internal hollow structure. The fire extinguisher tank 500 is fixedly connected to the fuselage shell 310, and the drive assembly 320 is arranged outside the fuselage shell 310. When multiple fuselages 300 are connected in series, the drive assembly 320 is located on the same side.

[0075] Furthermore, the body shell 310 is a rectangular parallelepiped structure, the interior of the body shell 310 is a cylindrical hollow structure, and the drive components 320 are arranged on the four sides of the body shell 310, wherein each side is provided with two groups of drive components 320, so that the robot can also move in the pipeline.

[0076] The power supply structure of the driving assembly 320 is located inside the body shell 310 .

[0077] Furthermore, the driving assembly 320 is hinged on the body shell 310, and each side of the body shell 310 is hinged with two groups of driving assemblies 320.

[0078] Specifically, Figure 2 and Figure 7 As shown, the driving assembly 320 includes a driving wheel 321 and a battery tube 322. The driving wheel 321 includes a hub motor and a high-temperature resistant tire arranged on the outside of the hub motor. The driving wheel 321 is rotatably connected to one end of the battery tube 322, and the end of the battery tube 322 away from the driving wheel 321 is hinged to the fuselage shell 310.

[0079] For further information, see Figure 8 , the fuselage 300 further includes:

[0080] The second linear motor 330 is fixedly connected to the side of the body shell 310 , and each side of the body shell 310 is provided with a second linear motor 330 .

[0081] The angle adjustment tube 340 has two ends hinged to the battery tube 322 and the output end of the second linear motor 330 respectively.

[0082] In this embodiment, the battery tube 322 is a tubular structure with a hollow interior. The exterior of the battery tube 322 is coated with a flame-retardant heat-insulating layer. A storage battery (such as a cylindrical lithium battery) is installed inside the battery tube 322 to power the driving wheel 321. The second linear motor 330 is fixedly connected to the fuselage shell 310 by screws. The output end of the second linear motor 330 and the battery tube 322 are both provided with a support ear structure. The two ends of the angle adjustment tube 340 are respectively connected to the output end of the second linear motor 330 and the support ear structure on the battery tube 322.

[0083] In this embodiment, the setting of the driving component 320 can enable the robot to adapt to tubular structures with different inner diameters. The movement of the angle adjustment tube 340 driven by the second linear motor 330 can adjust the angle between the battery tube 322 and the body shell 310, thereby adjusting the width of the robot so that the tire on the driving wheel 321 can abut against the inner wall of the pipe.

[0084] It should be noted that the robot in this embodiment can not only walk in the pipe, but also walk in the groove-shaped structure or tube-shaped structure outside or inside the building, such as the ventilation shaft of the building. For example, the angle between the driving assembly 320 and the fuselage shell 310 is adjusted by the second linear motor 330 so that the tire on the driving wheel 321 abuts against the inner wall of the ventilation shaft. When the driving wheel 321 rotates, the robot can walk in the ventilation shaft. For some underground or high-rise buildings where the fire-fighting equipment cannot reach in time, the robot can be dropped into the fire scene through the ventilation shaft or the outer wall of the building;

[0085] Furthermore, a lighting structure is also provided at the end of the handpiece 100 to provide lighting when walking in a pipe, and the lighting structure is electrically connected to a battery structure and a control unit in the handpiece 100 .

[0086] like Figure 2 as well as Figure 8 As shown, a lug plate 331 is provided on the output shaft of the second linear motor 330, and two lug structures are provided on the lug plate 331. The angle adjustment tube 340 is hinged on the lug plate 331, so that one second linear motor 330 can control the rotation of two driving components 320 at the same time.

[0087] like Figure 7 As shown, one end of the battery tube 322 connected to the driving wheel 321 is provided with a fork-shaped structure, and both ends of the rotor of the driving wheel 321 are fixedly connected to the fork-shaped structure of the battery tube 322 by bolts.

[0088] Furthermore, the angle adjustment tube 340 is a shock-absorbing shaft that can be purchased on the market, so that the drive assembly 320 can rotate within a certain range. When encountering an uneven pipe wall or a building wall, the angle adjustment tube 340 can be compressed so that the drive wheel 321 always fits the building wall or the pipe wall.

[0089] like Figure 6 As shown, the fuselage shell 310 is a square cylindrical structure, and a mounting hole 311 is provided at the center of the fuselage shell 310 to install a fire extinguisher tank 500. The fire extinguisher tank 500 is arranged in the mounting hole 311. The outer wall of the fire extinguisher tank 500 is coated with a soft heat insulation layer to provide an interference connection structure, and the soft heat insulation layer can be a rubber layer.

[0090] A linear motor slot 312 is provided on the side of the mounting hole 311, and the second linear motor 330 is fixedly connected to the linear motor slot 312 by screws. A control board mounting slot 314 is provided at the end of the body shell 310, and the control board mounting slot 314 is distributed at the four corners of the body shell 310. In this embodiment, a distributed circuit board is adopted, and multiple circuit boards with different functions are placed in the control board mounting slot 314, which can effectively reduce the space occupied by the circuit board.

[0091] A wheel assembly mounting lug 313 is disposed on the side of the fuselage shell 310 , and one end of the battery tube 322 away from the driving wheel 321 is connected to the wheel assembly mounting lug 313 via a pin.

[0092] like Fig. 9 As shown, the steering assembly 400 includes:

[0093] Two connecting plates 410 are arranged opposite to each other, each connecting plate 410 is provided with a connecting lug 411 , and each connecting plate 410 is fixedly connected to the end of the fuselage 300 .

[0094] A cross shaft 420 , wherein two shafts on the cross shaft 420 are rotatably connected to the connecting ears 411 to form a universal joint structure.

[0095] A steering motor 430 is fixedly connected to each connecting lug 411 , and an output shaft of the steering motor 430 is fixedly connected to the ends of different shafts on the cross shaft 420 .

[0096] The serial pipe 440 has two ends respectively fixed to different connecting plates 410 to connect the fire extinguishing tanks 500 in series.

[0097] Specifically, the steering motor 430 is a planetary gear reduction motor, and the output shaft of the steering motor 430 is fixed to the inside of the cross shaft 420 through a key shaft connection. The steering motor 430 is fixedly connected to the connecting ear 411 through a screw. When the angle between adjacent fuselages 300 needs to be adjusted, that is, when the pointing angle of the head 100 needs to be turned or adjusted, the corresponding steering motor 430 is rotated to change the angle of the two connecting plates 410, thereby driving the angle between adjacent fuselages 300 to change. Through the coordinated rotation of multiple steering motors 430, the changed angles of multiple connecting plates 410 are superimposed, so that the robot can bend at any angle.

[0098] Furthermore, the series pipe 440 is a flexible flame-retardant pipe, and the series pipe 440 is fixedly connected to the connecting plate 410 through a pipe interface, and the series pipe 440 is connected to adjacent fire extinguishing tanks 500 .

[0099] Further, such as Figure 5 As shown, the steering assembly 400 also includes an insulation sleeve 450 fixedly connected to the connecting plate 410, and the insulation sleeve 450 is a bellows structure. Both ends of the insulation sleeve 450 are respectively fixedly connected to the side surfaces of the connecting plate 410, and the cross shaft 420, the steering motor 430 and the series pipe 440 are all arranged in the insulation sleeve 450.

[0100] Furthermore, the thermal insulation sleeve 450 is made of flame-retardant thermal insulation material.

[0101] It should be noted that when the robot encounters an obstacle, the entire robot can be bent by bending the steering assembly 400. It can be bent in a plane or in an arched shape to overcome the obstacle. At the same time, when the height of the head 100 needs to be changed, the fuselage 300 can be controlled to be suspended in the air through multiple steering assemblies 400. When the number of fuselages 300 located on the ground is large enough, the center of the fire-fighting robot will still fall on the fuselage 300 located on the ground, and will not cause the fire-fighting robot to tilt forward.

[0102] Further, if Figure 2 and Figure 3 As shown, the nose 100 also includes:

[0103] The head rotating part 110 is used to control the head 100 to rotate around its own axis.

[0104] In this embodiment, when the robot moves, the robot may rotate as a whole so that the fire extinguishing nozzle 200 is located below the robot. In order to adjust the angle of the fire extinguishing nozzle 200, the head rotating part 110 controls the head 100 to rotate around its axis, thereby adjusting the position of the fire extinguishing nozzle 200.

[0105] Specifically, Figure 3 As shown, the head rotating part 110 includes:

[0106] The ring gear 111 is fixedly connected to the steering assembly 400 .

[0107] Rotatably connected to the planetary gear 112 in the handpiece 100 .

[0108] A head motor 114 is fixedly connected to the head 100. Specifically, the fixed end of the head motor 114 is fixedly connected to the mechanism 100 via a support 116. A driving wheel 113 is fixedly connected to the output shaft of the head motor 114. A plurality of planetary gears 112 are cooperatively arranged between the driving wheel 113 and the ring gear 111 to form a planetary gear structure. At the same time, a connecting shaft coaxial with the planetary gear 112 is arranged on the support 116. One end of the connecting shaft is fixedly connected to the support 116, and the other end is connected to the center of the planetary gear 112.

[0109] When the machine head 100 needs to be rotated, the machine head motor 114 is controlled to rotate, and the machine head motor 114 drives the driving wheel 113 to rotate. The driving wheel 113 rotates on the ring gear 111. Under the action of the planetary gear structure, the planetary gear 112 rotates between the driving wheel 113 and the ring gear 111, thereby driving the support 116 to rotate, and then the machine head 100 rotates around the axis of the ring gear 111.

[0110] like Fig.10 As shown, the fire extinguishing tank 500 includes:

[0111] Tank;

[0112] The first interface 510 and the second interface 520 are provided at both ends of the tank body, and the first interface 510 and the second interface 520 are communicated with the series pipe 440 respectively.

[0113] The first solenoid valve 530 and the second solenoid valve 540 are disposed in the tank body, and the first solenoid valve 530 and the second solenoid valve 540 are respectively connected to the first interface 510 and the second interface 520 for respectively controlling the opening and closing of the first interface 510 and the second interface 520 .

[0114] An electrical connection plate 550 is provided on the tank body, and the electrical connection plate 550 is electrically connected to the second solenoid valve 540 and the second solenoid valve 540 , and the electrical connection plate 550 is used to connect to the control unit.

[0115] Specifically, a first contact is provided on the electrical connection board 550, and a second contact is provided in the body shell 310. When the fire extinguisher tank 500 is installed in the body shell 310, the first contact is fitted with the second contact, and the second contact is electrically connected to the circuit board of the control unit, so that the control unit can control the first solenoid valve 530 and the second solenoid valve 540, thereby allowing the fire extinguisher tank 500 to be replaced.

[0116] The first interface 510 and the second interface 520 are connected to the series pipe 440 on the steering assembly 400 through a quick-release pipe interface.

[0117] In this embodiment, the control unit includes a plurality of circuit boards with different functions, which are respectively distributed in the head 100 and the body shell 310. The circuit boards are electrically connected to transmit control information. The circuit board in the head 100 is a main control board, and the circuit board in the body shell 310 is a sub-control board. The main control board controls the operation of the fire extinguisher tank 500 and the structure on the body 300 through the sub-control board.

[0118] It should be noted that the high temperature resistance of materials exposed to the outside of the robot should exceed 600 degrees to meet the fire extinguishing requirements.

[0119] It should be noted that in this embodiment, the wires or signal lines electrically connecting the control unit to each component are all arranged inside the head 100 and the body 300, and the head 100 and the body 300 or the electronic structure inside the body 300 are connected through an electrical interface and wires.

[0120] In summary, the present invention discloses a telescopic hard-tube fire-fighting robot. Through a plurality of series-connected fuselages 300 and heads 100, the fire-fighting robot forms a serpentine structure. The steering assembly 400 controls the bending of the fire-fighting robot, so that the robot can easily cross obstacles and pass through narrow areas that are difficult to pass through. At the same time, the fuselage 300 is hinged with a driving assembly 320 on all sides. By changing the angle between the driving assembly 320 and the fuselage 300, the fire-fighting robot can adapt to different working conditions, thereby improving the application scenarios of the fire-fighting robot. At the same time, the fire-extinguishing tank 500 is provided so that the fire-extinguishing material inside the robot can be replaced, so that the fuselage 30 0 can be reused. At the same time, the series-connected fuselage 300 can carry enough fire extinguishing tanks 500, so that the fire-fighting robot can carry enough fire-fighting materials at one time. At the same time, since the fire-fighting robot can be formed to be long enough, the fire-fighting robot can also be used as a pipeline. When the fire-fighting tank 500 inside the robot is empty, the fire-fighting material can be delivered to the fire source by connecting the fire-fighting tank 500 at the tail end to a water pump or a fire-fighting material supply device. At the same time, when extinguishing a fire in a building, the fuselage 300 can be stuck on the groove structure of the building or when extinguishing a fire in an underground building, the fuselage 300 can be fixed to the ventilation shaft through the drive assembly 320.

[0121] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0122] The embodiments described above only represent implementation methods of the invention. The protection scope of the present invention is not limited to the embodiments described above. For those skilled in the art, multiple variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A telescopic hard-tube fire-fighting robot, characterized in that: include: A machine head, wherein a visual acquisition device is provided on the machine head; A fire extinguishing nozzle is arranged on the nose of the machine, and the fire extinguishing nozzle controls the opening and closing of the internal pipe through an electromagnetic control mechanism; A plurality of fuselages arranged in series, wherein a fuselage at one end is connected to the fuselage head through a steering assembly, the plurality of fuselages are connected in series through the steering assembly, and a driving assembly is arranged on the fuselage to drive the fuselage to move; A fire extinguishing tank is arranged in the fuselage, and a plurality of fire extinguishing tanks are connected in series, and the fire extinguishing tank close to the nose is connected to the fire extinguishing nozzle; The control unit is arranged in the nose of the machine, and a wireless device is arranged on the control unit to connect to the wireless controller. The control unit is also electrically connected to the driving assembly, the steering assembly, the electromagnetic control mechanism on the fire-extinguishing nozzle, and the visual acquisition device.

2. A telescopic hard-tube fire-fighting robot according to claim 1, characterized in that: The fire extinguishing nozzle comprises: The nozzle is hinged on the machine head, and the nozzle is connected to the fire extinguishing tank in the machine head through a connecting hose, and the connecting hose is connected to the electromagnetic control mechanism. A nozzle assembly fixedly connected to the nozzle away from the nozzle, the nozzle assembly is connected to a connecting hose on the nozzle, A first linear motor is fixedly connected to the machine head, wherein an output end of the first linear motor is hinged with a connecting rod, and an end of the connecting rod away from the first linear motor is hinged at the middle of the nozzle.

3. The telescopic hard-tube fire-fighting robot according to claim 2, characterized in that: The fire extinguishing nozzle also includes a floating connector arranged on the nozzle, and the floating connector connects the nozzle and the nozzle assembly.

4. The telescopic hard-tube fire-fighting robot according to claim 1, characterized in that: The fuselage also includes: A fuselage shell, wherein the fuselage shell is an internal hollow structure, the fire extinguishing tank is fixedly connected to the fuselage shell, and the driving assembly is arranged outside the fuselage shell; A second linear motor fixedly connected to the side of the fuselage shell, each side of the fuselage shell is provided with a second linear motor; An angle adjustment tube, two ends of which are respectively hinged on the output end of the second linear motor and the driving component.

5. The telescopic hard-tube fire-fighting robot according to claim 4, characterized in that: The drive assembly comprises: A driving wheel, the exterior of which is covered with a tire; A battery tube, the driving wheel is rotatably connected to one end of the battery tube, one end of the battery tube away from the driving wheel is hinged to the fuselage shell, and the angle adjustment tube is hinged to the middle of the battery tube.

6. The telescopic hard-tube fire-fighting robot according to claim 4, characterized in that: The body shell is a rectangular parallelepiped structure, and the driving components are arranged on four sides of the body shell, wherein two groups of driving components are arranged on each side.

7. The telescopic hard-tube fire-fighting robot according to claim 4, characterized in that: The angle adjustment tube is a shock-absorbing shaft.

8. The telescopic hard-tube fire-fighting robot according to claim 1, characterized in that: The steering assembly comprises: Two connecting plates arranged opposite to each other, each connecting plate being provided with connecting ears, and each connecting plate being fixedly connected to the end of the fuselage; A cross shaft, two shafts on the cross shaft are rotatably connected to the connecting lugs to form a universal joint structure; A steering motor, each connecting lug is fixedly connected to a steering motor, and the output shaft of the steering motor is fixedly connected to the cross shaft; A series pipe, both ends of which are respectively fixed to different connecting plates to connect the fire extinguishing tanks in series.

9. The telescopic hard-tube fire-fighting robot according to claim 8, characterized in that: The steering assembly also includes a heat insulation sleeve fixedly connected to the connecting plate, two ends of the heat insulation sleeve are respectively fixedly connected to the side surfaces of the connecting plate, and the cross shaft, the steering motor and the series pipe are all arranged in the heat insulation sleeve.

10. The telescopic hard-tube fire-fighting robot according to claim 1, characterized in that: The fire extinguisher tank comprises: Tank; A first interface and a second interface are provided at both ends of the tank body, wherein the first interface and the second interface are respectively connected to the series pipe; A first solenoid valve and a second solenoid valve are disposed in the tank body, wherein the first solenoid valve and the second solenoid valve are connected to a first interface and a second interface respectively; An electrical connection plate is arranged on the tank body, and the electrical connection plate is electrically connected to the second solenoid valve and the second solenoid valve, and the electrical connection plate is used to connect the control unit.

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